--- Step 0 ---
qpos:
[ 1.20318972e-04,-2.40626159e-05,-1.03479761e-04, 6.63505208e-04,
  8.79161506e-05, 1.71372876e-05,-3.31467843e-04, 5.77709470e-04,
  2.51870832e-04, 4.93816691e-05,-2.07911995e-04, 5.12075015e-04,
  1.99113706e-03,-2.15285392e-05, 1.11166030e-03, 9.99394511e-04,
  9.49951938e-02,-7.00095731e-02, 1.30009795e-01, 4.99981696e-01,
  5.00012460e-01, 4.99949141e-01, 5.00056697e-01]

qacc:
[ 1.05652637e+03, 1.62211613e+03,-8.63354952e+03, 2.03017385e+04,
  7.63379792e+02, 2.13784226e+03,-1.00300944e+04, 2.05463592e+04,
  2.20973025e+03, 1.69701171e+03,-8.12446401e+03, 1.72892193e+04,
  6.67997420e+02,-2.19690985e+02,-1.38442231e+03, 7.22755359e+03,
 -1.20155543e+00,-2.39328488e+00, 2.44867842e+00,-1.91979133e+01,
  2.92079439e+00, 3.45798916e+01]

qfrc_actuator:
[ 0.00617875,-0.00187711,-0.00507408, 0.03353997, 0.00452242,-0.00411864,
 -0.01879849, 0.02858273, 0.01297346, 0.00335894,-0.01009862, 0.02586939,
  0.12231247,-0.00144266, 0.08571874, 0.06135412, 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: -0.001564063973014479
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.54916117e-14, -1.77458059e-14,  1.00000000e+00, -6.29827251e-28,
        1.00000000e+00,  1.77458059e-14, -1.00000000e+00,  0.00000000e+00,
       -3.54916117e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10985207, -0.03466042,  0.06195548])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.18994850e-03,-1.80407882e-03,-5.00103778e-03, 3.35782010e-02,
  4.52241891e-03,-4.04532707e-03,-1.87251721e-02, 2.86211124e-02,
  1.29622596e-02, 3.43196822e-03,-1.00255813e-02, 2.59076252e-02,
  1.22801398e-01,-1.44628516e-03, 1.06830047e-01, 6.61839516e-02,
  0.00000000e+00, 0.00000000e+00,-1.21644000e+00,-4.89845949e-04,
  0.00000000e+00,-5.51107589e-04]


--- Step 1 ---
qpos:
[ 2.41955694e-04,-5.43389829e-05,-1.99088456e-04, 1.32227224e-03,
  1.75961188e-04,-5.44774643e-07,-6.74197126e-04, 1.14468421e-03,
  5.06243011e-04, 1.04404602e-04,-4.09298874e-04, 1.01824373e-03,
  5.63569400e-03,-4.73647899e-05, 2.79423698e-03, 2.16733812e-03,
  9.49858802e-02,-7.00281237e-02, 1.30026299e-01, 4.99946227e-01,
  5.00036591e-01, 4.99850599e-01, 5.00166529e-01]

qacc:
[  11.95046418, -40.00339794, 150.66735653,-240.61265668,   1.37138546,
  -36.65947436, 109.24732415,-251.38817835,  22.12094235, -22.99440441,
  117.65238047,-234.34945635, 554.93628728, -37.20737891, 334.09715358,
   56.3416619 ,  -1.12684543,  -2.2443564 ,   1.67747572, -17.99561976,
    2.73592184,  32.41339723]

qfrc_actuator:
[ 0.0060723 ,-0.00186557,-0.00494701, 0.03288146, 0.0044008 ,-0.00410381,
 -0.01847474, 0.02802238, 0.01273373, 0.00327968,-0.00989886, 0.02532384,
  0.12213631,-0.0014299 , 0.08565058, 0.06040047, 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: -0.001548103202541229
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.17150525e-14,  1.79287631e-14,  1.00000000e+00, -1.28576219e-27,
        1.00000000e+00, -1.79287631e-14, -1.00000000e+00,  0.00000000e+00,
        7.17150525e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10985559, -0.03465237,  0.06195593])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.76006849e-05,-5.89212057e-04, 2.99890757e-04,-2.56780136e-04,
  4.98890550e-06,-4.88539792e-03,-1.82563536e-03,-8.25301956e-04,
  1.29028000e-04, 8.83901607e-04, 5.70741438e-04,-2.42416236e-04,
  2.30767095e-02,-3.54923688e-04, 5.11814405e-02, 1.52613224e-02,
  1.38791657e-07, 1.02154617e-07,-1.21644097e+00,-4.90028218e-04,
 -6.10665439e-07,-5.51432876e-04]


--- Step 2 ---
qpos:
[ 3.61426281e-04,-8.63672833e-05,-2.92905870e-04, 1.96832163e-03,
  2.61894393e-04,-4.11863323e-05,-1.01957926e-03, 1.69769308e-03,
  7.55543373e-04, 1.62658061e-04,-6.04807189e-04, 1.51470371e-03,
  1.06389434e-02,-7.68350217e-05, 4.72983537e-03, 3.39057035e-03,
  9.49723050e-02,-7.00551608e-02, 1.30046950e-01, 4.99894532e-01,
  5.00071736e-01, 4.99706983e-01, 5.00326540e-01]

qacc:
[ -18.98570109, -33.48305101, 169.76386554,-391.48067573, -18.28377129,
  -51.66631959, 199.19593504,-419.80332419, -44.51523739, -32.07593593,
  161.68466649,-341.62026926, 456.04881567, -44.72773004, 206.92026729,
 -180.91634804,  -1.06540221,  -2.12162115,   1.03640381, -17.00321294,
    2.5798068 ,  30.62381584]

qfrc_actuator:
[ 0.00595898,-0.0018428 ,-0.00483725, 0.03224345, 0.00429253,-0.0040847 ,
 -0.01813664, 0.02743031, 0.01246888, 0.00320672,-0.00970236, 0.02481534,
  0.12181012,-0.00140933, 0.08549166, 0.05927773, 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: -0.001519647826195042
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.73967183e-14,  1.82644789e-14,  1.00000000e+00, -5.00386783e-28,
        1.00000000e+00, -1.82644789e-14, -1.00000000e+00,  0.00000000e+00,
        2.73967183e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10986187, -0.03463801,  0.06195674])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11537416e-04,-2.55399419e-04, 1.59742603e-05,-6.59096872e-04,
 -1.09724245e-04,-3.12192448e-03,-9.21503193e-04,-8.81094095e-04,
 -2.60813565e-04, 5.28926353e-04, 4.41823558e-04,-4.56356996e-04,
 -5.99034707e-02,-1.15489324e-04, 2.24786228e-02, 5.71126557e-03,
  5.21386625e-07, 3.84439647e-07,-1.21644365e+00,-4.90628406e-04,
 -2.38187838e-06,-5.52150628e-04]


--- Step 3 ---
qpos:
[ 4.78266451e-04,-1.19138917e-04,-3.85524203e-04, 2.60227573e-03,
  3.46199225e-04,-9.65083070e-05,-1.36417055e-03, 2.23794370e-03,
  9.99736088e-04, 2.22848370e-04,-7.95385739e-04, 2.00143342e-03,
  1.67436484e-02,-1.08800300e-04, 6.77547185e-03, 4.62787831e-03,
  9.49546694e-02,-7.00902812e-02, 1.30069619e-01, 4.99827376e-01,
  5.00117348e-01, 4.99520428e-01, 5.00534289e-01]

qacc:
[ -23.10737644, -29.20417142, 153.83066855,-364.59276554, -14.06134022,
  -47.87045207, 196.42602654,-407.71811483, -44.83830667, -31.17728131,
  156.09330077,-333.93774288, 369.75412982, -43.52392981, 120.21561517,
 -184.44994124,  -1.0150852 ,  -2.0208608 ,   0.50490436, -16.18717815,
    2.44778829,  29.15082801]

qfrc_actuator:
[ 0.00582675,-0.00181528,-0.0047527 , 0.03164536, 0.00421222,-0.00406096,
 -0.01779404, 0.02686225, 0.0122133 , 0.00317322,-0.00950979, 0.02431748,
  0.12136092,-0.00138302, 0.08533958, 0.0582769 , 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: -0.0014815722036502499
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.87338663e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.87338663e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10987027, -0.0346188 ,  0.06195781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.35390011e-04,-1.39842556e-04, 1.08735556e-05,-6.22489902e-04,
 -8.44475775e-05,-1.94591150e-03,-4.42963440e-04,-7.51238464e-04,
 -2.62722720e-04, 3.33754713e-04, 3.41221540e-04,-4.69532923e-04,
 -1.28259505e-01, 9.57802576e-05, 9.67422295e-03, 1.94481872e-03,
  1.10830100e-06, 8.19450752e-07,-1.21644774e+00,-4.91563348e-04,
 -5.10977262e-06,-5.53217904e-04]


--- Step 4 ---
qpos:
[ 5.92613706e-04,-1.52225402e-04,-4.76424344e-04, 3.22366653e-03,
  4.28535123e-04,-1.61171810e-04,-1.70550519e-03, 2.76628662e-03,
  1.23862326e-03, 2.83711716e-04,-9.81071687e-04, 2.47891006e-03,
  2.37260072e-02,-1.41664761e-04, 8.86839190e-03, 5.85566578e-03,
  9.49331375e-02,-7.01331558e-02, 1.30092551e-01, 4.99745383e-01,
  5.00172972e-01, 4.99292669e-01, 5.00787760e-01]

qacc:
[-2.18882290e+01,-3.10556299e+01, 1.63226048e+02,-3.83230958e+02,
 -1.70714940e+01,-4.59486823e+01, 1.96231991e+02,-4.00687870e+02,
 -4.65592814e+01,-3.17578963e+01, 1.53732669e+02,-3.22338932e+02,
  2.94660827e+02,-3.28411068e+01, 9.88582173e+01,-2.44406871e+02,
 -9.74095461e-01,-1.93851981e+00, 6.55462116e-02,-1.55195016e+01,
  2.33590128e+00, 2.79439859e+01]

qfrc_actuator:
[ 0.00570226,-0.00178521,-0.00464789, 0.03102243, 0.00411353,-0.00403352,
 -0.01743337, 0.02631296, 0.01194759, 0.00311013,-0.00930322, 0.02384766,
  0.12081748,-0.0013352 , 0.08516876, 0.05703101, 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: -0.0014362525496526835
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.86499932e-14,  3.86499932e-14,  1.00000000e+00, -1.49382197e-27,
        1.00000000e+00, -3.86499932e-14, -1.00000000e+00,  0.00000000e+00,
        3.86499932e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10988028, -0.03459592,  0.06195909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28290776e-04,-7.21216308e-05, 5.56657699e-05,-6.41815425e-04,
 -1.01715584e-04,-1.17961362e-03,-1.18344330e-04,-6.62923751e-04,
 -2.72963394e-04, 1.73555857e-04, 3.01992459e-04,-4.53584624e-04,
 -1.83839850e-01, 2.71188192e-04, 3.99628476e-03,-7.51564759e-06,
  1.87177178e-06, 1.38903468e-06,-1.21645306e+00,-4.92773225e-04,
 -8.64937172e-06,-5.54602454e-04]


--- Step 5 ---
qpos:
[ 7.04925024e-04,-1.85252121e-04,-5.65584713e-04, 3.83233687e-03,
  5.09043906e-04,-2.31264058e-04,-2.04247328e-03, 3.28298311e-03,
  1.47281451e-03, 3.44215821e-04,-1.16185839e-03, 2.94716207e-03,
  3.13918893e-02,-1.74459739e-04, 1.09796967e-02, 7.06332682e-03,
  9.49078419e-02,-7.01835168e-02, 1.30114298e-01, 4.99649056e-01,
  5.00238231e-01, 4.99025104e-01, 5.01085301e-01]

qacc:
[-1.78719548e+01,-3.09524485e+01, 1.64227692e+02,-3.87251464e+02,
 -1.58548843e+01,-4.33433890e+01, 1.93339902e+02,-3.97926276e+02,
 -4.11757733e+01,-3.30930476e+01, 1.56376202e+02,-3.23723766e+02,
  2.29514283e+02,-2.51416919e+01, 8.82304693e+01,-2.69245108e+02,
 -9.40920168e-01,-1.87160039e+00,-2.96444170e-01,-1.49767182e+01,
  2.24077058e+00, 2.69610108e+01]

qfrc_actuator:
[ 0.00560107,-0.00175375,-0.00454967, 0.0303899 , 0.00402257,-0.00396784,
 -0.01708238, 0.02576145, 0.01171354, 0.00301201,-0.00909019, 0.02338033,
  0.12018733,-0.00129282, 0.08492978, 0.0556738 , 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: -0.0013856461094719635
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00153912e-14,  4.00615647e-14,  1.00000000e+00,  4.01232241e-28,
        1.00000000e+00, -4.00615647e-14, -1.00000000e+00,  0.00000000e+00,
       -1.00153912e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10989147, -0.03457034,  0.06196051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04756939e-04,-2.44011533e-05, 6.79202872e-05,-6.47312973e-04,
 -9.42339510e-05,-6.41681950e-04, 7.33914501e-05,-6.19328463e-04,
 -2.41637078e-04, 4.14530530e-05, 2.71034952e-04,-4.59000230e-04,
 -2.28311374e-01, 3.60991362e-04, 1.38427941e-03,-8.92637370e-04,
  2.79269080e-06, 2.08186939e-06,-1.21645945e+00,-4.94215329e-04,
 -1.28991059e-05,-5.56280119e-04]


--- Step 6 ---
qpos:
[ 8.15150913e-04,-2.18011699e-04,-6.53576092e-04, 4.42868027e-03,
  5.88178349e-04,-3.04242241e-04,-2.37408697e-03, 3.78932503e-03,
  1.70272545e-03, 4.03824911e-04,-1.33822882e-03, 3.40626066e-03,
  3.95733773e-02,-2.07418856e-04, 1.30960303e-02, 8.24925083e-03,
  9.48788779e-02,-7.02356450e-02, 1.30142070e-01, 4.99557645e-01,
  5.00297035e-01, 4.98739378e-01, 5.01402102e-01]

qacc:
[ -18.32865298, -28.27110557, 153.40704459,-368.86603481, -11.88164145,
  -40.09034035, 181.15157051,-366.81928994, -37.52386038, -32.3116019 ,
  152.25085823,-317.18960361, 173.193756  , -27.42841999,  73.33637523,
 -245.80486776,  -0.91708625,  -0.4418145 ,   1.50660737, -12.19804299,
    0.67082679,   6.51208628]

qfrc_actuator:
[ 0.00549665,-0.00173945,-0.00449162, 0.02977454, 0.00395463,-0.00387939,
 -0.01672187, 0.02526635, 0.0115    , 0.00291141,-0.00889299, 0.02291817,
  0.11950169,-0.00130757, 0.08468809, 0.05444175, 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: -0.0013315107909848056
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.58381986e-14, -3.50115701e-07,  1.00000000e+00,  1.95498300e-20,
        1.00000000e+00,  3.50115701e-07, -1.00000000e+00,  3.00926554e-36,
        5.58381986e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10589187, -0.06263506,  0.06196204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07299271e-04,-1.25628091e-05, 3.89333411e-05,-6.27751095e-04,
 -7.08119672e-05,-2.76443302e-04, 2.19196883e-04,-5.32346925e-04,
 -2.20277106e-04,-4.15689493e-05, 2.23869870e-04,-4.60663433e-04,
 -2.63128093e-01, 3.44949380e-04, 2.11744880e-04,-1.12323211e-03,
  3.85837546e-06, 2.89174428e-06,-1.21646682e+00,-4.95859493e-04,
 -1.77894889e-05,-5.58232888e-04]


--- Step 7 ---
qpos:
[ 9.23614052e-04,-2.50417142e-04,-7.40028914e-04, 5.01329483e-03,
  6.66226210e-04,-3.78591028e-04,-2.69984807e-03, 4.28624012e-03,
  1.92760014e-03, 4.62604729e-04,-1.51133883e-03, 3.85699820e-03,
  4.81260511e-02,-2.39846478e-04, 1.52119370e-02, 9.41069713e-03,
  9.48472066e-02,-7.02824772e-02, 1.30177922e-01, 4.99494973e-01,
  5.00330501e-01, 4.98462755e-01, 5.01706132e-01]

qacc:
[ -15.47810218, -27.96300095, 149.94196159,-355.69726659,  -9.35876816,
  -37.57384544, 171.16119191,-342.67863047, -44.21434123, -27.34789146,
  131.35820937,-280.81226946, 124.69224027, -16.93809   ,  73.56740462,
 -258.31024019,  -0.67682359,   1.32400825,   2.01965143,  -8.05071868,
   -1.73490677, -18.99033102]

qfrc_actuator:
[ 0.00540892,-0.00170017,-0.00440455, 0.02919194, 0.0039008 ,-0.00381314,
 -0.01637613, 0.02480848, 0.01124698, 0.00284549,-0.00874228, 0.02249823,
  0.11877325,-0.00132089, 0.08445064, 0.05315243, 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: -0.0013155473567364878
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.10981197e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.10981197e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203297, -0.08969718,  0.0619625 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.06868029e-05, 1.38933658e-05, 6.75279241e-05,-5.95088189e-04,
 -5.59318038e-05,-6.04920760e-05, 3.00831916e-04,-4.72722886e-04,
 -2.59184994e-04,-6.31264567e-05, 1.54342713e-04,-4.23651049e-04,
 -2.89588936e-01, 3.41816791e-04,-2.90447149e-04,-1.33107802e-03,
  4.15924932e-06, 2.71085127e-06,-1.21646993e+00,-4.95806336e-04,
 -2.04155194e-05,-5.59905954e-04]


--- Step 8 ---
qpos:
[ 1.03052816e-03,-2.82574279e-04,-8.24486888e-04, 5.58633762e-03,
  7.43020197e-04,-4.52816793e-04,-3.01945874e-03, 4.77323191e-03,
  2.14769447e-03, 5.20696941e-04,-1.68187195e-03, 4.29921168e-03,
  5.69262838e-02,-2.70523822e-04, 1.73249241e-02, 1.05487304e-02,
  9.48129977e-02,-7.03242845e-02, 1.30219616e-01, 4.99459759e-01,
  5.00339555e-01, 4.98194709e-01, 5.01998317e-01]

qacc:
[ -13.58069464, -29.0588357 , 152.97755594,-356.66141055, -10.84689313,
  -37.4516878 , 175.69138505,-357.38376938, -41.98640766, -25.58979044,
  126.04302064,-277.32414457,  83.09391276,   1.13945815,  66.65316314,
 -239.45782323,  -0.63442568,   1.25623102,   1.46069396,  -7.86258851,
   -1.54115731, -18.07642868]

qfrc_actuator:
[ 0.0053317 ,-0.00168161,-0.00430089, 0.02861557, 0.00383793,-0.00368958,
 -0.01602414, 0.02432289, 0.01100824, 0.00280068,-0.00862007, 0.02207098,
  0.11799227,-0.00129848, 0.08423734, 0.05196445, 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: -0.0012895647291524537
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.30464249e-14,  3.22848187e-14,  1.00000000e+00, -1.38974602e-27,
        1.00000000e+00, -3.22848187e-14, -1.00000000e+00,  0.00000000e+00,
        4.30464249e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203831, -0.08970501,  0.06196325])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.96891902e-05, 1.52871061e-05, 9.42306033e-05,-5.86075925e-04,
 -6.44720500e-05, 1.37017196e-04, 3.63775252e-04,-4.87186134e-04,
 -2.46016543e-04,-6.68714857e-05, 1.14091965e-04,-4.33548530e-04,
 -3.08879905e-01, 3.39462639e-04,-4.96328237e-04,-1.30067792e-03,
  3.24141820e-06, 1.39137036e-06,-1.21646693e+00,-4.93261596e-04,
 -1.90433791e-05,-5.60812409e-04]


--- Step 9 ---
qpos:
[ 1.13568642e-03,-3.14349774e-04,-9.07081190e-04, 6.14763908e-03,
  8.18117379e-04,-5.25884624e-04,-3.33261615e-03, 5.24976051e-03,
  2.36356131e-03, 5.77956822e-04,-1.84898229e-03, 4.73211932e-03,
  6.58687156e-02,-2.98322538e-04, 1.94342920e-02, 1.16660021e-02,
  9.47763861e-02,-7.03612894e-02, 1.30265306e-01, 4.99450947e-01,
  5.00324965e-01, 4.97934805e-01, 5.02279415e-01]

qacc:
[ -15.40723612, -28.86162288, 153.25311829,-359.76935682, -14.75210746,
  -38.03449788, 182.04696649,-374.34490073, -37.09141465, -29.76593986,
  143.93922127,-309.9787544 ,  47.58371577,  19.56271802,  57.58492743,
 -209.21910175,  -0.60065236,   1.20058667,   0.99911115,  -7.7037762 ,
   -1.38222875, -17.32222119]

qfrc_actuator:
[ 0.00524353,-0.00165776,-0.00420611, 0.02802973, 0.00375249,-0.00355032,
 -0.01567104, 0.02380719, 0.01079758, 0.00276872,-0.00844457, 0.02160736,
  0.11719351,-0.00123831, 0.08407074, 0.05093476, 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: -0.0012560311630714222
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.41956799e-14, -8.83913598e-14,  1.00000000e+00,  3.90651624e-27,
        1.00000000e+00,  8.83913598e-14, -1.00000000e+00,  0.00000000e+00,
        4.41956799e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.102044  , -0.08971492,  0.06196421])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.03279443e-05, 2.72592678e-05, 8.92438684e-05,-5.94375210e-04,
 -8.72179455e-05, 2.75486121e-04, 4.12885780e-04,-5.06930654e-04,
 -2.17563217e-04,-6.48480317e-05, 1.61298774e-04,-4.71660211e-04,
 -3.22006885e-01, 3.13782085e-04,-5.30614423e-04,-1.16502495e-03,
  2.32492794e-06, 3.42091404e-07,-1.21646459e+00,-4.90974071e-04,
 -1.74417747e-05,-5.61587211e-04]


--- Step 10 ---
qpos:
[ 1.23862628e-03,-3.45437325e-04,-9.88319850e-04, 6.69752688e-03,
  8.91261408e-04,-5.97890818e-04,-3.63934536e-03, 5.71606291e-03,
  2.57488012e-03, 6.34480815e-04,-2.01242781e-03, 5.15536786e-03,
  7.48637899e-02,-3.23252955e-04, 2.15399872e-02, 1.27644781e-02,
  9.47374788e-02,-7.03936739e-02, 1.30313474e-01, 4.99467664e-01,
  5.00287364e-01, 4.97682687e-01, 5.02550047e-01]

qacc:
[ -19.4988104 , -26.35340204, 143.5291099 ,-343.80497283, -17.00571164,
  -37.59896913, 179.31765451,-367.41389218, -39.90710925, -31.03731415,
  150.15855292,-322.78159251,  17.4399061 ,  26.46751257,  51.54729039,
 -188.19451616,  -0.573941  ,   1.1551124 ,   0.6193893 ,  -7.57248099,
   -1.25073835, -16.70169785]

qfrc_actuator:
[ 0.00513187,-0.00161321,-0.00413508, 0.02746074, 0.00365445,-0.00350924,
 -0.01535554, 0.02329568, 0.01056962, 0.00274489,-0.00825673, 0.0211261 ,
  0.11638997,-0.00119282, 0.08391634, 0.05000677, 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: -0.001216863017944228
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.56182417e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.56182417e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204994, -0.08972636,  0.06196533])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14122244e-04, 5.32539310e-05, 6.70726988e-05,-5.77310753e-04,
 -1.00414747e-04, 2.63932532e-04, 4.09187632e-04,-4.95480642e-04,
 -2.34053715e-04,-4.74593456e-05, 1.78541339e-04,-4.88304981e-04,
 -3.29870860e-01, 2.16874824e-04,-5.16718889e-04,-1.05980668e-03,
  1.40042358e-06,-4.71512928e-07,-1.21646284e+00,-4.88886883e-04,
 -1.56262733e-05,-5.62236974e-04]


--- Step 11 ---
qpos:
[ 1.33942865e-03,-3.76146863e-04,-1.06797280e-03, 7.23632063e-03,
  9.62661521e-04,-6.69183220e-04,-3.93995986e-03, 6.17301504e-03,
  2.78182429e-03, 6.90386909e-04,-2.17299602e-03, 5.57027191e-03,
  8.38360859e-02,-3.45362275e-04, 2.36423213e-02, 1.38383079e-02,
  9.46963594e-02,-7.04215858e-02, 1.30362876e-01, 4.99509196e-01,
  5.00227264e-01, 4.97438059e-01, 5.02810725e-01]

qacc:
[-1.87737482e+01,-2.67494371e+01, 1.42995896e+02,-3.37879376e+02,
 -1.51673950e+01,-3.53814767e+01, 1.67041445e+02,-3.39217062e+02,
 -3.84070251e+01,-2.59746325e+01, 1.26780504e+02,-2.75477126e+02,
 -7.97550939e+00, 3.36224083e+01, 6.97433459e+01,-2.51150620e+02,
 -5.53017383e-01, 1.11815419e+00, 3.08392755e-01,-7.46664135e+00,
 -1.14083229e+00,-1.61931543e+01]

qfrc_actuator:
[ 0.00502503,-0.00160997,-0.00406078, 0.02690624, 0.00356754,-0.00350968,
 -0.01506516, 0.02282614, 0.01035104, 0.00270843,-0.00811635, 0.02070935,
  0.11558118,-0.00115727, 0.08370548, 0.04875557, 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: -0.0011736362702038233
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.72984285e-14,  4.72984285e-14,  1.00000000e+00, -2.23714134e-27,
        1.00000000e+00, -4.72984285e-14, -1.00000000e+00,  0.00000000e+00,
        4.72984285e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10205604, -0.08973889,  0.06196656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09970347e-04, 2.26240984e-05, 7.35750080e-05,-5.62122561e-04,
 -8.96650932e-05, 2.15578750e-04, 3.81560082e-04,-4.53903990e-04,
 -2.25131236e-04,-4.75390094e-05, 1.36201709e-04,-4.22767904e-04,
 -3.33262636e-01, 1.10412138e-04,-5.55026788e-04,-1.37545390e-03,
  4.60565619e-07,-1.07586961e-06,-1.21646162e+00,-4.86957162e-04,
 -1.36076722e-05,-5.62766822e-04]


--- Step 12 ---
qpos:
[ 1.43816748e-03,-4.06511673e-04,-1.14609718e-03, 7.76426533e-03,
  1.03246384e-03,-7.39291369e-04,-4.23488956e-03, 6.62109512e-03,
  2.98488521e-03, 7.45565864e-04,-2.33092446e-03, 5.97800648e-03,
  9.27225969e-02,-3.64722892e-04, 2.57403955e-02, 1.48895083e-02,
  9.46530926e-02,-7.04451444e-02, 1.30412498e-01, 4.99574959e-01,
  5.00145077e-01, 4.97200678e-01, 5.03061873e-01]

qacc:
[-1.81237508e+01,-2.61303622e+01, 1.39689126e+02,-3.30216349e+02,
 -1.39024293e+01,-3.25749059e+01, 1.55914674e+02,-3.19470090e+02,
 -3.40869253e+01,-2.30429605e+01, 1.11144039e+02,-2.39030656e+02,
 -2.92407684e+01, 4.06429892e+01, 6.23026825e+01,-2.27027686e+02,
 -5.36841504e-01, 1.08831884e+00, 5.50045571e-02,-7.38408256e+00,
 -1.04786626e+00,-1.57784546e+01]

qfrc_actuator:
[ 0.00492189,-0.00159596,-0.00398529, 0.02636468, 0.00348788,-0.0034286 ,
 -0.01477435, 0.022385  , 0.0101575 , 0.00266456,-0.00798738, 0.0203516 ,
  0.11477413,-0.00112879, 0.08348749, 0.04762561, 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: -0.0011276410343471488
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.92276793e-14,  4.92276793e-14,  1.00000000e+00, -2.42336441e-27,
        1.00000000e+00, -4.92276793e-14, -1.00000000e+00,  0.00000000e+00,
        4.92276793e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206223, -0.08975215,  0.06196787])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06166260e-04, 1.82496356e-05, 6.97666345e-05,-5.49955834e-04,
 -8.21277898e-05, 2.66065161e-04, 3.69972576e-04,-4.27720839e-04,
 -1.99849877e-04,-6.09306539e-05, 1.21822072e-04,-3.63944084e-04,
 -3.32882494e-01,-9.04222203e-07,-6.14106359e-04,-1.27657421e-03,
 -5.00568009e-07,-1.49115176e-06,-1.21646085e+00,-4.85152343e-04,
 -1.13929814e-05,-5.63180738e-04]


--- Step 13 ---
qpos:
[ 1.53455802e-03,-4.36276663e-04,-1.22311510e-03, 8.28158871e-03,
  1.10042289e-03,-8.07861334e-04,-4.52449520e-03, 7.06106682e-03,
  3.18404792e-03, 8.00154474e-04,-2.48638152e-03, 6.37757139e-03,
  1.01471309e-01,-3.81093968e-04, 2.78343176e-02, 1.59234612e-02,
  9.46077276e-02,-7.04644452e-02, 1.30461519e-01, 4.99664481e-01,
  5.00041127e-01, 4.96970345e-01, 5.03303838e-01]

qacc:
[-2.06471078e+01,-2.41389201e+01, 1.32125743e+02,-3.18235338e+02,
 -1.60780804e+01,-2.95209859e+01, 1.42488969e+02,-2.92520858e+02,
 -3.42269793e+01,-2.44513003e+01, 1.20651040e+02,-2.65681042e+02,
 -4.68738470e+01, 5.10347659e+01, 4.61547479e+01,-1.70286728e+02,
 -5.24563744e-01, 1.06443345e+00,-1.50178983e-01,-7.32262071e+00,
 -9.68153848e-01,-1.54424283e+01]

qfrc_actuator:
[ 0.00480399,-0.00155787,-0.00392741, 0.02583508, 0.00339537,-0.00333487,
 -0.01450306, 0.02198192, 0.00996248, 0.00263435,-0.00786616, 0.01994265,
  0.11397462,-0.00108785, 0.0833453 , 0.04678927, 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: -0.0010799276771345234
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.14026563e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.14026563e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206845, -0.08976586,  0.06196923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20813183e-04, 3.96300126e-05, 5.12025157e-05,-5.38062516e-04,
 -9.47482084e-05, 3.05592164e-04, 3.60305159e-04,-3.87392082e-04,
 -2.00615723e-04,-5.51957653e-05, 1.11553293e-04,-4.15058473e-04,
 -3.29345664e-01,-9.62644889e-05,-5.50288382e-04,-9.84096156e-04,
 -1.48789277e-06,-1.73269072e-06,-1.21646052e+00,-4.83447473e-04,
 -8.98621129e-06,-5.63481838e-04]


--- Step 14 ---
qpos:
[ 1.62913181e-03,-4.65536653e-04,-1.29858873e-03, 8.78884746e-03,
  1.16674431e-03,-8.74941617e-04,-4.80884793e-03, 7.49313618e-03,
  3.37932557e-03, 8.53649539e-04,-2.63812785e-03, 6.76874700e-03,
  1.10039639e-01,-3.94394159e-04, 2.99249315e-02, 1.69365881e-02,
  9.45603006e-02,-7.04795640e-02, 1.30509279e-01, 4.99777385e-01,
  4.99915660e-01, 4.96746894e-01, 5.03536912e-01]

qacc:
[ -15.95333328, -24.35085056, 130.33402345,-307.42331876, -14.26956317,
  -28.96512229, 139.53885965,-285.85049895, -34.06363211, -29.03406119,
  136.95251   ,-287.39445872, -61.3374248 ,  59.62801007,  58.2540566 ,
 -210.77141901,  -0.51548938,   1.04551131,  -0.31510777,  -7.28013389,
   -0.89876787, -15.17237552]

qfrc_actuator:
[ 0.00471386,-0.00152347,-0.00384479, 0.02533451, 0.00331379,-0.00326988,
 -0.01424539, 0.02158669, 0.00976814, 0.002577  ,-0.00767947, 0.01952461,
  0.11319273,-0.00104078, 0.08317418, 0.04574221, 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: -0.001031345803832448
  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([ 0.10207465, -0.08977978,  0.06197062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.34586361e-05, 4.45608755e-05, 7.84967329e-05,-5.08498427e-04,
 -8.41681318e-05, 2.98581667e-04, 3.54991446e-04,-3.77380529e-04,
 -1.99951441e-04,-8.34541182e-05, 1.75166574e-04,-4.25247576e-04,
 -3.23192003e-01,-1.97626373e-04,-5.18551189e-04,-1.17060151e-03,
 -2.50560092e-06,-1.81206194e-06,-1.21646058e+00,-4.81823234e-04,
 -6.38900188e-06,-5.63672570e-04]


--- Step 15 ---
qpos:
[ 1.72223561e-03,-4.94379727e-04,-1.37243778e-03, 9.28580151e-03,
  1.23191662e-03,-9.40662288e-04,-5.08750968e-03, 7.91708937e-03,
  3.57041171e-03, 9.05457869e-04,-2.78559644e-03, 7.15223863e-03,
  1.18392637e-01,-4.06020153e-04, 3.20120867e-02, 1.79270063e-02,
  9.45108375e-02,-7.04905600e-02, 1.30555253e-01, 4.99913369e-01,
  4.99768858e-01, 4.96530187e-01, 5.03761338e-01]

qacc:
[ -12.89783045, -25.19226678, 134.16892013,-315.46704851,  -9.95598565,
  -30.81028127, 146.75702101,-297.35958791, -36.73221954, -29.94527295,
  136.09581747,-274.81176539, -73.02616287,  51.87030133,  63.73495319,
 -230.24398572,  -0.50904155,   1.03070554,  -0.4466515 ,  -7.25448998,
   -0.83737172, -14.95741801]

qfrc_actuator:
[ 0.00464079,-0.00150918,-0.00376595, 0.02481956, 0.00325705,-0.00320494,
 -0.01396245, 0.02118147, 0.009558  , 0.00246858,-0.00747348, 0.0191401 ,
  0.1124302 ,-0.00106232, 0.08297512, 0.04459695, 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: -0.0009825772011765876
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.64954603e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.64954603e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10208079, -0.08979372,  0.06197201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.56172564e-05, 3.41119201e-05, 8.01137113e-05,-5.21140953e-04,
 -5.90301334e-05, 2.93839634e-04, 3.78447305e-04,-3.87664611e-04,
 -2.15742937e-04,-1.37607001e-04, 1.96097246e-04,-3.90909643e-04,
 -3.14891583e-01,-3.71772751e-04,-5.54759005e-04,-1.27557618e-03,
 -3.55735801e-06,-1.73792450e-06,-1.21646103e+00,-4.80264483e-04,
 -3.60112338e-06,-5.63754874e-04]


--- Step 16 ---
qpos:
[ 1.81339562e-03,-5.22783502e-04,-1.44475093e-03, 9.77235712e-03,
  1.29590139e-03,-1.00489777e-03,-5.36029728e-03, 8.33250884e-03,
  3.75749393e-03, 9.56083183e-04,-2.93037997e-03, 7.52817218e-03,
  1.26503230e-01,-4.15906512e-04, 3.40958630e-02, 1.88942903e-02,
  9.44593557e-02,-7.04974794e-02, 1.30599018e-01, 5.00072196e-01,
  4.99600848e-01, 4.96320111e-01, 5.03977319e-01]

qacc:
[ -17.07034204, -25.09961755, 134.29184109,-317.10329824, -10.28987001,
  -32.01541156, 153.05915342,-311.27592195, -35.14007442, -24.57041051,
  117.36180427,-251.71910341, -82.28930873,  59.49370416,  65.14754127,
 -234.98787174,  -0.50466557,   1.01913473,  -0.5521073 ,  -7.24254058,
   -0.7820008 , -14.78609408]

qfrc_actuator:
[ 0.00454284,-0.00148932,-0.00369009, 0.02430023, 0.00319762,-0.00312276,
 -0.01366688, 0.02075588, 0.009358  , 0.00240158,-0.00734672, 0.01876061,
  0.1116836 ,-0.0010716 , 0.08280204, 0.04343849, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.55823472, -3.64965092,  7.74102252, -3.64965092, 19.70496651,
        5.25533673,  7.74102252,  5.25533673, 11.03596224,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009341642921267407
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.94233281e-14,  5.94233281e-14,  1.00000000e+00,  3.53113192e-27,
        1.00000000e+00, -5.94233281e-14, -1.00000000e+00,  0.00000000e+00,
       -5.94233281e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10208683, -0.08980754,  0.06197338])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00000225e-04, 3.36318638e-05, 7.47475888e-05,-5.26129318e-04,
 -6.09999919e-05, 3.12754677e-04, 3.92560489e-04,-4.07630931e-04,
 -2.06080296e-04,-1.20678553e-04, 1.09426699e-04,-3.86808288e-04,
 -3.04829067e-01,-4.63914727e-04,-5.55333604e-04,-1.29884558e-03,
 -4.64642150e-06,-1.51667782e-06,-1.21646183e+00,-4.78759180e-04,
 -6.20915045e-07,-5.63730302e-04]


--- Step 17 ---
qpos:
[ 1.90198379e-03,-5.50610833e-04,-1.51570311e-03, 1.02495701e-02,
  1.35833107e-03,-1.06748148e-03,-5.62765883e-03, 8.73891029e-03,
  3.94141447e-03, 1.00590562e-03,-3.07296028e-03, 7.89660546e-03,
  1.34350688e-01,-4.23716920e-04, 3.61765635e-02, 1.98344825e-02,
  9.44058659e-02,-7.05003580e-02, 1.30640240e-01, 5.00253679e-01,
  4.99411714e-01, 4.96116570e-01, 5.04185031e-01]

qacc:
[ -22.60395445, -22.24353537, 119.93319766,-284.31332074, -13.53923144,
  -31.53346869, 153.71666363,-319.7353763 , -27.74873752, -22.61616373,
  110.85445025,-243.69491359, -89.47867736,  69.56776124,  77.59482294,
 -277.85252083,  -0.5019871 ,   1.01023408,  -0.63607664,  -7.24268399,
   -0.73121477, -14.65122345]

qfrc_actuator:
[ 0.00441327,-0.00144855,-0.00361656, 0.02383576, 0.00311933,-0.00304864,
 -0.0134017 , 0.02030397, 0.00920107, 0.00237734,-0.00723211, 0.01838707,
  0.11095143,-0.0010565 , 0.0826127 , 0.04206859, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.40818225, -4.69111875,  6.97788891, -4.69111875, 28.32083672,
       13.38694667,  6.97788891, 13.38694667, 17.40800402,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008865403582492409
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.87846444e-13,  6.26154813e-14,  1.00000000e+00,  1.17620955e-26,
        1.00000000e+00, -6.26154813e-14, -1.00000000e+00,  0.00000000e+00,
       -1.87846444e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10209274, -0.08982113,  0.06197474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.32315866e-04, 5.29342586e-05, 7.14752253e-05,-4.71560038e-04,
 -7.99129932e-05, 3.17216220e-04, 3.67058206e-04,-4.33032079e-04,
 -1.62723867e-04,-8.61528259e-05, 9.02319507e-05,-3.83031085e-04,
 -2.93400503e-01,-5.35033036e-04,-5.74236876e-04,-1.51159204e-03,
 -5.77554839e-06,-1.15304906e-06,-1.21646299e+00,-4.77297612e-04,
  2.55394190e-06,-5.63600176e-04]


--- Step 18 ---
qpos:
[ 1.98798603e-03,-5.77989436e-04,-1.58519978e-03, 1.07178407e-02,
  1.41968194e-03,-1.12879210e-03,-5.88950853e-03, 9.13642799e-03,
  4.12167980e-03, 1.05450735e-03,-3.21266179e-03, 8.25803548e-03,
  1.41919167e-01,-4.29997853e-04, 3.82531105e-02, 2.07536248e-02,
  9.43503732e-02,-7.04992221e-02, 1.30678653e-01, 5.00457676e-01,
  4.99201498e-01, 4.95919481e-01, 5.04384623e-01]

qacc:
[ -22.72225442, -21.85225887, 116.60480894,-274.11859866,  -9.34050896,
  -32.00516431, 154.09177275,-317.63055439, -32.06373205, -24.02486385,
  112.99251587,-238.01999933, -94.87567652,  69.4376941 ,  57.69293847,
 -210.52630879,  -0.50072895,   1.00359178,  -0.70189295,  -7.25388803,
   -0.6839069 , -14.54764164]

qfrc_actuator:
[ 0.00428388,-0.00143106,-0.00354489, 0.02338955, 0.00306607,-0.00301564,
 -0.0131389 , 0.01985792, 0.0090175 , 0.00230784,-0.00708989, 0.01803783,
  0.1102385 ,-0.00106332, 0.08242436, 0.04102884, 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: -0.000840048583370015
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.60808819e-14, -6.60808819e-14,  1.00000000e+00, -4.36668295e-27,
        1.00000000e+00,  6.60808819e-14, -1.00000000e+00,  0.00000000e+00,
       -6.60808819e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10209849, -0.08983439,  0.06197606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.33045933e-04, 4.20972070e-05, 7.51046386e-05,-4.51503352e-04,
 -5.54174783e-05, 2.72136021e-04, 3.61514914e-04,-4.28350564e-04,
 -1.88134858e-04,-1.15880621e-04, 1.22746752e-04,-3.57837865e-04,
 -2.80918356e-01,-6.44959591e-04,-6.05586795e-04,-1.19568494e-03,
 -6.94725253e-06,-6.50509080e-07,-1.21646450e+00,-4.75871705e-04,
  5.92655823e-06,-5.63365614e-04]


--- Step 19 ---
qpos:
[ 2.07245899e-03,-6.04724904e-04,-1.65333399e-03, 1.11763934e-02,
  1.48026212e-03,-1.18914597e-03,-6.14563848e-03, 9.52518503e-03,
  4.29799904e-03, 1.10181913e-03,-3.34925665e-03, 8.61279435e-03,
  1.49198060e-01,-4.34174631e-04, 4.03251409e-02, 2.16607016e-02,
  9.42928779e-02,-7.04940908e-02, 1.30714057e-01, 5.00684082e-01,
  4.98970207e-01, 4.95728776e-01, 5.04576221e-01]

qacc:
[ -13.43081754, -22.95029296, 124.13492839,-295.0289933 ,  -6.61847681,
  -32.75585671, 155.63360411,-317.13309375, -34.61536693, -24.06426319,
  111.60701422,-231.2098028 , -98.72409386,  80.72517522,  29.9395568 ,
 -114.19943412,  -0.50066355,   0.99886046,  -0.75238836,  -7.27518227,
   -0.63919292, -14.4709847 ]

qfrc_actuator:
[ 0.0042089 ,-0.00139213,-0.00347495, 0.02290437, 0.00302798,-0.00298983,
 -0.01286204, 0.01941886, 0.00881968, 0.00224744,-0.00693265, 0.01770567,
  0.10954801,-0.00103031, 0.08227411, 0.04045828, 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: -0.0007949558388408579
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.98292264e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.98292264e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10210407, -0.08984724,  0.06197734])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.86610070e-05, 5.90785060e-05, 7.22614334e-05,-4.90399117e-04,
 -3.95734964e-05, 2.38705246e-04, 3.65688184e-04,-4.23389185e-04,
 -2.03105572e-04,-1.15612824e-04, 1.36491761e-04,-3.40405077e-04,
 -2.67623285e-01,-6.87774576e-04,-5.43464451e-04,-7.12175391e-04,
 -8.16392749e-06,-1.15311109e-08,-1.21646635e+00,-4.74474568e-04,
  9.50084381e-06,-5.63027562e-04]


--- Step 20 ---
qpos:
[ 2.15572169e-03,-6.30731849e-04,-1.71988249e-03, 1.16255199e-02,
  1.53991415e-03,-1.24817271e-03,-6.39684536e-03, 9.90635019e-03,
  4.47092167e-03, 1.14820755e-03,-3.48329106e-03, 8.96044572e-03,
  1.56179922e-01,-4.36947909e-04, 4.23941075e-02, 2.25504682e-02,
  9.42333762e-02,-7.04849765e-02, 1.30746301e-01, 5.00932827e-01,
  4.98717815e-01, 4.95544397e-01, 5.04759937e-01]

qacc:
[ -10.61769114, -22.86637839, 122.75918091,-289.0166064 ,  -8.03328913,
  -27.62884874, 133.13439709,-273.40979751, -29.80286434, -22.96080818,
  110.20209927,-236.73720153,-101.256993  ,  77.91977209,  47.98192534,
 -174.17593617,  -0.50160298,   0.99574546,  -0.7899861 ,  -7.30565368,
   -0.5963642 , -14.41753622]

qfrc_actuator:
[ 0.00414879,-0.00134071,-0.00338881, 0.02243568, 0.00298135,-0.00291527,
 -0.01261465, 0.01904068, 0.00865059, 0.00221079,-0.00680328, 0.01735072,
  0.10889265,-0.00102785, 0.08210961, 0.03958283, 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: -0.0007514643905318363
  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([ 0.10210946, -0.08985965,  0.06197858])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.22376921e-05, 7.88154578e-05, 9.02866602e-05,-4.74032074e-04,
 -4.76663381e-05, 2.69756586e-04, 3.29931066e-04,-3.63694341e-04,
 -1.74816315e-04,-8.81050431e-05, 1.10958251e-04,-3.62356699e-04,
 -2.53764953e-01,-7.89892254e-04,-4.76204293e-04,-9.82361793e-04,
 -9.42788139e-06, 7.62203532e-07,-1.21646854e+00,-4.73100178e-04,
  1.32813903e-05,-5.62586828e-04]


--- Step 21 ---
qpos:
[ 2.23761737e-03,-6.55987828e-04,-1.78492208e-03, 1.20658653e-02,
  1.59819851e-03,-1.30595253e-03,-6.64337189e-03, 1.02807313e-02,
  4.64047341e-03, 1.19364144e-03,-3.61498289e-03, 9.30080097e-03,
  1.62860983e-01,-4.38526955e-04, 4.44597795e-02, 2.34212942e-02,
  9.41718609e-02,-7.04718863e-02, 1.30775278e-01, 5.01203868e-01,
  4.98444268e-01, 4.95366295e-01, 5.04935865e-01]

qacc:
[ -11.99934386, -21.29043578, 114.46462841,-269.45616953, -11.90322261,
  -25.38450887, 121.58119232,-247.44182009, -29.58290785, -22.78177033,
  110.29977743,-239.72773446,-102.64556369,  79.7206229 ,  52.58412491,
 -190.7510263 ,  -0.50339112,   0.9939956 ,  -0.8167713 ,  -7.34444511,
   -0.55485127, -14.38411116]

qfrc_actuator:
[ 0.00408015,-0.00129989,-0.00331145, 0.02199822, 0.00291232,-0.00286547,
 -0.01238645, 0.01870137, 0.008482  , 0.00215306,-0.00669134, 0.0169852 ,
  0.10826412,-0.0010261 , 0.08190996, 0.03862327, 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: -0.0007097219111019959
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.8215355e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        7.8215355e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10211465, -0.08987157,  0.06197977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.03044038e-05, 8.36609226e-05, 8.83533272e-05,-4.40992781e-04,
 -7.02922677e-05, 2.57438610e-04, 3.14772611e-04,-3.23570928e-04,
 -1.73495839e-04,-1.00016412e-04, 9.53065012e-05,-3.73046667e-04,
 -2.39509317e-01,-8.57732721e-04,-5.15699960e-04,-1.07407437e-03,
 -1.07413587e-05, 1.66963836e-06,-1.21647108e+00,-4.71743143e-04,
  1.72733693e-05,-5.62044111e-04]


--- Step 22 ---
qpos:
[ 2.31770963e-03,-6.80590019e-04,-1.84875081e-03, 1.24975587e-02,
  1.65485723e-03,-1.36266104e-03,-6.88506322e-03, 1.06474510e-02,
  4.80634166e-03, 1.23827435e-03,-3.74468786e-03, 9.63446704e-03,
  1.69240534e-01,-4.38759067e-04, 4.65216365e-02, 2.42785459e-02,
  9.41083220e-02,-7.04548224e-02, 1.30800917e-01, 5.01497184e-01,
  4.98149487e-01, 4.95194428e-01, 5.05104089e-01]

qacc:
[ -15.84680667, -20.31210964, 110.25836141,-262.48214316, -14.16289319,
  -27.85213381, 133.75572796,-274.93186725, -32.34774687, -20.32865826,
   99.29512025,-217.77374175,-103.07997477,  84.69588816,  35.56032842,
 -132.29908323,  -0.50589769,   0.99339609,  -0.83454535,  -7.39075537,
   -0.51419527, -14.36796701]

qfrc_actuator:
[ 0.00398927,-0.0012835 ,-0.00325768, 0.02156487, 0.00283065,-0.00283098,
 -0.01215372, 0.0183166 , 0.00829729, 0.00211856,-0.00659065, 0.01665188,
  0.10765208,-0.00100739, 0.08174794, 0.03795911, 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: -0.0006698300910454591
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.28734809e-14,  8.28734809e-14,  1.00000000e+00, -6.86801383e-27,
        1.00000000e+00, -8.28734809e-14, -1.00000000e+00,  0.00000000e+00,
        8.28734809e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10211963, -0.08988297,  0.0619809 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.27692137e-05, 6.29355166e-05, 6.66692964e-05,-4.36079606e-04,
 -8.35735714e-05, 2.33737565e-04, 3.16215379e-04,-3.69302198e-04,
 -1.89578946e-04,-8.71079855e-05, 7.92856135e-05,-3.42098399e-04,
 -2.25050590e-01,-8.98169038e-04,-5.05246878e-04,-7.88605527e-04,
 -1.21065531e-05, 2.71020410e-06,-1.21647395e+00,-4.70398514e-04,
  2.14824446e-05,-5.61400030e-04]


--- Step 23 ---
qpos:
[ 2.39540106e-03,-7.04871848e-04,-1.91099452e-03, 1.29207013e-02,
  1.71044118e-03,-1.41832790e-03,-7.12198541e-03, 1.10063661e-02,
  4.96836185e-03, 1.28220814e-03,-3.87228801e-03, 9.96185505e-03,
  1.75319701e-01,-4.38266002e-04, 4.85796845e-02, 2.51209518e-02,
  9.40427470e-02,-7.04337835e-02, 1.30823177e-01, 5.01812779e-01,
  4.97833370e-01, 4.95028760e-01, 5.05264681e-01]

qacc:
[ -21.08573292, -21.58008559, 113.73023996,-264.57360656,  -9.32098424,
  -28.01011104, 134.8497299 ,-278.3554359 , -33.79388317, -19.6740252 ,
   95.42580807,-207.05829084,-102.70947534,  80.94334785,  39.42168721,
 -145.77999905,  -0.50901348,   0.99376289,  -0.84486839,  -7.44383995,
   -0.47402556, -14.36673521]

qfrc_actuator:
[ 0.00386829,-0.00128197,-0.00318286, 0.02113738, 0.00277771,-0.00278825,
 -0.01192031, 0.01792589, 0.00810458, 0.00209825,-0.00647955, 0.01634018,
  0.10707679,-0.00101463, 0.0815341 , 0.0372081 , 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: -0.0006318520743875955
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.78546633e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.78546633e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10212439, -0.08989383,  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:
[-1.23525394e-04, 3.21964519e-05, 8.09363772e-05,-4.31754093e-04,
 -5.52270183e-05, 2.26983675e-04, 3.10547900e-04,-3.77087264e-04,
 -1.98042071e-04,-6.76926278e-05, 9.14633595e-05,-3.19856027e-04,
 -2.10521586e-01,-9.72197909e-04,-5.20024498e-04,-8.58122484e-04,
 -1.35256143e-05, 3.88370428e-06,-1.21647718e+00,-4.69061639e-04,
  2.59146951e-05,-5.60655138e-04]


--- Step 24 ---
qpos:
[ 2.47138370e-03,-7.28601614e-04,-1.97165427e-03, 1.33353827e-02,
  1.76495797e-03,-1.47298895e-03,-7.35423924e-03, 1.13585053e-02,
  5.12715799e-03, 1.32510132e-03,-3.99710617e-03, 1.02819102e-02,
  1.81101954e-01,-4.37189354e-04, 5.06340800e-02, 2.59446055e-02,
  9.39751215e-02,-7.04087649e-02, 1.30842040e-01, 5.02150671e-01,
  4.97495793e-01, 4.94869259e-01, 5.05417705e-01]

qacc:
[ -15.00016605, -21.09826019, 112.05832481,-261.49938063,  -9.25541023,
  -25.65744703, 122.05058642,-247.56872118, -28.27521444, -24.20194537,
  115.34989714,-246.05007575,-101.65155175,  81.7723402 ,  51.49006854,
 -187.64764616,  -0.51264663,   0.99493819,  -0.84909277,  -7.50301176,
   -0.43404206, -14.3783673 ]

qfrc_actuator:
[ 0.00378381,-0.00123603,-0.00309626, 0.02071676, 0.00272437,-0.00274096,
 -0.01168835, 0.01758808, 0.00794421, 0.0020334 ,-0.00634536, 0.01597272,
  0.10653432,-0.0010196 , 0.08130528, 0.03625192, 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: -0.0005958188948235882
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.65839131e-14, -1.86335652e-13,  1.00000000e+00,  8.68024384e-27,
        1.00000000e+00,  1.86335652e-13, -1.00000000e+00,  0.00000000e+00,
        4.65839131e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10212892, -0.08990416,  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:
[-8.79008781e-05, 6.25390377e-05, 8.82648293e-05,-4.25606249e-04,
 -5.48376825e-05, 2.26183960e-04, 3.06676254e-04,-3.24815846e-04,
 -1.65940181e-04,-9.79005793e-05, 1.20826828e-04,-3.73927863e-04,
 -1.96017810e-01,-1.01288376e-03,-5.49678503e-04,-1.06913200e-03,
 -1.50006508e-05, 5.19021936e-06,-1.21648076e+00,-4.67728055e-04,
  3.05765497e-05,-5.59809948e-04]


--- Step 25 ---
qpos:
[ 2.54576324e-03,-7.51613559e-04,-2.03115625e-03, 1.37417890e-02,
  1.81875572e-03,-1.52622741e-03,-7.58178606e-03, 1.17041409e-02,
  5.28314261e-03, 1.36667571e-03,-4.11913266e-03, 1.05940608e-02,
  1.86592155e-01,-4.35979322e-04, 5.26847946e-02, 2.67540077e-02,
  9.39054291e-02,-7.03797591e-02, 1.30857509e-01, 5.02510893e-01,
  4.97136617e-01, 4.94715897e-01, 5.05563217e-01]

qacc:
[ -14.08627602, -19.30601708, 105.19747913,-250.85541674,  -6.20049212,
  -24.65898865, 118.12938552,-239.28910912, -24.63932364, -25.7811813 ,
  122.84873083,-263.24117244,-100.03390646,  78.71612172,  37.81418648,
 -139.85831119,  -0.51671972,   0.99678679,  -0.84839019,  -7.56764155,
   -0.39400122, -14.40109182]

qfrc_actuator:
[ 0.00370376,-0.0011993 ,-0.00303875, 0.02030359, 0.00268894,-0.00263808,
 -0.01144133, 0.01726637, 0.00780415, 0.00194245,-0.00621659, 0.01557536,
  0.10600606,-0.00104112, 0.08115814, 0.03555527, 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: -0.0005617350513859171
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.88208784e-14, -9.88208784e-14,  1.00000000e+00,  9.76556602e-27,
        1.00000000e+00,  9.88208784e-14, -1.00000000e+00,  0.00000000e+00,
        9.88208784e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10213324, -0.08991394,  0.06198397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.24582182e-05, 7.20655641e-05, 6.65664483e-05,-4.16466589e-04,
 -3.69029430e-05, 2.82706685e-04, 3.22862903e-04,-3.07880497e-04,
 -1.44721530e-04,-1.37121114e-04, 1.10905832e-04,-4.05143250e-04,
 -1.81675065e-01,-1.06304381e-03,-5.05270317e-04,-8.25212822e-04,
 -1.65337307e-05, 6.63002599e-06,-1.21648470e+00,-4.66393399e-04,
  3.54747318e-05,-5.58864944e-04]


--- Step 26 ---
qpos:
[ 2.61860566e-03,-7.74037493e-04,-2.08972935e-03, 1.41400994e-02,
  1.87171026e-03,-1.57805093e-03,-7.80452501e-03, 1.20425306e-02,
  5.43658094e-03, 1.40712862e-03,-4.23849205e-03, 1.08996849e-02,
  1.91796598e-01,-4.34973799e-04, 5.47322018e-02, 2.75461507e-02,
  9.38336520e-02,-7.03467565e-02, 1.30869603e-01, 5.02893494e-01,
  4.96755685e-01, 4.94568652e-01, 5.05701268e-01]

qacc:
[ -13.51047311, -18.46965939, 101.20821182,-243.30135381,  -7.28864539,
  -26.47765725, 127.73794891,-261.90817378, -22.31159428, -22.33832835,
  105.12653776,-221.60805019, -97.947834  ,  76.45559342,  47.47740324,
 -172.8519337 ,  -0.52116737,   0.99919303,  -0.8437741 ,  -7.63715755,
   -0.35370489, -14.43337893]

qfrc_actuator:
[ 0.00362694,-0.00118624,-0.00299889, 0.01989809, 0.0026466 ,-0.00257365,
 -0.01120492, 0.01690348, 0.00767716, 0.00190755,-0.00607444, 0.01525233,
  0.10551255,-0.00107235, 0.08096428, 0.03468006, 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: -0.0005295833359841434
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.04820427e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.04820427e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10213733, -0.08992319,  0.06198489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.90704866e-05, 4.96189413e-05, 4.85231433e-05,-4.08946589e-04,
 -4.32928442e-05, 2.79831554e-04, 3.26444358e-04,-3.45738261e-04,
 -1.31065715e-04,-1.06363744e-04, 1.13878087e-04,-3.33430918e-04,
 -1.67542289e-01,-1.10038332e-03,-5.06097940e-04,-9.84907951e-04,
 -1.81268803e-05, 8.20352907e-06,-1.21648900e+00,-4.65053338e-04,
  4.06162132e-05,-5.57820597e-04]


--- Step 27 ---
qpos:
[ 2.69030643e-03,-7.95703181e-04,-2.14802847e-03, 1.45308056e-02,
  1.92374558e-03,-1.62857284e-03,-8.02282917e-03, 1.23736308e-02,
  5.58695942e-03, 1.44677658e-03,-4.35483686e-03, 1.11993286e-02,
  1.96722976e-01,-4.34091469e-04, 5.67766489e-02, 2.83183324e-02,
  9.37597712e-02,-7.03097457e-02, 1.30878353e-01, 5.03298529e-01,
  4.96352823e-01, 4.94427501e-01, 5.05831901e-01]

qacc:
[ -10.05398415, -15.40741597,  88.52857363,-221.17615396,  -7.96617786,
  -25.67242272, 124.83589252,-259.08201405, -26.8257618 , -21.75712212,
  101.37006738,-209.20113913, -95.49105445,  78.14363488,  56.17712416,
 -202.5321544 ,  -0.52593439,   1.00205828,  -0.83611832,  -7.7110448 ,
   -0.31299139, -14.4739113 ]

qfrc_actuator:
[ 0.00357038,-0.00115204,-0.0029876 , 0.01951807, 0.00260052,-0.00253287,
 -0.01099461, 0.01653698, 0.00752337, 0.00190661,-0.0059075 , 0.01495794,
  0.10505517,-0.00109137, 0.08079041, 0.0336709 , 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: -0.0004993290056682642
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.55857467e-14, -1.11171493e-13,  1.00000000e+00,  6.17955047e-27,
        1.00000000e+00,  1.11171493e-13, -1.00000000e+00,  0.00000000e+00,
        5.55857467e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10214121, -0.08993191,  0.06198575])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.87163333e-05, 5.47999466e-05, 1.33474330e-05,-3.84885961e-04,
 -4.72133842e-05, 2.53606291e-04, 2.98819312e-04,-3.50077057e-04,
 -1.57477386e-04,-5.14987687e-05, 1.47860443e-04,-3.01974548e-04,
 -1.53689576e-01,-1.10861065e-03,-5.05669564e-04,-1.12820359e-03,
 -1.97820831e-05, 9.91120429e-06,-1.21649367e+00,-4.63703512e-04,
  4.60081767e-05,-5.56677379e-04]


--- Step 28 ---
qpos:
[ 2.76008264e-03,-8.16837983e-04,-2.20597068e-03, 1.49139270e-02,
  1.97447886e-03,-1.67785855e-03,-8.23656055e-03, 1.26981040e-02,
  5.73432618e-03, 1.48537966e-03,-4.46814591e-03, 1.14931315e-02,
  2.01380545e-01,-4.32322960e-04, 5.88178361e-02, 2.90750395e-02,
  9.36837663e-02,-7.02687134e-02, 1.30883801e-01, 5.03726066e-01,
  4.95927847e-01, 4.94292425e-01, 5.05955156e-01]

qacc:
[ -16.93573223, -15.8865245 ,  89.74258378,-222.04613557, -11.32404586,
  -24.77324002, 118.71864511,-241.68214662, -26.39707964, -21.84709319,
  100.64111197,-205.91595775, -92.76834527,  89.03317883,  42.14927258,
 -154.09256641,  -0.5310122 ,   1.00537158,  -0.82554886,  -7.78937137,
   -0.27175359, -14.5225429 ]

qfrc_actuator:
[ 0.00347295,-0.00114106,-0.00297543, 0.01913835, 0.00253486,-0.00247122,
 -0.01076602, 0.01620677, 0.00737278, 0.00183741,-0.0057626 , 0.01466503,
  0.1046184 ,-0.0010498 , 0.08065525, 0.03291053, 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: -0.00047092337672548223
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.76815871e-13,  5.89386235e-14,  1.00000000e+00, -1.04212840e-26,
        1.00000000e+00, -5.89386235e-14, -1.00000000e+00,  0.00000000e+00,
        1.76815871e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10214487, -0.08994012,  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:
[-9.90155600e-05, 2.82361995e-05, 1.18117747e-05,-3.85113396e-04,
 -6.69156681e-05, 2.53832141e-04, 3.08090278e-04,-3.15953572e-04,
 -1.55010130e-04,-8.07184457e-05, 1.42406462e-04,-2.96336917e-04,
 -1.40202545e-01,-1.06031080e-03,-4.84074455e-04,-8.87680442e-04,
 -2.15012776e-05, 1.17535499e-05,-1.21649873e+00,-4.62339495e-04,
  5.16579870e-05,-5.55435769e-04]


--- Step 29 ---
qpos:
[ 2.82780455e-03,-8.37883829e-04,-2.26258399e-03, 1.52891468e-02,
  2.02368561e-03,-1.72606443e-03,-8.44575319e-03, 1.30161145e-02,
  5.87908778e-03, 1.52278772e-03,-4.57927094e-03, 1.17818988e-02,
  2.05777697e-01,-4.30321342e-04, 6.08554028e-02, 2.98168378e-02,
  9.36082064e-02,-7.02237612e-02, 1.30889066e-01, 5.04165796e-01,
  4.95489831e-01, 4.94173611e-01, 5.06062367e-01]

qacc:
[-1.80392169e+01,-1.98384195e+01, 1.04326695e+02,-2.43345821e+02,
 -1.32945798e+01,-2.45425733e+01, 1.16910468e+02,-2.36871718e+02,
 -2.28426860e+01,-1.80126273e+01, 8.32696769e+01,-1.73121472e+02,
 -8.98494629e+01, 8.22141836e+01, 3.98998945e+01,-1.46995839e+02,
  1.11245107e-01, 9.79983054e-01,-4.55655701e-02, 1.77177916e+00,
  4.02526650e-01,-1.43807761e+01]

qfrc_actuator:
[ 0.00336998,-0.00114409,-0.00290966, 0.01874406, 0.00245819,-0.00243301,
 -0.01054611, 0.01588283, 0.00724304, 0.00174557,-0.00566767, 0.01441077,
  0.10420319,-0.00104385, 0.08045824, 0.03216091, 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: -0.00044687804790596863
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.10549777e-14,  6.21099554e-14,  1.00000000e+00,  1.92882328e-27,
        1.00000000e+00, -6.21099554e-14, -1.00000000e+00,  0.00000000e+00,
       -3.10549777e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09150738, -0.08803138,  0.06198724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05705366e-04,-9.69597156e-07, 5.97363394e-05,-4.00851379e-04,
 -7.84771050e-05, 2.33805344e-04, 3.01717593e-04,-3.08685328e-04,
 -1.34102206e-04,-1.20576106e-04, 8.59202358e-05,-2.59008420e-04,
 -1.27158484e-01,-1.09808209e-03,-5.09644697e-04,-8.60874636e-04,
 -2.32864832e-05, 1.37311883e-05,-1.21650417e+00,-4.60956785e-04,
  5.75735552e-05,-5.54096228e-04]


--- Step 30 ---
qpos:
[ 2.89445595e-03,-8.58740827e-04,-2.31775151e-03, 1.56570319e-02,
  2.07262527e-03,-1.77305409e-03,-8.65064056e-03, 1.33274189e-02,
  6.02116884e-03, 1.55943679e-03,-4.68907204e-03, 1.20650220e-02,
  2.09923172e-01,-4.28940346e-04, 6.28894259e-02, 3.05429252e-02,
  9.35330697e-02,-7.01749081e-02, 1.30893790e-01, 5.04617648e-01,
  4.95038742e-01, 4.94070886e-01, 5.06153763e-01]

qacc:
[-9.38072647e+00,-1.88822077e+01, 9.86860500e+01,-2.28121486e+02,
 -2.23636842e+00,-2.42320188e+01, 1.17054977e+02,-2.40914527e+02,
 -2.35410828e+01,-1.62834905e+01, 8.05119992e+01,-1.79843078e+02,
 -8.67289694e+01, 7.29926954e+01, 4.24376112e+01,-1.55710290e+02,
  1.05786671e-01, 9.75210300e-01,-1.35349753e-01, 1.67990146e+00,
  4.50618761e-01,-1.42701057e+01]

qfrc_actuator:
[ 0.00331785,-0.00111979,-0.00283059, 0.01837989, 0.00244669,-0.0023737 ,
 -0.01033321, 0.01554739, 0.00710885, 0.00171172,-0.00560308, 0.01412798,
  0.10380982,-0.00107672, 0.08026688, 0.03137011, 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: -0.00043232788712621595
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.42002897e-14,  1.28400579e-13,  1.00000000e+00,  8.24335441e-27,
        1.00000000e+00, -1.28400579e-13, -1.00000000e+00,  0.00000000e+00,
       -6.42002897e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09150713, -0.08803505,  0.06198765])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.50705445e-05, 1.92555678e-05, 7.23567847e-05,-3.70615285e-04,
 -1.36568292e-05, 2.42622493e-04, 2.89987599e-04,-3.21123560e-04,
 -1.37968895e-04,-9.49104438e-05, 4.16786667e-05,-2.90472638e-04,
 -1.14513448e-01,-1.14200492e-03,-5.11853911e-04,-9.03662227e-04,
 -2.38338777e-05, 1.53704130e-05,-1.21650644e+00,-4.59360738e-04,
  6.20093569e-05,-5.53005285e-04]


--- Step 31 ---
qpos:
[ 2.96030951e-03,-8.79360186e-04,-2.37183534e-03, 1.60176950e-02,
  2.12139079e-03,-1.81870639e-03,-8.85140547e-03, 1.36326203e-02,
  6.16019181e-03, 1.59592834e-03,-4.79756359e-03, 1.23421220e-02,
  2.13827495e-01,-4.27469309e-04, 6.49193804e-02, 3.12572682e-02,
  9.34583349e-02,-7.01221673e-02, 1.30897680e-01, 5.05081574e-01,
  4.94574521e-01, 4.93984112e-01, 5.06229536e-01]

qacc:
[-6.99393750e+00,-1.75778786e+01, 9.36452320e+01,-2.20578293e+02,
 -1.42693841e+00,-2.23200765e+01, 1.07920931e+02,-2.21134583e+02,
 -2.68749061e+01,-1.62230060e+01, 8.30626509e+01,-1.89391143e+02,
 -8.34752711e+01, 7.96318701e+01, 2.96527256e+01,-1.12106601e+02,
  1.00494022e-01, 9.71930106e-01,-2.08559969e-01, 1.59406994e+00,
  4.97966879e-01,-1.41895322e+01]

qfrc_actuator:
[ 0.00327831,-0.00111473,-0.00277971, 0.01801864, 0.00243812,-0.00230229,
 -0.0101261 , 0.01524338, 0.00695536, 0.00174822,-0.00552119, 0.01383069,
  0.10344348,-0.00106112, 0.08007903, 0.03079214, 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: -0.00041716572590945467
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.65336913e-14,  6.65336913e-14,  1.00000000e+00,  4.42673207e-27,
        1.00000000e+00, -6.65336913e-14, -1.00000000e+00,  0.00000000e+00,
       -6.65336913e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09150686, -0.08803893,  0.06198808])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.10399630e-05, 1.52386989e-05, 5.09530046e-05,-3.65799212e-04,
 -8.86913331e-06, 2.56633520e-04, 2.84094002e-04,-2.89962037e-04,
 -1.57370925e-04,-2.06861684e-05, 5.77343320e-05,-3.06003856e-04,
 -1.02279404e-01,-1.09474113e-03,-5.14751427e-04,-6.93654022e-04,
 -2.43804218e-05, 1.70671652e-05,-1.21650900e+00,-4.57746837e-04,
  6.63455410e-05,-5.51841753e-04]


--- Step 32 ---
qpos:
[ 3.02552269e-03,-8.99648922e-04,-2.42518236e-03, 1.63708764e-02,
  2.16932970e-03,-1.86321741e-03,-9.04800827e-03, 1.39321683e-02,
  6.29594949e-03, 1.63219334e-03,-4.90350289e-03, 1.26137602e-02,
  2.17500826e-01,-4.25707368e-04, 6.69450829e-02, 3.19611988e-02,
  9.33854292e-02,-7.00654353e-02, 1.30901528e-01, 5.05552299e-01,
  4.94101711e-01, 4.93919405e-01, 5.06284499e-01]

qacc:
[-5.62106407e+00,-1.70231065e+01, 9.29382923e+01,-2.23878557e+02,
 -7.15478169e+00,-2.17528109e+01, 1.03643948e+02,-2.09017295e+02,
 -2.86579844e+01,-1.86279374e+01, 8.91401549e+01,-1.87691660e+02,
 -8.01811089e+01, 8.07467283e+01, 2.53483491e+01,-9.74414697e+01,
  4.57262423e-01, 9.97805174e-01,-1.04627057e-02, 6.87528079e+00,
  9.21968920e-01,-1.45548064e+01]

qfrc_actuator:
[ 0.00324647,-0.00110359,-0.00274594, 0.0176442 , 0.00239582,-0.00225975,
 -0.009924  , 0.01496031, 0.00679174, 0.00177337,-0.0053762 , 0.01356284,
  0.1030855 ,-0.00103465, 0.07986683, 0.03027319, 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: -0.00040433708815940106
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.37289289e-13,  2.10224223e-13,  1.00000000e+00, -2.88615341e-26,
        1.00000000e+00, -2.10224223e-13, -1.00000000e+00,  0.00000000e+00,
        1.37289289e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08602686, -0.08810006,  0.06198845])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.29346313e-05, 1.48620053e-05, 3.05311426e-05,-3.79788925e-04,
 -4.24566651e-05, 2.35648078e-04, 2.82278240e-04,-2.68019560e-04,
 -1.68027981e-04, 1.21098177e-05, 1.37620154e-04,-2.73115878e-04,
 -9.05646943e-02,-1.07211952e-03,-5.16218619e-04,-6.23133129e-04,
 -2.49281494e-05, 1.88234286e-05,-1.21651184e+00,-4.56110442e-04,
  7.05952204e-05,-5.50605036e-04]


--- Step 33 ---
qpos:
[ 3.08984796e-03,-9.19565734e-04,-2.47748068e-03, 1.67167822e-02,
  2.21604404e-03,-1.90656373e-03,-9.24031214e-03, 1.42259776e-02,
  6.42938118e-03, 1.66746617e-03,-5.00571802e-03, 1.28804273e-02,
  2.20952672e-01,-4.24216039e-04, 6.89672673e-02, 3.26530660e-02,
  9.33143167e-02,-7.00047320e-02, 1.30904948e-01, 5.06029802e-01,
  4.93620242e-01, 4.93876542e-01, 5.06318927e-01]

qacc:
[-7.78970627e+00,-1.74110315e+01, 9.35366304e+01,-2.21441819e+02,
 -1.06467750e+01,-2.22726226e+01, 1.05914102e+02,-2.13011228e+02,
 -2.03402500e+01,-2.19217303e+01, 9.73162844e+01,-1.88655313e+02,
 -7.68467271e+01, 7.38045625e+01, 3.14290243e+01,-1.17142528e+02,
  4.48304946e-01, 9.92834618e-01,-1.06918154e-01, 6.73798630e+00,
  9.66195197e-01,-1.44414115e+01]

qfrc_actuator:
[ 0.00320167,-0.00107124,-0.00268704, 0.01728276, 0.00233401,-0.00219934,
 -0.00970885, 0.01467403, 0.00667673, 0.00170308,-0.0051951 , 0.01331451,
  0.10274028,-0.0010374 , 0.07969345, 0.02966874, 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: -0.0003934821578683301
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41076667e-13,  1.45485313e-13,  1.00000000e+00, -2.05245829e-26,
        1.00000000e+00, -1.45485313e-13, -1.00000000e+00,  0.00000000e+00,
        1.41076667e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08602582, -0.0881028 ,  0.06198876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.56696442e-05, 3.10482467e-05, 5.26031099e-05,-3.67778617e-04,
 -6.29349018e-05, 2.42241044e-04, 2.91487827e-04,-2.71750430e-04,
 -1.19713586e-04,-4.71035218e-05, 1.91457239e-04,-2.48785887e-04,
 -7.93465216e-02,-1.08874177e-03,-4.70158405e-04,-7.04879144e-04,
 -2.47745339e-05, 2.04173686e-05,-1.21651320e+00,-4.54304004e-04,
  7.36997338e-05,-5.49477347e-04]


--- Step 34 ---
qpos:
[ 3.15279198e-03,-9.39144172e-04,-2.52842041e-03, 1.70559794e-02,
  2.26199909e-03,-1.94872670e-03,-9.42847361e-03, 1.45140755e-02,
  6.56039702e-03, 1.70192762e-03,-5.10516740e-03, 1.31420784e-02,
  2.24193342e-01,-4.22786194e-04, 7.09860978e-02, 3.33310283e-02,
  9.32449653e-02,-6.99400709e-02, 1.30907623e-01, 5.06514078e-01,
  4.93130032e-01, 4.93855347e-01, 5.06333048e-01]

qacc:
[-1.21192997e+01,-1.71455309e+01, 9.01466724e+01,-2.08726054e+02,
 -6.56383804e+00,-2.17621062e+01, 1.04001278e+02,-2.10376654e+02,
 -2.11645609e+01,-1.90939767e+01, 8.77728253e+01,-1.78491380e+02,
 -7.34843657e+01, 7.45589226e+01, 3.72467925e+01,-1.37144033e+02,
  4.40262627e-01, 9.89428261e-01,-1.86329776e-01, 6.61659655e+00,
  1.01085495e+00,-1.43588957e+01]

qfrc_actuator:
[ 0.00313183,-0.00104408,-0.00261365, 0.01694965, 0.00229673,-0.00214646,
 -0.00950541, 0.01438819, 0.00655575, 0.00164739,-0.00506554, 0.01306182,
  0.10242618,-0.00102173, 0.07950616, 0.02896555, 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: -0.0003816797188601756
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.90878181e-13, -3.18148011e-14,  1.00000000e+00,  9.25423148e-27,
        1.00000000e+00,  3.18148011e-14, -1.00000000e+00,  0.00000000e+00,
        2.90878181e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08602469, -0.08810585,  0.06198909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.10567836e-05, 3.99648680e-05, 7.35620333e-05,-3.37739994e-04,
 -3.89903625e-05, 2.40062083e-04, 2.82084432e-04,-2.70792573e-04,
 -1.24338165e-04,-5.34372890e-05, 1.35131915e-04,-2.53334912e-04,
 -6.85733899e-02,-1.05884551e-03,-4.75168960e-04,-8.02991819e-04,
 -2.46233684e-05, 2.20499681e-05,-1.21651491e+00,-4.52472590e-04,
  7.65432448e-05,-5.48266710e-04]


--- Step 35 ---
qpos:
[ 3.21441021e-03,-9.58236420e-04,-2.57788451e-03, 1.73888501e-02,
  2.30749465e-03,-1.98987948e-03,-9.61255393e-03, 1.47961849e-02,
  6.68859950e-03, 1.73594893e-03,-5.20288198e-03, 1.33979911e-02,
  2.27232693e-01,-4.21559382e-04, 7.30012978e-02, 3.39937277e-02,
  9.31786291e-02,-6.98851829e-02, 1.30916826e-01, 5.06952473e-01,
  4.92688845e-01, 4.93809425e-01, 5.06368586e-01]

qacc:
[ -11.62973706, -16.49148451,  86.48375069,-198.74599247,  -3.92897399,
  -22.39533841, 107.08862499,-218.02640398, -24.702384  , -17.20262018,
   84.80430384,-186.66839757, -70.14599141,  71.53414871,  40.94658306,
 -150.68560224,   0.75381377,  -2.44326244,   1.63198904,  12.17955143,
   -2.06372588,  35.24150831]

qfrc_actuator:
[ 0.00306559,-0.00100241,-0.00253231, 0.01663588, 0.00227419,-0.00211633,
 -0.00931057, 0.01408712, 0.00641445, 0.00161844,-0.00498518, 0.01277306,
  0.10212713,-0.00101287, 0.07929466, 0.02819203, 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: -0.00041224650833708576
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34655237e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.34655237e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08260228, -0.03124517,  0.06198822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.81944095e-05, 6.50689170e-05, 8.69810752e-05,-3.16692034e-04,
 -2.35698468e-05, 2.14121805e-04, 2.71863461e-04,-2.86420497e-04,
 -1.44786054e-04,-4.20799771e-05, 7.75058550e-05,-2.91719587e-04,
 -5.83018925e-02,-1.04619292e-03,-5.13098167e-04,-8.79541370e-04,
 -2.44750385e-05, 2.37238602e-05,-1.21651698e+00,-4.50611465e-04,
  7.91398977e-05,-5.46972390e-04]


--- Step 36 ---
qpos:
[ 3.27510079e-03,-9.76868159e-04,-2.62591491e-03, 1.77146732e-02,
  2.35167627e-03,-2.03016499e-03,-9.79243712e-03, 1.50724991e-02,
  6.81411240e-03, 1.76919980e-03,-5.29900242e-03, 1.36484969e-02,
  2.30079514e-01,-4.21599738e-04, 7.50126580e-02, 3.46436577e-02,
  9.31151662e-02,-6.98396351e-02, 1.30930600e-01, 5.07347260e-01,
  4.92294548e-01, 4.93739758e-01, 5.06424612e-01]

qacc:
[  -8.12831095, -17.90001952,  94.48902403,-219.1317737 , -11.42810342,
  -22.49495906, 106.37845571,-214.07515431, -23.61163835, -16.56472301,
   80.49218461,-176.14226632, -66.81988643,  58.91736432,  33.07946244,
 -123.62468419,   0.7183385 ,  -2.33506043,   1.14277953,  11.5576288 ,
   -2.07608173,  33.66061398]

qfrc_actuator:
[ 0.00301974,-0.00098781,-0.0024646 , 0.01628276, 0.00220723,-0.0020824 ,
 -0.00910473, 0.01379723, 0.00628008, 0.00155221,-0.00491668, 0.01250087,
  0.10184915,-0.00106118, 0.07911671, 0.02756076, 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: -0.00044432678797119707
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24933163e-13,  1.24933163e-13,  1.00000000e+00, -1.56082953e-26,
        1.00000000e+00, -1.24933163e-13, -1.00000000e+00,  0.00000000e+00,
        1.24933163e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08260756, -0.03126255,  0.06198731])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.77075438e-05, 5.56885296e-05, 8.09024090e-05,-3.54082725e-04,
 -6.75492439e-05, 2.00571510e-04, 2.75658338e-04,-2.77010791e-04,
 -1.38432903e-04,-8.65514866e-05, 5.95735368e-05,-2.77378817e-04,
 -4.85030043e-02,-1.08361900e-03,-5.04128511e-04,-7.46108128e-04,
 -2.06967478e-05, 1.83230806e-05,-1.21650324e+00,-4.49426328e-04,
  6.66639008e-05,-5.45660114e-04]


--- Step 37 ---
qpos:
[ 3.33477069e-03,-9.95282821e-04,-2.67286859e-03, 1.80334288e-02,
  2.39436689e-03,-2.06947948e-03,-9.96867202e-03, 1.53428660e-02,
  6.93703935e-03, 1.80136230e-03,-5.39344179e-03, 1.38945101e-02,
  2.32744154e-01,-4.22415575e-04, 7.70200305e-02, 3.52836171e-02,
  9.30544551e-02,-6.98030637e-02, 1.30947292e-01, 5.07700350e-01,
  4.91945347e-01, 4.93647173e-01, 5.06500345e-01]

qacc:
[  -8.95377022, -17.26309766,  91.8379709 ,-216.07754193, -13.00176858,
  -21.13384079, 102.37215292,-211.90697406, -22.6905383 , -15.34701925,
   71.67837285,-151.40897814, -63.51539352,  61.95668309,  24.38741659,
  -93.53644982,   0.68792483,  -2.24408183,   0.72942656,  11.03484173,
   -2.08802334,  32.33169865]

qfrc_actuator:
[ 0.00296851,-0.00100738,-0.00242338, 0.01592703, 0.00213242,-0.00204644,
 -0.00892954, 0.01349849, 0.00615086, 0.00148189,-0.00483809, 0.01227611,
  0.1015956 ,-0.00107163, 0.07893774, 0.02707171, 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: -0.00046600571499122445
  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([ 0.08261118, -0.03127423,  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:
[-5.25088514e-05, 1.34095423e-05, 5.04322692e-05,-3.58017820e-04,
 -7.66614116e-05, 1.96118383e-04, 2.42953937e-04,-2.86117547e-04,
 -1.33112035e-04,-1.18595921e-04, 5.87647043e-05,-2.32196679e-04,
 -3.91197638e-02,-1.02995261e-03,-4.86158744e-04,-5.95296311e-04,
 -1.73885997e-05, 1.38567611e-05,-1.21649182e+00,-4.48144454e-04,
  5.57134100e-05,-5.44545211e-04]


--- Step 38 ---
qpos:
[ 3.39301830e-03,-1.01344006e-03,-2.71897262e-03, 1.83457861e-02,
  2.43582839e-03,-2.10756577e-03,-1.01420387e-02, 1.56072226e-02,
  7.05780676e-03, 1.83267881e-03,-5.48602714e-03, 1.41358640e-02,
  2.35254175e-01,-4.25133099e-04, 7.90235424e-02, 3.59104641e-02,
  9.29963914e-02,-6.97751633e-02, 1.30965505e-01, 5.08013348e-01,
  4.91639734e-01, 4.93532357e-01, 5.06595127e-01]

qacc:
[ -12.49422128, -15.18971255,  81.70962463,-194.04763793, -10.72985624,
  -18.74765506,  94.61590667,-204.17559241, -18.93655246, -15.86040215,
   74.66420868,-157.71879195, -53.52783138,  41.02905096,  34.06598251,
 -127.17644637,   0.66185638,  -2.16775074,   0.38051982,  10.59466506,
   -2.10076958,  31.21556931]

qfrc_actuator:
[ 0.00289676,-0.00099414,-0.00238051, 0.01560809, 0.00207136,-0.00199197,
 -0.00879163, 0.01319692, 0.00604347, 0.00146298,-0.00473641, 0.01204554,
  0.10136271,-0.00104161, 0.0787157 , 0.02640401, 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: -0.0004791918088766639
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.31686561e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.31686561e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08261344, -0.03128126,  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:
[-7.31758815e-05, 1.61172545e-05, 3.94574528e-05,-3.24166658e-04,
 -6.31785962e-05, 2.04928535e-04, 2.00375193e-04,-2.90450115e-04,
 -1.11157127e-04,-8.32994667e-05, 7.66917829e-05,-2.38515308e-04,
 -3.02342329e-02,-9.60372004e-04,-5.04362830e-04,-7.63258931e-04,
 -1.44873636e-05, 1.01942951e-05,-1.21648242e+00,-4.46759461e-04,
  4.60789629e-05,-5.43626006e-04]


--- Step 39 ---
qpos:
[ 3.44960862e-03,-1.03117197e-03,-2.76429501e-03, 1.86518619e-02,
  2.47623528e-03,-2.14474759e-03,-1.03122857e-02, 1.58662755e-02,
  7.17669315e-03, 1.86313873e-03,-5.57668344e-03, 1.43725645e-02,
  2.37648067e-01,-4.30997292e-04, 8.10241527e-02, 3.65199617e-02,
  9.29408858e-02,-6.97556785e-02, 1.30984065e-01, 5.08287603e-01,
  4.91376444e-01, 4.93395880e-01, 5.06708405e-01]

qacc:
[-1.45666989e+01,-1.45330303e+01, 7.92041825e+01,-1.89543330e+02,
 -9.18274071e+00,-1.84259611e+01, 8.98594773e+01,-1.87346980e+02,
 -1.64826132e+01,-1.60768748e+01, 7.53830499e+01,-1.58440586e+02,
 -3.95881569e+01, 1.39766143e+01, 4.82787197e+01,-1.74922143e+02,
  6.39525727e-01,-2.10390941e+00, 8.65247522e-02, 1.02236781e+01,
 -2.11514255e+00, 3.02800315e+01]

qfrc_actuator:
[ 0.00281352,-0.00096133,-0.00233685, 0.01529562, 0.00201887,-0.00196255,
 -0.00864126, 0.01293159, 0.00594977, 0.00142187,-0.00463949, 0.01181346,
  0.10114096,-0.00100361, 0.07856381, 0.02552973, 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: -0.00048549409362654006
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14339499e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.14339499e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08261464, -0.03128454,  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:
[-8.52638620e-05, 3.63700517e-05, 4.06239156e-05,-3.17285030e-04,
 -5.42101980e-05, 1.75771771e-04, 2.09226415e-04,-2.55381014e-04,
 -9.68236814e-05,-8.23197371e-05, 8.12192191e-05,-2.38017802e-04,
 -2.27156550e-02,-8.26404581e-04,-4.59755234e-04,-9.81040039e-04,
 -1.19427484e-05, 7.23398629e-06,-1.21647480e+00,-4.45266359e-04,
  3.75944899e-05,-5.42900527e-04]


--- Step 40 ---
qpos:
[ 3.50441669e-03,-1.04853862e-03,-2.80901825e-03, 1.89518202e-02,
  2.51569881e-03,-2.18151786e-03,-1.04788749e-02, 1.61201568e-02,
  7.29318762e-03, 1.89266743e-03,-5.66540266e-03, 1.46042979e-02,
  2.39954500e-01,-4.39349255e-04, 8.30217606e-02, 3.71144492e-02,
  9.28878618e-02,-6.97443966e-02, 1.31001983e-01, 5.08524245e-01,
  4.91154419e-01, 4.93238212e-01, 5.06839714e-01]

qacc:
[-1.56703435e+01,-1.37618211e+01, 7.56498486e+01,-1.82815395e+02,
 -8.17966544e+00,-2.03114096e+01, 9.50760571e+01,-1.90771718e+02,
 -2.09776918e+01,-1.68349652e+01, 7.92821337e+01,-1.67741395e+02,
 -2.98131169e+01, 1.01704752e+01, 4.10341791e+01,-1.49842023e+02,
  6.20411592e-01,-2.05072950e+00,-1.60623728e-01, 9.91086618e+00,
 -2.13165340e+00, 2.94983056e+01]

qfrc_actuator:
[ 0.00272418,-0.00095256,-0.00231075, 0.01498948, 0.00197185,-0.00196607,
 -0.00846706, 0.01267195, 0.00582937, 0.00136778,-0.00454622, 0.01156457,
  0.10093333,-0.00097658, 0.0784381 , 0.02478953, 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: -0.000486266474242783
  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([ 0.08261498, -0.03128483,  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:
[-9.16977619e-05, 2.41834548e-05, 2.76372475e-05,-3.09903964e-04,
 -4.85020036e-05, 1.29798162e-04, 2.29302308e-04,-2.49946999e-04,
 -1.23118233e-04,-9.37749814e-05, 7.83260251e-05,-2.54608708e-04,
 -1.71067744e-02,-6.40991478e-04,-4.38173055e-04,-8.53329166e-04,
 -9.71465401e-06, 4.89653426e-06,-1.21646877e+00,-4.43660688e-04,
  3.01277504e-05,-5.42366784e-04]


--- Step 41 ---
qpos:
[ 3.55807322e-03,-1.06584057e-03,-2.85268000e-03, 1.92457716e-02,
  2.55394681e-03,-2.21806555e-03,-1.06419500e-02, 1.63696741e-02,
  7.40733336e-03, 1.92186481e-03,-5.75283118e-03, 1.48308602e-02,
  2.42194839e-01,-4.49592048e-04, 8.50158745e-02, 3.76954301e-02,
  9.28372541e-02,-6.97411413e-02, 1.31018429e-01, 5.08724220e-01,
  4.90972776e-01, 4.93059729e-01, 5.06988663e-01]

qacc:
[ -10.10182206, -15.23528769,  79.8423218 ,-185.59559623, -10.57020214,
  -18.49117144,  84.82130633,-166.17667539, -20.62841628, -14.65609188,
   73.5246113 ,-164.92409766, -22.56071562,   8.2386468 ,  35.74582036,
 -132.4318082 ,   0.60406305,  -2.00664877,  -0.36781108,   9.64711028,
   -2.15057387,  28.84788941]

qfrc_actuator:
[ 0.00266747,-0.00095832,-0.00225981, 0.01468948, 0.00191066,-0.00197147,
 -0.00829809, 0.01245323, 0.00571197, 0.00137733,-0.00447369, 0.01130776,
  0.10073044,-0.00095553, 0.07826429, 0.02411662, 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: -0.00048264513602802595
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15014422e-13,  1.15014422e-13,  1.00000000e+00, -1.32283172e-26,
        1.00000000e+00, -1.15014422e-13, -1.00000000e+00,  0.00000000e+00,
        1.15014422e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08261466, -0.03128274,  0.06198624])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.92498221e-05, 4.65890725e-07, 4.86228275e-05,-3.04575326e-04,
 -6.25197281e-05, 1.06541334e-04, 2.17189980e-04,-2.10204451e-04,
 -1.20874473e-04,-3.78427842e-05, 5.42954995e-05,-2.63421948e-04,
 -1.29265941e-02,-4.94395259e-04,-4.60534375e-04,-7.75598319e-04,
 -7.77108903e-06, 3.12017566e-06,-1.21646420e+00,-4.41937987e-04,
  2.35731527e-05,-5.42022941e-04]


--- Step 42 ---
qpos:
[ 3.61097791e-03,-1.08289861e-03,-2.89545930e-03, 1.95338188e-02,
  2.59116374e-03,-2.25437640e-03,-1.08013571e-02, 1.66142685e-02,
  7.51883956e-03, 1.95089617e-03,-5.83887381e-03, 1.50528915e-02,
  2.44385006e-01,-4.61927016e-04, 8.70060973e-02, 3.82667736e-02,
  9.27890068e-02,-6.97457673e-02, 1.31032711e-01, 5.08888315e-01,
  4.90830782e-01, 4.92860736e-01, 5.07154928e-01]

qacc:
[-6.59410533e+00,-1.42925711e+01, 7.63782215e+01,-1.80182256e+02,
 -8.94542975e+00,-2.00568215e+01, 9.27863450e+01,-1.84069024e+02,
 -2.31873537e+01,-1.33803904e+01, 6.65993767e+01,-1.47204085e+02,
 -1.68702193e+01,-1.28209160e-01, 2.34358396e+01,-9.02522884e+01,
  5.90088334e-01,-1.97032497e+00,-5.40953675e-01, 9.42480866e+00,
 -2.17199545e+00, 2.83097288e+01]

qfrc_actuator:
[ 0.00263043,-0.00093714,-0.00221242, 0.0143955 , 0.00185938,-0.00196023,
 -0.00811584, 0.01220705, 0.00557953, 0.00138933,-0.00439598, 0.01108391,
  0.1005263 ,-0.00097317, 0.07809906, 0.02364836, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  5.41947568,  -3.95390556,  -3.70639278,  -3.95390556,
        18.97220937, -14.45778477,  -3.70639278, -14.45778477,
        20.84275082,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00047558035988679026
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.33445936e-13,  1.16722968e-13,  1.00000000e+00, -2.72485026e-26,
        1.00000000e+00, -1.16722968e-13, -1.00000000e+00,  0.00000000e+00,
        2.33445936e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08261381, -0.03127879,  0.06198645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.86737674e-05, 1.87195422e-05, 4.29437127e-05,-2.98728798e-04,
 -5.30238142e-05, 1.09339444e-04, 2.25524871e-04,-2.38295685e-04,
 -1.35832180e-04,-9.45275652e-06, 6.77673772e-05,-2.29068334e-04,
 -9.81600042e-03,-4.16260704e-04,-4.50410733e-04,-5.68619556e-04,
 -6.08656690e-06, 1.85700904e-06,-1.21646096e+00,-4.40093480e-04,
  1.78462777e-05,-5.41867416e-04]


--- Step 43 ---
qpos:
[ 3.66302754e-03,-1.09942617e-03,-2.93776062e-03, 1.98160818e-02,
  2.62782095e-03,-2.29019040e-03,-1.09570735e-02, 1.68532809e-02,
  7.62720143e-03, 1.97998361e-03,-5.92318918e-03, 1.52704516e-02,
  2.46536862e-01,-4.76038203e-04, 8.89925982e-02, 3.88306396e-02,
  9.27430720e-02,-6.97581557e-02, 1.31044253e-01, 5.09017184e-01,
  4.90727832e-01, 4.92641466e-01, 5.07338239e-01]

qacc:
[  -7.51980794, -12.53417434,  70.15511144,-171.45137235,  -4.81050331,
  -21.14051157,  99.91735287,-202.8169487 , -27.62298727, -13.908644  ,
   68.6700932 ,-148.96018174, -12.81987218,  -1.58186253,  17.14271161,
  -67.89413323,   0.57814647,  -1.9406011 ,  -0.68515554,   9.23759212,
   -2.19587766,  27.86760151]

qfrc_actuator:
[ 0.00258749,-0.00090001,-0.00218515, 0.01410744, 0.0018321 ,-0.00192135,
 -0.00792718, 0.01192896, 0.00542154, 0.00142053,-0.00429801, 0.01086351,
  0.10032768,-0.00099532, 0.07794446, 0.02328667, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  5.35084815,  -4.10447662,  -3.43290658,  -4.10447662,
        16.72116348, -13.59465871,  -3.43290658, -13.59465871,
        21.6049924 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000465863767448671
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.19157477e-13,  1.19157477e-13,  1.00000000e+00, -1.41985044e-26,
        1.00000000e+00, -1.19157477e-13, -1.00000000e+00,  0.00000000e+00,
        1.19157477e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08261258, -0.03127342,  0.06198673])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.39768610e-05, 4.39669465e-05, 2.60894746e-05,-2.92105482e-04,
 -2.87547856e-05, 1.39022107e-04, 2.32536084e-04,-2.70350747e-04,
 -1.61796400e-04, 2.98556217e-05, 9.67258484e-05,-2.23263149e-04,
 -7.49571415e-03,-3.32487404e-04,-4.10304013e-04,-4.48701087e-04,
 -4.64085368e-06, 1.07017984e-06,-1.21645897e+00,-4.38121915e-04,
  1.28796448e-05,-5.41898932e-04]


--- Step 44 ---
qpos:
[ 3.71381352e-03,-1.11559218e-03,-2.97881591e-03, 2.00926538e-02,
  2.66352074e-03,-2.32526600e-03,-1.11100147e-02, 1.70885120e-02,
  7.73317260e-03, 2.00875356e-03,-6.00578319e-03, 1.54833734e-02,
  2.48659225e-01,-4.90609058e-04, 9.09758461e-02, 3.93841030e-02,
  9.26994090e-02,-6.97782101e-02, 1.31052575e-01, 5.09111363e-01,
  4.90663429e-01, 4.92402095e-01, 5.07538370e-01]

qacc:
[ -11.08682685, -14.70569879,  77.19219664,-177.99194397,  -8.33376974,
  -14.54887977,  69.28660078,-139.74794277, -20.98406304, -14.74352052,
   71.61503392,-154.49425525, -10.29043415,   8.56309362,  26.68906418,
 -100.29070002,   0.5679408 ,  -1.91647854,  -0.80482863,   9.08010539,
   -2.22208682,  27.50764837]

qfrc_actuator:
[ 0.00252367,-0.00087143,-0.00211665, 0.01382517, 0.00178364,-0.00188399,
 -0.00778941, 0.01174085, 0.00530304, 0.00137432,-0.0042243 , 0.01062917,
  0.10013311,-0.00096639, 0.07776973, 0.02275983, 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: -0.0004541517513783344
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.22230402e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.22230402e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08261104, -0.03126697,  0.06198706])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.50042511e-05, 4.63152919e-05, 7.06930727e-05,-2.85676734e-04,
 -4.92184702e-05, 1.54129992e-04, 1.87484804e-04,-1.79465123e-04,
 -1.23030435e-04,-1.93676587e-05, 8.43506241e-05,-2.34389652e-04,
 -5.76448080e-03,-2.13380626e-04,-3.99179392e-04,-6.02057986e-04,
 -3.41797869e-06, 7.31702688e-07,-1.21645816e+00,-4.36017498e-04,
  8.61939629e-06,-5.42116540e-04]


--- Step 45 ---
qpos:
[ 3.76344008e-03,-1.13117434e-03,-3.01882378e-03, 2.03636652e-02,
  2.69836209e-03,-2.35958123e-03,-1.12600750e-02, 1.73193004e-02,
  7.83724477e-03, 2.03671887e-03,-6.08658631e-03, 1.56918824e-02,
  2.50758736e-01,-5.05477767e-04, 9.29556151e-02, 3.99230656e-02,
  9.26579828e-02,-6.98058528e-02, 1.31057283e-01, 5.09171291e-01,
  4.90637170e-01, 4.92142750e-01, 5.07755136e-01]

qacc:
[ -10.17981912, -13.58980389,  73.08622806,-171.47202514,  -7.46185083,
  -16.17849779,  77.92927076,-160.02076938, -16.64573147, -15.12531735,
   71.07425443,-149.78264009,  -8.01725546,   7.51655631,  38.75109829,
 -142.98875461,   0.55921364,  -1.89709532,  -0.90378829,   8.94783596,
   -2.25042681,  27.21800689]

qfrc_actuator:
[ 0.00246582,-0.00083029,-0.00205988, 0.01354859, 0.00174087,-0.00184799,
 -0.00764724, 0.01151842, 0.00520874, 0.00129977,-0.00414806, 0.01040619,
  0.09994688,-0.00094293, 0.07754574, 0.02201555, 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: -0.00044098567010449063
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25879717e-13,  1.25879717e-13,  1.00000000e+00, -1.58457031e-26,
        1.00000000e+00, -1.25879717e-13, -1.00000000e+00,  0.00000000e+00,
        1.25879717e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0826093 , -0.03125973,  0.06198743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.96320708e-05, 6.96718858e-05, 6.51655870e-05,-2.78202868e-04,
 -4.41232539e-05, 1.55753821e-04, 1.92574047e-04,-2.12941662e-04,
 -9.77474442e-05,-7.82579372e-05, 7.47812682e-05,-2.25789671e-04,
 -4.46611042e-03,-1.65545797e-04,-4.61082796e-04,-8.26710712e-04,
 -2.40544561e-06, 8.20762900e-07,-1.21645848e+00,-4.33773897e-04,
  5.02267674e-06,-5.42519614e-04]


--- Step 46 ---
qpos:
[ 0.00381199,-0.00114615,-0.00305785, 0.02062924, 0.00273276,-0.00239279,
 -0.01140734, 0.01754455, 0.00793938, 0.00206404,-0.00616558, 0.01589572,
  0.25284034,-0.00052052, 0.0949316 , 0.04044889, 0.09261876,-0.06984102,
  0.13105805, 0.50919732, 0.49064873, 0.49186351, 0.50798839]

qacc:
[  -9.47377612, -13.12271258,  70.91572902,-166.9877099 ,  -3.79075204,
  -17.74304037,  88.79326547,-189.96645712, -17.00386175, -15.49262417,
   73.78341952,-157.08297771,  -6.32577361,   6.71282105,  34.17206292,
 -127.64059218,   0.55174176,  -1.88170821,  -0.98533142,   8.83697748,
   -2.2806629 ,  26.98851752]

qfrc_actuator:
[ 0.00241196,-0.00079972,-0.00201044, 0.01327758, 0.00171954,-0.00177761,
 -0.00750364, 0.01124205, 0.00511167, 0.00127984,-0.00405332, 0.01017389,
  0.09976079,-0.00092273, 0.07736157, 0.0213621 , 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: -0.00042680926533446295
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.30060792e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.30060792e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0826074 , -0.03125196,  0.06198784])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.54885618e-05, 7.13200925e-05, 6.22277245e-05,-2.71676246e-04,
 -2.25350950e-05, 1.90603567e-04, 1.93772013e-04,-2.67278392e-04,
 -9.98205185e-05,-5.81557548e-05, 8.02360460e-05,-2.37784489e-04,
 -3.49971278e-03,-1.29032326e-04,-4.72145198e-04,-7.55713668e-04,
 -1.59359891e-06, 1.32238398e-06,-1.21645988e+00,-4.31384277e-04,
  2.05554360e-06,-5.43107838e-04]


--- Step 47 ---
qpos:
[ 0.00385917,-0.00116078,-0.00309555, 0.02088916, 0.00276699,-0.00242498,
 -0.01155143, 0.01776472, 0.0080399 , 0.0020908 ,-0.00624287, 0.01609553,
  0.25490772,-0.00053597, 0.09690274, 0.04096716, 0.09258173,-0.06988367,
  0.13105461, 0.50918973, 0.49069785, 0.49156442, 0.508238  ]

qacc:
[ -11.99788919, -14.86818961,  77.62542125,-178.01177466,  -1.48767334,
  -17.99383194,  87.55402412,-181.32063138, -14.12874605, -13.78305842,
   65.11677607,-137.25426516,  -4.90041424,   2.57829171,  15.70884498,
  -65.31225768,   0.5453324 ,  -1.86967748,  -1.05230243,   8.74431864,
   -2.31254003,  26.81048227]

qfrc_actuator:
[ 0.00234311,-0.0007935 ,-0.00194801, 0.01299424, 0.00171099,-0.00172277,
 -0.0073425 , 0.01098945, 0.00503149, 0.00125734,-0.00396597, 0.00997352,
  0.09957517,-0.00092225, 0.07714285, 0.02099837, 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: -0.000411983676423755
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34741142e-13,  1.34741142e-13,  1.00000000e+00, -1.81551755e-26,
        1.00000000e+00, -1.34741142e-13, -1.00000000e+00,  0.00000000e+00,
        1.34741142e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08260541, -0.03124383,  0.06198826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.03508615e-05, 4.75453129e-05, 7.54223329e-05,-2.83890991e-04,
 -9.11699629e-06, 1.92424161e-04, 2.16745512e-04,-2.43026462e-04,
 -8.29820279e-05,-4.88716919e-05, 7.72533723e-05,-2.05021841e-04,
 -2.77997393e-03,-1.18548756e-04,-5.02546488e-04,-4.63122640e-04,
 -9.75112650e-07, 2.22637797e-06,-1.21646235e+00,-4.28841360e-04,
 -3.08707762e-07,-5.43881179e-04]


--- Step 48 ---
qpos:
[ 0.00390585,-0.00117492,-0.00313223, 0.02114366, 0.00280119,-0.00245621,
 -0.01169244, 0.0179805 , 0.00813902, 0.00211661,-0.00631809, 0.01629209,
  0.25696365,-0.00055229, 0.09886968, 0.04147432, 0.09254685,-0.06993376,
  0.13104673, 0.50914874, 0.49078432, 0.49124549, 0.50850386]

qacc:
[-4.39332572e+00,-1.33750752e+01, 7.15374024e+01,-1.67422432e+02,
 -1.29898312e-01,-1.63491674e+01, 7.86829561e+01,-1.60245083e+02,
 -1.22159477e+01,-1.36989319e+01, 6.07991290e+01,-1.19709589e+02,
 -3.69248229e+00,-3.40279534e+00, 2.73890512e+01,-1.04830961e+02,
  5.39819702e-01,-1.86045364e+00,-1.10715002e+00, 8.66715152e+00,
 -2.34579623e+00, 2.66764623e+01]

qfrc_actuator:
[ 0.00231926,-0.00076638,-0.00189626, 0.01272367, 0.00171003,-0.00167759,
 -0.00719008, 0.01077062, 0.0049619 , 0.00119798,-0.0038659 , 0.00981131,
  0.09939014,-0.00095103, 0.07691962, 0.02043533, 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: -0.0003968003652419644
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39896926e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.39896926e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08260337, -0.03123551,  0.06198869])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.57920088e-05, 5.73410792e-05, 6.10216752e-05,-2.71919079e-04,
 -1.14783262e-06, 1.89505205e-04, 2.12027914e-04,-2.07906907e-04,
 -7.19192795e-05,-7.97421084e-05, 9.26401331e-05,-1.65937507e-04,
 -2.24415448e-03,-1.25356004e-04,-4.85097276e-04,-6.49232214e-04,
 -5.44576480e-07, 3.52651676e-06,-1.21646586e+00,-4.26137500e-04,
 -2.09089314e-06,-5.44839859e-04]


--- Step 49 ---
qpos:
[ 0.00395188,-0.00118838,-0.0031684 , 0.02139362, 0.00283477,-0.00248634,
 -0.01183107, 0.01819167, 0.00823585, 0.0021414 ,-0.00639143, 0.01648519,
  0.25901009,-0.00056837, 0.10083342, 0.04196762, 0.09251411,-0.06999127,
  0.13103425, 0.50907452, 0.49090799, 0.4909067 , 0.50878591]

qacc:
[  -5.70543478,  -9.84943966,  55.5741041 ,-135.33910588,  -5.40881455,
  -14.70849045,  74.051393  ,-158.58398007, -20.11708624, -13.71565346,
   61.62376966,-123.82698935,  -3.54260817,   7.3859389 ,  37.23226636,
 -137.10906897,   0.53506147,  -1.85356588,  -1.15197692,   8.60319498,
   -2.38017248,  26.58010543]

qfrc_actuator:
[ 0.00228658,-0.00072699,-0.0018689 , 0.01249829, 0.00167804,-0.00163858,
 -0.00707958, 0.01053789, 0.00484583, 0.00113485,-0.00377702, 0.0096373 ,
  0.0992004 ,-0.00092574, 0.07676836, 0.01974154, 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: -0.00038149222018520057
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.91021144e-13,  1.45510572e-13,  1.00000000e+00, -4.23466532e-26,
        1.00000000e+00, -1.45510572e-13, -1.00000000e+00,  0.00000000e+00,
        2.91021144e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08260131, -0.03122713,  0.06198912])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.33531670e-05, 7.26241985e-05, 3.72862106e-05,-2.26567319e-04,
 -3.19588997e-05, 1.82178829e-04, 1.70106470e-04,-2.21414853e-04,
 -1.18097804e-04,-9.59001801e-05, 7.83263168e-05,-1.77750032e-04,
 -1.85096949e-03,-5.46740373e-05,-4.27514955e-04,-7.88493724e-04,
 -2.98159921e-07, 5.21987752e-06,-1.21647039e+00,-4.23264753e-04,
 -3.30702886e-06,-5.45984327e-04]


--- Step 50 ---
qpos:
[ 0.00399647,-0.0012012 ,-0.00320393, 0.02163858, 0.00286701,-0.00251594,
 -0.01196674, 0.01839843, 0.00833054, 0.00216525,-0.00646311, 0.01667505,
  0.26104856,-0.00058452, 0.10279328, 0.04245271, 0.09248349,-0.07005616,
  0.13101702, 0.50896716, 0.49106874, 0.490548  , 0.50908406]

qacc:
[ -12.65219653, -11.22237944,  62.39998127,-150.53628744, -11.62670766,
  -16.58839981,  78.79256958,-160.12383064, -18.7997643 , -12.48094423,
   56.44172058,-114.53763304,  -2.84301195,   3.26544947,  19.11650083,
  -75.17877579,   0.53093629,  -1.84861178,  -1.18858377,   8.55053009,
   -2.41541941,  26.51599774]

qfrc_actuator:
[ 0.00221344,-0.00069838,-0.00183833, 0.01224804, 0.00161028,-0.00163928,
 -0.00694151, 0.01031656, 0.00473883, 0.00108766,-0.00369549, 0.00947549,
  0.09900807,-0.00092204, 0.0766124 , 0.01934929, 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: -0.00036624307296044545
  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([ 0.08259925, -0.03121878,  0.06198955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.40206805e-05, 6.74091645e-05, 4.23054056e-05,-2.50710006e-04,
 -6.86026809e-05, 1.29061271e-04, 1.90505800e-04,-2.12043757e-04,
 -1.10341724e-04,-9.24561774e-05, 6.54563082e-05,-1.66971858e-04,
 -1.55932399e-03,-6.20050719e-05,-4.24858876e-04,-4.88123204e-04,
 -2.33339927e-07, 7.30632620e-06,-1.21647594e+00,-4.20214949e-04,
 -3.96921298e-06,-5.47315230e-04]


--- Step 51 ---
qpos:
[ 0.00403983,-0.00121355,-0.00323847, 0.02187863, 0.00289819,-0.00254525,
 -0.01209954, 0.01860132, 0.00842355, 0.00218822,-0.00653349, 0.01686081,
  0.26308022,-0.00060132, 0.10475011, 0.04292685, 0.09245543,-0.07011607,
  0.13100856, 0.50887   , 0.49121526, 0.49021451, 0.50936099]

qacc:
[ -10.73598954, -12.2526863 ,  65.38950623,-152.47199324,  -9.24427338,
  -15.62779782,  72.67795316,-144.66604962, -14.6761443 , -13.21478629,
   62.78194525,-135.19153743,  -2.13906368,  -2.97322694,  28.60607202,
 -106.57991767,   0.63857652,   1.24865794,   2.19496067,   5.49871935,
    2.32838072, -17.67946271]

qfrc_actuator:
[ 0.00215259,-0.00067646,-0.0017884 , 0.01200291, 0.00155753,-0.00164594,
 -0.00680617, 0.01012145, 0.00465579, 0.00103262,-0.00363664, 0.0092689 ,
  0.09882505,-0.00094882, 0.07646446, 0.01880057, 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: -0.00036120344503599855
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.61051676e-13,  1.20065541e-13,  1.00000000e+00, -5.53564187e-26,
        1.00000000e+00, -1.20065541e-13, -1.00000000e+00,  0.00000000e+00,
        4.61051676e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08597384, -0.08811361,  0.06198969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.28973214e-05, 5.77711112e-05, 6.03640814e-05,-2.46101862e-04,
 -5.46599779e-05, 9.79631397e-05, 1.79608236e-04,-1.87207499e-04,
 -8.61577939e-05,-1.00563203e-04, 4.22751353e-05,-2.11833844e-04,
 -1.33347414e-03,-8.33489675e-05,-3.80705312e-04,-6.27176018e-04,
 -3.48679960e-07, 9.78811098e-06,-1.21648249e+00,-4.16979763e-04,
 -4.08633823e-06,-5.48833378e-04]


--- Step 52 ---
qpos:
[ 0.00408214,-0.00122546,-0.00327211, 0.02211386, 0.00292884,-0.00257407,
 -0.01223001, 0.01880064, 0.0085145 , 0.00221058,-0.006603  , 0.0170423 ,
  0.26510587,-0.00061768, 0.10670401, 0.04338936, 0.09242972,-0.07017118,
  0.13100713, 0.50878252, 0.49134857, 0.48990543, 0.50961712]

qacc:
[  -9.36385783, -11.8012351 ,  63.24524927,-148.19873328,  -4.5923014 ,
  -13.16924825,  62.97719284,-128.75799571, -18.12542603, -12.03287118,
   59.8462667 ,-134.88485674,  -2.40571643,   7.58165239,  30.90595347,
 -114.39580429,   0.58726527,   1.19687022,   1.75369221,   5.58052539,
    2.09153982, -16.9882364 ]

qfrc_actuator:
[ 0.00209946,-0.00065866,-0.00174522, 0.01176277, 0.0015318 ,-0.00162062,
 -0.00669132, 0.0099433 , 0.00455202, 0.00100869,-0.00359171, 0.00905534,
  0.09863713,-0.00092228, 0.07631607, 0.01821723, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.89434305,  0.09852945,  4.89335119,  0.09852945, 29.97346926,
       -0.50497756,  4.89335119, -0.50497756,  4.90451096,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003875639015067378
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.29692892e-13, -3.13317734e-14,  1.00000000e+00,  1.34630403e-26,
        1.00000000e+00,  3.13317734e-14, -1.00000000e+00,  0.00000000e+00,
        4.29692892e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08597179, -0.08810689,  0.06198894])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.48585625e-05, 5.21919376e-05, 5.40030736e-05,-2.40807008e-04,
 -2.72556183e-05, 1.11326590e-04, 1.52178426e-04,-1.71461358e-04,
 -1.06212300e-04,-8.06720466e-05, 2.22721746e-05,-2.20811318e-04,
 -1.17127397e-03,-2.33001582e-05,-3.79330354e-04,-6.64553242e-04,
 -2.77353261e-07, 8.34433102e-06,-1.21647647e+00,-4.18541230e-04,
 -3.22542035e-07,-5.50530571e-04]


--- Step 53 ---
qpos:
[ 0.00412382,-0.00123695,-0.00330493, 0.02234405, 0.00295894,-0.00260214,
 -0.01235793, 0.01899657, 0.00860349, 0.00223248,-0.00667157, 0.01722012,
  0.26712609,-0.00063296, 0.10865427, 0.04384362, 0.09240619,-0.07022169,
  0.13101121, 0.50870426, 0.49146951, 0.48962006, 0.50985281]

qacc:
[  -5.44298602, -12.16016938,  65.52082612,-154.6551046 ,  -4.73830836,
  -13.12231811,  62.54115408,-125.85749727, -17.13422178, -10.72112772,
   52.83446192,-117.32930357,  -2.54875139,  14.02615596,  19.54202718,
  -76.1619461 ,   0.54553966,   1.1531023 ,   1.38106725,   5.62865878,
    1.90284845, -16.40487558]

qfrc_actuator:
[ 0.00206906,-0.00064347,-0.0017064 , 0.01150971, 0.00150441,-0.0015587 ,
 -0.00655387, 0.00977658, 0.00445461, 0.00100351,-0.00353747, 0.00887493,
  0.09844646,-0.00086456, 0.0761462 , 0.01781347, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.98526495,  0.11333877,  4.98397642,  0.11333877, 35.78903907,
       -0.70049724,  4.98397642, -0.70049724,  5.0011947 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004054742671829592
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.09634636e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.09634636e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596991, -0.08810239,  0.06198843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.19108316e-05, 4.53498173e-05, 4.78931352e-05,-2.54062664e-04,
 -2.81185977e-05, 1.50385017e-04, 1.74684617e-04,-1.60112490e-04,
 -1.00407314e-04,-5.53076116e-05, 3.29164628e-05,-1.87669928e-04,
 -1.05166123e-03, 1.46439146e-05,-4.04610806e-04,-4.86927974e-04,
 -2.43084282e-07, 7.07689592e-06,-1.21647110e+00,-4.19832183e-04,
  3.13882348e-06,-5.52076135e-04]


--- Step 54 ---
qpos:
[ 0.00416481,-0.00124809,-0.003337  , 0.02256976, 0.00298848,-0.00262919,
 -0.01248329, 0.01918825, 0.00869063, 0.00225419,-0.00673942, 0.01739438,
  0.26914141,-0.00064746, 0.11060094, 0.04429047, 0.09238471,-0.07026773,
  0.13101956, 0.50863489, 0.49157876, 0.48935781, 0.51006843]

qacc:
[  -6.03991519, -10.80625584,  58.10765739,-136.97658345,  -4.87711669,
  -14.54027471,  71.7860713 ,-150.26473105, -16.34266277,  -9.60513304,
   49.02522193,-111.94665266,  -2.20559832,  10.57450416,  17.14075409,
  -67.64869385,   0.51159252,   1.11617796,   1.06684258,   5.65267531,
    1.75253533, -15.91258552]

qfrc_actuator:
[ 0.00203452,-0.00063002,-0.00167047, 0.01128659, 0.00147627,-0.00149301,
 -0.00642176, 0.0095647 , 0.00436174, 0.00100967,-0.00349582, 0.00869775,
  0.09826495,-0.00082447, 0.07597959, 0.01744772, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.0447961 ,  0.14872076,  5.04260348,  0.14872076, 43.08423172,
       -1.12189143,  5.04260348, -1.12189143,  5.07788388,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041647901173606783
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33286792e-13,  3.74869101e-14,  1.00000000e+00, -4.99650998e-27,
        1.00000000e+00, -3.74869101e-14, -1.00000000e+00,  0.00000000e+00,
        1.33286792e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596814, -0.08809969,  0.06198812])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.53998527e-05, 3.79609131e-05, 4.23636361e-05,-2.24884943e-04,
 -2.88909756e-05, 1.81080815e-04, 1.80540985e-04,-2.02593867e-04,
 -9.57028045e-05,-2.61508615e-05, 2.80347242e-05,-1.82338122e-04,
 -9.52372552e-04, 1.80697547e-06,-3.90988367e-04,-4.41774703e-04,
 -2.32363230e-07, 5.96036611e-06,-1.21646631e+00,-4.20913769e-04,
  6.30911732e-06,-5.53481779e-04]


--- Step 55 ---
qpos:
[ 0.00420507,-0.00125889,-0.00336836, 0.02279069, 0.00301746,-0.00265486,
 -0.01260655, 0.01937623, 0.00877563, 0.00227566,-0.00680629, 0.01756549,
  0.27115224,-0.00066242, 0.1125442 , 0.04472812, 0.09236516,-0.07030943,
  0.13103112, 0.50857411, 0.49167688, 0.48911816, 0.51026429]

qacc:
[  -6.42844722, -11.39888944,  61.48611025,-145.63412911,  -4.93864555,
  -11.65482302,  59.86184143,-128.34176503, -18.76251893,  -9.46187136,
   46.65723129,-102.6387132 ,  -1.39102659,  -2.14615704,  22.79002878,
  -87.04301869,   0.48396974,   1.08510453,   0.80241444,   5.65986818,
    1.63285138, -15.49752317]

qfrc_actuator:
[ 0.00199781,-0.00061771,-0.00163653, 0.01104737, 0.00144791,-0.00140788,
 -0.00631164, 0.00938121, 0.00425452, 0.0010048 ,-0.00344412, 0.00854163,
  0.09808375,-0.00084834, 0.07579908, 0.01698296, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.07509704,  0.21035591,  5.07073568,  0.21035591, 52.3279932 ,
       -1.9602532 ,  5.07073568, -1.9602532 ,  5.15641676,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004218815121408842
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31579957e-13,  6.99018522e-14,  1.00000000e+00, -9.19768270e-27,
        1.00000000e+00, -6.99018522e-14, -1.00000000e+00,  0.00000000e+00,
        1.31579957e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596646, -0.08809844,  0.06198797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.76706985e-05, 3.27885997e-05, 3.91784134e-05,-2.40923513e-04,
 -2.91225676e-05, 2.17011517e-04, 1.64114082e-04,-1.73516805e-04,
 -1.09902807e-04,-2.16580360e-05, 4.36808708e-05,-1.60080538e-04,
 -8.78688143e-04,-5.93161496e-05,-3.94102420e-04,-5.36622539e-04,
 -2.35457030e-07, 4.97498021e-06,-1.21646203e+00,-4.21832013e-04,
  9.20008217e-06,-5.54756955e-04]


--- Step 56 ---
qpos:
[ 0.00424458,-0.00126952,-0.00339894, 0.02300635, 0.00304587,-0.0026795 ,
 -0.01272714, 0.01956124, 0.00885869, 0.00229688,-0.00687203, 0.01773303,
  0.27315883,-0.00067685, 0.11448372, 0.04515683, 0.09234746,-0.07034689,
  0.13104501, 0.50852167, 0.49176431, 0.48890071, 0.51044067]

qacc:
[  -6.60207711, -12.76187618,  68.08746571,-160.62638081,  -4.89446696,
  -12.20834107,  58.02762207,-114.40228581, -17.08743077, -10.82269587,
   53.20859201,-116.58069684,  -1.84662699,   7.69510081,  21.51957296,
  -83.29552931,   0.46149797,   1.05903761,   0.58048742,   5.6557454 ,
    1.5376373 , -15.14816174]

qfrc_actuator:
[ 0.00196012,-0.00062395,-0.00160406, 0.01078282, 0.00141964,-0.00136513,
 -0.00617977, 0.00923365, 0.00415747, 0.00099342,-0.00338693, 0.00836366,
  0.09790289,-0.0008209 , 0.07560503, 0.01653457, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.08020387, -0.24327211, -5.07437582, -0.24327211, 12.54305327,
       -0.35777861, -5.07437582, -0.35777861,  5.09735623,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00042277946021218593
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.87219827e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.87219827e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596483, -0.08809835,  0.06198795])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.87179515e-05, 9.98479348e-06, 3.56973401e-05,-2.66878637e-04,
 -2.90204916e-05, 1.92523411e-04, 1.92232891e-04,-1.36045436e-04,
 -1.00140072e-04,-2.14680164e-05, 5.27967022e-05,-1.80765566e-04,
 -8.25753916e-04,-7.32250224e-06,-4.20005542e-04,-5.26030805e-04,
 -2.45337398e-07, 4.10536205e-06,-1.21645822e+00,-4.22621661e-04,
  1.18231428e-05,-5.55909266e-04]


--- Step 57 ---
qpos:
[ 0.00428333,-0.00128014,-0.00342912, 0.02321755, 0.00307371,-0.0027035 ,
 -0.01284493, 0.01974239, 0.00893994, 0.00231767,-0.00693648, 0.0178968 ,
  0.27516139,-0.0006905 , 0.11641907, 0.04558048, 0.09233154,-0.0703802 ,
  0.13106047, 0.50847737, 0.49184143, 0.48870507, 0.51059782]

qacc:
[  -6.66185241, -10.31309121,  55.6719341 ,-133.64693922,  -4.83505913,
  -14.89135347,  70.66460412,-142.46394747, -15.87419598, -11.91512604,
   57.6366135 ,-124.74969494,  -1.91904389,  10.24774638,   9.1522382 ,
  -40.9515625 ,   0.44322817,   1.03725495,   0.39483195,   5.64441854,
    1.46198718, -14.85482501]

qfrc_actuator:
[ 0.00192215,-0.0006413 ,-0.00159055, 0.01055874, 0.00139166,-0.00136573,
 -0.00605402, 0.00903738, 0.00406719, 0.00096051,-0.00332701, 0.00817424,
  0.09772769,-0.00078122, 0.0754243 , 0.01629469, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.06499618, -0.37880003, -5.05081151, -0.37880003, 17.15871356,
       -0.90700287, -5.05081151, -0.90700287,  5.13301945,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00042009487894419106
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32139557e-13,  7.01991397e-14,  1.00000000e+00, -9.27608323e-27,
        1.00000000e+00, -7.01991397e-14, -1.00000000e+00,  0.00000000e+00,
        1.32139557e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596326, -0.08809917,  0.06198802])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.90300857e-05,-1.57039035e-05, 1.06917369e-05,-2.28006482e-04,
 -2.87460956e-05, 1.42819687e-04, 1.85784664e-04,-1.84099983e-04,
 -9.30981073e-05,-4.19055116e-05, 5.59744908e-05,-1.92281453e-04,
 -7.79013832e-04, 7.84682075e-06,-4.16068466e-04,-3.19944806e-04,
 -2.56919652e-07, 3.33953969e-06,-1.21645484e+00,-4.23309009e-04,
  1.41889784e-05,-5.56944816e-04]


--- Step 58 ---
qpos:
[ 0.00432166,-0.00129051,-0.00345903, 0.02342474, 0.00310136,-0.00272679,
 -0.01296021, 0.01991945, 0.00901947, 0.00233755,-0.00699925, 0.01805774,
  0.27716013,-0.00070321, 0.11835022, 0.045998  , 0.09231732,-0.07040944,
  0.13107689, 0.50844105, 0.49190853, 0.48853095, 0.51073596]

qacc:
[  -3.61631177,  -8.66249614,  48.31181996,-118.35815455,  -1.75307654,
  -14.52102555,  70.40943037,-145.81129043, -15.01338276, -11.68591657,
   51.91587649,-102.9007483 ,  -1.94137843,  11.63337072,  12.32967961,
  -52.13770755,   0.42839109,   1.01913677,   0.24010291,   5.62891635,
    1.40198585, -14.60934037]

qfrc_actuator:
[ 0.00190208,-0.00061196,-0.00157063, 0.01036025, 0.00138182,-0.00133913,
 -0.00593312, 0.00883172, 0.00398161, 0.0008972 ,-0.00324829, 0.00803285,
  0.09755602,-0.00073468, 0.07520381, 0.01598435, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.0344243 , -0.56140981, -5.0030238 , -0.56140981, 26.04146718,
       -2.35728638, -5.0030238 , -2.35728638,  5.29894507,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041459974863841675
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.38075035e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.38075035e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596173, -0.0881007 ,  0.06198818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.11537783e-05, 1.31224092e-05, 1.00784963e-05,-2.03622641e-04,
 -1.06106832e-05, 1.38789199e-04, 1.68167416e-04,-1.96776489e-04,
 -8.82056384e-05,-8.35587952e-05, 7.05324958e-05,-1.45237132e-04,
 -7.40151132e-04, 1.64918329e-05,-4.30283877e-04,-3.78244978e-04,
 -2.66519518e-07, 2.66819497e-06,-1.21645186e+00,-4.23913992e-04,
  1.63072849e-05,-5.57868489e-04]


--- Step 59 ---
qpos:
[ 0.00435946,-0.00130091,-0.00348839, 0.02362795, 0.00312866,-0.00274929,
 -0.01307316, 0.02009266, 0.00909771, 0.00235714,-0.00706054, 0.01821567,
  0.27915512,-0.00071454, 0.12027715, 0.04640858, 0.09230477,-0.07043466,
  0.13109376, 0.50841257, 0.49196585, 0.48837808, 0.51085527]

qacc:
[-4.71895352e+00,-9.78660504e+00, 5.16801806e+01,-1.21521699e+02,
 -2.86509484e+00,-1.33808245e+01, 6.54928752e+01,-1.36381686e+02,
 -1.13881814e+01,-1.07349718e+01, 5.04851479e+01,-1.04901551e+02,
 -2.17034537e+00, 1.59667428e+01, 1.47660296e+01,-6.06809224e+01,
  4.16362055e-01, 1.00415028e+00, 1.11700571e-01, 5.61143560e+00,
  1.35450326e+00,-1.44047752e+01]

qfrc_actuator:
[ 0.00187495,-0.00062587,-0.00154686, 0.01016068, 0.00136498,-0.00129652,
 -0.00581598, 0.00863997, 0.00391722, 0.00092282,-0.00315921, 0.00788534,
  0.09737594,-0.00066673, 0.07498625, 0.01563481, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.9930175 , -0.80620144, -4.92750068, -0.80620144, 49.90230217,
       -7.34772701, -4.92750068, -7.34772701,  6.19519858,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004069379910238424
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.83658239e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.83658239e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596023, -0.08810277,  0.0619884 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.76967142e-05,-1.30758367e-05, 2.06399479e-05,-2.02996725e-04,
 -1.70896977e-05, 1.48327653e-04, 1.60945391e-04,-1.83907641e-04,
 -6.68846609e-05,-1.28911798e-05, 7.57088922e-05,-1.51725750e-04,
 -7.19406199e-04, 3.92457328e-05,-4.40009481e-04,-4.22427075e-04,
 -2.71463933e-07, 2.08408492e-06,-1.21644925e+00,-4.24451730e-04,
  1.81866674e-05,-5.58684190e-04]


--- Step 60 ---
qpos:
[ 0.00439664,-0.0013115 ,-0.00351714, 0.02382719, 0.00315521,-0.00277121,
 -0.01318427, 0.02026263, 0.00917456, 0.00237734,-0.00712097, 0.01837017,
  0.28114647,-0.00072564, 0.12220078, 0.04681258, 0.09229385,-0.07045592,
  0.13111066, 0.50839184, 0.49201359, 0.48824626, 0.51095593]

qacc:
[-5.42082848e+00,-1.00934841e+01, 5.23510867e+01,-1.21745662e+02,
 -6.61122689e+00,-1.10028464e+01, 5.40422948e+01,-1.13474305e+02,
 -1.21361420e+01,-8.60677527e+00, 4.63284226e+01,-1.07384579e+02,
 -1.49088635e+00, 4.60528022e+00, 1.50257467e+01,-5.96396464e+01,
  4.06633059e-01, 9.91837399e-01, 5.66103299e-03, 5.59353979e+00,
  1.31703295e+00,-1.42352320e+01]

qfrc_actuator:
[ 0.00184387,-0.00064779,-0.0015212 , 0.00996205, 0.0013264 ,-0.00129794,
 -0.00573743, 0.00847569, 0.00384808, 0.00100154,-0.0030999 , 0.00771772,
  0.09719096,-0.00065775, 0.07486113, 0.01531827, 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: -0.00039764438473172126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.79199975e-13,  3.92624966e-14,  1.00000000e+00, -1.09620881e-26,
        1.00000000e+00, -3.92624966e-14, -1.00000000e+00,  0.00000000e+00,
        2.79199975e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595877, -0.08810526,  0.06198867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.18364037e-05,-3.35311842e-05, 1.84574605e-05,-2.02798473e-04,
 -3.90123951e-05, 1.08639595e-04, 1.23857426e-04,-1.56017327e-04,
 -7.10148596e-05, 8.05284265e-05, 6.09470964e-05,-1.68748825e-04,
 -7.08073400e-04,-1.87182541e-05,-3.56752893e-04,-3.93089377e-04,
 -2.69811326e-07, 1.58159260e-06,-1.21644700e+00,-4.24933693e-04,
  1.98346190e-05,-5.59395028e-04]


--- Step 61 ---
qpos:
[ 0.00443351,-0.00132203,-0.0035452 , 0.02402245, 0.00318109,-0.00279295,
 -0.01329309, 0.02042933, 0.00924999, 0.00239752,-0.00717999, 0.01852116,
  0.28313426,-0.00073651, 0.12412187, 0.04720851, 0.09228452,-0.07047324,
  0.13112722, 0.50837874, 0.49205191, 0.4881353 , 0.51103806]

qacc:
[-2.76536920e+00,-1.00524521e+01, 5.27785456e+01,-1.22820226e+02,
 -5.79795487e+00,-1.29192186e+01, 6.02484588e+01,-1.20731826e+02,
 -1.25037546e+01,-1.11859104e+01, 5.47741994e+01,-1.18019869e+02,
 -1.45977931e+00, 4.41276956e+00, 2.06690239e+01,-7.77439273e+01,
  3.98790446e-01, 9.81804480e-01,-8.14324413e-02, 5.57631546e+00,
  1.28756480e+00,-1.40956864e+01]

qfrc_actuator:
[ 0.00182848,-0.00062108,-0.0014769 , 0.00976555, 0.00129309,-0.00130812,
 -0.0056292 , 0.00831107, 0.00377668, 0.00096932,-0.00304065, 0.00753964,
  0.0970138 ,-0.00064807, 0.07474894, 0.01491744, 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: -0.00038716086360487956
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.48062715e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.48062715e-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([ 0.08595735, -0.08810804,  0.06198897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.62787627e-05, 3.22725836e-06, 3.26009057e-05,-2.01606664e-04,
 -3.43837894e-05, 7.11711778e-05, 1.41713287e-04,-1.58789621e-04,
 -7.33517029e-05, 1.80230106e-05, 7.77600160e-05,-1.76037133e-04,
 -6.93864583e-04,-1.95703718e-05,-3.06548498e-04,-4.66039739e-04,
 -2.60150089e-07, 1.15637610e-06,-1.21644508e+00,-4.25368570e-04,
  2.12575536e-05,-5.60003477e-04]


--- Step 62 ---
qpos:
[ 0.0044699 ,-0.00133237,-0.0035726 , 0.02421417, 0.00320672,-0.00281433,
 -0.0133992 , 0.02059201, 0.00932398, 0.00241687,-0.00723686, 0.01866888,
  0.28511858,-0.0007468 , 0.12604028, 0.0475959 , 0.09227677,-0.07048667,
  0.13114318, 0.50837323, 0.49208094, 0.48804506, 0.51110178]

qacc:
[  -4.12716956,  -8.8862679 ,  47.04302404,-109.67733733,  -2.16971787,
  -15.32881753,  72.30660125,-146.37286051, -12.60554718, -13.77608337,
   61.34070075,-120.61735111,  -1.63760265,   7.82563162,  21.87344385,
  -82.26440125,   0.39249706,   0.97371375,  -0.15252296,   5.56049387,
    1.26448452, -13.98185514]

qfrc_actuator:
[ 0.00180469,-0.00060088,-0.00143953, 0.00958969, 0.0012809 ,-0.00127014,
 -0.00548661, 0.00811208, 0.00370452, 0.00088867,-0.00294683, 0.00737452,
  0.09684678,-0.0006203 , 0.07460728, 0.01448791, 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: -0.00037585056310297793
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.9538948e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.9538948e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595597, -0.08811102,  0.06198929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.42228421e-05, 2.02477628e-05, 3.50634516e-05,-1.78878199e-04,
 -1.31395543e-05, 1.01931661e-04, 1.70412086e-04,-1.94205292e-04,
 -7.41956873e-05,-6.22204230e-05, 1.01223456e-04,-1.65321749e-04,
 -6.73163390e-04,-1.34401049e-06,-3.24139929e-04,-4.93066170e-04,
 -2.41453149e-07, 8.05092864e-07,-1.21644349e+00,-4.25762933e-04,
  2.24608724e-05,-5.60511490e-04]


--- Step 63 ---
qpos:
[ 0.00450538,-0.00134236,-0.00359965, 0.02440158, 0.00323234,-0.00283527,
 -0.01350304, 0.02075072, 0.00939687, 0.00243545,-0.00729237, 0.01881387,
  0.28709952,-0.00075735, 0.12795561, 0.04797189, 0.09227056,-0.07049624,
  0.1311583 , 0.50837523, 0.49210076, 0.48797543, 0.51114718]

qacc:
[-8.02637031e+00,-9.33325819e+00, 5.21273614e+01,-1.27348224e+02,
  5.62021204e-02,-1.39495566e+01, 6.73778182e+01,-1.40181440e+02,
 -9.58063221e+00,-1.04595321e+01, 4.73939507e+01,-9.64274641e+01,
 -1.11700165e+00,-3.08844043e-01, 2.98861803e+01,-1.11181963e+02,
  3.87477906e-01, 9.67275932e-01,-2.10142289e-01, 5.54654505e+00,
  1.24649410e+00,-1.38900876e+01]

qfrc_actuator:
[ 0.00175838,-0.00058474,-0.00142428, 0.00937411, 0.00128125,-0.00125677,
 -0.00537798, 0.00791227, 0.00365025, 0.00083303,-0.00288683, 0.00723606,
  0.09667533,-0.00063536, 0.07441075, 0.01390283, 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: -0.0003640099177039252
  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([ 0.08595463, -0.08811414,  0.06198963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.69548806e-05, 2.71860278e-05, 1.75309696e-05,-2.17330082e-04,
  7.42646773e-09, 9.89036039e-05, 1.45082724e-04,-1.93404719e-04,
 -5.63651293e-05,-7.67664436e-05, 5.40809107e-05,-1.41067713e-04,
 -6.61556356e-04,-4.32111320e-05,-3.89393193e-04,-6.52215179e-04,
 -2.12972926e-07, 5.25182024e-07,-1.21644221e+00,-4.26121734e-04,
  2.34490473e-05,-5.60920606e-04]


--- Step 64 ---
qpos:
[ 0.00454003,-0.00135213,-0.00362655, 0.02458498, 0.00325777,-0.00285605,
 -0.01360491, 0.0209062 , 0.00946889, 0.00245383,-0.00734776, 0.01895573,
  0.28907711,-0.00076899, 0.12986716, 0.04833734, 0.09226588,-0.07050195,
  0.13117239, 0.50838471, 0.49211147, 0.4879263 , 0.51117435]

qacc:
[  -7.30455861,  -8.4208086 ,  47.41950611,-117.38594827,  -1.65178858,
  -11.94659333,  56.54570244,-115.7128319 ,  -7.67268174,  -7.00989197,
   37.83560926, -91.99576812,  -0.58827361,  -8.68929509,  26.30131679,
 -100.1542042 ,   0.38350856,   0.96224385,  -0.25646438,   5.53474985,
    1.23254862, -13.81727513]

qfrc_actuator:
[ 0.00171696,-0.00058902,-0.00142228, 0.00917237, 0.00127121,-0.00127614,
 -0.00529038, 0.00774904, 0.00360694, 0.00082818,-0.0028827 , 0.00707888,
  0.096496  ,-0.00069329, 0.07420808, 0.01337272, 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: -0.00035187906570913197
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.15512667e-13,  1.57756333e-13,  1.00000000e+00,  4.97741215e-26,
        1.00000000e+00, -1.57756333e-13, -1.00000000e+00,  0.00000000e+00,
       -3.15512667e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595334, -0.08811733,  0.06198998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.27204134e-05, 5.35723508e-06, 2.24287323e-06,-2.04534753e-04,
 -1.00053184e-05, 5.92424329e-05, 1.20314081e-04,-1.57811727e-04,
 -4.49034282e-05,-4.27806019e-05,-9.76508223e-06,-1.61567918e-04,
 -6.62602502e-04,-8.71274008e-05,-4.40743022e-04,-6.13926459e-04,
 -1.74165430e-07, 3.14691862e-07,-1.21644123e+00,-4.26448687e-04,
  2.42257112e-05,-5.61232025e-04]


--- Step 65 ---
qpos:
[ 0.00457357,-0.00136214,-0.00365306, 0.02476526, 0.00328219,-0.00287676,
 -0.01370488, 0.02105922, 0.00953983, 0.00247224,-0.00740285, 0.01909456,
  0.29105127,-0.00078049, 0.13177468, 0.04869779, 0.09226273,-0.07050383,
  0.13118531, 0.50840162, 0.49211311, 0.48789761, 0.51118334]

qacc:
[ -9.75264789, -7.78156954, 40.49015884,-94.92527191, -8.78218967,
 -10.24287335, 47.05447345,-92.70275237, -9.48908823, -7.02608326,
  37.94784029,-90.99136749, -1.37595687,  3.49794393,  9.16986986,
 -40.70041421,  0.38040581,  0.95840685, -0.29335196,  5.52525462,
   1.22180603,-13.76077357]

qfrc_actuator:
[ 0.00166099,-0.00062332,-0.00141041, 0.00901589, 0.00121962,-0.00127954,
 -0.00519826, 0.00762635, 0.00355267, 0.00085355,-0.00285814, 0.0069297 ,
  0.09631206,-0.00068724, 0.07406047, 0.01314559, 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: -0.00033965078195750953
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.63435959e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.63435959e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595209, -0.08812053,  0.06199032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.71517253e-05,-3.94659284e-05, 6.15919322e-06,-1.60491707e-04,
 -5.18482085e-05, 4.94106733e-05, 1.14808452e-04,-1.19129366e-04,
 -5.55241893e-05,-7.61910796e-06, 9.12414212e-06,-1.54711208e-04,
 -6.69814242e-04,-2.48204854e-05,-4.02216797e-04,-3.14763124e-04,
 -1.24635454e-07, 1.72142618e-07,-1.21644055e+00,-4.26746566e-04,
  2.47937485e-05,-5.61446673e-04]


--- Step 66 ---
qpos:
[ 0.00460584,-0.00137257,-0.00367913, 0.02494228, 0.00330581,-0.00289727,
 -0.01380272, 0.02120919, 0.00960888, 0.00249023,-0.00745685, 0.01923086,
  0.29302197,-0.00079212, 0.13367864, 0.04905099, 0.09226109,-0.07050189,
  0.13119693, 0.50842594, 0.49210574, 0.48788929, 0.51117418]

qacc:
[ -11.20586538,  -8.51815996,  43.39640699,-100.37264351,  -7.02766871,
  -11.95756788,  55.91667228,-112.210483  , -16.6050814 ,  -8.78048336,
   41.23423634, -86.4648581 ,  -1.2178399 ,   0.87332259,  16.63094214,
  -65.85765546,   0.37802012,   0.95558588,  -0.32239731,   5.51811226,
    1.21358708, -13.71833759]

qfrc_actuator:
[ 0.0015969 ,-0.0006575 ,-0.00139291, 0.00885175, 0.0011795 ,-0.00125559,
 -0.00508638, 0.00747526, 0.00345688, 0.00082589,-0.00280379, 0.00680424,
  0.09612549,-0.00069684, 0.07387682, 0.01277936, 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: -0.0003274781301710189
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.69511018e-13,  3.39022036e-13,  1.00000000e+00,  5.74679705e-26,
        1.00000000e+00, -3.39022036e-13, -1.00000000e+00,  0.00000000e+00,
       -1.69511018e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595088, -0.08812372,  0.06199067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.56928347e-05,-6.17154265e-05, 4.54285047e-06,-1.69059996e-04,
 -4.15754720e-05, 7.17626103e-05, 1.33181944e-04,-1.47396562e-04,
 -9.73408871e-05,-3.67976063e-05, 4.87393325e-05,-1.28698495e-04,
 -6.75102994e-04,-3.95219866e-05,-3.87814330e-04,-4.32367270e-04,
 -6.40970252e-08, 9.64170723e-08,-1.21644017e+00,-4.27017421e-04,
  2.51553814e-05,-5.61565256e-04]


--- Step 67 ---
qpos:
[ 0.00463743,-0.00138318,-0.0037043 , 0.02511554, 0.00332875,-0.00291703,
 -0.01389838, 0.02135577, 0.0096759 , 0.00250703,-0.00750883, 0.01936429,
  0.29498928,-0.00080512, 0.13557886, 0.04939836, 0.09226096,-0.07049613,
  0.13120718, 0.50845765, 0.49208938, 0.48790131, 0.51114691]

qacc:
[  -5.90079493, -10.44935527,  52.79359841,-119.13088283,  -5.7811748 ,
  -12.05722076,  58.77433643,-121.58930966, -17.7758684 , -13.11015231,
   56.67016771,-108.89376859,  -0.42305409, -11.20795197,  12.11391129,
  -50.39338043,   0.37622938,   0.95362918,  -0.34495813,   5.51331285,
    1.20734333, -13.68806394]

qfrc_actuator:
[ 0.00156406,-0.00063808,-0.00133675, 0.00866667, 0.00114648,-0.00117988,
 -0.00496365, 0.00730868, 0.00335516, 0.00073133,-0.00271474, 0.0066582 ,
  0.09594279,-0.00076887, 0.07370361, 0.01249371, 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: -0.0003154810027776872
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.75957192e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.75957192e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08594972, -0.08812687,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.46947573e-05,-2.12402137e-05, 3.81203889e-05,-1.91174512e-04,
 -3.41886873e-05, 1.38575653e-04, 1.49912614e-04,-1.61829110e-04,
 -1.04461403e-04,-1.10722057e-04, 8.31965674e-05,-1.48638272e-04,
 -6.75783240e-04,-1.03045358e-04,-3.85292868e-04,-3.56836492e-04,
  7.65505003e-09, 8.66730962e-08,-1.21644008e+00,-4.27262756e-04,
  2.53122488e-05,-5.61588294e-04]


--- Step 68 ---
qpos:
[ 0.00466872,-0.00139349,-0.00372854, 0.02528481, 0.00335078,-0.002936  ,
 -0.01399159, 0.02149919, 0.00974152, 0.0025228 ,-0.00755903, 0.01949492,
  0.29695315,-0.00081814, 0.13747556, 0.04973793, 0.09226232,-0.07048656,
  0.13121598, 0.50849673, 0.49206406, 0.48793364, 0.51110155]

qacc:
[  -2.56966843, -10.42162333,  54.54740402,-125.20883608,  -8.00355954,
  -12.30925431,  58.8171545 ,-118.16772904, -12.20901295, -12.06887377,
   52.91340237,-103.45418727,  -1.28411751,   1.93364355,  18.37074333,
  -71.86020771,   0.37493397,   0.95240851,  -0.362189  ,   5.51080606,
    1.20263162, -13.66834264]

qfrc_actuator:
[ 0.00154988,-0.00058658,-0.00127577, 0.00847082, 0.00110012,-0.00112699,
 -0.0048353 , 0.00715214, 0.00328629, 0.00068634,-0.00262397, 0.00651893,
  0.09576785,-0.00077058, 0.07351549, 0.0120981 , 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: -0.00030375169568441773
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82751741e-13,  1.82751741e-13,  1.00000000e+00, -3.33981989e-26,
        1.00000000e+00, -1.82751741e-13, -1.00000000e+00,  0.00000000e+00,
        1.82751741e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08594861, -0.08812994,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51431538e-05, 3.94900189e-05, 5.46774101e-05,-1.99472775e-04,
 -4.72758053e-05, 1.55910421e-04, 1.70874123e-04,-1.48631174e-04,
 -7.18441279e-05,-9.62105968e-05, 7.31856014e-05,-1.44226023e-04,
 -6.71179244e-04,-3.49544350e-05,-3.90436517e-04,-4.62213436e-04,
  9.07656238e-08, 1.42273627e-07,-1.21644028e+00,-4.27483662e-04,
  2.52654778e-05,-5.61516163e-04]


--- Step 69 ---
qpos:
[ 0.00469926,-0.00140327,-0.00375227, 0.02545041, 0.00337243,-0.00295385,
 -0.01408322, 0.02163997, 0.00980547, 0.00253846,-0.00760841, 0.01962315,
  0.29891358,-0.00083071, 0.13936828, 0.05007048, 0.09226519,-0.07047319,
  0.13122328, 0.50854318, 0.49202979, 0.48798625, 0.5110381 ]

qacc:
[  -6.66377631,  -8.26946524,  46.0455188 ,-110.85846509,  -3.32325531,
   -8.34788232,  43.02365906, -91.89702975, -14.77237933,  -7.33362887,
   36.07952094, -78.79124702,  -1.60566324,   6.79717121,  15.36145013,
  -62.23797542,   0.37405261,   0.95181584,  -0.37506915,   5.51051743,
    1.19909348, -13.65781472]

qfrc_actuator:
[ 0.00151128,-0.00055172,-0.0012478 , 0.00828799, 0.00108181,-0.0010704 ,
 -0.00475798, 0.00702051, 0.00320181, 0.00072467,-0.00256825, 0.00640255,
  0.09559238,-0.00074861, 0.07331323, 0.01174734, 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: -0.000292359647716553
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.79745643e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.79745643e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08594755, -0.08813293,  0.06199167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.89888933e-05, 5.98577698e-05, 3.59583065e-05,-1.83433627e-04,
 -1.96110421e-05, 1.74151859e-04, 1.26426459e-04,-1.22002597e-04,
 -8.65326476e-05,-6.63348165e-06, 4.00491456e-05,-1.20976197e-04,
 -6.65459051e-04,-9.58726989e-06,-4.19050862e-04,-4.23980887e-04,
  1.85333804e-07, 2.62730518e-07,-1.21644077e+00,-4.27680918e-04,
  2.50157461e-05,-5.61349117e-04]


--- Step 70 ---
qpos:
[ 0.00472875,-0.00141275,-0.00377508, 0.02561219, 0.00339438,-0.00297065,
 -0.01417345, 0.0217781 , 0.00986825, 0.00255376,-0.00765641, 0.01974898,
  0.30087056,-0.00084252, 0.14125738, 0.05039483, 0.09226954,-0.07045601,
  0.13122904, 0.50859698, 0.49198656, 0.48805915, 0.51095655]

qacc:
[  -9.16532757, -10.04334485,  52.56404779,-120.53352491,   2.67030318,
   -7.98581172,  41.68835788, -90.6142457 , -10.20127903,  -9.29790922,
   42.66814723, -86.33496722,  -1.80755699,   9.63273589,  19.43400895,
  -75.76150049,   0.37351904,   0.95176041,  -0.38442678,   5.51235998,
    1.19643875, -13.6553358 ]

qfrc_actuator:
[ 0.00145861,-0.00054498,-0.00120407, 0.00809651, 0.00109789,-0.00102997,
 -0.00469364, 0.00688679, 0.0031443 , 0.00070596,-0.0024978 , 0.00628287,
  0.09541138,-0.00071294, 0.0731346 , 0.01133707, 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: -0.0002813554587556416
  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([ 0.08594654, -0.08813582,  0.06199198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.37323717e-05, 3.99401145e-05, 5.41618846e-05,-1.91546679e-04,
  1.55876347e-05, 1.60100881e-04, 1.12635773e-04,-1.24323359e-04,
 -5.99398248e-05,-1.94251911e-05, 7.00031155e-05,-1.21132232e-04,
 -6.65650490e-04, 4.70382845e-06,-4.02708899e-04,-4.84673871e-04,
  2.91423326e-07, 4.47659444e-07,-1.21644154e+00,-4.27855072e-04,
  2.45633369e-05,-5.61087307e-04]


--- Step 71 ---
qpos:
[ 0.00475773,-0.00142199,-0.00379717, 0.02577077, 0.00341635,-0.00298736,
 -0.01426118, 0.02191325, 0.00993019, 0.00256884,-0.00770291, 0.01987201,
  0.30282409,-0.00085343, 0.14314336, 0.05070961, 0.09227539,-0.07043502,
  0.13123324, 0.50865814, 0.49193438, 0.48815233, 0.51085688]

qacc:
[  -4.51659971,  -8.27994948,  43.51096986,-100.18667066,   0.27413146,
  -12.98772864,  59.05236946,-114.62394607,  -7.27908141, -10.16421908,
   47.62241912, -98.11583848,  -1.9198683 ,  11.17504332,  24.32455198,
  -91.76820184,   0.37327931,   0.95216623,  -0.39096035,   5.51624224,
    1.1944323 , -13.65994461]

qfrc_actuator:
[ 0.00143358,-0.00053731,-0.00116927, 0.00793695, 0.00109859,-0.00107064,
 -0.00458428, 0.00673514, 0.00310314, 0.00070659,-0.00241942, 0.00614442,
  0.09523251,-0.0006695 , 0.07298624, 0.01085957, 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: -0.0002707742866540769
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.10017893e-13,  2.11415476e-13,  1.00000000e+00, -8.66841280e-26,
        1.00000000e+00, -2.11415476e-13, -1.00000000e+00,  0.00000000e+00,
        4.10017893e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08594557, -0.08813861,  0.06199228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.65078765e-05, 3.31187060e-05, 4.30906443e-05,-1.59986686e-04,
  1.19228769e-06, 6.81657345e-05, 1.52950491e-04,-1.43374720e-04,
 -4.28474178e-05,-1.06279120e-06, 7.89710110e-05,-1.39410106e-04,
 -6.62999757e-04, 1.24369727e-05,-3.72934740e-04,-5.53471515e-04,
  4.09069862e-07, 6.96743631e-07,-1.21644260e+00,-4.28006501e-04,
  2.39081846e-05,-5.60730805e-04]


--- Step 72 ---
qpos:
[ 0.00478652,-0.00143094,-0.00381897, 0.02592691, 0.00343747,-0.00300437,
 -0.01434661, 0.0220456 , 0.00999116, 0.00258396,-0.00774819, 0.01999207,
  0.30477429,-0.00086474, 0.14502595, 0.05102009, 0.09228273,-0.07041022,
  0.13123585, 0.50872666, 0.49187324, 0.4882658 , 0.51073908]

qacc:
[  -1.58228396,  -5.42644479,  30.17586301, -72.9748837 ,  -7.39338618,
  -12.56960601,  56.0902171 ,-108.07404021,  -8.54489269,  -9.5229411 ,
   46.63257116,-100.25031933,  -1.01535719,  -1.58274808,   7.98884971,
  -35.21930389,   0.37328951,   0.95296989,  -0.39525722,   5.52207373,
    1.19288344, -13.67083584]

qfrc_actuator:
[ 0.00142504,-0.00052917,-0.00115774, 0.00781521, 0.00105469,-0.00112392,
 -0.00448507, 0.00659188, 0.00305416, 0.00071882,-0.00235468, 0.00599605,
  0.09506038,-0.00069287, 0.07286678, 0.01066593, 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: -0.0002606387105350688
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.13146275e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.13146275e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08594466, -0.08814128,  0.06199257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.25827032e-06, 2.88459736e-05, 1.81246825e-05,-1.22231581e-04,
 -4.38346715e-05, 1.16242172e-05, 1.28091053e-04,-1.37907700e-04,
 -5.01678475e-05, 2.18732278e-05, 6.95837495e-05,-1.48581702e-04,
 -6.53909236e-04,-5.44416199e-05,-3.39998220e-04,-2.70079847e-04,
  5.38286105e-07, 1.00970463e-06,-1.21644395e+00,-4.28135462e-04,
  2.30499143e-05,-5.60279614e-04]


--- Step 73 ---
qpos:
[ 0.00481499,-0.00143959,-0.00384075, 0.02608074, 0.0034579 ,-0.00302162,
 -0.01443042, 0.02217559, 0.01005142, 0.00259886,-0.00779251, 0.02010981,
  0.30672114,-0.00087551, 0.14690515, 0.05132584, 0.09229157,-0.0703816 ,
  0.13123688, 0.50880253, 0.49180312, 0.48839958, 0.5106031 ]

qacc:
[ -2.87347534, -4.41520088, 26.10431143,-66.45995883, -5.99760653,
  -9.70925752, 44.17118141,-87.54219055, -6.26499536, -7.72068148,
  36.92799398,-78.46157754, -1.64461007,  7.43876558,  9.32936287,
 -39.90236466,  0.37351396,  0.95411863, -0.39780979,  5.52976852,
   1.19163732,-13.68733677]

qfrc_actuator:
[ 0.00140851,-0.00052087,-0.00116002, 0.00769893, 0.00102042,-0.00114889,
 -0.0044105 , 0.00647242, 0.00301872, 0.00068458,-0.00231621, 0.00587855,
  0.0948924 ,-0.00066664, 0.07269556, 0.01042813, 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: -0.00025096113696108924
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.21194213e-13,  2.28106532e-13,  1.00000000e+00, -5.04558449e-26,
        1.00000000e+00, -2.28106532e-13, -1.00000000e+00,  0.00000000e+00,
        2.21194213e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08594378, -0.08814384,  0.06199285])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.67644609e-05, 2.30677618e-05, 1.65798286e-06,-1.17088555e-04,
 -3.55168999e-05, 3.38224122e-06, 8.88856081e-05,-1.17281978e-04,
 -3.68259861e-05,-1.41088891e-05, 4.65598494e-05,-1.17234153e-04,
 -6.45876234e-04,-6.70800033e-06,-3.45386013e-04,-2.94286031e-04,
  6.79065251e-07, 1.38627869e-06,-1.21644559e+00,-4.28242127e-04,
  2.19878746e-05,-5.59733676e-04]


--- Step 74 ---
qpos:
[ 0.00484305,-0.00144791,-0.00386266, 0.02623128, 0.00347741,-0.00303908,
 -0.01451271, 0.02230383, 0.01011078, 0.00261342,-0.00783648, 0.02022528,
  0.30866462,-0.00088515, 0.14878109, 0.05162436, 0.0923019 ,-0.07034916,
  0.13123631, 0.50888576, 0.491724  , 0.48855368, 0.5104489 ]

qacc:
[ -3.69817815, -5.98010279, 35.8188887 ,-92.67303295, -7.97116142,
  -8.12721262, 36.00684187,-68.63153148, -7.84229141, -6.05186603,
  30.54830543,-70.15546343, -2.07314166, 13.27230888, 17.00512862,
 -66.45505755,  0.37392373,  0.9555687 , -0.39902958,  5.53924733,
   1.19056801,-13.7088872 ]

qfrc_actuator:
[ 0.00138739,-0.00051261,-0.00117044, 0.00753351, 0.00097435,-0.00115683,
 -0.00433321, 0.00638567, 0.00297379, 0.00064045,-0.00231149, 0.00576235,
  0.09471638,-0.0006114 , 0.07251471, 0.01005948, 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: -0.0002417458155348634
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.59252220e-13,  2.36801926e-13,  1.00000000e+00, -1.08751810e-25,
        1.00000000e+00, -2.36801926e-13, -1.00000000e+00,  0.00000000e+00,
        4.59252220e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08594295, -0.08814628,  0.06199311])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.15582269e-05, 1.66128376e-05,-9.51673798e-06,-1.66931329e-04,
 -4.70832285e-05, 8.58954422e-06, 8.57762806e-05,-8.58740356e-05,
 -4.59580348e-05,-4.75270821e-05, 3.63478949e-06,-1.17663361e-04,
 -6.45770398e-04, 2.36726535e-05,-3.60119109e-04,-4.27159520e-04,
  8.31383315e-07, 1.82619764e-06,-1.21644752e+00,-4.28326612e-04,
  2.07211640e-05,-5.59092891e-04]


--- Step 75 ---
qpos:
[ 0.00487063,-0.00145568,-0.00388462, 0.02637794, 0.00349656,-0.00305685,
 -0.01459307, 0.02243001, 0.0101688 , 0.00262728,-0.00787961, 0.02033847,
  0.31060477,-0.00089504, 0.15065354, 0.05191843, 0.09231373,-0.07031289,
  0.13123414, 0.50897636, 0.49163587, 0.48872814, 0.51027643]

qacc:
[-4.15703831e+00,-7.07700479e+00, 4.27150821e+01,-1.10255052e+02,
 -3.08536198e+00,-9.98063941e+00, 4.36675833e+01,-8.20332295e+01,
 -1.17950875e+01,-7.98625910e+00, 3.67773698e+01,-7.71188575e+01,
 -1.11178469e+00,-1.01308606e-01, 8.33081937e+00,-3.66192132e+01,
  3.74495351e-01, 9.57283963e-01,-3.99259402e-01, 5.55043870e+00,
  1.18957296e+00,-1.37350222e+01]

qfrc_actuator:
[ 0.00136375,-0.00046902,-0.00116786, 0.0073405 , 0.0009572 ,-0.00117225,
 -0.00423708, 0.00628338, 0.00290586, 0.0005906 ,-0.00227351, 0.0056478 ,
  0.09453565,-0.00062834, 0.07236547, 0.00984748, 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: -0.00023299052168336554
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.14764929e-13,  3.64827933e-13,  1.00000000e+00, -2.60766211e-25,
        1.00000000e+00, -3.64827933e-13, -1.00000000e+00,  0.00000000e+00,
        7.14764929e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08594217, -0.0881486 ,  0.06199336])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.42179326e-05, 4.38886871e-05,-9.43908551e-07,-1.96144651e-04,
 -1.84871246e-05, 4.72439189e-06, 1.06376621e-04,-1.00690183e-04,
 -6.92164492e-05,-8.08226710e-05, 2.46822562e-05,-1.18928172e-04,
 -6.49009497e-04,-4.80122819e-05,-3.50074335e-04,-2.79813901e-04,
  9.95200601e-07, 2.32917323e-06,-1.21644974e+00,-4.28389002e-04,
  1.92486528e-05,-5.58357112e-04]


--- Step 76 ---
qpos:
[ 0.00489771,-0.00146306,-0.00390616, 0.02652217, 0.00351571,-0.00307473,
 -0.01467166, 0.02255328, 0.01022521, 0.00264101,-0.00792191, 0.02044898,
  0.3125416 ,-0.00090467, 0.15252222, 0.05220674, 0.09232706,-0.07027278,
  0.13123038, 0.50907434, 0.49153869, 0.48892298, 0.51008564]

qacc:
[-4.36933657e+00,-5.70855912e+00, 3.13673328e+01,-7.44821375e+01,
 -3.21162320e-02,-1.11114447e+01, 5.17064402e+01,-1.04914607e+02,
 -1.41462747e+01,-7.96771899e+00, 3.95108140e+01,-8.71167337e+01,
 -1.47406425e+00, 4.84523605e+00, 1.18290391e+01,-4.94838897e+01,
  3.75209889e-01, 9.59234661e-01,-3.98783811e-01, 5.56327950e+00,
  1.18856843e+00,-1.37653575e+01]

qfrc_actuator:
[ 0.00133882,-0.00044009,-0.00113973, 0.00722162, 0.00095722,-0.0011742 ,
 -0.00414841, 0.00613725, 0.00282496, 0.00062658,-0.00221623, 0.00551741,
  0.09436288,-0.00061664, 0.07215544, 0.00955207, 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: -0.00022468795657677731
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.72058949e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.72058949e-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([ 0.08594142, -0.08815081,  0.06199359])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.55785967e-05, 4.49833030e-05, 3.02826976e-05,-1.21114349e-04,
 -5.07874116e-07, 1.96457148e-05, 1.00135570e-04,-1.44261633e-04,
 -8.28753493e-05,-9.30209307e-06, 3.96610147e-05,-1.35486519e-04,
 -6.46747740e-04,-2.20446246e-05,-3.89663978e-04,-3.53682118e-04,
  1.17046257e-06, 2.89488437e-06,-1.21645226e+00,-4.28429364e-04,
  1.75690008e-05,-5.57526162e-04]


--- Step 77 ---
qpos:
[ 0.00492428,-0.00147039,-0.00392652, 0.02666418, 0.00353436,-0.00309237,
 -0.01474845, 0.02267379, 0.01028055, 0.00265498,-0.00796371, 0.02055704,
  0.31447506,-0.00091335, 0.15438727, 0.05248823, 0.09234189,-0.07022883,
  0.13122502, 0.50917969, 0.49143243, 0.48913823, 0.50987646]

qacc:
[  -4.44232163,  -7.77391266,  37.21473602, -77.56107991,  -4.28023781,
  -10.37999801,  49.16125495,-100.02770141,  -9.35014417,  -6.12678965,
   32.71590015, -76.21956736,  -1.97032556,  11.45343357,  15.27662514,
  -61.17859638,   0.37605206,   0.96139639,  -0.39783815,   5.57771485,
    1.18748589, -13.7995767 ]

qfrc_actuator:
[ 0.00131333,-0.00043776,-0.00107899, 0.00711182, 0.00093182,-0.00113265,
 -0.00404709, 0.00600202, 0.00277257, 0.00066051,-0.00218319, 0.00539658,
  0.09418967,-0.00057042, 0.07197301, 0.0092097 , 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: -0.0002168269072577167
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56015971e-13,  8.00049910e-15,  1.00000000e+00, -2.04825555e-27,
        1.00000000e+00, -8.00049910e-15, -1.00000000e+00,  0.00000000e+00,
        2.56015971e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08594072, -0.0881529 ,  0.06199382])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.61843525e-05, 2.86562456e-05, 6.95602193e-05,-1.09448299e-04,
 -2.53994124e-05, 6.83402916e-05, 1.13583620e-04,-1.33793001e-04,
 -5.47197743e-05, 3.10149456e-05, 3.14627305e-05,-1.22664166e-04,
 -6.44338254e-04, 1.29637338e-05,-3.86890802e-04,-4.09477162e-04,
  1.35710025e-06, 3.52296646e-06,-1.21645507e+00,-4.28447766e-04,
  1.56806711e-05,-5.56599831e-04]


--- Step 78 ---
qpos:
[ 0.00495034,-0.00147732,-0.00394633, 0.02680307, 0.00355256,-0.00310941,
 -0.01482357, 0.02279135, 0.01033518, 0.002669  ,-0.00800475, 0.02066316,
  0.31640519,-0.00092137, 0.15624905, 0.05276625, 0.09235823,-0.07018102,
  0.13121808, 0.50929243, 0.49131706, 0.48937393, 0.50964882]

qacc:
[  -4.49616922,  -7.43285212,  40.45482042, -95.62254558,  -3.90085357,
   -9.92812291,  48.96131249,-102.97632812,  -6.25533579,  -6.00904298,
   29.71073499, -64.49624662,  -1.76628135,   8.691337  ,   5.65483422,
  -26.80339558,   0.37700957,   0.96374921,  -0.39661626,   5.59369781,
    1.18626904, -13.83742074]

qfrc_actuator:
[ 0.00128771,-0.00041571,-0.00105286, 0.00695496, 0.00090942,-0.00108305,
 -0.00395666, 0.00585658, 0.00273739, 0.00065738,-0.00214696, 0.00530008,
  0.09401632,-0.00053979, 0.07186052, 0.00905554, 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: -0.00020939320401829054
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.65104837e-13,  4.05941782e-13,  1.00000000e+00, -1.07617130e-25,
        1.00000000e+00, -4.05941782e-13, -1.00000000e+00,  0.00000000e+00,
        2.65104837e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08594005, -0.08815488,  0.06199403])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.63368709e-05, 4.78454400e-05, 3.68098694e-05,-1.55614395e-04,
 -2.30994677e-05, 1.06799728e-04, 1.14747473e-04,-1.41240675e-04,
 -3.66967295e-05, 1.53497534e-05, 4.24154675e-05,-9.66334776e-05,
 -6.40977590e-04,-1.85373489e-06,-3.22410134e-04,-2.24131985e-04,
  1.55503034e-06, 4.21300246e-06,-1.21645819e+00,-4.28444283e-04,
  1.35819405e-05,-5.55577884e-04]


--- Step 79 ---
qpos:
[ 0.00497555,-0.00148378,-0.00396595, 0.02693866, 0.00357035,-0.00312557,
 -0.01489743, 0.02290591, 0.01038862, 0.00268299,-0.00804499, 0.02076696,
  0.31833199,-0.00092858, 0.15810785, 0.05303921, 0.09237609,-0.07012935,
  0.13120956, 0.50941257, 0.49119254, 0.48963013, 0.50940264]

qacc:
[ -7.5196927 , -6.68093031, 38.64307159,-96.31148019, -3.57476279,
  -8.55827035, 44.96838604,-99.85461631,-10.45876034, -7.06968094,
  35.01213659,-76.58706594, -1.88574686, 10.18379201, 10.89746654,
 -44.47641244,  0.37807256,  0.9662769 , -0.39527713,  5.61118894,
   1.18487143,-13.87867867]

qfrc_actuator:
[ 0.00124447,-0.00039995,-0.00104735, 0.0067894 , 0.00088897,-0.00102908,
 -0.0038911 , 0.0057063 , 0.0026771 , 0.00064986,-0.00210925, 0.00518314,
  0.09384301,-0.00050084, 0.0717102 , 0.00880067, 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: -0.00020237050678406643
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.74304552e-13,  4.88604984e-13,  1.00000000e+00,  1.34026571e-25,
        1.00000000e+00, -4.88604984e-13, -1.00000000e+00,  0.00000000e+00,
       -2.74304552e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08593942, -0.08815676,  0.06199423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.39542964e-05, 4.35291128e-05, 1.45235593e-05,-1.65512318e-04,
 -2.10707957e-05, 1.32575416e-04, 9.76792966e-05,-1.44535231e-04,
 -6.12962874e-05, 5.58627930e-06, 4.28986216e-05,-1.16856774e-04,
 -6.38966330e-04, 5.78990712e-06,-3.12446724e-04,-3.06810869e-04,
  1.76415501e-06, 4.96451528e-06,-1.21646161e+00,-4.28419009e-04,
  1.12709076e-05,-5.54460064e-04]


--- Step 80 ---
qpos:
[ 0.00499935,-0.00148989,-0.00398531, 0.02707122, 0.00358776,-0.00314087,
 -0.0149697 , 0.02301843, 0.01044092, 0.00269663,-0.00808404, 0.0208689 ,
  0.32025546,-0.00093521, 0.15996367, 0.05330502, 0.09239546,-0.0700738 ,
  0.13119946, 0.50954013, 0.49105884, 0.48990686, 0.50913784]

qacc:
[-12.34776559, -6.47550687, 36.60229756,-89.80503004, -3.32899062,
  -7.44974092, 36.76402848,-74.94269958, -9.96889141, -7.54057002,
  34.07177186,-67.77457258, -1.72154964,  7.87843155, 17.2376764 ,
 -66.68039179,  0.37923318,  0.96896629, -0.3939505 ,  5.63015556,
   1.18325452,-13.92317996]

qfrc_actuator:
[ 0.00117345,-0.00038819,-0.00103631, 0.00663781, 0.00086983,-0.00097301,
 -0.00380524, 0.00560763, 0.00262027, 0.00062202,-0.00205326, 0.00509061,
  0.09366451,-0.00047508, 0.0715426 , 0.00843507, 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: -0.00019574094766398875
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.20364031e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.20364031e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08593883, -0.08815854,  0.06199442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.22348055e-05, 3.20738905e-05, 1.60732153e-05,-1.52695438e-04,
 -1.96928760e-05, 1.45375566e-04, 1.21082919e-04,-9.24780823e-05,
 -5.85445625e-05,-2.09830037e-05, 5.85137182e-05,-9.32424566e-05,
 -6.42262225e-04,-7.45044963e-06,-3.35375341e-04,-4.21093725e-04,
  1.98436163e-06, 5.77696113e-06,-1.21646534e+00,-4.28372062e-04,
  8.74549888e-06,-5.53246091e-04]


--- Step 81 ---
qpos:
[ 0.00502212,-0.00149558,-0.00400497, 0.02720062, 0.0036048 ,-0.00315534,
 -0.0150409 , 0.02312894, 0.01049248, 0.0027101 ,-0.00812161, 0.02096889,
  0.32217558,-0.00094109, 0.16181614, 0.0535621 , 0.09241635,-0.07001437,
  0.13118779, 0.5096751 , 0.49091591, 0.49020418, 0.50885433]

qacc:
[ -9.13306714, -5.09969712, 32.4094041 ,-87.12329868, -3.17942907,
  -6.03478245, 31.63792433,-68.90531917, -6.4895734 , -8.41564263,
  37.92063403,-73.94962554, -1.86520697,  9.60527685, 21.4310257 ,
 -82.14741901,  0.38048515,  0.97180675, -0.3927417 ,  5.65057121,
   1.18138607,-13.97078789]

qfrc_actuator:
[ 0.00112215,-0.0003789 ,-0.0010576 , 0.0064779 , 0.00085162,-0.00095152,
 -0.00376127, 0.00550463, 0.00258369, 0.00063557,-0.00196925, 0.00499543,
  0.09348834,-0.00043957, 0.07134876, 0.00798942, 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: -0.00018948565283352647
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.85914030e-13,  3.02111922e-13,  1.00000000e+00, -1.77011614e-25,
        1.00000000e+00, -3.02111922e-13, -1.00000000e+00,  0.00000000e+00,
        5.85914030e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08593827, -0.08816021,  0.06199459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.33146523e-05, 2.40558532e-05,-1.79865817e-05,-1.61196520e-04,
 -1.87286829e-05, 1.24976791e-04, 8.64899634e-05,-9.44370635e-05,
 -3.82304110e-05, 9.78869577e-06, 8.37861587e-05,-9.60332549e-05,
 -6.43081081e-04, 1.34407177e-06,-3.84341589e-04,-5.10344636e-04,
  2.21552221e-06, 6.64972355e-06,-1.21646938e+00,-4.28303592e-04,
  6.00347235e-06,-5.51935670e-04]


--- Step 82 ---
qpos:
[ 0.00504479,-0.0015011 ,-0.00402441, 0.02732743, 0.00362183,-0.00316921,
 -0.01511147, 0.02323776, 0.01054286, 0.0027234 ,-0.00815726, 0.02106659,
  0.32409239,-0.00094647, 0.16366474, 0.05381282, 0.09243992,-0.06996428,
  0.13118039, 0.50976865, 0.49081981, 0.490476  , 0.50859132]

qacc:
[-8.94535680e-01,-5.73949954e+00, 3.16937855e+01,-7.69219738e+01,
 -4.23097680e-02,-4.43302134e+00, 2.40993389e+01,-5.47944962e+01,
 -1.03612662e+01,-1.02522412e+01, 4.59759556e+01,-8.87125390e+01,
 -1.67517918e+00, 7.25559093e+00, 1.35118984e+01,-5.55525662e+01,
  6.68508454e-01,-2.33706729e+00, 1.06772794e+00, 1.05889576e+01,
 -3.22628285e+00, 3.35009993e+01]

qfrc_actuator:
[ 0.0011184 ,-0.00037131,-0.00104457, 0.00634984, 0.00085184,-0.00095109,
 -0.00374255, 0.00541759, 0.00252381, 0.00063842,-0.00186921, 0.00488173,
  0.09331903,-0.00041635, 0.07116595, 0.00767769, 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: -0.0002183860207017746
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.54188208e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.54188208e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08262376, -0.03113452,  0.06199377])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.24149337e-06, 1.04806210e-05, 1.01899890e-05,-1.31015144e-04,
 -2.65482719e-07, 8.52475233e-05, 5.26780185e-05,-8.05853743e-05,
 -6.09394340e-05, 2.13944448e-05, 1.09173515e-04,-1.12400002e-04,
 -6.36465804e-04,-1.11220450e-05,-4.03739207e-04,-3.87219144e-04,
  2.45749283e-06, 7.58210798e-06,-1.21647374e+00,-4.28213780e-04,
  3.04242031e-06,-5.50528487e-04]


--- Step 83 ---
qpos:
[ 0.00506758,-0.00150654,-0.00404304, 0.02745271, 0.00363874,-0.00318286,
 -0.01518054, 0.02334468, 0.01059178, 0.00273632,-0.00819184, 0.02116259,
  0.32600602,-0.00095252, 0.16550982, 0.05405608, 0.09246607,-0.06992321,
  0.13117576, 0.50982222, 0.49076887, 0.49072337, 0.5083481 ]

qacc:
[  1.10946707, -5.29074423, 25.47119581,-53.19505863, -1.09455019,
  -7.81739104, 36.33605361,-71.82679206,-12.75407644, -6.98237618,
  31.36970668,-62.20438036, -0.76528384, -3.97862608, 17.32193117,
 -68.17280246,  0.64599613, -2.25346198,  0.69245552, 10.25222197,
  -3.05664091, 32.28379874]

qfrc_actuator:
[ 0.00112489,-0.00034689,-0.00099361, 0.0062771 , 0.00084516,-0.00094564,
 -0.00366796, 0.00532285, 0.00245069, 0.00058166,-0.00183156, 0.00479357,
  0.09315394,-0.00045384, 0.07099525, 0.00730542, 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: -0.0002506130652124017
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.21501426e-13,  2.21501426e-13,  1.00000000e+00, -4.90628816e-26,
        1.00000000e+00, -2.21501426e-13, -1.00000000e+00,  0.00000000e+00,
        2.21501426e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08262784, -0.03115219,  0.06199285])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.36736230e-06, 2.68442491e-05, 4.98341512e-05,-7.47250573e-05,
 -6.65289903e-06, 6.16331528e-05, 9.66461342e-05,-9.08857946e-05,
 -7.48192471e-05,-2.72146964e-05, 5.17152392e-05,-8.58107302e-05,
 -6.27932268e-04,-7.22099576e-05,-3.85257452e-04,-4.43025875e-04,
  2.26702756e-06, 4.58232590e-06,-1.21646611e+00,-4.30193190e-04,
  3.03707860e-06,-5.49591968e-04]


--- Step 84 ---
qpos:
[ 0.00508992,-0.00151172,-0.00406093, 0.02757579, 0.00365544,-0.00319628,
 -0.01524816, 0.02344964, 0.01063944, 0.00274897,-0.00822652, 0.0212572 ,
  0.32791647,-0.00095961, 0.16735141, 0.05428996, 0.09249474,-0.06989087,
  0.13117264, 0.50983702, 0.49076168, 0.49094718, 0.50812406]

qacc:
[ -3.88895521, -6.26998622, 32.17308427,-71.80711118, -1.81220829,
  -7.82310115, 36.63297278,-73.163419  ,-11.05763931, -2.93251621,
  15.84666935,-39.61909261, -0.49856594, -7.32931335, 23.1963673 ,
 -88.68161148,  0.62755343, -2.18315279,  0.37594037,  9.97205563,
  -2.91049903, 31.26376771]

qfrc_actuator:
[ 0.00110185,-0.00033012,-0.00095607, 0.0061665 , 0.00083447,-0.00093705,
 -0.00359648, 0.00522438, 0.00238812, 0.00054265,-0.00184905, 0.00472104,
  0.09298084,-0.00050901, 0.07080529, 0.00682945, 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: -0.00027458241139731443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.02165721e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.02165721e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263085, -0.03116528,  0.06199217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.28418831e-05, 3.89367717e-05, 4.66132228e-05,-1.09410612e-04,
 -1.08589804e-05, 6.01917213e-05, 9.37032032e-05,-9.43066601e-05,
 -6.46776077e-05,-4.73646813e-05,-1.96176597e-05,-7.37275685e-05,
 -6.32822455e-04,-9.16537557e-05,-4.03527377e-04,-5.47756828e-04,
  1.81106613e-06, 2.27840031e-06,-1.21646031e+00,-4.31797011e-04,
  3.80734046e-06,-5.48889952e-04]


--- Step 85 ---
qpos:
[ 0.00511181,-0.00151677,-0.00407813, 0.02769624, 0.00367187,-0.0032095 ,
 -0.01531494, 0.02355333, 0.01068598, 0.00276119,-0.00826108, 0.0213502 ,
  0.32982368,-0.00096793, 0.16918896, 0.05452152, 0.09252585,-0.06986702,
  0.13116995, 0.50981404, 0.49079707, 0.49114814, 0.50791868]

qacc:
[ -3.93534651, -7.13365127, 36.75190799,-83.24399961, -2.23793828,
  -4.6409321 , 22.26151628,-45.55148422, -9.85067916, -4.17773576,
  20.87386331,-48.51866221, -0.35416841, -9.20572445,  1.00418058,
 -12.22391812,  0.61252737, -2.1240756 ,  0.10890269,  9.74003421,
  -2.78330285, 30.4093324 ]

qfrc_actuator:
[ 0.00107935,-0.00033588,-0.00092683, 0.00603448, 0.00082151,-0.00094441,
 -0.00356292, 0.00516   , 0.00233226, 0.00051436,-0.00184562, 0.00464052,
  0.09280305,-0.00057416, 0.07066249, 0.00673999, 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: -0.00029174362910726337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90273739e-13,  1.90273739e-13,  1.00000000e+00, -3.62040959e-26,
        1.00000000e+00, -1.90273739e-13, -1.00000000e+00,  0.00000000e+00,
        1.90273739e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.082633  , -0.03117462,  0.06199168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.31206670e-05, 2.09934477e-05, 3.92116961e-05,-1.31090245e-04,
 -1.32541913e-05, 4.26530866e-05, 5.49807682e-05,-6.04444224e-05,
 -5.76798050e-05,-6.21309858e-05,-1.12174727e-05,-8.48183404e-05,
 -6.42250865e-04,-1.02892276e-04,-3.76084632e-04,-1.69346992e-04,
  1.11552622e-06, 5.93587967e-07,-1.21645613e+00,-4.33080513e-04,
  5.28735943e-06,-5.48411969e-04]


--- Step 86 ---
qpos:
[ 0.00513361,-0.00152195,-0.00409441, 0.0278142 , 0.00368768,-0.00322259,
 -0.01538074, 0.02365509, 0.0107315 , 0.00277256,-0.00829488, 0.02144153,
  0.33172763,-0.00097693, 0.17102256, 0.05475574, 0.09255936,-0.06985148,
  0.1311668 , 0.5097541 , 0.49087404, 0.4913269 , 0.50773153]

qacc:
[ -0.80294386, -7.90157205, 38.50835257,-83.24961051, -5.47784871,
  -6.52765271, 31.68756052,-66.7259585 , -9.03629933, -6.68601125,
  29.32811892,-59.03253006, -0.78588439, -3.89809387,-13.83497237,
  39.95265284,  0.60037987, -2.07450867, -0.11637384,  9.54917915,
  -2.67138908, 29.69461507]

qfrc_actuator:
[ 0.00107512,-0.00035515,-0.00088507, 0.00590866, 0.00078956,-0.00094366,
 -0.00351658, 0.0050629 , 0.00228081, 0.00045724,-0.00181205, 0.00455596,
  0.09263322,-0.00060917, 0.07052685, 0.00689688, 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: -0.00030331654066022284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.83013927e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.83013927e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263442, -0.03118088,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.87057204e-06,-5.01277094e-06, 4.63618309e-05,-1.26340550e-04,
 -3.23151409e-05, 3.43961958e-05, 6.05449613e-05,-9.45987667e-05,
 -5.30916972e-05,-9.79295479e-05, 1.65194680e-05,-8.94036779e-05,
 -6.41661651e-04,-7.40656529e-05,-3.13745978e-04, 1.01711836e-04,
  1.99707109e-07,-5.31194407e-07,-1.21645343e+00,-4.34087025e-04,
  7.42755965e-06,-5.48149423e-04]


--- Step 87 ---
qpos:
[ 0.00515519,-0.00152713,-0.00411032, 0.0279294 , 0.00370333,-0.00323531,
 -0.01544528, 0.02375451, 0.01077604, 0.00278351,-0.00832794, 0.02153142,
  0.33362822,-0.00098453, 0.17285282, 0.05498902, 0.09259524,-0.06984406,
  0.13116242, 0.50965789, 0.49099175, 0.49148397, 0.50756225]

qacc:
[ -1.92681134, -6.69948724, 35.50037936,-83.72094219, -1.38191098,
  -7.8408859 , 38.59793312,-81.56214022, -8.51553276, -5.55957238,
  25.12608118,-50.91502929, -2.40649864, 15.61153935, -2.08279986,
   0.181376  ,  0.59066426, -2.03300498, -0.30635479,  9.39365695,
  -2.57179357, 29.09823407]

qfrc_actuator:
[ 0.00106391,-0.00036457,-0.00087181, 0.00576973, 0.00078219,-0.00090255,
 -0.00344529, 0.00494734, 0.00223235, 0.0004722 ,-0.00176109, 0.00448746,
  0.09246828,-0.00053741, 0.07034772, 0.00684247, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.57529658, -4.544131  ,  0.53311561, -4.544131  ,  4.89721899,
        2.74397816,  0.53311561,  2.74397816, 27.9642126 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003103268032240425
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78879654e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.78879654e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263526, -0.03118464,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13308302e-05,-8.01267790e-06, 1.35320683e-05,-1.40213308e-04,
 -8.27381951e-06, 6.98049727e-05, 8.32768957e-05,-1.13885082e-04,
 -4.99807456e-05,-4.03209963e-05, 2.97794959e-05,-7.40103583e-05,
 -6.34543219e-04, 3.32204484e-05,-3.00361752e-04,-8.69130471e-05,
 -9.22153145e-07,-1.14122599e-06,-1.21645209e+00,-4.34850957e-04,
  1.01909833e-05,-5.48095183e-04]


--- Step 88 ---
qpos:
[ 0.00517647,-0.00153208,-0.00412666, 0.02804309, 0.00371877,-0.00324781,
 -0.01550815, 0.02385175, 0.01081965, 0.00279501,-0.00836118, 0.02162007,
  0.33552548,-0.00099082, 0.17467983, 0.05521562, 0.09263345,-0.06984464,
  0.13115617, 0.50952593, 0.49114951, 0.4916198 , 0.50741055]

qacc:
[ -2.67404229, -1.57115431, 12.40735044,-37.92693458, -1.79370059,
  -8.88462152, 41.25824756,-81.67465374, -8.1809605 , -1.32055362,
  11.01446927,-32.61511439, -2.33773981, 14.7058767 , 15.39570849,
 -60.78524612,  0.5830074 , -1.99834125, -0.46649181,  9.26855396,
  -2.48210495, 28.60239891]

qfrc_actuator:
[ 0.00104869,-0.00035039,-0.00089321, 0.00569521, 0.00077161,-0.00089077,
 -0.0033597 , 0.00483965, 0.00218603, 0.00054805,-0.00175324, 0.00442902,
  0.09229575,-0.00047441, 0.07013192, 0.00648629, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.5868141 , -4.56853482,  0.4090883 , -4.56853482,  4.77257689,
        2.07452467,  0.4090883 ,  2.07452467, 27.75427746,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031363564301566116
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.76992483e-13,  1.76992483e-13,  1.00000000e+00, -3.13263391e-26,
        1.00000000e+00, -1.76992483e-13, -1.00000000e+00,  0.00000000e+00,
        1.76992483e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263561, -0.03118638,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.55316725e-05, 6.53053620e-06,-2.62751672e-05,-7.73434086e-05,
 -1.07920299e-05, 6.41292933e-05, 1.07014271e-04,-1.04085992e-04,
 -4.77241517e-05, 5.61971152e-05, 7.35376021e-07,-6.07200212e-05,
 -6.31008235e-04, 2.78496706e-05,-3.53646266e-04,-3.97891585e-04,
 -2.23971995e-06,-1.27087991e-06,-1.21645204e+00,-4.35400039e-04,
  1.35505326e-05,-5.48243264e-04]


--- Step 89 ---
qpos:
[ 0.0051974 ,-0.00153697,-0.00414287, 0.02815568, 0.00373362,-0.0032599 ,
 -0.01556955, 0.02394694, 0.01086203, 0.00280661,-0.00839448, 0.02170668,
  0.3374195 ,-0.00099695, 0.17650333, 0.05543521, 0.09267396,-0.0698531 ,
  0.13114752, 0.50935868, 0.49134672, 0.49173474, 0.50727615]

qacc:
[ -3.05500905, -2.59012302, 14.05824013,-33.5587119 , -5.15036737,
  -7.74255202, 37.1212211 ,-75.41581328,-10.90613067, -3.87122872,
  22.64486643,-57.91864721, -1.43152349,  4.02633116, 16.01588528,
 -63.56507662,  0.57709602, -1.96947872, -0.60140439,  9.16970581,
  -2.40035217, 28.19222084]

qfrc_actuator:
[ 0.00103123,-0.00034004,-0.0008815 , 0.00564142, 0.00074146,-0.00086108,
 -0.00328421, 0.00473743, 0.00212361, 0.00051762,-0.00177063, 0.00432373,
  0.09212411,-0.00047038, 0.0699475 , 0.00613269, 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: -0.0003139648615060747
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.76806892e-13,  1.76806892e-13,  1.00000000e+00, -3.12606769e-26,
        1.00000000e+00, -1.76806892e-13, -1.00000000e+00,  0.00000000e+00,
        1.76806892e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263558, -0.0311865 ,  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:
[-1.78881665e-05, 5.30290279e-06, 7.12033952e-06,-5.61304546e-05,
 -3.04362085e-05, 8.41706604e-05, 9.89850101e-05,-9.78348207e-05,
 -6.37417689e-05,-1.55290358e-06,-7.69112106e-06,-1.04172779e-04,
 -6.27980223e-04,-3.14304334e-05,-3.80268594e-04,-4.19233316e-04,
 -3.74569256e-06,-9.45825194e-07,-1.21645318e+00,-4.35756999e-04,
  1.74868635e-05,-5.48588580e-04]


--- Step 90 ---
qpos:
[ 0.00521762,-0.00154188,-0.00415873, 0.02826605, 0.00374798,-0.00327118,
 -0.01563006, 0.02404084, 0.01090367, 0.00281746,-0.00842675, 0.0217907 ,
  0.33931028,-0.00100294, 0.17832339, 0.05565169, 0.09271677,-0.06986934,
  0.13113601, 0.50915645, 0.49158289, 0.49182912, 0.50715884]

qacc:
[ -6.29438235, -5.55296607, 29.13735287,-68.0839222 , -4.16721789,
  -4.10569931, 21.63443044,-45.97828988, -6.39856728, -9.19547627,
  42.29835673,-88.25946508, -1.42011332,  3.84056244,  4.31470104,
 -22.45825794,  0.57266601, -1.94553253, -0.71502137,  9.09356621,
  -2.32491732, 27.85518109]

qfrc_actuator:
[ 0.00099483,-0.00034967,-0.00086808, 0.00552928, 0.00071778,-0.00080317,
 -0.00323297, 0.00467477, 0.0020877 , 0.0004414 ,-0.00173221, 0.00419163,
  0.09195311,-0.00046561, 0.06982465, 0.00599668, 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: -0.0003119179720435794
  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([ 0.08263524, -0.03118532,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.68887574e-05,-7.55479867e-06, 1.34271476e-05,-1.12971635e-04,
 -2.45124354e-05, 1.22165057e-04, 7.80756070e-05,-5.75795228e-05,
 -3.76980441e-05,-8.32523745e-05, 3.36560140e-05,-1.34593945e-04,
 -6.28442977e-04,-3.27344061e-05,-3.32075806e-04,-2.05965592e-04,
 -5.43514514e-06,-1.84715571e-07,-1.21645548e+00,-4.35940820e-04,
  2.19867618e-05,-5.49126756e-04]


--- Step 91 ---
qpos:
[ 0.00523724,-0.00154697,-0.0041742 , 0.02837388, 0.0037623 ,-0.00328203,
 -0.01568934, 0.02413362, 0.01094456, 0.0028278 ,-0.00845838, 0.02187247,
  0.34119777,-0.0010091 , 0.18014017, 0.05586545, 0.09276185,-0.06989328,
  0.13112125, 0.50891952, 0.49185762, 0.49190318, 0.50705845]

qacc:
[ -5.20265876, -6.52339494, 33.64097231,-78.02010978, -0.41253577,
  -5.11568506, 23.78248663,-45.31168903, -6.6122572 , -7.05127164,
  33.68872595,-73.22646466, -1.18484271,  0.89327268,  3.35682388,
 -18.78421882,  0.56949397, -1.92574733, -0.81069287,  9.03710448,
  -2.25446745, 27.58071524]

qfrc_actuator:
[ 0.00096534,-0.00037122,-0.00085389, 0.00540142, 0.00071587,-0.0007999 ,
 -0.00317858, 0.00461814, 0.00204993, 0.00042729,-0.00169686, 0.00408032,
  0.09177197,-0.00047819, 0.06967495, 0.00586585, 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: -0.00030799813418148914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.60464205e-13,  1.80232102e-13,  1.00000000e+00, -6.49672214e-26,
        1.00000000e+00, -1.80232102e-13, -1.00000000e+00,  0.00000000e+00,
        3.60464205e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263465, -0.03118313,  0.06199122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.05287214e-05,-2.78026003e-05, 1.03517899e-05,-1.30116153e-04,
 -2.57021096e-06, 8.61459890e-05, 8.78894490e-05,-4.98620006e-05,
 -3.88426450e-05,-5.95654896e-05, 1.77430170e-05,-1.16465953e-04,
 -6.38791591e-04,-5.05509765e-05,-3.14522039e-04,-1.83048368e-04,
 -7.30502395e-06, 9.99504906e-07,-1.21645889e+00,-4.35967700e-04,
  2.70418801e-05,-5.49853973e-04]


--- Step 92 ---
qpos:
[ 0.00525704,-0.00155187,-0.0041893 , 0.02847998, 0.00377649,-0.00329256,
 -0.01574706, 0.02422396, 0.01098433, 0.00283793,-0.00848983, 0.02195331,
  0.34308196,-0.00101532, 0.18195393, 0.05607266, 0.09280921,-0.06992486,
  0.13110293, 0.50864805, 0.49217056, 0.49195715, 0.50697481]

qacc:
[  1.62151413, -4.3556192 , 23.18468016,-53.85137049, -1.13545619,
  -8.96483298, 42.88858909,-87.91515915, -9.80854517, -2.72865119,
  13.3111622 ,-29.77294802, -1.30643994,  2.17419781, 15.3718656 ,
 -60.22548627,  0.56739052, -1.9094775 , -0.89128032,  8.99772416,
  -2.18790092, 27.35988396]

qfrc_actuator:
[ 0.00097566,-0.00032875,-0.00082166, 0.0053186 , 0.00070903,-0.00079386,
 -0.0031052 , 0.00449446, 0.00199362, 0.00043274,-0.00168114, 0.00403543,
  0.09159552,-0.00048316, 0.0694986 , 0.00552595, 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: -0.0003026234124760552
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.66866204e-13,  1.83433102e-13,  1.00000000e+00, -6.72954057e-26,
        1.00000000e+00, -1.83433102e-13, -1.00000000e+00,  0.00000000e+00,
        3.66866204e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263388, -0.03118015,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.45621574e-06, 2.35347251e-05, 2.32346528e-05,-8.63833221e-05,
 -6.88943354e-06, 7.11082651e-05, 1.00882392e-04,-1.17970410e-04,
 -5.74179900e-05,-2.92605596e-05, 1.68506161e-06,-4.92238891e-05,
 -6.42706277e-04,-4.45402806e-05,-3.31428270e-04,-3.88789139e-04,
 -9.35376157e-06, 2.59858618e-06,-1.21646338e+00,-4.35851791e-04,
  3.26477514e-05,-5.50766846e-04]


--- Step 93 ---
qpos:
[ 0.00527647,-0.00155629,-0.00420406, 0.02858423, 0.00379013,-0.00330304,
 -0.01580302, 0.02431214, 0.01102312, 0.00284794,-0.00852069, 0.02203362,
  0.34496281,-0.00102117, 0.18376423, 0.05627517, 0.09285883,-0.06996402,
  0.13108078, 0.50834218, 0.49252144, 0.49199119, 0.50690781]

qacc:
[ -3.30153057, -4.14427032, 23.55449683,-56.6421414 , -4.65263282,
  -9.31592524, 42.48811267,-82.87741021, -8.64164214, -2.85661588,
  12.18319929,-22.08216227, -1.65809158,  6.11783606,  9.04926111,
 -39.08037092,  0.56619477, -1.89617083, -0.95922991,  8.97319712,
  -2.1243046 , 27.18510858]

qfrc_actuator:
[ 0.00095607,-0.00028367,-0.00079651, 0.00522751, 0.00068157,-0.00080397,
 -0.00302127, 0.00438558, 0.00194459, 0.00044984,-0.00164149, 0.00401223,
  0.09142199,-0.00046587, 0.06933298, 0.00529632, 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: -0.00029613978214870773
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.87449153e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.87449153e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263296, -0.03117657,  0.06199155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93036527e-05, 5.93990934e-05, 2.98642229e-05,-9.11602449e-05,
 -2.76232952e-05, 4.62979906e-05, 1.07563612e-04,-1.04686108e-04,
 -5.06521995e-05,-1.09405691e-06, 3.22270170e-05,-2.54756594e-05,
 -6.42428170e-04,-2.27062715e-05,-3.51622764e-04,-2.92216441e-04,
 -1.15809798e-05, 4.60817832e-06,-1.21646893e+00,-4.35605758e-04,
  3.88030131e-05,-5.51862331e-04]


--- Step 94 ---
qpos:
[ 0.00529482,-0.00156024,-0.00421864, 0.02868554, 0.00380369,-0.00331337,
 -0.0158578 , 0.02439835, 0.01106102, 0.00285788,-0.00855108, 0.02211199,
  0.34684029,-0.00102636, 0.18557076, 0.05647533, 0.09291071,-0.07001073,
  0.13105456, 0.50800196, 0.49291001, 0.49200546, 0.50685734]

qacc:
[ -9.46214483, -5.9220032 , 34.42077013,-85.82824654, -0.75727568,
  -7.14144057, 34.05233939,-70.04624363, -7.81213459, -5.35620653,
  27.20731705,-61.53498049, -1.88492725,  8.55221902,  1.5781223 ,
 -13.56967464,  0.56576991, -1.88535501, -1.01663341,  8.96160959,
  -2.06291968, 27.04995604]

qfrc_actuator:
[ 0.00090126,-0.00027289,-0.00079347, 0.00507901, 0.00067772,-0.00080587,
 -0.00296734, 0.00428629, 0.00190025, 0.00043842,-0.00162345, 0.00391324,
  0.09124502,-0.00043564, 0.0691633 , 0.00518687, 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: -0.00028883222543631126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92191682e-13,  1.92191682e-13,  1.00000000e+00, -3.69376426e-26,
        1.00000000e+00, -1.92191682e-13, -1.00000000e+00,  0.00000000e+00,
        1.92191682e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263194, -0.03117255,  0.06199176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.53240967e-05, 4.62897505e-05, 1.58056563e-05,-1.46884908e-04,
 -4.62726974e-06, 4.25496827e-05, 7.37032791e-05,-9.56755155e-05,
 -4.57659064e-05,-6.54238834e-06, 2.10000632e-05,-9.85407278e-05,
 -6.44343850e-04,-9.41739533e-06,-3.52745256e-04,-1.68912806e-04,
 -1.39872605e-05, 7.02720906e-06,-1.21647552e+00,-4.35241221e-04,
  4.55087965e-05,-5.53137638e-04]


--- Step 95 ---
qpos:
[ 0.00531237,-0.00156386,-0.00423299, 0.02878395, 0.00381675,-0.00332363,
 -0.01591169, 0.02448238, 0.01109844, 0.00286731,-0.00858107, 0.02218828,
  0.3487145 ,-0.00103113, 0.18737382, 0.05666929, 0.09296486,-0.07006494,
  0.13102407, 0.50762741, 0.49333609, 0.49200006, 0.5068233 ]

qacc:
[ -7.03119087, -6.12718538, 34.76817946,-85.60979831, -4.32641566,
  -6.84038676, 33.71587905,-72.82583083, -4.21086046, -6.08810177,
  29.51704652,-65.80305741, -1.69324845,  6.60344421, 13.61801469,
 -55.0672045 ,  0.56599945, -1.87662606, -1.06527913,  8.96131715,
  -2.00311408, 26.94896196]

qfrc_actuator:
[ 0.00086168,-0.00026512,-0.00078593, 0.00493339, 0.00065228,-0.00082072,
 -0.00293154, 0.00417565, 0.00187677, 0.00037437,-0.00161851, 0.00380591,
  0.09108208,-0.0004158 , 0.06896471, 0.00486502, 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: -0.00028093420234767685
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.95189698e-13,  1.97594849e-13,  1.00000000e+00, -7.80874485e-26,
        1.00000000e+00, -1.97594849e-13, -1.00000000e+00,  0.00000000e+00,
        3.95189698e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263085, -0.03116821,  0.06199198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.11237665e-05, 3.06335515e-05, 1.39408025e-05,-1.46130922e-04,
 -2.55505473e-05, 2.08863803e-05, 5.09337026e-05,-1.08171653e-04,
 -2.47623609e-05,-6.76716188e-05, 2.87708629e-06,-1.08921953e-04,
 -6.30833400e-04,-1.98954883e-05,-3.67835574e-04,-3.74432878e-04,
 -1.65739686e-05, 9.85739518e-06,-1.21648315e+00,-4.34769092e-04,
  5.27682447e-05,-5.54590173e-04]


--- Step 96 ---
qpos:
[ 0.00532932,-0.00156749,-0.00424674, 0.02888021, 0.00382871,-0.00333391,
 -0.01596471, 0.02456479, 0.01113529, 0.00287573,-0.00861022, 0.02226238,
  0.35058544,-0.00103523, 0.18917309, 0.05686114, 0.09302161,-0.07011419,
  0.13100213, 0.50726228, 0.49374905, 0.49202048, 0.50676692]

qacc:
[ -5.35460645, -6.14063779, 30.95621884,-69.14642079, -9.57787802,
  -5.78953943, 27.49807397,-57.01757528, -4.99131127, -8.19307678,
  36.53872929,-75.0920357 , -1.86476204,  8.55966597,  0.80340689,
 -10.8882332 ,  0.65025405,  1.24019947,  2.13530434,  6.38671909,
   2.04636727,-17.65140598]

qfrc_actuator:
[ 0.00083139,-0.00027697,-0.00075804, 0.00482615, 0.00059659,-0.00082557,
 -0.00288903, 0.00409471, 0.001848  , 0.00029697,-0.00158603, 0.00369449,
  0.09091702,-0.0003845 , 0.06881278, 0.00477557, 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: -0.00030296438234501955
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.66453316e-13,  5.15324975e-14,  1.00000000e+00, -1.88842546e-26,
        1.00000000e+00, -5.15324975e-14, -1.00000000e+00,  0.00000000e+00,
        3.66453316e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08591311, -0.08813104,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.14358461e-05, 1.90860621e-06, 3.08503129e-05,-1.08470707e-04,
 -5.64112002e-05, 1.35245840e-05, 4.99226775e-05,-8.04297679e-05,
 -2.94749813e-05,-1.19367137e-04, 1.51900212e-05,-1.16455819e-04,
 -6.23705174e-04,-8.25908837e-06,-3.51298230e-04,-1.55494863e-04,
 -1.93431160e-05, 1.31028590e-05,-1.21649180e+00,-4.34199846e-04,
  6.05861332e-05,-5.56217479e-04]


--- Step 97 ---
qpos:
[ 0.00534611,-0.00157108,-0.00426032, 0.02897445, 0.00384026,-0.00334402,
 -0.01601687, 0.02464522, 0.01117151, 0.00288311,-0.00863789, 0.02233453,
  0.35245313,-0.00103889, 0.19096919, 0.05705159, 0.09308079,-0.07015868,
  0.13098701, 0.50690604, 0.4941499 , 0.49206591, 0.50668855]

qacc:
[ -1.31578533, -4.54108812, 24.78591761,-59.94917655, -3.62175497,
  -6.23240089, 30.91622097,-66.6874168 , -5.49179431, -9.53732908,
  40.31069663,-75.81975356, -1.70553217,  6.73555112, -0.47908681,
  -5.10040493,  0.61003826,  1.19086647,  1.7069802 ,  6.48076564,
   1.79527252,-16.98563132]

qfrc_actuator:
[ 0.00082456,-0.00028262,-0.00075393, 0.00472459, 0.0005768 ,-0.00080661,
 -0.00284284, 0.0039964 , 0.00181634, 0.00026553,-0.00150214, 0.00359931,
  0.09074548,-0.00036448, 0.06868901, 0.00471745, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.65238779,  0.21623325,  4.64736004,  0.21623325, 35.3474193 ,
       -1.42818424,  4.64736004, -1.42818424,  4.71883862,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003315786449596819
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.84756574e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.84756574e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08591232, -0.08812364,  0.06199053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.71473047e-06,-2.84100801e-06, 4.52672785e-06,-1.02698156e-04,
 -2.13938785e-05, 3.41851734e-05, 5.29098456e-05,-9.76051972e-05,
 -3.25188439e-05,-1.00071226e-04, 5.71985833e-05,-1.02143190e-04,
 -6.24038700e-04,-1.90607150e-05,-2.90974958e-04,-1.09804776e-04,
 -1.88875678e-05, 1.13246799e-05,-1.21648923e+00,-4.37128709e-04,
  5.75438378e-05,-5.57125513e-04]


--- Step 98 ---
qpos:
[ 0.00536304,-0.00157475,-0.00427397, 0.02906678, 0.00385183,-0.00335406,
 -0.01606802, 0.02472316, 0.01120706, 0.00289013,-0.00866438, 0.02240594,
  0.35431766,-0.00104292, 0.19276207, 0.05723891, 0.09314229,-0.07019858,
  0.13097728, 0.50655826, 0.49453948, 0.49213567, 0.5065885 ]

qacc:
[  1.16373163, -3.87584031, 21.78124579,-54.87478144,  0.1823805 ,
  -7.87440301, 38.76309567,-83.63655586, -5.77873902, -5.2431898 ,
  21.10539698,-35.40723559, -0.99535985, -0.83201482,  4.74050427,
 -23.4913482 ,  0.57823067,  1.1491534 ,  1.34500057,  6.54862345,
   1.5880818 ,-16.42462725]

qfrc_actuator:
[ 0.00083158,-0.00030235,-0.00076388, 0.00462717, 0.00057831,-0.00080904,
 -0.00279477, 0.00387093, 0.00178324, 0.00029758,-0.00142387, 0.00356778,
  0.09058082,-0.00038677, 0.06851298, 0.00455396, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.73318737,  0.24517711,  4.72683307,  0.24517711, 42.73167142,
       -1.97095143,  4.72683307, -1.97095143,  4.83541907,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035186236444186003
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.57763821e-13,  1.62693941e-13,  1.00000000e+00,  2.56672178e-26,
        1.00000000e+00, -1.62693941e-13, -1.00000000e+00,  0.00000000e+00,
       -1.57763821e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08591151, -0.08811845,  0.06198995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.81715337e-06,-2.47629928e-05,-1.35571573e-05,-9.95631408e-05,
  9.12205460e-07, 2.42260508e-05, 5.88196326e-05,-1.24117390e-04,
 -3.40483448e-05,-1.64684874e-05, 6.12188296e-05,-3.59352590e-05,
 -6.17886774e-04,-6.21498044e-05,-3.13404077e-04,-2.05553223e-04,
 -1.85065516e-05, 9.69957628e-06,-1.21648730e+00,-4.39842616e-04,
  5.43917805e-05,-5.57967671e-04]


--- Step 99 ---
qpos:
[ 0.00537957,-0.00157865,-0.00428732, 0.02915755, 0.00386298,-0.00336396,
 -0.01611796, 0.02479931, 0.0112416 , 0.0028971 ,-0.00868987, 0.02247638,
  0.35617904,-0.00104748, 0.19455169, 0.05742411, 0.09320601,-0.07023401,
  0.1309717 , 0.50621858, 0.49491847, 0.4922292 , 0.50646705]

qacc:
[ -3.43587519, -4.35497245, 21.62833241,-48.77151454, -3.61909843,
  -6.85452218, 32.24269421,-65.17619971, -8.93051989, -4.84289005,
  21.30128072,-39.66278091, -0.86218756, -2.22729257,  1.57072611,
 -12.50279951,  0.553241  ,  1.11392878,  1.03930191,  6.59902176,
   1.41547695,-15.95197984]

qfrc_actuator:
[ 0.0008112 ,-0.00031267,-0.00074659, 0.00455069, 0.00055683,-0.00078877,
 -0.00272833, 0.00378372, 0.00173181, 0.00031423,-0.00136701, 0.00352074,
  0.09041508,-0.00041607, 0.0683643 , 0.00445384, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.79091006,  0.29698658,  4.78169616,  0.29698658, 52.05852733,
       -2.93574658,  4.78169616, -2.93574658,  4.97324647,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036530676570432907
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03915265e-13,  8.07274922e-14,  1.00000000e+00, -2.45343172e-26,
        1.00000000e+00, -8.07274922e-14, -1.00000000e+00,  0.00000000e+00,
        3.03915265e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08591064, -0.08811505,  0.06198957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.01889173e-05,-3.12056905e-05, 7.03303922e-06,-8.01171995e-05,
 -2.14467757e-05, 4.14319017e-05, 7.49392848e-05,-8.65885117e-05,
 -5.24027471e-05, 1.85399782e-05, 5.98590031e-05,-4.64368613e-05,
 -6.17163761e-04,-7.05136441e-05,-3.06392423e-04,-1.50260474e-04,
 -1.81807500e-05, 8.20622136e-06,-1.21648593e+00,-4.42395576e-04,
  5.11084412e-05,-5.58741077e-04]


--- Step 100 ---
qpos:
[ 0.00539573,-0.00158247,-0.00430075, 0.02924634, 0.00387378,-0.00337335,
 -0.01616692, 0.02487413, 0.0112749 , 0.00290418,-0.00871448, 0.022545  ,
  0.35803721,-0.0010513 , 0.19633836, 0.05760104, 0.09327186,-0.07026511,
  0.13096925, 0.5058867 , 0.49528744, 0.49234599, 0.50632444]

qacc:
[ -3.28398902, -3.72675371, 21.82479509,-56.09494545, -2.99629808,
  -4.80655839, 23.74643319,-48.71138269,-10.80041865, -6.0485661 ,
  29.46628602,-62.41628438, -1.96459389,  9.47176777, 20.62163469,
 -78.43575992,  0.5337952 ,  1.08424188,  0.78146723,  6.63853658,
   1.27010515,-15.55419144]

qfrc_actuator:
[ 0.00079259,-0.00029941,-0.00074882, 0.00445167, 0.00053973,-0.00073723,
 -0.00266921, 0.00371976, 0.00166999, 0.00032145,-0.00132331, 0.00342941,
  0.09025411,-0.00037824, 0.06816823, 0.00401916, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.82629965, -0.2780392 , -4.81828419, -0.2780392 , 10.12605028,
       -0.30582224, -4.81828419, -0.30582224,  4.84394713,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003731705051925466
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.97510926e-13,  4.64860821e-15,  1.00000000e+00, -1.38301173e-27,
        1.00000000e+00, -4.64860821e-15, -1.00000000e+00,  0.00000000e+00,
        2.97510926e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08590969, -0.0881131 ,  0.06198934])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.91831795e-05,-6.13699679e-06,-1.05984108e-05,-1.01839359e-04,
 -1.76965398e-05, 8.72525385e-05, 7.44461621e-05,-6.13139513e-05,
 -6.32915073e-05, 2.79463368e-05, 5.34007343e-05,-8.94715319e-05,
 -6.12311823e-04,-3.99006979e-06,-3.44544485e-04,-4.80867569e-04,
 -1.78957474e-05, 6.82757801e-06,-1.21648507e+00,-4.44828682e-04,
  4.76770125e-05,-5.59443851e-04]


--- Step 101 ---
qpos:
[ 0.00541188,-0.00158615,-0.00431447, 0.0293336 , 0.00388498,-0.00338224,
 -0.01621506, 0.02494727, 0.01130721, 0.0029115 ,-0.00873897, 0.02261203,
  0.35989218,-0.00105425, 0.1981216 , 0.05777039, 0.09333978,-0.07029197,
  0.13096906, 0.50556234, 0.49564687, 0.49248563, 0.50616084]

qacc:
[-4.53508688e-02,-2.14907021e+00, 1.44009873e+01,-4.05293170e+01,
  3.52714342e+00,-5.09584715e+00, 2.62377078e+01,-5.70410643e+01,
 -8.80202182e+00,-3.27959023e+00, 1.89268958e+01,-4.69416477e+01,
 -2.05679519e+00, 1.04539163e+01, 1.78726129e+01,-6.98469897e+01,
  5.18869547e-01, 1.05928745e+00, 5.64392752e-01, 6.67205400e+00,
  1.14615494e+00,-1.52200549e+01]

qfrc_actuator:
[ 0.00079293,-0.00028998,-0.00076249, 0.00437569, 0.00056086,-0.0007206 ,
 -0.0026325 , 0.0036345 , 0.00162031, 0.0003229 ,-0.00132327, 0.00334825,
  0.09009082,-0.00033671, 0.06799176, 0.00363928, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.84172433, -0.41588684, -4.82382967, -0.41588684, 13.12505091,
       -0.71414763, -4.82382967, -0.71414763,  4.90329462,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037651431288149295
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.94868744e-13, -3.22512689e-14,  1.00000000e+00,  9.50989113e-27,
        1.00000000e+00,  3.22512689e-14, -1.00000000e+00,  0.00000000e+00,
        2.94868744e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08590866, -0.08811233,  0.06198925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.87863457e-07,-5.07163897e-07,-1.97718285e-05,-7.87580461e-05,
  2.06555778e-05, 7.89068000e-05, 6.22990005e-05,-8.01755791e-05,
 -5.14513959e-05, 2.42281572e-05, 9.37618731e-06,-7.99577843e-05,
 -6.07105175e-04, 1.92766958e-06,-3.79088252e-04,-4.49350822e-04,
 -1.76407436e-05, 5.54990608e-06,-1.21648467e+00,-4.47173534e-04,
  4.40839657e-05,-5.60074855e-04]


--- Step 102 ---
qpos:
[ 0.00542826,-0.00158991,-0.00432768, 0.02941993, 0.00389636,-0.00339089,
 -0.01626226, 0.02501919, 0.01133832, 0.00291828,-0.00876294, 0.02267799,
  0.36174402,-0.00105697, 0.19990144, 0.05793504, 0.09340974,-0.07031468,
  0.13097039, 0.5052453 , 0.49599717, 0.49264779, 0.50597643]

qacc:
[  1.98358174, -3.4802656 , 16.17336932,-33.03112184,  1.48088558,
  -4.80249913, 22.70220069,-45.42683256,-10.45739159, -4.38093624,
  19.15587043,-38.26075021, -1.49684636,  4.62192259,  9.16727293,
 -39.34719825,  0.50763909,  1.03837957,  0.38204103,  6.7031443 ,
   1.03902705,-14.94019078]

qfrc_actuator:
[ 0.00080443,-0.00028293,-0.00072952, 0.00433162, 0.00056881,-0.00072513,
 -0.00259171, 0.00357285, 0.00156043, 0.00024968,-0.00131353, 0.00329146,
  0.08992623,-0.00032889, 0.06785914, 0.00341918, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.84040497, -0.57891026, -4.80566157, -0.57891026, 18.05786894,
       -1.59223146, -4.80566157, -1.59223146,  5.03221189,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037623021845270554
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47545701e-13,  1.15270079e-13,  1.00000000e+00, -1.70076045e-26,
        1.00000000e+00, -1.15270079e-13, -1.00000000e+00,  0.00000000e+00,
        1.47545701e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08590755, -0.0881125 ,  0.06198926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15073616e-05,-6.47040368e-07, 2.76981353e-05,-4.64685314e-05,
  8.57373705e-06, 4.97589560e-05, 6.24894846e-05,-5.77100973e-05,
 -6.13190994e-05,-6.12049173e-05, 1.32231008e-05,-5.70928689e-05,
 -6.04179008e-04,-3.15610144e-05,-3.45693402e-04,-2.91810879e-04,
 -1.74076185e-05, 4.36201690e-06,-1.21648470e+00,-4.49454737e-04,
  4.03180436e-05,-5.60633525e-04]


--- Step 103 ---
qpos:
[ 0.00544466,-0.00159379,-0.00434033, 0.02950471, 0.00390704,-0.00339909,
 -0.0163087 , 0.02509014, 0.01136882, 0.00292386,-0.00878594, 0.02274246,
  0.36359273,-0.0010592 , 0.20167782, 0.05809244, 0.09348169,-0.07033331,
  0.13097264, 0.50493539, 0.49633869, 0.49283216, 0.50577131]

qacc:
[  0.11266058, -4.88500576, 23.72031838,-51.27985327, -5.9666167 ,
  -3.50669333, 17.49743603,-35.87438389, -5.3562929 , -7.30099534,
  30.04522709,-56.45201156, -1.73563046,  7.11130356, 16.81715979,
 -66.22677394,  0.49943731,  1.02093167,  0.2292548 ,  6.73436221,
   0.94507754,-14.70670053]

qfrc_actuator:
[ 0.00080465,-0.0002949 ,-0.00070476, 0.00425345, 0.00053343,-0.00068902,
 -0.00254892, 0.00352557, 0.00153052, 0.0001501 ,-0.00128066, 0.00321389,
  0.08976631,-0.00030549, 0.06766242, 0.00304655, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.82582298, -0.79862715, -4.75928168, -0.79862715, 27.62678082,
       -3.82609504, -4.75928168, -3.82609504,  5.46785756,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003730663823039021
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.97593961e-13,  4.18491508e-14,  1.00000000e+00, -1.24540545e-26,
        1.00000000e+00, -4.18491508e-14, -1.00000000e+00,  0.00000000e+00,
        2.97593961e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08590637, -0.0881134 ,  0.06198935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.50196083e-07,-8.55331375e-06, 2.64098439e-05,-7.83012013e-05,
 -3.51179331e-05, 7.50813458e-05, 5.92682294e-05,-4.41401774e-05,
 -3.16581934e-05,-1.33549818e-04, 1.99689945e-05,-8.09431806e-05,
 -5.99315969e-04,-1.72780105e-05,-3.77889466e-04,-4.31491836e-04,
 -1.71902483e-05, 3.25470706e-06,-1.21648513e+00,-4.51691732e-04,
  3.63695541e-05,-5.61119734e-04]


--- Step 104 ---
qpos:
[ 0.00546058,-0.00159758,-0.00435318, 0.02958758, 0.00391723,-0.00340729,
 -0.01635352, 0.02515997, 0.01139942, 0.00292917,-0.00880847, 0.02280575,
  0.36543835,-0.00106176, 0.20345046, 0.05824409, 0.09355418,-0.07034775,
  0.13097668, 0.50463846, 0.49666626, 0.49303322, 0.50555009]

qacc:
[ -4.13840648, -3.27585512, 19.95157745,-52.90535562, -4.3890324 ,
  -6.86487749, 29.22781635,-51.26838856,  0.84034229, -4.12596169,
  19.12624762,-39.9765869 , -1.01498809, -0.33419515, 11.8228915 ,
 -49.41240351,  0.13376645,  1.04550527,  0.44597242,  1.44566306,
   0.54284945,-14.9323147 ]

qfrc_actuator:
[ 0.00078046,-0.00030046,-0.00072069, 0.00415581, 0.00050834,-0.00069985,
 -0.00246961, 0.00346941, 0.00153625, 0.00019535,-0.00123455, 0.00316021,
  0.08959865,-0.00032636, 0.06748595, 0.00276436, 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: -0.0003715900695722696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.49388145e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.49388145e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09138807, -0.08807354,  0.06198939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.41634895e-05,-8.19744653e-06,-1.71619571e-05,-9.87715027e-05,
 -2.60699822e-05, 4.21758525e-05, 1.01070253e-04,-5.17885105e-05,
  4.79319300e-06,-2.87655874e-05, 1.82674835e-05,-6.03874727e-05,
 -6.02653636e-04,-6.10576214e-05,-3.87087646e-04,-3.52756386e-04,
 -1.69840030e-05, 2.22032370e-06,-1.21648594e+00,-4.53900138e-04,
  3.22298764e-05,-5.61533703e-04]


--- Step 105 ---
qpos:
[ 0.00547608,-0.00160104,-0.00436624, 0.02966825, 0.00392772,-0.00341582,
 -0.01639651, 0.02522862, 0.01142949, 0.00293526,-0.00883084, 0.02286814,
  0.3672809 ,-0.00106552, 0.20521943, 0.05839401, 0.0936272 ,-0.07035808,
  0.13098188, 0.50435428, 0.49698026, 0.49325078, 0.50531282]

qacc:
[ -3.65152229, -3.47713662, 22.30702693,-60.19194632,  2.77667336,
  -7.95366134, 32.71444633,-55.88134152, -4.54247595, -1.26876472,
   9.87757058,-26.45638032, -0.27277314, -7.98754507, -0.18918154,
  -7.24394212,  0.13342723,  1.02703766,  0.29143095,  1.53229793,
   0.4698375 ,-14.71452397]

qfrc_actuator:
[ 0.00075986,-0.00026683,-0.00072499, 0.00404748, 0.00052502,-0.00073858,
 -0.00238733, 0.00340845, 0.00150965, 0.00030931,-0.00119817, 0.00312114,
  0.08942645,-0.00039092, 0.06735374, 0.00269761, 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: -0.00036895519219762307
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.76137485e-14,  1.50454994e-13,  1.00000000e+00,  5.65917631e-27,
        1.00000000e+00, -1.50454994e-13, -1.00000000e+00,  0.00000000e+00,
       -3.76137485e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09138747, -0.08807449,  0.06198947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.12749321e-05, 2.13176760e-05,-1.15269754e-05,-1.11348576e-04,
  1.59495017e-05, 4.17652913e-06, 1.02115602e-04,-5.66959418e-05,
 -2.64740552e-05, 9.90854624e-05, 3.06933799e-05,-4.09444525e-05,
 -6.12453286e-04,-1.06820089e-04,-3.37456785e-04,-1.33915169e-04,
 -1.61835578e-05, 1.15177916e-06,-1.21648527e+00,-4.56031077e-04,
  2.75129831e-05,-5.61914786e-04]


--- Step 106 ---
qpos:
[ 0.00549088,-0.0016041 ,-0.00437906, 0.0297466 , 0.00393867,-0.00342437,
 -0.01643849, 0.02529566, 0.01145867, 0.0029425 ,-0.00885314, 0.02292952,
  0.36912031,-0.00107031, 0.20698503, 0.05854449, 0.09370076,-0.07036437,
  0.13098773, 0.50408265, 0.49728099, 0.49348469, 0.50505956]

qacc:
[ -6.26712511, -4.90157093, 28.05345631,-68.84964429,  4.08622756,
  -6.14660462, 28.64110381,-57.90314004, -7.91884506, -0.70691396,
   8.97623211,-27.25778023, -0.43132553, -6.46662298, -6.66483665,
  16.08463572,  0.13410373,  1.01186144,  0.16243075,  1.61176815,
   0.40356337,-14.53403118]

qfrc_actuator:
[ 0.00072379,-0.00022771,-0.00070446, 0.00393377, 0.0005484 ,-0.00074044,
 -0.00233961, 0.00332738, 0.00146421, 0.00039253,-0.00118524, 0.00307328,
  0.08925696,-0.00044518, 0.06722691, 0.00274065, 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: -0.00036401223472265487
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14373528e-13,  7.62490185e-14,  1.00000000e+00, -8.72086923e-27,
        1.00000000e+00, -7.62490185e-14, -1.00000000e+00,  0.00000000e+00,
        1.14373528e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09138691, -0.08807599,  0.06198961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.66504957e-05, 4.39302553e-05, 1.96566383e-05,-1.15501102e-04,
  2.38334334e-05, 1.97998666e-05, 5.96563997e-05,-7.85017182e-05,
 -4.61481900e-05, 1.43204297e-04, 3.58450514e-05,-4.34363961e-05,
 -6.19745624e-04,-9.91768496e-05,-2.86428728e-04,-5.89458202e-06,
 -1.54037015e-05, 1.77450912e-07,-1.21648493e+00,-4.58144850e-04,
  2.27878988e-05,-5.62225326e-04]


--- Step 107 ---
qpos:
[ 0.00550513,-0.00160701,-0.00439175, 0.02982337, 0.00394913,-0.00343263,
 -0.01647995, 0.02536121, 0.01148743, 0.00295082,-0.0088754 , 0.02298987,
  0.37095652,-0.00107533, 0.20874774, 0.05869588, 0.09377194,-0.07036594,
  0.13099572, 0.50383696, 0.49755627, 0.49372541, 0.50479827]

qacc:
[ -4.81052924, -3.41785353, 19.20281794,-47.04119637, -4.32364283,
  -4.15208025, 21.65397765,-48.56626306, -3.77000422, -0.82677677,
   9.41519334,-28.30547363, -1.16004759,  0.75335094, -7.02716045,
  18.39581558, -0.5924913 ,  1.1794498 ,  0.53463311, -9.15998932,
  -0.251468  ,-16.54496717]

qfrc_actuator:
[ 0.00069666,-0.00023876,-0.00070491, 0.00385335, 0.00052226,-0.00072039,
 -0.00231254, 0.00325288, 0.00144356, 0.00043888,-0.00118635, 0.00302062,
  0.08908922,-0.00045745, 0.06710873, 0.00279472, 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: -0.00036823143748440645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.76876779e-14,  3.01501423e-13,  1.00000000e+00, -1.13628885e-26,
        1.00000000e+00, -3.01501423e-13, -1.00000000e+00,  0.00000000e+00,
        3.76876779e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203275, -0.09002918,  0.06198949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.81455980e-05, 1.26497798e-05, 7.04183296e-06,-8.02474705e-05,
 -2.54496153e-05, 4.07443213e-05, 3.62274320e-05,-7.31554105e-05,
 -2.18933507e-05, 1.31906490e-04, 3.14502036e-05,-4.62301149e-05,
 -6.22690628e-04,-5.78209586e-05,-2.42154499e-04, 1.83321957e-05,
 -1.46395451e-05,-7.08764673e-07,-1.21648490e+00,-4.60250677e-04,
  1.80403709e-05,-5.62465098e-04]


--- Step 108 ---
qpos:
[ 0.00551963,-0.00161011,-0.00440445, 0.02989863, 0.00395885,-0.00344041,
 -0.01652117, 0.02542535, 0.01151571, 0.00295972,-0.00889789, 0.02304989,
  0.37278947,-0.00107972, 0.21050768, 0.05884512, 0.09384082,-0.07036289,
  0.1310051 , 0.50361674, 0.4978067 , 0.49397289, 0.50452893]

qacc:
[  2.23717469, -3.33647633, 17.87548293,-43.80333228, -6.47860494,
  -2.93132624, 17.3768737 ,-42.60224045, -4.15871709,  0.73531417,
  -0.08271764, -5.7264109 , -1.91872948,  8.23123108,  2.41325149,
 -14.33411052, -0.57879841,  1.15461033,  0.348793  , -8.90503186,
  -0.31924995,-16.27752195]

qfrc_actuator:
[ 0.00071052,-0.00027982,-0.00071794, 0.00377535, 0.00048494,-0.00068746,
 -0.00229778, 0.00318286, 0.00141993, 0.00042721,-0.00121365, 0.00300101,
  0.08892264,-0.00042717, 0.06694789, 0.00267729, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.80823137,  2.5939242 , -4.04853629,  2.5939242 , 12.58832322,
        4.98475673, -4.04853629,  4.98475673,  8.00199824,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036918978991833107
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50359389e-13, -1.50359389e-13,  1.00000000e+00,  2.26079459e-26,
        1.00000000e+00,  1.50359389e-13, -1.00000000e+00,  0.00000000e+00,
        1.50359389e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203229, -0.09002944,  0.06198946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30705549e-05,-3.59487576e-05,-1.23230475e-05,-7.89194055e-05,
 -3.80325752e-05, 6.06918922e-05, 2.55446904e-05,-6.84832247e-05,
 -2.41926759e-05, 6.65184222e-05, 2.28877506e-06,-1.38634814e-05,
 -6.20800867e-04,-1.44161660e-05,-2.64048117e-04,-1.46651602e-04,
 -1.26652322e-05,-1.66927548e-06,-1.21648150e+00,-4.62343142e-04,
  1.26490924e-05,-5.62686806e-04]


--- Step 109 ---
qpos:
[ 0.00553418,-0.00161352,-0.00441715, 0.02997237, 0.00396839,-0.00344768,
 -0.01656166, 0.02548776, 0.01154349, 0.00296879,-0.00892004, 0.02310921,
  0.37461917,-0.001083  , 0.21226383, 0.05899297, 0.09390742,-0.0703553 ,
  0.13101526, 0.50342163, 0.49803279, 0.49422709, 0.5042515 ]

qacc:
[  0.47360544, -3.53191117, 18.37646695,-44.28403001, -1.54869324,
  -4.90219854, 25.75083447,-57.11868927, -4.41595976, -2.13948014,
  10.84545178,-23.39792645, -2.34216479, 12.49809248, -1.3513421 ,
  -3.3306774 , -0.56671502,  1.13434456,  0.19335573, -8.68738586,
  -0.38006401,-16.05566767]

qfrc_actuator:
[ 0.00071288,-0.0003031 ,-0.00072066, 0.00369935, 0.00047686,-0.00064713,
 -0.00225483, 0.00309828, 0.00139472, 0.00041629,-0.00120314, 0.00296544,
  0.08876222,-0.00037211, 0.06673492, 0.00260168, 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: -0.000367098951935943
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.51215771e-13, -3.02431543e-13,  1.00000000e+00,  4.57324191e-26,
        1.00000000e+00,  3.02431543e-13, -1.00000000e+00,  0.00000000e+00,
        1.51215771e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203228, -0.09003048,  0.06198952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.73124290e-06,-4.92573043e-05,-1.43974391e-05,-7.96397159e-05,
 -9.14741615e-06, 7.72186327e-05, 5.66946132e-05,-8.24551522e-05,
 -2.58574320e-05, 2.60482310e-05, 2.41056431e-05,-3.30093897e-05,
 -6.10426476e-04, 1.16803570e-05,-3.44399561e-04,-1.16792779e-04,
 -1.08111826e-05,-2.44454393e-06,-1.21647863e+00,-4.64422232e-04,
  7.65256421e-06,-5.62804600e-04]


--- Step 110 ---
qpos:
[ 0.00554796,-0.00161709,-0.00442989, 0.03004496, 0.00397776,-0.00345414,
 -0.01660149, 0.02554899, 0.0115711 , 0.00297728,-0.00894094, 0.02316699,
  0.37644578,-0.00108624, 0.21401634, 0.05914102, 0.0939718 ,-0.07034325,
  0.13102567, 0.50325132, 0.49823496, 0.49448798, 0.50396595]

qacc:
[ -6.81105369, -2.47007038, 13.42895894,-33.33518529, -1.49742315,
  -3.20682832, 17.97578134,-40.13626596, -1.46952317, -7.45057752,
  32.01528446,-60.42108599, -1.33959529,  2.91082586, -5.97850462,
  13.13470725, -0.55604543,  1.11793762,  0.06376281, -8.50087174,
  -0.43546078,-15.87333304]

qfrc_actuator:
[ 0.00067294,-0.00029777,-0.00071722, 0.0036429 , 0.00046829,-0.00058483,
 -0.00221331, 0.00304136, 0.00138653, 0.00035277,-0.00115267, 0.00288527,
  0.08860559,-0.00037394, 0.06658141, 0.00262228, 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: -0.0003626120304503211
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53086899e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.53086899e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203261, -0.09003212,  0.06198965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.98695037e-05,-2.85359526e-05,-1.12538169e-05,-6.07314782e-05,
 -8.79368819e-06, 1.14250960e-04, 6.20250734e-05,-5.32911199e-05,
 -8.89209818e-06,-4.55189044e-05, 5.77253251e-05,-7.89569469e-05,
 -5.97300375e-04,-4.38491200e-05,-3.14273838e-04,-2.82499378e-05,
 -9.06473072e-06,-3.04302862e-06,-1.21647626e+00,-4.66496282e-04,
  3.01819090e-06,-5.62816868e-04]


--- Step 111 ---
qpos:
[ 0.00556116,-0.00162049,-0.00444239, 0.03011625, 0.00398696,-0.0034597 ,
 -0.01664061, 0.02560939, 0.01159874, 0.00298511,-0.00896119, 0.02322307,
  0.37826936,-0.00108979, 0.21576639, 0.05928567, 0.094034  ,-0.07032677,
  0.13103591, 0.50310554, 0.49841356, 0.49475553, 0.50367222]

qacc:
[-5.14869124e+00,-3.12643827e+00, 1.69839083e+01,-4.00793587e+01,
 -1.53203675e+00,-2.49670286e+00, 1.41598997e+01,-3.03797676e+01,
  3.16927236e-01,-6.16569826e+00, 2.79168178e+01,-5.79326135e+01,
 -1.03265288e+00, 3.79143575e-02, 6.64494541e+00,-2.85210196e+01,
 -5.46613195e-01, 1.10478806e+00,-4.38951570e-02,-8.34040177e+00,
 -4.86637821e-01,-1.57252753e+01]

qfrc_actuator:
[ 0.00064392,-0.00025755,-0.00069229, 0.0035807 , 0.00045951,-0.0005276 ,
 -0.00217286, 0.00300117, 0.00138843, 0.00029384,-0.00113254, 0.00279723,
  0.08845135,-0.00039151, 0.06646901, 0.00245103, 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: -0.0003562732746972552
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.79052979e-14,  1.55810596e-13,  1.00000000e+00, -1.21384709e-26,
        1.00000000e+00, -1.55810596e-13, -1.00000000e+00,  0.00000000e+00,
        7.79052979e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203321, -0.09003424,  0.06198983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.01437957e-05, 1.93962524e-05, 1.55685687e-05,-6.51255120e-05,
 -8.99286663e-06, 1.32218591e-04, 7.02575425e-05,-3.42102180e-05,
  1.65118984e-06,-7.59438769e-05, 1.51533456e-05,-8.96210216e-05,
 -5.88921252e-04,-6.09488125e-05,-2.50589279e-04,-2.11558565e-04,
 -7.41553562e-06,-3.47143934e-06,-1.21647437e+00,-4.68572588e-04,
 -1.28060244e-06,-5.62722338e-04]


--- Step 112 ---
qpos:
[ 0.00557356,-0.00162382,-0.00445365, 0.03018617, 0.00399632,-0.00346484,
 -0.01667845, 0.02566885, 0.01162619, 0.00299253,-0.00898138, 0.02327732,
  0.38008991,-0.00109314, 0.21751354, 0.05942523, 0.09409404,-0.07030591,
  0.13104561, 0.50298408, 0.4985689 , 0.49502974, 0.50337027]

qacc:
[ -6.95847158, -6.17040604, 27.88842376,-53.48954512,  1.5078793 ,
  -4.94118489, 22.36811791,-40.84674913, -1.68099762, -4.50647231,
  22.99605376,-54.45640301, -1.47749309,  4.38828997, 11.13013193,
 -45.13308621, -0.53826035,  1.09438912, -0.13297484, -8.20177653,
  -0.53451687,-15.60696058]

qfrc_actuator:
[ 0.00060384,-0.00023215,-0.00061921, 0.00351565, 0.00046842,-0.00052708,
 -0.00211561, 0.00295341, 0.0013785 , 0.0002735 ,-0.00113049, 0.00270525,
  0.08829865,-0.0003827 , 0.06629609, 0.00218594, 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: -0.00034853438132573245
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.59270230e-13,  1.59270230e-13,  1.00000000e+00, -2.53670063e-26,
        1.00000000e+00, -1.59270230e-13, -1.00000000e+00,  0.00000000e+00,
        1.59270230e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.102034  , -0.09003671,  0.06199005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.09256121e-05, 3.67258458e-05, 7.67605917e-05,-6.50761337e-05,
  8.69939203e-06, 8.80254895e-05, 9.24198755e-05,-4.03716258e-05,
 -9.89623038e-06,-6.36041772e-05,-1.48296658e-05,-9.65491726e-05,
 -5.82356368e-04,-3.49058527e-05,-3.06550547e-04,-3.08424279e-04,
 -5.85510033e-06,-3.73504852e-06,-1.21647292e+00,-4.70657706e-04,
 -5.26550787e-06,-5.62519945e-04]


--- Step 113 ---
qpos:
[ 0.00558504,-0.00162727,-0.00446385, 0.03025549, 0.00400572,-0.00346987,
 -0.0167148 , 0.02572731, 0.01165262, 0.00299937,-0.00900083, 0.0233307 ,
  0.38190736,-0.00109596, 0.21925723, 0.0595612 , 0.09415196,-0.07028071,
  0.13105449, 0.50288677, 0.49870123, 0.4953106 , 0.50306003]

qacc:
[ -8.07095932, -4.30427759, 17.71421523,-29.76263756,  0.3439514 ,
  -6.08805147, 26.15116725,-46.02282805, -8.9616368 , -4.57526045,
  18.867949  ,-34.55084493, -1.80638811,  7.33974294,  5.69351371,
 -27.31343436, -0.53084635,  1.08631349, -0.2063591 , -8.08152329,
  -0.57980451,-15.51446744]

qfrc_actuator:
[ 0.00055755,-0.00025112,-0.00057161, 0.00348497, 0.00046992,-0.00054272,
 -0.00204914, 0.00290152, 0.00132617, 0.00025858,-0.00108573, 0.00266497,
  0.08813099,-0.00035843, 0.06612428, 0.00200963, 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: -0.0003397684831707992
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.26758684e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.26758684e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203493, -0.09003944,  0.0619903 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.74299869e-05, 1.46779277e-05, 6.23978322e-05,-2.78405732e-05,
  1.77752159e-06, 5.14391504e-05, 9.50065405e-05,-4.57411682e-05,
 -5.26159009e-05,-5.77611688e-05, 2.65146649e-05,-4.54908525e-05,
 -5.90799459e-04,-1.83359723e-05,-3.39599969e-04,-2.31687641e-04,
 -4.37639697e-06,-3.83795023e-06,-1.21647191e+00,-4.72757668e-04,
 -8.95424013e-06,-5.62208734e-04]


--- Step 114 ---
qpos:
[ 0.00559622,-0.00163059,-0.00447395, 0.03032359, 0.00401471,-0.00347482,
 -0.01674997, 0.02578472, 0.01167821, 0.00300595,-0.00901973, 0.02338316,
  0.38372165,-0.00109806, 0.22099789, 0.05969419, 0.09420778,-0.07025119,
  0.1310623 , 0.50281347, 0.49881077, 0.49559811, 0.50274143]

qacc:
[ -2.63089484, -2.6592228 , 14.84897858,-36.18379435, -3.46700525,
  -5.34676307, 23.68219321,-43.86977522, -7.30669513, -3.76592244,
  16.88678491,-33.68901806, -2.00235167,  8.97034844,  4.57435163,
 -22.44495182, -0.52424701,  1.08020074, -0.26652268, -7.97676637,
  -0.62303979,-15.44440582]

qfrc_actuator:
[ 0.00054349,-0.00026106,-0.0005751 , 0.00342144, 0.00044929,-0.00055015,
 -0.00199561, 0.0028476 , 0.00128481, 0.00026499,-0.00105153, 0.00261996,
  0.08795982,-0.00032532, 0.06600121, 0.00186935, 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: -0.0003302821544378942
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.40359530e-14, -3.36143812e-13,  1.00000000e+00,  2.82481656e-26,
        1.00000000e+00,  3.36143812e-13, -1.00000000e+00,  0.00000000e+00,
        8.40359530e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203597, -0.09004234,  0.06199058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53946631e-05, 9.99818362e-06, 6.25780175e-06,-6.14061916e-05,
 -2.05649319e-05, 3.94738080e-05, 7.46295201e-05,-4.93489578e-05,
 -4.28578935e-05,-2.24356788e-05, 2.40148069e-05,-4.75365953e-05,
 -5.99345691e-04,-9.83944210e-06,-2.95464074e-04,-1.95153173e-04,
 -2.97357213e-06,-3.78327626e-06,-1.21647131e+00,-4.74878135e-04,
 -1.23612622e-05,-5.61787798e-04]


--- Step 115 ---
qpos:
[ 0.00560748,-0.00163401,-0.00448386, 0.03038973, 0.00402374,-0.00347998,
 -0.01678401, 0.02584073, 0.0117038 , 0.00301266,-0.00903849, 0.02343396,
  0.38553287,-0.00110006, 0.22273582, 0.05982109, 0.09426153,-0.07021737,
  0.13106886, 0.50276407, 0.49889768, 0.49589228, 0.50241441]

qacc:
[ 7.93004325e-01,-4.68690901e+00, 2.48338320e+01,-5.90455568e+01,
  2.83581234e-01,-6.32629540e+00, 2.80449770e+01,-5.38747551e+01,
 -4.43402615e-02,-3.63596660e+00, 2.02242128e+01,-4.92946327e+01,
 -1.43368251e+00, 3.72150601e+00, 1.43873027e+01,-5.61695858e+01,
 -5.18353267e-01, 1.07574691e+00,-3.15587913e-01,-7.88512247e+00,
 -6.64631733e-01,-1.53938488e+01]

qfrc_actuator:
[ 0.00054852,-0.00028352,-0.00057322, 0.00332131, 0.00045131,-0.00058819,
 -0.00195013, 0.00277517, 0.00128577, 0.00028411,-0.00104153, 0.00253702,
  0.08780262,-0.00032279, 0.06584889, 0.00155626, 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: -0.00032032570926307513
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.66479799e-14, -3.46591920e-13,  1.00000000e+00,  3.00314897e-26,
        1.00000000e+00,  3.46591920e-13, -1.00000000e+00,  0.00000000e+00,
        8.66479799e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203706, -0.09004536,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.60180960e-06,-1.81581175e-05, 2.58243160e-06,-1.00807004e-04,
  1.44041514e-06,-2.20389634e-06, 6.14609117e-05,-6.91543722e-05,
 -2.59105714e-07, 9.42868123e-06, 6.73218558e-06,-8.40745371e-05,
 -5.90875590e-04,-4.11189568e-05,-3.02556610e-04,-3.60769958e-04,
 -1.64171371e-06,-3.57337653e-06,-1.21647113e+00,-4.77024502e-04,
 -1.54983699e-05,-5.61256237e-04]


--- Step 116 ---
qpos:
[ 0.00561872,-0.00163765,-0.00449333, 0.03045451, 0.00403272,-0.00348498,
 -0.01681761, 0.02589508, 0.01172921, 0.00301939,-0.00905673, 0.02348369,
  0.387341  ,-0.00110128, 0.22447013, 0.05994788, 0.09431323,-0.07017925,
  0.13107399, 0.50273849, 0.49896212, 0.49619313, 0.50207887]

qacc:
[ -0.22267557, -4.33757642, 20.79661438,-45.00574028, -0.39648406,
  -4.40488742, 22.99606664,-52.38362322, -1.63515871, -3.64191174,
  17.50204771,-36.71037158, -2.01850458,  9.25544178, -5.02255366,
   9.87696222, -0.5130699 ,  1.07269584, -0.35537233, -7.80461543,
  -0.70488864,-15.3602736 ]

qfrc_actuator:
[ 0.00054697,-0.00029558,-0.0005505 , 0.0032537 , 0.00044889,-0.00057331,
 -0.00192766, 0.0026924 , 0.00127611, 0.00029282,-0.00101036, 0.00248569,
  0.08764859,-0.00028503, 0.06570573, 0.00156984, 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: -0.00031010202771317164
  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([ 0.1020382 , -0.09004845,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.40857096e-06,-2.59412815e-05, 1.58025968e-05,-7.03768267e-05,
 -2.37744233e-06, 2.38398036e-05, 2.75262517e-05,-8.21272514e-05,
 -9.64936393e-06, 1.17154892e-05, 3.10970998e-05,-5.24109519e-05,
 -5.83796999e-04,-6.70506471e-06,-3.15602946e-04,-4.43527342e-05,
 -3.76665702e-07,-3.20996991e-06,-1.21647134e+00,-4.79201973e-04,
 -1.83751640e-05,-5.60613127e-04]


--- Step 117 ---
qpos:
[ 0.00562951,-0.00164113,-0.00450261, 0.03051758, 0.00404125,-0.00348929,
 -0.01685124, 0.02594834, 0.01175395, 0.00302584,-0.0090743 , 0.02353245,
  0.38914603,-0.00110232, 0.22620072, 0.06007747, 0.09436289,-0.07013686,
  0.13107757, 0.50273666, 0.4990042 , 0.49650066, 0.50173474]

qacc:
[ -3.96334053, -3.80810787, 21.07153827,-50.88522703, -3.90287213,
  -1.25177103, 10.46568925,-30.05332411, -5.76310482, -4.19435017,
  18.55310522,-36.27525655, -1.50240099,  4.27867684,-13.91203884,
  40.71936921, -0.50831426,  1.0708318 , -0.38742983, -7.73360651,
  -0.74404114,-15.34151006]

qfrc_actuator:
[ 0.00052381,-0.00026571,-0.00053333, 0.0031703 , 0.00042612,-0.00050923,
 -0.00191876, 0.00263973, 0.00124251, 0.00025984,-0.00098468, 0.00243563,
  0.08747527,-0.0002801 , 0.06555227, 0.0017226 , 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: -0.0002997741093582057
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.85176603e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.85176603e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203935, -0.09005155,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.31978794e-05, 1.56725592e-05, 1.13154438e-05,-8.54556550e-05,
 -2.28245019e-05, 8.00345492e-05, 1.47072985e-05,-5.23255942e-05,
 -3.38537634e-05,-2.23180771e-05, 3.01649661e-05,-4.95788448e-05,
 -5.95197202e-04,-3.80640681e-05,-2.94447901e-04, 1.11313533e-04,
  8.25119737e-07,-2.69427003e-06,-1.21647195e+00,-4.81415612e-04,
 -2.09994335e-05,-5.59857502e-04]


--- Step 118 ---
qpos:
[ 0.00564029,-0.00164451,-0.00451212, 0.03057851, 0.00404979,-0.00349366,
 -0.01688398, 0.02600092, 0.01177775, 0.00303219,-0.00909088, 0.0235795 ,
  0.39094798,-0.00110425, 0.22792818, 0.06020391, 0.09440773,-0.07010278,
  0.13108388, 0.5027172 , 0.49905681, 0.49676547, 0.50143972]

qacc:
[ -0.15292448, -3.62340352, 22.16613018,-58.98421312,  0.08301853,
  -3.96944086, 16.85747955,-29.8280941 , -8.23967862, -6.46996888,
  30.13549807,-61.41022445, -0.53454526, -4.79005435,  4.88698971,
 -23.83086844, -1.20522038, -2.08132805,  0.68451265,-15.86615204,
   3.25192856, 30.04408105]

qfrc_actuator:
[ 0.00052362,-0.000282  ,-0.00055494, 0.00306054, 0.00042707,-0.00054048,
 -0.00188219, 0.00260525, 0.0011951 , 0.00027314,-0.00092713, 0.00235117,
  0.08730113,-0.0003301 , 0.06536082, 0.00154772, 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: -0.00029255325147656275
  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([ 0.11024366, -0.03410253,  0.06199165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.31213986e-07,-8.79966278e-06,-1.99372200e-05,-1.10472649e-04,
  3.22770181e-07, 1.47236923e-05, 5.34291308e-05,-3.15983358e-05,
 -4.83705280e-05, 4.85782754e-06, 5.49874492e-05,-8.54150929e-05,
 -6.06473623e-04,-9.53737550e-05,-3.05760885e-04,-2.05024795e-04,
  1.96670078e-06,-2.02709023e-06,-1.21647295e+00,-4.83670380e-04,
 -2.33774664e-05,-5.58988350e-04]


--- Step 119 ---
qpos:
[ 0.00565132,-0.00164834,-0.00452134, 0.03063803, 0.00405828,-0.00349842,
 -0.01691611, 0.02605309, 0.01180046, 0.00303885,-0.00910682, 0.02362513,
  0.39274682,-0.00110672, 0.22965231, 0.06032727, 0.09444798,-0.07007678,
  0.13109167, 0.5026811 , 0.49911961, 0.49698857, 0.50119226]

qacc:
[  2.2966472 , -4.34624555, 20.5921524 ,-45.17535625, -0.4557761 ,
  -3.05425839, 11.89992818,-19.76154997, -9.65462462, -4.22243596,
  21.66578553,-47.36615088, -0.87613133, -1.7035339 ,  4.3786593 ,
 -22.4562597 , -1.14712968, -2.01858113,  0.36588439,-15.55893963,
   2.95971343, 29.06507054]

qfrc_actuator:
[ 0.00053696,-0.00032599,-0.0005462 , 0.00298935, 0.00042421,-0.00059295,
 -0.00186545, 0.00258168, 0.00113994, 0.00031416,-0.00088657, 0.00228271,
  0.08713728,-0.00035879, 0.06519457, 0.00139411, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.58775774, -1.48400715, -4.3411109 , -1.48400715, 29.38605133,
       -8.47728744, -4.3411109 , -8.47728744,  7.4857153 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031390452649499023
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.76840875e-13,  8.84204377e-14,  1.00000000e+00, -1.56363476e-26,
        1.00000000e+00, -8.84204377e-14, -1.00000000e+00,  0.00000000e+00,
        1.76840875e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11024218, -0.03411391,  0.06199104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33270978e-05,-5.76968990e-05, 6.43572854e-07,-7.45139784e-05,
 -2.83977397e-06,-3.41282114e-05, 2.55914600e-05,-2.17405828e-05,
 -5.65173210e-05, 5.13490280e-05, 4.54190157e-05,-6.80903219e-05,
 -6.08873147e-04,-7.73833836e-05,-3.22035719e-04,-2.03092545e-04,
  7.25533148e-07,-1.97743419e-06,-1.21646466e+00,-4.81958410e-04,
 -1.61465326e-05,-5.56807572e-04]


--- Step 120 ---
qpos:
[ 0.00566208,-0.00165263,-0.00453037, 0.03069658, 0.00406667,-0.00350328,
 -0.01694785, 0.0261042 , 0.01182267, 0.00304562,-0.00912291, 0.02367002,
  0.39454247,-0.00110911, 0.23137286, 0.0604475 , 0.09448384,-0.07005865,
  0.13109984, 0.50262919, 0.49919233, 0.49717084, 0.50099108]

qacc:
[ -2.36666286, -3.09985885, 14.2450858 ,-30.87652996, -0.86562728,
  -3.39236683, 16.36382259,-35.18783843, -4.34041471, -0.98853944,
   6.89768967,-19.71878906, -1.46114667,  3.48570095,  4.16158141,
 -22.22474472, -1.09931053, -1.96593269,  0.09757818,-15.2874531 ,
   2.73029638, 28.2472714 ]

qfrc_actuator:
[ 0.00052265,-0.00035058,-0.00053746, 0.00294143, 0.00041914,-0.00058679,
 -0.00184291, 0.00252916, 0.00111617, 0.00028265,-0.0009095 , 0.00224198,
  0.08696905,-0.00035695, 0.06501164, 0.00123669, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  4.64100694,  -1.61856967,  -4.34961811,  -1.61856967,
        34.91806042, -11.26662601,  -4.34961811, -11.26662601,
         8.83351734,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00032856729980058896
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.68949105e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.68949105e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11024154, -0.03412174,  0.06199063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39456882e-05,-5.98337115e-05,-5.66265556e-06,-5.19265142e-05,
 -5.16656490e-06,-8.13749707e-06, 1.82029253e-05,-5.35481039e-05,
 -2.53384164e-05, 3.56611871e-06,-9.04830829e-06,-3.83598480e-05,
 -6.13697565e-04,-4.67014988e-05,-3.45211510e-04,-2.08698239e-04,
 -2.12532710e-07,-1.78406951e-06,-1.21645794e+00,-4.80809914e-04,
 -1.00383008e-05,-5.55059704e-04]


--- Step 121 ---
qpos:
[ 0.00567224,-0.00165709,-0.00453931, 0.03075339, 0.00407493,-0.00350817,
 -0.01697913, 0.02615428, 0.01184477, 0.00305208,-0.00913897, 0.02371445,
  0.39633491,-0.00111108, 0.23308998, 0.06056353, 0.09451546,-0.0700482 ,
  0.1311075 , 0.50256212, 0.49927474, 0.49731305, 0.50083508]

qacc:
[ -5.27231421, -4.07681566, 21.61331883,-51.97258346, -1.08984127,
  -3.47338179, 16.72790614,-35.47951077, -0.98351983, -1.41638344,
   6.38155472,-14.03957665, -1.80590108,  6.54501985,  7.65852702,
 -34.12440474, -1.05994367, -1.92187139, -0.12820812,-15.04904467,
   2.55070257, 27.56527794]

qfrc_actuator:
[ 0.00049216,-0.00034559,-0.00052871, 0.00285433, 0.0004128 ,-0.00058109,
 -0.00181693, 0.00247784, 0.00111107, 0.00024323,-0.00091673, 0.00221779,
  0.08680364,-0.00033717, 0.06484013, 0.00102501, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.67626118,  1.6289585 ,  4.38336776,  1.6289585 ,  9.38798445,
       -1.75098282,  4.38336776, -1.75098282,  5.32696596,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033776587008442494
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.64348018e-13,  1.64348018e-13,  1.00000000e+00, -2.70102710e-26,
        1.00000000e+00, -1.64348018e-13, -1.00000000e+00,  0.00000000e+00,
        1.64348018e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1102416 , -0.03412669,  0.06199037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.08891871e-05,-3.17749215e-05,-6.08882749e-06,-9.09740119e-05,
 -6.48700047e-06, 3.04849727e-06, 2.50077115e-05,-5.21135464e-05,
 -5.79924397e-06,-4.10394649e-05,-8.90428439e-06,-2.51720747e-05,
 -6.12157169e-04,-2.83335121e-05,-3.43961729e-04,-2.65991962e-04,
 -8.90620205e-07,-1.46075213e-06,-1.21645266e+00,-4.80122053e-04,
 -4.95284635e-06,-5.53702861e-04]


--- Step 122 ---
qpos:
[ 0.00568231,-0.00166149,-0.0045477 , 0.03080898, 0.0040827 ,-0.00351315,
 -0.01701014, 0.02620371, 0.01186698, 0.0030586 ,-0.00915516, 0.02375855,
  0.39812417,-0.00111308, 0.234804  , 0.06067662, 0.09454296,-0.0700453 ,
  0.13111388, 0.5024804 , 0.49936666, 0.49741583, 0.50072337]

qacc:
[ -0.85972953, -3.96901373, 19.37882495,-41.22684615, -4.23851828,
  -2.17093609, 10.28889034,-21.73636292,  0.9785982 , -0.20430071,
   2.21917362, -7.68896147, -1.36792844,  2.60219847,  4.29530674,
 -21.64133072, -1.02754635, -1.88511865, -0.3180281 ,-14.84110677,
   2.41062574, 26.99810405]

qfrc_actuator:
[ 0.00048792,-0.0003052 ,-0.00048443, 0.00279815, 0.00038802,-0.00059344,
 -0.00180685, 0.0024454 , 0.001117  , 0.00027043,-0.00091466, 0.00220352,
  0.08663471,-0.00034253, 0.0647182 , 0.00088962, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.6950965 ,  1.87267642,  4.3054633 ,  1.87267642, 11.86000829,
       -3.11640362,  4.3054633 , -3.11640362,  6.05058723,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034252897810434224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.62062642e-13,  8.10313211e-14,  1.00000000e+00, -1.31321500e-26,
        1.00000000e+00, -8.10313211e-14, -1.00000000e+00,  0.00000000e+00,
        1.62062642e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11024223, -0.03412931,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.11656039e-06, 1.75617558e-05, 3.38401963e-05,-5.96175027e-05,
 -2.49667148e-05,-7.28880544e-06, 1.22914754e-05,-3.24921177e-05,
  5.75713545e-06, 1.25455554e-06,-8.34342638e-06,-1.68936439e-05,
 -6.13153599e-04,-5.29861314e-05,-3.00611144e-04,-1.92826110e-04,
 -1.34121187e-06,-1.01752990e-06,-1.21644871e+00,-4.79819752e-04,
 -8.09387749e-07,-5.52704868e-04]


--- Step 123 ---
qpos:
[ 0.00569224,-0.00166589,-0.00455576, 0.03086384, 0.00409012,-0.00351851,
 -0.0170406 , 0.02625135, 0.01188944, 0.00306532,-0.00917158, 0.02380179,
  0.39991028,-0.00111476, 0.23651485, 0.06078618, 0.09456647,-0.07004981,
  0.13111836, 0.50238444, 0.4994679 , 0.49747973, 0.50065518]

qacc:
[ -1.12529351, -2.39316974, 11.65432401,-24.93182512, -3.10682821,
  -5.71163229, 27.22516881,-58.85546511,  2.13123488, -0.94834268,
   7.42264078,-22.31795187, -1.69171526,  5.60310593,  5.99242557,
 -27.7319082 , -1.0009056 , -1.85458648, -0.47742092,-14.66108856,
   2.30186487, 26.52829494]

qfrc_actuator:
[ 0.00048141,-0.00031475,-0.0004726 , 0.00276068, 0.00037033,-0.00063432,
 -0.00178857, 0.00235329, 0.00112935, 0.0002841 ,-0.00092461, 0.00215976,
  0.08647976,-0.00032717, 0.06455687, 0.00071166, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.69986743,  2.11798178,  4.19558185,  2.11798178, 15.92158147,
       -5.6648605 ,  4.19558185, -5.6648605 ,  7.55955931,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003437195145277877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.23002616e-13,  8.07506541e-14,  1.00000000e+00, -2.60826725e-26,
        1.00000000e+00, -8.07506541e-14, -1.00000000e+00,  0.00000000e+00,
        3.23002616e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11024333, -0.03413007,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.63797296e-06, 4.80439835e-06, 1.75793310e-05,-3.68008999e-05,
 -1.84034743e-05,-4.33790830e-05, 1.74833875e-05,-9.26613148e-05,
  1.25315788e-05, 1.18557837e-05,-1.12660467e-05,-4.43937246e-05,
 -6.01581732e-04,-3.36409519e-05,-3.13869873e-04,-2.26203627e-04,
 -1.58871218e-06,-4.61558909e-07,-1.21644601e+00,-4.79848361e-04,
  2.45718214e-06,-5.52041034e-04]


--- Step 124 ---
qpos:
[ 0.00570202,-0.00167052,-0.00456375, 0.03091752, 0.00409692,-0.00352433,
 -0.01707027, 0.02629751, 0.01191118, 0.00307168,-0.00918776, 0.02384385,
  0.40169331,-0.00111588, 0.23822216, 0.06089505, 0.09458605,-0.07006164,
  0.13112039, 0.50227459, 0.49957835, 0.4975052 , 0.50062989]

qacc:
[ -1.35563645, -2.96250445, 15.09696349,-35.43776482, -5.35213253,
  -5.84708564, 26.20909029,-52.72838089, -6.28576276, -3.51535514,
  16.82167299,-37.19862083, -1.87149797,  7.43523199, -3.09766952,
   3.31757651, -0.97902603, -1.82934521, -0.61109064,-14.50652225,
   2.21788265, 26.14125072]

qfrc_actuator:
[ 0.0004736 ,-0.00035423,-0.00048021, 0.00269895, 0.00033921,-0.00065648,
 -0.00174799, 0.00228004, 0.00109213, 0.00023625,-0.00092389, 0.00209899,
  0.08633332,-0.00029972, 0.06440399, 0.00068744, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  4.69322245,   2.40427447,   4.03060805,   2.40427447,
        24.17193143, -11.61913095,   4.03060805, -11.61913095,
        11.6240824 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00034205958835921424
  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([ 0.1102448 , -0.03412933,  0.06199025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.97758214e-06,-3.46395673e-05,-5.71732714e-06,-6.17307488e-05,
 -3.16559613e-05,-4.63365723e-05, 3.08803637e-05,-7.63315560e-05,
 -3.68459100e-05,-4.55233571e-05, 2.89529706e-07,-6.15930869e-05,
 -5.83132192e-04,-2.02081330e-05,-3.14775571e-04,-7.59076732e-05,
 -1.65135138e-06, 2.02312730e-07,-1.21644449e+00,-4.80168311e-04,
  4.89908072e-06,-5.51692449e-04]


--- Step 125 ---
qpos:
[ 0.00571163,-0.00167513,-0.00457185, 0.03097002, 0.0041033 ,-0.00353045,
 -0.01709907, 0.0263431 , 0.01193196, 0.00307757,-0.00920375, 0.02388522,
  0.4034733 ,-0.00111696, 0.23992616, 0.06100402, 0.09460179,-0.0700807 ,
  0.13111953, 0.50215108, 0.49969788, 0.49749263, 0.50064699]

qacc:
[ -1.49547027, -2.06159921, 12.35410992,-32.53497728, -3.69998749,
  -4.02674432, 16.23286597,-27.40385545, -8.43077309, -2.55536612,
  11.16244713,-23.12840195, -1.38752187,  3.16533484, -5.20818253,
  11.14903501, -0.9610886 , -1.80859837, -0.72304565,-14.37505037,
   2.15345892, 25.82470458]

qfrc_actuator:
[ 0.0004651 ,-0.00034042,-0.00048164, 0.00264115, 0.00031819,-0.00064941,
 -0.00169449, 0.00225402, 0.00104378, 0.0002052 ,-0.00091712, 0.00206415,
  0.08617078,-0.00030089, 0.06426163, 0.00070079, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  4.67777233,  -2.73476263,  -3.79507936,  -2.73476263,
        31.07592292, -19.02270516,  -3.79507936, -19.02270516,
        18.38567623,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00033815178336936424
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.64160457e-13,  8.20802284e-14,  1.00000000e+00, -1.34743278e-26,
        1.00000000e+00, -8.20802284e-14, -1.00000000e+00,  0.00000000e+00,
        1.64160457e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11024656, -0.03412742,  0.06199036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.72403656e-06,-9.28344053e-06,-1.14048563e-05,-6.07818227e-05,
 -2.19412553e-05,-1.52887271e-05, 4.54045115e-05,-2.84465322e-05,
 -4.94002460e-05,-5.91620232e-05,-4.68975832e-06,-3.80430150e-05,
 -5.84531183e-04,-4.71436385e-05,-2.87149964e-04,-2.98974306e-05,
 -1.54260880e-06, 9.71122184e-07,-1.21644411e+00,-4.80751183e-04,
  6.55789259e-06,-5.51644686e-04]


--- Step 126 ---
qpos:
[ 0.00572106,-0.00167952,-0.00458004, 0.03102139, 0.00410972,-0.00353666,
 -0.01712707, 0.02638764, 0.01195235, 0.0030828 ,-0.00921914, 0.02392551,
  0.40525023,-0.00111765, 0.24162718, 0.06111062, 0.09461375,-0.07010693,
  0.13111541, 0.50201412, 0.4998264 , 0.49744232, 0.50070604]

qacc:
[ -1.55984894, -1.79918187, 11.61724627,-31.2350335 ,  0.40140515,
  -4.45220718, 20.09215108,-39.21927808, -3.45603691, -4.76782477,
  20.34111693,-39.66600268, -1.71227033,  5.96691163,  2.80466677,
 -16.17114824, -0.94641788, -1.79166254, -0.81670929,-14.26444918,
   2.10441797, 25.56831464]

qfrc_actuator:
[ 0.00045626,-0.00031255,-0.00047918, 0.00258617, 0.00032103,-0.00064254,
 -0.0016514 , 0.00220276, 0.00102478, 0.00016675,-0.00088903, 0.00200936,
  0.08601466,-0.00028344, 0.0641044 , 0.00057638, 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: -0.0003324972454219477
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.66952214e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.66952214e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11024854, -0.0341246 ,  0.06199052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.07777187e-06, 1.78285677e-05,-2.94727181e-06,-5.70442476e-05,
  2.21143728e-06, 6.93030312e-06, 4.48491944e-05,-5.09144284e-05,
 -2.04068999e-05,-7.42092165e-05, 1.40283864e-05,-5.82900629e-05,
 -5.81072295e-04,-3.00083109e-05,-2.85457723e-04,-1.61832140e-04,
 -1.27228311e-06, 1.84348292e-06,-1.21644482e+00,-4.81576821e-04,
  7.46641181e-06,-5.51886794e-04]


--- Step 127 ---
qpos:
[ 0.00573066,-0.00168344,-0.00458803, 0.03107199, 0.00411577,-0.00354276,
 -0.01715469, 0.02643124, 0.011972  , 0.00308746,-0.00923465, 0.02396486,
  0.40702422,-0.00111878, 0.24332483, 0.06121721, 0.09462197,-0.07014027,
  0.1311077 , 0.50186384, 0.49996383, 0.49735451, 0.5008067 ]

qacc:
[  1.45354585, -1.5031433 ,  9.49307476,-23.42473707, -3.15181017,
  -2.90360151, 14.59297515,-31.8431505 , -6.42998484, -2.34233076,
  11.20927438,-26.7681417 , -0.90133143, -0.86763134, -4.97482725,
  10.18644107, -0.93445586, -1.77795098, -0.89500896,-14.17264601,
   2.06741377, 25.36334011]

qfrc_actuator:
[ 0.00046504,-0.0002587 ,-0.00045663, 0.00255106, 0.00030239,-0.00063588,
 -0.00163257, 0.00215481, 0.00098772, 0.00012422,-0.00090188, 0.00196103,
  0.08586252,-0.00030842, 0.06395432, 0.00058479, 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: -0.000325511109112539
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.70535351e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.70535351e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11025069, -0.03412109,  0.06199072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.54313534e-06, 6.08757881e-05, 2.39221880e-05,-3.56400589e-05,
 -1.85739690e-05, 1.80636838e-05, 2.43224022e-05,-4.71161383e-05,
 -3.76608441e-05,-8.36619854e-05,-2.84132250e-05,-5.22240485e-05,
 -5.73273019e-04,-7.18025238e-05,-2.93053874e-04,-3.63356903e-05,
 -8.47300865e-07, 2.81935734e-06,-1.21644658e+00,-4.82631177e-04,
  7.65015302e-06,-5.52410525e-04]


--- Step 128 ---
qpos:
[ 0.0057396 ,-0.00168675,-0.00459606, 0.03112178, 0.00412156,-0.00354862,
 -0.01718196, 0.02647425, 0.01199105, 0.00309182,-0.00925039, 0.02400398,
  0.40879519,-0.0011198 , 0.24501969, 0.0613246 , 0.09462649,-0.07018068,
  0.13109615, 0.50170035, 0.5001101 , 0.49722939, 0.50094868]

qacc:
[ -5.80933712, -0.77188947,  7.39105957,-21.97344059, -2.36328083,
  -1.8439329 ,  9.51657062,-20.37727338, -5.25790743, -0.23508119,
   1.23218399, -4.5671272 , -1.44448628,  3.65162967, -6.48543326,
  16.75082259, -0.92474087, -1.76695995, -0.96044922,-14.09773026,
   2.03976032, 25.20238084]

qfrc_actuator:
[ 0.00043087,-0.0002251 ,-0.00045777, 0.00251022, 0.000289  ,-0.00061176,
 -0.00161046, 0.00212693, 0.00095805, 0.0001327 ,-0.00090331, 0.00195236,
  0.0857022 ,-0.00030495, 0.06385126, 0.00063596, 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: -0.0003175356729271661
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74818630e-13,  1.74818630e-13,  1.00000000e+00, -3.05615533e-26,
        1.00000000e+00, -1.74818630e-13, -1.00000000e+00,  0.00000000e+00,
        1.74818630e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11025295, -0.03411706,  0.06199094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.39003636e-05, 7.11508069e-05, 1.31660078e-05,-3.81889687e-05,
 -1.39135584e-05, 3.76731382e-05, 2.75082388e-05,-2.72040468e-05,
 -3.07511341e-05,-4.64425263e-05,-2.39599031e-05,-1.43173363e-05,
 -5.78909003e-04,-4.46487226e-05,-2.34522473e-04, 1.26788451e-05,
 -2.72330034e-07, 3.89988897e-06,-1.21644938e+00,-4.83904710e-04,
  7.12859467e-06,-5.53209731e-04]


--- Step 129 ---
qpos:
[ 0.00574806,-0.00168987,-0.00460387, 0.03117072, 0.00412783,-0.00355435,
 -0.01720815, 0.0265162 , 0.01200961, 0.00309598,-0.00926612, 0.02404267,
  0.410563  ,-0.00111968, 0.24671217, 0.06143039, 0.09462844,-0.070216  ,
  0.13108989, 0.5015643 , 0.50023172, 0.49711287, 0.50107911]

qacc:
[ -4.20452241, -2.10322229, 11.45354601,-26.58080397,  4.27104213,
  -5.03298866, 22.62310826,-42.64701273, -4.43187893, -1.16064045,
   5.63179543,-13.10708109, -2.47984402, 12.2332003 ,  1.34414626,
  -9.7107262 , -0.64209461,  1.27173288,  1.31984712, -8.01844686,
  -1.38104797,-18.05061838]

qfrc_actuator:
[ 0.00040718,-0.00023949,-0.00045522, 0.00246629, 0.00031432,-0.00059508,
 -0.00155099, 0.0020756 , 0.00093299, 0.00013622,-0.00089774, 0.00193164,
  0.08553709,-0.00024927, 0.06372857, 0.00055223, 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: -0.00031128277851778796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78330300e-13,  1.00310794e-13,  1.00000000e+00, -1.78884539e-26,
        1.00000000e+00, -1.00310794e-13, -1.00000000e+00,  0.00000000e+00,
        1.78330300e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204661, -0.09004924,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.46143578e-05, 2.65512995e-05, 1.75631337e-05,-4.12531199e-05,
  2.49341494e-05, 4.26896551e-05, 6.99962796e-05,-4.93187153e-05,
 -2.59440333e-05,-2.80249163e-05,-7.40928165e-06,-2.38749450e-05,
 -5.85479048e-04, 7.81158795e-06,-2.24700165e-04,-1.12646932e-04,
  4.49753143e-07, 5.08727890e-06,-1.21645321e+00,-4.85391184e-04,
  5.91620324e-06,-5.54279897e-04]


--- Step 130 ---
qpos:
[ 0.00575686,-0.00169292,-0.00461149, 0.03121877, 0.00413436,-0.00355972,
 -0.0172335 , 0.0265572 , 0.01202737, 0.00310011,-0.009282  , 0.0240801 ,
  0.41232784,-0.00111988, 0.24840196, 0.06153047, 0.09462794,-0.07024639,
  0.13108769, 0.501455  , 0.50032918, 0.49700465, 0.50119854]

qacc:
[  2.99603606, -2.24379793, 11.88909535,-27.61434348,  2.24709717,
  -3.81101394, 18.33056261,-36.47890481, -6.95564048, -2.17512352,
  12.99492158,-34.40318276, -1.05287729,  0.28914018, 13.28183744,
 -52.23181806, -0.61311771,  1.23327326,  1.0174929 , -7.93632628,
  -1.26464701,-17.53960577]

qfrc_actuator:
[ 0.00042538,-0.00024699,-0.0004507 , 0.00242087, 0.00032671,-0.00056511,
 -0.00150548, 0.00202865, 0.00089309, 0.00013678,-0.00090587, 0.00186849,
  0.08537988,-0.00026984, 0.06354621, 0.00024759, 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: -0.00032768586611545136
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.54105335e-13,  1.69403557e-13,  1.00000000e+00, -4.30463476e-26,
        1.00000000e+00, -1.69403557e-13, -1.00000000e+00,  0.00000000e+00,
        2.54105335e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204664, -0.09004471,  0.06199065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75157066e-05, 9.26731553e-06, 1.07482253e-05,-4.45697233e-05,
  1.31176410e-05, 6.66199104e-05, 6.15214984e-05,-4.36835731e-05,
 -4.06485607e-05,-1.76640182e-05,-1.55825327e-05,-6.51261325e-05,
 -5.78221960e-04,-6.72369556e-05,-2.95052257e-04,-3.39558433e-04,
  5.19623669e-07, 3.69808350e-06,-1.21645005e+00,-4.84381331e-04,
  4.77850568e-06,-5.55224287e-04]


--- Step 131 ---
qpos:
[ 0.00576581,-0.00169607,-0.00461888, 0.03126558, 0.00414098,-0.00356455,
 -0.01725874, 0.0265977 , 0.01204486, 0.00310387,-0.00929718, 0.02411612,
  0.41408974,-0.00112063, 0.25008846, 0.06162679, 0.09462508,-0.07027198,
  0.13108854, 0.50137186, 0.5004029 , 0.49690448, 0.50130743]

qacc:
[  1.32567389, -3.37728988, 17.07493568,-38.90297212,  0.85225971,
  -0.64995396,  5.48040884,-14.83141235, -2.36040599, -5.36782906,
  24.40455443,-49.71009996, -0.8112941 , -1.64370656,  6.47272795,
 -29.73309539, -0.58956476,  1.20098973,  0.76260972, -7.86080656,
  -1.17009668,-17.10997195]

qfrc_actuator:
[ 4.32571140e-04,-2.68066638e-04,-4.45047653e-04, 2.35717115e-03,
  3.31382131e-04,-5.45205453e-04,-1.50403784e-03, 2.00240066e-03,
  8.80262057e-04, 1.17741024e-04,-8.68790418e-04, 1.79862256e-03,
  8.52275024e-02,-2.99666077e-04, 6.33867679e-02, 6.37167556e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6786251 , -0.21971885,  4.67346301, -0.21971885, 10.05709049,
        0.25286393,  4.67346301,  0.25286393,  4.69051328,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033836926953831337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.20274715e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.20274715e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204693, -0.09004182,  0.06199035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.70439776e-06,-1.55173463e-05, 7.35494079e-06,-6.38798541e-05,
  5.06894029e-06, 6.84007421e-05, 2.15363407e-05,-2.21346063e-05,
 -1.39763844e-05,-3.49362416e-05, 2.93301181e-05,-7.24805445e-05,
 -5.74343866e-04,-7.91082112e-05,-3.27225082e-04,-2.39905799e-04,
  5.42644605e-07, 2.55279820e-06,-1.21644746e+00,-4.83517844e-04,
  3.95554364e-06,-5.56014474e-04]


--- Step 132 ---
qpos:
[ 0.00577512,-0.00169945,-0.0046258 , 0.03131125, 0.00414796,-0.00356947,
 -0.01728353, 0.02663831, 0.01206206, 0.00310716,-0.00931175, 0.02415139,
  0.41584865,-0.00112167, 0.25177092, 0.06172251, 0.09461994,-0.07029287,
  0.13109158, 0.50131438, 0.50045324, 0.49681215, 0.50140616]

qacc:
[  3.20104151, -3.93312362, 18.3717864 ,-38.52733958,  3.0814409 ,
  -1.18048968,  3.51393168, -2.12399966, -2.52383083, -3.85793144,
  16.03996485,-29.69889606, -1.05972361,  0.36914245, -4.12934074,
   5.80002619, -0.57047155,  1.17396604,  0.54805916, -7.79300063,
  -1.0928525 ,-16.74943665]

qfrc_actuator:
[ 4.50969975e-04,-2.79384818e-04,-4.21092057e-04, 2.30097786e-03,
  3.49229364e-04,-5.84907755e-04,-1.49314241e-03, 2.00626672e-03,
  8.65734814e-04, 8.72783386e-05,-8.40898735e-04, 1.76089415e-03,
  8.50674825e-02,-3.16936248e-04, 6.31986095e-02, 4.13850336e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.70258604, -0.38776372,  4.68657175, -0.38776372, 13.08065202,
        0.69319541,  4.68657175,  0.69319541,  4.75994055,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003443950925719891
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.05922506e-14, -1.61184501e-13,  1.00000000e+00,  1.29902217e-26,
        1.00000000e+00,  1.61184501e-13, -1.00000000e+00,  0.00000000e+00,
        8.05922506e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204743, -0.09004025,  0.06199018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.86232080e-05,-2.11431627e-05, 1.94552468e-05,-5.79300099e-05,
  1.80158766e-05, 2.43000516e-06, 2.71729190e-05, 7.08824206e-06,
 -1.49311782e-05,-4.70353659e-05, 2.18513814e-05,-3.96722263e-05,
 -5.80096994e-04,-6.70009174e-05,-3.57481006e-04,-7.64361210e-05,
  5.16131026e-07, 1.63186673e-06,-1.21644539e+00,-4.82772833e-04,
  3.42976917e-06,-5.56657580e-04]


--- Step 133 ---
qpos:
[ 0.00578458,-0.00170264,-0.00463252, 0.03135552, 0.00415509,-0.00357465,
 -0.01730756, 0.0266783 , 0.01207861, 0.00311043,-0.00932633, 0.02418592,
  0.41760448,-0.00112218, 0.25344971, 0.06181712, 0.09461258,-0.07030915,
  0.1310961 , 0.50128215, 0.50048051, 0.49672748, 0.50149505]

qacc:
[  1.30411041, -3.19843961, 17.69735657,-42.51147953,  1.42736427,
  -3.70220735, 15.29832284,-26.93514008, -5.74834618, -1.50759249,
   8.50621366,-21.36910578, -1.89846084,  7.20682732, -2.04869344,
  -0.62896895, -0.55505407,  1.15142702,  0.36780272, -7.7335155 ,
  -1.02930312,-16.44775917]

qfrc_actuator:
[ 4.58067110e-04,-2.49190652e-04,-4.04232662e-04, 2.23191797e-03,
  3.56937955e-04,-6.06700484e-04,-1.45921692e-03, 1.97451860e-03,
  8.32559370e-04, 1.03472712e-04,-8.36451071e-04, 1.72460069e-03,
  8.49083115e-02,-2.91198769e-04, 6.30306898e-02,-9.93803880e-06,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.7117483 , -0.60910102,  4.67221232, -0.60910102, 18.06123402,
        1.74032875,  4.67221232,  1.74032875,  4.93862926,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034665703712355445
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.60132769e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.60132769e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204811, -0.09003975,  0.06199012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.62966112e-06, 1.99852293e-05, 1.28919324e-05,-7.05017844e-05,
  8.22239833e-06,-1.41321998e-05, 3.82768425e-05,-3.05909809e-05,
 -3.36128128e-05,-7.27267023e-06,-3.87798156e-06,-3.83746799e-05,
 -5.82418441e-04,-2.43116709e-05,-3.30606571e-04,-9.96573758e-05,
  4.38388138e-07, 9.19733557e-07,-1.21644380e+00,-4.82125128e-04,
  3.18680915e-06,-5.57159302e-04]


--- Step 134 ---
qpos:
[ 0.00579371,-0.00170572,-0.00463897, 0.03139827, 0.00416192,-0.00357962,
 -0.01733141, 0.0267169 , 0.01209497, 0.00311444,-0.00934194, 0.02421937,
  0.41935716,-0.00112164, 0.25512545, 0.06190762, 0.09460304,-0.07032091,
  0.13110148, 0.50127481, 0.50048496, 0.49665033, 0.50157434]

qacc:
[ -2.92264719, -3.75914816, 20.02140266,-46.79698945, -2.69714569,
  -3.08161906, 17.3403195 ,-42.08056589, -1.64593279,  1.63919042,
   0.10513588,-17.61797349, -2.43910361, 11.49624091,  7.93368455,
 -34.22650846, -0.54267288,  1.13271398,  0.21670493, -7.682578  ,
  -0.97657375,-16.19634444]

qfrc_actuator:
[ 0.0004407 ,-0.00024766,-0.00039154, 0.00215587, 0.00034086,-0.00058204,
 -0.00144745, 0.00190433, 0.00082418, 0.00016515,-0.0008812 , 0.00167171,
  0.08474444,-0.00024037, 0.06287503,-0.00021993, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.70869367, -0.90839232,  4.6202402 , -0.90839232, 27.73163166,
        4.52657418,  4.6202402 ,  4.52657418,  5.59867017,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034590545671410455
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.02403520e-14,  1.60480704e-13,  1.00000000e+00,  1.28770282e-26,
        1.00000000e+00, -1.60480704e-13, -1.00000000e+00,  0.00000000e+00,
       -8.02403520e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204894, -0.0900401 ,  0.06199014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.71327716e-05, 1.24158963e-05, 1.59744785e-05,-7.61985331e-05,
 -1.58475095e-05, 2.37328782e-05, 1.27547791e-05,-7.00851408e-05,
 -9.33329842e-06, 5.51768069e-05,-4.79838881e-05,-5.41330123e-05,
 -5.85238876e-04, 1.97724085e-06,-3.10194993e-04,-2.56544452e-04,
  3.08362036e-07, 4.04038807e-07,-1.21644266e+00,-4.81558586e-04,
  3.21504516e-06,-5.57524196e-04]


--- Step 135 ---
qpos:
[ 0.00580256,-0.00170882,-0.00464545, 0.03144016, 0.00416815,-0.00358429,
 -0.0173553 , 0.02675435, 0.01211146, 0.00311876,-0.00935767, 0.02425261,
  0.42110681,-0.0011208 , 0.25679814, 0.06199024, 0.09459138,-0.07032819,
  0.13110722, 0.50129209, 0.50046679, 0.49658058, 0.50164426]

qacc:
[ -2.45221615, -1.68874637,  9.64223825,-24.50244426, -5.17860347,
  -1.84824383, 11.99042283,-31.88291658,  1.02289262,  0.29923804,
   0.44837324, -4.21942362, -1.69130252,  5.44883691, 19.30090912,
 -74.04640392, -0.5328051 ,  1.11726564,  0.09038141, -7.64013811,
  -0.93237226,-15.98794224]

qfrc_actuator:
[ 0.00042683,-0.00026333,-0.00039927, 0.0021118 , 0.00031092,-0.00056539,
 -0.00144871, 0.00184763, 0.00083047, 0.00018236,-0.00088343, 0.00166274,
  0.08458852,-0.00022847, 0.06268951,-0.0006282 , 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: -0.000342768655045414
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.09746609e-14, -1.61949322e-13,  1.00000000e+00,  1.31137914e-26,
        1.00000000e+00,  1.61949322e-13, -1.00000000e+00,  0.00000000e+00,
        8.09746609e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204988, -0.09004112,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43438340e-05,-8.63313203e-06,-5.82648707e-06,-4.45414922e-05,
 -3.03861841e-05, 2.99212643e-05, 3.04482851e-06,-5.66321753e-05,
  6.04904804e-06, 3.58457941e-05, 1.46009242e-06,-9.35999828e-06,
 -5.77184137e-04,-3.64386895e-05,-3.50073660e-04,-4.61386905e-04,
  1.25398952e-07, 7.49841280e-08,-1.21644195e+00,-4.81060829e-04,
  3.50524078e-06,-5.57755908e-04]


--- Step 136 ---
qpos:
[ 0.00581083,-0.00171172,-0.00465212, 0.03148221, 0.00417398,-0.0035888 ,
 -0.01737872, 0.02679082, 0.01212789, 0.00312242,-0.00937209, 0.02428619,
  0.42285348,-0.00111978, 0.2584673 , 0.06207183, 0.09457762,-0.07033106,
  0.13111291, 0.50133372, 0.50042619, 0.49651813, 0.50170497]

qacc:
[-5.11065487e+00, 1.13972525e+00,-4.38137263e+00, 7.39200771e+00,
 -3.55619984e+00,-3.14712830e+00, 1.56892966e+01,-3.36545754e+01,
 -4.05837132e-01,-3.82675865e+00, 1.08951658e+01,-6.44397207e+00,
 -1.52410515e+00, 4.22292238e+00,-2.06579756e+00,-2.82950660e-01,
 -5.25022132e-01, 1.10460286e+00,-1.49203891e-02,-7.60595214e+00,
 -8.94868293e-01,-1.58164140e+01]

qfrc_actuator:
[ 0.00039738,-0.00023598,-0.0004013 , 0.00212238, 0.00029081,-0.00055372,
 -0.00142214, 0.00179931, 0.00082758, 0.00011975,-0.00082515, 0.0016797 ,
  0.08443746,-0.00022185, 0.06257673,-0.00065295, 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: -0.00033777106259447187
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.21727457e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.21727457e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10205091, -0.09004266,  0.06199037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.98483567e-05, 1.94725723e-05,-6.05642449e-06, 9.06722598e-06,
 -2.09613169e-05, 2.69659158e-05, 3.14210720e-05,-4.80551405e-05,
 -2.70234998e-06,-4.26510995e-05, 6.56163784e-05, 1.83195955e-05,
 -5.69778712e-04,-4.28475864e-05,-3.17442098e-04,-9.41600380e-05,
 -1.10918666e-07,-7.51715412e-08,-1.21644166e+00,-4.80622306e-04,
  4.05021221e-06,-5.57857351e-04]


--- Step 137 ---
qpos:
[ 0.00581868,-0.00171441,-0.00465882, 0.03152439, 0.00417987,-0.00359331,
 -0.01740102, 0.02682639, 0.01214416, 0.00312581,-0.00938575, 0.02431971,
  0.42459718,-0.00111898, 0.26013312, 0.06215631, 0.09456178,-0.07032955,
  0.13111818, 0.50139953, 0.50036328, 0.49646289, 0.50175662]

qacc:
[ -3.67339882,  0.63429299, -2.3770542 ,  4.46409256,  0.54541731,
  -4.93361322, 21.35577482,-38.53285042, -1.40138254, -2.61093943,
   9.08492299,-11.30643616, -1.12964217,  1.02183043,-13.68520331,
  40.73587702, -0.51897203,  1.09431637, -0.10241689, -7.57964806,
  -0.86259805,-15.67654878]

qfrc_actuator:
[ 0.00037675,-0.00021852,-0.00039973, 0.00212956, 0.00029441,-0.00054499,
 -0.0013616 , 0.00175632, 0.0008193 , 0.00011663,-0.00078521, 0.00167623,
  0.08427879,-0.00023614, 0.06246514,-0.00048678, 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: -0.00033134878843797677
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.67530871e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.67530871e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10205201, -0.0900446 ,  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:
[-2.14622313e-05, 2.75392119e-05, 5.17133548e-06, 7.90776465e-06,
  3.01373005e-06, 2.85831110e-05, 6.85556820e-05,-4.16982669e-05,
 -8.36746366e-06,-1.26235126e-05, 3.99194069e-05,-2.71662432e-06,
 -5.72150589e-04,-6.37266612e-05,-2.60236631e-04, 1.21453002e-04,
 -4.00881898e-07,-5.25160615e-08,-1.21644177e+00,-4.80235585e-04,
  4.84453874e-06,-5.57830849e-04]


--- Step 138 ---
qpos:
[ 0.00582657,-0.00171687,-0.00466544, 0.03156598, 0.0041861 ,-0.00359795,
 -0.01742204, 0.02686118, 0.01216054, 0.00312947,-0.00939874, 0.02435251,
  0.42633796,-0.00111898, 0.26179608, 0.06223783, 0.09454388,-0.07032369,
  0.13112276, 0.50148934, 0.50027815, 0.49641479, 0.50179933]

qacc:
[  0.31960775, -1.15978586,  7.10782392,-17.77833685,  3.03817516,
  -5.3469348 , 22.14873329,-37.71868779,  1.06231564, -2.97907486,
  14.16668256,-27.80225625, -0.56064642, -3.59693573,  4.75149417,
 -22.76602492, -0.51436533,  1.0860565 , -0.17486653, -7.56077596,
  -0.83438926,-15.5639158 ]

qfrc_actuator:
[ 0.00037924,-0.00020709,-0.00039609, 0.00209916, 0.00031194,-0.00055571,
 -0.00129928, 0.00171683, 0.00082568, 0.00016682,-0.00073847, 0.00164304,
  0.08412097,-0.00028041, 0.06228514,-0.0006534 , 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: -0.00032386294562801454
  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([ 0.10205316, -0.09004683,  0.06199077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.89156679e-06, 2.82800234e-05, 1.02476049e-05,-2.89553707e-05,
  1.76192980e-05, 1.79876396e-05, 7.54649510e-05,-3.67239393e-05,
  6.13690094e-06, 5.12742900e-05, 4.90101453e-05,-3.24587679e-05,
 -5.74446740e-04,-9.51294695e-05,-2.80283360e-04,-1.92414148e-04,
 -7.44727139e-07, 1.38190097e-07,-1.21644227e+00,-4.79894826e-04,
  5.88431007e-06,-5.57678252e-04]


--- Step 139 ---
qpos:
[ 0.00583442,-0.00171926,-0.00467185, 0.03160619, 0.00419214,-0.00360231,
 -0.01744283, 0.02689525, 0.01217688, 0.00313363,-0.00941144, 0.02438431,
  0.42807571,-0.00111911, 0.2634557 , 0.0623184 , 0.09452394,-0.07031352,
  0.13112639, 0.50160302, 0.5001709 , 0.49637378, 0.50183319]

qacc:
[ -0.27221273, -3.31007541, 17.71841931,-41.78581849, -1.60355671,
  -1.80956529, 10.03671722,-23.15814871, -0.44914258, -2.2408381 ,
  13.17237209,-31.36225053, -1.26276572,  1.87033709, -2.06479232,
   0.05849357, -0.5109636 ,  1.07952475, -0.23463466, -7.548846  ,
  -0.80930174,-15.47474429]

qfrc_actuator:
[ 0.00037755,-0.00021715,-0.0003913 , 0.00202915, 0.000302  ,-0.00054246,
 -0.00128974, 0.00167969, 0.00082288, 0.00019531,-0.00072339, 0.00159267,
  0.08395844,-0.00028874, 0.06212808,-0.00069543, 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: -0.00031561107526525967
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.75884674e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.75884674e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10205434, -0.09004928,  0.061991  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61490744e-06, 6.68595081e-06, 1.08887668e-05,-6.90867680e-05,
 -9.42698775e-06, 3.76652830e-05, 2.14985149e-05,-3.44908093e-05,
 -2.60364988e-06, 6.58894050e-05, 3.06387778e-05,-4.71513205e-05,
 -5.83716743e-04,-6.09528788e-05,-3.02092375e-04,-8.80368672e-05,
 -1.14268155e-06, 4.93249918e-07,-1.21644315e+00,-4.79595376e-04,
  7.16690731e-06,-5.57401029e-04]


--- Step 140 ---
qpos:
[ 0.00584289,-0.00172192,-0.00467794, 0.0316446 , 0.00419768,-0.00360592,
 -0.01746441, 0.02692896, 0.01219271, 0.00313803,-0.00942429, 0.02441532,
  0.4298104 ,-0.00111862, 0.26511256, 0.06239572, 0.09450197,-0.07029904,
  0.13112889, 0.50174048, 0.50004156, 0.4963398 , 0.50185828]

qacc:
[  5.3696016 , -4.98318233, 24.84632244,-56.38575601, -4.51291185,
   2.50625245, -5.99116817,  0.58078468, -4.45398729, -0.84726216,
   6.82014854,-20.37745362, -2.01083609,  7.83854099,  5.75376461,
 -25.95986963, -0.50857032,  1.0744665 , -0.28374818, -7.54335625,
  -0.78658041,-15.40582437]

qfrc_actuator:
[ 0.00040892,-0.00025777,-0.000386  , 0.00193637, 0.00027598,-0.00049743,
 -0.00132912, 0.00166197, 0.00079694, 0.00017493,-0.00074495, 0.00155034,
  0.08380918,-0.0002581 , 0.06199558,-0.00085882, 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: -0.0003068369391638348
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.04570867e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.04570867e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10205553, -0.09005188,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.13352002e-05,-3.75531941e-05, 5.64213293e-06,-9.35323971e-05,
 -2.62769627e-05, 6.93833121e-05,-2.99171891e-05,-1.60546528e-05,
 -2.59803787e-05, 2.07562070e-05,-5.75910085e-06,-3.94187305e-05,
 -5.74278721e-04,-2.16989349e-05,-2.74357058e-04,-2.06011294e-04,
 -1.59499042e-06, 1.00981530e-06,-1.21644441e+00,-4.79333462e-04,
  8.69081487e-06,-5.57000336e-04]


--- Step 141 ---
qpos:
[ 0.00585097,-0.00172454,-0.00468434, 0.03168194, 0.0042032 ,-0.00360921,
 -0.01748592, 0.02696254, 0.01220777, 0.00314204,-0.00943674, 0.02444598,
  0.43154213,-0.00111808, 0.2667672 , 0.06246574, 0.09447796,-0.07028029,
  0.1311301 , 0.50190163, 0.49989015, 0.49631282, 0.50187466]

qacc:
[-3.35089774e+00,-1.25914582e+00, 9.06561874e+00,-2.70053454e+01,
 -8.96907727e-02,-3.36134229e-02, 1.30858261e+00,-3.98621736e+00,
 -6.82985136e+00,-2.36358098e+00, 9.21329289e+00,-1.58137695e+01,
 -1.45125530e+00, 3.48239366e+00, 1.87953823e+01,-7.05188992e+01,
 -5.07023328e-01, 1.07066484e+00,-3.23942141e-01,-7.54381250e+00,
 -7.65617886e-01,-1.53544243e+01]

qfrc_actuator:
[ 0.00038849,-0.00024542,-0.00039832, 0.00188417, 0.00027621,-0.00048716,
 -0.00132587, 0.00165582, 0.0007576 , 0.0001253 ,-0.0007349 , 0.00153076,
  0.08365734,-0.00025803, 0.06186724,-0.00123438, 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: -0.00029773890832651695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.86442382e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.86442382e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10205672, -0.09005457,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.95462881e-05,-1.14185898e-05,-2.26172235e-05,-5.54984203e-05,
 -4.91457937e-07, 4.24953475e-05, 1.35548378e-05,-4.54545156e-06,
 -4.00661996e-05,-4.09439422e-05, 1.23162902e-05,-1.97050451e-05,
 -5.66573893e-04,-5.00868968e-05,-2.72709037e-04,-4.21678135e-04,
 -2.10193233e-06, 1.68571224e-06,-1.21644604e+00,-4.79105961e-04,
  1.04554599e-05,-5.56477083e-04]


--- Step 142 ---
qpos:
[ 0.00585806,-0.00172682,-0.00469105, 0.03171868, 0.00420868,-0.00361238,
 -0.01750654, 0.02699471, 0.01222223, 0.00314575,-0.00944898, 0.02447615,
  0.43327085,-0.00111781, 0.26841829, 0.06253701, 0.09445193,-0.07025726,
  0.13112988, 0.50208642, 0.49971668, 0.4962928 , 0.50188239]

qacc:
[ -8.78757822,  0.07983888,  2.98834887,-13.36814467, -0.32807776,
  -5.23156446, 24.82284487,-50.65046608, -5.16898795, -1.96264708,
   8.44697309,-16.79176444, -1.11499011,  0.73852926, -9.01653488,
  23.97945993, -0.50618877,  1.06793531, -0.35669972, -7.54974177,
  -0.74592481,-15.31822086]

qfrc_actuator:
[ 0.00033771,-0.00020147,-0.00040297, 0.00185631, 0.00027415,-0.00047988,
 -0.00127985, 0.00158552, 0.00072844, 0.0001119 ,-0.00072412, 0.00150696,
  0.08348808,-0.000276  , 0.06174144,-0.00114603, 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: -0.0002884771406670289
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.62141248e-14, -1.92428250e-13,  1.00000000e+00,  1.85143156e-26,
        1.00000000e+00,  1.92428250e-13, -1.00000000e+00,  0.00000000e+00,
        9.62141248e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10205791, -0.09005731,  0.06199177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.13215464e-05, 3.05623747e-05,-1.16987154e-05,-3.02807422e-05,
 -2.06372010e-06, 3.39456545e-05, 5.65245267e-05,-6.81177968e-05,
 -3.03070011e-05,-3.46240926e-05, 3.20083808e-06,-2.55511037e-05,
 -5.80903447e-04,-6.88971036e-05,-2.94620469e-04, 3.01436343e-05,
 -2.66382618e-06, 2.51929817e-06,-1.21644804e+00,-4.78910216e-04,
  1.24610765e-05,-5.55831974e-04]


--- Step 143 ---
qpos:
[ 0.00586518,-0.0017288 ,-0.00469752, 0.03175476, 0.00421376,-0.00361518,
 -0.01752683, 0.02702615, 0.01223658, 0.00314964,-0.00946144, 0.02450474,
  0.43499649,-0.00111735, 0.27006554, 0.06260982, 0.09442388,-0.07022997,
  0.13112812, 0.5022948 , 0.49952112, 0.4962797 , 0.5018815 ]

qacc:
[  0.23263192, -1.61247971,  9.07040041,-20.96908789, -3.60716521,
  -1.94934506, 10.77456456,-24.36137517, -1.04552126, -2.41765982,
  15.68504765,-42.97466479, -1.59147599,  4.33547081,-10.30277758,
  27.84610322, -0.5059561 ,  1.06612126, -0.38328673, -7.56070098,
  -0.72710622,-15.29523988]

qfrc_actuator:
[ 0.00034052,-0.0001744 ,-0.00038514, 0.00182526, 0.00025299,-0.00045657,
 -0.00126229, 0.00154906, 0.00072326, 0.00013806,-0.00073064, 0.00142764,
  0.08332445,-0.00026897, 0.06154812,-0.00106902, 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: -0.0002791797140315466
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.98836622e-13, -3.97673244e-13,  1.00000000e+00,  7.90720044e-26,
        1.00000000e+00,  3.97673244e-13, -1.00000000e+00,  0.00000000e+00,
        1.98836622e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10205908, -0.09006005,  0.06199204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.36507280e-06, 4.04855625e-05, 2.16761774e-05,-3.07907458e-05,
 -2.12070042e-05, 5.13353902e-05, 2.93916376e-05,-3.43880212e-05,
 -6.04335985e-06, 6.34434835e-06,-1.41156574e-05,-8.12362866e-05,
 -5.87064246e-04,-4.63363516e-05,-3.18513983e-04, 4.19574718e-05,
 -3.28103307e-06, 3.50934543e-06,-1.21645041e+00,-4.78743905e-04,
  1.47085918e-05,-5.55065550e-04]


--- Step 144 ---
qpos:
[ 0.00587192,-0.0017304 ,-0.00470406, 0.03179019, 0.00421853,-0.00361778,
 -0.01754701, 0.02705763, 0.01225075, 0.00315361,-0.00947417, 0.02453218,
  0.43671908,-0.0011171 , 0.27170945, 0.06268291, 0.09439381,-0.07019842,
  0.13112475, 0.50252675, 0.49930346, 0.49627352, 0.50187202]

qacc:
[ -3.23631897, -0.64889457,  5.77852565,-17.13913617, -2.56442385,
   0.0499189 ,  0.05096179,  0.34752035, -1.53872619, -1.50152822,
  10.38241548,-30.00178198, -1.1967327 ,  1.26898748, -5.74990411,
  12.9923261 , -0.50623406,  1.06508993, -0.40478163, -7.57628201,
  -0.70884262,-15.28380612]

qfrc_actuator:
[ 0.00032159,-0.00015754,-0.00038974, 0.0017926 , 0.00023851,-0.00045943,
 -0.00126158, 0.00155057, 0.00071449, 0.00013434,-0.00074719, 0.00136956,
  0.08316431,-0.0002828 , 0.06139434,-0.00105287, 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: -0.00026994785789187514
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02818284e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.02818284e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206022, -0.09006278,  0.0619923 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.88720349e-05, 4.27019061e-05, 5.37584095e-06,-3.08444645e-05,
 -1.50648242e-05, 3.07064372e-05, 1.39436159e-05, 4.03204299e-06,
 -8.93433998e-06,-6.58705971e-06,-1.97410022e-05,-5.99149583e-05,
 -5.86115781e-04,-6.70874074e-05,-2.87419282e-04,-2.10191366e-05,
 -3.95395493e-06, 4.65494598e-06,-1.21645316e+00,-4.78604928e-04,
  1.71995310e-05,-5.54178221e-04]


--- Step 145 ---
qpos:
[ 0.00587874,-0.0017318 ,-0.00471027, 0.0318253 , 0.0042231 ,-0.00362066,
 -0.01756652, 0.02708925, 0.01226471, 0.00315767,-0.00948708, 0.02455904,
  0.43843872,-0.00111799, 0.27335084, 0.06275644, 0.0943617 ,-0.07016261,
  0.13111969, 0.50278225, 0.49906362, 0.49627422, 0.50185397]

qacc:
[  0.58535335, -1.31302231,  6.45698708,-12.79257327, -1.81721128,
  -1.94215059,  5.76689826, -4.12475873, -1.90246617, -0.55071607,
   4.5902804 ,-14.34094487, -0.24115606, -6.03595885, -5.06737722,
  12.27797146, -0.50694724,  1.064729  , -0.42210146, -7.59611401,
  -0.69087501,-15.28249987]

qfrc_actuator:
[ 0.0003255 ,-0.00014702,-0.0003721 , 0.00177696, 0.00022809,-0.00049574,
 -0.0012354 , 0.0015566 , 0.00070366, 0.00014823,-0.00075187, 0.00134219,
  0.08300638,-0.00034433, 0.06130699,-0.00101932, 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: -0.0002608604079484128
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.25600433e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.25600433e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206134, -0.09006546,  0.06199256])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.39938073e-06, 3.42229597e-05, 2.60678739e-05,-1.42802727e-05,
 -1.08423529e-05,-1.58298652e-05, 3.45761432e-05, 7.89492768e-06,
 -1.10774208e-05, 3.54434916e-06,-1.04814419e-05,-2.95430849e-05,
 -5.84951077e-04,-1.15903817e-04,-2.15699046e-04,-3.59982371e-06,
 -4.68303126e-06, 5.95543352e-06,-1.21645628e+00,-4.78491332e-04,
  1.99359389e-05,-5.53170287e-04]


--- Step 146 ---
qpos:
[ 0.00588623,-0.00173324,-0.00471582, 0.0318603 , 0.00422751,-0.0036242 ,
 -0.0175845 , 0.02712068, 0.01227877, 0.00316164,-0.00949937, 0.02458567,
  0.44015536,-0.00111923, 0.27498974, 0.06282684, 0.09432757,-0.07012254,
  0.13111288, 0.50306131, 0.49880156, 0.49628179, 0.50182737]

qacc:
[  6.03586622, -2.13640604,  7.95026847,-10.78653905, -1.34484505,
  -5.53507609, 19.25966676,-24.4476927 ,  0.96058986, -2.33561   ,
   9.08379118,-13.87839437, -1.06034791,  0.23219316,  5.76526848,
 -25.51186966, -0.5080334 ,  1.0649436 , -0.4360245 , -7.61986386,
  -0.67299275,-15.29011997]

qfrc_actuator:
[ 0.00036059,-0.00015802,-0.00034147, 0.00177149, 0.00022013,-0.00053395,
 -0.00115903, 0.00154749, 0.00070946, 0.00015488,-0.00071389, 0.00133312,
  0.0828552 ,-0.00036246, 0.06115301,-0.00118864, 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: -0.0002519775915157535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.34070807e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.34070807e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206242, -0.09006809,  0.06199281])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.52015739e-05, 1.29333321e-05, 4.04163976e-05,-3.44683861e-06,
 -8.27108672e-06,-3.93237964e-05, 7.78247981e-05,-8.46197295e-06,
  5.49407865e-06, 5.18050435e-06, 3.64501767e-05,-9.89260666e-06,
 -5.81415424e-04,-7.48424489e-05,-2.51083169e-04,-1.97131803e-04,
 -5.46873493e-06, 7.41031973e-06,-1.21645978e+00,-4.78401246e-04,
  2.29203161e-05,-5.52041963e-04]


--- Step 147 ---
qpos:
[ 0.0058934 ,-0.00173456,-0.004721  , 0.03189531, 0.00423213,-0.00362769,
 -0.01760161, 0.02715103, 0.0122928 , 0.00316489,-0.00951053, 0.02461238,
  0.44186889,-0.00111963, 0.2766258 , 0.06289564, 0.09428902,-0.07009038,
  0.1311066 , 0.50332483, 0.49854929, 0.49624785, 0.50184737]

qacc:
[ -2.8715979 , -0.86402545,  3.31191604, -3.94552879,  1.90541421,
  -4.5936979 , 21.08632239,-41.38800446, -0.29816452, -3.94343007,
  12.35063425,-12.31195957, -2.294201  ,  9.61857955,  0.67867143,
  -8.35367013, -1.10154097, -1.97783122,  0.13108743,-15.63980219,
   2.577425  , 28.40083937]

qfrc_actuator:
[ 3.42732188e-04,-1.46256806e-04,-3.21269928e-04, 1.77201947e-03,
  2.31447455e-04,-5.01802792e-04,-1.10693761e-03, 1.49405317e-03,
  7.07247140e-04, 8.63222624e-05,-6.68817968e-04, 1.33491126e-03,
  8.27028600e-02,-3.19366240e-04, 6.10230635e-02,-1.26326055e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025165826501101496
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.20581475e-13,  2.20581475e-13,  1.00000000e+00, -4.86561870e-26,
        1.00000000e+00, -2.20581475e-13, -1.00000000e+00,  0.00000000e+00,
        2.20581475e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11028482, -0.03408629,  0.06199282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68535597e-05, 2.72211540e-05, 2.77277910e-05, 2.35166552e-06,
  1.10605237e-05, 2.61347294e-05, 5.34467458e-05,-5.26149961e-05,
 -2.04727117e-06,-5.85645174e-05, 5.03456031e-05, 3.04304639e-06,
 -5.76573364e-04,-1.17881726e-05,-2.64085628e-04,-1.17582421e-04,
 -6.31156759e-06, 9.01924203e-06,-1.21646366e+00,-4.78332830e-04,
  2.61555670e-05,-5.50793393e-04]


--- Step 148 ---
qpos:
[ 0.00589961,-0.00173547,-0.00472626, 0.03192969, 0.00423685,-0.00363051,
 -0.01761882, 0.02718083, 0.01230634, 0.00316756,-0.00952128, 0.02463859,
  0.44357937,-0.00111913, 0.27825823, 0.06296508, 0.0942462 ,-0.07006596,
  0.13109994, 0.50357353, 0.49830657, 0.4961731 , 0.50191286]

qacc:
[ -8.44721257, -0.49596364,  5.19795274,-16.11312436,  0.85371153,
   0.03314435,  3.47117555,-13.24481844, -4.20449414, -2.93747625,
  11.51121436,-20.45803211, -2.31388028,  9.85988827, -7.24232141,
  17.64884192, -1.07003568, -1.93233181, -0.09434086,-15.42889098,
   2.34866645, 27.71298969]

qfrc_actuator:
[ 2.93839204e-04,-1.20993367e-04,-3.25051639e-04, 1.74058185e-03,
  2.36257574e-04,-4.45646948e-04,-1.10486188e-03, 1.46826091e-03,
  6.82582350e-04, 4.43284864e-05,-6.55733099e-04, 1.30750382e-03,
  8.25499336e-02,-2.76107304e-04, 6.08437434e-02,-1.22807877e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4357487 ,  1.83468456,  4.03853922,  1.83468456,  9.27681604,
       -2.19926835,  4.03853922, -2.19926835,  5.43486334,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002655468035589331
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.09044698e-13,  2.09044698e-13,  1.00000000e+00, -4.36996856e-26,
        1.00000000e+00, -2.09044698e-13, -1.00000000e+00,  0.00000000e+00,
        2.09044698e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11028334, -0.03409363,  0.06199242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.93612330e-05, 4.63158588e-05, 5.32899963e-06,-2.93303005e-05,
  5.13510215e-06, 7.98187376e-05, 1.24104132e-05,-2.38691772e-05,
 -2.47414312e-05,-6.42162431e-05, 7.34144149e-06,-2.81550532e-05,
 -5.67939826e-04,-8.73175890e-06,-3.09589411e-04,-4.78682504e-06,
 -7.09655946e-06, 6.83567228e-06,-1.21646171e+00,-4.75773880e-04,
  2.41489324e-05,-5.50451871e-04]


--- Step 149 ---
qpos:
[ 0.00590553,-0.00173626,-0.00473166, 0.03196313, 0.0042416 ,-0.00363298,
 -0.01763572, 0.02720941, 0.01231949, 0.00317011,-0.00953224, 0.02466425,
  0.44528691,-0.0011181 , 0.27988681, 0.06303412, 0.0941992 ,-0.0700491 ,
  0.13109214, 0.50380797, 0.49807319, 0.49605809, 0.5020229 ]

qacc:
[ -2.54981741, -1.38805293,  9.20565681,-25.50633617,  0.18908839,
  -2.89170347, 16.11390129,-37.92359693, -3.53477791, -0.70412883,
   4.59361375,-13.65214695, -1.9046507 ,  6.97332531, -4.42531506,
   7.30429429, -1.04470236, -1.8940303 , -0.28458086,-15.25215439,
   2.15538627, 27.13849128]

qfrc_actuator:
[ 2.80347716e-04,-1.41223474e-04,-3.42923192e-04, 1.69058349e-03,
  2.37195465e-04,-4.46735540e-04,-1.09667623e-03, 1.40568741e-03,
  6.62653678e-04, 5.39119733e-05,-6.61582894e-04, 1.28087734e-03,
  8.24074174e-02,-2.50888366e-04, 6.06402997e-02,-1.25288011e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46215149,  2.04623847,  3.96531261,  2.04623847, 11.77175602,
       -3.77200878,  3.96531261, -3.77200878,  6.4086385 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027478439569658675
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02017116e-13,  1.01008558e-13,  1.00000000e+00, -2.04054576e-26,
        1.00000000e+00, -1.01008558e-13, -1.00000000e+00,  0.00000000e+00,
        2.02017116e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11028258, -0.03409852,  0.06199216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.48761779e-05, 5.49484588e-06,-8.67172745e-06,-4.84622212e-05,
  1.11287316e-06, 4.53257917e-05, 2.55434196e-05,-5.92100851e-05,
 -2.06504682e-05,-2.60119754e-05,-1.91336584e-05,-2.97091312e-05,
 -5.50939775e-04,-2.61020672e-05,-3.39156469e-04,-6.36525254e-05,
 -7.66699041e-06, 4.86032430e-06,-1.21646111e+00,-4.73609081e-04,
  2.13663332e-05,-5.50385395e-04]


--- Step 150 ---
qpos:
[ 0.00591159,-0.00173731,-0.00473677, 0.03199572, 0.00424632,-0.00363542,
 -0.0176528 , 0.02723709, 0.01233263, 0.00317236,-0.00954285, 0.02468903,
  0.44699157,-0.00111673, 0.28151232, 0.06310084, 0.0941481 ,-0.0700397 ,
  0.13108257, 0.50402866, 0.49784898, 0.49590329, 0.50217669]

qacc:
[  1.21863962, -2.89018625, 13.3412339 ,-28.13621178, -0.22738814,
  -1.31948985,  8.56285012,-23.85987321,  0.04894417, -3.15889368,
  14.43073127,-30.03201585, -1.69527835,  5.43065742,  2.46105257,
 -15.14695191, -1.02447538, -1.86184089, -0.44513292,-15.10640792,
   1.98987242, 26.65986015]

qfrc_actuator:
[ 2.87810576e-04,-1.70875915e-04,-3.33648718e-04, 1.64777926e-03,
  2.35848261e-04,-4.82111904e-04,-1.12068889e-03, 1.35744106e-03,
  6.63432240e-04, 4.09652980e-05,-6.42832589e-04, 1.23721258e-03,
  8.22605947e-02,-2.36492648e-04, 6.05024187e-02,-1.36614207e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4782679 ,  2.27306682,  3.85850367,  2.27306682, 15.92933065,
       -6.74588728,  3.85850367, -6.74588728,  8.4523091 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028022661084160794
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96187579e-13,  1.98093789e-13,  1.00000000e+00, -7.84822988e-26,
        1.00000000e+00, -1.98093789e-13, -1.00000000e+00,  0.00000000e+00,
        3.96187579e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11028242, -0.03410143,  0.061992  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.04566109e-06,-3.04546703e-05, 7.65691974e-06,-4.38733587e-05,
 -1.29816993e-06,-7.06698201e-06,-1.33893671e-05,-4.65930547e-05,
  1.86739348e-07,-3.27051568e-05, 1.00478320e-05,-4.60547943e-05,
 -5.44483671e-04,-3.63430023e-05,-2.92496346e-04,-1.58905820e-04,
 -8.04313353e-06, 3.07223295e-06,-1.21646176e+00,-4.71770717e-04,
  1.78397278e-05,-5.50580781e-04]


--- Step 151 ---
qpos:
[ 0.00591804,-0.00173862,-0.0047417 , 0.03202756, 0.00425098,-0.00363783,
 -0.01767035, 0.0272647 , 0.01234603, 0.00317401,-0.00955272, 0.02471276,
  0.44869335,-0.0011158 , 0.28313372, 0.06316354, 0.09409296,-0.07003763,
  0.13107067, 0.50423598, 0.49763377, 0.49570907, 0.50237359]

qacc:
[  3.41513118, -2.43296033, 11.34266326,-24.54470017, -0.47720931,
   1.19549725, -3.85942978,  3.18624387,  2.25240846, -5.06694626,
  21.324288  ,-40.2328698 , -0.92190212, -0.48425016,  6.10525204,
 -30.16036678, -1.0084815 , -1.83484084, -0.5806405 ,-14.98869061,
   1.84600576, 26.26255382]

qfrc_actuator:
[ 3.07535464e-04,-1.88091016e-04,-3.26214471e-04, 1.60956162e-03,
  2.33167991e-04,-4.84629101e-04,-1.14591355e-03, 1.35346406e-03,
  6.76390635e-04,-3.03654160e-06,-6.09789935e-04, 1.18387869e-03,
  8.20953116e-02,-2.64108820e-04, 6.02494962e-02,-1.58367085e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.4854022 ,   2.51918443,   3.71113766,   2.51918443,
        24.88763236, -13.8493867 ,   3.71113766, -13.8493867 ,
        13.88660542,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002825911371497486
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96436278e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.96436278e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11028274, -0.03410273,  0.06199193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.99182523e-05,-3.45358105e-05, 5.61195176e-07,-4.01721183e-05,
 -2.71732604e-06,-1.10047773e-05,-2.97787754e-05,-5.66816399e-06,
  1.29549724e-05,-6.21600765e-05, 2.59868834e-05,-5.53181719e-05,
 -5.59053469e-04,-7.84926326e-05,-3.99646970e-04,-2.63168965e-04,
 -8.24001141e-06, 1.45542775e-06,-1.21646361e+00,-4.70206172e-04,
  1.35926886e-05,-5.51027485e-04]


--- Step 152 ---
qpos:
[ 0.00592432,-0.0017397 ,-0.00474674, 0.03205865, 0.00425558,-0.00364019,
 -0.01768783, 0.02729165, 0.01235949, 0.00317511,-0.00956213, 0.02473637,
  0.45039215,-0.00111513, 0.28475106, 0.06322272, 0.09403385,-0.07004281,
  0.13105598, 0.50443027, 0.49742743, 0.49547572, 0.50261303]

qacc:
[ -1.40547747, -0.93548666,  6.98446995,-20.04090918, -0.59877541,
  -1.46302779,  8.06597153,-19.46219229,  0.47396157, -2.25261477,
   7.46723675, -9.85045628, -1.14782743,  0.97742715,  4.61886452,
 -24.86668838, -0.99600277, -1.81224344, -0.6950388 ,-14.89625966,
   1.71892459, 25.93441965]

qfrc_actuator:
[ 2.98807313e-04,-1.44470867e-04,-3.19890417e-04, 1.57435076e-03,
  2.29725493e-04,-4.67441904e-04,-1.13599133e-03, 1.32233285e-03,
  6.78654445e-04,-2.97324016e-05,-5.86469400e-04, 1.17852149e-03,
  8.19297072e-02,-2.80787113e-04, 6.00608967e-02,-1.75460263e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.48506149,  -2.77791731,  -3.52121456,  -2.77791731,
        31.14320481, -21.03084507,  -3.52121456, -21.03084507,
        21.07648119,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002824788191956862
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.89543153e-13,  2.94771576e-13,  1.00000000e+00, -1.73780565e-25,
        1.00000000e+00, -2.94771576e-13, -1.00000000e+00,  0.00000000e+00,
        5.89543153e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11028346, -0.03410275,  0.06199194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.16927171e-06, 2.27228253e-05,-2.13605390e-06,-3.75124049e-05,
 -3.52249541e-06, 4.87026297e-06, 3.95735392e-06,-3.27605316e-05,
  2.61122770e-06,-5.84091750e-05, 1.18235767e-05,-8.23098204e-06,
 -5.74158895e-04,-7.10155870e-05,-3.91149509e-04,-2.34982461e-04,
 -8.26861265e-06,-1.98887696e-09,-1.21646660e+00,-4.68873933e-04,
  8.64193299e-06,-5.51716908e-04]


--- Step 153 ---
qpos:
[ 0.00593011,-0.00174031,-0.00475182, 0.03208903, 0.00425975,-0.00364252,
 -0.0177048 , 0.02731799, 0.01237251, 0.003176  ,-0.0095716 , 0.02475972,
  0.452088  ,-0.00111463, 0.28636604, 0.0632783 , 0.09397078,-0.07005517,
  0.13103814, 0.50461182, 0.49722985, 0.49520345, 0.50289455]

qacc:
[ -4.39273906, -0.6768045 ,  6.29531353,-18.70691323, -3.67889338,
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   2.88219342, -7.13433692, -1.25124335,  1.75333571,  7.37744915,
 -30.85197119, -0.98644716, -1.79337643, -0.79167232,-14.82658758,
   1.60476122, 25.66526322]

qfrc_actuator:
[ 2.73398617e-04,-1.00259677e-04,-3.14018896e-04, 1.54124248e-03,
  2.08109875e-04,-4.56220867e-04,-1.10533663e-03, 1.29326245e-03,
  6.56849011e-04,-2.81001233e-05,-5.86738630e-04, 1.16593485e-03,
  8.17799998e-02,-2.90904869e-04, 6.00122254e-02,-1.91422981e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 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: -0.0002803914567129917
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.95954655e-13,  9.89886637e-14,  1.00000000e+00, -3.91950222e-26,
        1.00000000e+00, -9.89886637e-14, -1.00000000e+00,  0.00000000e+00,
        3.95954655e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11028449, -0.03410174,  0.06199199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.56289017e-05, 5.48750443e-05, 9.00026989e-06,-3.29951742e-05,
 -2.17132998e-05, 1.35870292e-05, 3.11871209e-05,-2.93781285e-05,
 -2.17532810e-05,-2.88795805e-05,-1.11046944e-05,-1.48724147e-05,
 -5.68499713e-04,-6.58698430e-05,-2.44553856e-04,-2.21096907e-04,
 -8.13679753e-06,-1.30854620e-06,-1.21647071e+00,-4.67740642e-04,
  2.99855763e-06,-5.52641882e-04]


--- Step 154 ---
qpos:
[ 0.0059359 ,-0.00174045,-0.00475682, 0.03211878, 0.00426398,-0.00364481,
 -0.01772132, 0.02734448, 0.01238449, 0.00317696,-0.00958111, 0.02478201,
  0.45378092,-0.00111422, 0.28797883, 0.06333107, 0.0939038 ,-0.07007464,
  0.1310168 , 0.50478087, 0.49704093, 0.4948924 , 0.50321775]

qacc:
[ -0.04642447, -0.92911336,  6.91241138,-18.49196549,  0.48028089,
  -0.90309353,  2.7318952 , -1.10889637, -9.26724652, -1.99337591,
  11.72511367,-30.08450426, -1.30399266,  2.24636945,  5.28982703,
 -23.18150746, -0.97932519, -1.77766457, -0.87338924,-14.77735899,
   1.50043483, 25.44650688]

qfrc_actuator:
[ 2.73889909e-04,-7.37767267e-05,-3.08436066e-04, 1.50964390e-03,
  2.11476511e-04,-4.48562989e-04,-1.08046299e-03, 1.30115355e-03,
  6.03302614e-04,-9.60918135e-06,-5.83071324e-04, 1.11369281e-03,
  8.16346108e-02,-2.97077438e-04, 5.99250107e-02,-2.04783593e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027674690756680775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.01169081e-13,  1.00292270e-13,  1.00000000e+00, -4.02341578e-26,
        1.00000000e+00, -1.00292270e-13, -1.00000000e+00,  0.00000000e+00,
        4.01169081e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11028578, -0.03409993,  0.06199209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.16048556e-07, 5.76009184e-05, 1.68787842e-05,-2.96330388e-05,
  2.75130504e-06, 2.06560711e-05, 3.06736891e-05, 8.96588864e-06,
 -5.41756579e-05,-5.29964769e-07,-4.11815174e-06,-5.41828550e-05,
 -5.59125385e-04,-6.15395114e-05,-2.21799639e-04,-1.77228289e-04,
 -7.84997567e-06,-2.46994735e-06,-1.21647591e+00,-4.66778904e-04,
 -3.33095990e-06,-5.53796273e-04]


--- Step 155 ---
qpos:
[ 0.00594198,-0.00174008,-0.00476143, 0.03214719, 0.00426856,-0.00364712,
 -0.01773768, 0.02737156, 0.01239573, 0.00317784,-0.00958994, 0.02480382,
  0.45547087,-0.00111317, 0.28958877, 0.06338251, 0.09383412,-0.07008915,
  0.13099939, 0.50497701, 0.49682679, 0.49458912, 0.5035305 ]

qacc:
[  2.68997163, -3.18122496, 17.91084687,-41.90799839,  3.09030445,
   0.75767718, -5.3196891 , 15.59903283, -6.44638308, -2.96901796,
  12.51428413,-21.9775233 , -2.06311589,  7.7967066 , -0.19187137,
  -5.34993236, -0.67577925,  1.23915236,  0.98258669, -8.55878599,
  -1.00062408,-17.62939671]

qfrc_actuator:
[ 2.89626758e-04,-4.03565299e-05,-2.85379990e-04, 1.44366783e-03,
  2.29525980e-04,-4.60833558e-04,-1.07695035e-03, 1.33071902e-03,
  5.67016164e-04, 1.06767405e-06,-5.41543349e-04, 1.09181918e-03,
  8.14865900e-02,-2.65382228e-04, 5.97827851e-02,-2.11190788e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027519702427782067
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.06856853e-13, -8.82499683e-14,  1.00000000e+00,  7.12050917e-26,
        1.00000000e+00,  8.82499683e-14, -1.00000000e+00,  0.00000000e+00,
        8.06856853e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206887, -0.09006227,  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:
[ 1.57510980e-05, 6.78266125e-05, 3.59958664e-05,-6.35565135e-05,
  1.81336335e-05, 6.21905908e-06, 1.20292635e-05, 3.16692474e-05,
 -3.78256217e-05, 7.25372005e-06, 3.91011578e-05,-2.31193847e-05,
 -5.54395167e-04,-2.28760898e-05,-2.62469740e-04,-1.02552972e-04,
 -7.41161497e-06,-3.48948865e-06,-1.21648219e+00,-4.65965649e-04,
 -1.03439472e-05,-5.55174689e-04]


--- Step 156 ---
qpos:
[ 0.00594821,-0.00173954,-0.00476553, 0.03217393, 0.00427332,-0.00364945,
 -0.01775326, 0.02739806, 0.01240679, 0.00317903,-0.00959895, 0.02482554,
  0.45715792,-0.00111205, 0.2911957 , 0.0634367 , 0.09376182,-0.07009883,
  0.13098491, 0.50519972, 0.49658768, 0.49429332, 0.50383334]

qacc:
[  1.25607291, -4.61015105, 23.81283974,-53.61348861,  1.6060036 ,
  -3.42338309, 14.6865888 ,-26.17965578, -1.5777854 ,  0.75195537,
  -1.72615701,  0.38196017, -1.43529062,  3.35564083,-12.68878923,
  37.97497644, -0.65391426,  1.20767753,  0.73268423, -8.5674845 ,
  -0.85308252,-17.22184411]

qfrc_actuator:
[ 2.96449975e-04,-5.62573991e-05,-2.69940506e-04, 1.35800939e-03,
  2.38312214e-04,-4.49505183e-04,-1.03289193e-03, 1.30175332e-03,
  5.58941707e-04, 2.49217149e-05,-5.49000746e-04, 1.08801772e-03,
  8.13371000e-02,-2.64920052e-04, 5.96769262e-02,-1.95710800e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50276664, -0.12713508,  4.50097146, -0.12713508, 11.19652626,
        0.18907289,  4.50097146,  0.18907289,  4.50810722,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002882374345545696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92588278e-13,  2.04625046e-13,  1.00000000e+00, -3.94083852e-26,
        1.00000000e+00, -2.04625046e-13, -1.00000000e+00,  0.00000000e+00,
        1.92588278e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206901, -0.09005866,  0.06199176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.29390252e-06, 2.67037947e-05, 3.16638743e-05,-8.27992493e-05,
  9.30442649e-06, 1.88696185e-05, 4.80782917e-05,-2.76862333e-05,
 -9.14910986e-06, 3.50417510e-05,-1.88542594e-06,-2.61473478e-06,
 -5.48832580e-04,-5.21593041e-05,-2.34053142e-04, 1.15821815e-04,
 -9.20140743e-06,-3.05021330e-06,-1.21648370e+00,-4.63795109e-04,
 -5.42171352e-06,-5.55022819e-04]


--- Step 157 ---
qpos:
[ 0.00595413,-0.00173895,-0.00476986, 0.03219916, 0.0042778 ,-0.00365142,
 -0.01776803, 0.02742361, 0.01241767, 0.0031802 ,-0.00960783, 0.02484673,
  0.45884203,-0.00111053, 0.29280015, 0.06349321, 0.09368697,-0.07010378,
  0.13097251, 0.50544852, 0.4963238 , 0.49400477, 0.50412673]

qacc:
[ -2.74642396, -2.39922499, 15.06405908,-40.94982148, -2.40413481,
  -3.73209804, 17.97984807,-35.91762789, -1.60488182, -1.52678614,
   7.66946198,-17.18441884, -1.79742277,  5.84523413,-10.64574206,
  32.02561378, -0.63701567,  1.18134672,  0.52163946, -8.57589618,
  -0.72657775,-16.88061291]

qfrc_actuator:
[ 2.80214222e-04,-8.38716309e-05,-2.94841484e-04, 1.27916506e-03,
  2.23818602e-04,-4.06269497e-04,-9.82945005e-04, 1.25637837e-03,
  5.49778810e-04, 3.05864730e-06,-5.49765054e-04, 1.05934229e-03,
  8.11815022e-02,-2.47385313e-04, 5.95770279e-02,-1.83428429e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52936648, -0.24850257,  4.52254433, -0.24850257, 14.69849425,
        0.55876829,  4.52254433,  0.55876829,  4.56006941,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029660503387907156
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.33943902e-13,  2.80732683e-13,  1.00000000e+00, -6.56756993e-26,
        1.00000000e+00, -2.80732683e-13, -1.00000000e+00,  0.00000000e+00,
        2.33943902e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206935, -0.09005639,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.60196385e-05,-9.73710641e-06,-1.83744890e-05,-7.82691927e-05,
 -1.42221123e-05, 6.27428379e-05, 5.89591897e-05,-4.34611768e-05,
 -9.41154933e-06,-2.72362420e-06, 6.20592474e-06,-2.73183730e-05,
 -5.53338674e-04,-3.61965747e-05,-1.91105714e-04, 9.95815088e-05,
 -1.10238592e-05,-2.44155287e-06,-1.21648572e+00,-4.61706799e-04,
 -2.94658246e-07,-5.54779283e-04]


--- Step 158 ---
qpos:
[ 0.00595981,-0.00173856,-0.00477409, 0.03222361, 0.00428174,-0.00365328,
 -0.01778252, 0.02744848, 0.01242801, 0.00318111,-0.00961596, 0.0248674 ,
  0.46052324,-0.00110877, 0.29440225, 0.06354585, 0.09361256,-0.07010425,
  0.13096435, 0.50571095, 0.49604606, 0.49373443, 0.50440168]

qacc:
[ -2.10709787, -2.20164902, 10.7556761 ,-24.35244939, -4.83618407,
  -1.99148687, 10.19933273,-22.44963459, -4.71854341, -3.48779641,
  14.1368753 ,-24.140529  , -1.64897591,  4.77352983,  8.22790683,
 -33.77332366,  0.10797574,  1.12244631,  1.05783698,  2.26034244,
   0.15763861,-16.04029978]

qfrc_actuator:
[ 2.68291915e-04,-1.00713201e-04,-2.90159634e-04, 1.24042720e-03,
  1.95742224e-04,-4.33004668e-04,-9.83057069e-04, 1.21950198e-03,
  5.22286282e-04,-1.05118413e-05,-5.11252842e-04, 1.03398480e-03,
  8.10330007e-02,-2.37709638e-04, 5.94062043e-02,-2.05088152e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003068798346539392
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.04444427e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.04444427e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09141543, -0.08808858,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23795679e-05,-2.94877368e-05,-2.31872822e-06,-4.13626384e-05,
 -2.84611817e-05, 1.88491092e-05, 1.87464288e-05,-3.30124195e-05,
 -2.77611627e-05,-1.49370955e-05, 3.78230424e-05,-2.58187168e-05,
 -5.47851947e-04,-4.40719625e-05,-2.46503723e-04,-2.35785492e-04,
 -1.28853999e-05,-1.67094885e-06,-1.21648822e+00,-4.59676011e-04,
  5.04628972e-06,-5.54443117e-04]


--- Step 159 ---
qpos:
[ 0.0059653 ,-0.00173833,-0.004778  , 0.03224772, 0.00428599,-0.00365538,
 -0.0177964 , 0.0274724 , 0.0124376 , 0.00318227,-0.00962435, 0.0248883 ,
  0.46220171,-0.00110822, 0.29600155, 0.0635955 , 0.09353856,-0.07010033,
  0.13095943, 0.50598677, 0.49575453, 0.49348184, 0.5046588 ]

qacc:
[ -1.63495129, -1.7386929 ,  7.33862652,-13.50733714,  2.84991465,
  -4.02608965, 17.90080285,-35.2379775 , -6.65874356,  1.570019  ,
  -6.05948248, 10.2415468 , -0.0939695 , -6.19288775,  4.90404726,
 -23.21738364,  0.10538987,  1.09494718,  0.8115209 ,  2.0695493 ,
   0.23808063,-15.69009247]

qfrc_actuator:
[ 2.59011279e-04,-9.30893416e-05,-2.67974573e-04, 1.22562917e-03,
  2.13161146e-04,-4.66126159e-04,-9.59737450e-04, 1.17008050e-03,
  4.84225580e-04, 1.66483978e-05,-5.20844698e-04, 1.04632044e-03,
  8.08835328e-02,-3.03760670e-04, 5.92674645e-02,-2.19957689e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60059167,  0.39665512,  4.58346032,  0.39665512, 10.66207859,
       -0.52456433,  4.58346032, -0.52456433,  4.64598775,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031752902205163525
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.62233437e-13,  8.74111457e-14,  1.00000000e+00, -2.29221252e-26,
        1.00000000e+00, -8.74111457e-14, -1.00000000e+00,  0.00000000e+00,
        2.62233437e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09141652, -0.08808607,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.64276067e-06,-1.11586606e-05, 1.43622447e-05,-1.69934460e-05,
  1.66133619e-05,-1.99517457e-05, 2.85172636e-05,-4.86254183e-05,
 -3.88564263e-05, 2.55529805e-05,-8.86188908e-06, 1.24749433e-05,
 -5.45928302e-04,-1.19815544e-04,-2.76066453e-04,-1.93429506e-04,
 -1.36422451e-05,-8.82550696e-07,-1.21648727e+00,-4.57761995e-04,
  1.05045931e-05,-5.54246915e-04]


--- Step 160 ---
qpos:
[ 0.00597064,-0.00173822,-0.00478192, 0.03227183, 0.00429042,-0.00365745,
 -0.01780946, 0.02749583, 0.012447  , 0.00318351,-0.00963276, 0.02490918,
  0.46387733,-0.00110872, 0.29759738, 0.06364628, 0.09346498,-0.07009213,
  0.13095693, 0.50627579, 0.49544928, 0.49324661, 0.50489862]

qacc:
[ -1.35205518, -0.1699097 ,  0.3564314 , -0.26962485,  1.55833879,
  -3.24741934, 13.70513246,-23.45223976, -1.63712271,  0.09820818,
  -0.12427921, -0.1638211 , -0.27045875, -5.08528309, -8.59160433,
  22.57446394,  0.10217808,  1.07217654,  0.60397837,  1.90594045,
   0.30910704,-15.39798219]

qfrc_actuator:
[ 2.51358715e-04,-1.06277318e-04,-2.71036702e-04, 1.22505813e-03,
  2.21717217e-04,-4.31746437e-04,-9.05058146e-04, 1.14918751e-03,
  4.75760863e-04, 1.45783449e-05,-5.23078388e-04, 1.04522601e-03,
  8.07229236e-02,-3.60642859e-04, 5.91214711e-02,-2.12932525e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.62293064,  0.17743358,  4.61952433,  0.17743358, 14.43615566,
       -0.37692098,  4.61952433, -0.37692098,  4.63740798,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003236984856486297
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.28725756e-14,  1.71490303e-13,  1.00000000e+00, -7.35223097e-27,
        1.00000000e+00, -1.71490303e-13, -1.00000000e+00,  0.00000000e+00,
        4.28725756e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09141731, -0.08808468,  0.06199075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.93196766e-06,-1.72269044e-05,-4.20222538e-06,-9.29303604e-07,
  9.02440734e-06, 2.72210140e-05, 5.25218867e-05,-2.17260708e-05,
 -9.56067068e-06, 1.09498882e-05, 2.43417323e-06,-9.02002864e-08,
 -5.62897276e-04,-1.14219275e-04,-2.90403529e-04, 2.44990875e-05,
 -1.43816041e-05,-3.00255497e-08,-1.21648671e+00,-4.55877377e-04,
  1.57516365e-05,-5.53987832e-04]


--- Step 161 ---
qpos:
[ 0.00597585,-0.00173842,-0.00478576, 0.03229611, 0.00429526,-0.00365922,
 -0.01782215, 0.02751882, 0.01245691, 0.00318464,-0.009641  , 0.02492956,
  0.46554999,-0.00110951, 0.29918964, 0.06369785, 0.09339334,-0.07007958,
  0.13095714, 0.50657214, 0.49513541, 0.49303495, 0.50511595]

qacc:
[ -1.16350218, -0.24732613, -0.41073419,  3.42718482,  3.62215889,
  -1.5358851 ,  7.87831247,-16.21472993,  4.54024711, -1.62403593,
   7.70230558,-16.61540245, -1.12694711,  0.82823537, -7.60121138,
  18.98524739,  0.48620901,  1.08525806,  0.6750861 ,  7.49724201,
   0.7545356 ,-15.50660544]

qfrc_actuator:
[ 2.44724628e-04,-1.31904585e-04,-2.71306797e-04, 1.23282364e-03,
  2.42726781e-04,-4.10316737e-04,-8.85274854e-04, 1.12757098e-03,
  5.02539089e-04,-4.96562668e-06,-5.21056467e-04, 1.01847108e-03,
  8.05663893e-02,-3.76183697e-04, 5.89446581e-02,-2.09042306e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032732620898780207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.39179386e-13,  2.59684217e-13,  1.00000000e+00, -8.80795332e-26,
        1.00000000e+00, -2.59684217e-13, -1.00000000e+00,  0.00000000e+00,
        3.39179386e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08593187, -0.08811906,  0.06199065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.86646250e-06,-3.62000547e-05,-4.39269490e-06, 6.81780644e-06,
  2.12755611e-05, 4.67481897e-05, 3.12485161e-05,-1.90744367e-05,
  2.65097917e-05,-1.28887238e-05, 4.62757570e-06,-2.62316179e-05,
 -5.70481580e-04,-7.46113403e-05,-3.01777081e-04, 3.86966929e-06,
 -1.51075503e-05, 8.87187426e-07,-1.21648651e+00,-4.54011031e-04,
  2.08166151e-05,-5.53662441e-04]


--- Step 162 ---
qpos:
[ 0.00598093,-0.00173877,-0.00478966, 0.03232063, 0.00430066,-0.00366078,
 -0.01783473, 0.02754141, 0.01246742, 0.00318568,-0.00964945, 0.02494982,
  0.46721959,-0.00110975, 0.30077883, 0.06374743, 0.0933236 ,-0.07006278,
  0.13095926, 0.50687578, 0.49481293, 0.49284639, 0.50531134]

qacc:
[ -1.05540507,  0.42452036, -2.77917446,  7.02855163,  4.89592452,
  -0.87588847,  5.23532561,-12.61834819,  5.17653845,  0.19175933,
  -0.42147288, -1.08594337, -2.03368583,  7.09988754,  1.50451324,
 -11.78768611,  0.47465187,  1.06450743,  0.48169878,  7.25910607,
   0.80896024,-15.24064284]

qfrc_actuator:
[ 2.38742389e-04,-1.29263574e-04,-2.69970599e-04, 1.24542299e-03,
  2.70900499e-04,-4.14683984e-04,-8.86303072e-04, 1.10566464e-03,
  5.32083729e-04,-1.70788997e-05,-5.34387880e-04, 1.01232394e-03,
  8.04124134e-02,-3.49519558e-04, 5.87867668e-02,-2.19469415e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6525751 ,  0.31310826,  4.64202739,  0.31310826, 16.09418357,
       -0.77174514,  4.64202739, -0.77174514,  4.7046299 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003316278671985917
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.34779774e-13, -3.66165378e-14,  1.00000000e+00,  1.22584762e-26,
        1.00000000e+00,  3.66165378e-14, -1.00000000e+00,  0.00000000e+00,
        3.34779774e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08593269, -0.08811818,  0.06199052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.19038743e-06,-1.82383452e-05,-6.45849425e-06, 1.09829419e-05,
  2.87971392e-05, 2.75803869e-05, 1.19343284e-05,-1.92129301e-05,
  3.02933442e-05,-1.94383473e-05,-1.62846012e-05,-7.07862846e-06,
 -5.69646269e-04,-3.15930471e-05,-2.89990998e-04,-1.41824961e-04,
 -1.52449940e-05, 1.80019384e-06,-1.21648472e+00,-4.52146210e-04,
  2.55640722e-05,-5.53364225e-04]


--- Step 163 ---
qpos:
[ 0.0059859 ,-0.00173926,-0.00479323, 0.03234508, 0.00430567,-0.00366203,
 -0.01784757, 0.02756426, 0.01247785, 0.00318665,-0.00965775, 0.02496983,
  0.4688862 ,-0.00110964, 0.30236524, 0.06379198, 0.09325571,-0.07004179,
  0.13096267, 0.50718662, 0.49448178, 0.49268056, 0.50548527]

qacc:
[ -0.96641092, -1.22104533,  4.35909293, -5.91522789, -3.46213482,
   1.69755106, -6.58031123, 11.37381687, -0.63155446, -1.03252669,
   4.68162114, -9.41408903, -1.84438241,  5.79651732, 11.08673332,
 -44.68711668,  0.46423915,  1.04756637,  0.31935807,  7.05502494,
   0.85896316,-15.0213671 ]

qfrc_actuator:
[ 2.33191514e-04,-1.27454825e-04,-2.49831798e-04, 1.24303520e-03,
  2.49803343e-04,-3.99054705e-04,-8.99706013e-04, 1.11923688e-03,
  5.27503308e-04,-6.94915447e-06,-5.21134140e-04, 1.00059578e-03,
  8.02600867e-02,-3.33747966e-04, 5.86349877e-02,-2.45341709e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033260287697448043
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.66899191e-13,  1.72114791e-13,  1.00000000e+00,  2.87258195e-26,
        1.00000000e+00, -1.72114791e-13, -1.00000000e+00,  0.00000000e+00,
       -1.66899191e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08593309, -0.08811813,  0.0619905 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.73316743e-06,-9.26869574e-06, 1.59458313e-05,-3.22503818e-06,
 -2.02648395e-05, 3.28575876e-05,-6.78665397e-06, 1.47731069e-05,
 -3.72700458e-06,-4.34749184e-06, 7.03875456e-06,-1.32902987e-05,
 -5.63258619e-04,-4.06557012e-05,-2.96125508e-04,-3.03217578e-04,
 -1.53751353e-05, 2.75302048e-06,-1.21648337e+00,-4.50291666e-04,
  2.99531790e-05,-5.52989581e-04]


--- Step 164 ---
qpos:
[ 0.00599112,-0.00173994,-0.00479647, 0.03236897, 0.00431004,-0.00366304,
 -0.01786045, 0.02758674, 0.0124878 , 0.00318775,-0.00966561, 0.0249888 ,
  0.47054989,-0.00110963, 0.3039484 , 0.06383664, 0.09318965,-0.07001666,
  0.13096681, 0.50750465, 0.49414195, 0.49253716, 0.50563812]

qacc:
[  2.12171121, -2.32909874, 10.29055787,-20.3512027 , -5.57675947,
  -0.33352335,  3.2280561 , -9.75373802, -4.22051074, -3.19713489,
  15.9970122 ,-34.65650716, -1.30085716,  2.13898374, -5.11128831,
  10.9605701 ,  0.45485267,  1.03386413,  0.18341173,  6.87912406,
   0.90570408,-14.84228687]

qfrc_actuator:
[ 2.45691323e-04,-1.43839364e-04,-2.36511534e-04, 1.21411010e-03,
  2.17625818e-04,-3.89359262e-04,-9.02450967e-04, 1.10032696e-03,
  5.02873508e-04, 1.65234500e-05,-4.92200106e-04, 9.50209007e-04,
  8.01088546e-02,-3.42300369e-04, 5.85189142e-02,-2.42817852e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033092538610909883
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.03235656e-13,  2.56859866e-13,  1.00000000e+00, -1.29261043e-25,
        1.00000000e+00, -2.56859866e-13, -1.00000000e+00,  0.00000000e+00,
        5.03235656e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08593316, -0.08811876,  0.06199054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23334795e-05,-1.84248068e-05, 1.32461573e-05,-2.88795467e-05,
 -3.27451126e-05, 2.74386419e-05, 3.83215969e-06,-1.74678988e-05,
 -2.47383774e-05, 2.19745721e-05, 2.84948954e-05,-5.06142994e-05,
 -5.58486446e-04,-6.50152342e-05,-2.81730082e-04,-2.91582344e-05,
 -1.54987771e-05, 3.74815723e-06,-1.21648243e+00,-4.48440734e-04,
  3.40130269e-05,-5.52536045e-04]


--- Step 165 ---
qpos:
[ 0.00599644,-0.00174101,-0.00479967, 0.03239202, 0.00431399,-0.00366401,
 -0.01787315, 0.02760815, 0.01249703, 0.00318926,-0.00967348, 0.02500701,
  0.47221057,-0.001109  , 0.30552817, 0.06388615, 0.09312638,-0.07000019,
  0.13097222, 0.50778331, 0.49384577, 0.49237048, 0.50581002]

qacc:
[  0.97015907, -2.35614708, 11.17506577,-25.38269629, -3.66980451,
  -2.67158453, 14.18946147,-33.24981754, -6.32402284, -0.95952567,
   7.4353669 ,-20.86111773, -2.0613745 ,  7.40482796,-19.57477814,
  61.32958956,  0.69901153, -2.16501694,  0.31893748, 10.22696883,
  -2.54967586, 31.2863943 ]

qfrc_actuator:
[ 2.50962343e-04,-1.88786889e-04,-2.45171337e-04, 1.16978255e-03,
  1.96952738e-04,-4.01034909e-04,-8.98926034e-04, 1.04470359e-03,
  4.66651528e-04, 4.78486179e-05,-4.89716731e-04, 9.13006420e-04,
  7.99583807e-02,-3.11866896e-04, 5.84031032e-02,-2.16467856e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033231989077546487
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.67041314e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.67041314e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08273222, -0.03118755,  0.0619905 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.61671420e-06,-5.37550381e-05,-1.18467044e-05,-4.52669290e-05,
 -2.15980549e-05, 3.83705591e-06, 9.17409695e-06,-5.46727209e-05,
 -3.69169777e-05, 4.73630774e-05, 8.82881989e-06,-3.62842492e-05,
 -5.56338760e-04,-2.70226622e-05,-2.43706568e-04, 2.26381619e-04,
 -1.56166121e-05, 4.78784053e-06,-1.21648189e+00,-4.46587488e-04,
  3.77674114e-05,-5.52001650e-04]


--- Step 166 ---
qpos:
[ 0.00600178,-0.00174273,-0.00480252, 0.03241438, 0.00431766,-0.00366517,
 -0.01788559, 0.02762874, 0.01250541, 0.00319131,-0.00968132, 0.02502428,
  0.47386838,-0.00110799, 0.30710536, 0.06393278, 0.09306579,-0.06999215,
  0.13097784, 0.50802369, 0.49359207, 0.49218122, 0.50600044]

qacc:
[  0.21656136, -3.269188  , 13.33472389,-25.45374518, -2.42836043,
  -2.60504935, 12.33545965,-26.56760847, -7.49926531, -1.31092302,
   9.73620963,-26.6666193 , -1.80536364,  5.73878067,  4.89065826,
 -22.59565402,  0.67009822, -2.10842834,  0.05121583,  9.9696334 ,
  -2.47360038, 30.42252206]

qfrc_actuator:
[ 2.51930483e-04,-2.32848869e-04,-2.31362527e-04, 1.13446376e-03,
  1.83220174e-04,-4.25431387e-04,-8.91842469e-04, 1.00341800e-03,
  4.23903426e-04, 8.35446297e-05,-4.85069002e-04, 8.66101315e-04,
  7.98191252e-02,-2.94230536e-04, 5.82289957e-02,-2.33108216e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003457578964612823
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.60549193e-13,  1.60549193e-13,  1.00000000e+00, -2.57760434e-26,
        1.00000000e+00, -1.60549193e-13, -1.00000000e+00,  0.00000000e+00,
        1.60549193e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0827331 , -0.03119506,  0.06199012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11357061e-06,-7.84993601e-05,-3.27665510e-07,-3.89563860e-05,
 -1.43461116e-05,-2.25701481e-05, 7.22774384e-06,-4.18841679e-05,
 -4.37788917e-05, 6.24635493e-05, 1.43078580e-05,-4.52991714e-05,
 -5.39472125e-04,-3.81245156e-05,-2.56845084e-04,-1.84569956e-04,
 -1.26999084e-05, 2.53941138e-06,-1.21647583e+00,-4.45884274e-04,
  2.92226350e-05,-5.51210982e-04]


--- Step 167 ---
qpos:
[ 0.0060071 ,-0.00174481,-0.00480507, 0.0324368 , 0.0043208 ,-0.00366673,
 -0.01789778, 0.02764905, 0.01251356, 0.00319356,-0.00968866, 0.02504085,
  0.47552332,-0.00110608, 0.30867982, 0.06397636, 0.09300778,-0.06999236,
  0.13098276, 0.50822667, 0.49337988, 0.49196995, 0.50620897]

qacc:
[ -0.24847459, -1.21667272,  3.42799742, -2.70229072, -4.69558646,
  -1.83904429,  7.01696064,-12.0918827 , -2.03503484, -2.55466776,
  12.44126071,-25.36333809, -2.35257607,  9.5693864 ,  5.22585717,
 -24.01767712,  0.64573349, -2.06114593, -0.17427006,  9.74633336,
  -2.42093748, 29.70191515]

qfrc_actuator:
[ 2.50360424e-04,-2.22696042e-04,-2.04390675e-04, 1.14025189e-03,
  1.55926073e-04,-4.57241762e-04,-8.82762977e-04, 9.88645664e-04,
  4.13165450e-04, 8.60746492e-05,-4.61403656e-04, 8.31624179e-04,
  7.96813720e-02,-2.48772811e-04, 5.80945213e-02,-2.48335506e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003537622880023933
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.56916532e-13,  1.56916532e-13,  1.00000000e+00, -2.46227979e-26,
        1.00000000e+00, -1.56916532e-13, -1.00000000e+00,  0.00000000e+00,
        1.56916532e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08273341, -0.03119954,  0.0619899 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56015989e-06,-3.54522455e-05, 9.36651508e-06, 1.61400249e-06,
 -2.77102210e-05,-4.45964432e-05, 3.97276926e-06,-1.63196840e-05,
 -1.19567693e-05, 3.84648045e-05, 3.68026606e-05,-3.22089400e-05,
 -5.27119913e-04,-9.30764019e-06,-2.70410741e-04,-1.95364407e-04,
 -1.01112473e-05, 8.73769915e-07,-1.21647130e+00,-4.44962215e-04,
  2.16577018e-05,-5.50653743e-04]


--- Step 168 ---
qpos:
[ 0.006012  ,-0.00174694,-0.00480767, 0.03245875, 0.00432358,-0.00366834,
 -0.0179099 , 0.02766899, 0.01252151, 0.00319605,-0.00969574, 0.02505862,
  0.47717543,-0.00110391, 0.31025149, 0.06401901, 0.09295228,-0.07000066,
  0.13098623, 0.50839303, 0.49320836, 0.49173712, 0.50643523]

qacc:
[ -3.56431052, -0.84625238,  4.91246411,-12.867145  , -3.07798601,
  -0.985815  ,  4.9672492 ,-11.36146447, -1.68774637,  2.05131493,
 -11.92200017, 32.0749704 , -1.64397447,  4.7217621 , -1.2618079 ,
  -1.50122573,  0.62515492, -2.02178285, -0.36397658,  9.55256599,
  -2.38732452, 29.10284387]

qfrc_actuator:
[ 0.00022956,-0.00021556,-0.00020513, 0.00111697, 0.00013862,-0.00043996,
 -0.0008726 , 0.00097183, 0.0004036 , 0.00010431,-0.00044457, 0.00089349,
  0.07952865,-0.00024056, 0.05798393,-0.00251931, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.7564036 , -3.45061345,  3.27362826, -3.45061345, 26.77423885,
       23.20820588,  3.27362826, 23.20820588, 29.21933621,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003573664872286303
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55333959e-13,  1.55333959e-13,  1.00000000e+00, -2.41286388e-26,
        1.00000000e+00, -1.55333959e-13, -1.00000000e+00,  0.00000000e+00,
        1.55333959e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08273326, -0.03120156,  0.06198979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.08546448e-05,-1.06489320e-05,-6.85294793e-06,-2.44834240e-05,
 -1.81138705e-05,-7.39377342e-06, 9.91241022e-07,-1.89215611e-05,
 -9.88612603e-06, 4.59596641e-05, 2.82242913e-05, 6.41332017e-05,
 -5.30268529e-04,-4.41363955e-05,-2.53355992e-04,-8.12476218e-05,
 -7.81717881e-06,-2.57020049e-07,-1.21646815e+00,-4.43843415e-04,
  1.49826119e-05,-5.50318336e-04]


--- Step 169 ---
qpos:
[ 0.00601663,-0.00174912,-0.00481053, 0.03247991, 0.00432613,-0.00367012,
 -0.01792148, 0.02768822, 0.01252998, 0.00319903,-0.0097029 , 0.02507664,
  0.4788248 ,-0.0011026 , 0.31182017, 0.06405956, 0.0928992 ,-0.07001691,
  0.1309876 , 0.5085234 , 0.49307684, 0.49148309, 0.50667894]

qacc:
[ -2.53399713, -0.97627029,  6.66188311,-19.71757015, -1.98777916,
  -3.22210742, 14.19348582,-27.3931197 ,  4.5060137 ,  1.39048477,
  -5.08206996,  9.16803188, -0.45562496, -3.39648358,  1.8860372 ,
 -13.0308159 ,  0.60773163, -1.98915846, -0.52337464,  9.38447073,
  -2.3692234 , 28.60715699]

qfrc_actuator:
[ 0.00021536,-0.00022816,-0.00022225, 0.00107675, 0.00012733,-0.00044667,
 -0.00084394, 0.00093623, 0.0004303 , 0.00013187,-0.00044956, 0.00090502,
  0.07937236,-0.00028991, 0.05782387,-0.00262839, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.75670498, -3.8193784 ,  2.83524089, -3.8193784 , 18.1738217 ,
       18.07431807,  2.83524089, 18.07431807, 29.1047807 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035743706264465547
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55303288e-13,  1.55303288e-13,  1.00000000e+00, -2.41191114e-26,
        1.00000000e+00, -1.55303288e-13, -1.00000000e+00,  0.00000000e+00,
        1.55303288e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08273274, -0.03120163,  0.06198979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47920615e-05,-2.09801772e-05,-2.10074607e-05,-4.14281990e-05,
 -1.18055819e-05,-1.13007450e-05, 2.67184115e-05,-3.62651846e-05,
  2.64361489e-05, 6.18142360e-05, 1.02307995e-05, 1.57033823e-05,
 -5.39375174e-04,-1.03996239e-04,-2.82611931e-04,-1.45890162e-04,
 -5.79130642e-06,-8.89959033e-07,-1.21646631e+00,-4.42541922e-04,
  9.12440491e-06,-5.50195835e-04]


--- Step 170 ---
qpos:
[ 0.0060207 ,-0.00175161,-0.00481298, 0.03250146, 0.00432888,-0.00367237,
 -0.01793252, 0.02770759, 0.01253974, 0.00320221,-0.00971016, 0.02509366,
  0.48047137,-0.00110184, 0.31338564, 0.06410076, 0.0928485 ,-0.07004102,
  0.13098634, 0.50861833, 0.49298476, 0.49120813, 0.50693983]

qacc:
[ -4.82729498, -0.76245593,  0.5672037 ,  5.46733757,  1.68681946,
  -1.7988895 ,  4.90400225, -2.82838439, 11.33913524, -1.55600576,
  10.12842436,-27.41340561, -0.79324475, -1.14552465, -6.66858135,
  16.45047926,  0.5929399 , -1.96226354, -0.65712186,  9.23871763,
  -2.36375391, 28.19960592]

qfrc_actuator:
[ 0.00018741,-0.0002348 ,-0.00019572, 0.00109788, 0.00013743,-0.00048538,
 -0.00082244, 0.00094311, 0.00049589, 0.00011142,-0.00046738, 0.00085133,
  0.07922469,-0.00031952, 0.05769282,-0.00258454, 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: -0.00035469885720523786
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.56502199e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.56502199e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08273194, -0.03120013,  0.06198987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.83695432e-05,-2.44473025e-05, 1.81812309e-05, 1.86580862e-05,
  9.75629880e-06,-4.09095058e-05, 2.13210594e-05, 6.60849455e-06,
  6.63597279e-05, 1.68707714e-05,-3.23514034e-06,-5.04142345e-05,
 -5.43451900e-04,-8.83556290e-05,-2.73039629e-04,-4.18819970e-08,
 -4.01282523e-06,-1.05327768e-06,-1.21646570e+00,-4.41065742e-04,
  4.02392782e-06,-5.50279438e-04]


--- Step 171 ---
qpos:
[ 0.0060244 ,-0.00175422,-0.00481491, 0.03252374, 0.00433172,-0.00367476,
 -0.01794356, 0.02772655, 0.01254952, 0.00320548,-0.00971723, 0.0251099 ,
  0.48211513,-0.00110141, 0.31494741, 0.06414223, 0.09280013,-0.07007261,
  0.13098246, 0.5086792 , 0.49293061, 0.49091344, 0.50721681]

qacc:
[ -3.20680904, -0.05409004, -3.1503754 , 15.24789865,  0.87258257,
  -1.051126  ,  5.20664537,-12.27245706,  0.18540368, -2.00572136,
  10.59154316,-24.41256906, -1.02635314,  0.46531786, -6.30168678,
  14.11704939,  0.58399908, -1.87336433, -0.65671979,  9.0916005 ,
  -2.30747283, 26.90493269]

qfrc_actuator:
[ 0.00016934,-0.00021986,-0.00016131, 0.00113722, 0.00014228,-0.00048968,
 -0.00082319, 0.00092165, 0.00049505, 0.0001155 ,-0.00045736, 0.00081291,
  0.07908228,-0.00033727, 0.0574941 ,-0.00257509, 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: -0.0003497297917595665
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.94680152e-07,  9.94680329e-07,  1.00000000e+00, -9.89388781e-13,
        1.00000000e+00, -9.94680329e-07, -1.00000000e+00, -2.01948392e-28,
        9.94680152e-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([ 0.08283089, -0.0329747 ,  0.06199001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.88779741e-05, 5.87779285e-06, 3.22465856e-05, 3.92473994e-05,
  5.11014370e-06,-2.23209392e-05,-6.23894592e-06,-2.23612461e-05,
  1.06654160e-06, 1.06749441e-05, 1.13744699e-05,-3.88223492e-05,
 -5.39392362e-04,-7.64420005e-05,-3.19903705e-04,-2.50424301e-05,
 -2.46539669e-06,-7.68108027e-07,-1.21646627e+00,-4.39418328e-04,
 -3.66728099e-07,-5.50564035e-04]


--- Step 172 ---
qpos:
[ 0.00602855,-0.00175635,-0.00481689, 0.0325456 , 0.0043346 ,-0.00367694,
 -0.0179547 , 0.02774472, 0.01255887, 0.0032082 ,-0.00972326, 0.02512488,
  0.48375605,-0.00110081, 0.31650521, 0.06418124, 0.0927538 ,-0.07009967,
  0.13098342, 0.50874871, 0.49286566, 0.49064289, 0.50747192]

qacc:
[  3.89430125, -0.12317917,  3.16974891,-10.90245337,  0.30634319,
  -1.09689242,  7.66238493,-21.37430246, -3.74091357, -6.22494767,
  26.48927753,-49.56205336, -1.57288392,  4.0808627 ,  1.59627633,
 -14.04320102,  0.50881782,  1.13382597,  1.21113584,  6.61051631,
   1.37288808,-16.35113947]

qfrc_actuator:
[ 1.92742282e-04,-1.74272981e-04,-1.57958128e-04, 1.11595809e-03,
  1.43987456e-04,-4.55711259e-04,-8.19227338e-04, 8.83690541e-04,
  4.72876639e-04, 6.33423207e-05,-4.13129039e-04, 7.48319604e-04,
  7.89378159e-02,-3.30144018e-04, 5.72655877e-02,-2.71044736e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00036582402311949314
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.31937313e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.31937313e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08593286, -0.08811001,  0.06198955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.28716213e-05, 5.72631388e-05, 9.90001555e-06,-1.91691412e-05,
  1.85074731e-06, 1.94197894e-05,-2.07281834e-06,-3.95837992e-05,
 -2.21349911e-05,-4.55465071e-05, 4.65154800e-05,-6.45182716e-05,
 -5.37440966e-04,-5.07837744e-05,-3.71745519e-04,-1.76734722e-04,
 -1.16928780e-06,-7.38838884e-08,-1.21646782e+00,-4.37622949e-04,
 -3.91040151e-06,-5.51044254e-04]


--- Step 173 ---
qpos:
[ 0.00603294,-0.00175798,-0.00481885, 0.03256702, 0.00433782,-0.00367857,
 -0.01796593, 0.02776259, 0.01256788, 0.00321058,-0.00972927, 0.02513902,
  0.48539409,-0.00109975, 0.31805982, 0.06421811, 0.09270941,-0.07012232,
  0.1309881 , 0.50882662, 0.49279027, 0.49039586, 0.50770575]

qacc:
[  2.17398675, -0.31956035,  3.90384302,-11.79091179,  2.98830733,
   0.38666023,  0.9090953 , -6.24853476, -2.97129804, -2.22814552,
  10.83091726,-25.17223845, -1.90816916,  6.28026388,  1.82488169,
 -13.1292697 ,  0.48622766,  1.10313074,  0.92889214,  6.46916978,
   1.32429074,-15.90651607]

qfrc_actuator:
[ 2.04858807e-04,-1.46359773e-04,-1.55120957e-04, 1.09471920e-03,
  1.61594056e-04,-3.99078260e-04,-8.12341748e-04, 8.71872721e-04,
  4.56088808e-04, 3.12780728e-05,-4.20312929e-04, 7.04329162e-04,
  7.87922168e-02,-3.08451159e-04, 5.71471741e-02,-2.80578911e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003764817078205501
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.47447140e-13,  7.83312933e-14,  1.00000000e+00,  1.15497252e-26,
        1.00000000e+00, -7.83312933e-14, -1.00000000e+00,  0.00000000e+00,
       -1.47447140e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08593286, -0.08810724,  0.06198925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.27916755e-05, 6.12050634e-05, 1.52159781e-05,-1.88569718e-05,
  1.76679650e-05, 6.55378615e-05, 9.38730953e-06,-1.18386209e-05,
 -1.74263373e-05,-5.07304028e-05,-1.30795560e-05,-4.56117720e-05,
 -5.34795969e-04,-3.49436529e-05,-3.00485850e-04,-1.51400904e-04,
 -1.43347691e-06,-3.39890422e-07,-1.21646405e+00,-4.37024946e-04,
  4.56176943e-07,-5.51826488e-04]


--- Step 174 ---
qpos:
[ 0.00603745,-0.00175904,-0.00482081, 0.03258801, 0.00434123,-0.00368016,
 -0.01797649, 0.02777951, 0.01257593, 0.00321316,-0.00973618, 0.0251532 ,
  0.48702924,-0.00109837, 0.31961168, 0.06425402, 0.0926669 ,-0.07014066,
  0.13099554, 0.50891272, 0.49270474, 0.49017184, 0.50791875]

qacc:
[  0.9681511 , -0.13701881,  3.41571755,-11.31271233,  1.65072991,
  -3.79066824, 17.64478652,-35.35439427, -8.49438844,  2.89382761,
 -10.06416503, 12.06083609, -1.77251066,  5.27155274, -1.16836692,
  -1.73671311,  0.46727454,  1.07739839,  0.69136919,  6.34332018,
   1.28810227,-15.53392513]

qfrc_actuator:
[ 2.10221512e-04,-1.11501330e-04,-1.52651867e-04, 1.07366727e-03,
  1.70663800e-04,-4.18033010e-04,-7.85906686e-04, 8.22304397e-04,
  4.07109332e-04, 6.45610872e-05,-4.57730476e-04, 7.08289359e-04,
  7.86353910e-02,-2.96137642e-04, 5.70469607e-02,-2.84094392e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.86778408, -1.27766325, -4.69711597, -1.27766325, 10.0141607 ,
       -1.39986672, -4.69711597, -1.39986672,  5.24856204,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038205394543902593
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45296631e-13,  1.13512993e-13,  1.00000000e+00, -1.64930555e-26,
        1.00000000e+00, -1.13512993e-13, -1.00000000e+00,  0.00000000e+00,
        1.45296631e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08593259, -0.08810581,  0.06198909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.75090941e-06, 7.14446250e-05, 1.63227446e-05,-1.83109004e-05,
  9.59731057e-06, 1.92827614e-05, 4.08290627e-05,-4.66772316e-05,
 -4.94856777e-05, 2.33188119e-07,-5.10649125e-05, 4.24985879e-07,
 -5.42193832e-04,-4.35762776e-05,-2.50356063e-04,-8.14859491e-05,
 -1.67958557e-06,-5.14561048e-07,-1.21646078e+00,-4.36377921e-04,
  4.45157573e-06,-5.52489980e-04]


--- Step 175 ---
qpos:
[ 0.00604199,-0.00175972,-0.00482259, 0.0326079 , 0.00434437,-0.00368195,
 -0.01798652, 0.02779608, 0.01258368, 0.00321584,-0.0097438 , 0.02516733,
  0.48866154,-0.00109713, 0.3211611 , 0.06428519, 0.09262618,-0.07015477,
  0.13100495, 0.50900686, 0.49260929, 0.48997038, 0.50811134]

qacc:
[  0.25797396, -2.23110856, 13.27985794,-32.72492034, -2.27618306,
  -2.44620651,  9.78943365,-16.38897977, -2.70493404,  2.00381838,
  -6.68235332,  6.66642627, -1.29156918,  2.03979489, 10.72489467,
 -42.73513192,  0.45134688,  1.05592451,  0.49195654,  6.23142233,
   1.26202846,-15.2225944 ]

qfrc_actuator:
[ 2.11569555e-04,-1.08263402e-04,-1.50391165e-04, 1.01739422e-03,
  1.56878159e-04,-4.46546999e-04,-7.66221967e-04, 8.04126927e-04,
  3.92831411e-04, 6.56165419e-05,-4.94631728e-04, 7.04966066e-04,
  7.84825867e-02,-3.07247983e-04, 5.69044852e-02,-3.08886547e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.87483077, -1.57808749, -4.61233291, -1.57808749, 13.0188502 ,
       -2.78643702, -4.61233291, -2.78643702,  5.82819678,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038352894639941126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.34213520e-13,  1.13076437e-13,  1.00000000e+00, -4.90993179e-26,
        1.00000000e+00, -1.13076437e-13, -1.00000000e+00,  0.00000000e+00,
        4.34213520e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0859321 , -0.08810547,  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:
[ 1.53782208e-06, 4.57793495e-05, 1.83790317e-05,-5.30443946e-05,
 -1.35045238e-05,-1.11508435e-05, 2.71862954e-05,-1.68578386e-05,
 -1.56777544e-05,-9.38030657e-06,-4.30989853e-05,-5.09030698e-06,
 -5.44138848e-04,-6.85267916e-05,-2.64105315e-04,-2.84446524e-04,
 -1.90853605e-06,-6.05376985e-07,-1.21645796e+00,-4.35690771e-04,
  8.10676636e-06,-5.53040119e-04]


--- Step 176 ---
qpos:
[ 0.00604616,-0.0017604 ,-0.00482442, 0.03262703, 0.00434698,-0.0036835 ,
 -0.01799696, 0.02781266, 0.01259154, 0.00321883,-0.00975196, 0.02518126,
  0.49029106,-0.00109634, 0.32270756, 0.06431574, 0.09258722,-0.07016474,
  0.13101566, 0.5091089 , 0.49250411, 0.48979112, 0.50828387]

qacc:
[ -3.19973072, -1.42822676,  8.33998503,-21.52658101, -4.69799203,
   1.50390445, -4.92500431,  5.54605162,  0.97285715,  1.50014876,
  -3.98666574,  1.36895544, -0.90271159, -0.33802789, -2.49517205,
   2.37932796,  0.43793955,  1.03810509,  0.32501841,  6.13205271,
   1.24421081,-14.96349268]

qfrc_actuator:
[ 0.00019279,-0.00014178,-0.00016618, 0.00097633, 0.00012975,-0.00042732,
 -0.00078623, 0.00080455, 0.0003991 , 0.00010062,-0.0005133 , 0.00069736,
  0.07834295,-0.00033208, 0.05678998,-0.00310522, 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: -0.00038173651124878694
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.45417453e-13,  4.08986587e-14,  1.00000000e+00,  5.94737878e-27,
        1.00000000e+00, -4.08986587e-14, -1.00000000e+00,  0.00000000e+00,
       -1.45417453e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08593145, -0.08810599,  0.06198911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.87149136e-05,-6.40233666e-06,-5.92008905e-06,-3.95418442e-05,
 -2.75147531e-05, 1.80274464e-05,-1.94396481e-05, 5.45447684e-07,
  5.82741617e-06, 2.06179191e-05,-2.60509271e-05,-9.61601474e-06,
 -5.35100647e-04,-8.39234905e-05,-2.65381475e-04,-6.60330477e-05,
 -2.12125508e-06,-6.17994322e-07,-1.21645555e+00,-4.34969754e-04,
  1.14473765e-05,-5.53481165e-04]


--- Step 177 ---
qpos:
[ 0.00605042,-0.00176125,-0.00482635, 0.03264589, 0.00434959,-0.00368505,
 -0.01800717, 0.02782842, 0.01259906, 0.00322195,-0.00976006, 0.02519601,
  0.49191779,-0.00109581, 0.3242508 , 0.06435009, 0.09254997,-0.0701706 ,
  0.13102712, 0.50921873, 0.49238935, 0.48963375, 0.50843663]

qacc:
[ 7.70745908e-01,-5.20320741e-01, 2.66979246e+00,-7.07177086e+00,
  2.45081518e-03,-2.35804783e+00, 1.18894181e+01,-2.65821208e+01,
 -2.91230617e+00, 1.71110818e+00,-9.25728567e+00, 2.31436949e+01,
 -1.07731775e+00, 8.67952714e-01,-1.62006809e+01, 4.98312479e+01,
  4.26634143e-01, 1.02342072e+00, 1.85729577e-01, 6.04390093e+00,
  1.23313833e+00,-1.47490069e+01]

qfrc_actuator:
[ 0.00019783,-0.00016161,-0.00017488, 0.00096225, 0.00013051,-0.00043306,
 -0.00077605, 0.00076266, 0.0003819 , 0.00012025,-0.00050316, 0.0007406 ,
  0.07820065,-0.00034702, 0.05667642,-0.00289609, 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: -0.0003773713621334912
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47099533e-13,  7.81466270e-14,  1.00000000e+00, -1.14953324e-26,
        1.00000000e+00, -7.81466270e-14, -1.00000000e+00,  0.00000000e+00,
        1.47099533e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08593067, -0.08810719,  0.06198923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.50377039e-06,-2.63508186e-05,-1.21437695e-05,-1.53664521e-05,
 -2.44173904e-08, 4.81639651e-07, 1.16296616e-05,-4.17892970e-05,
 -1.70232557e-05, 2.53510755e-05, 1.08938989e-05, 4.30111126e-05,
 -5.32598661e-04,-7.41363444e-05,-2.39537007e-04, 1.71734512e-04,
 -2.31863593e-06,-5.56651663e-07,-1.21645353e+00,-4.34219121e-04,
  1.44946166e-05,-5.53816470e-04]


--- Step 178 ---
qpos:
[ 0.00605471,-0.00176228,-0.00482834, 0.03266409, 0.00435288,-0.00368673,
 -0.01801688, 0.02784389, 0.01260633, 0.00322492,-0.00976785, 0.02521118,
  0.49354162,-0.00109442, 0.32579122, 0.06438272, 0.09251438,-0.07017243,
  0.13103885, 0.50933627, 0.49226511, 0.48949801, 0.50856989]

qacc:
[  0.23892536, -1.42630503,  7.53582696,-18.76171764,  5.95617862,
  -2.17287425,  8.69780007,-14.31776839, -2.31298377, -0.21473912,
  -1.29720358,  8.19493715, -2.37088959,  9.13707294,  1.09389383,
  -9.75116983,  0.41708335,  1.0114241 ,  0.06994771,  5.96576584,
   1.22757845,-14.57269359]

qfrc_actuator:
[ 1.99094018e-04,-1.73074467e-04,-1.79280227e-04, 9.28663416e-04,
  1.65421818e-04,-4.35873752e-04,-7.48243539e-04, 7.49470503e-04,
  3.68767665e-04, 9.51917138e-05,-4.93865502e-04, 7.60148169e-04,
  7.80568603e-02,-3.02781011e-04, 5.64996400e-02,-2.99967210e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003710131056926247
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.99240918e-13,  1.16890984e-13,  1.00000000e+00, -3.49785653e-26,
        1.00000000e+00, -1.16890984e-13, -1.00000000e+00,  0.00000000e+00,
        2.99240918e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08592979, -0.08810892,  0.06198941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38564884e-06,-2.93641263e-05,-1.18819736e-05,-3.54683210e-05,
  3.49148526e-05,-1.79485902e-06, 2.79942978e-05,-1.35857047e-05,
 -1.36055837e-05,-6.82446098e-06, 1.73907428e-05, 2.18339095e-05,
 -5.30953336e-04,-1.45047104e-05,-2.64594219e-04,-1.24438442e-04,
 -2.50151792e-06,-4.24485291e-07,-1.21645188e+00,-4.33441601e-04,
  1.72660320e-05,-5.54048650e-04]


--- Step 179 ---
qpos:
[ 0.00605863,-0.0017634 ,-0.0048307 , 0.03268176, 0.00435622,-0.00368848,
 -0.0180262 , 0.02785942, 0.01261337, 0.00322798,-0.00977521, 0.02522573,
  0.49516255,-0.00109211, 0.32732867, 0.06441514, 0.09248043,-0.07017024,
  0.13105048, 0.50946144, 0.49213147, 0.48938369, 0.50868385]

qacc:
[ -3.20287617, -0.1952334 ,  2.7845042 ,-11.39379691,  0.43327168,
  -1.02818968,  3.24472051, -2.62688886, -1.87288938, -2.32825071,
  11.06181077,-22.41355483, -2.40779883,  9.35990438, -3.70564477,
   6.71314695,  0.40899848,  1.00172997, -0.02588819,  5.89655307,
   1.2265226 ,-14.42908418]

qfrc_actuator:
[ 0.00018037,-0.00017943,-0.00019884, 0.00090163, 0.0001669 ,-0.00043682,
 -0.00072798, 0.00075329, 0.00035814, 0.00011456,-0.00046762, 0.00073005,
  0.07790696,-0.00025957, 0.05637022,-0.00300282, 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: -0.00036314336013902604
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.10502788e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.10502788e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08592885, -0.08811104,  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:
[-1.86923262e-05,-2.67453622e-05,-2.83235443e-05,-2.94263450e-05,
  2.46936905e-06, 3.40118613e-06, 2.29655873e-05, 4.44012121e-06,
 -1.10124906e-05, 2.00491364e-05, 2.77678220e-05,-2.93812579e-05,
 -5.29920138e-04,-1.25020797e-05,-2.62025981e-04,-4.38140588e-05,
 -2.67067743e-06,-2.23774820e-07,-1.21645058e+00,-4.32638756e-04,
  1.97761191e-05,-5.54179726e-04]


--- Step 180 ---
qpos:
[ 0.0060623 ,-0.00176448,-0.00483336, 0.03269894, 0.00435955,-0.0036902 ,
 -0.01803518, 0.02787419, 0.01262059, 0.00323119,-0.00978222, 0.02523981,
  0.49678073,-0.00108994, 0.32886351, 0.06444943, 0.09244809,-0.07016408,
  0.13106169, 0.50959421, 0.49198849, 0.48929063, 0.50877869]

qacc:
[ -2.25294189, -0.06481499,  2.35512087,-10.25460798, -0.06025619,
  -2.51370503, 12.2604526 ,-26.20083107,  1.44041368, -1.76111831,
   8.56467852,-17.46855387, -1.21943699,  1.84589072, -9.48997766,
  27.67192554,  0.40213934,  0.99400671, -0.10484045,  5.83527249,
   1.22914321,-14.31352966]

qfrc_actuator:
[ 0.00016778,-0.00016499,-0.00020941, 0.00087867, 0.00016642,-0.00043665,
 -0.00071233, 0.00071383, 0.00036683, 0.00012491,-0.00044918, 0.00070654,
  0.07776415,-0.00027061, 0.05628532,-0.00289329, 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: -0.00035416047021177843
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.56740110e-13,  1.61638239e-13,  1.00000000e+00, -2.53351954e-26,
        1.00000000e+00, -1.61638239e-13, -1.00000000e+00,  0.00000000e+00,
        1.56740110e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08592786, -0.08811345,  0.0619899 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31230279e-05,-7.61469085e-06,-2.06060090e-05,-2.56943369e-05,
 -4.08740764e-07, 7.14516110e-06, 1.94326800e-05,-3.84506369e-05,
  8.38505656e-06, 2.59947106e-05, 2.50093176e-05,-2.22846229e-05,
 -5.21729711e-04,-6.68092736e-05,-2.07123516e-04, 7.37561467e-05,
 -2.82682616e-06, 4.38640179e-08,-1.21644961e+00,-4.31811255e-04,
  2.20368330e-05,-5.54211233e-04]


--- Step 181 ---
qpos:
[ 0.00606579,-0.00176534,-0.00483625, 0.03271533, 0.00436284,-0.00369183,
 -0.01804421, 0.02788838, 0.01262819, 0.00323391,-0.0097881 , 0.02525353,
  0.49839623,-0.00108853, 0.33039533, 0.06448649, 0.09241734,-0.07015397,
  0.13107222, 0.50973452, 0.4918362 , 0.48921867, 0.50885457]

qacc:
[ -1.59123906, -0.69776417,  6.24774559,-19.67045012, -0.28027231,
  -0.90144119,  5.81737597,-15.6984065 ,  3.50603021, -4.56046332,
  16.86812934,-24.63543648, -0.49740188, -2.73090611,-12.79658919,
  38.26617018,  0.39630599,  0.9879693 , -0.16954139,  5.78103473,
   1.23475952,-14.22207443]

qfrc_actuator:
[ 1.58914609e-04,-1.38160873e-04,-2.14499697e-04, 8.40554233e-04,
  1.64801684e-04,-4.35866424e-04,-7.17301619e-04, 6.84704671e-04,
  3.86808902e-04, 7.64866483e-05,-4.00011282e-04, 6.87088929e-04,
  7.76203553e-02,-3.13532648e-04, 5.61366570e-02,-2.75364887e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034439215461994077
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.03705863e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.03705863e-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([ 0.08592685, -0.08811607,  0.06199017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.23821892e-06, 1.72276425e-05,-1.00868092e-05,-3.96828902e-05,
 -1.62255659e-06, 7.28108626e-06,-2.33942256e-06,-2.89006924e-05,
  2.02348262e-05,-2.97122331e-05, 5.68648198e-05,-1.79293871e-05,
 -5.22169822e-04,-1.00897888e-04,-2.34793159e-04, 1.16949446e-04,
 -2.97061397e-06, 3.77327174e-07,-1.21644898e+00,-4.30959082e-04,
  2.40580082e-05,-5.54144307e-04]


--- Step 182 ---
qpos:
[ 0.00606915,-0.00176601,-0.00483926, 0.03273218, 0.00436575,-0.00369359,
 -0.01805316, 0.02790248, 0.01263598, 0.00323621,-0.00979327, 0.02526693,
  0.50000899,-0.00108792, 0.33192396, 0.06452237, 0.09238815,-0.07013993,
  0.13108186, 0.50988234, 0.49167462, 0.48916771, 0.50891161]

qacc:
[ -1.1800732 ,  1.50719083, -6.92772874, 14.77648952, -3.40685248,
  -0.57351194,  2.2159672 , -3.89549707,  1.61860719, -3.20549119,
  11.94061203,-18.24162331, -0.54593171, -2.62238632, -1.16581332,
  -2.76188526,  0.39133199,  0.98337317, -0.22225143,  5.73304652,
   1.24281029,-14.1513524 ]

qfrc_actuator:
[ 1.52306129e-04,-1.21859028e-04,-2.16265463e-04, 8.64857792e-04,
  1.44780744e-04,-4.52555509e-04,-7.16640707e-04, 6.79649840e-04,
  3.95519996e-04, 4.66341218e-05,-3.68839081e-04, 6.70150438e-04,
  7.74654143e-02,-3.57137884e-04, 5.59392196e-02,-2.82836303e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003341063720368048
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.66148137e-13,  8.82661977e-14,  1.00000000e+00, -1.46652643e-26,
        1.00000000e+00, -8.82661977e-14, -1.00000000e+00,  0.00000000e+00,
        1.66148137e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08592583, -0.08811883,  0.06199047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.86061673e-06, 2.21654805e-05,-8.18508462e-07, 2.38919307e-05,
 -2.00634421e-05,-1.42063776e-05, 9.70079001e-07,-5.39404153e-06,
  9.27935934e-06,-3.55192590e-05, 3.14317734e-05,-1.66160552e-05,
 -5.37254626e-04,-1.03620499e-04,-2.89818784e-04,-9.81689309e-05,
 -3.10263424e-06, 7.75901587e-07,-1.21644866e+00,-4.30081693e-04,
  2.58477067e-05,-5.53979760e-04]


--- Step 183 ---
qpos:
[ 0.00607206,-0.00176653,-0.00484229, 0.03274952, 0.00436874,-0.00369558,
 -0.01806172, 0.02791674, 0.01264381, 0.00323818,-0.009798  , 0.02527968,
  0.50161887,-0.00108711, 0.33344988, 0.06455368, 0.09236051,-0.07012196,
  0.13109045, 0.51003767, 0.49150374, 0.48913765, 0.5089499 ]

qacc:
[ -3.96250548,  1.2953428 , -6.40886849, 14.94978823,  0.73767359,
  -1.06864361,  2.64974949, -0.20643131,  0.40746434, -3.00748882,
  12.82937946,-24.50257872, -1.67814051,  4.435411  ,  9.80581897,
 -40.08702398,  0.38707883,  0.98000896, -0.26490874,  5.69060518,
   1.25283195,-14.09850033]

qfrc_actuator:
[ 1.29325857e-04,-1.11914374e-04,-2.16047068e-04, 8.90184562e-04,
  1.49591771e-04,-4.61792394e-04,-6.94957958e-04, 6.88786723e-04,
  3.97524117e-04, 2.80618634e-05,-3.48493032e-04, 6.37065986e-04,
  7.73198648e-02,-3.47570614e-04, 5.57925270e-02,-3.06436861e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003235206471542268
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  9.1154303e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -9.1154303e-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([ 0.08592481, -0.08812167,  0.06199077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.31666348e-05, 2.32035799e-05, 5.52522017e-06, 2.66835397e-05,
  4.23323806e-06,-1.70815751e-05, 1.87761262e-05, 8.44989446e-06,
  2.25939529e-06,-3.26788835e-05, 1.63169636e-05,-3.38647541e-05,
 -5.39374386e-04,-5.24226255e-05,-2.86606239e-04,-2.78127083e-04,
 -3.22343060e-06, 1.23916908e-06,-1.21644866e+00,-4.29178141e-04,
  2.74125080e-05,-5.53718132e-04]


--- Step 184 ---
qpos:
[ 0.00607397,-0.00176707,-0.00484522, 0.03276739, 0.00437142,-0.00369773,
 -0.01806998, 0.02793135, 0.0126516 , 0.0032394 ,-0.00980224, 0.02529233,
  0.50322586,-0.00108581, 0.33497311, 0.06458211, 0.0923344 ,-0.07010009,
  0.13109783, 0.51020049, 0.49132356, 0.48912843, 0.50896954]

qacc:
[ -8.68209765,  0.78876448, -5.0593798 , 14.02874743, -2.70751205,
  -0.34239499, -0.52532437,  6.06193232, -0.29175441, -2.52938921,
   8.01298903, -9.94936955, -1.98961183,  6.42707779,  4.76189174,
 -22.32402271,  0.3834313 ,  0.97769784, -0.29917223,  5.65309226,
   1.26444096,-14.06108466]

qfrc_actuator:
[ 7.91401057e-05,-1.23588677e-04,-2.14694204e-04, 9.15895766e-04,
  1.33480499e-04,-4.66397221e-04,-6.78761074e-04, 7.06214699e-04,
  3.95568282e-04,-3.69309219e-05,-3.34661587e-04, 6.30256323e-04,
  7.71747345e-02,-3.24516731e-04, 5.56870061e-02,-3.19800031e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003128100634061104
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.54919216e-13,  2.71735025e-13,  1.00000000e+00, -9.64439819e-26,
        1.00000000e+00, -2.71735025e-13, -1.00000000e+00,  0.00000000e+00,
        3.54919216e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0859238 , -0.08812454,  0.06199107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.08363178e-05, 3.58422105e-06, 7.75038930e-06, 2.73856158e-05,
 -1.59974402e-05,-9.77410102e-06, 1.53655632e-05, 1.75015680e-05,
 -1.89838234e-06,-8.13666473e-05, 7.93092380e-06,-8.32543799e-06,
 -5.35124078e-04,-3.67326668e-05,-2.65177977e-04,-1.85642865e-04,
 -3.33350410e-06, 1.76692960e-06,-1.21644897e+00,-4.28247172e-04,
  2.87577495e-05,-5.53359744e-04]


--- Step 185 ---
qpos:
[ 0.00607528,-0.0017678 ,-0.00484798, 0.03278511, 0.00437389,-0.00369998,
 -0.018078  , 0.02794605, 0.01265896, 0.00324039,-0.00980702, 0.0253048 ,
  0.5048301 ,-0.0010852 , 0.33649374, 0.06460958, 0.09230981,-0.0700743 ,
  0.13110392, 0.51037079, 0.49113406, 0.48914   , 0.50897058]

qacc:
[ -5.41203231, -1.03302372,  4.02229475, -6.9450392 , -1.86350907,
  -0.61456042,  1.65496377, -0.45432269, -3.78960921,  0.81226069,
  -2.59948007,  0.5787343 , -0.66263798, -1.85771499, -0.91125458,
  -2.38245366,  0.38029366,  0.97628746, -0.32645896,  5.6199667 ,
   1.27731955,-14.03703944]

qfrc_actuator:
[ 4.88539679e-05,-1.48115402e-04,-2.12773246e-04, 9.06103525e-04,
  1.22928628e-04,-4.68199539e-04,-6.65917027e-04, 7.10624165e-04,
  3.73546633e-04,-4.04658257e-05,-3.60458407e-04, 6.21169484e-04,
  7.70246347e-02,-3.64751867e-04, 5.55903053e-02,-3.23456804e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030211410079780676
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.51227014e-13,  5.16775326e-14,  1.00000000e+00, -2.84860520e-26,
        1.00000000e+00, -5.16775326e-14, -1.00000000e+00,  0.00000000e+00,
        5.51227014e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08592282, -0.08812741,  0.06199138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.17305029e-05,-1.97578211e-05, 4.56419290e-06,-8.86790568e-06,
 -1.10135253e-05,-3.20715695e-06, 1.34136815e-05, 4.85415157e-06,
 -2.21019178e-05,-4.77530925e-05,-4.19002725e-05,-1.24812543e-05,
 -5.35140264e-04,-9.90137792e-05,-2.36907115e-04,-8.08250614e-05,
 -3.43332040e-06, 2.35913985e-06,-1.21644959e+00,-4.27287293e-04,
  2.98877262e-05,-5.52904732e-04]


--- Step 186 ---
qpos:
[ 0.00607689,-0.00176889,-0.00485022, 0.03280118, 0.0043762 ,-0.0037021 ,
 -0.01808588, 0.02796066, 0.01266532, 0.00324141,-0.00981196, 0.02531701,
  0.50643145,-0.00108403, 0.33801151, 0.06463507, 0.09228673,-0.07004462,
  0.1311086 , 0.51054858, 0.49093519, 0.48917232, 0.50895307]

qacc:
[ 2.80460443e+00,-5.30771517e+00, 2.51171472e+01,-5.39873497e+01,
 -1.27537669e+00,-3.80743820e-01, 1.93362944e+00,-3.64163526e+00,
 -8.90637110e+00,-1.04475805e-02, 1.25658501e+00,-5.65369564e+00,
 -2.07253122e+00, 6.90823537e+00, 1.75251987e+00,-1.21849141e+01,
  3.77586421e-01, 9.75648372e-01,-3.47976751e-01, 5.59075789e+00,
  1.29120416e+00,-1.40246133e+01]

qfrc_actuator:
[ 6.60366058e-05,-1.80182485e-04,-1.92865307e-04, 8.22228624e-04,
  1.15739911e-04,-4.50578668e-04,-6.55151165e-04, 7.07338444e-04,
  3.22140262e-04,-7.33472880e-06,-3.55956810e-04, 6.10831790e-04,
  7.68822968e-02,-3.35466041e-04, 5.54350757e-02,-3.33792561e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002915424739174943
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.80810044e-13,  1.96355179e-13,  1.00000000e+00, -7.47740245e-26,
        1.00000000e+00, -1.96355179e-13, -1.00000000e+00,  0.00000000e+00,
        3.80810044e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08592186, -0.08813026,  0.06199168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.62754274e-05,-4.25491879e-05, 1.60831574e-05,-8.47669136e-05,
 -7.50513303e-06, 1.89449291e-05, 1.20116202e-05,-2.87404342e-06,
 -5.20480294e-05,-2.75484958e-06,-1.09303967e-05,-1.40938638e-05,
 -5.33853826e-04,-3.30673726e-05,-2.71681963e-04,-1.38346482e-04,
 -3.52331658e-06, 3.01586394e-06,-1.21645051e+00,-4.26296835e-04,
  3.08058565e-05,-5.52353078e-04]


--- Step 187 ---
qpos:
[ 0.00607905,-0.00177033,-0.0048522 , 0.03281614, 0.00437773,-0.00370419,
 -0.0180935 , 0.02797443, 0.01267066, 0.0032427 ,-0.00981702, 0.02532966,
  0.50803002,-0.00108251, 0.33952602, 0.06465848, 0.09226614,-0.0700234 ,
  0.13111347, 0.51068981, 0.49077871, 0.48918064, 0.5089543 ]

qacc:
[  4.7449114 , -3.49808495, 16.52360326,-36.00935901, -6.94360924,
  -2.40771935, 12.22889408,-27.27041612, -8.90298871,  1.56592702,
  -6.90057993, 14.412279  , -1.788685  ,  5.33286539,  1.52869563,
 -12.25450311,  0.62062631, -2.11551626,  0.04478345,  9.1050796 ,
  -3.36947331, 30.34667343]

qfrc_actuator:
[ 9.32615245e-05,-1.98763264e-04,-1.80333645e-04, 7.66455552e-04,
  7.50813970e-05,-4.56981724e-04,-6.45619509e-04, 6.64064456e-04,
  2.71609563e-04, 2.98678041e-05,-3.51175538e-04, 6.35410438e-04,
  7.67500534e-02,-3.18699998e-04, 5.52661501e-02,-3.44446143e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003048112407191411
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82116483e-13,  1.82116483e-13,  1.00000000e+00, -3.31664135e-26,
        1.00000000e+00, -1.82116483e-13, -1.00000000e+00,  0.00000000e+00,
        1.82116483e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08271376, -0.03117332,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.76783110e-05,-4.26542441e-05, 2.79131270e-06,-5.87191022e-05,
 -4.08666191e-05, 6.68307038e-06, 1.49099424e-05,-4.21124291e-05,
 -5.20087214e-05, 3.27957312e-05, 2.40546530e-06, 2.37930104e-05,
 -5.15829324e-04,-4.21655278e-05,-3.06355903e-04,-1.48870049e-04,
 -3.60390743e-06, 3.73723383e-06,-1.21645174e+00,-4.25273994e-04,
  3.15148184e-05,-5.51704637e-04]


--- Step 188 ---
qpos:
[ 0.00608152,-0.00177149,-0.00485457, 0.03283028, 0.00437841,-0.00370596,
 -0.01810161, 0.02798725, 0.0126757 , 0.0032442 ,-0.00982226, 0.02534251,
  0.50962601,-0.00108209, 0.34103709, 0.06468202, 0.09224794,-0.07001045,
  0.13111766, 0.51079518, 0.49066366, 0.48916568, 0.50897386]

qacc:
[  2.70236163, -0.23081429,  4.78470274,-18.5009066 , -7.41171596,
  -0.16521112,  5.26482237,-21.28872704, -2.67218512,  1.25464983,
  -4.91200252,  8.60869358, -0.120255  , -4.90497613, -5.47361025,
  11.73746454,  0.5988257 , -2.0688244 , -0.17112418,  8.96858841,
  -3.22388811, 29.65295345]

qfrc_actuator:
[ 1.08410998e-04,-1.55878342e-04,-1.89936303e-04, 7.27678260e-04,
  3.28001311e-05,-4.42255629e-04,-6.72515992e-04, 6.15343527e-04,
  2.57513529e-04, 3.37687666e-05,-3.63971634e-04, 6.44836940e-04,
  7.66079825e-02,-3.80472651e-04, 5.51210999e-02,-3.42772956e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59041947,  2.00115719, -4.1312614 ,  2.00115719,  9.01287487,
        2.14220975, -4.1312614 ,  2.14220975,  5.62809248,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031466119023083883
  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([ 0.08271378, -0.03117879,  0.06199102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.59274997e-05, 1.71371470e-05,-2.00982428e-05,-4.16786876e-05,
 -4.34449675e-05, 1.98584440e-05,-2.50518550e-05,-4.87456017e-05,
 -1.55618584e-05, 2.37403073e-05,-4.87867534e-06, 1.13616299e-05,
 -5.13707681e-04,-1.19372564e-04,-2.97813320e-04,-3.02297661e-05,
 -2.39766364e-06, 2.06073013e-06,-1.21644720e+00,-4.25910362e-04,
  2.79630021e-05,-5.50958521e-04]


--- Step 189 ---
qpos:
[ 0.0060838 ,-0.0017722 ,-0.00485721, 0.03284416, 0.00437892,-0.00370715,
 -0.01811045, 0.02799971, 0.01268122, 0.00324528,-0.00982705, 0.02535541,
  0.51121914,-0.00108133, 0.34254504, 0.06470416, 0.09223206,-0.07000562,
  0.13112043, 0.51086531, 0.49058926, 0.48912801, 0.5090114 ]

qacc:
[-1.62058526, 0.82483928,-0.96731195,-3.46951152,-1.50102973, 2.07741795,
 -4.80962148,-0.57232656, 4.26172927,-1.73354403, 5.16076279,-4.70822201,
 -1.8255509 , 5.33649231,-0.36803824,-5.32263934, 0.58087859,-2.02985808,
 -0.3528386 , 8.84962535,-3.10822196,29.07494525]

qfrc_actuator:
[ 9.85760958e-05,-1.12091441e-04,-1.94513028e-04, 7.16999058e-04,
  2.54183248e-05,-3.97399836e-04,-7.02871289e-04, 5.99310192e-04,
  2.82726982e-04,-1.78808007e-05,-3.51683266e-04, 6.45228398e-04,
  7.64547728e-02,-3.63781912e-04, 5.49692050e-02,-3.49819283e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61017473,  2.31986152, -3.98396204,  2.31986152, 11.45907105,
        3.98811306, -3.98396204,  3.98811306,  6.93245339,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003201968567271979
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73365697e-13,  1.73365697e-13,  1.00000000e+00, -3.00556649e-26,
        1.00000000e+00, -1.73365697e-13, -1.00000000e+00,  0.00000000e+00,
        1.73365697e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0827135 , -0.03118186,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.37018296e-06, 4.74685535e-05,-4.94766691e-06,-1.14762300e-05,
 -8.61266646e-06, 4.88125749e-05,-3.09371339e-05,-1.70025767e-05,
  2.47812680e-05,-3.89058616e-05, 1.70053561e-05, 1.44244729e-06,
 -5.31552754e-04,-4.50620866e-05,-2.87302634e-04,-1.09659996e-04,
 -1.45200854e-06, 8.96196737e-07,-1.21644403e+00,-4.26198559e-04,
  2.51356121e-05,-5.50456151e-04]


--- Step 190 ---
qpos:
[ 0.00608629,-0.00177253,-0.00485997, 0.03285884, 0.00437969,-0.00370811,
 -0.01811924, 0.02801188, 0.01268734, 0.00324588,-0.00983124, 0.02536753,
  0.5128094 ,-0.00107999, 0.34405013, 0.06472746, 0.09221845,-0.07000879,
  0.13112118, 0.51090069, 0.49055483, 0.4890681 , 0.50906664]

qacc:
[  1.8329412 ,  2.46340361,-11.4087116 , 25.08235585,  2.20504872,
  -0.45315367,  3.32680439, -8.77357902,  5.34328601, -3.94604212,
  16.44125181,-30.63545707, -2.06017647,  6.81427176, -7.66022236,
  20.77333952,  0.5661119 , -1.99745269, -0.50564147,  8.74673751,
  -3.01659904, 28.59525721]

qfrc_actuator:
[ 1.09623847e-04,-8.58029714e-05,-1.96035894e-04, 7.58455427e-04,
  3.86373383e-05,-3.88104501e-04,-6.99356792e-04, 5.84917256e-04,
  3.13110132e-04,-4.90562473e-05,-3.24917093e-04, 6.04767175e-04,
  7.63109745e-02,-3.36526476e-04, 5.48718824e-02,-3.42422376e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61761784,  2.650442  , -3.78121035,  2.650442  , 15.70855391,
        7.7741993 , -3.78121035,  7.7741993 , 10.0669482 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032224682841966446
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72262832e-13,  1.72262832e-13,  1.00000000e+00, -2.96744833e-26,
        1.00000000e+00, -1.72262832e-13, -1.00000000e+00,  0.00000000e+00,
        1.72262832e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08271297, -0.031183  ,  0.06199081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08008344e-05, 5.13347826e-05, 7.28238031e-06, 4.30723952e-05,
  1.29920175e-05, 2.95886490e-05, 9.28788513e-06,-1.37075106e-05,
  3.10739361e-05,-4.93433246e-05, 2.08932811e-05,-4.15325176e-05,
 -5.26874213e-04,-3.27727818e-05,-2.37865430e-04, 3.14373737e-05,
 -7.45435617e-07, 2.09320941e-07,-1.21644215e+00,-4.26179298e-04,
  2.29889326e-05,-5.50187359e-04]


--- Step 191 ---
qpos:
[ 0.00608959,-0.00177236,-0.00486278, 0.03287387, 0.00438095,-0.00370889,
 -0.01812788, 0.02802343, 0.01269378, 0.00324649,-0.00983553, 0.02537871,
  0.51439684,-0.0010783 , 0.34555261, 0.06475432, 0.09220706,-0.07001983,
  0.13111939, 0.51090173, 0.49055982, 0.48898632, 0.50913933]

qacc:
[  7.04871746,  1.54628453, -6.09952076, 12.10468825,  4.35439876,
  -1.41855242,  7.98275045,-18.92852949,  2.78080258, -1.65651264,
   9.88209863,-25.99096603, -1.79410996,  5.24677407,-14.57190203,
  45.495406  ,  0.55397406, -1.97061677, -0.63401411,  8.65852148,
  -2.94429689, 28.19932053]

qfrc_actuator:
[ 1.50634810e-04,-5.23771217e-05,-1.95777240e-04, 7.76982192e-04,
  6.38640071e-05,-3.82283292e-04,-6.93762638e-04, 5.53844198e-04,
  3.28527417e-04,-3.22048087e-05,-3.25293733e-04, 5.58363534e-04,
  7.61676009e-02,-3.21050934e-04, 5.47860893e-02,-3.23007900e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61491551,  3.00000024, -3.50677113,  3.00000024, 26.66843076,
       18.86651525, -3.50677113, 18.86651525, 20.75499085,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032150476438502773
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.45320862e-13,  1.72660431e-13,  1.00000000e+00, -5.96232490e-26,
        1.00000000e+00, -1.72660431e-13, -1.00000000e+00,  0.00000000e+00,
        3.45320862e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08271224, -0.03118259,  0.06199083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.13348729e-05, 6.54899587e-05, 1.32502293e-05, 2.17900119e-05,
  2.56082589e-05, 2.38134905e-05, 1.24622493e-05,-2.97563727e-05,
  1.62837577e-05,-8.17523204e-06,-9.41283379e-06,-4.86227035e-05,
 -5.21378570e-04,-4.36724124e-05,-1.89813594e-04, 1.65390337e-04,
 -2.61450432e-07,-2.61317029e-08,-1.21644149e+00,-4.25882354e-04,
  2.14879017e-05,-5.50144210e-04]


--- Step 192 ---
qpos:
[ 0.00609266,-0.00177203,-0.00486539, 0.03288869, 0.00438251,-0.00370952,
 -0.01813637, 0.02803417, 0.01270036, 0.00324721,-0.00984017, 0.02538959,
  0.51598148,-0.00107637, 0.34705266, 0.06477938, 0.09219784,-0.07003867,
  0.13111464, 0.51086879, 0.49060378, 0.48888297, 0.50922927]

qacc:
[ -1.963038  , -0.81340705,  4.10044756, -8.24529484,  2.56428484,
  -1.93033586, 10.5510756 ,-24.83609542,  1.17402466,  0.53932554,
  -0.47665399, -4.10618221, -1.69225372,  4.52359386,  1.88610701,
 -11.75960307,  0.54401191, -1.94850395, -0.74177153,  8.58363866,
  -2.88751033, 27.87487772]

qfrc_actuator:
[ 1.37936145e-04,-6.81990948e-05,-1.94464937e-04, 7.64113901e-04,
  7.81966064e-05,-3.78589856e-04,-6.87031385e-04, 5.13195271e-04,
  3.35011241e-04,-2.23424421e-05,-3.41499020e-04, 5.44367723e-04,
  7.60192550e-02,-3.12660366e-04, 5.46220812e-02,-3.33950989e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031854984961052213
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.48524109e-13,  1.74262054e-13,  1.00000000e+00, -6.07345272e-26,
        1.00000000e+00, -1.74262054e-13, -1.00000000e+00,  0.00000000e+00,
        3.48524109e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08271135, -0.03118095,  0.06199092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.15026390e-05, 2.44682757e-05, 1.72183859e-05,-9.20944011e-06,
  1.50730527e-05, 1.84216035e-05, 1.22392341e-05,-3.97821178e-05,
  6.94574208e-06, 1.29192689e-06,-2.07117839e-05,-1.56342797e-05,
 -5.23250412e-04,-5.10294008e-05,-2.32876739e-04,-1.24973446e-04,
  1.25084875e-08, 1.70167955e-07,-1.21644199e+00,-4.25329326e-04,
  2.06045982e-05,-5.50320525e-04]


--- Step 193 ---
qpos:
[ 0.00609521,-0.00177191,-0.00486749, 0.03290362, 0.00438388,-0.00371007,
 -0.0181447 , 0.0280447 , 0.01270662, 0.00324754,-0.00984476, 0.02539991,
  0.5175634 ,-0.00107466, 0.34855023, 0.06479863, 0.09219076,-0.07006523,
  0.13110656, 0.51080213, 0.49068632, 0.4887583 , 0.50933628]

qacc:
[ -4.55651867, -1.45641642,  4.37973009, -3.27833012, -1.61543085,
  -0.7512264 ,  3.75300875, -7.79630773, -2.7892727 , -1.81155723,
   8.09988184,-17.640581  , -1.20936211,  1.60885909, 13.88869791,
 -53.8667162 ,  0.53585233, -1.93039047, -0.83216884,  8.52082806,
  -2.84316585, 27.61158132]

qfrc_actuator:
[ 1.11469669e-04,-9.56674897e-05,-1.75006987e-04, 7.68344572e-04,
  6.82458468e-05,-3.76208650e-04,-6.79699479e-04, 5.02742954e-04,
  3.18437286e-04,-7.00366961e-05,-3.49149716e-04, 5.14040720e-04,
  7.58786777e-02,-3.26285356e-04, 5.44644809e-02,-3.64488953e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003138641723271912
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.53727224e-13,  1.76863612e-13,  1.00000000e+00, -6.25614746e-26,
        1.00000000e+00, -1.76863612e-13, -1.00000000e+00,  0.00000000e+00,
        3.53727224e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08271033, -0.03117836,  0.06199105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.67865674e-05,-1.06516860e-05, 2.63051901e-05, 5.66756634e-06,
 -9.51265952e-06, 1.36093988e-05, 1.13503662e-05,-1.00178691e-05,
 -1.63750156e-05,-5.18928447e-05,-1.04478368e-05,-3.13070905e-05,
 -5.17978607e-04,-7.38072292e-05,-2.77851599e-04,-3.42472486e-04,
  8.58942269e-08, 7.83932992e-07,-1.21644361e+00,-4.24535700e-04,
  2.03170092e-05,-5.50711508e-04]


--- Step 194 ---
qpos:
[ 0.00609777,-0.00177177,-0.00486969, 0.03291884, 0.00438512,-0.00371049,
 -0.01815264, 0.02805535, 0.01271298, 0.00324759,-0.00984889, 0.02540974,
  0.51914255,-0.00107274, 0.35004451, 0.064818  , 0.0921858 ,-0.07009946,
  0.13109484, 0.51070196, 0.49080714, 0.48861246, 0.50946022]

qacc:
[  0.0648568 ,  0.87252531, -4.31738379,  9.50829401, -1.12651577,
  -0.67964012,  2.18467164, -0.90999266,  0.87795382, -2.68458231,
  11.07475107,-20.01726658, -1.63484305,  4.24199985, -5.19013771,
  11.18226082,  0.52918749, -1.91565689, -0.90798725,  8.46891563,
  -2.80877505, 27.40067496]

qfrc_actuator:
[ 1.12633964e-04,-9.43196971e-05,-1.80543940e-04, 7.82604472e-04,
  6.18382364e-05,-3.56856392e-04,-6.54304653e-04, 5.10141947e-04,
  3.23932754e-04,-6.30482079e-05,-3.16429847e-04, 4.92053874e-04,
  7.57375292e-02,-3.17266086e-04, 5.43427704e-02,-3.61930139e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030784752202493715
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.60640559e-13,  1.80320280e-13,  1.00000000e+00, -6.50308064e-26,
        1.00000000e+00, -1.80320280e-13, -1.00000000e+00,  0.00000000e+00,
        3.60640559e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08270923, -0.03117504,  0.06199122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.96530573e-07, 1.03739286e-06,-4.31286967e-06, 1.47956491e-05,
 -6.67459808e-06, 2.89686073e-05, 2.93384604e-05, 8.17670621e-06,
  5.01225932e-06,-2.54973073e-05, 1.96644152e-05,-2.51930936e-05,
 -5.17573670e-04,-5.19604525e-05,-2.85596189e-04,-2.91135437e-05,
 -3.43137962e-08, 1.80533537e-06,-1.21644632e+00,-4.23512384e-04,
  2.06080197e-05,-5.51313450e-04]


--- Step 195 ---
qpos:
[ 0.00610033,-0.00177152,-0.00487221, 0.03293342, 0.00438661,-0.00371063,
 -0.01815998, 0.02806562, 0.01272004, 0.0032476 ,-0.00985243, 0.02541919,
  0.52071887,-0.00107034, 0.35153522, 0.06484047, 0.09218281,-0.0701291 ,
  0.13108831, 0.510611  , 0.49091587, 0.48849049, 0.5095636 ]

qacc:
[ -0.06798428, -0.22283701,  3.70718907,-14.26157011,  2.27392453,
  -2.0769814 ,  9.52532532,-17.17535005,  6.23113361, -2.47048271,
  10.33341834,-17.82084474, -1.93923272,  6.05274622,-14.57761076,
  43.45106151,  0.49008317,  1.14475417,  1.29523262,  5.75881928,
   1.87613303,-16.40772391]

qfrc_actuator:
[ 1.12304143e-04,-9.35734531e-05,-2.00686859e-04, 7.49392994e-04,
  7.53280503e-05,-3.27399685e-04,-6.18371381e-04, 4.92501657e-04,
  3.60134216e-04,-4.09506663e-05,-2.77676201e-04, 4.75219572e-04,
  7.55908148e-02,-2.94993470e-04, 5.41948244e-02,-3.45199640e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031773692463819836
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.49415802e-13,  2.23844498e-13,  1.00000000e+00, -7.82148050e-26,
        1.00000000e+00, -2.23844498e-13, -1.00000000e+00,  0.00000000e+00,
        3.49415802e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08591529, -0.08812359,  0.06199094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.19788437e-07, 1.04834707e-06,-1.99604096e-05,-3.30581661e-05,
  1.33077615e-05, 5.21486614e-05, 4.58883334e-05,-1.52293791e-05,
  3.63330884e-05, 1.08680754e-05, 3.50692578e-05,-1.77486761e-05,
 -5.20123602e-04,-3.77456829e-05,-2.78566980e-04, 1.29531848e-04,
 -3.43118147e-07, 3.22827695e-06,-1.21645010e+00,-4.22266864e-04,
  2.14645830e-05,-5.52123505e-04]


--- Step 196 ---
qpos:
[ 0.00610251,-0.00177138,-0.00487488, 0.0329475 , 0.00438861,-0.00371074,
 -0.01816669, 0.02807528, 0.01272679, 0.00324812,-0.00985653, 0.02542804,
  0.52229238,-0.00106731, 0.35302364, 0.06486257, 0.09218167,-0.07015429,
  0.13108581, 0.51052894, 0.49101304, 0.48839181, 0.50964678]

qacc:
[ -3.24383795, -0.77630379,  4.64354779,-12.90362905,  4.3526896 ,
  -2.99800836, 13.31137048,-24.86328407, -2.76573611,  0.98577412,
   0.04606329,-10.11389028, -2.1175691 ,  7.09372418, -2.21155933,
   2.9653423 ,  0.46680871,  1.11293224,  1.00780999,  5.73358652,
   1.75952683,-15.95929459]

qfrc_actuator:
[ 9.33361102e-05,-1.11052241e-04,-2.11563323e-04, 7.24014685e-04,
  1.00420194e-04,-3.45345005e-04,-5.94234015e-04, 4.60282027e-04,
  3.43101333e-04,-9.92425988e-06,-3.06614650e-04, 4.43814298e-04,
  7.54515169e-02,-2.65131287e-04, 5.41005165e-02,-3.46897562e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003321372933847849
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.67133147e-13, -3.65603760e-14,  1.00000000e+00,  6.11045071e-27,
        1.00000000e+00,  3.65603760e-14, -1.00000000e+00,  0.00000000e+00,
        1.67133147e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08591483, -0.08811985,  0.06199053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89756555e-05,-2.24526860e-05,-1.42707244e-05,-2.66953620e-05,
  2.54892189e-05, 2.01147024e-05, 4.00987768e-05,-2.87001754e-05,
 -1.59992585e-05, 4.36422190e-05,-2.29621531e-05,-3.00848659e-05,
 -5.12731712e-04,-2.99377386e-05,-2.03658219e-04,-4.49177819e-05,
 -3.35787795e-07, 2.48119920e-06,-1.21644752e+00,-4.23014110e-04,
  2.25469242e-05,-5.52864897e-04]


--- Step 197 ---
qpos:
[ 0.00610445,-0.0017716 ,-0.00487759, 0.03296189, 0.00439089,-0.00371096,
 -0.01817322, 0.02808488, 0.01273294, 0.00324926,-0.00986079, 0.02543639,
  0.52386322,-0.00106425, 0.35451005, 0.06488518, 0.09218234,-0.07017514,
  0.13108637, 0.51045552, 0.49109911, 0.48831593, 0.50971009]

qacc:
[ -2.14181321,  0.28476837, -2.95805458,  8.49347864,  2.50706303,
  -0.76304566,  2.75504267, -4.02027489, -5.30827169,  0.24586159,
   2.40045408,-11.10506058, -1.4115722 ,  3.00080326, -4.48674511,
  11.42359899,  0.44793754,  1.08617675,  0.7655523 ,  5.70610321,
   1.66469851,-15.582956  ]

qfrc_actuator:
[ 8.13026224e-05,-1.39278052e-04,-2.16939768e-04, 7.38954725e-04,
  1.14380941e-04,-3.73845129e-04,-5.95206897e-04, 4.55202797e-04,
  3.12615293e-04, 4.36861264e-05,-3.04246218e-04, 4.21801618e-04,
  7.53167689e-02,-2.66550869e-04, 5.40277520e-02,-3.43452614e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.68977246, -0.67739499, -4.64059282, -0.67739499, 11.00506137,
       -0.92185315, -4.64059282, -0.92185315,  4.82433688,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003411928909888423
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.62697268e-13,  1.27107241e-13,  1.00000000e+00, -2.06800008e-26,
        1.00000000e+00, -1.27107241e-13, -1.00000000e+00,  0.00000000e+00,
        1.62697268e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08591427, -0.08811752,  0.06199027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.25796252e-05,-4.48921384e-05,-1.26990565e-05, 1.29391511e-05,
  1.46953625e-05,-1.01297700e-05, 7.18546834e-06,-3.39574850e-06,
 -3.09239709e-05, 7.20082444e-05, 7.54380525e-06,-2.15321840e-05,
 -5.01804955e-04,-6.02045724e-05,-1.71940121e-04, 5.28946626e-06,
 -3.30624893e-07, 1.84945299e-06,-1.21644540e+00,-4.23648928e-04,
  2.33782163e-05,-5.53487432e-04]


--- Step 198 ---
qpos:
[ 0.00610623,-0.00177236,-0.00487994, 0.032976  , 0.00439297,-0.00371116,
 -0.01818006, 0.02809505, 0.01273868, 0.0032506 ,-0.009864  , 0.02544438,
  0.52543149,-0.00106186, 0.35599398, 0.06490644, 0.09218473,-0.07019173,
  0.13108918, 0.51039052, 0.49117444, 0.48826245, 0.50975382]

qacc:
[ -1.3806642 , -2.30485867,  8.35620285,-13.39987761, -1.71715721,
   2.05225402, -9.69555513, 20.05868716, -3.60624584, -3.37351538,
  13.92756017,-21.93711406, -0.61848632, -1.67808601,  0.40033385,
  -6.71954476,  0.43267283,  1.06375891,  0.56170541,  5.67862837,
   1.58732947,-15.26782556]

qfrc_actuator:
[ 7.34528272e-05,-1.73667362e-04,-2.01300795e-04, 7.24230233e-04,
  1.03921686e-04,-3.73035030e-04,-6.11032159e-04, 4.83858629e-04,
  2.92224666e-04, 5.72699861e-05,-2.47775376e-04, 4.05546811e-04,
  7.51795144e-02,-3.04149907e-04, 5.38774342e-02,-3.51196669e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.70869473, -0.84256502, -4.63269795, -0.84256502, 14.62662835,
       -1.80380936, -4.63269795, -1.80380936,  5.03675987,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003459057183123476
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.81441748e-13,  2.45735892e-13,  1.00000000e+00, -1.18307518e-25,
        1.00000000e+00, -2.45735892e-13, -1.00000000e+00,  0.00000000e+00,
        4.81441748e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08591362, -0.08811634,  0.06199013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.22251486e-06,-6.15651962e-05, 5.25007067e-06,-1.68611742e-05,
 -1.00432111e-05,-3.44750676e-06,-1.70928219e-05, 2.83972700e-05,
 -2.12425328e-05, 5.44852979e-05, 7.15545651e-05,-1.33361706e-05,
 -4.99652981e-04,-9.70652563e-05,-2.30703255e-04,-1.00045110e-04,
 -3.23915719e-07, 1.32182526e-06,-1.21644370e+00,-4.24192480e-04,
  2.39681135e-05,-5.53995740e-04]


--- Step 199 ---
qpos:
[ 0.00610756,-0.00177358,-0.00488211, 0.03298982, 0.00439491,-0.00371137,
 -0.01818704, 0.02810548, 0.01274378, 0.00325185,-0.00986634, 0.02545251,
  0.52699709,-0.00105987, 0.35747457, 0.06492705, 0.0921888 ,-0.07020415,
  0.13109355, 0.51033377, 0.49123933, 0.48823103, 0.50977821]

qacc:
[ -3.96981059, -1.71351365,  6.47177984,-11.43564729, -1.24201729,
   0.90914955, -4.33333342,  8.98514582, -5.54913856, -2.26588791,
   7.3622466 , -6.36964219, -0.9324774 ,  0.09871464, -2.92271368,
   3.10223048,  0.42036851,  1.04505754,  0.39054245,  5.65274804,
   1.52396868,-15.00482106]

qfrc_actuator:
[ 5.03734952e-05,-1.93664787e-04,-1.91190999e-04, 7.09921790e-04,
  9.69295076e-05,-3.72477087e-04,-6.17608925e-04, 4.96640844e-04,
  2.60190916e-04, 2.92623876e-05,-2.13230114e-04, 4.10563591e-04,
  7.50355175e-02,-3.27266053e-04, 5.36966752e-02,-3.54837782e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.71362933, -1.06110257, -4.59264224, -1.06110257, 20.99035711,
       -3.76064077, -4.59264224, -3.76064077,  5.58250292,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003471186059298692
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.04897292e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.04897292e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08591288, -0.08811608,  0.0619901 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.33320407e-05,-5.40479628e-05,-2.54068106e-06,-1.71176440e-05,
 -7.28072858e-06,-3.62213142e-06,-8.35153544e-06, 1.25891033e-05,
 -3.26180345e-05, 1.66520336e-05, 5.41628418e-05, 9.55639267e-06,
 -5.09280830e-04,-8.45430138e-05,-2.97330667e-04,-7.18465699e-05,
 -3.13004696e-07, 8.89539868e-07,-1.21644240e+00,-4.24660775e-04,
  2.43247792e-05,-5.54393544e-04]


--- Step 200 ---
qpos:
[ 0.00610895,-0.00177512,-0.00488416, 0.033003  , 0.00439676,-0.0037118 ,
 -0.01819364, 0.02811527, 0.01274846, 0.00325329,-0.00986885, 0.02546102,
  0.52856005,-0.00105878, 0.35895194, 0.0649483 , 0.09219451,-0.07021244,
  0.1310989 , 0.51028513, 0.49129402, 0.48822137, 0.50978345]

qacc:
[  0.51798572, -2.04189939,  9.33700453,-20.26400039, -0.85055065,
  -2.62834306, 11.61127452,-22.92316679, -3.73758979,  1.5161912 ,
  -6.63965545, 13.34353873, -0.3926004 , -3.15423047, -6.72215993,
  16.55159922,  0.4104994 ,  1.02954122,  0.24718391,  5.62953284,
   1.4718519 ,-14.78631782]

qfrc_actuator:
[ 5.40191043e-05,-2.04905891e-04,-1.84374422e-04, 6.78229052e-04,
  9.20419450e-05,-3.89805327e-04,-6.00926849e-04, 4.64480867e-04,
  2.39309948e-04, 2.97605135e-05,-2.27596496e-04, 4.27993035e-04,
  7.48875751e-02,-3.77193050e-04, 5.35617270e-02,-3.50706300e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000345538828696465
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.21301959e-13,  8.53458328e-14,  1.00000000e+00, -2.74217832e-26,
        1.00000000e+00, -8.53458328e-14, -1.00000000e+00,  0.00000000e+00,
        3.21301959e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08591209, -0.08811655,  0.06199015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.96754521e-06,-4.26973209e-05,-5.24476655e-06,-3.44524202e-05,
 -5.09696632e-06,-2.04755525e-05, 1.54020789e-05,-3.23661213e-05,
 -2.18012371e-05, 2.13762984e-05,-3.92355743e-06, 2.01897760e-05,
 -5.18900529e-04,-1.11950220e-04,-2.75453779e-04,-2.83896199e-07,
 -2.95992791e-07, 5.45711592e-07,-1.21644147e+00,-4.25065972e-04,
  2.44549837e-05,-5.54683839e-04]


--- Step 201 ---
qpos:
[ 0.00611071,-0.00177689,-0.00488615, 0.03301535, 0.00439818,-0.00371265,
 -0.0181996 , 0.02812462, 0.01275285, 0.00325532,-0.00987168, 0.02546929,
  0.53012026,-0.00105791, 0.36042666, 0.06496907, 0.09220184,-0.07021667,
  0.13110477, 0.51024447, 0.49133872, 0.48823323, 0.50976971]

qacc:
[  3.3261401 , -2.20225655, 10.95148387,-25.38090755, -3.62964692,
  -3.27033612, 12.78321931,-21.36058194, -2.54730105,  1.15378994,
  -1.9347466 , -2.25560952, -1.17967565,  1.39924551, -2.45112089,
   2.95017278,  0.40263764,  1.01675429,  0.12745814,  5.60966445,
   1.4287601 ,-14.60588532]

qfrc_actuator:
[ 7.33699421e-05,-2.10838652e-04,-1.79527705e-04, 6.36568572e-04,
  7.06785638e-05,-4.17653816e-04,-5.70750670e-04, 4.41642131e-04,
  2.25164086e-04, 8.26288766e-05,-2.35108858e-04, 4.17065878e-04,
  7.47480122e-02,-3.89298398e-04, 5.34490510e-02,-3.52666453e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034175821798698713
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.62428139e-13,  4.56829140e-14,  1.00000000e+00,  7.42019069e-27,
        1.00000000e+00, -4.56829140e-14, -1.00000000e+00,  0.00000000e+00,
       -1.62428139e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08591124, -0.0881176 ,  0.06199025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.94263635e-05,-3.23220775e-05,-5.79997050e-06,-4.43639135e-05,
 -2.15153809e-05,-3.74347642e-05, 2.67849916e-05,-2.38191765e-05,
 -1.47547851e-05, 6.48423285e-05,-2.88226972e-06,-9.76870201e-06,
 -5.20385747e-04,-7.70835179e-05,-2.35960228e-04,-5.45838902e-05,
 -2.71522368e-07, 2.84926500e-07,-1.21644089e+00,-4.25417329e-04,
  2.43642216e-05,-5.54869027e-04]


--- Step 202 ---
qpos:
[ 0.00611269,-0.00177857,-0.00488795, 0.03302705, 0.00439969,-0.00371376,
 -0.01820493, 0.02813394, 0.01275738, 0.00325759,-0.00987446, 0.02547738,
  0.53167759,-0.00105583, 0.36189878, 0.06498972, 0.09221075,-0.07021687,
  0.13111075, 0.51021169, 0.49137359, 0.48826643, 0.50973712]

qacc:
[  1.92171825, -1.76661432,  9.16220899,-20.66987684,  0.70355383,
  -2.16405374,  7.29614919, -8.47512518,  1.24208235, -0.18375027,
   1.8355823 , -5.09787443, -2.81255974, 10.96117205, -3.36834732,
   6.39350342,  0.39643393,  1.00630567,  0.02779105,  5.59353613,
   1.39290832,-14.45808185]

qfrc_actuator:
[ 8.40483779e-05,-1.78053189e-04,-1.58107850e-04, 6.07137110e-04,
  7.52933693e-05,-4.16018899e-04,-5.32892606e-04, 4.42225650e-04,
  2.32844831e-04, 7.76767021e-05,-2.38299792e-04, 4.07350745e-04,
  7.46135806e-02,-3.25761904e-04, 5.33338239e-02,-3.52869892e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000336270349666809
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.70237652e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.70237652e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08591035, -0.08811909,  0.06199041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12267829e-05, 1.16724225e-05, 1.25077137e-05,-3.19009439e-05,
  3.98712638e-06,-1.47144097e-05, 3.26608916e-05,-5.62305522e-07,
  7.28989569e-06, 3.02437896e-05, 9.50599839e-06,-7.24140904e-06,
 -5.12190549e-04, 9.07528185e-08,-2.28831650e-04,-3.55305096e-05,
 -2.38623491e-07, 1.02916887e-07,-1.21644064e+00,-4.25721927e-04,
  2.40568383e-05,-5.54951037e-04]


--- Step 203 ---
qpos:
[ 0.00611513,-0.00178004,-0.00488955, 0.03303794, 0.00440124,-0.00371468,
 -0.01820996, 0.02814351, 0.01276197, 0.00325926,-0.00987657, 0.02548535,
  0.53323233,-0.00105399, 0.36336811, 0.06500657, 0.09222123,-0.07021308,
  0.13111651, 0.51018671, 0.49139875, 0.48832079, 0.50968578]

qacc:
[  4.0265425 , -1.94097907, 10.72876003,-25.17310939,  0.38291762,
  -0.04871042, -0.47866168,  4.08528925,  0.5362086 , -2.86674886,
   9.57199842,-12.18389397, -1.11658603,  1.26199532,  7.334431  ,
 -31.61450012,  0.39160267,  0.99785966, -0.05488293,  5.58133147,
   1.36285801,-14.33829164]

qfrc_actuator:
[ 1.07284549e-04,-1.57754405e-04,-1.44652427e-04, 5.67431710e-04,
  7.74142093e-05,-3.78929179e-04,-5.08427482e-04, 4.56611387e-04,
  2.35555158e-04, 2.64864726e-06,-2.21379019e-04, 3.98390231e-04,
  7.44823393e-02,-3.42457656e-04, 5.31585737e-02,-3.73337817e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032948526470778783
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.05435209e-13, -3.68546507e-14,  1.00000000e+00,  1.86276381e-26,
        1.00000000e+00,  3.68546507e-14, -1.00000000e+00,  0.00000000e+00,
        5.05435209e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08590944, -0.08812093,  0.0619906 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.35651631e-05, 2.80963764e-05, 1.63154582e-05,-3.94125228e-05,
  2.22829133e-06, 3.56670293e-05, 2.54841165e-05, 1.48676865e-05,
  2.93383637e-06,-5.65129956e-05, 2.40806134e-05,-7.49278113e-06,
 -4.94131510e-04,-7.50112228e-05,-2.83853828e-04,-2.36287352e-04,
 -1.96604062e-07,-3.69242464e-09,-1.21644072e+00,-4.25985206e-04,
  2.35361554e-05,-5.54931409e-04]


--- Step 204 ---
qpos:
[ 0.00611783,-0.00178146,-0.00489093, 0.03304864, 0.0044028 ,-0.00371506,
 -0.01821511, 0.02815316, 0.01276656, 0.00326026,-0.00987802, 0.02549248,
  0.53478455,-0.00105331, 0.36483379, 0.06502254, 0.09223326,-0.07020533,
  0.13112178, 0.51016946, 0.49141433, 0.4883962 , 0.50961578]

qacc:
[ 2.29064229e+00,-9.50879116e-01, 4.31643260e+00,-8.10154583e+00,
  1.03089877e-01, 1.17012880e+00,-3.48438319e+00, 4.65407727e+00,
  6.28487087e-03,-4.51690803e+00, 1.83876672e+01,-3.36475055e+01,
 -4.31788021e-02,-4.92079278e+00,-2.73867983e+00, 1.67552343e+00,
  3.87909969e-01, 9.91128284e-01,-1.23193887e-01, 5.57308552e+00,
  1.33744774e+00,-1.42425938e+01]

qfrc_actuator:
[ 1.19975875e-04,-1.62867068e-04,-1.36057078e-04, 5.57488920e-04,
  7.80421490e-05,-3.38674132e-04,-5.09659663e-04, 4.61269853e-04,
  2.35310683e-04,-4.26830087e-05,-1.93024107e-04, 3.54387686e-04,
  7.43424386e-02,-4.06322023e-04, 5.29847008e-02,-3.77189091e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003217420907947882
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72533072e-13,  1.77924730e-13,  1.00000000e+00, -3.06979002e-26,
        1.00000000e+00, -1.77924730e-13, -1.00000000e+00,  0.00000000e+00,
        1.72533072e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08590851, -0.08812301,  0.06199082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33762936e-05, 1.23286020e-05, 1.50531122e-05,-8.96028826e-06,
  7.02384835e-07, 6.61727034e-05, 9.83693243e-06, 7.34992962e-06,
 -1.76797514e-07,-7.23190796e-05, 1.93801382e-05,-4.57530153e-05,
 -4.98809251e-04,-1.24452539e-04,-3.28144980e-04,-8.79236733e-05,
 -1.44971369e-07,-3.75833676e-08,-1.21644112e+00,-4.26211365e-04,
  2.28045912e-05,-5.54811369e-04]


--- Step 205 ---
qpos:
[ 0.00612032,-0.00178301,-0.0048921 , 0.03305915, 0.00440504,-0.00371509,
 -0.01822014, 0.02816245, 0.01277145, 0.00326131,-0.00987996, 0.02549901,
  0.53633396,-0.001052  , 0.3662957 , 0.06504049, 0.09224682,-0.07019363,
  0.13112633, 0.51015988, 0.4914204 , 0.48849254, 0.50952716]

qacc:
[ -1.86732011, -1.1466557 ,  4.61088731, -7.98065663,  5.99643374,
  -0.59917916,  4.28334681,-10.85106728,  2.67605313,  0.22344816,
   1.81158554,-11.36291189, -2.13473061,  6.98385503,-11.47850608,
  32.22926133,  0.38516409,  0.98586475, -0.17939755,  5.56873155,
   1.31573824,-14.16765509]

qfrc_actuator:
[ 1.08602436e-04,-1.83152341e-04,-1.30478631e-04, 5.47362797e-04,
  1.13292260e-04,-3.32443750e-04,-5.08278088e-04, 4.42404728e-04,
  2.51083364e-04,-1.66153007e-05,-2.11340329e-04, 3.25644768e-04,
  7.41974276e-02,-3.73206202e-04, 5.28331360e-02,-3.65883120e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031331986738397655
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.77170863e-13,  1.38414737e-13,  1.00000000e+00, -2.45230583e-26,
        1.00000000e+00, -1.38414737e-13, -1.00000000e+00,  0.00000000e+00,
        1.77170863e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08590757, -0.08812527,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09852423e-05,-1.06257658e-05, 9.67468369e-06,-9.27008868e-06,
  3.52925633e-05, 4.56336142e-05, 1.65589840e-05,-1.55551369e-05,
  1.57466223e-05,-1.23516049e-05,-3.24566574e-05,-3.20759546e-05,
 -5.13006301e-04,-3.10825822e-05,-3.06579790e-04, 6.69507673e-05,
 -8.33761420e-08,-9.02053141e-10,-1.21644182e+00,-4.26403673e-04,
  2.18637712e-05,-5.54591888e-04]


--- Step 206 ---
qpos:
[ 0.00612265,-0.00178469,-0.00489314, 0.03306948, 0.00440735,-0.00371518,
 -0.01822489, 0.02817114, 0.0127765 , 0.00326257,-0.00988229, 0.0255058 ,
  0.53788058,-0.0010496 , 0.36775478, 0.0650562 , 0.09226193,-0.07017801,
  0.13112997, 0.51015794, 0.49141703, 0.48860973, 0.50941998]

qacc:
[ -1.36051966, -0.89980076,  3.76298823, -7.2020153 ,  0.53870303,
  -2.09501683,  9.88926389,-20.69820365,  1.3117361 ,  1.9290172 ,
  -7.58456073, 12.65383361, -2.64852522,  9.96306232,  2.65482735,
 -15.20434397,  0.3832077 ,  0.9818579 , -0.22542688,  5.56813632,
   1.29696869,-14.11064167]

qfrc_actuator:
[ 1.00912057e-04,-1.94630477e-04,-1.26798734e-04, 5.37188053e-04,
  1.15380325e-04,-3.64405921e-04,-5.05504489e-04, 4.09829407e-04,
  2.58405915e-04, 1.63271400e-05,-2.21255853e-04, 3.41649656e-04,
  7.40654459e-02,-3.18742029e-04, 5.26897712e-02,-3.77689161e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030444682661076583
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.64668943e-13,  1.42448806e-13,  1.00000000e+00, -5.19466555e-26,
        1.00000000e+00, -1.42448806e-13, -1.00000000e+00,  0.00000000e+00,
        3.64668943e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08590664, -0.08812765,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.00240868e-06,-1.57846072e-05, 2.36190763e-06,-1.04932138e-05,
  3.11201266e-06,-3.63855496e-06, 1.37380888e-05,-3.03603916e-05,
  7.77087207e-06, 1.79475742e-05,-1.75742808e-05, 1.37159991e-05,
 -4.99044211e-04,-6.32640986e-06,-2.71762528e-04,-1.52886506e-04,
 -1.15728069e-08, 1.04616257e-07,-1.21644284e+00,-4.26564700e-04,
  2.07146289e-05,-5.54273726e-04]


--- Step 207 ---
qpos:
[ 0.00612452,-0.00178635,-0.00489422, 0.03307993, 0.00440897,-0.00371559,
 -0.0182294 , 0.02817906, 0.01278125, 0.00326369,-0.00988433, 0.02551274,
  0.53942461,-0.00104785, 0.36921136, 0.06507087, 0.09227856,-0.07015847,
  0.13113257, 0.51016358, 0.49140428, 0.48874772, 0.50929424]

qacc:
[ -4.00537567,  0.39336875, -1.90144115,  4.19826604, -5.95861508,
  -2.64670581, 12.11262449,-25.59034292, -2.59280152, -0.7401659 ,
   1.77717103,  0.23356691, -0.66561022, -1.36731612, -0.58147341,
  -3.34894562,  0.38191157,  0.9789274 , -0.26293627,  5.5711264 ,
   1.28052186,-14.06914469]

qfrc_actuator:
[ 7.77062458e-05,-1.83007208e-04,-1.24239875e-04, 5.44823025e-04,
  8.01692796e-05,-4.01259970e-04,-5.02105039e-04, 3.69416391e-04,
  2.42938493e-04,-5.09457896e-08,-2.08284066e-04, 3.48374613e-04,
  7.39200782e-02,-3.58676737e-04, 5.25993107e-02,-3.81715827e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029530834348849566
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.87976914e-13,  2.40845422e-13,  1.00000000e+00, -4.52733792e-26,
        1.00000000e+00, -2.40845422e-13, -1.00000000e+00,  0.00000000e+00,
        1.87976914e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08590571, -0.0881301 ,  0.06199158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.34341218e-05, 2.87465635e-06,-7.66990492e-07, 6.81901250e-06,
 -3.51227180e-05,-3.73112967e-05, 3.32698778e-06,-4.06931897e-05,
 -1.52372780e-05,-9.39918691e-06, 1.49911794e-05, 7.14080576e-06,
 -4.99517926e-04,-9.78226422e-05,-2.30297086e-04,-8.35614811e-05,
  7.06086283e-08, 2.77547511e-07,-1.21644415e+00,-4.26696496e-04,
  1.93574948e-05,-5.53857476e-04]


--- Step 208 ---
qpos:
[ 0.0061261 ,-0.00178761,-0.00489596, 0.0330897 , 0.0044105 ,-0.00371666,
 -0.01823367, 0.02818683, 0.01278543, 0.00326474,-0.00988648, 0.02551972,
  0.54096592,-0.0010465 , 0.37066536, 0.06508488, 0.09229671,-0.07013502,
  0.13113399, 0.51017679, 0.49138218, 0.48890647, 0.50914994]

qacc:
[ -2.60384682,  0.97962391,  0.19034458,-11.31825316, -0.76337436,
  -1.88916777,  6.10889962, -8.68023243, -4.9929693 ,  0.32323703,
  -1.45679338,  2.43983482, -0.99282379,  0.30261553, -1.79725569,
   0.79471962,  0.38116955,  0.97691952, -0.29333956,  5.57750728,
   1.26589626,-14.04111815]

qfrc_actuator:
[ 6.33059422e-05,-1.57629844e-04,-1.57760506e-04, 5.09637823e-04,
  7.65551098e-05,-4.58531917e-04,-4.98404512e-04, 3.60213332e-04,
  2.14183617e-04,-1.02338645e-05,-2.17617020e-04, 3.49553365e-04,
  7.37667605e-02,-3.82955656e-04, 5.24820816e-02,-3.84656676e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028605373776165177
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94058472e-13,  2.97152035e-13,  1.00000000e+00, -5.76648699e-26,
        1.00000000e+00, -2.97152035e-13, -1.00000000e+00,  0.00000000e+00,
        1.94058472e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0859048 , -0.08813258,  0.06199184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.50615211e-05, 2.71539766e-05,-3.27776291e-05,-3.49724494e-05,
 -4.62882514e-06,-7.91554290e-05,-4.96308460e-06,-1.14841530e-05,
 -2.91891255e-05,-1.20587143e-05,-9.18015165e-06, 1.42177958e-06,
 -5.18256025e-04,-8.78366296e-05,-2.32008677e-04,-6.39066069e-05,
  1.63282316e-07, 5.16699125e-07,-1.21644577e+00,-4.26800723e-04,
  1.77921742e-05,-5.53343585e-04]


--- Step 209 ---
qpos:
[ 0.00612785,-0.00178826,-0.00489825, 0.03309894, 0.00441198,-0.00371808,
 -0.01823801, 0.0281951 , 0.01278923, 0.00326604,-0.00988919, 0.02552733,
  0.54250435,-0.00104407, 0.37211666, 0.06509938, 0.09231639,-0.07010767,
  0.13113414, 0.51019754, 0.49135077, 0.48908593, 0.50898707]

qacc:
[  1.37647664,  1.2408791 , -1.01281746, -7.76687668, -0.48432968,
   0.77319251, -5.54290032, 14.59143908, -3.34312276,  3.23841785,
 -13.73707458, 25.49791482, -2.67488738,  9.86568999, -5.36171142,
  13.16057706,  0.38089437,  0.97570349, -0.31784297,  5.5870771 ,
   1.25268376,-14.02482586]

qfrc_actuator:
[ 7.19612630e-05,-1.06638571e-04,-1.76778802e-04, 4.85031283e-04,
  7.38265298e-05,-4.56561149e-04,-4.94626879e-04, 3.87181791e-04,
  1.95598417e-04, 1.87844930e-05,-2.40042580e-04, 3.82947735e-04,
  7.36300808e-02,-3.26812854e-04, 5.23648648e-02,-3.81616398e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002768020844015756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.01089113e-13,  3.07083852e-13,  1.00000000e+00, -1.23167990e-25,
        1.00000000e+00, -3.07083852e-13, -1.00000000e+00,  0.00000000e+00,
        4.01089113e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0859039 , -0.08813506,  0.0619921 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.24319235e-06, 5.79404391e-05,-1.86440952e-05,-2.52724885e-05,
 -2.88773729e-06,-4.37400906e-05,-1.35354931e-05, 2.31757478e-05,
 -1.94158629e-05, 2.04144010e-05,-2.59952236e-05, 3.25765448e-05,
 -5.13825508e-04,-9.33402803e-06,-2.30503388e-04,-3.19507475e-06,
  2.66520294e-07, 8.21045939e-07,-1.21644769e+00,-4.26878761e-04,
  1.60180138e-05,-5.52732389e-04]


--- Step 210 ---
qpos:
[ 0.00612968,-0.00178888,-0.00490006, 0.03310884, 0.00441342,-0.00371891,
 -0.01824326, 0.02820322, 0.01279278, 0.00326757,-0.0098922 , 0.02553562,
  0.54404008,-0.00104131, 0.37356527, 0.06511507, 0.09233759,-0.07007642,
  0.13113294, 0.5102258 , 0.49131007, 0.48928611, 0.50880561]

qacc:
[  0.8103862 ,  0.07208593, -3.04687357, 13.89059356, -0.43196466,
   3.01958124, -9.00072794,  7.42154345, -2.23508028,  2.51377936,
 -11.36206402, 23.28844653, -1.77476092,  4.94699535, -7.53530419,
  20.68765182,  0.3810143 ,  0.97516831, -0.33747368,  5.5996362 ,
   1.24055173,-14.01879636]

qfrc_actuator:
[ 7.63618441e-05,-1.11655974e-04,-1.51439285e-04, 5.20150332e-04,
  7.16314592e-05,-3.83590424e-04,-5.26086791e-04, 3.82001554e-04,
  1.83152172e-04, 3.55171352e-05,-2.52075614e-04, 4.17306245e-04,
  7.34981711e-02,-3.12490205e-04, 5.22477589e-02,-3.75075288e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002676471685645887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.07404216e-13,  2.13885598e-13,  1.00000000e+00,  4.43607748e-26,
        1.00000000e+00, -2.13885598e-13, -1.00000000e+00,  0.00000000e+00,
       -2.07404216e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08590304, -0.08813752,  0.06199236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.65956477e-06, 2.24761082e-05, 3.41488730e-05, 3.64501967e-05,
 -2.29323582e-06, 4.67917756e-05,-4.13108149e-05,-7.07754360e-06,
 -1.29881653e-05, 2.41475469e-05,-9.88675665e-06, 3.49555688e-05,
 -4.96494590e-04,-4.62385493e-05,-2.22847467e-04, 3.54149807e-05,
  3.80361906e-07, 1.18967861e-06,-1.21644991e+00,-4.26931788e-04,
  1.40339589e-05,-5.52024127e-04]


--- Step 211 ---
qpos:
[ 0.00613155,-0.00178961,-0.00490144, 0.03311912, 0.00441447,-0.00371937,
 -0.01824912, 0.02821088, 0.01279616, 0.00326905,-0.00989549, 0.0255443 ,
  0.54557322,-0.00103902, 0.37501137, 0.06513071, 0.09236032,-0.07004126,
  0.13113033, 0.51026157, 0.49126008, 0.48950699, 0.50860551]

qacc:
[  0.35667173, -0.62132017,  0.44899282,  5.25696307, -3.37152538,
   1.2395536 , -1.74156832, -5.60134755, -1.56219021,  1.51004837,
  -7.09993846, 14.20504447, -0.85817685, -0.22853847, -3.55208639,
   7.05362873,  0.3814704 ,  0.97521998, -0.35310467,  5.61499343,
   1.22922853,-14.02178439]

qfrc_actuator:
[ 7.82149802e-05,-1.32186093e-04,-1.35800426e-04, 5.36855497e-04,
  5.20153080e-05,-3.75334498e-04,-5.60067380e-04, 3.57983223e-04,
  1.74415378e-04, 9.30497438e-06,-2.75666082e-04, 4.34202563e-04,
  7.33585589e-02,-3.40708501e-04, 5.21254909e-02,-3.75400325e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025866170288445234
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.14609084e-13,  1.14011076e-13,  1.00000000e+00, -2.44678127e-26,
        1.00000000e+00, -1.14011076e-13, -1.00000000e+00,  0.00000000e+00,
        2.14609084e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08590219, -0.08813994,  0.06199262])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.99244435e-06, 6.71955380e-07, 2.57529978e-05, 1.95420074e-05,
 -1.96633604e-05, 2.56584058e-05,-2.95959656e-05,-2.35846769e-05,
 -9.09501478e-06,-1.32849731e-05,-1.86077903e-05, 1.82553774e-05,
 -4.96017508e-04,-8.90776478e-05,-2.20332966e-04,-3.01440831e-05,
  5.04820114e-07, 1.62176187e-06,-1.21645244e+00,-4.26960841e-04,
  1.18386010e-05,-5.51218956e-04]


--- Step 212 ---
qpos:
[ 0.00613308,-0.00179028,-0.0049026 , 0.03312881, 0.00441493,-0.00372013,
 -0.0182551 , 0.02821858, 0.01280009, 0.00327023,-0.00989888, 0.02555243,
  0.54710372,-0.00103703, 0.37645472, 0.06514587, 0.09238557,-0.07001467,
  0.13112832, 0.5102602 , 0.491253  , 0.48970377, 0.50842427]

qacc:
[ -2.96138685, -1.6677599 ,  8.55011792,-18.97827377, -5.1431006 ,
   0.07542712, -1.02441618,  2.28853949,  4.92201063, -1.24348245,
   6.11565491,-15.02368487, -1.06164919,  0.8675459 , -2.59610718,
   3.20661259,  0.63067551, -2.13936734,  0.15060565,  9.32503784,
  -3.3361853 , 30.67896006]

qfrc_actuator:
[ 6.08025350e-05,-1.26385869e-04,-1.26128817e-04, 5.07045386e-04,
  2.23018131e-05,-4.23675350e-04,-5.77746754e-04, 3.58541152e-04,
  2.03434639e-04,-2.47312939e-05,-2.88332710e-04, 4.05137028e-04,
  7.32197385e-02,-3.58278885e-04, 5.19842289e-02,-3.77993255e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027320229762130277
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.03186985e-13,  2.03186985e-13,  1.00000000e+00, -4.12849510e-26,
        1.00000000e+00, -2.03186985e-13, -1.00000000e+00,  0.00000000e+00,
        2.03186985e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08269569, -0.03115672,  0.0619922 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.73556820e-05, 1.23476987e-05, 1.36582122e-05,-2.85285996e-05,
 -3.02640041e-05,-4.10550572e-05,-1.67834676e-05, 1.72300744e-07,
  2.87592337e-05,-4.45533926e-05,-1.70653854e-05,-2.99376825e-05,
 -4.99973690e-04,-8.11211675e-05,-2.45906848e-04,-5.62562486e-05,
  6.39885620e-07, 2.11650065e-06,-1.21645527e+00,-4.26966861e-04,
  9.43021773e-06,-5.50316971e-04]


--- Step 213 ---
qpos:
[ 0.00613405,-0.00179087,-0.00490365, 0.03313842, 0.00441538,-0.00372113,
 -0.01826125, 0.02822623, 0.01280434, 0.00327091,-0.00990228, 0.02555983,
  0.54863163,-0.00103586, 0.3778956 , 0.06515885, 0.09241327,-0.06999643,
  0.131126  , 0.51022239, 0.49128779, 0.48987726, 0.50826144]

qacc:
[ -4.97008044, -0.38638307,  1.87143569, -3.51957855, -0.13277383,
   0.03458967, -0.35974599, -0.15124615,  2.79988947, -2.12903203,
   9.7554002 ,-22.11851449, -0.48641401, -2.43678633,  2.90522335,
 -15.47622385,  0.61190085, -2.08887317, -0.08002477,  9.20137643,
  -3.14279781, 29.9384105 ]

qfrc_actuator:
[ 3.21913331e-05,-1.22687411e-04,-1.19984597e-04, 5.03382422e-04,
  2.23935399e-05,-4.34449901e-04,-5.85885753e-04, 3.55763624e-04,
  2.18937171e-04,-6.31987061e-05,-2.94521012e-04, 3.67013450e-04,
  7.30761645e-02,-4.04942847e-04, 5.18636375e-02,-3.89002713e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49753308,  1.6833055 , -4.1706458 ,  1.6833055 ,  8.45004853,
        1.59526637, -4.1706458 ,  1.59526637,  5.14139515,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002865515332172025
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.93721355e-13,  1.93721355e-13,  1.00000000e+00, -3.75279633e-26,
        1.00000000e+00, -1.93721355e-13, -1.00000000e+00,  0.00000000e+00,
        1.93721355e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08269628, -0.03116412,  0.06199183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.90983286e-05, 1.22072297e-05, 9.38882668e-06,-3.23365159e-06,
 -7.86356575e-07,-3.71218913e-05,-1.86174597e-05,-5.11523477e-06,
  1.63078317e-05,-6.81886581e-05,-1.85187044e-05,-4.12196553e-05,
 -5.06688253e-04,-1.10413431e-04,-2.38749683e-04,-1.44895470e-04,
  2.31474481e-07, 7.65289067e-07,-1.21645177e+00,-4.28773235e-04,
  1.08071476e-05,-5.49893388e-04]


--- Step 214 ---
qpos:
[ 0.00613467,-0.00179119,-0.00490502, 0.03314861, 0.00441617,-0.00372202,
 -0.01826709, 0.02823371, 0.0128084 , 0.00327088,-0.00990537, 0.02556706,
  0.55015682,-0.00103488, 0.37933357, 0.06517369, 0.09244336,-0.06998638,
  0.13112257, 0.51014872, 0.49136359, 0.49002811, 0.50811667]

qacc:
[ -3.0977374 ,  2.4378936 ,-10.59585883, 20.86295763,  3.00014383,
  -1.10184259,  4.86060903, -8.43395044, -1.66545963, -2.17060407,
   7.03674444, -9.80963141, -1.2230692 ,  1.6565054 , -9.81977664,
  28.1924272 ,  0.59687723, -2.04655522, -0.27448705,  9.09759587,
  -2.98000102, 29.32025137]

qfrc_actuator:
[ 1.49766033e-05,-1.02522984e-04,-1.33700934e-04, 5.32893067e-04,
  4.00308068e-05,-3.87108969e-04,-5.52700591e-04, 3.51070528e-04,
  2.08595184e-04,-1.04013472e-04,-2.79111856e-04, 3.59375137e-04,
  7.29351559e-02,-4.15154888e-04, 5.17555214e-02,-3.78244994e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52468842,  2.32102987, -3.88402184,  2.32102987, 10.20412948,
        3.39394394, -3.88402184,  3.39394394,  6.55285551,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029515705164637196
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.88073268e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.88073268e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08269649, -0.03116888,  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:
[-1.80369876e-05, 2.87905788e-05,-1.01523630e-05, 3.02788828e-05,
  1.76028159e-05, 2.26089357e-05, 2.31140501e-05,-7.02877992e-06,
 -9.89985801e-06,-8.45204750e-05,-2.36443720e-06,-1.20137654e-05,
 -5.12447788e-04,-7.67570778e-05,-2.33684412e-04, 6.85645646e-05,
 -4.10001271e-07,-5.87404819e-08,-1.21644969e+00,-4.30220788e-04,
  1.27994138e-05,-5.49684652e-04]


--- Step 215 ---
qpos:
[ 0.00613576,-0.00179104,-0.00490692, 0.03315906, 0.00441682,-0.00372252,
 -0.01827235, 0.02824067, 0.01281265, 0.00327042,-0.00990834, 0.02557378,
  0.55167925,-0.00103335, 0.38076835, 0.0651881 , 0.09247578,-0.06998437,
  0.13111739, 0.51003969, 0.49147968, 0.49015688, 0.50798963]

qacc:
[  4.18180774,  2.65600613, -9.70499002, 14.803798  , -1.21373073,
  -2.16489876, 10.63797136,-20.76717018,  1.67670473, -1.93033481,
   8.2526814 ,-17.07362179, -2.05427094,  6.3481946 , -3.42597897,
   5.23090501,  0.58495351, -2.01117438, -0.43839539,  9.01201662,
  -2.84157996, 28.80590869]

qfrc_actuator:
[ 4.01163873e-05,-7.27058257e-05,-1.58945797e-04, 5.46178248e-04,
  3.23392556e-05,-3.40661328e-04,-5.12892135e-04, 3.27615292e-04,
  2.18633936e-04,-1.10300052e-04,-2.68821581e-04, 3.34242004e-04,
  7.28064425e-02,-3.86062933e-04, 5.15698059e-02,-3.81370548e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54013612,  2.6110327 , -3.71420843,  2.6110327 , 13.53230567,
        6.32136002, -3.71420843,  6.32136002,  8.98395719,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002999017763842121
  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([ 0.08269637, -0.0311715 ,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.46365656e-05, 4.51140131e-05,-1.95034445e-05, 1.47385930e-05,
 -7.18151204e-06, 6.36538327e-05, 4.71439330e-05,-2.18257513e-05,
  9.72674647e-06,-5.45234916e-05,-7.85056067e-06,-2.90787980e-05,
 -4.99977053e-04,-3.64184675e-05,-2.84470085e-04,-5.75478078e-05,
 -1.26787162e-06,-3.91939430e-07,-1.21644892e+00,-4.31362359e-04,
  1.53839246e-05,-5.49684114e-04]


--- Step 216 ---
qpos:
[ 0.0061375 ,-0.00179059,-0.00490934, 0.03316927, 0.00441737,-0.00372256,
 -0.01827713, 0.02824729, 0.01281699, 0.00327023,-0.00991124, 0.02558006,
  0.55319907,-0.00103178, 0.38220022, 0.06520192, 0.09251051,-0.06999029,
  0.1311099 , 0.50989566, 0.49163545, 0.49026404, 0.50788007]

qacc:
[  5.5858664 ,  1.29740224, -3.015654  , -0.67752698, -0.84338453,
  -1.42014295,  7.39698704,-14.39047177,  0.75904844, -0.77664512,
   5.15554224,-13.1368861 , -1.42904108,  2.97553855, -2.47553177,
   2.50414756,  0.57559696, -1.98167935, -0.57649616,  8.94303282,
  -2.72256214, 28.3798802 ]

qfrc_actuator:
[ 7.22274441e-05,-7.29058218e-05,-1.90759961e-04, 5.32057307e-04,
  2.75481109e-05,-3.12821629e-04,-4.87251117e-04, 3.11066691e-04,
  2.22844063e-04,-4.26234329e-05,-2.43768102e-04, 3.16785777e-04,
  7.26745550e-02,-3.87303651e-04, 5.14441785e-02,-3.83797467e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54550354,  2.90448941, -3.4965045 ,  2.90448941, 20.7853027 ,
       13.490137  , -3.4965045 , 13.490137  , 15.75154092,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003015261167157446
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84100641e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.84100641e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.082696  , -0.03117239,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.28268952e-05, 2.16297504e-05,-2.43922576e-05,-1.25963393e-05,
 -4.97505054e-06, 7.22991189e-05, 4.38933399e-05,-1.26166072e-05,
  4.46578360e-06, 3.43723278e-05, 1.18469654e-05,-2.06372492e-05,
 -4.89619372e-04,-6.29008625e-05,-2.59808581e-04,-6.36643607e-05,
 -2.32995811e-06,-2.61776193e-07,-1.21644938e+00,-4.32238872e-04,
  1.85436021e-05,-5.49886341e-04]


--- Step 217 ---
qpos:
[ 0.00613926,-0.00179022,-0.00491167, 0.03317889, 0.00441856,-0.00372232,
 -0.01828145, 0.02825369, 0.01282168, 0.00327034,-0.00991389, 0.02558606,
  0.55471625,-0.0010305 , 0.3836295 , 0.06521784, 0.09254751,-0.07000403,
  0.13109964, 0.50971695, 0.49183039, 0.49034996, 0.50778776]

qacc:
[  0.23994285, -1.55480716,  7.85878261,-18.06934072,  5.50795186,
  -1.38300713,  6.38247202,-11.1603661 ,  3.18568013, -0.87731183,
   4.8411188 ,-10.19414998, -1.06260387,  0.89489504,-10.10561119,
  29.85932077,  0.56837027, -1.95717509, -0.69281783,  8.88912265,
  -2.61895988, 28.02916427]

qfrc_actuator:
[ 7.26653532e-05,-9.11388397e-05,-1.90825216e-04, 5.01899681e-04,
  6.00156411e-05,-3.14135137e-04,-4.70243023e-04, 2.98692716e-04,
  2.41336732e-04,-1.98578207e-05,-2.27624745e-04, 3.04067210e-04,
  7.25301993e-02,-4.06445887e-04, 5.13653436e-02,-3.71569137e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003006496515389062
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84637338e-13,  1.84637338e-13,  1.00000000e+00, -3.40909465e-26,
        1.00000000e+00, -1.84637338e-13, -1.00000000e+00,  0.00000000e+00,
        1.84637338e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08269541, -0.0311719 ,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37936764e-06,-1.17206500e-05, 9.59703710e-07,-3.03399685e-05,
  3.23494119e-05, 4.76825019e-05, 3.69539214e-05,-8.00618736e-06,
  1.86295993e-05, 4.35915652e-05, 2.40149046e-05,-1.12437366e-05,
 -4.97733631e-04,-8.13592182e-05,-2.03643464e-04, 8.54200013e-05,
 -3.58754770e-06, 3.11455479e-07,-1.21645103e+00,-4.32882431e-04,
  2.22662956e-05,-5.50286832e-04]


--- Step 218 ---
qpos:
[ 0.00614101,-0.00179022,-0.00491356, 0.03318808, 0.00442012,-0.00372183,
 -0.01828576, 0.02825992, 0.01282657, 0.00327059,-0.00991677, 0.02559122,
  0.55623068,-0.00102874, 0.38505621, 0.06523476, 0.09258677,-0.07002553,
  0.13108622, 0.50950379, 0.49206408, 0.49041495, 0.50771252]

qacc:
[-5.02299947e-02,-2.56693472e+00, 1.02414376e+01,-1.79991964e+01,
  3.32176594e+00,-2.64478057e-02, 1.28372780e+00,-4.33651856e+00,
  1.62050123e+00,-8.78918636e-01, 6.95768798e+00,-2.11951041e+01,
 -1.98929068e+00, 5.89596237e+00,-6.77794366e+00, 1.83041783e+01,
  5.62913439e-01,-1.93689782e+00,-7.90789343e-01, 8.84885741e+00,
 -2.52756813e+00, 2.77428144e+01]

qfrc_actuator:
[ 7.22077591e-05,-1.19929158e-04,-1.72232400e-04, 4.80309089e-04,
  7.86466309e-05,-3.15182136e-04,-4.76336069e-04, 2.88843078e-04,
  2.50336500e-04,-4.19229958e-05,-2.52533549e-04, 2.58695019e-04,
  7.23891093e-02,-3.82764437e-04, 5.12347732e-02,-3.66769562e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002977894937216674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.86410711e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.86410711e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08269466, -0.03117032,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.21905180e-07,-3.64590836e-05, 1.52398076e-05,-2.26676175e-05,
  1.95704759e-05, 3.29458787e-05, 8.06327277e-06,-6.68988003e-06,
  9.54256266e-06, 6.82535539e-06,-1.33150691e-05,-4.28995591e-05,
 -5.02105689e-04,-4.09869993e-05,-2.15172925e-04, 2.61495107e-05,
 -5.03461993e-06, 1.31331364e-06,-1.21645380e+00,-4.33318613e-04,
  2.65439006e-05,-5.50881797e-04]


--- Step 219 ---
qpos:
[ 0.00614309,-0.00179048,-0.00491553, 0.03319731, 0.00442155,-0.00372103,
 -0.01829067, 0.02826603, 0.01283117, 0.00327135,-0.00991984, 0.0255961 ,
  0.55774232,-0.00102569, 0.38648008, 0.06525019, 0.09262825,-0.0700547 ,
  0.13106931, 0.50925635, 0.49233616, 0.49045926, 0.5076542 ]

qacc:
[ 2.86741579,-0.06578183,-0.42660518, 1.37953518,-1.19116508, 1.79546391,
 -5.29194121, 3.80988934,-2.43648363, 0.59270057, 0.06660065,-5.10951117,
 -2.90540546,10.98194887, 0.39477706,-7.24405136, 0.5589293 ,-1.92019483,
 -0.87333504, 8.82090842,-2.44580549,27.51158709]

qfrc_actuator:
[ 8.89895614e-05,-1.36985055e-04,-1.78331819e-04, 4.81683814e-04,
  7.12199832e-05,-3.16167360e-04,-5.13778400e-04, 2.80538983e-04,
  2.35919589e-04, 1.56540217e-05,-2.48434442e-04, 2.47661791e-04,
  7.22607365e-02,-3.16293071e-04, 5.10679283e-02,-3.75278146e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002933758896187799
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.7843022e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        3.7843022e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08269377, -0.03116788,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67575418e-05,-3.52715588e-05,-1.25380227e-05,-1.18100663e-07,
 -6.85619995e-06, 1.88421735e-05,-2.98454862e-05,-6.74962354e-06,
 -1.41422059e-05, 5.68365778e-05, 2.40832284e-06,-1.20414560e-05,
 -4.87640843e-04, 3.53509140e-06,-2.63152848e-04,-1.11673569e-04,
 -6.66726142e-06, 2.73417658e-06,-1.21645768e+00,-4.33568170e-04,
  3.13716424e-05,-5.51667989e-04]


--- Step 220 ---
qpos:
[ 0.00614535,-0.0017908 ,-0.00491762, 0.03320612, 0.00442253,-0.00372035,
 -0.01829555, 0.028272  , 0.01283523, 0.00327269,-0.00992269, 0.02560146,
  0.55925128,-0.00102183, 0.38790111, 0.0652654 , 0.09267182,-0.07007948,
  0.13105713, 0.50901712, 0.49259741, 0.49052705, 0.50757519]

qacc:
[  1.62188516, -0.59385629,  3.78042062,-10.84058879, -3.8886947 ,
  -0.4923913 ,  2.12958717, -4.46903695, -4.87435904,  1.15340938,
  -5.03013203, 12.58165812, -2.33014742,  7.90853157, -3.47017097,
   6.19006445,  0.51992492,  1.09910617,  1.1842581 ,  6.2454145 ,
   1.62201408,-15.78161563]

qfrc_actuator:
[ 9.80317418e-05,-1.29207472e-04,-1.81159748e-04, 4.61041566e-04,
  4.85201218e-05,-3.35005747e-04,-5.16169887e-04, 2.73191084e-04,
  2.07839083e-04, 6.73480538e-05,-2.26885540e-04, 2.74768355e-04,
  7.21241183e-02,-2.78399943e-04, 5.09486693e-02,-3.75585517e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028791711426647297
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78092156e-07, -1.78092261e-07,  1.00000000e+00,  3.17168347e-14,
        1.00000000e+00,  1.78092261e-07, -1.00000000e+00,  0.00000000e+00,
        1.78092156e-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([ 0.08586236, -0.08753211,  0.06199178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.50785791e-06,-1.45305175e-05,-1.16595067e-05,-2.26065307e-05,
 -2.28876358e-05,-1.47431401e-05,-2.37466160e-06,-7.70863849e-06,
 -2.84618036e-05, 8.34659284e-05, 3.31906124e-05, 2.93869937e-05,
 -4.80352067e-04,-2.06094024e-05,-2.51214979e-04,-4.31034932e-05,
 -8.48322004e-06, 4.56843419e-06,-1.21646263e+00,-4.33648317e-04,
  3.67474910e-05,-5.52642575e-04]


--- Step 221 ---
qpos:
[ 0.00614736,-0.00179134,-0.00491938, 0.03321391, 0.00442358,-0.00371982,
 -0.01829985, 0.0282778 , 0.01283857, 0.0032742 ,-0.00992482, 0.02560746,
  0.56075759,-0.00101779, 0.38931945, 0.065282  , 0.09271738,-0.07009984,
  0.13104861, 0.50878632, 0.49284777, 0.4906183 , 0.50747536]

qacc:
[ -2.21891538, -3.34402575, 15.81485915,-33.85330372,  0.59047097,
  -2.18516616,  8.21011218,-11.95107745, -6.25297513, -0.4315053 ,
  -0.81014711, 10.64174879, -1.58798726,  3.80445476, -8.13056813,
  22.7699363 ,  0.49762649,  1.10588493,  0.91334632,  6.22076435,
   1.53480671,-15.89040672]

qfrc_actuator:
[ 8.46882082e-05,-1.42129941e-04,-1.64187799e-04, 4.09881266e-04,
  5.25261579e-05,-3.28760226e-04,-4.80160745e-04, 2.66477095e-04,
  1.71948889e-04, 6.19816016e-05,-1.95194180e-04, 3.06352471e-04,
  7.19773182e-02,-2.75453871e-04, 5.08474138e-02,-3.67488691e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5475978 , -0.58292189, -4.5100829 , -0.58292189, 10.26369896,
       -0.73879806, -4.5100829 , -0.73879806,  4.64308641,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030215659145325924
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.61171091e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.61171091e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08589582, -0.08812862,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30754359e-05,-2.44126819e-05, 1.17581186e-05,-5.26414543e-05,
  3.34756094e-06,-2.80841760e-06, 3.24415439e-05,-7.58100053e-06,
 -3.66698535e-05, 4.93994724e-05, 5.40483908e-05, 3.68747431e-05,
 -4.88101434e-04,-5.63580518e-05,-2.20337501e-04, 4.62395590e-05,
 -8.27716487e-06, 3.62927580e-06,-1.21646192e+00,-4.35279485e-04,
  3.43986934e-05,-5.53068847e-04]


--- Step 222 ---
qpos:
[ 0.00614885,-0.00179214,-0.00492063, 0.03322136, 0.00442467,-0.00371933,
 -0.01830372, 0.02828347, 0.01284145, 0.00327548,-0.009926  , 0.02561383,
  0.56226133,-0.00101403, 0.39073559, 0.06529573, 0.09276487,-0.07011587,
  0.13104283, 0.50856369, 0.49308772, 0.49073257, 0.50735492]

qacc:
[ -4.55531522, -2.43061035,  9.58385891,-15.98437291,  0.3601424 ,
  -1.50270583,  5.8555562 , -8.78614672, -3.9780329 , -2.20661372,
   5.86152533, -0.81804517, -1.11005046,  1.15005837,  5.42829197,
 -23.6864886 ,  0.48237387,  1.08094331,  0.68712941,  6.23275715,
   1.42024206,-15.54217127]

qfrc_actuator:
[ 5.82780777e-05,-1.49537595e-04,-1.35756667e-04, 3.94433912e-04,
  5.44712725e-05,-3.25132727e-04,-4.57187501e-04, 2.60230013e-04,
  1.49506189e-04, 2.25422269e-05,-1.58005418e-04, 3.22516179e-04,
  7.18404795e-02,-2.93158307e-04, 5.07197680e-02,-3.82906011e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57893879, -0.71936281, -4.5220789 , -0.71936281, 12.71025554,
       -1.29351278, -4.5220789 , -1.29351278,  4.78470808,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031137860542673756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.2841538e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.2841538e-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([ 0.08589542, -0.08812623,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.67867329e-05,-2.08747319e-05, 2.30230267e-05,-1.71233055e-05,
  2.03875844e-06, 8.45248172e-06, 2.61581805e-05,-5.39714252e-06,
 -2.34671638e-05, 8.84220731e-07, 5.53247410e-05, 2.08586267e-05,
 -4.87803470e-04,-8.04671011e-05,-2.23747253e-04,-1.80221785e-04,
 -8.06130199e-06, 2.75879874e-06,-1.21646159e+00,-4.36840699e-04,
  3.17690437e-05,-5.53398562e-04]


--- Step 223 ---
qpos:
[ 0.00614967,-0.00179288,-0.00492196, 0.03322892, 0.00442542,-0.00371907,
 -0.01830748, 0.02828976, 0.01284439, 0.00327617,-0.00992613, 0.0256197 ,
  0.56376261,-0.00101115, 0.39214914, 0.06530911, 0.09281424,-0.07012766,
  0.13103904, 0.50834901, 0.49331765, 0.4908695 , 0.50721408]

qacc:
[ -5.92377465,  0.5032417 , -2.07873752,  3.8544804 , -2.87845422,
   0.64489168, -5.37959396, 16.11915316,  0.5145763 , -4.74798299,
  17.9442853 ,-27.96457218, -0.34915991, -2.81432699, -2.79921212,
   4.21045077,  0.47059827,  1.06003586,  0.49654725,  6.24368315,
   1.32260372,-15.25105665]

qfrc_actuator:
[ 2.43959791e-05,-1.35750599e-04,-1.36251023e-04, 4.00136452e-04,
  3.74266812e-05,-3.58643756e-04,-4.59864510e-04, 2.89798301e-04,
  1.52912870e-04,-3.69939037e-05,-1.18039397e-04, 2.93938410e-04,
  7.17150326e-02,-3.40625233e-04, 5.06136218e-02,-3.83656921e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59698065, -0.89116824, -4.50977275, -0.89116824, 17.38774038,
       -2.52755946, -4.50977275, -2.52755946,  5.09644722,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003165152691814027
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.26146666e-13,  1.37017361e-13,  1.00000000e+00, -7.20912277e-26,
        1.00000000e+00, -1.37017361e-13, -1.00000000e+00,  0.00000000e+00,
        5.26146666e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08589491, -0.08812492,  0.06199096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.46488556e-05, 6.14861453e-06,-2.55623492e-06, 5.26011740e-06,
 -1.69842386e-05,-2.35973685e-05, 2.13113481e-06, 3.07253603e-05,
  2.74127759e-06,-4.67654147e-05, 4.76733912e-05,-2.62325333e-05,
 -4.79344545e-04,-1.11847346e-04,-2.29992249e-04,-4.68428807e-05,
 -7.85587786e-06, 1.98317314e-06,-1.21646166e+00,-4.38333225e-04,
  2.89493401e-05,-5.53638145e-04]


--- Step 224 ---
qpos:
[ 0.00615007,-0.00179329,-0.00492369, 0.03323647, 0.00442597,-0.00371886,
 -0.01831157, 0.02829636, 0.01284735, 0.00327663,-0.00992639, 0.02562521,
  0.56526134,-0.00100848, 0.39355991, 0.06532261, 0.09286546,-0.07013528,
  0.1310366 , 0.50814209, 0.49353787, 0.49102877, 0.50705298]

qacc:
[ -3.64817797,  1.57614305, -4.97224696,  5.33498199, -1.84974008,
   1.50395676, -6.75625089, 12.69268392,  0.15527069, -0.64424858,
   3.34979023, -9.05322963, -1.12652331,  1.34814342, -4.40108059,
   9.49449654,  0.46167307,  1.04258195,  0.33624996,  6.25558518,
   1.23836137,-15.00861554]

qfrc_actuator:
[ 4.14443461e-06,-1.09465883e-04,-1.53725684e-04, 4.00476353e-04,
  2.70944292e-05,-3.60954309e-04,-4.77788727e-04, 3.04650551e-04,
  1.53749365e-04,-5.48865146e-05,-1.30141040e-04, 2.74750359e-04,
  7.15858509e-02,-3.51976683e-04, 5.04832088e-02,-3.82847155e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6035259 , -1.11810591, -4.4656791 , -1.11810591, 26.34258423,
       -5.44297275, -4.4656791 , -5.44297275,  5.96632422,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003183493330864151
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.48743631e-13,  5.44911924e-15,  1.00000000e+00, -1.90034563e-27,
        1.00000000e+00, -5.44911924e-15, -1.00000000e+00,  0.00000000e+00,
        3.48743631e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08589429, -0.08812449,  0.06199091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.12324428e-05, 2.94312234e-05,-1.63295499e-05, 6.06343906e-07,
 -1.08269800e-05,-1.37344324e-05,-2.14449866e-05, 1.45071443e-05,
  9.00425687e-07,-3.53469434e-05,-1.68140361e-05,-2.00670009e-05,
 -4.80788117e-04,-7.68474160e-05,-2.41233076e-04,-2.43576394e-05,
 -7.65632751e-06, 1.29376992e-06,-1.21646213e+00,-4.39773794e-04,
  2.59348633e-05,-5.53788525e-04]


--- Step 225 ---
qpos:
[ 0.00615057,-0.00179348,-0.00492531, 0.0332436 , 0.00442639,-0.00371861,
 -0.01831559, 0.0283027 , 0.01284995, 0.00327723,-0.00992729, 0.02563113,
  0.56675742,-0.00100527, 0.39496836, 0.06533008, 0.0929185 ,-0.07013879,
  0.13103496, 0.50794279, 0.49374867, 0.49121013, 0.50687176]

qacc:
[  0.86848264, -0.88927698,  5.37602913,-13.03018466, -1.12279703,
  -0.63422285,  3.41987742, -7.97895898, -3.17294913,  2.77303295,
 -11.33598742, 19.2569753 , -2.0891459 ,  6.39376504, 14.7738696 ,
 -56.57310088,  0.45509099,  1.02808575,  0.20168603,  6.26987497,
   1.1647049 ,-14.80775811]

qfrc_actuator:
[ 9.83265882e-06,-9.37254175e-05,-1.45519211e-04, 3.79907864e-04,
  2.08019707e-05,-3.44645558e-04,-4.68958480e-04, 2.92982218e-04,
  1.35305571e-04,-3.01674828e-05,-1.54967275e-04, 2.96748593e-04,
  7.14545253e-02,-3.24217050e-04, 5.03276940e-02,-4.14862356e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031753783601906616
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.46304496e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.46304496e-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([ 0.0858936 , -0.08812475,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.09704830e-06, 2.88612277e-05, 1.23043825e-05,-1.98717680e-05,
 -6.60624570e-06, 4.84239067e-06, 3.88481541e-06,-1.27222734e-05,
 -1.84267513e-05, 6.03378076e-07,-3.49046070e-05, 1.94989367e-05,
 -4.79599322e-04,-3.59230115e-05,-2.68386462e-04,-3.52654467e-04,
 -7.45921633e-06, 6.83556253e-07,-1.21646297e+00,-4.41175618e-04,
  2.27212002e-05,-5.53850609e-04]


--- Step 226 ---
qpos:
[ 0.00615114,-0.00179356,-0.00492706, 0.03325046, 0.00442673,-0.0037188 ,
 -0.01831899, 0.02830853, 0.0128523 , 0.00327782,-0.00992845, 0.02563691,
  0.56825091,-0.00100171, 0.39637327, 0.06533472, 0.09297334,-0.07013823,
  0.13103368, 0.50775096, 0.49395028, 0.49141336, 0.50667049]

qacc:
[  0.55854381, -0.05639118,  1.57548054, -6.17621157, -0.65957521,
  -3.41629543, 13.50642041,-23.08737458, -2.13035325,  0.46400078,
  -1.07571641, -0.86436377, -1.7993168 ,  4.94677068,  3.39908438,
 -19.36321208,  0.45044039,  1.01612294,  0.08897076,  6.28748653,
   1.09939411,-14.6425081 ]

qfrc_actuator:
[ 1.29856021e-05,-1.02088802e-04,-1.57764655e-04, 3.64968688e-04,
  1.69356220e-05,-3.88240257e-04,-4.44330102e-04, 2.65844531e-04,
  1.23414944e-04,-3.34072718e-05,-1.69128493e-04, 2.89583732e-04,
  7.13220138e-02,-3.09173373e-04, 5.01518522e-02,-4.28683491e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031463084463748126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.85946405e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.85946405e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08589283, -0.08812556,  0.06199102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.30914940e-06, 9.47642297e-06,-5.45118877e-06,-1.36756291e-05,
 -4.05298279e-06,-4.06079118e-05, 2.56973452e-05,-2.70488101e-05,
 -1.24111827e-05,-9.29934917e-06,-1.76674964e-05,-7.97853332e-06,
 -4.75198519e-04,-4.60024742e-05,-3.38078823e-04,-1.92577060e-04,
 -7.26194785e-06, 1.46736998e-07,-1.21646415e+00,-4.42549314e-04,
  1.93040575e-05,-5.53825286e-04]


--- Step 227 ---
qpos:
[ 0.00615174,-0.00179365,-0.00492947, 0.03325783, 0.00442703,-0.00371968,
 -0.01832129, 0.0283133 , 0.0128545 , 0.003279  ,-0.0099306 , 0.02564219,
  0.56974182,-0.00099763, 0.3977742 , 0.0653432 , 0.09302997,-0.07013365,
  0.13103238, 0.50756649, 0.4941429 , 0.4916383 , 0.50644924]

qacc:
[ 2.75741094e-01, 2.87848149e+00,-1.24696451e+01, 2.24301214e+01,
 -3.82962259e-01,-6.11996285e+00, 2.49850207e+01,-4.45677933e+01,
 -1.46162999e+00, 2.52135467e+00,-5.73672615e+00,-1.80567955e+00,
 -1.91586256e+00, 5.70700523e+00,-1.74149861e+01, 5.25108962e+01,
  4.47386489e-01, 1.00632996e+00,-5.21837419e-03, 6.30899708e+00,
  1.04064079e+00,-1.45078116e+01]

qfrc_actuator:
[ 1.46124582e-05,-1.24899897e-04,-1.99842423e-04, 3.88931132e-04,
  1.45263667e-05,-4.31808258e-04,-3.93073168e-04, 2.12032228e-04,
  1.15482495e-04, 1.76700035e-05,-2.12506930e-04, 2.65300899e-04,
  7.11942070e-02,-2.84028145e-04, 5.00172639e-02,-4.06811838e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031008744171437397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.58035468e-13, -8.39145629e-14,  1.00000000e+00,  3.00443898e-26,
        1.00000000e+00,  8.39145629e-14, -1.00000000e+00,  0.00000000e+00,
        3.58035468e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.085892  , -0.08812681,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72572855e-06,-1.92166030e-05,-4.12595173e-05, 2.39022715e-05,
 -2.53910459e-06,-6.20948331e-05, 4.51279459e-05,-5.51946828e-05,
 -8.28541476e-06, 4.18679040e-05,-4.77549323e-05,-2.54586077e-05,
 -4.68685260e-04,-3.61212143e-05,-3.06570295e-04, 1.65362367e-04,
 -7.06254988e-06,-3.21523230e-07,-1.21646569e+00,-4.43903590e-04,
  1.56791421e-05,-5.53713426e-04]


--- Step 228 ---
qpos:
[ 0.0061527 ,-0.00179414,-0.00493193, 0.03326544, 0.00442763,-0.00372112,
 -0.018323  , 0.0283181 , 0.01285658, 0.0032806 ,-0.009933  , 0.02564711,
  0.57123038,-0.00099457, 0.39917234, 0.06535563, 0.09308838,-0.07012508,
  0.13103074, 0.50738929, 0.49432671, 0.49188479, 0.50620802]

qacc:
[  3.1712604 ,  0.11591066, -2.15806787,  6.61078299,  2.77409365,
  -2.37433423,  7.27685904, -7.37135782, -1.00212738,  0.49383536,
   0.54852397, -6.70408009, -0.08468733, -3.91579251,-16.0712349 ,
  50.22783207,  0.44565647,  0.99839522, -0.08372639,  6.33472161,
   0.98701566,-14.39938471]

qfrc_actuator:
[ 3.30811713e-05,-1.56289511e-04,-2.05976152e-04, 4.00052000e-04,
  3.07458293e-05,-4.57185646e-04,-3.62048191e-04, 2.13978045e-04,
  1.09941630e-04, 4.74901120e-05,-2.19324529e-04, 2.48920256e-04,
  7.10693161e-02,-3.41900016e-04, 4.99342251e-02,-3.85381905e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003042893961103521
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82428806e-13,  1.88129706e-13,  1.00000000e+00, -3.43202777e-26,
        1.00000000e+00, -1.88129706e-13, -1.00000000e+00,  0.00000000e+00,
        1.82428806e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08589113, -0.08812838,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.85130673e-05,-4.96203337e-05,-1.43457833e-05, 9.32400385e-06,
  1.61257443e-05,-5.30972850e-05, 2.18750448e-05,-2.31413992e-07,
 -5.75606794e-06, 4.22520565e-05,-4.93005115e-06,-1.67431095e-05,
 -4.59364569e-04,-1.17989561e-04,-2.00538425e-04, 1.84984097e-04,
 -6.85951773e-06,-7.25317378e-07,-1.21646756e+00,-4.45245752e-04,
  1.18420890e-05,-5.53515887e-04]


--- Step 229 ---
qpos:
[ 0.00615387,-0.00179529,-0.00493375, 0.0332731 , 0.00442843,-0.00372241,
 -0.01832543, 0.02832288, 0.01285858, 0.00328236,-0.00993541, 0.02565181,
  0.57271663,-0.00099283, 0.40056796, 0.06537117, 0.09314857,-0.07011254,
  0.13102851, 0.50721927, 0.49450185, 0.49215274, 0.50594685]

qacc:
[  1.91446209, -2.56863846,  7.5944256 , -7.03689285,  1.63131456,
   2.19649798, -7.51177655,  8.36600147, -0.72867512, -0.22394843,
   2.07919632, -6.06624491,  0.23789059, -5.6833712 ,-13.11431718,
  40.3891656 ,  0.44502762,  0.99205181, -0.14899051,  6.36478615,
   0.93737495,-14.31359092]

qfrc_actuator:
[ 4.35624829e-05,-1.92451609e-04,-1.73134231e-04, 4.03540861e-04,
  4.00468554e-05,-4.35996931e-04,-3.96371760e-04, 2.13211370e-04,
  1.05851068e-04, 4.67490029e-05,-2.22304516e-04, 2.37340813e-04,
  7.09409190e-02,-4.12738385e-04, 4.98182414e-02,-3.69708623e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029755286434787753
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.86558954e-13,  9.91094445e-14,  1.00000000e+00, -1.84897543e-26,
        1.00000000e+00, -9.91094445e-14, -1.00000000e+00,  0.00000000e+00,
        1.86558954e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08589023, -0.0881302 ,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09931125e-05,-6.64412828e-05, 2.11635306e-05, 1.03630955e-06,
  9.74223097e-06,-3.92759777e-06,-4.25789068e-05,-2.29415331e-06,
 -4.23490017e-06, 2.11147098e-05, 4.56204270e-06,-1.02737131e-05,
 -4.66033852e-04,-1.35313498e-04,-1.87879613e-04, 1.40897521e-04,
 -6.65169905e-06,-1.06816715e-06,-1.21646975e+00,-4.46582082e-04,
  7.78841851e-06,-5.53233514e-04]


--- Step 230 ---
qpos:
[ 0.00615516,-0.0017968 ,-0.00493526, 0.03328074, 0.00442864,-0.00372309,
 -0.01832852, 0.02832721, 0.01286052, 0.00328443,-0.00993764, 0.02565699,
  0.57420027,-0.00099122, 0.40196101, 0.06538785, 0.09321055,-0.07009604,
  0.13102546, 0.50705635, 0.49466846, 0.49244206, 0.5056657 ]

qacc:
[  1.04022015, -1.39928112,  4.46945651, -5.33377814, -5.1498345 ,
   1.71221468, -2.98223289, -4.35831238, -0.56876387,  0.93583903,
  -4.82397633, 12.78117135, -1.26512596,  1.9949391 , -7.19474954,
  19.72020883,  0.44531778,  0.98707122, -0.20309829,  6.39918408,
   0.89080227,-14.24734044]

qfrc_actuator:
[ 4.92533066e-05,-1.95529578e-04,-1.53088913e-04, 4.02529081e-04,
  9.69050014e-06,-3.69594124e-04,-4.15555823e-04, 1.93092227e-04,
  1.02645832e-04, 8.09972742e-05,-2.05378839e-04, 2.64153396e-04,
  7.07998503e-02,-4.19634246e-04, 4.96772423e-02,-3.64662756e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002901384115166217
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.82652893e-13,  1.49473786e-13,  1.00000000e+00, -5.71965767e-26,
        1.00000000e+00, -1.49473786e-13, -1.00000000e+00,  0.00000000e+00,
        3.82652893e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0858893 , -0.0881322 ,  0.06199171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.98331770e-06,-3.57702939e-05, 8.97936417e-06,-3.11763376e-06,
 -3.00776391e-05, 5.53816405e-05,-2.52870440e-05,-2.18081713e-05,
 -3.31387277e-06, 4.65163158e-05, 2.14928055e-05, 2.76668528e-05,
 -4.85607003e-04,-7.35535886e-05,-2.12897913e-04, 3.35765897e-05,
 -6.43820915e-06,-1.35315884e-06,-1.21647228e+00,-4.47918129e-04,
  3.51351340e-06,-5.52867147e-04]


--- Step 231 ---
qpos:
[ 0.00615651,-0.00179799,-0.00493678, 0.03328754, 0.00442848,-0.00372322,
 -0.01833193, 0.02833194, 0.01286206, 0.0032866 ,-0.00993983, 0.02566214,
  0.57568129,-0.00098996, 0.4033516 , 0.06540561, 0.09327431,-0.07007562,
  0.13102143, 0.50690047, 0.49482664, 0.49275268, 0.50536453]

qacc:
[  0.50264735, -1.27698737,  8.63241194,-23.14786009, -3.21765291,
   2.46536939, -9.38920716, 16.37339986, -3.50446013, -0.0476416 ,
   0.53541296, -1.27679565, -1.01143641,  0.57528479, -6.89006297,
  18.89241777,  0.44637778,  0.98325807, -0.24783667,  6.43781885,
   0.84656242,-14.1980073 ]

qfrc_actuator:
[ 5.20817749e-05,-1.43306475e-04,-1.40642013e-04, 3.63385920e-04,
 -8.25666278e-06,-3.29846470e-04,-4.25436339e-04, 2.15069878e-04,
  8.22343735e-05, 6.50367258e-05,-2.12180691e-04, 2.60121836e-04,
  7.06566125e-02,-4.42100347e-04, 4.95692610e-02,-3.58819790e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028225959144623225
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.96667015e-13,  6.14584421e-15,  1.00000000e+00,  1.20868483e-27,
        1.00000000e+00, -6.14584421e-15, -1.00000000e+00,  0.00000000e+00,
       -1.96667015e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08588836, -0.08813433,  0.06199194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.99069139e-06, 3.39944442e-05, 6.07276339e-06,-4.04367679e-05,
 -1.87850334e-05, 6.46000741e-05,-2.27499060e-06, 2.30516658e-05,
 -2.04861202e-05, 1.56217263e-05, 6.40388792e-06,-7.66686623e-07,
 -4.94064868e-04,-8.78418029e-05,-2.02757249e-04, 3.24821578e-05,
 -6.21836883e-06,-1.58305180e-06,-1.21647513e+00,-4.49258914e-04,
 -9.87392015e-07,-5.52417623e-04]


--- Step 232 ---
qpos:
[ 0.00615754,-0.00179878,-0.00493823, 0.03329381, 0.0044288 ,-0.00372312,
 -0.01833561, 0.02833727, 0.01286368, 0.00328886,-0.0099423 , 0.02566689,
  0.57715973,-0.00098895, 0.40473958, 0.0654246 , 0.09333986,-0.07005127,
  0.13101625, 0.50675158, 0.4949765 , 0.49308456, 0.50504329]

qacc:
[ -2.8322566 , -0.74980736,  5.73842803,-15.49582004,  4.15361825,
   2.29486811,-10.34686849, 21.20048987,  0.76867347,  0.05830408,
   1.66581326, -8.30863105, -1.11365418,  1.17770979, -7.54534701,
  20.82760361,  0.44808529,  0.98044555, -0.28473387,  6.4805361 ,
   0.80406477,-14.16335998]

qfrc_actuator:
[ 3.54522621e-05,-1.11679748e-04,-1.32563760e-04, 3.37673510e-04,
  1.67614789e-05,-3.41789492e-04,-4.47558924e-04, 2.43880121e-04,
  8.73638240e-05, 5.45226461e-05,-2.33167986e-04, 2.37909358e-04,
  7.05281456e-02,-4.55868266e-04, 4.94438913e-02,-3.52539566e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002740902885975116
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02528705e-13,  1.58225551e-13,  1.00000000e+00, -3.20452159e-26,
        1.00000000e+00, -1.58225551e-13, -1.00000000e+00,  0.00000000e+00,
        2.02528705e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08588742, -0.08813653,  0.06199217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.65271686e-05, 5.02009556e-05, 1.44642058e-05,-2.48421140e-05,
  2.45032476e-05, 2.47265161e-05,-8.23020882e-06, 3.19467168e-05,
  4.55833269e-06,-5.55357455e-07,-1.70071218e-05,-2.13466754e-05,
 -4.87039586e-04,-8.13903032e-05,-2.16175554e-04, 3.79645480e-05,
 -5.99165879e-06,-1.76036564e-06,-1.21647830e+00,-4.50609100e-04,
 -5.71921567e-06,-5.51885778e-04]


--- Step 233 ---
qpos:
[ 0.00615801,-0.00179953,-0.00493945, 0.0333001 , 0.00442942,-0.00372316,
 -0.01833904, 0.02834258, 0.0128657 , 0.00329116,-0.00994474, 0.02567166,
  0.57863551,-0.00098774, 0.40612487, 0.06544093, 0.09340721,-0.07002301,
  0.13100981, 0.50660962, 0.49511812, 0.49343767, 0.5047019 ]

qacc:
[-4.84605260e+00,-5.37948578e-01, 1.93523870e+00,-1.98424304e+00,
  2.61358977e+00,-9.51139031e-01, 3.22149647e+00,-3.99787485e+00,
  3.46514681e+00,-1.47362132e-03,-5.30989908e-02, 4.49314110e-01,
 -1.69711463e+00, 4.13714153e+00, 4.12488874e+00,-2.00978687e+01,
  4.50339867e-01, 9.78491429e-01,-3.15095171e-01, 6.52714746e+00,
  7.62834047e-01,-1.41415031e+01]

qfrc_actuator:
[ 7.50417353e-06,-1.28134782e-04,-1.27173707e-04, 3.37816603e-04,
  3.13583839e-05,-3.66883152e-04,-4.41446563e-04, 2.40912583e-04,
  1.07490359e-04, 6.50126883e-05,-2.26851138e-04, 2.40680244e-04,
  7.03926557e-02,-4.46627276e-04, 4.92762376e-02,-3.67357258e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026577099408338356
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.08868358e-13,  6.52713620e-15,  1.00000000e+00, -1.36331222e-27,
        1.00000000e+00, -6.52713620e-15, -1.00000000e+00,  0.00000000e+00,
        2.08868358e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08588648, -0.08813877,  0.0619924 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.83972580e-05, 1.35636634e-05, 1.66936556e-05, 2.30275014e-06,
  1.53044398e-05,-1.15614434e-05, 1.13403413e-05,-1.57587333e-06,
  2.02629835e-05, 5.69483792e-06, 3.36205672e-06, 1.73318560e-06,
 -4.88241511e-04,-5.72334808e-05,-2.63309169e-04,-1.74270136e-04,
 -5.75768624e-06,-1.88745065e-06,-1.21648180e+00,-4.51973110e-04,
 -1.06870279e-05,-5.51272448e-04]


--- Step 234 ---
qpos:
[ 0.00615849,-0.00180033,-0.00494019, 0.03330564, 0.00442987,-0.00372312,
 -0.01834214, 0.02834708, 0.01286795, 0.00329336,-0.00994648, 0.0256764 ,
  0.5801086 ,-0.00098636, 0.40750771, 0.06545521, 0.09347637,-0.06999084,
  0.13100202, 0.50647455, 0.49525159, 0.493812  , 0.50434027]

qacc:
[  0.07093655, -2.94976865, 13.51975363,-27.04850814, -1.52090497,
  -2.47931135, 12.41308947,-26.94435028,  2.00935584, -2.14214139,
   7.60112573, -9.23659129, -1.68342819,  3.97942085,  2.55945667,
 -14.12593543,  0.45305895,  0.97727468, -0.34003391,  6.57744776,
   0.72248708,-14.13082823]

qfrc_actuator:
[ 8.62917660e-06,-1.37739913e-04,-1.05840980e-04, 2.99869012e-04,
  2.19380292e-05,-3.46327106e-04,-4.18802103e-04, 2.01521189e-04,
  1.18521932e-04, 7.03680608e-05,-1.86602128e-04, 2.40417893e-04,
  7.02477254e-02,-4.41688276e-04, 4.91791776e-02,-3.76740796e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002574141636674937
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.15649172e-13, -1.54997842e-13,  1.00000000e+00,  3.34251563e-26,
        1.00000000e+00,  1.54997842e-13, -1.00000000e+00,  0.00000000e+00,
        2.15649172e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08588556, -0.08814102,  0.06199264])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.23930372e-07, 1.54247030e-06, 2.62798152e-05,-3.67525260e-05,
 -8.98762913e-06, 1.64011800e-05, 2.16271302e-05,-3.95298751e-05,
  1.16147395e-05, 9.25692247e-06, 4.18916818e-05, 1.20973189e-07,
 -4.95794383e-04,-6.02094497e-05,-2.36691802e-04,-1.37509331e-04,
 -5.51616067e-06,-1.96654506e-06,-1.21648563e+00,-4.53355215e-04,
 -1.58960497e-05,-5.50578480e-04]


--- Step 235 ---
qpos:
[ 0.00615898,-0.00180117,-0.00494063, 0.03331036, 0.00443054,-0.00372323,
 -0.01834483, 0.02835111, 0.01287065, 0.0032955 ,-0.00994742, 0.02568108,
  0.581579  ,-0.00098488, 0.40888791, 0.06546984, 0.09354825,-0.06996702,
  0.13099392, 0.50630082, 0.49542712, 0.49416475, 0.50399668]

qacc:
[  0.09317115, -2.58975821, 12.69366431,-27.58201832,  2.01845629,
  -2.32365647, 10.00063237,-18.82193569,  4.073987  , -2.42210502,
   8.72381105,-10.83252335, -1.57754755,  3.45040271, -4.8696664 ,
  11.47492107,  0.67817804, -2.08521935, -0.07526453, 10.32706242,
  -2.06085896, 30.04843073]

qfrc_actuator:
[ 9.10800285e-06,-1.43142328e-04,-9.30341413e-05, 2.57573070e-04,
  3.39657910e-05,-3.69569478e-04,-4.04181232e-04, 1.76567689e-04,
  1.41859721e-04, 7.27550871e-05,-1.44422222e-04, 2.38386220e-04,
  7.01078817e-02,-4.39381115e-04, 4.90766177e-02,-3.73943989e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026334065599249723
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.10795978e-13,  2.10795978e-13,  1.00000000e+00, -4.44349445e-26,
        1.00000000e+00, -2.10795978e-13, -1.00000000e+00,  0.00000000e+00,
        2.10795978e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08268784, -0.03115187,  0.06199247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.91270315e-07,-6.62223480e-07, 1.50957784e-05,-4.20449187e-05,
  1.17775381e-05,-1.12762699e-05, 1.93309543e-05,-2.42744920e-05,
  2.36754311e-05, 1.61631798e-05, 4.92419411e-05,-1.94774189e-07,
 -4.96257204e-04,-6.42785525e-05,-2.27111772e-04,-1.05203111e-05,
 -5.26687631e-06,-1.99982194e-06,-1.21648978e+00,-4.54759614e-04,
 -2.13516514e-05,-5.49804727e-04]


--- Step 236 ---
qpos:
[ 0.00615913,-0.00180222,-0.00494086, 0.03331524, 0.0044317 ,-0.00372362,
 -0.01834753, 0.02835519, 0.01287327, 0.00329797,-0.00994908, 0.02568576,
  0.58304668,-0.000983  , 0.41026586, 0.06547868, 0.09361535,-0.06995176,
  0.13098986, 0.50611317, 0.495613  , 0.49446936, 0.50370354]

qacc:
[-3.00383063e+00,-5.13940450e-01, 6.89213007e-01, 2.16429765e+00,
  4.23987940e+00,-2.09951187e-01,-3.62649408e-02, 1.29386382e+00,
 -7.86499488e-01, 2.43299688e+00,-8.02684000e+00, 8.84612128e+00,
 -1.98109675e+00, 5.44128395e+00, 1.41628373e+01,-5.42818410e+01,
 -1.19539687e+00,-2.14374964e+00, 1.00924137e+00,-1.85266300e+01,
  1.14784449e+00, 3.07608794e+01]

qfrc_actuator:
[-8.55927210e-06,-1.63781657e-04,-8.53514446e-05, 2.66316272e-04,
  5.85286773e-05,-4.01126205e-04,-4.12326219e-04, 1.78026757e-04,
  1.36751391e-04, 7.33670573e-05,-1.90226060e-04, 2.35323960e-04,
  6.99711866e-02,-4.20899874e-04, 4.89229305e-02,-4.04825888e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027677813319233746
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.00561911e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.00561911e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11024585, -0.03410321,  0.06199209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.76502093e-05,-1.96694473e-05, 7.95437907e-06, 8.41104932e-06,
  2.48955933e-05,-3.48789275e-05,-8.90937983e-06, 1.16905872e-06,
 -4.42530224e-06, 1.97535739e-05,-3.64293109e-05,-6.83156966e-07,
 -4.93739763e-04,-4.86815909e-05,-2.59575699e-04,-3.38966177e-04,
 -7.66927494e-06,-2.37905715e-06,-1.21648910e+00,-4.56884529e-04,
 -1.48619255e-05,-5.49519666e-04]


--- Step 237 ---
qpos:
[ 0.00615941,-0.00180331,-0.00494104, 0.03332019, 0.00443314,-0.00372415,
 -0.01835035, 0.02835925, 0.01287581, 0.00330083,-0.00995158, 0.02568968,
  0.5845117 ,-0.00098089, 0.4116411 , 0.06548369, 0.09367784,-0.06994479,
  0.13098834, 0.50591197, 0.49580889, 0.49472775, 0.50345912]

qacc:
[  1.16269982, -0.05333159, -0.11965332,  1.04904739,  2.49701128,
   0.08744513, -0.49662286,  0.39729028, -0.74893511,  1.29742948,
  -0.63414491,-11.54751433, -1.7713141 ,  4.43703746,  7.61748196,
 -32.36199457, -1.15039704, -2.06921444,  0.63631844,-17.79704154,
   1.19885477, 29.66866849]

qfrc_actuator:
[-1.26041081e-06,-1.57863825e-04,-8.07802156e-05, 2.69500765e-04,
  7.25134177e-05,-4.01989545e-04,-4.16123716e-04, 1.77233879e-04,
  1.32690172e-04, 9.03048024e-05,-2.34364117e-04, 1.96112166e-04,
  6.98364794e-02,-4.10793338e-04, 4.88025369e-02,-4.23361839e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003051103740540767
  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([ 0.11023863, -0.03411748,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.79209236e-06,-3.05475134e-06, 1.78353388e-06, 2.77319603e-06,
  1.46839928e-05,-2.21123379e-05,-1.20327338e-05,-2.57640355e-06,
 -4.17151036e-06, 2.03562234e-05,-4.45854007e-05,-3.96506042e-05,
 -4.88342191e-04,-5.57736547e-05,-2.77782450e-04,-2.37986537e-04,
 -8.04918251e-06,-1.41057692e-06,-1.21648031e+00,-4.58258763e-04,
 -5.45203578e-06,-5.48418421e-04]


--- Step 238 ---
qpos:
[ 0.00615943,-0.00180407,-0.00494188, 0.03332479, 0.00443439,-0.003725  ,
 -0.01835284, 0.02836291, 0.01287828, 0.00330363,-0.00995388, 0.02569274,
  0.58597411,-0.00097863, 0.41301348, 0.06548797, 0.09373589,-0.06994584,
  0.13098812, 0.50569753, 0.4960145 , 0.49494148, 0.50326193]

qacc:
[ -2.3124712 ,  1.55582472, -3.44219677, -1.74747802, -1.6314815 ,
  -2.16535245,  8.79405525,-15.95669858, -0.59182963, -2.42661128,
  12.14100937,-27.26267347, -1.57502451,  3.55613569, -1.98550778,
   0.88170667, -1.11213817, -2.00678431,  0.32170965,-17.18405567,
   1.24460526, 28.75493375]

qfrc_actuator:
[-1.48248260e-05,-1.36102983e-04,-1.13494163e-04, 2.51647398e-04,
  6.24035610e-05,-4.19962104e-04,-3.99449985e-04, 1.57395839e-04,
  1.29286794e-04, 8.13302401e-05,-2.23838265e-04, 1.53724387e-04,
  6.97083842e-02,-4.05724307e-04, 4.86969156e-02,-4.25577312e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032538083554198294
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.70603629e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.70603629e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11023347, -0.03412765,  0.0619907 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.33698805e-05, 2.05718810e-05,-3.30260388e-05,-1.78771162e-05,
 -9.69754910e-06,-3.28850926e-05, 1.05646606e-05,-2.12543522e-05,
 -3.50404345e-06,-8.57680947e-06, 7.85684474e-06,-4.38386800e-05,
 -4.78728530e-04,-6.07651173e-05,-2.58662267e-04,-7.11421712e-05,
 -8.22062628e-06,-2.96849758e-07,-1.21647340e+00,-4.59773268e-04,
  2.51718677e-06,-5.47611656e-04]


--- Step 239 ---
qpos:
[ 0.00615894,-0.00180484,-0.00494329, 0.03332952, 0.00443482,-0.00372585,
 -0.0183555 , 0.02836596, 0.01288035, 0.00330612,-0.00995599, 0.02569633,
  0.58743399,-0.00097632, 0.41438307, 0.06549315, 0.09378962,-0.06995471,
  0.13098811, 0.50547009, 0.49622958, 0.49511188, 0.50311074]

qacc:
[ -4.47842384,  1.88494894, -7.30175786, 10.56020116, -7.18964493,
  -0.78613581,  5.42893313,-15.86181699, -3.54951049,  0.18807194,
  -3.49354048, 12.65996968, -1.45051993,  3.02871374, -6.81292419,
  17.96425264, -1.07961278, -1.95460038,  0.05634879,-16.66862409,
   1.28657836, 27.99176408]

qfrc_actuator:
[-4.05680243e-05,-1.58449478e-04,-1.50149598e-04, 2.57055416e-04,
  2.04437651e-05,-4.12465535e-04,-4.06405317e-04, 1.26512710e-04,
  1.08544787e-04, 5.71173653e-05,-2.16726002e-04, 1.80840838e-04,
  6.95843462e-02,-4.03662952e-04, 4.85896182e-02,-4.19932578e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033903563768886147
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.18662481e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.18662481e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11022999, -0.03413447,  0.06199032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.61117312e-05,-1.84084768e-05,-3.70833405e-05, 4.79277383e-06,
 -4.22478136e-05,-9.57304996e-06,-1.31506026e-05,-3.23408593e-05,
 -2.08359330e-05,-2.93393688e-05, 4.78151171e-06, 2.61602729e-05,
 -4.68188382e-04,-6.30899245e-05,-2.33111785e-04, 1.91904624e-05,
 -8.20370226e-06, 9.46569441e-07,-1.21646817e+00,-4.61426105e-04,
  9.21866866e-06,-5.47087910e-04]


--- Step 240 ---
qpos:
[ 0.00615849,-0.00180592,-0.00494448, 0.03333462, 0.00443475,-0.0037267 ,
 -0.01835826, 0.02836895, 0.01288181, 0.00330833,-0.00995799, 0.02570057,
  0.58889128,-0.00097361, 0.41574987, 0.06549927, 0.09383914,-0.06997122,
  0.13098744, 0.50522986, 0.49645393, 0.49524007, 0.50300453]

qacc:
[  0.36694996, -0.30830499, -1.00427192,  7.04094571, -4.4356308 ,
   0.21220688, -0.53343544, -0.19522756, -5.3548173 ,  0.65418502,
  -5.6007707 , 16.80794736, -1.83603582,  4.96549403, -6.86880387,
  18.16416889, -1.0519739 , -1.91110665, -0.16733743,-16.2351825 ,
   1.32585181, 27.35615702]

qfrc_actuator:
[-3.77619334e-05,-1.71542174e-04,-1.35725502e-04, 2.76077634e-04,
 -4.41285339e-06,-4.07627229e-04,-4.09415245e-04, 1.24887182e-04,
  7.77634158e-05, 4.17725336e-05,-2.11726702e-04, 2.13105040e-04,
  6.94521791e-02,-3.85640373e-04, 4.84601069e-02,-4.15032608e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034729144196231354
  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([ 0.11022787, -0.03413856,  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:
[ 2.06149534e-06,-3.08153690e-05, 6.23650397e-06, 1.70390932e-05,
 -2.60648461e-05,-4.57677812e-06,-7.69023092e-06,-3.11743540e-06,
 -3.13783933e-05,-2.97171817e-05, 4.23433607e-07, 3.16738453e-05,
 -4.68883062e-04,-4.61277230e-05,-2.34391950e-04, 1.98612874e-05,
 -8.01380262e-06, 2.30890470e-06,-1.21646445e+00,-4.63216644e-04,
  1.47882085e-05,-5.46837918e-04]


--- Step 241 ---
qpos:
[ 0.00615843,-0.00180714,-0.00494527, 0.03333986, 0.00443473,-0.00372796,
 -0.01836064, 0.02837261, 0.01288288, 0.00331002,-0.00995975, 0.02570449,
  0.59034595,-0.00097032, 0.41711355, 0.06550171, 0.09388454,-0.06999524,
  0.13098535, 0.50497698, 0.49668738, 0.49532697, 0.50294244]

qacc:
[  3.37135089, -0.97756588,  2.56142404, -0.42404489,  0.43495496,
  -0.27855271, -2.60702349, 13.79010298, -3.32886997, -2.00018942,
   7.49900179,-13.01283839, -2.12537952,  6.32837941,  6.53213491,
 -29.41758548, -1.02850402, -1.8749906 , -0.35572531,-15.87091395,
   1.36319253, 26.82899263]

qfrc_actuator:
[-1.81709309e-05,-1.61025718e-04,-1.08977769e-04, 2.85240740e-04,
 -1.24102514e-06,-4.39884653e-04,-3.92292716e-04, 1.58250582e-04,
  5.90777724e-05,-3.64648450e-06,-2.07991267e-04, 1.94874605e-04,
  6.93152304e-02,-3.58389378e-04, 4.82534593e-02,-4.35471207e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.7303092 , -2.93001964,  3.71359799, -2.93001964, 19.55796247,
       11.6989818 ,  3.71359799, 11.6989818 , 13.96077693,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003511705264156034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.16149261e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.16149261e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11022684, -0.03414045,  0.06198997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.96415468e-05,-4.65353788e-06, 2.17555783e-05, 8.38373341e-06,
  2.42615512e-06,-3.64910657e-05, 1.51588748e-05, 3.28429920e-05,
 -1.95830480e-05,-6.06643752e-05,-1.26399797e-06,-1.88811900e-05,
 -4.71892008e-04,-3.60438417e-05,-3.12030535e-04,-2.33648648e-04,
 -7.66259120e-06, 3.78305472e-06,-1.21646213e+00,-4.65145522e-04,
  1.93326263e-05,-5.46854298e-04]


--- Step 242 ---
qpos:
[ 0.00615894,-0.00180805,-0.00494649, 0.03334517, 0.00443508,-0.0037297 ,
 -0.01836267, 0.02837596, 0.01288407, 0.00331123,-0.00996195, 0.02570752,
  0.59179819,-0.00096768, 0.41847331, 0.0655063 , 0.09392591,-0.07002663,
  0.13098119, 0.50471155, 0.49692978, 0.49537334, 0.50292375]

qacc:
[  5.08233059,  1.70287175, -5.78850161,  7.42193417,  3.37032371,
  -2.21633913,  8.28734401,-13.80133573,  0.9840377 , -1.24471082,
   7.30779803,-21.76237772, -0.56654232, -1.38298763,-12.26316977,
  34.50873947, -1.00859194, -1.84513867, -0.51421699,-15.56519385,
   1.39912991, 26.3942644 ]

qfrc_actuator:
[ 1.11334749e-05,-1.36392774e-04,-1.28353777e-04, 2.88548764e-04,
  1.83966097e-05,-4.76237821e-04,-3.81305486e-04, 1.40900800e-04,
  6.54166220e-05,-4.90185103e-05,-2.40695969e-04, 1.47052588e-04,
  6.91861609e-02,-3.96962585e-04, 4.81018501e-02,-4.22757858e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.73180451, -3.05054472,  3.61720207, -3.05054472, 18.52529174,
       11.63265112,  3.61720207, 11.63265112, 14.54212802,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000351530225652541
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.15825765e-13,  1.57912883e-13,  1.00000000e+00, -4.98729569e-26,
        1.00000000e+00, -1.57912883e-13, -1.00000000e+00,  0.00000000e+00,
        3.15825765e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11022668, -0.03414056,  0.06198996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.98636659e-05, 2.69326197e-05,-1.73565528e-05, 4.01649563e-06,
  1.96922217e-05,-5.21537245e-05, 6.48804407e-06,-1.77500618e-05,
  5.76648114e-06,-8.04189102e-05,-4.60507718e-05,-5.08405138e-05,
 -4.65343576e-04,-1.01610050e-04,-3.18175347e-04, 7.43971044e-05,
 -7.15874847e-06, 5.36478879e-06,-1.21646109e+00,-4.67214543e-04,
  2.29359355e-05,-5.47131287e-04]


--- Step 243 ---
qpos:
[ 0.00615912,-0.00180853,-0.004948  , 0.03335011, 0.00443533,-0.00373154,
 -0.0183647 , 0.02837905, 0.01288498, 0.00331184,-0.00996421, 0.02570994,
  0.59324798,-0.00096579, 0.41983019, 0.06551444, 0.09396332,-0.07006531,
  0.13097445, 0.50443367, 0.49718102, 0.49537981, 0.50294787]

qacc:
[ -3.0296492 ,  0.65407373,  0.08795107, -6.3874232 , -0.98347248,
  -0.67959756,  3.33543155, -7.76082987, -2.44105697, -1.8709854 ,
   8.06661533,-17.99883854, -0.48741316, -1.87677776,-14.97471475,
  46.20169742, -0.99171507, -1.82060203, -0.64741065,-15.30916686,
   1.43401309, 26.03849544]

qfrc_actuator:
[-7.34303407e-06,-1.03678359e-04,-1.39243393e-04, 2.70615405e-04,
  1.20539746e-05,-4.61566522e-04,-3.74104650e-04, 1.29335157e-04,
  5.09242927e-05,-7.64424887e-05,-2.41421802e-04, 1.17686655e-04,
  6.90512430e-02,-4.38524884e-04, 4.80207282e-02,-4.03015628e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034908779855362393
  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([ 0.11022722, -0.03413926,  0.06199003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.76143769e-05, 4.44063871e-05,-7.31376920e-06,-1.73100714e-05,
 -5.79786771e-06,-1.38270917e-05,-3.35067502e-06,-1.39215351e-05,
 -1.43504047e-05,-8.41050515e-05,-2.47629663e-05,-3.53996398e-05,
 -4.74822350e-04,-1.08408721e-04,-2.14213748e-04, 1.61534804e-04,
 -6.50854694e-06, 7.05215758e-06,-1.21646128e+00,-4.69426539e-04,
  2.56640740e-05,-5.47664506e-04]


--- Step 244 ---
qpos:
[ 0.00615872,-0.0018087 ,-0.00494933, 0.03335478, 0.00443549,-0.00373306,
 -0.01836739, 0.02838198, 0.01288571, 0.00331184,-0.00996624, 0.02571232,
  0.59469523,-0.00096435, 0.42118431, 0.06552454, 0.09399681,-0.07011118,
  0.13096467, 0.50414336, 0.49744099, 0.4953469 , 0.5030143 ]

qacc:
[ -4.98854858, -0.64852029,  4.04219842, -9.23085041, -0.70891552,
   1.92982256, -5.57046647,  3.48627628, -1.57305747, -1.54008736,
   4.55173237, -5.32073794, -0.85947268, -0.0836762 , -9.9852107 ,
  29.03970201, -0.97742562, -1.80056995, -0.75923294,-15.09542044,
   1.46805566, 25.75028881]

qfrc_actuator:
[-3.60448032e-05,-8.41210552e-05,-1.27239828e-04, 2.58102953e-04,
  8.21814178e-06,-4.34219999e-04,-4.04483989e-04, 1.21314124e-04,
  4.20317253e-05,-9.27740301e-05,-2.23162094e-04, 1.17214275e-04,
  6.89182332e-02,-4.63774887e-04, 4.78807569e-02,-3.93484350e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034444153537509237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.61162768e-13,  8.05813840e-14,  1.00000000e+00, -1.29867189e-26,
        1.00000000e+00, -8.05813840e-14, -1.00000000e+00,  0.00000000e+00,
        1.61162768e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11022829, -0.03413685,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.91839866e-05, 4.21543938e-05, 1.96894085e-05,-1.12054140e-05,
 -4.00555442e-06, 1.84072188e-05,-3.40912123e-05,-8.99851066e-06,
 -9.32706317e-06,-6.99987190e-05,-3.37279180e-06,-5.62333638e-06,
 -4.79963757e-04,-9.42018294e-05,-2.20615639e-04, 7.64715514e-05,
 -5.71629997e-06, 8.84505998e-06,-1.21646262e+00,-4.71785223e-04,
  2.75685671e-05,-5.48450754e-04]


--- Step 245 ---
qpos:
[ 0.00615833,-0.00180898,-0.00495003, 0.03335894, 0.0044363 ,-0.0037343 ,
 -0.01837044, 0.02838407, 0.01288702, 0.00331149,-0.00996845, 0.02571501,
  0.59613988,-0.00096256, 0.4225355 , 0.06553443, 0.09402733,-0.07015182,
  0.13096114, 0.50388116, 0.4976754 , 0.49532258, 0.5030691 ]

qacc:
[  0.05821638, -2.96716943, 12.55088326,-22.35917814,  5.60660681,
  -0.34010881,  5.22924627,-19.16643001,  5.08178034,  0.66076297,
  -4.40895082, 10.48441168, -1.82738746,  4.81283823, -3.61922533,
   6.51466545, -0.74417039,  1.31008021,  1.56154951, -8.39277084,
  -1.26434954,-18.46989856]

qfrc_actuator:
[-3.50146538e-05,-1.08001380e-04,-1.01859072e-04, 2.31136452e-04,
  4.14021024e-05,-4.17389477e-04,-4.21233723e-04, 7.99279420e-05,
  7.20180491e-05,-1.02217058e-04,-2.29287632e-04, 1.33762982e-04,
  6.87971146e-02,-4.43716677e-04, 4.77162204e-02,-3.95388577e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034872052641142515
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.59185213e-13,  1.19388910e-13,  1.00000000e+00, -1.90049490e-26,
        1.00000000e+00, -1.19388910e-13, -1.00000000e+00,  0.00000000e+00,
        1.59185213e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204582, -0.09004718,  0.06199004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.15767287e-07, 3.28233529e-06, 3.61345380e-05,-2.47027314e-05,
  3.30777195e-05, 1.97755233e-05,-1.74153646e-05,-4.19489994e-05,
  2.96956952e-05,-4.95071780e-05,-2.11752457e-05, 1.33225616e-05,
 -4.69912021e-04,-4.87873379e-05,-2.57761705e-04,-4.34896778e-05,
 -4.78471424e-06, 1.07449244e-05,-1.21646508e+00,-4.74295036e-04,
  2.86893912e-05,-5.49487827e-04]


--- Step 246 ---
qpos:
[ 0.00615795,-0.0018097 ,-0.00495021, 0.03336314, 0.00443716,-0.00373568,
 -0.01837301, 0.02838634, 0.01288867, 0.00331078,-0.00997047, 0.02571819,
  0.59758187,-0.00095952, 0.42388434, 0.06554288, 0.09405504,-0.07018741,
  0.13096246, 0.5036463 , 0.49788477, 0.49530649, 0.50311294]

qacc:
[  0.1596878 , -1.92658131,  5.8268052 , -5.55081531,  0.42645613,
  -1.16479336,  3.15776519, -0.81522141,  3.08346551,  0.03497635,
  -2.91469418, 11.49242914, -2.87553873, 10.06469115,  0.96685502,
  -8.20402516, -0.70073252,  1.2642114 ,  1.21278791, -8.32606086,
  -1.1223092 ,-17.88822265]

qfrc_actuator:
[-3.42425865e-05,-1.57665051e-04,-8.67345271e-05, 2.31353329e-04,
  4.28507814e-05,-4.24716686e-04,-3.94342981e-04, 9.02595264e-05,
  8.91406075e-05,-1.07525351e-04,-2.14222693e-04, 1.60177190e-04,
  6.86725758e-02,-3.79356276e-04, 4.76169454e-02,-4.02239753e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.79908269, -0.14914253, -4.79676466, -0.14914253, 40.59687972,
       -1.1130365 , -4.79676466, -1.1130365 ,  4.83368958,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003671471839031132
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.55979532e-14, -3.02391813e-13,  1.00000000e+00,  2.28602021e-26,
        1.00000000e+00,  3.02391813e-13, -1.00000000e+00,  0.00000000e+00,
        7.55979532e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204664, -0.09004222,  0.06198951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.79693764e-07,-4.14124268e-05, 1.94008570e-05, 1.11994060e-06,
  2.40287200e-06,-1.57596500e-06, 2.74230246e-05, 9.76362098e-06,
  1.79463888e-05,-3.67490229e-05, 2.71540000e-06, 2.38179224e-05,
 -4.60420669e-04,-1.22328175e-07,-2.21671009e-04,-1.04128332e-04,
 -4.04854759e-06, 8.64790138e-06,-1.21646029e+00,-4.73568003e-04,
  2.50805455e-05,-5.50899420e-04]


--- Step 247 ---
qpos:
[ 0.00615759,-0.00181081,-0.00495048, 0.03336804, 0.00443768,-0.00373709,
 -0.01837557, 0.02838943, 0.01289018, 0.00330996,-0.0099721 , 0.02572128,
  0.5990213 ,-0.0009557 , 0.42523116, 0.06555259, 0.0940801 ,-0.07021808,
  0.13096745, 0.50343813, 0.49806957, 0.49529836, 0.50314639]

qacc:
[  0.11222702,  1.15672192, -7.81355468, 20.2818562 , -2.92102504,
   1.61337254, -9.25204355, 23.37264229, -1.32926387, -1.44342432,
   5.34641494, -7.60770074, -2.27262917,  7.17525569, -6.69179281,
  19.2510543 , -0.66517888,  1.22575842,  0.91877035, -8.25585986,
  -1.0108308 ,-17.39831011]

qfrc_actuator:
[-3.36383176e-05,-1.86906771e-04,-9.56445523e-05, 2.65281480e-04,
  2.55970478e-05,-4.28481131e-04,-3.95221330e-04, 1.30951410e-04,
  8.07896937e-05,-9.24607971e-05,-1.86732043e-04, 1.56699740e-04,
  6.85460855e-02,-3.42699991e-04, 4.75675328e-02,-3.94175178e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.85330708, -0.09314662, -4.85241314, -0.09314662, 49.2224108 ,
       -0.85170658, -4.85241314, -0.85170658,  4.86965639,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037899322549656
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.32350178e-14, -1.46470036e-13,  1.00000000e+00,  1.07267357e-26,
        1.00000000e+00,  1.46470036e-13, -1.00000000e+00,  0.00000000e+00,
        7.32350178e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204762, -0.09003912,  0.06198918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.12812162e-07,-4.83239446e-05,-1.50345269e-05, 3.28393151e-05,
 -1.71871605e-05, 1.51295842e-06, 2.55313258e-06, 4.17668893e-05,
 -7.85867068e-06,-3.85040180e-06, 2.10840265e-05,-4.49625919e-06,
 -4.49020902e-04,-2.34124540e-05,-1.64247631e-04, 4.57611761e-05,
 -3.36834503e-06, 6.83124072e-06,-1.21645613e+00,-4.73003444e-04,
  2.18730425e-05,-5.52132686e-04]


--- Step 248 ---
qpos:
[ 0.00615724,-0.00181219,-0.00495062, 0.03337327, 0.00443765,-0.00373836,
 -0.01837819, 0.02839296, 0.01289122, 0.00330947,-0.0099736 , 0.02572426,
  0.60045822,-0.00095141, 0.42657599, 0.06556346, 0.09410261,-0.07024399,
  0.13097513, 0.50325608, 0.49823019, 0.49529795, 0.50316989]

qacc:
[  0.09691211, -0.04124446, -1.78578221,  7.59068608, -4.86895129,
   1.25097887, -6.05870015, 13.73099997, -4.02327979, -0.1380619 ,
   1.61322553, -3.95753681, -1.91018073,  5.34859297, -6.43087503,
  18.36119936, -0.63607952,  1.19360529,  0.67131877, -8.18576549,
  -0.92353486,-16.98638304]

qfrc_actuator:
[-3.31377143e-05,-1.86018355e-04,-8.30769927e-05, 2.83261727e-04,
 -2.51619981e-06,-4.12403737e-04,-3.94729712e-04, 1.53642515e-04,
  5.75167702e-05,-4.75162020e-05,-1.69817571e-04, 1.53437432e-04,
  6.84131838e-02,-3.22705133e-04, 4.74788574e-02,-3.88024408e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.88425124,  0.08505318,  4.88351064,  0.08505318, 10.59837401,
       -0.09951946,  4.88351064, -0.09951946,  4.88598451,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003854859671730132
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44003040e-13, -1.44003040e-13,  1.00000000e+00,  2.07368756e-26,
        1.00000000e+00,  1.44003040e-13, -1.00000000e+00,  0.00000000e+00,
        1.44003040e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204875, -0.09003753,  0.06198899])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.03252498e-07,-2.77991425e-05, 1.87564943e-06, 1.60206606e-05,
 -2.86055036e-05, 1.93090917e-05, 2.60418817e-06, 2.36598335e-05,
 -2.35018743e-05, 4.69980603e-05, 1.85842244e-05,-2.78607317e-06,
 -4.49984783e-04,-4.04227149e-05,-1.62620990e-04, 4.18498328e-05,
 -2.74839630e-06, 5.26850183e-06,-1.21645255e+00,-4.72564389e-04,
  1.90387272e-05,-5.53200209e-04]


--- Step 249 ---
qpos:
[ 0.00615724,-0.00181377,-0.00495034, 0.03337831, 0.00443727,-0.00373968,
 -0.01838039, 0.02839638, 0.01289198, 0.00330962,-0.00997479, 0.02572748,
  0.6018928 ,-0.00094784, 0.42791825, 0.06557247, 0.09412267,-0.07026523,
  0.13098467, 0.50309969, 0.49836699, 0.49530507, 0.5031838 ]

qacc:
[  3.1261145 , -1.8398843 ,  7.02796204,-11.01145587, -2.93373359,
  -1.43204001,  5.46689463, -7.9587182 , -2.53051918,  0.44352969,
  -1.33447557,  4.36390314, -0.51320265, -1.59279957,  1.86188521,
 -12.03675151, -0.61227469,  1.16681134,  0.46351827, -8.118305  ,
  -0.85536626,-16.64095026]

qfrc_actuator:
[-1.49493103e-05,-1.84773167e-04,-5.78115794e-05, 2.74001389e-04,
 -1.90369818e-05,-4.20085628e-04,-3.75607224e-04, 1.47824511e-04,
  4.34086709e-05, 1.49460285e-05,-1.41396571e-04, 1.68104956e-04,
  6.82818494e-02,-3.65968524e-04, 4.73081108e-02,-3.99041613e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.89480604, -0.04868616,  4.8945639 , -0.04868616, 13.8546506 ,
        0.08912344,  4.8945639 ,  0.08912344,  4.89569255,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003876587778125773
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.15979547e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.15979547e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204999, -0.09003714,  0.06198893])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.81957589e-05,-1.31851649e-05, 2.03147985e-05,-1.00831195e-05,
 -1.73322362e-05, 4.72646045e-06, 2.42890823e-05,-4.43796584e-06,
 -1.47625045e-05, 9.24868195e-05, 4.03403095e-05, 1.72693692e-05,
 -4.51302302e-04,-1.05167597e-04,-2.44488120e-04,-1.29865268e-04,
 -2.19110112e-06, 3.93853530e-06,-1.21644950e+00,-4.72223315e-04,
  1.65535596e-05,-5.54111976e-04]


--- Step 250 ---
qpos:
[ 0.00615745,-0.00181522,-0.00494984, 0.03338248, 0.00443705,-0.00374094,
 -0.01838207, 0.02839934, 0.0128936 , 0.00331037,-0.00997534, 0.02573082,
  0.60332502,-0.00094508, 0.42925741, 0.06557881, 0.09414036,-0.07028188,
  0.13099536, 0.50296856, 0.49848027, 0.49531955, 0.50318842]

qacc:
[  1.9195513 , -2.23479166, 11.84404172,-27.26754191,  1.32233599,
  -2.31857778, 10.35374734,-19.27214331,  7.57478074, -0.72120417,
   3.15051752, -2.31296174, -0.43961615, -2.03095934,  3.46234423,
 -18.7881602 , -0.59282101,  1.14457945,  0.28948366, -8.05517666,
  -0.80231383,-16.3523531 ]

qfrc_actuator:
[-4.24853297e-06,-1.65529567e-04,-4.30158118e-05, 2.31046572e-04,
 -1.08464212e-05,-4.06379445e-04,-3.45745985e-04, 1.25276314e-04,
  8.80706230e-05, 5.19836412e-05,-1.06304845e-04, 1.75481601e-04,
  6.81515299e-02,-4.10670686e-04, 4.71361770e-02,-4.13000677e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.88858044, -0.22278151,  4.88350153, -0.22278151, 19.34291254,
        0.65939531,  4.88350153,  0.65939531,  4.91866154,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003863796938746028
  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([ 0.10205134, -0.09003771,  0.06198897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12168403e-05, 1.56833495e-05, 1.42285018e-05,-4.30222976e-05,
  7.69632647e-06, 2.12362676e-05, 3.37103442e-05,-2.15906274e-05,
  4.42723690e-05, 9.78282448e-05, 5.97687795e-05, 1.30679254e-05,
 -4.60364795e-04,-1.11299143e-04,-2.98922273e-04,-1.78565136e-04,
 -1.69760802e-06, 2.82443733e-06,-1.21644694e+00,-4.71959730e-04,
  1.43971860e-05,-5.54875904e-04]


--- Step 251 ---
qpos:
[ 0.00615745,-0.00181597,-0.00494974, 0.03338606, 0.00443728,-0.003742  ,
 -0.01838372, 0.02840237, 0.01289643, 0.00331156,-0.00997532, 0.02573391,
  0.60475469,-0.00094249, 0.43059371, 0.06558491, 0.09415574,-0.07029404,
  0.13100662, 0.50286237, 0.4985703 , 0.49534127, 0.50318398]

qacc:
[ -1.94698425,  0.83959651,  0.83144245,-10.80906485,  3.88899682,
   0.3017429 , -1.00412035,  2.01492737, 10.68180408, -1.56363287,
   7.45474486,-13.08338099, -1.23817377,  1.80054416, -3.48978972,
   6.13100378, -0.57694911,  1.12623174,  0.14418283, -7.99744851,
  -0.76119051,-16.11242478]

qfrc_actuator:
[-1.57985871e-05,-1.00212918e-04,-5.22183409e-05, 2.04127018e-04,
  1.18194982e-05,-3.97692310e-04,-3.45219451e-04, 1.28595455e-04,
  1.49209830e-04, 5.57902379e-05,-8.54102629e-05, 1.60738866e-04,
  6.80165806e-02,-4.20352823e-04, 4.70382321e-02,-4.12593356e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.86931767, -0.45953321,  4.84758536, -0.45953321, 30.37507554,
        2.41785176,  4.84758536,  2.41785176,  5.0985211 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003823757710678527
  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([ 0.10205276, -0.09003904,  0.06198909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12211467e-05, 7.52232781e-05,-5.69774742e-06,-2.66001973e-05,
  2.28927116e-05, 2.66616437e-05, 8.34598372e-06, 4.97509960e-06,
  6.24306510e-05, 7.14110798e-05, 4.89063595e-05,-8.23742040e-06,
 -4.72483584e-04,-7.80460971e-05,-2.52810700e-04,-4.40112291e-05,
 -1.26826218e-06, 1.91272420e-06,-1.21644484e+00,-4.71758396e-04,
  1.25525269e-05,-5.55498254e-04]


--- Step 252 ---
qpos:
[ 0.00615732,-0.00181611,-0.00495002, 0.03338896, 0.00443811,-0.00374267,
 -0.01838572, 0.02840542, 0.01289928, 0.00331321,-0.00997503, 0.02573716,
  0.60618181,-0.00093998, 0.43192725, 0.06558929, 0.09416887,-0.07030175,
  0.13101799, 0.50278082, 0.4986373 , 0.49537012, 0.50317067]

qacc:
[ -1.23828708,  0.48622198,  2.31278139,-13.95910114,  5.3634405 ,
   1.50519452, -4.7021078 ,  5.27513058,  0.18847615,  0.16311962,
  -0.3778361 ,  2.3888021 , -1.34341253,  2.27302688,  1.16468506,
  -9.91265039, -0.56403023,  1.11119042,  0.02330013, -7.94571907,
  -0.72946083,-15.91423023]

qfrc_actuator:
[-2.25972199e-05,-7.89027754e-05,-7.52988516e-05, 1.69137991e-04,
  4.28156669e-05,-3.74420273e-04,-3.62015507e-04, 1.29334450e-04,
  1.48527988e-04, 7.50917650e-05,-7.32213641e-05, 1.68564968e-04,
  6.78842798e-02,-4.27107677e-04, 4.68995582e-02,-4.21455303e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000376253904996543
  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([ 0.10205424, -0.09004096,  0.06198926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.08853104e-06, 6.10726568e-05,-9.16418448e-06,-3.24865560e-05,
  3.16588523e-05, 4.01774329e-05,-1.00646631e-05, 2.26553275e-06,
  1.11949639e-06, 6.89649621e-05, 3.26580839e-05, 1.24066528e-05,
 -4.73554215e-04,-7.47559235e-05,-2.59213308e-04,-1.23700685e-04,
 -9.02915848e-07, 1.19267414e-06,-1.21644319e+00,-4.71608009e-04,
  1.10053871e-05,-5.55983962e-04]


--- Step 253 ---
qpos:
[ 0.0061571 ,-0.00181601,-0.00495047, 0.0333918 , 0.00443897,-0.00374287,
 -0.01838796, 0.02840843, 0.01290107, 0.00331529,-0.00997539, 0.02574089,
  0.60760634,-0.0009372 , 0.43325747, 0.06559423, 0.09417978,-0.07030506,
  0.13102904, 0.5027237 , 0.49868146, 0.49540602, 0.50314864]

qacc:
[ -0.71457612,  0.62961851, -1.50468044,  0.44650602,  0.16113246,
   1.25243631, -3.43690851,  2.95324384, -9.39439577,  3.43258141,
 -13.41693386, 22.48467269, -1.73467466,  4.22992674, -6.5759479 ,
  15.97955437, -0.55354958,  1.09896248, -0.07687183, -7.90024528,
  -0.70510504,-15.75186336]

qfrc_actuator:
[-2.65379556e-05,-8.41749522e-05,-8.87983501e-05, 1.65146322e-04,
  4.29566780e-05,-3.42673227e-04,-3.71088794e-04, 1.28549747e-04,
  9.37071817e-05, 6.79830387e-05,-1.19451954e-04, 1.89616852e-04,
  6.77536607e-02,-4.14358087e-04, 4.67471918e-02,-4.17967980e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003685186865916429
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.5316603e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        7.5316603e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10205575, -0.09004332,  0.06198948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.11906673e-06, 2.55950135e-05,-3.13780103e-06,-2.32916850e-06,
  1.05967126e-06, 5.22842924e-05,-1.91276112e-06, 6.30779477e-07,
 -5.47605946e-05, 3.86735138e-05,-2.75602444e-05, 2.53677093e-05,
 -4.72241835e-04,-5.53255274e-05,-2.84820011e-04,-5.49346014e-06,
 -6.01140696e-07, 6.55798336e-07,-1.21644196e+00,-4.71500219e-04,
  9.74409527e-06,-5.56336906e-04]


--- Step 254 ---
qpos:
[ 0.00615649,-0.00181561,-0.00495142, 0.03339527, 0.00443914,-0.00374291,
 -0.01839046, 0.02841145, 0.01290185, 0.00331764,-0.00997649, 0.02574453,
  0.60902829,-0.00093424, 0.43458469, 0.06560206, 0.09418851,-0.07030402,
  0.13103945, 0.50269082, 0.49870292, 0.49544889, 0.50311801]

qacc:
[ -3.45478602,  3.12406903,-13.23061709, 24.81212124, -6.08670387,
   0.94072842, -3.06887026,  3.47209749, -8.96488179,  2.23852766,
  -7.03255185,  6.33801335, -1.58087395,  3.53502483,-13.07466662,
  39.43119446, -0.54508507,  1.08912718, -0.15951977, -7.86104257,
  -0.68651227,-15.62028587]

qfrc_actuator:
[-4.65192831e-05,-6.97693916e-05,-1.14377041e-04, 1.97161290e-04,
  7.18062281e-06,-3.59331193e-04,-3.93237494e-04, 1.26892135e-04,
  4.29854132e-05, 6.26248082e-05,-1.64400765e-04, 1.82712538e-04,
  6.76241469e-02,-4.07983634e-04, 4.66453445e-02,-4.01905321e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003595877400042746
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  4.6312328e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -4.6312328e-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([ 0.10205728, -0.09004601,  0.06198974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.00896966e-05, 2.79650895e-05,-2.07606008e-05, 3.29525102e-05,
 -3.57274886e-05, 1.22384479e-05,-1.15411192e-05, 5.27818651e-07,
 -5.22570049e-05, 1.15694794e-05,-3.95015591e-05,-5.71643641e-06,
 -4.67517123e-04,-6.03281227e-05,-2.31022298e-04, 1.23999644e-04,
 -3.62370091e-07, 2.95412967e-07,-1.21644114e+00,-4.71428892e-04,
  8.75917418e-06,-5.56560110e-04]


--- Step 255 ---
qpos:
[ 0.00615564,-0.00181507,-0.00495233, 0.03339909, 0.00443853,-0.00374319,
 -0.01839274, 0.02841445, 0.01290235, 0.0033196 ,-0.0099773 , 0.02574807,
  0.61044776,-0.00093153, 0.43590976, 0.06561126, 0.09419509,-0.07029865,
  0.13104896, 0.50268202, 0.49870182, 0.49549868, 0.50307886]

qacc:
[ -2.06518497,  0.80307202, -4.02782231,  9.76356214, -6.7697477 ,
  -0.94911288,  3.07017223, -3.70870185, -2.35011036, -1.53711552,
   5.14768201, -7.01694638, -1.1189279 ,  1.27622867, -7.28645825,
  20.93320244, -0.53829027,  1.08132562, -0.22738212, -7.82796201,
  -0.67239607,-15.51519647]

qfrc_actuator:
[-5.80299127e-05,-6.14696457e-05,-1.11291055e-04, 2.14599105e-04,
 -3.16866739e-05,-3.87153926e-04,-3.87622816e-04, 1.24684288e-04,
  3.06052754e-05, 2.28012247e-05,-1.54982416e-04, 1.77171882e-04,
  6.74953868e-02,-4.23195961e-04, 4.65632468e-02,-3.94529194e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003498049054083824
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.58691746e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.58691746e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10205881, -0.09004894,  0.06199002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20735926e-05, 2.10453594e-05, 7.44579939e-06, 1.85536153e-05,
 -3.98831316e-05,-2.33285499e-05, 6.76368540e-06,-2.07201482e-06,
 -1.38518496e-05,-4.18546422e-05, 6.72504447e-06,-6.53148616e-06,
 -4.63672877e-04,-8.19135448e-05,-1.74282978e-04, 5.07649619e-05,
 -1.85992113e-07, 1.06291446e-07,-1.21644072e+00,-4.71389562e-04,
  8.04304446e-06,-5.56655917e-04]


--- Step 256 ---
qpos:
[ 0.00615467,-0.00181455,-0.00495257, 0.03340305, 0.00443745,-0.00374363,
 -0.01839466, 0.02841737, 0.01290339, 0.00332062,-0.00997742, 0.02575156,
  0.6118647 ,-0.00092895, 0.43723299, 0.06561825, 0.09419953,-0.07028898,
  0.13105733, 0.50269718, 0.49867824, 0.49555535, 0.50303127]

qacc:
[ -1.13491829, -1.61155781,  5.05144794, -3.44752493, -4.02534833,
  -1.3494611 ,  4.80258433, -6.45482741,  4.76965031, -3.28255994,
  10.09486771,-11.35230351, -1.29014055,  1.99299127,  3.99817018,
 -17.86229619, -0.53288058,  1.07525192, -0.28281008, -7.8007488 ,
  -0.66172783,-15.43292308]

qfrc_actuator:
[-6.44577247e-05,-5.67898220e-05,-7.35858673e-05, 2.23331939e-04,
 -5.42979127e-05,-3.85845482e-04,-3.65718501e-04, 1.22176343e-04,
  5.86422831e-05,-5.49008580e-05,-1.31433723e-04, 1.72489463e-04,
  6.73618386e-02,-4.33270308e-04, 4.64557505e-02,-4.06531075e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003394515663874831
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.27063751e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.27063751e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206034, -0.09005202,  0.06199031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.76634557e-06, 1.87626981e-05, 4.36086566e-05, 1.02463730e-05,
 -2.37588223e-05,-1.04123615e-05, 1.78721272e-05,-3.31330917e-06,
  2.76349519e-05,-1.00070946e-04, 1.54850544e-05,-6.38029790e-06,
 -4.68447419e-04,-7.80237678e-05,-1.85068947e-04,-1.40578189e-04,
 -7.14080652e-08, 8.43807694e-08,-1.21644069e+00,-4.71379007e-04,
  7.58976148e-06,-5.56626115e-04]


--- Step 257 ---
qpos:
[ 0.00615397,-0.00181404,-0.00495257, 0.03340678, 0.00443646,-0.0037438 ,
 -0.01839648, 0.02841987, 0.0129051 , 0.00332151,-0.0099778 , 0.02575458,
  0.61327919,-0.00092682, 0.43855413, 0.06562273, 0.09420187,-0.07027503,
  0.1310644 , 0.50273621, 0.49863225, 0.49561886, 0.50297528]

qacc:
[  2.42905959, -1.17480207,  5.19430062, -9.7652038 ,  0.71226883,
  -0.86311002,  5.42407872,-13.34945133,  5.90972713, -0.40077991,
   3.11818205,-10.63332598, -0.92729459,  0.28631698,  4.48563547,
 -20.17316909, -0.52862209,  1.07064584, -0.32781956, -7.77908571,
  -0.65368399,-15.37033257]

qfrc_actuator:
[-5.00924868e-05,-7.19277248e-05,-6.90287263e-05, 2.09138868e-04,
 -4.94061927e-05,-3.49282010e-04,-3.52021904e-04, 1.01788936e-04,
  9.24779190e-05,-3.03553503e-05,-1.35424284e-04, 1.50561273e-04,
  6.72361619e-02,-4.58008261e-04, 4.63490411e-02,-4.19204606e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032875637413494474
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.68851939e-13, -1.68851939e-13,  1.00000000e+00,  2.85109773e-26,
        1.00000000e+00,  1.68851939e-13, -1.00000000e+00,  0.00000000e+00,
        1.68851939e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206184, -0.09005519,  0.06199062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.41750431e-05, 4.77730734e-06, 1.41475714e-05,-1.16898209e-05,
  4.20883510e-06, 3.43141283e-05, 1.36548972e-05,-2.02799936e-05,
  3.45892581e-05,-2.85199626e-05,-2.29934044e-05,-2.58157923e-05,
 -4.63609551e-04,-9.31911144e-05,-2.10998561e-04,-1.59451546e-04,
 -1.80672051e-08, 2.26569696e-07,-1.21644104e+00,-4.71394937e-04,
  7.39478435e-06,-5.56472050e-04]


--- Step 258 ---
qpos:
[ 0.00615413,-0.00181364,-0.00495269, 0.03341   , 0.00443588,-0.00374334,
 -0.01839867, 0.02842346, 0.01290652, 0.00332285,-0.00997912, 0.02575729,
  0.61469133,-0.00092563, 0.43987304, 0.06562655, 0.0942021 ,-0.0702568 ,
  0.13107   , 0.50279903, 0.49856392, 0.49568918, 0.50291091]

qacc:
[  7.62651081, -0.88607396,  5.03888291,-13.47477099,  3.5728474 ,
   4.169683  ,-18.2977718 , 37.51239803, -2.65851439,  2.5633    ,
  -6.9133564 ,  2.56512773, -0.27763524, -2.74816117, -1.32542491,
  -0.17043875, -0.52532247,  1.06728624, -0.36413613, -7.76262481,
  -0.64760432,-15.32475435]

qfrc_actuator:
[-5.85313547e-06,-9.89639426e-05,-8.41887943e-05, 1.81526177e-04,
 -2.83711355e-05,-2.91926554e-04,-3.60899092e-04, 1.59832510e-04,
  7.61851675e-05, 1.96034531e-05,-1.73009875e-04, 1.36474107e-04,
  6.71152925e-02,-5.08946056e-04, 4.62641969e-02,-4.21511420e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031790358376537764
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.73081558e-14,  1.74616312e-13,  1.00000000e+00, -1.52454281e-26,
        1.00000000e+00, -1.74616312e-13, -1.00000000e+00,  0.00000000e+00,
        8.73081558e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206332, -0.0900584 ,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.46416254e-05,-2.19629185e-05,-1.28493645e-05,-2.71559016e-05,
  2.11675499e-05, 7.85186993e-05,-7.91612020e-07, 5.95906048e-05,
 -1.53150102e-05, 2.81375141e-05,-4.72144317e-05,-1.66163620e-05,
 -4.57545992e-04,-1.19938307e-04,-2.01869787e-04,-5.98670616e-05,
 -2.54853549e-08, 5.30499021e-07,-1.21644177e+00,-4.71435750e-04,
  7.45477551e-06,-5.56194710e-04]


--- Step 259 ---
qpos:
[ 0.00615483,-0.00181314,-0.00495308, 0.03341285, 0.00443487,-0.00374251,
 -0.01840061, 0.0284284 , 0.01290739, 0.00332449,-0.00998013, 0.02576078,
  0.61610104,-0.00092502, 0.44119   , 0.06562569, 0.09420024,-0.07023432,
  0.13107404, 0.50288558, 0.49847327, 0.49576631, 0.50283821]

qacc:
[  4.63896281,  0.15226434,  1.22914747, -7.30775853, -3.78725973,
   2.56302995,-14.1462116 , 36.85028004, -4.84300552,  1.15964469,
  -6.84825359, 19.63169511, -0.80677674, -0.33941823, 11.24864519,
 -43.53533541, -0.52282357,  1.06498563, -0.39323395, -7.75100993,
  -0.64295872,-15.2939151 ]

qfrc_actuator:
[ 2.01030983e-05,-7.97675257e-05,-9.31689039e-05, 1.63973272e-04,
 -5.12698143e-05,-2.75839998e-04,-3.47368774e-04, 2.28065587e-04,
  4.82692362e-05, 6.65194098e-05,-1.41217093e-04, 1.80387236e-04,
  6.69867347e-02,-5.39414668e-04, 4.61446264e-02,-4.46087707e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030704018840814473
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.03972075e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.03972075e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206476, -0.09006162,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.72177453e-05, 3.09164090e-06,-1.60514599e-05,-1.94768507e-05,
 -2.22690782e-05, 6.23922627e-05, 3.17242860e-05, 7.27252842e-05,
 -2.83351693e-05, 5.21455990e-05, 3.12102311e-05, 4.31567040e-05,
 -4.64437444e-04,-1.00766243e-04,-2.21236306e-04,-2.75816842e-04,
 -9.32528136e-08, 9.94406223e-07,-1.21644288e+00,-4.71500348e-04,
  7.76742822e-06,-5.55794791e-04]


--- Step 260 ---
qpos:
[ 0.00615583,-0.00181253,-0.00495365, 0.0334158 , 0.00443359,-0.00374139,
 -0.01840196, 0.02843307, 0.01290791, 0.0033262 ,-0.00998014, 0.02576543,
  0.6175082 ,-0.0009244 , 0.44250418, 0.06562486, 0.09419629,-0.07020759,
  0.13107641, 0.50299584, 0.49836031, 0.49585021, 0.50275716]

qacc:
[  2.68406161,  0.80588883, -3.1302734 ,  5.14682376, -2.31813305,
  -1.81345365,  8.18478206,-14.0622663 , -2.97167794, -0.30999964,
  -3.69143268, 22.24891446, -1.42446303,  2.68167987, -4.14034439,
   8.60320263, -0.52099536,  1.06358534, -0.41636978, -7.74389221,
  -0.63932097,-15.27588284]

qfrc_actuator:
[ 3.50811752e-05,-6.85174080e-05,-9.82297397e-05, 1.70279468e-04,
 -6.43440072e-05,-2.66732410e-04,-3.20869870e-04, 2.12959588e-04,
  3.15042271e-05, 7.60848908e-05,-8.64115658e-05, 2.40377502e-04,
  6.68589823e-02,-5.39846568e-04, 4.60362304e-02,-4.44541004e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029628201230938456
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.87359168e-13,  1.87359168e-13,  1.00000000e+00, -3.51034577e-26,
        1.00000000e+00, -1.87359168e-13, -1.00000000e+00,  0.00000000e+00,
        1.87359168e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206616, -0.0900648 ,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57527421e-05, 8.81603494e-06,-7.08250063e-06, 5.49637235e-06,
 -1.36928449e-05, 5.36405126e-05, 4.58133911e-05,-9.92675381e-06,
 -1.75500344e-05, 4.69595631e-05, 7.09013426e-05, 6.41369135e-05,
 -4.66129901e-04,-7.04085601e-05,-2.43168954e-04,-2.91459822e-05,
 -2.21035395e-07, 1.61699826e-06,-1.21644436e+00,-4.71587996e-04,
  8.33131968e-06,-5.55272754e-04]


--- Step 261 ---
qpos:
[ 0.00615632,-0.00181211,-0.00495393, 0.03341984, 0.00443285,-0.00374021,
 -0.01840305, 0.02843654, 0.01290823, 0.00332794,-0.0099799 , 0.02577013,
  0.61891275,-0.0009231 , 0.44381543, 0.0656268 , 0.09419027,-0.0701766 ,
  0.13107704, 0.50312978, 0.49822503, 0.49594089, 0.50266777]

qacc:
[ -4.54051956,  1.24905043, -9.4053273 , 28.0144079 ,  4.75981268,
  -3.13434487, 16.35390217,-37.58786711, -1.79670187, -0.53921516,
   1.80425509, -1.40976301, -2.19441637,  6.41132909,-12.62154576,
  38.03943417, -0.51973097,  1.06295138, -0.4346126 , -7.7409402 ,
  -0.63634776,-15.26901857]

qfrc_actuator:
[ 7.97835590e-06,-7.98238192e-05,-8.31904206e-05, 2.26077156e-04,
 -3.60116701e-05,-2.97395616e-04,-3.22534802e-04, 1.48932956e-04,
  2.14404735e-05, 4.55976134e-05,-8.96326809e-05, 2.38303087e-04,
  6.67318097e-02,-5.04847538e-04, 4.59240324e-02,-4.29378932e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028571890351913876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94285889e-13, -1.94285889e-13,  1.00000000e+00,  3.77470067e-26,
        1.00000000e+00,  1.94285889e-13, -1.00000000e+00,  0.00000000e+00,
        1.94285889e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206751, -0.09006792,  0.06199184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.66537175e-05,-7.62354353e-06, 1.61694787e-05, 5.60298497e-05,
  2.79584838e-05, 8.32990549e-06, 1.47074423e-05,-6.03452105e-05,
 -1.05451939e-05, 1.30904874e-05, 1.74023034e-05, 3.62614018e-06,
 -4.62357155e-04,-3.32352209e-05,-2.27274718e-04, 1.18483474e-04,
 -4.08571242e-07, 2.39734743e-06,-1.21644621e+00,-4.71698214e-04,
  9.14578684e-06,-5.54628867e-04]


--- Step 262 ---
qpos:
[ 0.00615647,-0.00181187,-0.00495369, 0.03342417, 0.00443246,-0.00373957,
 -0.01840381, 0.02843895, 0.01290946, 0.00332996,-0.00997969, 0.02577373,
  0.62031477,-0.00092106, 0.44512385, 0.06562757, 0.09418217,-0.07014136,
  0.13107587, 0.50328738, 0.49806742, 0.49603833, 0.50257003]

qacc:
[ -2.86885708, -1.12707895,  2.52546868,  1.50620803,  3.04461512,
  -3.83339631, 17.10493463,-35.62894865,  8.01592073, -1.85380021,
  11.79315978,-31.09871633, -2.25300209,  6.78007412, -0.57398785,
  -3.86782839, -0.51894257,  1.06297083, -0.44886959, -7.74184616,
  -0.63376204,-15.27193461]

qfrc_actuator:
[-8.16631219e-06,-8.66683778e-05,-5.64659192e-05, 2.39528190e-04,
 -1.90436071e-05,-3.69562792e-04,-3.23257491e-04, 9.20964988e-05,
  6.86556076e-05, 6.20884696e-05,-9.18101171e-05, 1.81890461e-04,
  6.66157358e-02,-4.67026299e-04, 4.57564095e-02,-4.36502816e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027541914897039055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00775766e-13, -4.03103063e-13,  1.00000000e+00,  4.06230198e-26,
        1.00000000e+00,  4.03103063e-13, -1.00000000e+00,  0.00000000e+00,
        1.00775766e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206882, -0.09007097,  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:
[-1.69100001e-05,-5.39860804e-06, 2.90697835e-05, 1.47659713e-05,
  1.77715221e-05,-6.70855679e-05, 7.11550859e-07,-5.71541463e-05,
  4.69259507e-05, 2.74820723e-05, 2.76257962e-06,-5.51933554e-05,
 -4.43174255e-04,-2.74216056e-05,-2.59123353e-04,-9.41421168e-05,
 -6.55665233e-07, 3.33480618e-06,-1.21644844e+00,-4.71830691e-04,
  1.02108224e-05,-5.53863247e-04]


--- Step 263 ---
qpos:
[ 0.00615678,-0.00181159,-0.00495341, 0.03342758, 0.00443262,-0.00373944,
 -0.01840512, 0.02844106, 0.01291125, 0.00333214,-0.00997917, 0.02577627,
  0.62171444,-0.0009189 , 0.44642939, 0.06562906, 0.094172  ,-0.07010187,
  0.13107287, 0.50346864, 0.49788745, 0.49614254, 0.50246392]

qacc:
[  1.31820326, -1.95564395, 10.83942008,-26.55739475,  4.81977913,
   0.24343281, -0.58832663, -3.30649079,  4.9023454 , -2.82077708,
  14.8059083 ,-33.67754502, -1.44505123,  3.10625896, -6.40036979,
  16.29231525, -0.51855806,  1.06354878, -0.45990877, -7.74632937,
  -0.63133977,-15.28345857]

qfrc_actuator:
[ 3.43700624e-08,-9.07647041e-05,-5.85916751e-05, 1.92448366e-04,
  8.83868476e-06,-4.12790423e-04,-3.59090104e-04, 7.54228002e-05,
  9.59455669e-05, 7.10073843e-05,-7.54327103e-05, 1.29516687e-04,
  6.65010807e-02,-4.63344658e-04, 4.56408395e-02,-4.31861782e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002654332192713188
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.09134152e-13,  1.17637961e-13,  1.00000000e+00, -2.46021151e-26,
        1.00000000e+00, -1.17637961e-13, -1.00000000e+00,  0.00000000e+00,
        2.09134152e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10207007, -0.09007393,  0.06199242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.71435099e-06,-5.05386016e-07, 8.35619259e-07,-4.60280215e-05,
  2.83688747e-05,-8.30574891e-05,-5.15839528e-05,-2.06422184e-05,
  2.86422356e-05, 2.24289589e-05, 2.04499257e-05,-5.21893390e-05,
 -4.27719896e-04,-5.84758376e-05,-2.44760869e-04, 7.70319168e-06,
 -9.62182191e-07, 4.42893740e-06,-1.21645105e+00,-4.71985225e-04,
  1.15269882e-05,-5.52975881e-04]


--- Step 264 ---
qpos:
[ 0.00615614,-0.00181135,-0.00495316, 0.03343111, 0.00443312,-0.00373954,
 -0.01840701, 0.02844327, 0.01291266, 0.00333397,-0.00997825, 0.02577856,
  0.62311177,-0.00091696, 0.44773267, 0.0656342 , 0.09415749,-0.07007039,
  0.13107091, 0.50363551, 0.49771741, 0.49620349, 0.50240496]

qacc:
[ -8.25788541,  0.31325698, -1.63644733,  3.67388547,  2.89922098,
   1.52347275, -6.31919758,  9.15180013, -3.28769744, -2.10762291,
   7.87870012,-12.50491379, -1.03042642,  1.09156909,-14.27860339,
  45.1934686 , -1.08319207, -2.00431437,  0.26236788,-16.48127316,
   1.92782888, 28.71432159]

qfrc_actuator:
[-4.85152372e-05,-9.33517125e-05,-6.00104367e-05, 1.98880410e-04,
  2.51726101e-05,-4.02974718e-04,-3.79738730e-04, 8.25063672e-05,
  7.57657431e-05, 2.21341670e-05,-6.59932444e-05, 1.15463625e-04,
  6.63713746e-02,-4.79827635e-04, 4.55938895e-02,-4.11427564e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027802149443655055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.99664962e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.99664962e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11023192, -0.03410139,  0.06199206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.83303935e-05,-4.68860468e-06,-3.02759326e-06, 5.53421322e-06,
  1.71182360e-05,-4.81536444e-05,-4.48649770e-05, 1.33423402e-06,
 -1.93489861e-05,-3.44181184e-05, 1.47490107e-05,-1.34125074e-05,
 -4.35959560e-04,-7.89358782e-05,-1.58339570e-04, 1.73125528e-04,
 -1.32803969e-06, 5.67945750e-06,-1.21645404e+00,-4.72161668e-04,
  1.30953444e-05,-5.51966653e-04]


--- Step 265 ---
qpos:
[ 0.00615528,-0.00181126,-0.00495283, 0.03343401, 0.00443346,-0.00373971,
 -0.01840847, 0.02844545, 0.01291347, 0.00333554,-0.00997722, 0.02578103,
  0.62450675,-0.0009155 , 0.44903374, 0.06564174, 0.09413876,-0.07004673,
  0.13106901, 0.50378846, 0.49755703, 0.49622225, 0.50239195]

qacc:
[-2.03370212e+00,-1.73252468e+00, 8.54847714e+00,-1.95179608e+01,
 -1.32443384e+00,-1.37592266e+00, 4.91415477e+00,-6.07784349e+00,
 -5.24935090e+00,-2.67245474e-01,-2.36928151e-01, 3.16580302e+00,
 -7.64701200e-01,-2.37393149e-01,-1.05447102e+01, 3.21517015e+01,
 -1.05590350e+00,-1.95377654e+00, 1.40277903e-02,-1.61017931e+01,
  1.83166065e+00, 2.79667967e+01]

qfrc_actuator:
[-5.90754816e-05,-1.12733639e-04,-6.09382498e-05, 1.65752774e-04,
  1.68230124e-05,-3.61393554e-04,-3.37758619e-04, 8.58144220e-05,
  4.55662578e-05, 1.00435922e-05,-6.09453860e-05, 1.24012649e-04,
  6.62433742e-02,-5.08111313e-04, 4.54816420e-02,-3.99590819e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029300146396364635
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.89456907e-13,  9.47284537e-14,  1.00000000e+00, -1.79469599e-26,
        1.00000000e+00, -9.47284537e-14, -1.00000000e+00,  0.00000000e+00,
        1.89456907e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11022875, -0.03410905,  0.06199164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.19378666e-05,-2.24265008e-05,-2.08874625e-06,-3.33324315e-05,
 -7.87566673e-06, 5.47107995e-06, 2.65712859e-05,-2.83176393e-07,
 -3.07540524e-05,-2.89499469e-05,-7.44162391e-07, 7.31317852e-06,
 -4.42291396e-04,-9.37680094e-05,-1.69192009e-04, 1.06619234e-04,
 -1.99736778e-06, 4.10672474e-06,-1.21645031e+00,-4.70903165e-04,
  1.37812076e-05,-5.51332705e-04]


--- Step 266 ---
qpos:
[ 0.00615533,-0.00181119,-0.00495256, 0.03343614, 0.00443335,-0.00373972,
 -0.01840955, 0.02844797, 0.01291357, 0.00333748,-0.00997667, 0.02578284,
  0.62589942,-0.00091468, 0.45033224, 0.06564908, 0.0941159 ,-0.07003071,
  0.13106633, 0.50392789, 0.4974061 , 0.49619967, 0.50242387]

qacc:
[  8.03867347, -1.46431069,  8.44323644,-21.71794894, -3.90879752,
  -0.11920731, -0.71290336,  5.93150946, -6.3023637 ,  0.47763502,
   1.78075089,-12.58002368, -0.59974277, -1.0420136 , -3.15499003,
   5.5564335 , -1.03347235, -1.91133932, -0.19543345,-15.78663934,
   1.74730165, 27.34178292]

qfrc_actuator:
[-1.16684567e-05,-1.06546762e-04,-6.16731262e-05, 1.27343743e-04,
 -5.98393650e-06,-3.36341409e-04,-3.12255963e-04, 1.04697538e-04,
  9.72692786e-06, 5.55744283e-05,-7.61405260e-05, 9.25500579e-05,
  6.61218069e-02,-5.43132011e-04, 4.53249691e-02,-4.01811581e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54985964, -4.45777516, -0.91074882, -4.45777516,  5.6726657 ,
       -5.4957161 , -0.91074882, -5.4957161 , 31.44933651,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003028354550164425
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.83304664e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.83304664e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11022673, -0.03411407,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.70600859e-05,-8.22868669e-06,-6.78783116e-06,-4.00977591e-05,
 -2.30310678e-05, 3.36032677e-05, 2.99104660e-05, 2.00305426e-05,
 -3.67169281e-05, 2.94190755e-05,-2.10475239e-05,-3.25964947e-05,
 -4.42462381e-04,-1.02637001e-04,-2.25801198e-04,-3.90133444e-05,
 -2.46627674e-06, 2.71788725e-06,-1.21644800e+00,-4.69912668e-04,
  1.35517927e-05,-5.50994699e-04]


--- Step 267 ---
qpos:
[ 0.0061556 ,-0.0018113 ,-0.00495229, 0.03343849, 0.00443332,-0.00373951,
 -0.01841143, 0.02845077, 0.01291393, 0.00333933,-0.00997668, 0.02578399,
  0.62728963,-0.0009139 , 0.45162789, 0.06565645, 0.09408897,-0.0700222 ,
  0.13106216, 0.50405414, 0.49726443, 0.49613647, 0.50249987]

qacc:
[  1.96275984,  0.21847034, -2.11378499,  6.25557743,  0.60520257,
   3.11255821,-11.86785379, 17.85146414,  2.27025805,  0.09953107,
   2.27999479,-12.85704769, -1.34175302,  2.36496469, -4.24815286,
   8.81138005, -1.01514129, -1.87577924, -0.37203839,-15.52658747,
   1.67213926, 26.82050511]

qfrc_actuator:
[-1.54516187e-06,-1.20609660e-04,-6.21875386e-05, 1.39418517e-04,
 -1.60419363e-06,-3.56904361e-04,-3.67756001e-04, 1.14812583e-04,
  2.41168727e-05, 1.08802668e-05,-1.20705107e-04, 5.55842835e-05,
  6.59935297e-02,-5.46335305e-04, 4.51843570e-02,-4.01650213e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56893098, -4.53476074, -0.55774129, -4.53476074,  4.95957479,
       -3.17616112, -0.55774129, -3.17616112, 30.39296632,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030847623267211965
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79952766e-13,  8.99763829e-14,  1.00000000e+00, -1.61914989e-26,
        1.00000000e+00, -8.99763829e-14, -1.00000000e+00,  0.00000000e+00,
        1.79952766e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11022564, -0.03411694,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14594988e-05,-2.17790329e-05,-4.44823478e-06, 1.06994291e-05,
  3.73154768e-06, 5.26379757e-06,-4.41735841e-05, 1.29776416e-05,
  1.33663737e-05,-3.40808447e-05,-4.22397333e-05,-3.70757691e-05,
 -4.50904937e-04,-7.15382741e-05,-2.49757767e-04,-3.00724356e-05,
 -2.75163041e-06, 1.49477374e-06,-1.21644700e+00,-4.69155817e-04,
  1.24711870e-05,-5.50938549e-04]


--- Step 268 ---
qpos:
[ 0.00615564,-0.00181175,-0.00495196, 0.03344134, 0.00443403,-0.00373959,
 -0.01841369, 0.02845267, 0.0129148 , 0.00334031,-0.00997663, 0.02578508,
  0.62867725,-0.00091244, 0.45292072, 0.06566568, 0.09405805,-0.07002107,
  0.13105591, 0.50416747, 0.49713187, 0.49603323, 0.50261924]

qacc:
[ -1.97221231,  0.40870676, -4.16298146, 12.7692205 ,  6.49310699,
  -1.19150443,  7.48749044,-22.24126767,  4.54909838, -1.46579393,
   3.74669486, -4.06238099, -2.19321855,  6.30267301, -9.73364361,
  28.16971607, -1.00027637, -1.8460582 , -0.52087415,-15.31387541,
   1.6040648 , 26.3873291 ]

qfrc_actuator:
[-1.34662603e-05,-1.46645828e-04,-6.26085998e-05, 1.63334631e-04,
  3.64991641e-05,-4.04960704e-04,-3.99818667e-04, 6.63343032e-05,
  5.02036097e-05,-6.98772946e-05,-1.29340049e-04, 5.11005415e-05,
  6.58613223e-02,-5.13041187e-04, 4.50748039e-02,-3.91197582e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003107232144247962
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.78651445e-13,  8.93257225e-14,  1.00000000e+00,  1.59581694e-26,
        1.00000000e+00, -8.93257225e-14, -1.00000000e+00,  0.00000000e+00,
       -1.78651445e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11022531, -0.03411807,  0.06199113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16035296e-05,-3.86768335e-05,-5.10542141e-06, 2.30310336e-05,
  3.82130286e-05,-5.36712232e-05,-3.59544967e-05,-4.95312667e-05,
  2.64638959e-05,-1.10193322e-04,-2.21845627e-05,-8.13448239e-06,
 -4.56471396e-04,-3.40768642e-05,-2.27527053e-04, 7.05384950e-05,
 -2.86618703e-06, 4.23567581e-07,-1.21644723e+00,-4.68605322e-04,
  1.05880975e-05,-5.51152912e-04]


--- Step 269 ---
qpos:
[ 0.0061552 ,-0.00181244,-0.00495141, 0.03344477, 0.00443484,-0.00373993,
 -0.01841579, 0.02845394, 0.0129153 , 0.0033401 ,-0.00997594, 0.02578612,
  0.63006237,-0.00091088, 0.45421133, 0.06567595, 0.09402317,-0.07002723,
  0.13104707, 0.50426814, 0.49700829, 0.49589041, 0.50278137]

qacc:
[ -4.28115671,  0.27154595, -3.86651719, 13.76870972,  0.93873481,
  -2.10260978,  9.6790312 ,-20.73749284, -3.3364756 , -3.44647173,
  10.29420755,-11.50457634, -1.52054854,  3.16744684, -6.35561141,
  17.60115032, -0.98834465, -1.82129201, -0.64625666,-15.14193506,
   1.54137022, 26.02916693]

qfrc_actuator:
[-3.82551090e-05,-1.44130885e-04,-4.52725810e-05, 1.94006169e-04,
  4.08795241e-05,-3.98089458e-04,-3.82422382e-04, 3.70266931e-05,
  2.96914842e-05,-1.35951177e-04,-9.90809889e-05, 4.80019117e-05,
  6.57321840e-02,-5.11804559e-04, 4.49893120e-02,-3.85407242e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031024578392342683
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78926368e-13,  8.94631839e-14,  1.00000000e+00, -1.60073225e-26,
        1.00000000e+00, -8.94631839e-14, -1.00000000e+00,  0.00000000e+00,
        1.78926368e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11022558, -0.03411781,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51324855e-05,-1.91791927e-05, 9.51029855e-06, 2.92801824e-05,
  5.45669614e-06,-3.26523798e-05, 1.89151378e-07,-3.38163559e-05,
 -1.97941461e-05,-1.32652164e-04, 4.46850826e-06,-8.75249096e-06,
 -4.51782427e-04,-6.43779232e-05,-1.82814321e-04, 3.22043278e-05,
 -2.81947549e-06,-5.05992502e-07,-1.21644865e+00,-4.68239174e-04,
  7.93905400e-06,-5.51628560e-04]


--- Step 270 ---
qpos:
[ 0.00615447,-0.00181321,-0.00495068, 0.03344818, 0.00443536,-0.00374041,
 -0.01841776, 0.02845518, 0.01291588, 0.0033391 ,-0.00997504, 0.02578743,
  0.63144501,-0.00090926, 0.45549957, 0.06568324, 0.09398437,-0.07004059,
  0.13103522, 0.50435633, 0.49689356, 0.49570837, 0.50298577]

qacc:
[ -2.57724567, -0.61757191,  2.13943257, -2.71338855, -2.60601223,
  -0.58842479,  1.94766788, -2.54004184,  0.85952848, -1.08839353,
   1.15270811,  3.9502337 , -1.53437337,  3.12941435,  5.52853935,
 -24.34008873, -0.97889654, -1.80072556, -0.75185952,-15.00518468,
   1.48266727, 25.73501554]

qfrc_actuator:
[-5.26588964e-05,-1.42208338e-04,-3.52280941e-05, 1.92934652e-04,
  2.53655092e-05,-3.93676693e-04,-3.71242292e-04, 3.70691623e-05,
  3.51706417e-05,-1.57053130e-04,-8.15801064e-05, 6.35182162e-05,
  6.55996450e-02,-5.11750737e-04, 4.48330904e-02,-4.01934126e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003076030218147757
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.80463608e-13,  1.80463608e-13,  1.00000000e+00, -3.25671139e-26,
        1.00000000e+00, -1.80463608e-13, -1.00000000e+00,  0.00000000e+00,
        1.80463608e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11022633, -0.03411645,  0.06199122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51257393e-05,-5.58015217e-06, 8.26248892e-06,-1.00068038e-06,
 -1.53681392e-05,-1.52206069e-05, 3.31436374e-06,-2.00604769e-06,
  4.87095128e-06,-9.47421651e-05,-9.65929961e-06, 9.81339310e-06,
 -4.55925092e-04,-6.73862030e-05,-2.39738630e-04,-1.87936661e-04,
 -2.61845959e-06,-1.30122264e-06,-1.21645119e+00,-4.68039289e-04,
  4.55089312e-06,-5.52357896e-04]


--- Step 271 ---
qpos:
[ 0.00615426,-0.00181429,-0.00494971, 0.03345122, 0.00443568,-0.00374134,
 -0.01841918, 0.02845642, 0.01291653, 0.00333815,-0.00997435, 0.02578918,
  0.63282507,-0.00090696, 0.45678474, 0.06569016, 0.09394169,-0.07006108,
  0.13102002, 0.50443221, 0.4967876 , 0.4954874 , 0.50323203]

qacc:
[  4.6118415 , -1.88668708,  7.62128821,-14.01185643, -1.63520317,
  -2.15665119,  6.83994362, -7.42758482,  0.52202454,  1.59416252,
  -7.40874822, 15.28666311, -2.21180566,  6.35266994, -3.35715047,
   5.3347422 , -0.97155186, -1.78371296, -0.84081652,-14.89886574,
   1.426824  , 25.49559415]

qfrc_actuator:
[-2.53254299e-05,-1.76204100e-04,-2.95917175e-05, 1.73188298e-04,
  1.60297068e-05,-4.26254050e-04,-3.46064696e-04, 3.66164656e-05,
  3.81663959e-05,-9.78184144e-05,-7.15699031e-05, 8.98865078e-05,
  6.54758075e-02,-4.76899522e-04, 4.46931088e-02,-4.03086776e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003032604607449002
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.15238853e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.15238853e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11022745, -0.03411423,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.69021858e-05,-3.54436236e-05, 5.46100893e-06,-1.97258039e-05,
 -9.78015475e-06,-4.04575002e-05, 2.23992826e-05,-1.02596884e-06,
  3.09904131e-06, 4.70620633e-06,-1.04115544e-05, 2.21621521e-05,
 -4.51003681e-04,-3.34247595e-05,-2.72338171e-04,-5.33536177e-05,
 -2.26804523e-06,-1.96696267e-06,-1.21645483e+00,-4.67990477e-04,
  4.42700167e-07,-5.53334582e-04]


--- Step 272 ---
qpos:
[ 0.00615506,-0.00181552,-0.00494869, 0.03345366, 0.00443555,-0.0037425 ,
 -0.01842091, 0.02845802, 0.01291686, 0.00333752,-0.00997371, 0.02579085,
  0.63420273,-0.00090457, 0.4580675 , 0.06569703, 0.09389515,-0.07008866,
  0.13100114, 0.50449591, 0.4966903 , 0.49522768, 0.50351978]

qacc:
[  8.96251945, -1.55899043,  7.83697917,-18.34559317, -4.02747508,
   1.31581669, -6.65871739, 13.6011305 , -2.77269054,  0.34447989,
  -0.26215598, -1.42730251, -1.47473102,  3.04014445, -3.34395879,
   6.61811545, -0.9659885 , -1.7697012 , -0.91580465,-14.81891265,
   1.37291462, 25.30305563]

qfrc_actuator:
[ 2.63510868e-05,-1.78224063e-04,-2.67548965e-05, 1.42584918e-04,
 -7.34116926e-06,-4.45159586e-04,-3.66233702e-04, 5.36030932e-05,
  2.19164670e-05,-6.19399760e-05,-6.57076113e-05, 8.69911407e-05,
  6.53572872e-02,-4.75068665e-04, 4.46109515e-02,-4.02258203e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002976043468649048
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.86526682e-13,  9.32633408e-14,  1.00000000e+00,  1.73961015e-26,
        1.00000000e+00, -9.32633408e-14, -1.00000000e+00,  0.00000000e+00,
       -1.86526682e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11022887, -0.03411134,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.24314927e-05,-2.15264393e-05,-4.50090842e-06,-3.23247993e-05,
 -2.36652263e-05,-3.69023669e-05,-2.57767802e-05, 1.60107755e-05,
 -1.61626846e-05, 3.73345963e-05, 6.31847110e-06,-2.62596684e-06,
 -4.37364361e-04,-6.33264124e-05,-2.12193763e-04,-2.96851273e-05,
 -1.77146985e-06,-2.50593779e-06,-1.21645954e+00,-4.68079659e-04,
 -4.37266386e-06,-5.54553245e-04]


--- Step 273 ---
qpos:
[ 0.00615648,-0.00181657,-0.00494788, 0.03345672, 0.00443479,-0.00374335,
 -0.0184234 , 0.02845977, 0.012917  , 0.00333706,-0.00997297, 0.02579247,
  0.63557799,-0.00090243, 0.45934836, 0.06570149, 0.09384476,-0.07012326,
  0.13097836, 0.50454755, 0.49660159, 0.49492935, 0.50384876]

qacc:
[  5.38240889,  2.04235048, -9.60433922, 20.61148989, -5.49469247,
   2.86555869,-10.25380191, 13.87388925, -1.73575692, -0.11793343,
   0.94966571, -1.9694136 , -1.12502115,  1.3108378 ,  4.47207151,
 -19.67209681, -0.9619332 , -1.75821664, -0.97911219,-14.76184698,
   1.32017958, 25.15075362]

qfrc_actuator:
[ 5.64230245e-05,-1.43353058e-04,-2.54767001e-05, 1.76874024e-04,
 -3.87873847e-05,-4.02640684e-04,-3.95210972e-04, 6.29366808e-05,
  1.22222061e-05,-5.80940420e-05,-6.24228516e-05, 8.46407668e-05,
  6.52260577e-02,-4.92735049e-04, 4.45209340e-02,-4.14458993e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029095379697517687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90790262e-13,  1.90790262e-13,  1.00000000e+00, -3.64009242e-26,
        1.00000000e+00, -1.90790262e-13, -1.00000000e+00,  0.00000000e+00,
        1.90790262e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1102305 , -0.03410795,  0.06199169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.15591064e-05, 2.05613378e-05,-4.84701576e-06, 3.25745245e-05,
 -3.21347178e-05, 1.72957351e-05,-3.91895414e-05, 7.17568315e-06,
 -1.01415903e-05, 2.59235078e-05, 1.16813061e-05,-5.85897275e-07,
 -4.44363862e-04,-8.33797995e-05,-1.92707971e-04,-1.51611589e-04,
 -1.13060260e-06,-2.91903831e-06,-1.21646531e+00,-4.68295256e-04,
 -9.88735555e-06,-5.56009241e-04]


--- Step 274 ---
qpos:
[ 0.00615756,-0.00181739,-0.00494713, 0.03346049, 0.00443435,-0.00374372,
 -0.01842581, 0.02846119, 0.01291701, 0.00333641,-0.00997202, 0.02579444,
  0.63695073,-0.00089981, 0.46062721, 0.06570241, 0.09379134,-0.07015267,
  0.1309614 , 0.50462719, 0.49648747, 0.49463928, 0.50416621]

qacc:
[ -2.99632594,  1.98678179, -9.63307545, 21.92086109,  2.77942466,
  -0.24466593,  3.19814098, -9.38100751, -1.02040388, -0.10561503,
  -1.44915436,  7.24859985, -2.0426914 ,  5.45809564,  7.76851969,
 -31.34042126, -0.75711977,  1.30012182,  1.45800199, -8.43715845,
  -1.30334007,-18.30078977]

qfrc_actuator:
[ 3.80251960e-05,-1.22112193e-04,-2.49217700e-05, 2.13601406e-04,
 -2.14721469e-05,-3.41467644e-04,-3.75638033e-04, 4.99908814e-05,
  6.46999072e-06,-9.12178571e-05,-6.08077399e-05, 1.00359092e-04,
  6.50979394e-02,-4.68531762e-04, 4.44155893e-02,-4.32465267e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003145705782475333
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.27186455e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.27186455e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10208708, -0.09006241,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.74925957e-05, 3.31618926e-05, 5.32546681e-06, 3.80668514e-05,
  1.64046257e-05, 6.31026765e-05, 1.86028632e-05,-1.34160435e-05,
 -6.03210503e-06,-1.62383226e-05, 8.38207104e-06, 1.72182315e-05,
 -4.49011351e-04,-4.42141778e-05,-2.14293034e-04,-2.14336879e-04,
 -3.46176400e-07,-3.20553592e-06,-1.21647212e+00,-4.68626721e-04,
 -1.60975925e-05,-5.57698476e-04]


--- Step 275 ---
qpos:
[ 0.00615841,-0.00181763,-0.00494705, 0.03346398, 0.00443447,-0.00374377,
 -0.01842768, 0.02846279, 0.01291696, 0.00333569,-0.00997107, 0.02579658,
  0.63832107,-0.00089722, 0.46190356, 0.06570245, 0.09373504,-0.07017705,
  0.13094895, 0.50473415, 0.49634822, 0.49435708, 0.50447295]

qacc:
[ -2.04287518,  2.06771933, -5.06207473,  0.8144838 ,  4.8750574 ,
  -0.788457  ,  2.67328448, -0.84063494, -0.60778559,  0.23704014,
  -1.71419889,  4.73372662, -1.35009264,  2.41141162, -0.98760605,
  -1.83927468, -0.7193158 ,  1.25647864,  1.12698626, -8.48342727,
  -1.09639234,-17.76328677]

qfrc_actuator:
[ 2.67587409e-05,-9.14307366e-05,-6.03515737e-05, 1.98194200e-04,
  6.65435783e-06,-3.22665799e-04,-3.45220652e-04, 5.96045520e-05,
  3.08173803e-06,-9.29646150e-05,-6.03376841e-05, 1.08795150e-04,
  6.49771125e-02,-4.73100945e-04, 4.43117781e-02,-4.35992786e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.65825899, -0.16306138, -4.65540415, -0.16306138, 36.66057624,
       -1.12092137, -4.65540415, -1.12092137,  4.69752067,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003331163132141851
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.49962921e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.49962921e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10208796, -0.09005742,  0.06199048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17529621e-05, 5.19600105e-05,-2.66147385e-05,-1.30687883e-05,
  2.86169337e-05, 5.74002753e-05, 4.53074947e-05, 1.27028868e-05,
 -3.56705195e-06,-8.35201791e-06,-1.26357178e-06, 8.36049950e-06,
 -4.39508376e-04,-7.07898510e-05,-2.28968863e-04,-7.56510534e-05,
 -1.84727469e-06,-3.52045827e-06,-1.21647173e+00,-4.66125142e-04,
 -1.26306599e-05,-5.58027885e-04]


--- Step 276 ---
qpos:
[ 0.00615947,-0.00181751,-0.00494761, 0.03346695, 0.00443492,-0.00374376,
 -0.01842929, 0.02846453, 0.01291687, 0.00333541,-0.00997034, 0.02579841,
  0.63968912,-0.00089532, 0.46317727, 0.06570168, 0.09367598,-0.07019655,
  0.13093989, 0.50486784, 0.49618409, 0.49408245, 0.5047696 ]

qacc:
[  1.7614746 ,  1.14764242, -1.16462037, -7.27555742,  2.95290821,
  -0.2959348 ,  0.52722779,  1.70325783, -0.37278996,  0.55214811,
   0.19928395, -5.58434811, -0.5504218 , -1.22005797, -1.455674  ,
  -0.56308159, -0.68937881,  1.21990189,  0.8474295 , -8.51439968,
  -0.92483899,-17.31076036]

qfrc_actuator:
[ 3.75484525e-05,-9.10267872e-05,-9.89892030e-05, 1.69969924e-04,
  2.31503251e-05,-3.47052580e-04,-3.44305602e-04, 6.46346609e-05,
  1.11086482e-06,-4.04198235e-05,-6.04399246e-05, 9.51446945e-05,
  6.48554138e-02,-5.12365157e-04, 4.41877009e-02,-4.39832865e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.70662076,  0.30103187,  4.69698401,  0.30103187,  9.53343832,
       -0.30935296,  4.69698401, -0.30935296,  4.72644734,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003453939852692267
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.03591747e-14,  1.60718349e-13,  1.00000000e+00,  1.29151939e-26,
        1.00000000e+00, -1.60718349e-13, -1.00000000e+00,  0.00000000e+00,
       -8.03591747e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10208894, -0.09005418,  0.06199013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04752870e-05, 2.33958453e-05,-3.16410006e-05,-2.71800347e-05,
  1.73310888e-05, 1.76443911e-05, 1.88096783e-05, 9.30447326e-06,
 -2.07632878e-06, 4.79804862e-05,-1.70115338e-06,-1.38945329e-05,
 -4.37372447e-04,-1.06311317e-04,-2.38995641e-04,-7.25698334e-05,
 -3.36755268e-06,-3.63931812e-06,-1.21647192e+00,-4.63783639e-04,
 -8.95990444e-06,-5.58262454e-04]


--- Step 277 ---
qpos:
[ 0.00616064,-0.00181723,-0.00494857, 0.03346956, 0.00443557,-0.00374409,
 -0.01843063, 0.02846638, 0.01291745, 0.00333538,-0.00996928, 0.0257997 ,
  0.64105477,-0.00089353, 0.46444819, 0.06570042, 0.09361727,-0.07021146,
  0.13093558, 0.5050151 , 0.4960066 , 0.49382617, 0.50504744]

qacc:
[ 1.04954397e+00, 6.16666293e-01,-4.23516491e-01,-5.10267366e+00,
  1.71985038e+00,-1.02817897e+00, 2.56216004e+00,-9.95436287e-01,
  5.87553526e+00,-1.67936296e+00, 8.73577644e+00,-1.87318560e+01,
 -1.25290777e+00, 1.95041248e+00,-2.59328936e+00, 3.15932995e+00,
  8.50086138e-02, 1.14690171e+00, 1.18675547e+00, 2.54260871e+00,
 -1.53977746e-02,-1.60300187e+01]

qfrc_actuator:
[ 4.34786323e-05,-9.10493195e-05,-1.21569596e-04, 1.52169760e-04,
  3.26647313e-05,-3.97237618e-04,-3.43260674e-04, 6.68614413e-05,
  3.54948277e-05,-2.67979019e-05,-4.29105378e-05, 6.86579530e-05,
  6.47332679e-02,-5.18517484e-04, 4.40568915e-02,-4.42057848e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003576768993894114
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55199151e-13,  2.32798727e-13,  1.00000000e+00, -3.61301649e-26,
        1.00000000e+00, -2.32798727e-13, -1.00000000e+00,  0.00000000e+00,
        1.55199151e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09144058, -0.0881028 ,  0.06198978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.23819782e-06, 5.35578484e-06,-2.25881495e-05,-1.84276559e-05,
  1.00144835e-05,-3.60138430e-05, 7.34256735e-06, 3.81380603e-06,
  3.43425806e-05, 3.95025981e-05, 2.67407365e-05,-2.47648583e-05,
 -4.41411695e-04,-7.57628969e-05,-2.49386722e-04,-5.73937093e-05,
 -4.91747028e-06,-3.57412252e-06,-1.21647264e+00,-4.61559650e-04,
 -5.07606317e-06,-5.58400884e-04]


--- Step 278 ---
qpos:
[ 0.00616153,-0.00181702,-0.0049495 , 0.03347297, 0.00443564,-0.00374494,
 -0.01843158, 0.02846894, 0.01291843, 0.00333528,-0.00996785, 0.0258007 ,
  0.64241805,-0.0008918 , 0.46571596, 0.0657025 , 0.0935589 ,-0.07022192,
  0.13093493, 0.50517572, 0.49581579, 0.49358775, 0.50530717]

qacc:
[ -2.4841415 ,  1.48787522, -8.8108849 , 22.67400098, -5.05955168,
  -0.28059219, -2.97444477, 15.0890591 ,  3.60247423, -1.74648948,
   7.27170733,-12.76231584, -1.22984409,  1.96575365,-14.70359843,
  44.76205198,  0.08785998,  1.11265695,  0.91456179,  2.30622401,
   0.08433484,-15.66006436]

qfrc_actuator:
[ 2.87413181e-05,-9.12679083e-05,-1.16737156e-04, 1.93913591e-04,
  2.49208059e-06,-4.27003323e-04,-3.24509770e-04, 1.02903507e-04,
  5.54949483e-05,-5.42759324e-05,-3.30087804e-05, 5.25726050e-05,
  6.46162721e-02,-5.22857709e-04, 4.39381291e-02,-4.23784721e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00036763251584781553
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88745380e-13,  2.26494456e-13,  1.00000000e+00, -4.27497823e-26,
        1.00000000e+00, -2.26494456e-13, -1.00000000e+00,  0.00000000e+00,
        1.88745380e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09144231, -0.08810088,  0.0619895 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45568073e-05,-2.68535793e-06, 2.51981079e-06, 4.08283573e-05,
 -2.98996079e-05,-4.81971504e-05, 1.23637200e-05, 3.48261700e-05,
  2.09907943e-05,-9.26148828e-07, 2.04826136e-05,-1.39556977e-05,
 -4.34694219e-04,-7.23425383e-05,-2.39900416e-04, 1.47223743e-04,
 -5.65101710e-06,-3.26272894e-06,-1.21647076e+00,-4.59617362e-04,
 -5.22635748e-07,-5.58481428e-04]


--- Step 279 ---
qpos:
[ 0.0061619 ,-0.0018169 ,-0.00495006, 0.03347648, 0.00443534,-0.00374593,
 -0.01843269, 0.02847191, 0.01291895, 0.00333514,-0.0099669 , 0.0258026 ,
  0.64377901,-0.00089012, 0.46698134, 0.06570595, 0.09350089,-0.07022805,
  0.13093701, 0.50534949, 0.4956117 , 0.49336676, 0.50554938]

qacc:
[ -4.63336859, -0.96241244,  2.82416281, -1.55123108, -3.17277937,
   1.07557926, -5.83754944, 13.20925055, -4.03923115,  3.11984831,
 -14.93612343, 31.10237822, -1.26687564,  2.14880913, -7.62953891,
  21.66374434,  0.08914876,  1.08429566,  0.68534909,  2.10914973,
   0.16855619,-15.34876166]

qfrc_actuator:
[ 1.95899838e-06,-9.14413877e-05,-9.57273278e-05, 1.99361871e-04,
 -1.52901084e-05,-4.26469874e-04,-3.30867397e-04, 1.23074136e-04,
  3.13518377e-05,-7.06724433e-05,-6.33678132e-05, 9.59502388e-05,
  6.45024505e-02,-5.26114659e-04, 4.38373798e-02,-4.16655062e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.82428279,  1.32058403,  4.64001749,  1.32058403, 11.52480763,
       -1.90701999,  4.64001749, -1.90701999,  5.36703509,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003727296147427589
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.11698566e-13,  1.48931421e-13,  1.00000000e+00,  1.66354262e-26,
        1.00000000e+00, -1.48931421e-13, -1.00000000e+00,  0.00000000e+00,
       -1.11698566e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0914436 , -0.0881001 ,  0.06198935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.71993267e-05, 5.82734246e-07, 2.21786631e-05, 6.20945735e-06,
 -1.86550478e-05,-2.23464422e-05,-1.35683791e-05, 1.92102173e-05,
 -2.35460000e-05,-1.32862462e-05,-2.85279022e-05, 4.37691883e-05,
 -4.25998712e-04,-7.02492477e-05,-1.94206080e-04, 4.85387734e-05,
 -6.35878053e-06,-2.88017070e-06,-1.21646928e+00,-4.57739429e-04,
  3.81447932e-06,-5.58502840e-04]


--- Step 280 ---
qpos:
[ 0.00616228,-0.0018167 ,-0.00495064, 0.03347936, 0.00443518,-0.00374668,
 -0.01843402, 0.02847436, 0.01291919, 0.00333509,-0.00996614, 0.02580565,
  0.64513761,-0.00088844, 0.46824488, 0.06570913, 0.09344324,-0.07022993,
  0.13094107, 0.50553626, 0.49539436, 0.49316285, 0.50577458]

qacc:
[  0.18106526, -1.12570998,  6.89640082,-18.08048696,  1.15613814,
  -0.10229981,  3.0407632 ,-11.86191942, -2.58875117,  3.05923129,
 -15.60642038, 35.89167328, -1.36359153,  2.51858366, -1.83937458,
   2.55981732,  0.08925475,  1.06090217,  0.49276235,  1.94328559,
   0.24077513,-15.088062  ]

qfrc_actuator:
[ 3.81375730e-06,-9.15375643e-05,-1.00882334e-04, 1.65655019e-04,
 -7.87142724e-06,-3.90150385e-04,-3.34143497e-04, 9.82408023e-05,
  1.69302272e-05,-4.49267370e-05,-6.39261070e-05, 1.56191346e-04,
  6.43799633e-02,-5.28713650e-04, 4.37581340e-02,-4.17923649e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.82970263,  1.16904581,  4.68608145,  1.16904581, 15.84212462,
       -2.74729022,  4.68608145, -2.74729022,  5.51507444,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037391246657282606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11345214e-13,  7.42301423e-14,  1.00000000e+00, -8.26517105e-27,
        1.00000000e+00, -7.42301423e-14, -1.00000000e+00,  0.00000000e+00,
        1.11345214e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09144454, -0.08810024,  0.06198932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.07995900e-06, 5.06081328e-06,-2.09018769e-06,-3.27994785e-05,
  6.87774392e-06, 2.18802635e-05,-8.87967210e-06,-2.58877690e-05,
 -1.50949635e-05, 1.42820341e-05,-5.31434290e-06, 5.95315055e-05,
 -4.28097958e-04,-6.83536185e-05,-1.65571533e-04,-3.57459792e-05,
 -7.04607043e-06,-2.42629807e-06,-1.21646819e+00,-4.55909136e-04,
  7.96551477e-06,-5.58460024e-04]


--- Step 281 ---
qpos:
[ 0.00616269,-0.00181632,-0.00495136, 0.03348214, 0.00443511,-0.00374724,
 -0.01843516, 0.02847681, 0.01291959, 0.00333548,-0.00996527, 0.02580899,
  0.64649377,-0.00088641, 0.46950592, 0.06571219, 0.09338747,-0.07022752,
  0.13094721, 0.50573022, 0.49516892, 0.49298196, 0.50597773]

qacc:
[  0.15896   ,  0.42182341, -0.79274149, -0.63507713,  0.79047257,
  -0.29830143,  1.41258099, -1.78389961,  1.49068918,  0.8277354 ,
  -3.350785  ,  7.83035791, -1.78764433,  4.3866754 , -3.30535771,
   6.3414277 ,  0.46972102,  1.07336517,  0.51848573,  7.43491459,
   0.63606221,-15.08627953]

qfrc_actuator:
[ 4.76011062e-06,-7.39710531e-05,-1.03719416e-04, 1.62422636e-04,
 -3.43566932e-06,-3.68210630e-04,-3.17685227e-04, 1.00426421e-04,
  2.61130642e-05, 5.98538023e-06,-4.66959703e-05, 1.72667432e-04,
  6.42523625e-02,-5.13191664e-04, 4.36225927e-02,-4.18794735e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003746591665428345
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.96328803e-13,  4.63013755e-15,  1.00000000e+00, -1.37204312e-27,
        1.00000000e+00, -4.63013755e-15, -1.00000000e+00,  0.00000000e+00,
        2.96328803e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596303, -0.08814431,  0.0619893 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.79685230e-07, 1.85517098e-05,-3.18627890e-06,-3.73186476e-06,
  4.64129488e-06, 3.12713602e-05, 1.90068276e-05, 2.31113488e-06,
  8.75794157e-06, 6.03335210e-05, 2.15712329e-05, 1.80550999e-05,
 -4.34309824e-04,-5.05763587e-05,-2.20048423e-04,-3.32440491e-05,
 -7.71713543e-06,-1.90098456e-06,-1.21646744e+00,-4.54113283e-04,
  1.19550521e-05,-5.58349181e-04]


--- Step 282 ---
qpos:
[ 0.00616275,-0.00181584,-0.0049518 , 0.0334845 , 0.00443544,-0.00374783,
 -0.01843629, 0.02848001, 0.01291975, 0.00333645,-0.00996507, 0.02581184,
  0.64784738,-0.0008835 , 0.47076427, 0.06571446, 0.09333355,-0.0702209 ,
  0.13095472, 0.50593132, 0.49493535, 0.49282372, 0.50615935]

qacc:
[ -2.95457881, -1.50141181,  7.37244007,-15.27575684,  3.49275188,
   1.46027   , -8.43888344, 21.33224404, -2.12745428,  1.68235306,
  -2.81872671, -4.92601072, -2.46732481,  7.3761363 , -1.47741257,
  -0.38227716,  0.46160347,  1.05209199,  0.34606714,  7.21413442,
   0.69284788,-14.86527982]

qfrc_actuator:
[-1.25975603e-05,-6.36906531e-05,-8.73040935e-05, 1.41668882e-04,
  1.69530597e-05,-3.90448106e-04,-3.25231039e-04, 1.36258504e-04,
  1.36074863e-05, 1.83703747e-05,-9.00358910e-05, 1.45539762e-04,
  6.41217861e-02,-4.69390814e-04, 4.34853537e-02,-4.22983991e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.8295654 ,  1.98997488,  4.40053428,  1.98997488, 17.67409315,
       -5.80845098,  4.40053428, -5.80845098,  7.45621726,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037388259264158064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.96944294e-13,  1.15993865e-13,  1.00000000e+00, -3.44437163e-26,
        1.00000000e+00, -1.15993865e-13, -1.00000000e+00,  0.00000000e+00,
        2.96944294e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596352, -0.08814504,  0.06198932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.73240681e-05, 1.98240869e-05, 1.97231848e-05,-2.01472423e-05,
  2.05313586e-05,-6.96151760e-07, 1.34875073e-06, 3.78729512e-05,
 -1.22345658e-05, 5.13261672e-05,-2.76176500e-05,-2.34548956e-05,
 -4.39265806e-04,-2.18917044e-05,-2.43724812e-04,-7.26389729e-05,
 -7.95716470e-06,-1.30056870e-06,-1.21646555e+00,-4.52363002e-04,
  1.58092435e-05,-5.58160385e-04]


--- Step 283 ---
qpos:
[ 0.00616296,-0.00181554,-0.00495189, 0.03348663, 0.00443601,-0.00374852,
 -0.01843743, 0.02848327, 0.01291976, 0.00333747,-0.00996516, 0.02581404,
  0.64919846,-0.0008797 , 0.47202018, 0.06571609, 0.09328144,-0.07021014,
  0.13096305, 0.50613951, 0.49469359, 0.49268781, 0.50631984]

qacc:
[ 1.21547254e+00,-1.70199548e+00, 6.68450051e+00,-1.11280643e+01,
  2.11886655e+00, 1.52349751e-02,-5.18898302e-01, 1.74336151e+00,
 -1.33543337e+00,-4.69477612e-01, 4.51392090e+00,-1.53378266e+01,
 -2.44611893e+00, 7.29186842e+00,-1.62006753e+00, 6.19862372e-01,
  4.54217105e-01, 1.03481199e+00, 2.01959230e-01, 7.02731425e+00,
  7.42843290e-01,-1.46825043e+01]

qfrc_actuator:
[-5.08427198e-06,-9.32899127e-05,-7.74458305e-05, 1.28528565e-04,
  2.88159885e-05,-4.03525248e-04,-3.29305486e-04, 1.38281393e-04,
  6.18150722e-06,-1.04439615e-05,-1.15709885e-04, 1.10659792e-04,
  6.39948482e-02,-4.27058193e-04, 4.33844836e-02,-4.25540554e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000370390141200605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.96195574e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.96195574e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596362, -0.08814637,  0.06198942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.02611591e-06,-1.53268110e-05, 1.56801308e-05,-1.20052036e-05,
  1.24475404e-05,-1.15297850e-05,-2.72932978e-06, 2.77265546e-06,
 -7.74972723e-06,-6.86992042e-06,-1.93045105e-05,-3.41009206e-05,
 -4.35022398e-04,-2.19497314e-05,-2.21681126e-04,-6.13285939e-05,
 -8.18274387e-06,-6.55354132e-07,-1.21646408e+00,-4.50640439e-04,
  1.93321420e-05,-5.57897458e-04]


--- Step 284 ---
qpos:
[ 0.00616325,-0.0018153 ,-0.00495188, 0.03348858, 0.00443671,-0.00374953,
 -0.01843819, 0.02848619, 0.01292003, 0.00333805,-0.00996479, 0.02581582,
  0.65054712,-0.00087539, 0.47327381, 0.06571861, 0.09323112,-0.07019529,
  0.1309717 , 0.50635477, 0.49444359, 0.49257395, 0.50645955]

qacc:
[  0.77976232, -0.72438383,  3.19445051, -6.30798307,  1.22568231,
  -2.18296748,  8.61034288,-14.90277989,  2.2760371 , -2.77021186,
  10.81975956,-18.58174473, -1.95093872,  5.16991573, -5.931156  ,
  16.05012466,  0.44751765,  1.02089824,  0.08192346,  6.86857533,
   0.78763725,-14.53297107]

qfrc_actuator:
[-7.39738044e-07,-9.33030112e-05,-7.17016685e-05, 1.19933998e-04,
  3.55608782e-05,-4.28792574e-04,-3.13542140e-04, 1.20398050e-04,
  1.95636227e-05,-4.59216715e-05,-9.54005820e-05, 8.92396652e-05,
  6.38755089e-02,-4.03705481e-04, 4.33055102e-02,-4.20000831e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003647802567454117
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52176962e-13,  1.56932492e-13,  1.00000000e+00, -2.38815098e-26,
        1.00000000e+00, -1.56932492e-13, -1.00000000e+00,  0.00000000e+00,
        1.52176962e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596341, -0.08814819,  0.06198958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.53755356e-06,-5.87215537e-06, 4.08640076e-06,-8.94800930e-06,
  7.09642981e-06,-3.21242473e-05, 1.31551778e-05,-1.84216701e-05,
  1.31653106e-05,-4.48117813e-05, 1.53170913e-05,-2.30528138e-05,
 -4.24270540e-04,-4.05012387e-05,-1.89487960e-04, 2.28454746e-05,
 -8.39507893e-06, 3.67311324e-08,-1.21646299e+00,-4.48937852e-04,
  2.25470065e-05,-5.57557227e-04]


--- Step 285 ---
qpos:
[ 0.0061629 ,-0.00181507,-0.00495181, 0.03349006, 0.0044375 ,-0.00375074,
 -0.0184385 , 0.02848885, 0.01292046, 0.00333823,-0.00996415, 0.02581734,
  0.65189352,-0.00087114, 0.47452508, 0.06572076, 0.09318257,-0.07017641,
  0.13098028, 0.50657709, 0.49418531, 0.49248194, 0.50657879]

qacc:
[ -5.62624697, -1.1657518 ,  6.12030346,-14.32939607,  0.67633204,
  -2.0185022 ,  7.91986976,-12.95462876,  1.40732438, -1.7727897 ,
   6.67159989,-11.31812057, -1.2564732 ,  2.12968921, -2.38694822,
   3.33595681,  0.44145342,  1.00982397, -0.01768105,  6.73311712,
   0.82845187,-14.41235502]

qfrc_actuator:
[-3.38079460e-05,-9.33698268e-05,-6.83201182e-05, 9.63476332e-05,
  3.92420027e-05,-4.25602634e-04,-2.86253557e-04, 1.08706120e-04,
  2.73314790e-05,-6.71770244e-05,-8.36482031e-05, 7.59300053e-05,
  6.37608098e-02,-4.09477016e-04, 4.31811629e-02,-4.22156078e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003575508634180852
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55253859e-13,  1.60105542e-13,  1.00000000e+00, -2.48570032e-26,
        1.00000000e+00, -1.60105542e-13, -1.00000000e+00,  0.00000000e+00,
        1.55253859e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596298, -0.08815037,  0.06198979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.29421826e-05,-2.90235436e-06, 2.35453647e-06,-2.38759161e-05,
  3.87286244e-06,-1.28044610e-05, 2.16502551e-05,-1.29748223e-05,
  8.12915754e-06,-4.41622667e-05, 3.56945669e-06,-1.51553047e-05,
 -4.14497224e-04,-6.97246499e-05,-2.11889118e-04,-4.55529354e-05,
 -8.59514937e-06, 7.77467381e-07,-1.21646227e+00,-4.47248709e-04,
  2.54727069e-05,-5.57137186e-04]


--- Step 286 ---
qpos:
[ 0.00616181,-0.00181511,-0.00495187, 0.03349165, 0.00443797,-0.00375185,
 -0.01843861, 0.02849133, 0.01292098, 0.00333794,-0.00996334, 0.02581905,
  0.65323778,-0.00086761, 0.47577357, 0.06572364, 0.09313576,-0.07015352,
  0.13098847, 0.50680645, 0.49391868, 0.49241159, 0.50667779]

qacc:
[ -6.49163285,  0.26385344, -1.84378746,  3.94887316, -2.68205667,
  -0.84092268,  3.95287065, -7.5206068 ,  0.80605869, -0.73742109,
   0.89914924,  2.4806966 , -0.40792109, -1.57266906, -6.28874889,
  16.03776623,  0.43596942,  1.00114603, -0.0999838 ,  6.61701136,
   0.86622361,-14.31689994]

qfrc_actuator:
[-7.08781343e-05,-1.28996122e-04,-8.41172729e-05, 9.96348862e-05,
  2.33397517e-05,-4.05340194e-04,-2.70018316e-04, 1.00781792e-04,
  3.17261962e-05,-9.75236523e-05,-7.70036938e-05, 8.52465184e-05,
  6.36489683e-02,-4.50115161e-04, 4.30509856e-02,-4.18188055e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003491144372251981
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.77016806e-13,  1.24223127e-13,  1.00000000e+00, -5.92565190e-26,
        1.00000000e+00, -1.24223127e-13, -1.00000000e+00,  0.00000000e+00,
        4.77016806e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596238, -0.08815283,  0.06199003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.80080217e-05,-3.78088184e-05,-1.69379489e-05, 2.77711024e-06,
 -1.57964229e-05, 1.70609397e-05, 1.58201511e-05,-7.97916810e-06,
  4.61228458e-06,-5.49680133e-05,-2.57542719e-06, 7.24704819e-06,
 -4.09203843e-04,-1.05534657e-04,-2.34723172e-04, 9.19698301e-06,
 -8.78376804e-06, 1.56842022e-06,-1.21646191e+00,-4.45567356e-04,
  2.81245684e-05,-5.56635306e-04]


--- Step 287 ---
qpos:
[ 0.00616098,-0.00181532,-0.00495215, 0.03349325, 0.0044386 ,-0.00375274,
 -0.01843888, 0.02849405, 0.0129212 , 0.00333701,-0.00996263, 0.0258209 ,
  0.65457987,-0.00086486, 0.47701956, 0.06572492, 0.09309068,-0.07012666,
  0.13099598, 0.50704285, 0.49364365, 0.49236276, 0.50675675]

qacc:
[  2.22676256,  0.43125382, -1.94987431,  2.78004106,  1.30925002,
   1.23966184, -5.01434952,  9.27277358, -2.59745895, -0.26627102,
  -0.85264433,  3.87756255, -0.42143732, -1.64322937,  1.1389883 ,
  -9.36324494,  0.43101021,  0.99449135, -0.16767424,  6.51703817,
   0.90166694,-14.24334543]

qfrc_actuator:
[-5.67373859e-05,-1.32443528e-04,-9.34843642e-05, 1.00914688e-04,
  3.15449603e-05,-3.92793628e-04,-2.78115243e-04, 1.12897649e-04,
  1.63493431e-05,-1.50832168e-04,-9.12001282e-05, 9.00379931e-05,
  6.35282591e-02,-4.93227376e-04, 4.29227577e-02,-4.26617609e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003398109521495357
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.26717846e-13,  1.27624159e-13,  1.00000000e+00, -4.16970903e-26,
        1.00000000e+00, -1.27624159e-13, -1.00000000e+00,  0.00000000e+00,
        3.26717846e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596165, -0.08815547,  0.06199029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30473344e-05,-2.79812866e-05,-1.91668025e-05,-8.73852920e-07,
  7.75962369e-06, 2.50432836e-05,-2.89091429e-06, 1.32369459e-05,
 -1.52649597e-05,-8.42678536e-05,-2.56268182e-05, 2.48271806e-06,
 -4.19630258e-04,-1.10190793e-04,-2.35618812e-04,-1.14301314e-04,
 -8.96162559e-06, 2.41099143e-06,-1.21646190e+00,-4.43888779e-04,
  3.05150406e-05,-5.56049898e-04]


--- Step 288 ---
qpos:
[ 0.00616067,-0.00181521,-0.00495282, 0.03349515, 0.00443966,-0.00375329,
 -0.0184393 , 0.02849688, 0.01292124, 0.00333578,-0.00996224, 0.02582276,
  0.65591971,-0.0008629 , 0.47826329, 0.0657244 , 0.0930473 ,-0.07009583,
  0.1310026 , 0.50728628, 0.49336015, 0.49233534, 0.50681585]

qacc:
[  4.55644221,  2.08672148, -8.08603597, 13.58805987,  3.82392922,
   1.1022918 , -3.74952753,  5.63704969, -1.64373353,  0.50839632,
  -2.4437162 ,  3.40537023, -0.45751607, -1.60452498,  2.10348827,
 -12.22347562,  0.42652201,  0.98954586, -0.22306176,  6.43055498,
   0.93532421,-14.18886514]

qfrc_actuator:
[-3.03193904e-05,-8.10707718e-05,-9.88591824e-05, 1.18781666e-04,
  5.38798414e-05,-3.67290078e-04,-2.82768058e-04, 1.18935618e-04,
  7.21224311e-06,-1.46556359e-04,-9.99393460e-05, 9.20904215e-05,
  6.34023102e-02,-5.37481659e-04, 4.28277290e-02,-4.35180991e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003299189984951323
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.04770730e-13,  8.93864834e-14,  1.00000000e+00, -4.51196805e-26,
        1.00000000e+00, -8.93864834e-14, -1.00000000e+00,  0.00000000e+00,
        5.04770730e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596083, -0.08815825,  0.06199058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.67806513e-05, 3.17432387e-05,-1.35431879e-05, 1.59849129e-05,
  2.25648439e-05, 3.95099247e-05, 6.29036140e-07, 7.26496963e-06,
 -9.60112160e-06,-4.80177496e-05,-2.92171383e-05,-2.40016095e-06,
 -4.32951450e-04,-1.13381259e-04,-2.17202218e-04,-1.22780865e-04,
 -9.12932360e-06, 3.30645163e-06,-1.21646222e+00,-4.42208431e-04,
  3.26542297e-05,-5.55379513e-04]


--- Step 289 ---
qpos:
[ 0.00616033,-0.00181455,-0.0049537 , 0.03349721, 0.00444064,-0.00375352,
 -0.01843977, 0.0284994 , 0.01292116, 0.00333435,-0.00996206, 0.02582496,
  0.65725718,-0.00086112, 0.47950446, 0.0657251 , 0.09300561,-0.07006107,
  0.13100814, 0.50753676, 0.49306811, 0.49232923, 0.50685521]

qacc:
[ -0.24507413,  1.67276711, -5.59067454,  8.29306254, -0.75454784,
  -0.07446068,  2.15389092, -7.53162063, -0.9720507 ,  1.03849229,
  -5.49159088, 11.77633778, -1.15087138,  1.49270528, -7.47651064,
  20.71310531,  0.42245405,  0.98604522, -0.26812688,  6.35539106,
   0.9676048 ,-14.15101348]

qfrc_actuator:
[-3.24082513e-05,-3.27331928e-05,-1.01590899e-04, 1.28564722e-04,
  4.88394821e-05,-3.51971512e-04,-2.85295193e-04, 1.03610109e-04,
  1.82761893e-06,-1.43318157e-04,-1.05153695e-04, 1.10320937e-04,
  6.32839541e-02,-5.46590212e-04, 4.27313850e-02,-4.27763002e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031966532407602666
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.73653966e-13,  1.35667161e-13,  1.00000000e+00,  2.35591405e-26,
        1.00000000e+00, -1.35667161e-13, -1.00000000e+00,  0.00000000e+00,
       -1.73653966e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595996, -0.0881611 ,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31650298e-06, 6.39858020e-05, 2.71176331e-06, 1.09817513e-05,
 -4.38232144e-06, 3.78802042e-05, 5.96682066e-06,-1.34742330e-05,
 -5.67600458e-06,-2.97190842e-05,-1.88087927e-05, 1.51132065e-05,
 -4.35025790e-04,-8.06837297e-05,-2.12059111e-04, 3.86855835e-05,
 -9.28739955e-06, 4.25596070e-06,-1.21646288e+00,-4.40522105e-04,
  3.45503267e-05,-5.54622867e-04]


--- Step 290 ---
qpos:
[ 0.00615997,-0.00181376,-0.00495418, 0.03349938, 0.00444121,-0.00375358,
 -0.01843994, 0.02850207, 0.01292068, 0.00333265,-0.0099614 , 0.02582767,
  0.65859221,-0.0008588 , 0.48074239, 0.06572678, 0.09296559,-0.07002236,
  0.13101247, 0.5077943 , 0.49276746, 0.49234437, 0.50687494]

qacc:
[ -0.18213024, -0.74057246,  2.42265321, -1.26063861, -3.6048384 ,
  -0.31895611,  0.87739071,  0.91626831, -3.58004059, -0.66163744,
  -0.29760849,  8.49391037, -1.98507575,  5.24000838, -7.63929636,
  19.96576237,  0.4187594 ,  0.98376708, -0.30456528,  6.28976217,
   0.99881565,-14.12767894]

qfrc_actuator:
[-3.35104786e-05,-3.98249543e-05,-8.49875424e-05, 1.33516180e-04,
  2.77222739e-05,-3.42881218e-04,-2.68846079e-04, 1.11337532e-04,
 -1.90598160e-05,-1.40685603e-04,-7.27177367e-05, 1.37932019e-04,
  6.31702450e-02,-5.17153703e-04, 4.25544744e-02,-4.23414271e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003092330116687275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.30000226e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.30000226e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595905, -0.08816398,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11946874e-06, 2.97029228e-05, 3.05330268e-05, 7.99693489e-06,
 -2.12288519e-05, 3.09344546e-05, 2.45448601e-05, 9.29110419e-06,
 -2.10628476e-05,-1.71815506e-05, 2.45131755e-05, 2.59789215e-05,
 -4.26753161e-04,-4.00470488e-05,-2.71833373e-04, 1.77631306e-05,
 -9.43634571e-06, 5.26057966e-06,-1.21646386e+00,-4.38825843e-04,
  3.62099498e-05,-5.53778789e-04]


--- Step 291 ---
qpos:
[ 0.00615994,-0.00181322,-0.00495371, 0.03350194, 0.00444186,-0.00375342,
 -0.01843967, 0.02850513, 0.01292029, 0.00333127,-0.00996029, 0.02582991,
  0.65992486,-0.0008561 , 0.48197726, 0.06572957, 0.0929286 ,-0.06999244,
  0.13101865, 0.5080138 , 0.49251109, 0.49233428, 0.50691396]

qacc:
[  2.97775278, -2.17833489,  5.61492886, -0.07265593,  0.77422198,
  -0.12863133, -0.78075104,  6.77968866,  0.86843662, -1.76252976,
   8.83386943,-17.69313128, -1.77748528,  4.34363629, -7.79336125,
  20.83171365,  0.75460844, -2.19600291,  0.46312761,  9.476463  ,
  -3.51338255, 31.65545024]

qfrc_actuator:
[-1.62617750e-05,-6.22244678e-05,-3.95723466e-05, 1.53306257e-04,
  3.28256088e-05,-3.19746232e-04,-2.41332920e-04, 1.32577522e-04,
 -1.34006001e-05,-8.50020090e-05,-3.60576054e-05, 1.17607253e-04,
  6.30487639e-02,-5.00745193e-04, 4.24199142e-02,-4.17380251e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003293996259466081
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.3704441e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        3.3704441e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263865, -0.03123212,  0.06199059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72232542e-05, 8.33376049e-07, 5.55800708e-05, 2.22695478e-05,
  4.50633806e-06, 4.58924548e-05, 3.72454076e-05, 2.35912441e-05,
  5.04855830e-06, 5.22914292e-05, 3.70357923e-05,-1.97102234e-05,
 -4.22992669e-04,-4.85875565e-05,-2.56340341e-04, 2.64516259e-05,
 -9.57662353e-06, 6.32127701e-06,-1.21646517e+00,-4.37115873e-04,
  3.76384220e-05,-5.52846183e-04]


--- Step 292 ---
qpos:
[ 0.00616047,-0.00181266,-0.0049527 , 0.03350438, 0.00444257,-0.00375288,
 -0.01843936, 0.02850809, 0.01291998, 0.00333043,-0.00995969, 0.02583194,
  0.66125516,-0.00085318, 0.48320952, 0.06573032, 0.09289446,-0.06997106,
  0.13102553, 0.50819606, 0.49229773, 0.49230009, 0.50697173]

qacc:
[  4.86725606, -1.75397834,  6.81830205, -9.94059856,  0.48334576,
   0.17416419,  0.53051403, -2.66891564,  0.59513605,  1.68320456,
  -4.02992006,  0.59998948, -1.64267239,  3.6972807 ,  2.34331159,
 -13.67606361,  0.71464127, -2.13365311,  0.17433117,  9.37105373,
  -3.23844172, 30.72468102]

qfrc_actuator:
[ 1.16496011e-05,-5.79845704e-05,-1.30868410e-05, 1.46162824e-04,
  3.55737740e-05,-3.06069435e-04,-2.42956127e-04, 1.26105465e-04,
 -9.90925309e-06,-6.89880823e-05,-6.80308743e-05, 1.04787544e-04,
  6.29280290e-02,-4.92205464e-04, 4.22842369e-02,-4.28139456e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.70635372, -1.21526358,  4.54674607, -1.21526358, 32.87364993,
        7.52861252,  4.54674607,  7.52861252,  6.71861667,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034532801069765695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.60749055e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.60749055e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263782, -0.03124106,  0.06199014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.83954897e-05, 1.71161735e-05, 3.42553746e-05,-4.75997610e-06,
  2.89042141e-06, 4.80293709e-05, 1.32480589e-05,-2.76549580e-06,
  3.64955953e-06, 5.20936317e-05,-1.72944620e-05,-9.68560819e-06,
 -4.20738812e-04,-5.67594252e-05,-2.50113689e-04,-1.39179379e-04,
 -7.32112974e-06, 3.87939234e-06,-1.21645842e+00,-4.38356463e-04,
  3.16047873e-05,-5.51629165e-04]


--- Step 293 ---
qpos:
[ 0.00616064,-0.00181188,-0.00495199, 0.03350674, 0.00444296,-0.00375188,
 -0.01843961, 0.02851028, 0.0129197 , 0.00332992,-0.00995945, 0.0258345 ,
  0.66258321,-0.00085047, 0.48443901, 0.06573069, 0.09286305,-0.069958  ,
  0.13103213, 0.50834176, 0.49212632, 0.4922427 , 0.50704779]

qacc:
[ -3.17384178,  0.98334638, -2.7625737 ,  1.79883289, -2.8044145 ,
   0.6445355 ,  1.81545765,-14.42561823,  0.37487922,  2.52619857,
 -10.65388708, 20.29241753, -1.07121157,  1.274975  , -2.92572385,
   4.35626839,  0.68184899, -2.08146072, -0.06891519,  9.26994151,
  -3.0230325 , 29.94654052]

qfrc_actuator:
[-7.65014426e-06,-5.56718001e-05,-3.34242330e-05, 1.40982151e-04,
  1.91527442e-05,-2.98300317e-04,-2.79581267e-04, 8.55966347e-05,
 -7.73050873e-06,-5.93673907e-05,-8.71462386e-05, 1.31924567e-04,
  6.28131501e-02,-5.06135264e-04, 4.21692615e-02,-4.29176950e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.74781536, -1.36299575,  4.54796584, -1.36299575, 39.21301984,
       10.32899734,  4.54796584, 10.32899734,  7.8433486 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003553460304793754
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.56217170e-13,  1.56217170e-13,  1.00000000e+00, -2.44038042e-26,
        1.00000000e+00, -1.56217170e-13, -1.00000000e+00,  0.00000000e+00,
        1.56217170e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0826368 , -0.03124669,  0.06198986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.84908678e-05, 1.87270577e-05,-1.27728509e-05,-3.36486330e-06,
 -1.63221213e-05, 3.72161677e-05,-2.51849858e-05,-3.80545841e-05,
  2.30005754e-06, 3.47834492e-05,-1.08222023e-05, 2.85783663e-05,
 -4.14617940e-04,-7.96553117e-05,-2.46138634e-04,-5.06607055e-05,
 -5.39947635e-06, 2.01153126e-06,-1.21645322e+00,-4.39163359e-04,
  2.64308618e-05,-5.50694091e-04]


--- Step 294 ---
qpos:
[ 0.00616022,-0.00181091,-0.0049518 , 0.03350904, 0.00444316,-0.00375056,
 -0.01844002, 0.02851231, 0.01291981, 0.00332957,-0.00995907, 0.02583701,
  0.66390896,-0.00084789, 0.4856657 , 0.06573381, 0.09283426,-0.06995309,
  0.13103764, 0.50845151, 0.49199594, 0.49216285, 0.50714178]

qacc:
[ -5.09602068,  1.60095604, -5.06018873,  4.67561678, -1.75886918,
   0.50900802, -0.48302984, -2.41692505,  3.28618248, -0.27447813,
   1.49561161, -2.72194811, -1.1498452 ,  1.61253412,-12.41527025,
  37.49193653,  0.65492286, -2.03790248, -0.27359039,  9.17511013,
  -2.85509195, 29.29772364]

qfrc_actuator:
[-3.68334844e-05,-5.47282287e-05,-6.34836862e-05, 1.36973330e-04,
  9.33375654e-06,-2.76565414e-04,-2.83359101e-04, 7.86216596e-05,
  1.14111585e-05,-5.35861010e-05,-8.07480448e-05, 1.29106040e-04,
  6.26912085e-02,-5.15447865e-04, 4.20721414e-02,-4.13814402e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.77015409,  1.41633321, -4.5550379 ,  1.41633321, 10.8840218 ,
        1.90103224, -4.5550379 ,  1.90103224,  5.36125676,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036056416684597525
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.53956373e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.53956373e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0826356 , -0.03124964,  0.06198971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.97055514e-05, 8.58452246e-06,-2.79027959e-05,-3.72161718e-06,
 -1.02696498e-05, 3.56692453e-05,-5.22788159e-07,-6.99800842e-06,
  1.92175233e-05, 2.42315681e-05, 1.32360900e-05,-1.15145112e-06,
 -4.20648521e-04,-7.61577228e-05,-2.16295356e-04, 1.18857840e-04,
 -3.77331285e-06, 6.70463807e-07,-1.21644943e+00,-4.39618474e-04,
  2.20540367e-05,-5.50019638e-04]


--- Step 295 ---
qpos:
[ 0.00616016,-0.00180975,-0.00495169, 0.03351055, 0.00444357,-0.00374919,
 -0.01844008, 0.0285139 , 0.01292014, 0.00332878,-0.00995863, 0.0258399 ,
  0.66523233,-0.00084507, 0.48689044, 0.06573465, 0.09280801,-0.06995619,
  0.13104137, 0.50852581, 0.49190585, 0.49206114, 0.50725336]

qacc:
[ 3.01033054e+00,-1.17112343e+00, 7.84808915e+00,-2.14760477e+01,
  1.98570759e+00,-1.85091353e+00, 8.56485025e+00,-1.68656956e+01,
  2.02638494e+00, 1.33239833e-03,-2.42411887e+00, 9.11363596e+00,
 -1.69901251e+00, 3.86783803e+00, 4.07474895e+00,-1.82923381e+01,
  6.32800669e-01,-2.00168595e+00,-4.45592623e-01, 9.08779995e+00,
 -2.72501947e+00, 2.87588141e+01]

qfrc_actuator:
[-1.83274494e-05,-3.69153705e-05,-6.35283040e-05, 9.81794845e-05,
  2.12379496e-05,-2.82000074e-04,-2.67618312e-04, 5.59727317e-05,
  2.26313559e-05,-1.21082666e-04,-9.48917560e-05, 1.44194813e-04,
  6.25704409e-02,-5.04240434e-04, 4.19645345e-02,-4.26190122e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.77601957,  1.64750333, -4.48286691,  1.64750333, 14.43196737,
        3.54866797, -4.48286691,  3.54866797,  6.08019443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036191451601999547
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.53381942e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.53381942e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263426, -0.03125043,  0.06198967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.76619766e-05, 1.66385456e-05,-1.85386396e-06,-3.94702441e-05,
  1.16235949e-05, 1.40521714e-05, 2.27869782e-05,-2.12807603e-05,
  1.17738977e-05,-5.12515850e-05,-7.55443121e-06, 1.65563391e-05,
 -4.22775970e-04,-5.65334914e-05,-1.94940300e-04,-1.45413245e-04,
 -2.41313005e-06,-1.80590082e-07,-1.21644696e+00,-4.39780833e-04,
  1.84225291e-05,-5.49589315e-04]


--- Step 296 ---
qpos:
[ 0.00616031,-0.00180859,-0.00495154, 0.03351195, 0.00444482,-0.00374816,
 -0.01843997, 0.02851457, 0.0129206 , 0.00332767,-0.00995865, 0.02584331,
  0.66655347,-0.00084273, 0.48811364, 0.06573384, 0.09278421,-0.06996718,
  0.13104273, 0.50856509, 0.49185544, 0.49193801, 0.50738227]

qacc:
[ 1.95422784e+00,-3.52193033e-01, 1.71884384e+00,-3.74362242e+00,
  7.27044012e+00,-2.78520967e+00, 1.30855801e+01,-2.87993717e+01,
  1.15329586e+00, 1.93982456e+00,-9.76020588e+00, 1.98512699e+01,
 -8.05076855e-01, 3.39570501e-04, 2.74243280e+00,-1.28872447e+01,
  6.14617962e-01,-1.97170931e+00,-5.89933242e-01, 9.00868723e+00,
 -2.62515968e+00, 2.83135335e+01]

qfrc_actuator:
[-7.40248090e-06,-4.45576385e-05,-6.35560722e-05, 9.25228894e-05,
  6.35830804e-05,-3.39096028e-04,-2.76118909e-04, 6.51146290e-06,
  2.90934809e-05,-1.43252017e-04,-1.21348725e-04, 1.69622623e-04,
  6.24504668e-02,-5.34296909e-04, 4.19198938e-02,-4.33512333e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.76848161,  1.90852611, -4.36989073,  1.90852611, 21.11508993,
        7.13929267, -4.36989073,  7.13929267,  7.88652903,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036017764508454453
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54121590e-13,  1.54121590e-13,  1.00000000e+00, -2.37534644e-26,
        1.00000000e+00, -1.54121590e-13, -1.00000000e+00,  0.00000000e+00,
        1.54121590e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0826328 , -0.03124951,  0.06198972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14305843e-05,-4.52536769e-07, 1.79626490e-06,-5.78289219e-06,
  4.26820354e-05,-4.54920089e-05,-3.54695906e-06,-4.84917462e-05,
  6.77687230e-06,-5.16584325e-05,-3.74038420e-05, 2.32861836e-05,
 -4.20663903e-04,-9.66131582e-05,-1.54106591e-04,-1.07450618e-04,
 -1.29623125e-06,-5.69994517e-07,-1.21644572e+00,-4.39692673e-04,
  1.54937445e-05,-5.49390398e-04]


--- Step 297 ---
qpos:
[ 0.00616025,-0.00180758,-0.00495162, 0.03351365, 0.00444622,-0.00374763,
 -0.01843991, 0.02851572, 0.01292114, 0.00332644,-0.00995905, 0.02584628,
  0.66787228,-0.00084072, 0.48933459, 0.06573513, 0.09276281,-0.06998596,
  0.13104126, 0.5085697 , 0.49184419, 0.49179386, 0.50752828]

qacc:
[-1.89493831e+00, 1.08251009e+00,-5.39888927e+00, 1.10966892e+01,
  1.34826987e+00, 4.46743345e-01,-4.56132190e+00, 1.32173302e+01,
  6.38432041e-01,-3.49082070e-03, 1.64503460e+00,-8.60789352e+00,
 -9.81176525e-01, 7.65418627e-01,-9.66378149e+00, 2.90371102e+01,
  5.99669549e-01,-1.94703024e+00,-7.10886450e-01, 8.93803127e+00,
 -2.54939706e+00, 2.79481665e+01]

qfrc_actuator:
[-1.87950683e-05,-6.73536209e-05,-8.14080968e-05, 1.06390695e-04,
  7.02407883e-05,-3.73556975e-04,-2.81357256e-04, 3.03683459e-05,
  3.27062179e-05,-1.38165079e-04,-1.36941703e-04, 1.47693443e-04,
  6.23257168e-02,-5.52967266e-04, 4.18331801e-02,-4.21795854e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.7506095 ,  2.20922153, -4.20566652,  2.20922153, 39.29542931,
       18.14626991, -4.20566652, 18.14626991, 14.28277998,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003560053677822972
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55927849e-13,  1.55927849e-13,  1.00000000e+00, -2.43134941e-26,
        1.00000000e+00, -1.55927849e-13, -1.00000000e+00,  0.00000000e+00,
        1.55927849e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263126, -0.03124724,  0.06198984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10716595e-05,-2.29690035e-05,-1.79433576e-05, 1.37914720e-05,
  7.86322780e-06,-6.27358696e-05,-1.67661682e-05, 2.08350265e-05,
  3.78491817e-06,-3.04925627e-05,-3.00593608e-05,-2.49892919e-05,
 -4.29676120e-04,-8.84391349e-05,-1.75044024e-04, 8.98711684e-05,
 -4.05214366e-07,-5.19263277e-07,-1.21644567e+00,-4.39383874e-04,
  1.32328820e-05,-5.49413106e-04]


--- Step 298 ---
qpos:
[ 0.00615971,-0.00180675,-0.00495186, 0.03351516, 0.004447  ,-0.00374735,
 -0.01844033, 0.02851749, 0.01292171, 0.00332484,-0.00995952, 0.02584828,
  0.66918868,-0.00083857, 0.49055319, 0.06573683, 0.09274375,-0.07001244,
  0.13103653, 0.50853994, 0.49187166, 0.49162895, 0.50769122]

qacc:
[ -4.23119776, -0.16152501,  1.04251087, -3.95643873, -5.44246807,
   2.27968313,-11.16857762, 22.7521417 ,  0.34884708, -2.25500286,
  11.41209215,-27.73430773, -1.54938348,  3.16723087, -4.67407397,
  11.42737466,  0.587379  , -1.92684132, -0.81210691,  8.87579269,
  -2.49283731, 27.65111502]

qfrc_actuator:
[-4.32299426e-05,-8.13530162e-05,-9.19502870e-05, 9.60967722e-05,
  3.80779150e-05,-3.76389639e-04,-3.02246028e-04, 6.16911979e-05,
  3.46148285e-05,-1.70051556e-04,-1.45907596e-04, 9.81092827e-05,
  6.22035152e-02,-5.47037273e-04, 4.17053646e-02,-4.20269943e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034994013624280174
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.58630421e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.58630421e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08262965, -0.03124392,  0.06199001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.47610058e-05,-3.00026123e-05,-1.70338330e-05,-1.16359979e-05,
 -3.19603418e-05,-4.05041468e-05,-3.52011293e-05, 2.84554399e-05,
  2.00402301e-06,-5.61724866e-05,-1.98188177e-05,-5.24203549e-05,
 -4.32024166e-04,-6.47254872e-05,-2.01779407e-04,-3.25405280e-06,
  2.73174822e-07,-4.42794093e-08,-1.21644675e+00,-4.38875210e-04,
  1.16117422e-05,-5.49649955e-04]


--- Step 299 ---
qpos:
[ 0.00615888,-0.00180626,-0.00495217, 0.03351655, 0.00444774,-0.00374761,
 -0.01844111, 0.02851896, 0.01292265, 0.00332263,-0.00995973, 0.02584968,
  0.67050269,-0.00083633, 0.49176945, 0.06573801, 0.09272701,-0.07004656,
  0.13102822, 0.50847605, 0.49193752, 0.49144351, 0.50787091]

qacc:
[ -2.53418629, -0.53874924,  1.77557596, -3.53384125, -0.40778822,
  -0.30025079,  1.26798708, -5.38995122,  3.21695152, -2.80929559,
  11.38698703,-21.7981102 , -1.50599993,  2.983777  , -1.82460121,
   1.47241447,  0.57727435, -1.91045005, -0.89672402,  8.8217267 ,
  -2.4515566 , 27.41254548]

qfrc_actuator:
[-5.73855914e-05,-1.07727172e-04,-9.80774376e-05, 8.94306874e-05,
  3.65931865e-05,-4.31321065e-04,-3.32084920e-04, 4.39030358e-05,
  5.32585503e-05,-2.06074978e-04,-1.33295714e-04, 6.81376689e-05,
  6.20829340e-02,-5.44417730e-04, 4.15902584e-02,-4.22998091e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003424315950101148
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.24217461e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.24217461e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.082628  , -0.03123981,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.48716467e-05,-4.72065619e-05,-1.48338708e-05,-8.77110313e-06,
 -2.41158861e-06,-8.36534053e-05,-4.15579026e-05,-2.01905376e-05,
  1.86788686e-05,-7.37140837e-05,-3.22586660e-06,-3.40845870e-05,
 -4.28658277e-04,-6.65025639e-05,-2.10882367e-04,-5.42259917e-05,
  7.48916927e-07, 8.43745730e-07,-1.21644892e+00,-4.38180733e-04,
  1.06077098e-05,-5.50095258e-04]


--- Step 300 ---
qpos:
[ 0.00615857,-0.0018062 ,-0.00495225, 0.03351818, 0.00444845,-0.00374847,
 -0.01844222, 0.02852021, 0.01292381, 0.00332019,-0.00996   , 0.02585172,
  0.67181431,-0.00083402, 0.49298334, 0.06573978, 0.09271255,-0.07008828,
  0.13101604, 0.5083782 , 0.49204148, 0.49123769, 0.50806724]

qacc:
[ 4.64369995,-0.68468385, 0.58438711, 3.62093126,-0.2081545 ,-0.31935747,
  0.91385954,-3.74204661, 1.90088595, 1.19501164,-7.42831957,18.81776741,
 -1.47123744, 2.82602154,-5.23458254,13.32545556, 0.56896857,-1.89726243,
 -0.96741891, 8.775455  ,-2.42240364,27.22410639]

qfrc_actuator:
[-2.98683477e-05,-1.23536680e-04,-8.38439188e-05, 1.02700809e-04,
  3.54366317e-05,-4.63846860e-04,-3.49453842e-04, 3.28192736e-05,
  6.38508239e-05,-1.90936278e-04,-1.25808890e-04, 1.03214791e-04,
  6.19580836e-02,-5.43795960e-04, 4.14935130e-02,-4.19324954e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003338507343456504
  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([ 0.08262632, -0.0312351 ,  0.06199047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.70774009e-05,-4.56673919e-05, 2.34807012e-06, 1.05605889e-05,
 -1.25211830e-06,-8.87392208e-05,-4.04565449e-05,-1.65005068e-05,
  1.10918352e-05,-2.81209221e-05,-9.29118110e-06, 3.11448647e-05,
 -4.30897412e-04,-6.82453388e-05,-2.02159900e-04, 5.82734998e-06,
  1.02939051e-06, 2.13751318e-06,-1.21645217e+00,-4.37309543e-04,
  1.02028861e-05,-5.50744733e-04]


--- Step 301 ---
qpos:
[ 0.0061586 ,-0.00180647,-0.00495223, 0.03352065, 0.00444879,-0.00374974,
 -0.0184437 , 0.02852198, 0.01292508, 0.00331801,-0.00996042, 0.02585376,
  0.67312372,-0.00083236, 0.49419515, 0.06574318, 0.09270007,-0.07012533,
  0.13100992, 0.50828924, 0.49213445, 0.49105682, 0.50824101]

qacc:
[  2.92829687,  0.97570834, -7.642805  , 22.14686623, -3.19390564,
   1.55090197, -8.51585552, 18.45973447,  1.02545325,  0.74568064,
  -2.15005767,  2.16451977, -0.55950026, -0.97816972, -7.9578722 ,
  23.40465567,  0.49881046,  1.16562369,  1.51616378,  6.90168895,
   1.40065399,-16.82790536]

qfrc_actuator:
[-1.35523113e-05,-1.32794219e-04,-7.54046201e-05, 1.45367870e-04,
  1.67203110e-05,-4.64904691e-04,-3.59230862e-04, 6.13056507e-05,
  6.96145480e-05,-1.45228474e-04,-1.21165859e-04, 1.05307512e-04,
  6.18467359e-02,-5.79892915e-04, 4.14238490e-02,-4.10126034e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033802965672252716
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.64219766e-13,  8.72417508e-14,  1.00000000e+00,  1.43268199e-26,
        1.00000000e+00, -8.72417508e-14, -1.00000000e+00,  0.00000000e+00,
       -1.64219766e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0859623 , -0.08815618,  0.06199035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.70690186e-05,-3.38520461e-05,-3.43579535e-07, 4.09922620e-05,
 -1.87807363e-05,-5.97029710e-05,-3.36403952e-05, 2.29641336e-05,
  6.06048591e-06, 2.94925892e-05,-1.20451024e-06, 1.17354098e-06,
 -4.19050883e-04,-1.05642432e-04,-1.64554901e-04, 6.55152942e-05,
  1.11989142e-06, 3.83303252e-06,-1.21645647e+00,-4.36267092e-04,
  1.03833516e-05,-5.51595199e-04]


--- Step 302 ---
qpos:
[ 0.00615848,-0.00180693,-0.00495211, 0.0335229 , 0.00444891,-0.00375119,
 -0.01844514, 0.02852403, 0.01292641, 0.00331614,-0.00996053, 0.02585507,
  0.67443089,-0.00083111, 0.4954051 , 0.06574366, 0.09268952,-0.07015786,
  0.13100856, 0.50820888, 0.49221686, 0.49090017, 0.50839288]

qacc:
[ -1.30863708, -0.94084849,  3.91911029, -7.6839013 , -1.98491783,
   0.2365267 , -2.34210747,  7.12411486,  0.5234167 , -1.93733562,
  10.54135676,-23.72216007, -0.9144297 ,  0.46161126,  6.05030386,
 -25.13662332,  0.48005903,  1.12994214,  1.18906009,  6.72929538,
   1.33926299,-16.30278628]

qfrc_actuator:
[-2.17256875e-05,-1.38041233e-04,-7.04137946e-05, 1.33976197e-04,
  5.57098673e-06,-4.47035447e-04,-3.46539781e-04, 7.73723478e-05,
  7.24930317e-05,-1.17090181e-04,-1.00373683e-04, 7.02431764e-05,
  6.17329081e-02,-6.01827205e-04, 4.13012567e-02,-4.26143135e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003550529261420604
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  8.3058882e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -8.3058882e-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([ 0.08596328, -0.08815167,  0.06198986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.70121461e-06,-2.24818584e-05,-6.29162036e-07,-1.20620195e-05,
 -1.17062372e-05,-2.14280323e-05,-2.96109908e-06, 1.27939747e-05,
  3.05402464e-06, 4.45176319e-05, 2.68034028e-05,-3.38180436e-05,
 -4.18636710e-04,-9.30186282e-05,-1.95102362e-04,-1.78848153e-04,
  9.26886355e-07, 3.04276391e-06,-1.21645290e+00,-4.36441377e-04,
  1.26552596e-05,-5.52479100e-04]


--- Step 303 ---
qpos:
[ 0.00615826,-0.00180734,-0.00495203, 0.03352463, 0.00444889,-0.00375219,
 -0.01844673, 0.02852584, 0.01292743, 0.00331497,-0.00996088, 0.0258563 ,
  0.67573566,-0.00082975, 0.49661274, 0.06574155, 0.09268083,-0.07018599,
  0.13101085, 0.50813687, 0.49228905, 0.4907671 , 0.50852341]

qacc:
[ -0.85509272, -0.93126183,  5.61327644,-14.62495037, -1.1962766 ,
   0.50993961,  0.08118188, -4.36907324, -2.84542218,  1.38233167,
  -3.16380197,  1.31620985, -1.58080012,  3.23035715,  4.45432987,
 -20.43146776,  0.46449105,  1.09982979,  0.9131809 ,  6.58235165,
   1.28883016,-15.8616989 ]

qfrc_actuator:
[-2.64914143e-05,-1.23143453e-04,-6.75189543e-05, 1.08618656e-04,
 -1.02954659e-06,-3.82361288e-04,-3.38363723e-04, 6.82781681e-05,
  5.58992475e-05,-6.41406660e-05,-1.05793076e-04, 6.68615458e-05,
  6.16070230e-02,-5.97481644e-04, 4.11842438e-02,-4.39148455e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00036593411568505707
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.55091358e-13,  4.26648148e-14,  1.00000000e+00, -1.94163885e-26,
        1.00000000e+00, -4.26648148e-14, -1.00000000e+00,  0.00000000e+00,
        4.55091358e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596382, -0.08814881,  0.06198955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.99112465e-06, 1.68675810e-06,-2.24453879e-06,-2.65813599e-05,
 -6.94281826e-06, 5.26895218e-05, 3.85789987e-06,-9.86355000e-06,
 -1.64969247e-05, 8.20026823e-05, 5.92902995e-06,-1.20298071e-06,
 -4.28878406e-04,-6.56187500e-05,-2.30453606e-04,-1.66202731e-04,
  7.52707690e-07, 2.36482394e-06,-1.21644985e+00,-4.36560889e-04,
  1.45852234e-05,-5.53246087e-04]


--- Step 304 ---
qpos:
[ 0.00615833,-0.00180758,-0.00495171, 0.033526  , 0.00444914,-0.00375268,
 -0.01844833, 0.02852819, 0.01292823, 0.00331429,-0.0099612 , 0.02585713,
  0.67703816,-0.00082895, 0.49781786, 0.06574011, 0.09267394,-0.07020982,
  0.13101586, 0.50807302, 0.49235131, 0.49065711, 0.50863306]

qacc:
[  2.54826689, -1.14900524,  5.89260571,-12.45420429,  2.31698919,
   1.8408655 , -7.91798279, 17.1019874 , -1.82661383, -0.18585508,
   3.24503212,-10.32774601, -0.70679957, -0.42943806, -5.74322642,
  14.71052153,  0.45159617,  1.07449921,  0.68090355,  6.45758181,
   1.24730618,-15.49174646]

qfrc_actuator:
[-1.14525988e-05,-9.63168800e-05,-4.80470210e-05, 9.30252927e-05,
  1.28507218e-05,-3.43431693e-04,-3.32736850e-04, 9.77494087e-05,
  4.57312847e-05,-5.00754755e-05,-1.08767080e-04, 4.66503267e-05,
  6.14846492e-02,-6.30993470e-04, 4.10973147e-02,-4.34284967e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.82013371, -2.96774145, -3.79818373, -2.96774145,  8.35374647,
       -2.7610168 , -3.79818373, -2.7610168 ,  6.97747642,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037181990542672905
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.47887408e-13,  4.19894445e-14,  1.00000000e+00, -1.88065435e-26,
        1.00000000e+00, -4.19894445e-14, -1.00000000e+00,  0.00000000e+00,
        4.47887408e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596399, -0.08814729,  0.06198939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48995603e-05, 2.61760165e-05, 1.86245506e-05,-1.61189734e-05,
  1.37005856e-05, 6.88160407e-05, 1.66705676e-05, 3.16728304e-05,
 -1.06120239e-05, 6.11358091e-05, 1.46700693e-05,-1.65137743e-05,
 -4.28445715e-04,-1.02843093e-04,-2.13412294e-04, 9.07278784e-06,
  5.96616260e-07, 1.78828434e-06,-1.21644729e+00,-4.36636415e-04,
  1.62005964e-05,-5.53900721e-04]


--- Step 305 ---
qpos:
[ 0.00615858,-0.00180765,-0.00495088, 0.03352682, 0.00444956,-0.00375315,
 -0.01844963, 0.02853093, 0.01292925, 0.0033139 ,-0.00996118, 0.02585772,
  0.67833839,-0.00082855, 0.49902041, 0.06573956, 0.09266882,-0.07022944,
  0.13102282, 0.50801715, 0.49240388, 0.49056975, 0.50872223]

qacc:
[  1.59209119, -2.37731792, 11.17939956,-21.88171179,  1.45151779,
  -0.0684143 , -1.33073213,  7.3600891 ,  1.91368702, -1.10315924,
   5.4950473 ,-10.47106277, -0.87485226,  0.35085758, -6.4226727 ,
  16.9973621 ,  0.44095086,  1.05327713,  0.48577171,  6.35217494,
   1.21303084,-15.18221   ]

qfrc_actuator:
[-2.63123912e-06,-8.02250179e-05,-1.88752346e-05, 6.55765132e-05,
  2.09199378e-05,-3.73443059e-04,-3.28711553e-04, 1.14159256e-04,
  5.71854058e-05,-4.16610891e-05,-9.26777215e-05, 3.44215986e-05,
  6.13751095e-02,-6.51084014e-04, 4.09806058e-02,-4.29574721e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.82861503, -3.4164527 , -3.41223886, -3.4164527 ,  9.67070483,
       -4.84806939, -3.41223886, -4.84806939,  9.68267139,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003736755978613615
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.89195207e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.89195207e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596387, -0.08814683,  0.06198934])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.25422342e-06, 3.38930888e-05, 3.63104009e-05,-2.60002974e-05,
  8.48260410e-06, 1.33071018e-05, 2.14075751e-05, 2.05510384e-05,
  1.11717532e-05, 4.49498113e-05, 2.99644474e-05,-9.42160135e-06,
 -4.20646726e-04,-9.27412584e-05,-2.15769396e-04, 1.95202201e-05,
  4.57910465e-07, 1.30454008e-06,-1.21644516e+00,-4.36676120e-04,
  1.75232856e-05,-5.54446686e-04]


--- Step 306 ---
qpos:
[ 0.00615859,-0.00180751,-0.00495024, 0.03352699, 0.00444972,-0.00375385,
 -0.01845066, 0.02853318, 0.0129304 , 0.0033137 ,-0.00996095, 0.02585887,
  0.67963628,-0.00082774, 0.50022   , 0.06574189, 0.09266543,-0.07024492,
  0.13103107, 0.50796913, 0.49244696, 0.49050465, 0.50879126]

qacc:
[ -2.12898867, -0.49425816,  4.86476347,-15.74525236, -2.18561305,
  -2.0182158 ,  8.8259999 ,-17.44621439,  1.14167313,  0.80447004,
  -4.85017842, 14.03515065, -1.77501735,  4.2761697 ,-13.03647919,
  39.42005683,  0.43220206,  1.03558518,  0.32228423,  6.26369958,
   1.1846532 ,-14.92411936]

qfrc_actuator:
[-1.52989754e-05,-8.83971015e-05,-3.75183902e-05, 3.13676864e-05,
  7.74458947e-06,-4.09018600e-04,-3.25961735e-04, 8.71805683e-05,
  6.35193720e-05,-3.66221106e-05,-8.32396113e-05, 6.24998019e-05,
  6.12680252e-02,-6.27555857e-04, 4.08514501e-02,-4.14352083e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000372311912393411
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.98197019e-13,  1.91032465e-13,  1.00000000e+00, -5.69653117e-26,
        1.00000000e+00, -1.91032465e-13, -1.00000000e+00,  0.00000000e+00,
        2.98197019e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596351, -0.08814722,  0.06198938])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23939527e-05, 1.71609419e-05,-8.08078824e-06,-3.20101267e-05,
 -1.29301136e-05,-2.28023634e-05, 8.86089839e-06,-2.52702281e-05,
  6.66511128e-06, 3.59809170e-05, 2.20915568e-05, 3.08571975e-05,
 -4.11179268e-04,-4.72012761e-05,-2.27967559e-04, 1.24962047e-04,
  3.35946983e-07, 9.06805543e-07,-1.21644343e+00,-4.36686195e-04,
  1.85707999e-05,-5.54886961e-04]


--- Step 307 ---
qpos:
[ 0.00615845,-0.00180714,-0.00494984, 0.03352676, 0.00444972,-0.00375465,
 -0.01845166, 0.02853509, 0.01293127, 0.00331343,-0.00996072, 0.0258604 ,
  0.68093175,-0.00082597, 0.50141687, 0.06574469, 0.09266373,-0.07025632,
  0.13104006, 0.50792884, 0.4924807 , 0.49046152, 0.5088404 ]

qacc:
[ -1.34675246,  0.12817703,  1.71217108, -8.58685445, -1.39033576,
  -0.9167807 ,  4.49250423,-10.30648946, -2.44186331,  0.70707344,
  -4.24149685, 10.83533113, -2.46810238,  7.1785278 , -5.2932397 ,
  12.91629904,  0.4250544 ,  1.02092516,  0.18573405,  6.1900416 ,
   1.16106967,-14.7099276 ]

qfrc_actuator:
[-2.27587974e-05,-7.57318779e-05,-4.88459358e-05, 1.11539007e-05,
 -7.49472461e-08,-4.12204776e-04,-3.24060533e-04, 7.03822751e-05,
  4.90293799e-05,-6.91447973e-05,-9.55545152e-05, 7.85514776e-05,
  6.11518518e-02,-5.78504100e-04, 4.07096280e-02,-4.12586736e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00036840779602025087
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50678547e-13,  1.55387251e-13,  1.00000000e+00, -2.34135251e-26,
        1.00000000e+00, -1.55387251e-13, -1.00000000e+00,  0.00000000e+00,
        1.50678547e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596296, -0.08814829,  0.06198949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.80570712e-06, 1.92034935e-05,-9.89455050e-06,-2.03826330e-05,
 -8.19615624e-06,-1.51622211e-05,-2.57588402e-06,-1.79613451e-05,
 -1.42904080e-05,-6.50850941e-06,-1.09593901e-06, 1.89558296e-05,
 -4.06608763e-04,-1.64906732e-05,-2.33415556e-04,-5.04985079e-06,
  2.30150362e-07, 5.89725665e-07,-1.21644209e+00,-4.36671332e-04,
  1.93570757e-05,-5.55223952e-04]


--- Step 308 ---
qpos:
[ 0.00615822,-0.00180645,-0.00494965, 0.03352627, 0.00444998,-0.00375521,
 -0.01845333, 0.02853645, 0.01293197, 0.00331317,-0.0099606 , 0.02586176,
  0.68222482,-0.00082325, 0.50261112, 0.06574631, 0.09266371,-0.07026367,
  0.13104934, 0.50789617, 0.49250526, 0.49044009, 0.50886989]

qacc:
[-7.90716474e-01, 4.91283492e-01,-6.20056265e-02,-4.24145293e+00,
  2.16989882e+00, 1.04643150e+00,-9.25556704e-01,-7.81434215e+00,
 -1.59161140e+00, 4.82040896e-04, 7.02033467e-01,-3.37211759e+00,
 -2.48565720e+00, 7.22411969e+00,-2.33027048e-01,-4.58224083e+00,
  4.19260198e-01, 1.00886741e+00, 7.20827977e-02, 6.12935753e+00,
  1.14137558e+00,-1.45332597e+01]

qfrc_actuator:
[-2.70866270e-05,-5.06646498e-05,-5.56596407e-05,-6.35645187e-07,
  1.30801446e-05,-3.95979284e-04,-3.58043414e-04, 4.19877509e-05,
  4.01528570e-05,-7.07579235e-05,-1.03032687e-04, 6.95919491e-05,
  6.10303154e-02,-5.32602827e-04, 4.05762685e-02,-4.18767624e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003625299251631686
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.06243140e-13,  8.13458339e-14,  1.00000000e+00, -2.49116036e-26,
        1.00000000e+00, -8.13458339e-14, -1.00000000e+00,  0.00000000e+00,
        3.06243140e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596227, -0.08814987,  0.06198966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.54335290e-06, 3.28688451e-05,-4.77886583e-06,-1.17065440e-05,
  1.29165241e-05, 6.47868409e-06,-3.80363092e-05,-2.94829065e-05,
 -9.28583693e-06,-4.66546262e-06,-8.30321986e-06,-8.91002162e-06,
 -4.04200034e-04,-1.63903934e-05,-2.42373645e-04,-9.25637188e-05,
  1.40015286e-07, 3.49072447e-07,-1.21644110e+00,-4.36635092e-04,
  1.98931346e-05,-5.55459600e-04]


--- Step 309 ---
qpos:
[ 0.00615863,-0.00180572,-0.00494972, 0.03352569, 0.00445073,-0.00375537,
 -0.01845579, 0.02853709, 0.01293255, 0.00331313,-0.00996042, 0.02586296,
  0.68351565,-0.00082057, 0.50380293, 0.06574738, 0.09266536,-0.07026704,
  0.13105852, 0.50787106, 0.49252073, 0.49044017, 0.50887991]

qacc:
[  5.61841999,  0.56095338, -1.54072222,  0.2645843 ,  4.34752849,
   1.272591  , -0.79995387,-10.4679372 , -0.98835406, -0.23800807,
   1.95921223, -5.02238871, -1.2798059 ,  2.13529493, -1.92483214,
   1.59966831,  0.41461138,  0.99904137, -0.02213918,  6.08003825,
   1.12482712,-14.38871556]

qfrc_actuator:
[ 5.96742835e-06,-7.15970715e-05,-7.74494265e-05,-7.36180850e-06,
  3.84736720e-05,-3.68410765e-04,-3.95112811e-04, 6.99041208e-06,
  3.46582610e-05,-3.61149545e-05,-8.97392862e-05, 6.37701632e-05,
  6.09056468e-02,-5.42228347e-04, 4.04800304e-02,-4.20695174e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003551494242343828
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.39604015e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.39604015e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596148, -0.08815185,  0.06198987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.29347455e-05,-4.06764589e-06,-1.60026420e-05,-5.71151623e-06,
  2.57675205e-05, 2.21128501e-05,-4.14141006e-05,-3.66081555e-05,
 -5.75978787e-06, 2.99412600e-05, 1.09985132e-05,-6.48460015e-06,
 -4.05722611e-04,-7.16167466e-05,-2.19086447e-04,-5.60526109e-05,
  6.51041923e-08, 1.81505976e-07,-1.21644045e+00,-4.36580178e-04,
  2.01876095e-05,-5.55595469e-04]


--- Step 310 ---
qpos:
[ 0.00615978,-0.00180528,-0.00494994, 0.03352575, 0.00445213,-0.00375517,
 -0.01845848, 0.02853728, 0.01293271, 0.00331329,-0.00996037, 0.0258641 ,
  0.68480424,-0.00081798, 0.50499233, 0.06574815, 0.09266864,-0.07026644,
  0.13106731, 0.50785343, 0.4925272 , 0.49046158, 0.5088706 ]

qacc:
[  6.49058334,  1.3679538 , -8.17907747, 19.87456687,  5.61831195,
   0.13079355,  2.14576974, -9.99776187, -3.66287853,  0.51928243,
  -1.18365309,  0.14730981, -1.23338616,  1.93325148, -2.5719446 ,
   3.90525839,  0.41093297,  0.9911277 , -0.09991422,  6.04067963,
   1.11081115,-14.27171259]

qfrc_actuator:
[ 4.30048899e-05,-1.02219824e-04,-9.03392787e-05, 2.44000771e-05,
  7.08603603e-05,-3.34290003e-04,-3.98140629e-04,-1.38422392e-05,
  1.34440646e-05,-3.31998183e-05,-9.96339756e-05, 5.98924719e-05,
  6.07898226e-02,-5.49045799e-04, 4.03741878e-02,-4.21862407e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003466562194025524
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.60133147e-13, -7.50624125e-14,  1.00000000e+00,  1.20199803e-26,
        1.00000000e+00,  7.50624125e-14, -1.00000000e+00,  0.00000000e+00,
        1.60133147e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0859606 , -0.08815411,  0.06199011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.79712424e-05,-3.64616407e-05,-1.59067596e-05, 3.09211325e-05,
  3.31336687e-05, 3.64055577e-05,-4.80016281e-06,-2.20270700e-05,
 -2.13672604e-05, 2.16489282e-05,-2.58312816e-06,-2.34286970e-06,
 -4.06214269e-04,-7.39790681e-05,-2.14835755e-04,-4.36330544e-05,
  5.04208420e-09, 8.43846870e-08,-1.21644014e+00,-4.36508646e-04,
  2.02471711e-05,-5.55632809e-04]


--- Step 311 ---
qpos:
[ 0.00616136,-0.00180515,-0.00495028, 0.0335262 , 0.00445356,-0.00375472,
 -0.0184609 , 0.0285372 , 0.01293262, 0.00331351,-0.00996063, 0.02586487,
  0.68609068,-0.00081579, 0.50617948, 0.06574605, 0.09267356,-0.07026189,
  0.13107545, 0.50784324, 0.49252476, 0.49050419, 0.50884207]

qacc:
[  3.82893584,  0.71796526, -4.77527687, 11.82216371,  0.28939732,
  -0.94224451,  4.99210824,-10.28703992, -2.25851891,  0.18511829,
   1.01269282, -6.95149653, -0.8864532 ,  0.46944532,  5.30732604,
 -23.36928258,  0.40807776,  0.98485158, -0.16380493,  6.010058  ,
   1.09882116,-14.17835827]

qfrc_actuator:
[ 6.43256499e-05,-1.20600702e-04,-9.78953960e-05, 4.30424024e-05,
  7.15944606e-05,-3.14111620e-04,-3.80999547e-04,-2.61411679e-05,
  8.98822083e-07,-4.93905937e-05,-1.23264188e-04, 3.93950684e-05,
  6.06793854e-02,-5.71873695e-04, 4.02520166e-02,-4.36776376e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003373713679713647
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.29080393e-13,  1.28547029e-13,  1.00000000e+00, -4.23023067e-26,
        1.00000000e+00, -1.28547029e-13, -1.00000000e+00,  0.00000000e+00,
        3.29080393e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595967, -0.08815659,  0.06199037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.23858249e-05,-4.07352219e-05,-1.59825582e-05, 1.71288953e-05,
  1.69440433e-06, 3.86363163e-05, 2.33347328e-05,-1.13297608e-05,
 -1.31437397e-05,-4.73452172e-06,-1.95615902e-05,-1.97067269e-05,
 -4.01446782e-04,-9.04218321e-05,-2.27994397e-04,-1.79898689e-04,
 -4.04901957e-08, 5.56137591e-08,-1.21644014e+00,-4.36422064e-04,
  2.00768731e-05,-5.55572618e-04]


--- Step 312 ---
qpos:
[ 0.00616318,-0.00180525,-0.00495071, 0.03352616, 0.0044543 ,-0.00375421,
 -0.01846305, 0.02853768, 0.01293273, 0.00331335,-0.00996097, 0.02586543,
  0.68737504,-0.0008145 , 0.50736438, 0.06574273, 0.0926801 ,-0.07025343,
  0.13108272, 0.50784042, 0.49251345, 0.49056789, 0.50879441]

qacc:
[  2.14244146, -1.09150223,  5.46465408,-13.50672948, -6.04550669,
   0.49146187, -4.011199  , 13.32512355,  1.72386791, -0.69508992,
   2.62942988, -5.83718702, -0.265391  , -2.1075401 ,  0.359217  ,
  -6.13692636,  0.40592191,  0.97997699, -0.21601122,  5.98710896,
   1.08843786,-14.10534523]

qfrc_actuator:
[ 7.62239763e-05,-1.31498027e-04,-1.02217256e-04, 1.83150323e-05,
  3.59377969e-05,-3.20089561e-04,-3.69898776e-04, 2.18095506e-06,
  1.13137737e-05,-9.47313951e-05,-1.37153106e-04, 2.70097112e-05,
  6.05669277e-02,-6.21711990e-04, 4.01680529e-02,-4.41919138e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003275576457187762
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.38939738e-13,  1.32398335e-13,  1.00000000e+00, -4.48750569e-26,
        1.00000000e+00, -1.32398335e-13, -1.00000000e+00,  0.00000000e+00,
        3.38939738e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595871, -0.08815921,  0.06199065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25203664e-05,-3.62432330e-05,-1.41132307e-05,-2.66943089e-05,
 -3.55952479e-05, 1.99745916e-05, 2.15869252e-05, 3.05693518e-05,
  1.00420729e-05,-5.28850878e-05,-1.79590252e-05,-1.36497304e-05,
 -4.02877372e-04,-1.18161875e-04,-2.10956567e-04,-9.14600004e-05,
 -7.17633625e-08, 9.35233194e-08,-1.21644046e+00,-4.36321637e-04,
  1.96804328e-05,-5.55415680e-04]


--- Step 313 ---
qpos:
[ 0.00616445,-0.00180573,-0.00495115, 0.03352619, 0.00445426,-0.00375408,
 -0.01846457, 0.02853922, 0.01293295, 0.00331263,-0.0099617 , 0.02586658,
  0.68865702,-0.00081278, 0.50854644, 0.06574113, 0.09268826,-0.07024107,
  0.13108896, 0.50784497, 0.49249331, 0.4906526 , 0.50872769]

qacc:
[ -4.92853902, -0.30100184,  0.10342797,  1.27863532, -6.77923859,
  -0.08021574, -4.88996184, 22.45456826,  1.08944357,  1.54460856,
  -9.0213589 , 20.10900474, -1.84019842,  4.41913188, -9.29407802,
  26.61310058,  0.40436128,  0.97630163, -0.25841909,  5.97090887,
   1.07931364,-14.04986396]

qfrc_actuator:
[ 4.69812355e-05,-1.55604188e-04,-1.04593573e-04, 2.15355378e-05,
 -3.08943210e-06,-3.59422541e-04,-3.44789953e-04, 5.41454408e-05,
  1.74034878e-05,-1.39395539e-04,-1.63048790e-04, 5.49854354e-05,
  6.04480028e-02,-5.98336082e-04, 4.00485114e-02,-4.32371450e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003174286302249224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.49755163e-13,  4.91843199e-14,  1.00000000e+00, -1.72024698e-26,
        1.00000000e+00, -4.91843199e-14, -1.00000000e+00,  0.00000000e+00,
        3.49755163e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595772, -0.08816191,  0.06199094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.88969555e-05,-4.84254345e-05,-1.25208783e-05, 6.59966721e-07,
 -4.00392093e-05,-2.24011725e-05, 3.29711013e-05, 5.41664401e-05,
  6.35708918e-06,-7.85199278e-05,-3.94997615e-05, 2.48218042e-05,
 -4.14401187e-04,-4.77807007e-05,-2.29246110e-04, 6.24775500e-05,
 -8.90071990e-08, 1.96770181e-07,-1.21644109e+00,-4.36208304e-04,
  1.90604604e-05,-5.55162608e-04]


--- Step 314 ---
qpos:
[ 0.00616535,-0.0018064 ,-0.00495172, 0.03352658, 0.0044541 ,-0.00375418,
 -0.01846546, 0.02854101, 0.01293291, 0.00331188,-0.00996294, 0.0258673 ,
  0.68993662,-0.00081043, 0.50972604, 0.06573634, 0.09269803,-0.07022481,
  0.13109402, 0.50785683, 0.49246438, 0.49075825, 0.50864193]

qacc:
[-3.16850318e+00, 8.69361274e-01,-5.00418778e+00, 1.16923685e+01,
 -1.05268876e+00,-1.56033357e+00, 4.07673933e+00,-6.41934341e-01,
 -2.42775072e+00, 4.82864492e-01,-1.98165937e-02,-6.44611461e+00,
 -2.15504187e+00, 5.65951209e+00, 6.04214154e+00,-2.62608030e+01,
  4.03308350e-01, 9.73652551e-01,-2.92642723e-01, 5.96065838e+00,
  1.07115986e+00,-1.40095294e+01]

qfrc_actuator:
[ 2.92664004e-05,-1.51897889e-04,-1.05830139e-04, 4.11720898e-05,
 -8.27105487e-06,-3.65094227e-04,-3.11744601e-04, 6.63192931e-05,
  3.13864820e-06,-1.12321049e-04,-1.78062627e-04, 3.54599174e-05,
  6.03306249e-02,-5.67501974e-04, 3.98971043e-02,-4.49760342e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030715648343916657
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.47152951e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.47152951e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595674, -0.08816465,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.85509151e-05,-2.59232500e-05,-1.27482480e-05, 1.71440472e-05,
 -6.33677936e-06,-9.07113852e-06, 3.43684483e-05, 1.34101721e-05,
 -1.41138598e-05,-2.38950473e-05,-3.52252659e-05,-2.37736469e-05,
 -4.09804105e-04,-3.61921949e-05,-2.50875668e-04,-2.00302792e-04,
 -9.24178195e-08, 3.64258291e-07,-1.21644203e+00,-4.36082809e-04,
  1.82186452e-05,-5.54813870e-04]


--- Step 315 ---
qpos:
[ 0.00616569,-0.00180702,-0.00495244, 0.03352718, 0.00445491,-0.00375406,
 -0.01846662, 0.02854225, 0.01293338, 0.00331128,-0.0099642 , 0.02586703,
  0.69121405,-0.00080836, 0.51090343, 0.06572967, 0.09270941,-0.07020466,
  0.13109781, 0.507876  , 0.49242669, 0.4908848 , 0.50853716]

qacc:
[ -4.97085725,  0.89259812, -3.90971768,  7.55689728,  8.50490895,
  -0.08282219,  3.04720534,-12.34578619,  4.56350579, -1.76368349,
  10.75493509,-27.94801299, -1.02417908,  1.06377831,  2.45846507,
 -13.27640341,  0.40268966,  0.97188226, -0.32006105,  5.95566762,
   1.06373649,-13.98231897]

qfrc_actuator:
[ 7.39254220e-07,-1.31539011e-04,-1.06266509e-04, 5.25762577e-05,
  4.20163542e-05,-3.50563642e-04,-3.27446183e-04, 3.72543212e-05,
  3.02675510e-05,-7.79941983e-05,-1.68523438e-04,-1.17961237e-05,
  6.02195868e-02,-5.85817519e-04, 3.98225118e-02,-4.58035673e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029687860866529914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.86982658e-13,  1.92825866e-13,  1.00000000e+00, -3.60550928e-26,
        1.00000000e+00, -1.92825866e-13, -1.00000000e+00,  0.00000000e+00,
        1.86982658e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595575, -0.0881674 ,  0.06199153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.90612190e-05, 3.98444923e-06,-6.75469847e-06, 1.01883991e-05,
  5.01012825e-05, 1.71395398e-05,-1.28697973e-05,-2.80050712e-05,
  2.67184796e-05, 1.27047045e-05,-5.35815563e-07,-4.99581408e-05,
 -3.98832314e-04,-8.35993811e-05,-2.13474707e-04,-1.26643626e-04,
 -8.21644767e-08, 5.95074153e-07,-1.21644327e+00,-4.35945764e-04,
  1.71559076e-05,-5.54369815e-04]


--- Step 316 ---
qpos:
[ 0.00616569,-0.00180769,-0.00495314, 0.03352825, 0.00445632,-0.003754  ,
 -0.01846814, 0.02854317, 0.01293452, 0.00331046,-0.009965  , 0.02586724,
  0.69248938,-0.00080682, 0.51207888, 0.06572255, 0.09272241,-0.07018063,
  0.13110023, 0.50790245, 0.49238024, 0.49103221, 0.50841338]

qacc:
[ -3.02833929,  0.89719501, -5.33133012, 13.67599002,  5.2116819 ,
   0.22744872,  0.37122588, -5.18734711,  5.88315577, -0.57609043,
  -0.41815313,  8.25174028, -0.67908584, -0.3146381 , -1.50888941,
   1.13257199,  0.4024436 ,  0.97086529, -0.34184958,  5.95534298,
   1.0568437 ,-13.9665194 ]

qfrc_actuator:
[-1.61740940e-05,-1.36862612e-04,-1.06157777e-04, 7.68129283e-05,
  7.12802305e-05,-3.77537553e-04,-3.53987690e-04, 1.96544436e-05,
  6.37965265e-05,-9.27574705e-05,-1.44526687e-04, 1.38100692e-05,
  6.01124191e-02,-6.15225085e-04, 3.97621183e-02,-4.59070299e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002867033339003372
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.80856356e-13,  5.44552833e-14,  1.00000000e+00, -3.16306974e-26,
        1.00000000e+00, -5.44552833e-14, -1.00000000e+00,  0.00000000e+00,
        5.80856356e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595479, -0.08817012,  0.06199182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.77358366e-05,-4.03605934e-06, 4.67391737e-07, 2.43747782e-05,
  3.07027283e-05,-2.12241673e-05,-2.55482217e-05,-1.78582183e-05,
  3.42913460e-05,-9.86243585e-06, 2.48482409e-05, 2.51635713e-05,
 -3.94399007e-04,-9.73325625e-05,-1.75310379e-04,-4.56526958e-05,
 -5.83958023e-08, 8.88434270e-07,-1.21644481e+00,-4.35797689e-04,
  1.58725226e-05,-5.53830694e-04]


--- Step 317 ---
qpos:
[ 0.00616582,-0.00180823,-0.00495388, 0.0335289 , 0.00445772,-0.00375405,
 -0.01846967, 0.02854385, 0.01293606, 0.00330969,-0.00996591, 0.02586881,
  0.69376245,-0.00080525, 0.51325226, 0.06571465, 0.09273701,-0.07015271,
  0.13110121, 0.50793618, 0.49232504, 0.49120048, 0.50827058]

qacc:
[ 1.24412105e+00,-6.10747935e-01, 4.25733192e+00,-1.17577846e+01,
 -3.95470145e-02,-5.71998344e-01, 2.82047708e+00,-6.77162080e+00,
  3.45525774e+00, 3.13536700e+00,-1.68186705e+01, 4.03328094e+01,
 -1.40153729e+00, 2.56198234e+00,-6.65985633e-01,-1.99489319e+00,
  4.02518599e-01, 9.70495210e-01,-3.59008254e-01, 5.95917519e+00,
  1.05031482e+00,-1.39606818e+01]

qfrc_actuator:
[-8.36078341e-06,-1.21999457e-04,-1.05815168e-04, 5.51306989e-05,
  7.01646782e-05,-3.75953032e-04,-3.51346170e-04, 8.91497298e-06,
  8.30578959e-05,-8.34114039e-05,-1.47836147e-04, 8.20547114e-05,
  5.99916686e-02,-6.15414831e-04, 3.96623676e-02,-4.62930009e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027671475380064425
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00607848e-13,  1.56724881e-13,  1.00000000e+00, -3.14402411e-26,
        1.00000000e+00, -1.56724881e-13, -1.00000000e+00,  0.00000000e+00,
        2.00607848e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595384, -0.0881728 ,  0.0619921 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.30923630e-06, 1.37712893e-05, 4.24275341e-07,-2.13631930e-05,
 -2.44135192e-07,-1.63020923e-05,-5.49363687e-06,-1.28806729e-05,
  2.02267525e-05, 1.00958940e-05,-1.39722381e-06, 6.91734072e-05,
 -4.06711401e-04,-6.88577547e-05,-1.89654498e-04,-6.48407279e-05,
 -2.12454393e-08, 1.24364228e-06,-1.21644666e+00,-4.35639050e-04,
  1.43682194e-05,-5.53196674e-04]


--- Step 318 ---
qpos:
[ 0.00616605,-0.00180854,-0.00495439, 0.03352925, 0.00445876,-0.00375394,
 -0.01847158, 0.0285444 , 0.01293746, 0.00330937,-0.00996679, 0.02587146,
  0.69503308,-0.00080298, 0.51442281, 0.06571134, 0.09275322,-0.07012092,
  0.13110071, 0.50797716, 0.4922611 , 0.4913896 , 0.50810872]

qacc:
[  0.81509589, -0.95004599,  5.05601743,-10.67650956, -3.24484489,
   0.97868239, -2.56248504,  0.54006942, -1.11636467,  2.73098916,
 -13.43231635, 31.80120349, -2.12462095,  5.58646982,-17.92788542,
  56.83633646,  0.40287154,  0.97068198, -0.3723857 ,  5.96672871,
   1.04401068,-13.96358288]

qfrc_actuator:
[-3.81277335e-06,-9.51971245e-05,-8.75401424e-05, 4.21221082e-05,
  5.11840891e-05,-3.57163355e-04,-3.66888794e-04, 2.33798239e-06,
  7.60129130e-05,-2.42566627e-05,-1.31634539e-04, 1.39319143e-04,
  5.98681847e-02,-5.80668911e-04, 3.95603867e-02,-4.38254635e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026697684563802004
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.07924965e-13, -4.54835860e-14,  1.00000000e+00,  9.45717303e-27,
        1.00000000e+00,  4.54835860e-14, -1.00000000e+00,  0.00000000e+00,
        2.07924965e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595291, -0.08817542,  0.06199238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.76384146e-06, 3.37042980e-05, 2.04458447e-05,-1.28184985e-05,
 -1.89924942e-05, 8.00507782e-06,-2.00152135e-05,-7.71436519e-06,
 -6.47272458e-06, 6.75234219e-05, 2.05254671e-05, 5.89947077e-05,
 -4.13577690e-04,-3.34768928e-05,-2.00095903e-04, 2.17722323e-04,
  2.91629295e-08, 1.66005388e-06,-1.21644881e+00,-4.35470287e-04,
  1.26422628e-05,-5.52467858e-04]


--- Step 319 ---
qpos:
[ 0.00616634,-0.00180861,-0.00495472, 0.03352978, 0.00445921,-0.00375361,
 -0.01847346, 0.02854482, 0.01293843, 0.00330901,-0.00996666, 0.02587442,
  0.69630154,-0.00080066, 0.51559103, 0.06571191, 0.09277105,-0.07008523,
  0.13109867, 0.50802541, 0.4921884 , 0.49159957, 0.50792778]

qacc:
[ 4.65980687e-01, 1.93787253e-01,-1.00418306e+00, 3.75037794e+00,
 -5.08408767e+00,-2.55286364e-02, 1.04648546e+00,-3.35994762e+00,
 -3.83850620e+00,-2.19436987e+00, 6.40454555e+00,-2.47719362e+00,
 -1.27878099e+00, 2.28370052e+00,-1.51090171e+01, 4.79893526e+01,
  4.03466436e-01, 9.71349604e-01,-3.82700451e-01, 5.97763219e+00,
  1.03781481e+00,-1.39741917e+01]

qfrc_actuator:
[-1.23113321e-06,-7.91247888e-05,-7.65072818e-05, 5.21061199e-05,
  2.18507688e-05,-3.28276578e-04,-3.57469949e-04,-1.73810499e-06,
  5.35461180e-05,-4.21712633e-05,-8.60822551e-05, 1.54214661e-04,
  5.97697860e-02,-5.78902417e-04, 3.94678637e-02,-4.18265817e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002575369598951105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.15546348e-13,  2.22282172e-13,  1.00000000e+00,  4.79121104e-26,
        1.00000000e+00, -2.22282172e-13, -1.00000000e+00,  0.00000000e+00,
       -2.15546348e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595202, -0.08817795,  0.06199265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.73000733e-06, 3.86116041e-05, 2.00781211e-05, 1.18870322e-05,
 -2.98719347e-05, 2.89090200e-05, 8.36057668e-06,-4.57209684e-06,
 -2.26317786e-05, 2.66308353e-05, 6.40793038e-05, 1.96448166e-05,
 -3.87377575e-04,-6.46523867e-05,-1.62133573e-04, 1.85695120e-04,
  9.27111252e-08, 2.13704814e-06,-1.21645127e+00,-4.35291834e-04,
  1.06935178e-05,-5.51644288e-04]


--- Step 320 ---
qpos:
[ 0.00616665,-0.00180859,-0.00495536, 0.03353015, 0.00445965,-0.00375315,
 -0.01847462, 0.0285448 , 0.01293947, 0.00330857,-0.00996667, 0.02587694,
  0.69756793,-0.00079864, 0.51675765, 0.06571214, 0.0927905 ,-0.07004566,
  0.13109507, 0.5080809 , 0.49210694, 0.49183039, 0.5077277 ]

qacc:
[  0.24381657,  0.62017104, -1.31357306, -1.26785707, -0.07064622,
  -2.75357222, 11.88070717,-20.62470696,  0.59825125, -0.66567998,
   4.12726659,-11.67005691, -0.92055418,  0.77592938, -1.30999065,
   1.20514744,  0.40427331,  0.97243414, -0.39055941,  5.99157006,
   1.03162957,-13.99164126]

qfrc_actuator:
[ 1.73283730e-07,-1.05108783e-04,-1.05372438e-04, 4.00176524e-05,
  2.21701979e-05,-3.11212624e-04,-3.15579164e-04,-2.20326176e-05,
  5.76956839e-05,-8.82522250e-05,-1.12658729e-04, 1.26269046e-04,
  5.96651995e-02,-5.96556376e-04, 3.93810709e-02,-4.20730697e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024842877325165214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.46897922e-13,  1.74569501e-13,  1.00000000e+00, -7.80147470e-26,
        1.00000000e+00, -1.74569501e-13, -1.00000000e+00,  0.00000000e+00,
        4.46897922e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595116, -0.08818041,  0.06199291])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49464657e-06, 2.69780771e-07,-1.80021484e-05,-9.50835523e-06,
 -5.23947520e-07, 3.47593403e-05, 4.87521214e-05,-1.88515352e-05,
  3.51204703e-06,-1.71103322e-05,-1.25049609e-05,-2.42097958e-05,
 -3.80090769e-04,-8.28433464e-05,-1.44499912e-04,-3.62196548e-05,
  1.69282540e-07, 2.67400376e-06,-1.21645403e+00,-4.35104134e-04,
  8.52050186e-06,-5.50725959e-04]


--- Step 321 ---
qpos:
[ 0.00616663,-0.00180888,-0.00495586, 0.03353038, 0.00446044,-0.00375276,
 -0.01847544, 0.02854495, 0.01293985, 0.00330796,-0.00996718, 0.02587879,
  0.69883228,-0.00079741, 0.51792235, 0.0657098 , 0.09281276,-0.07001473,
  0.13109254, 0.50809877, 0.49206902, 0.49203683, 0.50754653]

qacc:
[ -2.89417222, -1.0384313 ,  3.6364667 , -5.79671534,  3.03297036,
  -0.69662345,  1.70808524,  0.47110179, -5.71875222, -0.16829548,
   3.10029674,-13.65062921, -0.3925659 , -1.50944305,  4.90998247,
 -21.34223195,  0.70439067, -2.1610902 ,  0.26837316,  9.47853076,
  -3.34194532, 31.06556837]

qfrc_actuator:
[-1.68786012e-05,-1.38510490e-04,-1.04497657e-04, 3.27242464e-05,
  3.99433326e-05,-3.36734159e-04,-3.08169300e-04,-1.61918488e-05,
  2.42249000e-05,-1.15677264e-04,-1.46275284e-04, 9.10136706e-05,
  5.95463177e-02,-6.43283226e-04, 3.92604540e-02,-4.34625302e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002547730355038358
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.17884719e-13,  2.17884719e-13,  1.00000000e+00, -4.74737507e-26,
        1.00000000e+00, -2.17884719e-13, -1.00000000e+00,  0.00000000e+00,
        2.17884719e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08258485, -0.0311936 ,  0.06199273])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.70076519e-05,-3.73714133e-05,-1.60966980e-06,-8.08931751e-06,
  1.77691153e-05, 3.17467263e-06, 1.99508962e-05, 8.65201307e-06,
 -3.33763752e-05,-4.05988434e-05,-3.95283192e-05,-3.68970320e-05,
 -3.92318767e-04,-1.12443632e-04,-1.96913605e-04,-1.61087302e-04,
  2.58758669e-07, 3.27027953e-06,-1.21645710e+00,-4.34907658e-04,
  6.12142598e-06,-5.49712829e-04]


--- Step 322 ---
qpos:
[ 0.00616606,-0.00180942,-0.00495609, 0.03353051, 0.00446075,-0.00375243,
 -0.01847642, 0.02854553, 0.01293984, 0.00330727,-0.00996813, 0.02587985,
  0.70009445,-0.00079639, 0.51908468, 0.0657022 , 0.09283773,-0.06999223,
  0.13109009, 0.50807966, 0.49207352, 0.49221986, 0.5073838 ]

qacc:
[-4.81619460e+00,-1.32169836e+00, 4.71879918e+00,-6.88472373e+00,
 -4.22927412e+00, 1.26622336e+00,-6.50650098e+00, 1.45263119e+01,
 -3.56994596e+00,-5.15468600e-01, 5.02694623e+00,-1.80188972e+01,
 -1.17369902e+00, 1.59683278e+00, 1.23881459e+01,-4.83621698e+01,
  6.77554020e-01,-2.10646070e+00, 1.94813508e-02, 9.39657029e+00,
 -3.07921814e+00, 3.02647896e+01]

qfrc_actuator:
[-4.46566273e-05,-1.40490867e-04,-8.60968026e-05, 2.83288437e-05,
  1.45793244e-05,-3.52167033e-04,-3.21344134e-04, 4.91699490e-06,
  4.37651276e-06,-1.14040435e-04,-1.65942407e-04, 5.17630248e-05,
  5.94349082e-02,-6.53575121e-04, 3.91089785e-02,-4.62241862e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45176212, -1.42439191,  4.2177356 , -1.42439191, 42.18135732,
       12.74184424,  4.2177356 , 12.74184424,  8.75487202,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002711988164114387
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.04688029e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.04688029e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.082585  , -0.03120274,  0.06199226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.82728324e-05,-2.35476491e-05, 1.02126586e-05,-6.20797468e-06,
 -2.48564748e-05,-9.16460966e-06,-9.75808175e-06, 2.21035176e-05,
 -2.08097202e-05,-3.07993330e-05,-3.41882071e-05,-4.30764730e-05,
 -3.98357261e-04,-8.05736623e-05,-2.63641896e-04,-3.11507150e-04,
  1.28951101e-07, 1.64895272e-06,-1.21645282e+00,-4.37113033e-04,
  6.99619391e-06,-5.49111991e-04]


--- Step 323 ---
qpos:
[ 0.00616585,-0.00181003,-0.00495645, 0.03353059, 0.00446006,-0.0037521 ,
 -0.01847726, 0.028546  , 0.01293993, 0.00330688,-0.00996926, 0.02588002,
  0.70135437,-0.00079515, 0.52024406, 0.06569164, 0.09286533,-0.06997797,
  0.13108688, 0.50802413, 0.49211951, 0.49238028, 0.50723912]

qacc:
[ 3.17283359e+00, 1.86236661e-01,-5.84244978e-01, 7.68191246e-03,
 -8.71371101e+00,-6.24848273e-01, 2.76086737e+00,-5.13111274e+00,
  9.25202849e-01,-9.22858669e-01, 7.66434721e+00,-2.30900501e+01,
 -1.64307544e+00, 3.55370634e+00, 4.65590658e+00,-2.24884618e+01,
  6.56031633e-01,-2.06063784e+00,-1.90380346e-01, 9.32376044e+00,
 -2.86235490e+00, 2.95955704e+01]

qfrc_actuator:
[-2.52613681e-05,-1.41316268e-04,-9.28871694e-05, 2.57055899e-05,
 -3.59769765e-05,-3.43772003e-04,-3.11017480e-04,-6.74738312e-07,
  1.04694088e-05,-5.94656578e-05,-1.59344704e-04, 1.05130665e-05,
  5.93227417e-02,-6.42283076e-04, 3.89763772e-02,-4.76417362e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4848581 ,  1.47709594, -4.23463573,  1.47709594, 10.76501919,
        2.19060175, -4.23463573,  2.19060175,  5.24896844,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028241174340304376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96561059e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.96561059e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08258487, -0.03120898,  0.06199194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.85849312e-05,-1.21360103e-05,-1.06010340e-05,-3.39706057e-06,
 -5.12700737e-05, 2.19121889e-06, 8.00367136e-06,-5.89080439e-06,
  5.49114065e-06, 2.84702419e-05,-5.44810782e-06,-4.45889555e-05,
 -3.98759880e-04,-5.70486090e-05,-2.89564271e-04,-1.93438505e-04,
 -2.59542609e-07, 5.78627606e-07,-1.21645001e+00,-4.38927303e-04,
  8.50553962e-06,-5.48722791e-04]


--- Step 324 ---
qpos:
[ 0.00616588,-0.00181061,-0.00495668, 0.03353095, 0.00445911,-0.00375174,
 -0.01847799, 0.02854639, 0.01294043, 0.00330686,-0.00997044, 0.02588036,
  0.70261206,-0.00079373, 0.52140072, 0.06568059, 0.09289548,-0.0699718 ,
  0.13108221, 0.50793265, 0.4922062 , 0.49251877, 0.50711216]

qacc:
[ 2.05904258, 0.24576889,-2.04542413, 6.75306557,-2.23741343,-0.39610055,
  1.80706644,-3.30510752, 3.66171913, 0.98095608,-3.57708281, 6.50259048,
 -1.51886557, 3.09957753,-2.49850984, 3.03433663, 0.6388619 ,-2.02227916,
 -0.36729962, 9.26086955,-2.68183477,29.03774389]

qfrc_actuator:
[-1.37581321e-05,-1.23782200e-04,-7.89852108e-05, 4.18819324e-05,
 -4.76843463e-05,-3.38860078e-04,-3.04567048e-04,-4.14237065e-06,
  3.17780811e-05,-2.67536140e-05,-1.54823945e-04, 2.17396325e-05,
  5.92102064e-02,-6.36143602e-04, 3.88871926e-02,-4.77220991e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50629031,  1.69523934, -4.17526238,  1.69523934, 14.34617901,
        3.99518998, -4.17526238,  3.99518998,  6.12841668,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028936500190690495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91837820e-13,  1.91837820e-13,  1.00000000e+00, -3.68017493e-26,
        1.00000000e+00, -1.91837820e-13, -1.00000000e+00,  0.00000000e+00,
        1.91837820e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08258449, -0.03121284,  0.06199174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20302482e-05, 8.44507759e-06, 9.98238164e-06, 1.52246254e-05,
 -1.31712594e-05, 7.51706684e-06, 7.69217107e-06,-3.20919255e-06,
  2.14743438e-05, 4.56255837e-05, 8.20503473e-06, 1.13931634e-05,
 -3.95641164e-04,-6.02822430e-05,-2.43022157e-04,-5.60194454e-05,
 -8.83856308e-07, 1.88680533e-08,-1.21644856e+00,-4.40423715e-04,
  1.06277568e-05,-5.48537722e-04]


--- Step 325 ---
qpos:
[ 0.0061657 ,-0.00181101,-0.00495709, 0.03353151, 0.00445838,-0.00375094,
 -0.0184791 , 0.02854672, 0.01294085, 0.00330716,-0.00997159, 0.02588118,
  0.70386749,-0.0007922 , 0.52255436, 0.06567375, 0.09292813,-0.0699736 ,
  0.13107546, 0.50780558, 0.49233292, 0.49263588, 0.50700264]

qacc:
[ -1.83044372,  1.15116672, -4.57235833,  8.06001219,  1.82902978,
   1.49772474, -4.24812679,  3.45556063, -0.82716125,  1.32567552,
  -6.08187098, 13.97575466, -1.39006605,  2.63164554,-17.11837007,
  53.53496046,  0.62526468, -1.99024934, -0.51640656,  9.20820672,
  -2.53009044, 28.5745325 ]

qfrc_actuator:
[-2.47597452e-05,-1.13041408e-04,-8.83828062e-05, 5.12716498e-05,
 -3.64240826e-05,-3.00575093e-04,-3.18219829e-04,-6.33462032e-06,
  2.63578503e-05,-7.33062232e-06,-1.51606261e-04, 4.59837875e-05,
  5.90922033e-02,-6.33124144e-04, 3.87868628e-02,-4.54153781e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51732778,  1.93759258, -4.08068441,  1.93759258, 21.09267208,
        7.87031315, -4.08068441,  7.87031315,  8.25431375,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002928586737598604
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.89549282e-13,  1.89549282e-13,  1.00000000e+00, -3.59289302e-26,
        1.00000000e+00, -1.89549282e-13, -1.00000000e+00,  0.00000000e+00,
        1.89549282e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08258391, -0.03121478,  0.06199164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06556448e-05, 1.82047688e-05,-5.88874539e-06, 1.03937857e-05,
  1.08864610e-05, 4.39297674e-05,-1.12596101e-05,-1.66589931e-06,
 -4.79625197e-06, 4.71433456e-05, 1.40601511e-05, 2.67061839e-05,
 -3.98997405e-04,-6.34728430e-05,-2.19194919e-04, 1.95935639e-04,
 -1.72714718e-06,-6.11857518e-08,-1.21644839e+00,-4.41657830e-04,
  1.33461861e-05,-5.48550757e-04]


--- Step 326 ---
qpos:
[ 0.00616539,-0.00181117,-0.00495736, 0.0335318 , 0.00445778,-0.00374991,
 -0.01848032, 0.02854703, 0.01294085, 0.00330773,-0.00997179, 0.02588153,
  0.70512074,-0.00079091, 0.52370471, 0.06567242, 0.09296325,-0.06998324,
  0.13106615, 0.50764323, 0.49249914, 0.49273204, 0.50691032]

qacc:
[ -1.14645132, -0.63965077,  3.88252233, -8.94884959,  1.22374469,
   0.56736979, -1.48221143,  1.10538372, -3.60900723, -3.28354563,
  14.16688003,-23.89607067, -0.91095778,  0.71705865,-21.43737699,
  67.99628301,  0.61460522, -1.96358439, -0.64204362,  9.16574396,
  -2.40109735, 28.19190384]

qfrc_actuator:
[-3.11642240e-05,-8.87878865e-05,-7.59914050e-05, 3.88151250e-05,
 -2.95006325e-05,-2.95936917e-04,-3.25740509e-04,-7.74394643e-06,
  5.24396244e-06, 2.17519525e-05,-9.59773288e-05, 2.44142097e-05,
  5.89763273e-02,-6.49754369e-04, 3.86373648e-02,-4.26090706e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51957535, -2.20722299,  3.94394828, -2.20722299, 28.99672474,
       13.69858908,  3.94394828, 13.69858908, 12.1859641 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002935631152669177
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.89094434e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.89094434e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08258316, -0.03121518,  0.06199162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.69969085e-06, 3.36778757e-05, 1.57951558e-05,-1.16768152e-05,
  7.25028562e-06, 2.67935821e-05, 1.11007568e-07, 5.07905288e-08,
 -2.12354174e-05, 5.94943202e-05, 6.80315493e-05,-1.85426988e-05,
 -3.99216440e-04,-8.42305327e-05,-2.29346457e-04, 2.63003119e-04,
 -2.77717239e-06, 3.15328839e-07,-1.21644943e+00,-4.42672250e-04,
  1.66484836e-05,-5.48756985e-04]


--- Step 327 ---
qpos:
[ 0.006165  ,-0.00181123,-0.00495687, 0.03353191, 0.00445762,-0.00374912,
 -0.01848113, 0.02854734, 0.01294059, 0.00330856,-0.00997154, 0.02588166,
  0.70637175,-0.00078948, 0.52485306, 0.06567263, 0.09300078,-0.07000065,
  0.13105384, 0.50744584, 0.49270439, 0.49280765, 0.50683501]

qacc:
[ -0.63239812, -2.33577692,  9.29107257,-13.65717549,  3.80625264,
  -1.47178793,  4.74592494, -5.10939096, -2.21724554, -1.31839983,
   6.17101545,-10.97219641, -1.4781365 ,  2.92066719, -7.55443454,
  22.27204497,  0.60636575, -1.9414634 , -0.74789893,  9.13321441,
  -2.29005161, 27.87807061]

qfrc_actuator:
[-3.48043121e-05,-7.43154679e-05,-3.30313180e-05, 3.13876525e-05,
 -7.44059987e-06,-3.29214029e-04,-3.11947188e-04,-8.69899136e-06,
 -7.17656672e-06, 2.10663347e-05,-8.08522507e-05, 1.16075345e-05,
  5.88671288e-02,-6.42344965e-04, 3.85543637e-02,-4.18405889e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002920387078462622
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.90081485e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.90081485e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08258228, -0.03121434,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.81823855e-06, 3.60747631e-05, 5.14631543e-05,-5.66442689e-06,
  2.22764871e-05,-1.82905170e-05, 1.93442466e-05, 1.97459174e-07,
 -1.30033667e-05, 4.58156211e-05, 3.51480591e-05,-8.26474028e-06,
 -3.95914854e-04,-6.22356581e-05,-1.59137651e-04, 6.18570919e-05,
 -4.02522781e-06, 1.13156586e-06,-1.21645163e+00,-4.43500071e-04,
  2.05259838e-05,-5.49152337e-04]


--- Step 328 ---
qpos:
[ 0.00616423,-0.00181095,-0.00495649, 0.03353196, 0.00445772,-0.00374849,
 -0.01848145, 0.02854728, 0.01294054, 0.00330931,-0.00997178, 0.02588244,
  0.7076205 ,-0.00078792, 0.52599953, 0.06567568, 0.09304072,-0.07002576,
  0.13103819, 0.50721358, 0.49294827, 0.49286298, 0.50677654]

qacc:
[ -3.40061301,  0.61904601, -1.30743995,  0.19693708,  2.34263724,
  -2.3332266 ,  9.57914475,-16.6899434 ,  1.73273089,  2.54020714,
 -11.96407441, 23.98558595, -1.43972082,  2.77212953,-11.28573333,
  35.57360971,  0.60012282, -1.92318602, -0.83711249,  9.11019011,
  -2.19311683, 27.62309772]

qfrc_actuator:
[-5.45422388e-05,-6.56769928e-05,-4.34103599e-05, 2.69939535e-05,
  5.60021017e-06,-3.31599533e-04,-2.85845395e-04,-2.71535043e-05,
  3.37671737e-06,-3.30956481e-05,-1.25391517e-04, 3.95125092e-05,
  5.87513687e-02,-6.38557602e-04, 3.84899592e-02,-4.03244471e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002887526023286624
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92244679e-13,  1.92244679e-13,  1.00000000e+00, -3.69580165e-26,
        1.00000000e+00, -1.92244679e-13, -1.00000000e+00,  0.00000000e+00,
        1.92244679e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08258128, -0.03121254,  0.06199175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.98360918e-05, 3.91953537e-05, 3.21042961e-06,-1.17848178e-06,
  1.36699860e-05,-8.62170232e-06, 2.47120887e-05,-1.85667800e-05,
  1.02016846e-05,-2.16741303e-05,-3.10447512e-05, 3.09214924e-05,
 -3.96499389e-04,-6.35332233e-05,-1.35416411e-04, 1.33325259e-04,
 -5.46535138e-06, 2.37585643e-06,-1.21645496e+00,-4.44167428e-04,
  2.49731472e-05,-5.49733369e-04]


--- Step 329 ---
qpos:
[ 0.00616323,-0.00181015,-0.00495689, 0.03353232, 0.00445764,-0.0037481 ,
 -0.01848141, 0.02854736, 0.01294061, 0.00330967,-0.00997263, 0.02588324,
  0.70886698,-0.00078597, 0.52714354, 0.065679  , 0.09308304,-0.07005849,
  0.13101889, 0.50694657, 0.49323048, 0.4928983 , 0.50673477]

qacc:
[ -2.06179872,  3.53365809,-12.92485481, 19.24891441, -1.63953771,
  -1.03249386,  2.60336469, -0.50672072,  1.10565233,  1.28748328,
  -5.46483424,  7.30134621, -1.79401881,  4.17035976, -4.38532481,
  10.22752684,  0.59552943, -1.90815395, -0.91236181,  9.09614211,
  -2.10722471, 27.41858961]

qfrc_actuator:
[-6.58451679e-05,-4.30534967e-05,-8.52336263e-05, 4.21255213e-05,
 -4.52903190e-06,-3.50937952e-04,-2.70344187e-04,-2.02249167e-05,
  9.61148222e-06,-8.35892660e-05,-1.69488173e-04, 3.78047075e-05,
  5.86370787e-02,-6.19230868e-04, 3.83302584e-02,-4.03316032e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028409295021009084
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95397848e-13,  1.95397848e-13,  1.00000000e+00, -3.81803192e-26,
        1.00000000e+00, -1.95397848e-13, -1.00000000e+00,  0.00000000e+00,
        1.95397848e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0825802 , -0.03120998,  0.06199188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18546143e-05, 4.51352641e-05,-3.33785392e-05, 1.68986643e-05,
 -9.74197989e-06,-1.98651701e-05, 1.61180158e-05, 7.05171119e-06,
  6.51926247e-06,-6.77240277e-05,-5.13358114e-05,-3.11233383e-06,
 -3.95372080e-04,-4.84142956e-05,-2.12749714e-04,-1.21833278e-05,
 -7.09372158e-06, 4.04083520e-06,-1.21645937e+00,-4.44695384e-04,
  2.99870851e-05,-5.50497109e-04]


--- Step 330 ---
qpos:
[ 0.00616279,-0.00180899,-0.00495775, 0.03353287, 0.00445778,-0.00374785,
 -0.01848149, 0.02854755, 0.01294041, 0.00330955,-0.00997395, 0.02588368,
  0.71011125,-0.00078407, 0.52828564, 0.06568018, 0.09312749,-0.07008663,
  0.1310049 , 0.50668802, 0.49350207, 0.49295839, 0.50667049]

qacc:
[  4.9219498 ,  2.12517926, -7.67587181, 11.27256075,  1.96158721,
   0.33632343, -1.87309824,  3.87564297, -2.38823368, -0.0867153 ,
   0.9455216 , -6.2279334 , -1.32528962,  2.21028095,  3.67664034,
 -16.85825443,  0.53203131,  1.15014543,  1.32923162,  7.04603886,
   1.33027068,-16.57868347]

qfrc_actuator:
[-3.65825843e-05,-3.01129669e-05,-1.09697541e-04, 5.08684522e-05,
  7.29346740e-06,-3.62545160e-04,-2.79026687e-04,-1.61875398e-05,
 -4.50557258e-06,-1.13800527e-04,-1.95234084e-04, 1.86845767e-05,
  5.85184288e-02,-6.26404328e-04, 3.82413185e-02,-4.14159690e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002891565375266886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.67904495e-13, -8.99888080e-14,  1.00000000e+00,  6.91028102e-26,
        1.00000000e+00,  8.99888080e-14, -1.00000000e+00,  0.00000000e+00,
        7.67904495e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595089, -0.08816941,  0.06199174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.89397201e-05, 3.19836728e-05,-1.86709677e-05, 9.85002620e-06,
  1.15363346e-05,-1.91022296e-05,-1.05609615e-05, 3.88027187e-06,
 -1.39528484e-05,-7.88227986e-05,-4.61622684e-05,-2.38602077e-05,
 -3.97081847e-04,-7.32542075e-05,-1.90472052e-04,-1.37198592e-04,
 -8.90820131e-06, 6.12275226e-06,-1.21646485e+00,-4.45101323e-04,
  3.55671532e-05,-5.51440926e-04]


--- Step 331 ---
qpos:
[ 0.00616305,-0.00180778,-0.00495827, 0.03353384, 0.00445771,-0.00374773,
 -0.01848166, 0.02854778, 0.01294039, 0.00330885,-0.00997533, 0.02588457,
  0.71135337,-0.00078284, 0.52942634, 0.0656792 , 0.093174  ,-0.07011029,
  0.13099506, 0.50643763, 0.49376353, 0.49304263, 0.50658412]

qacc:
[  6.15685857, -0.03863147, -1.56391235,  8.35143107, -1.78955621,
   0.2017325 , -1.16575429,  2.22933535,  1.56903499,  0.31143354,
  -4.07801257, 12.23616862, -0.61327516, -0.71865313,  4.42655754,
 -18.5175157 ,  0.51538597,  1.1180721 ,  1.03577921,  6.97712008,
   1.22395736,-16.11586471]

qfrc_actuator:
[-1.43383970e-06,-2.30198302e-05,-8.82443389e-05, 7.35416137e-05,
 -3.55598573e-06,-3.69534074e-04,-2.84141920e-04,-1.38981828e-05,
  5.01844616e-06,-1.31588144e-04,-1.92120512e-04, 4.27628939e-05,
  5.83972388e-02,-6.66945113e-04, 3.82001995e-02,-4.24135459e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003058218635085125
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81514659e-13,  2.32565657e-13,  1.00000000e+00, -4.22140758e-26,
        1.00000000e+00, -2.32565657e-13, -1.00000000e+00,  0.00000000e+00,
        1.81514659e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595158, -0.088165  ,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.59802199e-05, 2.15226540e-05, 2.60958123e-05, 2.35864325e-05,
 -1.05263095e-05,-1.96906895e-05,-1.02305174e-05, 1.17952275e-06,
  9.10130882e-06,-7.24103235e-05,-1.96635538e-05, 1.86415772e-05,
 -4.04748728e-04,-1.09296374e-04,-1.48077984e-04,-1.33029900e-04,
 -8.81191467e-06, 5.04375893e-06,-1.21646394e+00,-4.46536876e-04,
  3.32610132e-05,-5.51974715e-04]


--- Step 332 ---
qpos:
[ 0.00616373,-0.00180649,-0.00495852, 0.03353542, 0.00445717,-0.00374787,
 -0.01848128, 0.028548  , 0.01294118, 0.00330784,-0.00997648, 0.02588498,
  0.71259327,-0.00078177, 0.5305648 , 0.06567905, 0.09322252,-0.07012959,
  0.13098837, 0.50619516, 0.49401526, 0.49315048, 0.50647604]

qacc:
[  3.69524474,  0.63333549, -4.70860863, 14.86163687, -4.12951912,
  -1.88141154,  6.22603966, -6.96842157,  7.08531753, -2.01449235,
   8.5206238 ,-16.65354293, -1.15108931,  1.53224586, -5.73902608,
  15.38182019,  0.50230764,  1.09102871,  0.78808372,  6.92067718,
   1.13275944,-15.72770932]

qfrc_actuator:
[ 1.91321996e-05,-1.92863220e-05,-7.53783680e-05, 1.04254059e-04,
 -2.76696698e-05,-3.73696652e-04,-2.51578020e-04,-1.26448457e-05,
  4.61399994e-05,-1.23885957e-04,-1.71913105e-04, 2.10874447e-05,
  5.82905759e-02,-6.73604397e-04, 3.81025847e-02,-4.19300870e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59845418, -1.43066563, -4.3702376 , -1.43066563,  9.71773664,
       -1.67587718, -4.3702376 , -1.67587718,  5.14707878,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003169295114785614
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.75152989e-13,  3.11991262e-13,  1.00000000e+00, -5.46462020e-26,
        1.00000000e+00, -3.11991262e-13, -1.00000000e+00,  0.00000000e+00,
        1.75152989e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595193, -0.08816209,  0.06199095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.15910252e-05, 2.21419501e-05, 2.13298950e-05, 3.29913933e-05,
 -2.44208847e-05,-1.72427433e-05, 2.72778213e-05, 7.84881852e-08,
  4.13514240e-05,-3.60105167e-05, 3.49501868e-06,-2.50938499e-05,
 -4.01001993e-04,-8.01940372e-05,-1.86768715e-04, 2.02605409e-05,
 -8.71832103e-06, 4.07365705e-06,-1.21646350e+00,-4.47918672e-04,
  3.07361771e-05,-5.52413714e-04]


--- Step 333 ---
qpos:
[ 0.00616396,-0.00180493,-0.00495919, 0.0335367 , 0.00445704,-0.00374798,
 -0.0184806 , 0.02854788, 0.01294245, 0.0033068 ,-0.00997723, 0.02588474,
  0.71383087,-0.00078042, 0.53170115, 0.06568236, 0.093273  ,-0.07014462,
  0.130984  , 0.50596038, 0.49425763, 0.49328151, 0.50634656]

qacc:
[ -3.96162708,  0.87528653, -1.27179699, -3.68919811,  3.55006217,
  -1.50923246,  6.93609617,-13.54765183,  4.29399889, -2.54363455,
  11.74400342,-23.69701163, -1.62082785,  3.44016887,-13.49402829,
  42.81940762,  0.49218156,  1.06829352,  0.57925675,  6.87639516,
   1.05349403,-15.40282195]

qfrc_actuator:
[-4.55665987e-06,-1.76103665e-05,-1.03218313e-04, 8.61745564e-05,
 -6.13230317e-06,-3.58225563e-04,-2.32520746e-04,-2.97349256e-05,
  7.00174599e-05,-1.00923104e-04,-1.41712003e-04,-9.55925126e-06,
  5.81767357e-02,-6.60183528e-04, 3.80404319e-02,-4.00466125e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.62220552, -1.72364606, -4.28880264, -1.72364606, 12.44410082,
       -3.14357646, -4.28880264, -3.14357646,  5.88559151,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003235009178588766
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.14785104e-13,  1.76957380e-13,  1.00000000e+00, -9.10950231e-26,
        1.00000000e+00, -1.76957380e-13, -1.00000000e+00,  0.00000000e+00,
        5.14785104e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.085952  , -0.08816038,  0.06199076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.30736189e-05, 1.98356513e-05,-1.95148605e-05,-1.57574762e-05,
  2.08326423e-05, 1.14583984e-05, 1.88563117e-05,-1.68836686e-05,
  2.50363133e-05, 2.53801352e-06, 2.23482981e-05,-3.25550248e-05,
 -4.00908864e-04,-5.69338657e-05,-1.49296441e-04, 1.64471316e-04,
 -8.62428751e-06, 3.20064702e-06,-1.21646348e+00,-4.49262766e-04,
  2.79936750e-05,-5.52760223e-04]


--- Step 334 ---
qpos:
[ 0.00616391,-0.00180355,-0.00495999, 0.03353778, 0.00445716,-0.00374765,
 -0.01848042, 0.0285472 , 0.01294399, 0.00330573,-0.00997741, 0.02588516,
  0.71506617,-0.00077858, 0.53283599, 0.06568321, 0.09332543,-0.07015545,
  0.13098124, 0.50573311, 0.49449092, 0.49343536, 0.50619591]

qacc:
[ -2.50933945, -0.23973613,  1.29888094, -4.18183883,  2.24139297,
   0.81327806,  0.22096992, -9.18491398,  2.45218406, -0.26293422,
  -1.88054357, 12.35178176, -2.00398506,  4.87540543,  5.25022505,
 -21.43140189,  0.48450678,  1.0492518 ,  0.4034744 ,  6.84378   ,
   0.98362981,-15.1317256 ]

qfrc_actuator:
[-1.85930166e-05,-5.28961686e-05,-1.19407395e-04, 7.50056398e-05,
  6.60116440e-06,-3.31170479e-04,-2.57038042e-04,-5.74786486e-05,
  8.35442504e-05,-8.67006698e-05,-1.05782184e-04, 2.57997032e-05,
  5.80640023e-02,-6.35079893e-04, 3.79357171e-02,-4.14358599e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032639599847697487
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70073014e-13,  4.78330352e-14,  1.00000000e+00, -8.13510847e-27,
        1.00000000e+00, -4.78330352e-14, -1.00000000e+00,  0.00000000e+00,
        1.70073014e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595183, -0.08815965,  0.06199068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.46885513e-05,-2.89602296e-05,-1.50530879e-05,-1.13047351e-05,
  1.33325099e-05, 3.66373467e-05,-2.04191861e-05,-2.69306589e-05,
  1.42352871e-05, 1.89229184e-05, 3.81021428e-05, 3.56111655e-05,
 -3.95563793e-04,-4.33612188e-05,-1.59887746e-04,-1.50251502e-04,
 -8.52751498e-06, 2.41516012e-06,-1.21646387e+00,-4.50581795e-04,
  2.50334822e-05,-5.53016260e-04]


--- Step 335 ---
qpos:
[ 0.00616403,-0.00180248,-0.00496095, 0.03353943, 0.00445744,-0.0037471 ,
 -0.01848079, 0.02854658, 0.01294603, 0.00330492,-0.00997726, 0.02588598,
  0.7162992 ,-0.00077611, 0.53396873, 0.06568208, 0.09337977,-0.07016215,
  0.1309795 , 0.5055132 , 0.4947154 , 0.4936117 , 0.50602428]

qacc:
[  1.55719899,  1.18038907, -7.2138005 , 17.51561533,  1.30942463,
   1.93506081, -6.66532879,  8.21123668,  4.36242645,  0.21938751,
  -1.97629769,  8.16333087, -2.08911486,  5.31734303,  2.95366769,
 -14.6307254 ,  0.47887358,  1.03337772,  0.25578705,  6.8222149 ,
   0.92114962,-14.90649032]

qfrc_actuator:
[-9.06911349e-06,-7.45089393e-05,-1.28717405e-04, 1.03487290e-04,
  1.40363572e-05,-3.33078131e-04,-2.89279644e-04,-5.57762754e-05,
  1.08628609e-04,-5.99739800e-05,-8.44907550e-05, 4.64547350e-05,
  5.79573420e-02,-6.03302825e-04, 3.78267898e-02,-4.24356123e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032633722392098885
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  5.3157389e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -5.3157389e-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([ 0.08595146, -0.08815971,  0.06199068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.09348143e-06,-4.14492944e-05,-1.75458168e-05, 2.64967380e-05,
  7.83077816e-06, 1.32002982e-05,-2.81261602e-05, 2.04164643e-06,
  2.54888810e-05, 4.67548862e-05, 3.11402166e-05, 2.34789579e-05,
 -3.83999041e-04,-3.45320588e-05,-2.05073695e-04,-1.30455139e-04,
 -8.42631109e-06, 1.70936080e-06,-1.21646463e+00,-4.51885899e-04,
  2.18546517e-05,-5.53183629e-04]


--- Step 336 ---
qpos:
[ 0.00616426,-0.00180156,-0.00496209, 0.03354139, 0.00445815,-0.00374649,
 -0.01848152, 0.02854668, 0.01294732, 0.00330469,-0.00997721, 0.02588633,
  0.71753017,-0.00077389, 0.53509914, 0.0656807 , 0.09343601,-0.07016476,
  0.1309783 , 0.50530051, 0.49493127, 0.4938103 , 0.50583181]

qacc:
[  0.98905683,  0.96429789, -5.00099214, 10.71589105,  3.77008293,
   2.58285522,-12.19496625, 25.33924727, -6.61570065,  0.125482  ,
   2.61816313,-10.84423027, -0.97427472,  0.99024509, -2.64197092,
   4.28949698,  0.47494572,  1.02022038,  0.13197215,  6.81100722,
   0.86444316,-14.72044827]

qfrc_actuator:
[-3.50982464e-06,-6.99595612e-05,-1.33827102e-04, 1.19574842e-04,
  3.60484315e-05,-3.34583351e-04,-3.08148500e-04,-1.90290420e-05,
  6.93078966e-05,-2.60206983e-05,-8.97324756e-05, 2.27767834e-05,
  5.78490789e-02,-6.21101749e-04, 3.77314191e-02,-4.24865293e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032393006848997763
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.71367701e-13,  1.76722942e-13,  1.00000000e+00, -3.02846043e-26,
        1.00000000e+00, -1.76722942e-13, -1.00000000e+00,  0.00000000e+00,
        1.71367701e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595093, -0.08816038,  0.06199074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.80027108e-06,-2.11464778e-05,-1.49213206e-05, 1.42156947e-05,
  2.22414237e-05, 1.42551010e-07,-1.95374339e-05, 3.63801178e-05,
 -3.85847166e-05, 6.75784119e-05, 9.07097461e-06,-2.01409088e-05,
 -3.76379698e-04,-8.14203147e-05,-2.07597436e-04,-3.96944605e-05,
 -8.31942655e-06, 1.07676425e-06,-1.21646576e+00,-4.53183398e-04,
  1.84554360e-05,-5.53263964e-04]


--- Step 337 ---
qpos:
[ 0.00616491,-0.00180108,-0.00496287, 0.03354319, 0.00445877,-0.00374559,
 -0.01848263, 0.02854754, 0.01294779, 0.00330486,-0.00997743, 0.02588644,
  0.71875911,-0.00077218, 0.53622708, 0.0656753 , 0.09349414,-0.07016334,
  0.1309772 , 0.50509493, 0.49513873, 0.49403094, 0.50561862]

qacc:
[ 3.62418849e+00,-1.97709951e+00, 6.87889743e+00,-1.00049998e+01,
 -7.75130425e-01, 2.97019249e+00,-1.31976829e+01, 2.65923102e+01,
 -7.28308003e+00, 7.95166707e-01,-9.82148212e-01,-3.25173500e+00,
 -7.45330477e-01,-2.01978748e-03, 8.47623547e+00,-3.49339870e+01,
  4.72446433e-01, 1.00939256e+00, 2.84182474e-02, 6.80942623e+00,
  8.12222934e-01,-1.45679719e+01]

qfrc_actuator:
[ 1.74166705e-05,-1.03023203e-04,-1.18572712e-04, 1.10506445e-04,
  3.09604531e-05,-3.00254022e-04,-3.18954846e-04, 2.02945337e-05,
  2.78966637e-05,-2.36546045e-05,-1.10585857e-04, 8.70281750e-06,
  5.77399175e-02,-6.50270678e-04, 3.75750445e-02,-4.46403071e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003196804453938912
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.35660743e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.35660743e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595027, -0.08816155,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10818959e-05,-4.73852164e-05, 9.53803205e-06,-1.02183213e-05,
 -4.45331083e-06, 3.19267393e-05,-1.19243871e-05, 3.93608138e-05,
 -4.24839757e-05, 4.11645373e-05,-6.46956276e-06,-1.12545784e-05,
 -3.79464534e-04,-9.60491538e-05,-2.58910817e-04,-2.45072869e-04,
 -8.20593707e-06, 5.11939382e-07,-1.21646723e+00,-4.54481287e-04,
  1.48333979e-05,-5.53258767e-04]


--- Step 338 ---
qpos:
[ 0.0061658 ,-0.00180108,-0.00496315, 0.0335452 , 0.00445898,-0.00374469,
 -0.01848374, 0.02854888, 0.01294844, 0.00330538,-0.00997793, 0.02588707,
  0.71998572,-0.00076979, 0.53735198, 0.06566899, 0.09355274,-0.07015782,
  0.13097704, 0.50490232, 0.49533256, 0.49426823, 0.50538918]

qacc:
[  2.18543433, -1.56776652,  3.74719978, -0.40649037, -3.5909318 ,
   1.01280094, -5.64024323, 13.94322736,  1.65524069,  2.30395312,
  -9.78005265, 19.09912863, -2.16795085,  5.54784228, -1.6342308 ,
  -0.6095096 ,  0.11630841,  1.02456364,  0.23216163,  1.56615904,
   0.42344217,-14.87016808]

qfrc_actuator:
[ 2.94685906e-05,-1.22783061e-04,-9.15804676e-05, 1.22200444e-04,
  9.95844572e-06,-3.15701135e-04,-3.24776460e-04, 4.30946188e-05,
  3.88647053e-05,-4.78963932e-06,-1.22841565e-04, 3.58725323e-05,
  5.76196366e-02,-6.14894010e-04, 3.74460728e-02,-4.49992755e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003180287266643239
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.72738004e-14,  8.72738004e-14,  1.00000000e+00,  7.61671624e-27,
        1.00000000e+00, -8.72738004e-14, -1.00000000e+00,  0.00000000e+00,
       -8.72738004e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09143654, -0.0881104 ,  0.06199091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26337663e-05,-4.47326040e-05, 1.80232791e-05, 9.79026818e-06,
 -2.11192358e-05, 1.60668041e-06, 6.66611407e-07, 2.45204583e-05,
  9.77648961e-06, 4.00486742e-05,-4.93627868e-06, 2.84926630e-05,
 -3.95569382e-04,-3.32976586e-05,-2.76287535e-04,-8.32428664e-05,
 -8.08515826e-06, 1.02760777e-08,-1.21646905e+00,-4.55785609e-04,
  1.09855091e-05,-5.53169440e-04]


--- Step 339 ---
qpos:
[ 0.00616648,-0.00180103,-0.00496359, 0.03354731, 0.00445894,-0.003744  ,
 -0.01848477, 0.0285498 , 0.01294922, 0.00330578,-0.0099781 , 0.02588804,
  0.72121007,-0.00076695, 0.53847365, 0.06566583, 0.09361181,-0.07014824,
  0.13097735, 0.50472252, 0.49551301, 0.494522  , 0.50514357]

qacc:
[ -1.8315752 ,  0.74528528, -2.96569469,  4.92136515, -2.2106188 ,
  -1.3465867 ,  6.16331521,-13.26505334,  1.12415558, -0.39633144,
  -0.2349578 ,  5.63424161, -1.75636139,  4.05988646,-14.22887961,
  43.03419668,  0.11813166,  1.01372759,  0.12061067,  1.61425866,
   0.37675149,-14.70891752]

qfrc_actuator:
[ 1.84432957e-05,-9.88472107e-05,-9.33228137e-05, 1.28281562e-04,
 -2.48107092e-06,-3.43073810e-04,-3.27816247e-04, 2.04480046e-05,
  4.50698277e-05,-2.93924723e-05,-1.12079766e-04, 5.16043994e-05,
  5.75087622e-02,-5.95037826e-04, 3.73336836e-02,-4.32310849e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031496224599278366
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.20308751e-13,  8.81235004e-14,  1.00000000e+00,  1.94143783e-26,
        1.00000000e+00, -8.81235004e-14, -1.00000000e+00,  0.00000000e+00,
       -2.20308751e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09143632, -0.08811122,  0.061991  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06829396e-05, 3.06390327e-06,-8.42659601e-06, 4.97383904e-06,
 -1.30432917e-05,-2.53154569e-05,-1.77691025e-06,-2.20791005e-05,
  6.49712025e-06,-2.01485476e-06, 1.94108892e-05, 1.78301047e-05,
 -3.86919076e-04,-4.57561854e-05,-2.48184661e-04, 1.36618681e-04,
 -7.53221540e-06,-4.82189469e-07,-1.21646973e+00,-4.57084492e-04,
  6.96022130e-06,-5.53105080e-04]


--- Step 340 ---
qpos:
[ 0.00616668,-0.00180073,-0.0049644 , 0.03354878, 0.00445909,-0.00374384,
 -0.01848509, 0.02855045, 0.01295007, 0.00330575,-0.00997735, 0.02588885,
  0.72243236,-0.00076422, 0.53959308, 0.06566234, 0.09367136,-0.07013465,
  0.13097778, 0.50455537, 0.49568028, 0.49479215, 0.50488184]

qacc:
[-4.25776983e+00, 1.57036907e-02, 3.12156238e+00,-1.38556568e+01,
  1.74781486e+00,-3.25396437e+00, 1.17260826e+01,-1.72290923e+01,
  6.39541590e-01,-3.43293701e+00, 1.20947249e+01,-1.60275715e+01,
 -1.14552922e+00, 1.68215377e+00,-2.25831482e+00, 3.15602087e+00,
  1.20343948e-01, 1.00495711e+00, 2.75059003e-02, 1.66198504e+00,
  3.32763344e-01,-1.45787500e+01]

qfrc_actuator:
[-6.07322468e-06,-8.45432119e-05,-1.11845566e-04, 9.55196719e-05,
  7.97661028e-06,-3.77410670e-04,-2.93777523e-04, 6.73611109e-06,
  4.84047324e-05,-6.20006896e-05,-7.02542588e-05, 4.26996816e-05,
  5.74089337e-02,-6.02272631e-04, 3.72313699e-02,-4.34192064e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003102864502169539
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78902918e-13,  1.78902918e-13,  1.00000000e+00, -3.20062539e-26,
        1.00000000e+00, -1.78902918e-13, -1.00000000e+00,  0.00000000e+00,
        1.78902918e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09143608, -0.08811248,  0.06199113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.48192076e-05, 1.44823457e-05,-1.87561086e-05,-3.28288912e-05,
  1.00772462e-05,-4.98263258e-05, 2.78292214e-05,-1.52887641e-05,
  3.51856720e-06,-2.89714393e-05, 4.44126657e-05,-7.97524870e-06,
 -3.71463726e-04,-7.28624993e-05,-2.01001913e-04,-4.32142820e-05,
 -6.98366411e-06,-8.87490269e-07,-1.21647070e+00,-4.58391410e-04,
  2.89203131e-06,-5.52959280e-04]


--- Step 341 ---
qpos:
[ 0.00616693,-0.00180034,-0.00496511, 0.03354948, 0.00445972,-0.00374436,
 -0.01848463, 0.02855128, 0.01295096, 0.00330608,-0.0099767 , 0.02588986,
  0.7236526 ,-0.00076156, 0.54071009, 0.06566025, 0.0937314 ,-0.07011706,
  0.13097801, 0.50440075, 0.49583456, 0.49507857, 0.50460399]

qacc:
[  0.43615234, -1.71496558,  9.53949621,-23.00698055,  4.1410157 ,
  -2.68762246,  7.494871  , -4.99348193,  0.2807734 ,  1.1381804 ,
  -4.21804448,  7.55842625, -1.13276375,  1.68094517, -7.76852453,
  22.08916102,  0.12287658,  0.99796259, -0.04997733,  1.7098195 ,
   0.29085033,-14.47528689]

qfrc_actuator:
[-2.82136734e-06,-7.62172121e-05,-1.04663575e-04, 5.79083043e-05,
  3.18245108e-05,-4.15502935e-04,-2.55895558e-04, 1.61680071e-05,
  5.00246800e-05,-1.02848687e-05,-6.37506431e-05, 5.48833548e-05,
  5.73051458e-02,-6.07645523e-04, 3.71351297e-02,-4.26284237e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003043799487468246
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.11872669e-14,  1.82374534e-13,  1.00000000e+00, -1.66302353e-26,
        1.00000000e+00, -1.82374534e-13, -1.00000000e+00,  0.00000000e+00,
        9.11872669e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09143583, -0.08811407,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.55297574e-06, 1.11298739e-05, 6.73114527e-06,-3.82797947e-05,
  2.41178900e-05,-6.08618166e-05, 3.04893493e-05, 7.96045559e-06,
  1.70917132e-06, 4.43415153e-05, 5.70418891e-06, 1.23202557e-05,
 -3.69106329e-04,-7.11442490e-05,-1.96506443e-04, 4.99567446e-05,
 -6.43735544e-06,-1.20978599e-06,-1.21647196e+00,-4.59710857e-04,
 -1.22792707e-06,-5.52732773e-04]


--- Step 342 ---
qpos:
[ 0.00616756,-0.00179992,-0.00496541, 0.03354937, 0.00446062,-0.00374489,
 -0.01848449, 0.02855187, 0.01295116, 0.00330698,-0.00997669, 0.02589136,
  0.72487088,-0.00075959, 0.54182435, 0.06565981, 0.0937891 ,-0.07009493,
  0.13097912, 0.50427183, 0.49596408, 0.49537185, 0.50431764]

qacc:
[  3.36856066, -2.77792542, 13.38456164,-28.12398341,  2.44696605,
   0.34645957, -0.24636759, -3.48076896, -5.99064243,  3.54716631,
 -13.61497637, 22.71385752, -0.38294236, -1.24121156, -9.03547461,
  25.708407  , -0.58428293,  1.13658111,  0.22143108, -8.77811897,
  -0.49176077,-16.45635626]

qfrc_actuator:
[ 1.67525645e-05,-7.14410299e-05,-8.23769222e-05, 1.77661882e-05,
  4.56025632e-05,-4.02245763e-04,-2.69323482e-04, 3.62789609e-06,
  1.51186342e-05, 2.03988279e-05,-9.55586814e-05, 7.94230226e-05,
  5.71990559e-02,-6.47392744e-04, 3.70000230e-02,-4.17989836e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030406193234955303
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.56413195e-14,  9.12826390e-14,  1.00000000e+00,  4.16626009e-27,
        1.00000000e+00, -9.12826390e-14, -1.00000000e+00,  0.00000000e+00,
       -4.56413195e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10209591, -0.09004631,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.96510677e-05, 1.07427361e-05, 2.40920437e-05,-4.01783397e-05,
  1.44441963e-05,-1.41179318e-05,-2.19701082e-05,-1.39412217e-05,
 -3.48408468e-05, 5.71675909e-05,-2.15326889e-05, 2.68727022e-05,
 -3.69323215e-04,-1.05131243e-04,-2.22699551e-04, 5.96480966e-05,
 -5.89142856e-06,-1.45253970e-06,-1.21647350e+00,-4.61047060e-04,
 -5.40767561e-06,-5.52426243e-04]


--- Step 343 ---
qpos:
[ 0.00616843,-0.00179961,-0.00496539, 0.03354915, 0.00446134,-0.00374546,
 -0.01848424, 0.02855194, 0.01295095, 0.00330833,-0.00997701, 0.0258928 ,
  0.72608722,-0.00075841, 0.54293627, 0.06565765, 0.09384451,-0.0700683 ,
  0.13098061, 0.50416827, 0.49606925, 0.49567194, 0.5040228 ]

qacc:
[  2.03302309, -1.29948156,  4.86788394, -7.20810283, -1.62986024,
  -1.41879702,  7.22764905,-16.51185803, -3.712608  ,  1.4132982 ,
  -3.88838323,  2.93107192, -0.35407187, -1.43771908,  1.71201514,
 -11.03744725, -0.57330743,  1.1241977 ,  0.09459885, -8.60971718,
  -0.52957625,-16.25942969]

qfrc_actuator:
[ 2.80150538e-05,-8.65149817e-05,-6.91269049e-05, 1.19657419e-05,
  3.55867950e-05,-3.94064040e-04,-2.59493786e-04,-2.17370198e-05,
 -5.50057898e-06, 3.81071623e-05,-1.14271048e-04, 7.54979503e-05,
  5.70969748e-02,-6.89369034e-04, 3.68736682e-02,-4.27296718e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030353865049420614
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.82880009e-13,  1.94310010e-13,  1.00000000e+00,  3.55354164e-26,
        1.00000000e+00, -1.94310010e-13, -1.00000000e+00,  0.00000000e+00,
       -1.82880009e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10209593, -0.09004645,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18246637e-05,-5.81833411e-06, 1.70436535e-05,-5.28947604e-06,
 -9.60661869e-06,-4.82689024e-06, 3.72761246e-06,-2.70024948e-05,
 -2.15861818e-05, 4.63328865e-05,-8.63849684e-06,-1.70116612e-06,
 -3.71108839e-04,-1.10671568e-04,-2.23402635e-04,-1.18845254e-04,
 -4.53946755e-06,-1.58989423e-06,-1.21647255e+00,-4.62485288e-04,
 -9.14323340e-06,-5.52254458e-04]


--- Step 344 ---
qpos:
[ 0.00616907,-0.00179937,-0.00496551, 0.03354958, 0.00446193,-0.00374617,
 -0.0184833 , 0.02855166, 0.01295118, 0.00331031,-0.00997765, 0.0258938 ,
  0.72730154,-0.00075769, 0.54404593, 0.06565561, 0.09389544,-0.0700499 ,
  0.13098425, 0.50405065, 0.49618455, 0.49592671, 0.50377627]

qacc:
[ -1.90657434,  1.66420532, -8.80312591, 20.32940985, -1.07434761,
  -2.81336927, 11.19103039,-17.9925642 ,  3.8866693 ,  0.83347564,
   0.05366832, -7.44793516, -0.71379073, -0.04689742, -3.6351703 ,
   7.91056085, -1.12147577, -2.05857761,  0.53843074,-17.35369258,
   1.48971051, 29.47693331]

qfrc_actuator:
[ 1.65372813e-05,-9.56114440e-05,-7.91345380e-05, 4.41451842e-05,
  2.94024165e-05,-3.88905957e-04,-2.18251250e-04,-3.66638457e-05,
  1.79709125e-05, 8.34318717e-05,-1.25163713e-04, 5.48568677e-05,
  5.69920424e-02,-7.14561378e-04, 3.67952331e-02,-4.25590702e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003147613232385993
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.52719010e-13,  1.76359505e-13,  1.00000000e+00, -6.22053502e-26,
        1.00000000e+00, -1.76359505e-13, -1.00000000e+00,  0.00000000e+00,
        3.52719010e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11013033, -0.0340861 ,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11450156e-05,-9.06562328e-06,-9.29803449e-06, 3.24159689e-05,
 -6.45950925e-06, 2.08601490e-06, 3.97744504e-05,-1.55292264e-05,
  2.28790257e-05, 6.93206867e-05,-2.45936312e-06,-1.89921485e-05,
 -3.76278837e-04,-9.47518658e-05,-1.96541710e-04,-1.89562356e-05,
 -3.27869134e-06,-1.55207535e-06,-1.21647208e+00,-4.63944516e-04,
 -1.25445105e-05,-5.51960696e-04]


--- Step 345 ---
qpos:
[ 0.00616888,-0.0017993 ,-0.00496598, 0.03355042, 0.0044621 ,-0.00374706,
 -0.01848185, 0.02855193, 0.01295169, 0.0033123 ,-0.00997788, 0.02589423,
  0.72851368,-0.0007569 , 0.5451537 , 0.06565365, 0.09394202,-0.0700395 ,
  0.13098886, 0.50391934, 0.49630971, 0.49613761, 0.50357665]

qacc:
[ -7.32584617,  1.59087368, -7.68738572, 15.394004  , -3.68819326,
  -0.56463494, -0.59855524,  9.16443444,  2.4752776 , -2.3283666 ,
  10.72165792,-21.25958847, -1.40212248,  2.55600177, -3.02657511,
   6.62365828, -1.08534534, -1.99860601,  0.23981303,-16.79922921,
   1.49703252, 28.5955648 ]

qfrc_actuator:
[-2.59829089e-05,-1.18875186e-04,-1.02752759e-04, 6.28910832e-05,
  7.77775731e-06,-4.03202971e-04,-1.94303504e-04,-9.80548969e-06,
  3.16956102e-05, 5.61933024e-05,-1.13500621e-04, 2.45760547e-05,
  5.68801513e-02,-7.11928078e-04, 3.67243232e-02,-4.24491569e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003328048073496237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.66797925e-13,  8.33989624e-14,  1.00000000e+00, -1.39107739e-26,
        1.00000000e+00, -8.33989624e-14, -1.00000000e+00,  0.00000000e+00,
        1.66797925e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11012601, -0.03409522,  0.06199049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.28419215e-05,-2.88788919e-05,-2.55169544e-05, 1.86657499e-05,
 -2.18094106e-05,-5.56768896e-06, 2.87388252e-05, 2.80221100e-05,
  1.44056010e-05, 1.01462090e-05, 2.50035029e-05,-2.77709802e-05,
 -3.83867834e-04,-6.64956929e-05,-1.66521974e-04,-1.62261871e-05,
 -3.71075177e-06,-1.07090364e-06,-1.21646476e+00,-4.64739138e-04,
 -5.25847905e-06,-5.50865014e-04]


--- Step 346 ---
qpos:
[ 0.00616819,-0.00179953,-0.00496694, 0.03355151, 0.00446166,-0.00374761,
 -0.01848086, 0.02855251, 0.01295236, 0.00331365,-0.00997733, 0.02589436,
  0.72972354,-0.00075542, 0.54625907, 0.06565089, 0.09398439,-0.07003689,
  0.13099342, 0.50377463, 0.49644448, 0.49630588, 0.50342275]

qacc:
[-4.47779951e+00, 1.49105245e+00,-6.92555281e+00, 1.21946819e+01,
 -5.32198163e+00, 2.42539934e+00,-9.32626166e+00, 1.53286624e+01,
  1.45511725e+00,-3.62525997e+00, 1.29849714e+01,-1.90307892e+01,
 -2.16964117e+00, 5.53151212e+00,-1.04992140e+00,-1.25436799e+00,
 -1.05480959e+00,-1.94845875e+00,-1.18636218e-02,-1.63329465e+01,
  1.50626033e+00, 2.78590682e+01]

qfrc_actuator:
[-5.09208944e-05,-1.50515950e-04,-1.34285032e-04, 7.35583728e-05,
 -2.27627246e-05,-3.75803015e-04,-2.16325687e-04, 5.88399581e-06,
  3.95588261e-05,-1.42106463e-05,-8.89096743e-05, 6.57654681e-06,
  5.67694970e-02,-6.75198145e-04, 3.65887425e-02,-4.29084824e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003446276099103446
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.83227254e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.83227254e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11012319, -0.03410116,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.61658410e-05,-5.22744955e-05,-3.99899492e-05, 8.91103685e-06,
 -3.11677546e-05, 3.14307753e-05,-1.86687458e-05, 1.69897068e-05,
  8.28233821e-06,-6.08192818e-05, 2.87839034e-05,-1.72454332e-05,
 -3.82985157e-04,-3.11592675e-05,-2.18769890e-04,-6.95260984e-05,
 -3.94309675e-06,-4.46246736e-07,-1.21645908e+00,-4.65720499e-04,
  8.19876569e-07,-5.50072821e-04]


--- Step 347 ---
qpos:
[ 0.00616789,-0.00180019,-0.00496795, 0.0335527 , 0.0044612 ,-0.00374708,
 -0.01848107, 0.02855288, 0.01295312, 0.00331404,-0.00997627, 0.02589468,
  0.73093111,-0.00075313, 0.54736199, 0.06564755, 0.09402263,-0.07004191,
  0.13099708, 0.50361678, 0.49658866, 0.49643254, 0.5033136 ]

qacc:
[  3.48886671, -0.21747973, -0.50265816,  2.7325622 , -0.21769438,
   4.32619284,-12.46003528,  9.9476885 ,  0.82126132, -2.32654289,
   5.64544115, -2.48279557, -2.27756489,  5.95422355, -1.75421835,
   1.11153382, -1.02902801, -1.90665112, -0.22380334,-15.94110149,
   1.51722145, 27.24531493]

qfrc_actuator:
[-2.97955636e-05,-1.69226132e-04,-1.34773632e-04, 7.93763459e-05,
 -2.27958534e-05,-2.88334488e-04,-2.65156282e-04,-2.87896717e-06,
  4.39116904e-05,-9.21149120e-05,-7.48331450e-05, 1.36620762e-05,
  5.66543469e-02,-6.36424777e-04, 3.64783817e-02,-4.31682935e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035138572889324704
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.57977819e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.57977819e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11012159, -0.03410452,  0.06198997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.03658639e-05,-5.58109234e-05,-1.58904715e-05, 2.36920555e-06,
 -9.12446031e-07, 1.01912988e-04,-4.40553513e-05,-7.73226692e-06,
  4.57136191e-06,-1.06758681e-04, 4.44005855e-06, 5.13476013e-06,
 -3.81376064e-04,-2.55615982e-05,-2.21135008e-04,-5.87082822e-05,
 -3.99329341e-06, 3.08643752e-07,-1.21645488e+00,-4.66877699e-04,
  5.81381876e-06,-5.49571203e-04]


--- Step 348 ---
qpos:
[ 0.00616819,-0.00180113,-0.00496877, 0.03355426, 0.00446075,-0.00374604,
 -0.01848148, 0.02855384, 0.01295289, 0.00331388,-0.00997517, 0.02589506,
  0.73213643,-0.00075032, 0.54846341, 0.06564236, 0.09405685,-0.07005442,
  0.13099913, 0.50344596, 0.49674209, 0.49651843, 0.50324836]

qacc:
[ 5.28730247e+00,-1.14381979e-01,-1.69702173e+00, 8.02699719e+00,
  1.30484275e-02, 2.46008081e+00,-1.02684785e+01, 2.03893452e+01,
 -8.69019133e+00,-7.20977435e-01, 1.27118958e+00, 1.14475555e-01,
 -1.98629608e+00, 4.76030639e+00, 3.44927315e+00,-1.50963753e+01,
 -1.00729063e+00,-1.87192727e+00,-4.02084204e-01,-1.56123179e+01,
  1.52970106e+00, 2.67358879e+01]

qfrc_actuator:
[ 5.14151643e-07,-1.62178639e-04,-1.16881220e-04, 1.00080377e-04,
 -2.26221825e-05,-2.72223786e-04,-2.75907204e-04, 2.73444765e-05,
 -7.09231007e-06,-1.02929112e-04,-6.71198452e-05, 1.76732784e-05,
  5.65365825e-02,-6.14556987e-04, 3.64365017e-02,-4.40174182e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.74234606, -3.79999864,  2.8372269 , -3.79999864, 12.76759883,
       10.74850573,  2.8372269 , 10.74850573, 19.13820107,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003540498167804579
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.70367292e-13,  1.56789097e-13,  1.00000000e+00, -7.37484633e-26,
        1.00000000e+00, -1.56789097e-13, -1.00000000e+00,  0.00000000e+00,
        4.70367292e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11012096, -0.03410581,  0.06198989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.08727260e-05,-2.73022200e-05, 4.50498853e-06, 1.78090450e-05,
  1.85270818e-07, 6.36509278e-05, 4.60045927e-06, 3.29145703e-05,
 -5.09094055e-05,-6.94001972e-05,-1.36315954e-05,-3.14285890e-07,
 -3.81904691e-04,-4.17756490e-05,-1.52369078e-04,-1.17299180e-04,
 -3.87474627e-06, 1.18434042e-06,-1.21645205e+00,-4.68203264e-04,
  9.82032828e-06,-5.49349967e-04]


--- Step 349 ---
qpos:
[ 0.00616851,-0.0018018 ,-0.00496993, 0.03355636, 0.0044603 ,-0.00374486,
 -0.01848156, 0.02855517, 0.01295239, 0.00331407,-0.00997465, 0.02589472,
  0.73333954,-0.00074722, 0.54956339, 0.06563772, 0.09408712,-0.07007429,
  0.13099898, 0.50326233, 0.49690462, 0.49656426, 0.50322635]

qacc:
[ 1.24769529e-01, 2.38216246e+00,-1.03081636e+01, 2.01058570e+01,
  5.94999794e-02, 7.37650668e-03,-1.32822268e+00, 7.06028397e+00,
 -2.35860078e+00, 6.46811567e-01, 1.43025113e+00,-1.32205236e+01,
 -1.67584107e+00, 3.60231079e+00,-3.70053158e+00, 1.00065554e+01,
 -9.88994745e-01,-1.84321944e+00,-5.51863734e-01,-1.53371178e+01,
  1.54345749e+00, 2.63153566e+01]

qfrc_actuator:
[ 4.66795309e-07,-1.21906256e-04,-1.23674793e-04, 1.29409670e-04,
 -2.23387068e-05,-2.81036821e-04,-2.64318212e-04, 4.47416600e-05,
 -1.92573643e-05,-3.80074951e-05,-8.07157332e-05,-1.56146114e-05,
  5.64226538e-02,-6.02866919e-04, 3.64037581e-02,-4.36074006e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.73975536, -3.81458231,  2.81322638, -3.81458231, 12.57065831,
       10.61827946,  2.81322638, 10.61827946, 19.13756609,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035343321066012845
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.57062635e-13,  1.57062635e-13,  1.00000000e+00,  2.46686712e-26,
        1.00000000e+00, -1.57062635e-13, -1.00000000e+00,  0.00000000e+00,
       -1.57062635e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11012112, -0.03410543,  0.06198991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.23490161e-07, 2.67483478e-05,-1.12466315e-05, 2.86609457e-05,
  3.09423910e-07, 2.91058753e-05, 2.64322166e-05, 2.09211297e-05,
 -1.36343787e-05, 2.32571381e-05,-2.96313373e-05,-3.67406407e-05,
 -3.80723241e-04,-5.38531479e-05,-1.22007041e-04, 1.32932742e-05,
 -3.59755397e-06, 2.17444206e-06,-1.21645049e+00,-4.69692450e-04,
  1.29156294e-05,-5.49401147e-04]


--- Step 350 ---
qpos:
[ 0.00616848,-0.0018024 ,-0.00497084, 0.03355879, 0.00445986,-0.00374368,
 -0.0184811 , 0.02855635, 0.01295279, 0.00331494,-0.00997428, 0.02589391,
  0.73454053,-0.00074427, 0.55066133, 0.06563856, 0.09411348,-0.07010145,
  0.13099611, 0.50306599, 0.49707614, 0.49657062, 0.503247  ]

qacc:
[ -3.04988327,  0.08524139, -1.46948789,  6.48891435,  0.0774799 ,
  -1.7955136 ,  7.0380348 ,-10.43640432,  7.83419012,  0.32012269,
   2.1156072 ,-10.48505905, -1.01139373,  1.15620742,-19.53542242,
  64.05732258, -0.97362692, -1.81961639, -0.67753676,-15.10756357,
   1.55823442, 25.97072431]

qfrc_actuator:
[-1.74505690e-05,-1.15379406e-04,-1.09339429e-04, 1.45836301e-04,
 -2.19932836e-05,-2.86872578e-04,-2.39777109e-04, 3.66760590e-05,
  2.70580974e-05, 3.61583865e-05,-7.09728698e-05,-3.50191156e-05,
  5.63111038e-02,-6.15025186e-04, 3.63445905e-02,-4.06831560e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003502156481398899
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  7.9252814e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -7.9252814e-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([ 0.11012189, -0.03410374,  0.06199   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.78824407e-05, 2.04223324e-05, 1.94834573e-05, 1.77408146e-05,
  3.62480986e-07, 1.67517432e-05, 3.45170431e-05,-5.50195335e-06,
  4.59400200e-05, 7.94576012e-05, 9.61844415e-06,-2.01484926e-05,
 -3.79138207e-04,-7.89109568e-05,-1.20837398e-04, 2.75689932e-04,
 -3.16916684e-06, 3.27498177e-06,-1.21645014e+00,-4.71342679e-04,
  1.51594455e-05,-5.49718600e-04]


--- Step 351 ---
qpos:
[ 0.00616858,-0.00180326,-0.00497109, 0.03356106, 0.00445943,-0.00374254,
 -0.01848053, 0.02855712, 0.01295305, 0.00331649,-0.00997389, 0.0258932 ,
  0.73573945,-0.00074177, 0.5517572 , 0.06564262, 0.09413601,-0.07013581,
  0.13099011, 0.50285703, 0.49725654, 0.49653797, 0.50330984]

qacc:
[  1.17503433, -2.51322477,  9.0804461 ,-12.54451733,  0.07113431,
  -1.21082888,  5.97275126,-13.26213077, -1.22596543,  1.06301011,
  -2.91623026,  4.19082958, -0.71038503, -0.05052173,-12.78487936,
  40.31151342, -0.96074886, -1.80033865, -0.78285894,-14.91698082,
   1.57377038, 25.69100052]

qfrc_actuator:
[-1.02275849e-05,-1.46782355e-04,-8.27682555e-05, 1.36779944e-04,
 -2.16141325e-05,-3.08606723e-04,-2.43312626e-04, 1.36991539e-05,
  1.86474816e-05, 7.99032813e-05,-6.51879612e-05,-2.83030802e-05,
  5.62010527e-02,-6.41159132e-04, 3.62270679e-02,-3.91424251e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003449634208152613
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.60918949e-13,  8.04594747e-14,  1.00000000e+00, -1.29474541e-26,
        1.00000000e+00, -8.04594747e-14, -1.00000000e+00,  0.00000000e+00,
        1.60918949e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11012313, -0.03410101,  0.06199015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.72247393e-06,-1.51772698e-05, 3.38161333e-05,-7.16313883e-06,
  3.94187381e-07,-5.52381200e-06, 3.96415245e-06,-2.11780955e-05,
 -7.07429205e-06, 8.92846699e-05, 2.26713489e-05, 1.00590282e-05,
 -3.80316899e-04,-9.52746291e-05,-1.48115064e-04, 1.52417153e-04,
 -2.59489630e-06, 4.48398576e-06,-1.21645093e+00,-4.73153076e-04,
  1.65983089e-05,-5.50297674e-04]


--- Step 352 ---
qpos:
[ 0.00616911,-0.00180411,-0.00497134, 0.03356287, 0.00445935,-0.00374153,
 -0.0184805 , 0.02855766, 0.01295321, 0.00331824,-0.00997404, 0.02589268,
  0.73693636,-0.0007399 , 0.55285092, 0.06564625, 0.09415572,-0.07016514,
  0.13098865, 0.50267514, 0.4974125 , 0.49651361, 0.50336144]

qacc:
[  3.78509296, -0.95764231,  5.35407155,-13.31549966,  3.07463227,
   0.86169536, -2.3806836 , -0.54738306, -0.91589542,  2.15844755,
  -8.12676829, 12.12559986, -0.54969403, -0.71117407, -1.83894479,
   1.84685316, -0.70364057,  1.25696916,  1.13349995, -8.00346586,
  -1.27927762,-17.77012513]

qfrc_actuator:
[ 1.17402993e-05,-1.47367193e-04,-8.48745395e-05, 1.12774804e-04,
 -3.46562609e-06,-3.39827091e-04,-2.81229794e-04,-1.46259882e-07,
  1.35798259e-05, 3.41067872e-05,-1.15144836e-04,-2.40543067e-05,
  5.60972983e-02,-6.75324979e-04, 3.60905865e-02,-3.94962951e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003431178549890834
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.61784502e-13, -7.07807195e-14,  1.00000000e+00, -1.14512234e-26,
        1.00000000e+00,  7.07807195e-14, -1.00000000e+00,  0.00000000e+00,
       -1.61784502e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10210698, -0.09003677,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.21551947e-05,-2.36280228e-06,-1.31670931e-06,-2.36277982e-05,
  1.81585610e-05,-3.44476629e-05,-3.93243431e-05,-1.43626902e-05,
 -5.23361785e-06, 9.18517652e-06,-2.83940614e-05, 9.05280049e-06,
 -3.77803384e-04,-1.05090403e-04,-1.92509525e-04,-4.72371631e-05,
 -1.87831224e-06, 5.80114388e-06,-1.21645283e+00,-4.75124089e-04,
  1.72681584e-05,-5.51134945e-04]


--- Step 353 ---
qpos:
[ 0.00616921,-0.00180473,-0.00497199, 0.03356438, 0.00445949,-0.00374088,
 -0.0184806 , 0.02855873, 0.01295365, 0.00331991,-0.00997494, 0.02589262,
  0.73813126,-0.00073875, 0.55394263, 0.06564903, 0.09417276,-0.07018959,
  0.13099061, 0.50251975, 0.49754436, 0.49649725, 0.50340241]

qacc:
[ -3.80486892,  0.8355293 , -1.24701629, -3.51169197,  1.91315332,
   0.93250242, -6.23918223, 15.7592617 ,  2.47092804,  2.92159838,
 -12.45852725, 21.50387589, -0.47356403, -1.02759462, -0.41047551,
  -2.90386039, -0.66727081,  1.22050273,  0.85589849, -7.98921704,
  -1.1457597 ,-17.31465013]

qfrc_actuator:
[-1.10548205e-05,-1.29626318e-04,-1.03793924e-04, 9.79229124e-05,
  7.24347754e-06,-3.58885660e-04,-2.85916516e-04, 2.69693981e-05,
  2.82895184e-05, 5.81636492e-06,-1.62486317e-04,-3.65953614e-06,
  5.59920657e-02,-7.13943883e-04, 3.60013940e-02,-3.98980478e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.74609763,  0.21670925,  4.74114752,  0.21670925,  9.75901116,
       -0.22913118,  4.74114752, -0.22913118,  4.7565708 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035493973615730035
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.3986372e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        4.3986372e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10210833, -0.09003369,  0.06198987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.21623673e-05, 1.51709649e-05,-2.03797309e-05,-1.54611697e-05,
  1.12179794e-05,-4.70915757e-05,-1.71571417e-05, 2.39949029e-05,
  1.45702551e-05,-2.86928632e-05,-4.86454060e-05, 1.99799530e-05,
 -3.79650992e-04,-1.09999190e-04,-1.86511662e-04,-6.85518821e-05,
 -1.45662889e-06, 4.34419386e-06,-1.21644957e+00,-4.74419188e-04,
  1.49525709e-05,-5.52149913e-04]


--- Step 354 ---
qpos:
[ 6.16903574e-03,-1.80543836e-03,-4.97253200e-03, 3.35663986e-02,
  4.45975653e-03,-3.74048107e-03,-1.84805506e-02, 2.85604203e-02,
  1.29539226e-02, 3.32131649e-03,-9.97547393e-03, 2.58924010e-02,
  7.39324000e-01,-7.37416283e-04, 5.55032334e-01, 6.56479632e-02,
  9.41872548e-02,-7.02092814e-02, 1.30995065e-01, 5.02390345e-01,
  4.97652433e-01, 4.96488664e-01, 5.03433217e-01]

qacc:
[ -2.39972596,  0.60380778, -4.42815738, 13.0151617 ,  1.12316296,
   0.56891994, -5.14591501, 15.95448612, -1.49811566, -1.68299161,
   6.11768931, -9.11285208, -1.60187006,  3.24369551,  8.71841992,
 -34.65631914, -0.63768314,  1.19006437,  0.62222829, -7.96532572,
  -1.04026147,-16.9320041 ]

qfrc_actuator:
[-2.45133988e-05,-1.36623800e-04,-9.68846947e-05, 1.24094114e-04,
  1.34824503e-05,-3.52607022e-04,-2.70864445e-04, 6.02513182e-05,
  1.90159855e-05, 5.96576349e-06,-1.36824974e-04,-9.41893829e-06,
  5.58913439e-02,-7.01643435e-04, 3.58820572e-02,-4.19203621e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.77502626,  0.08726342,  4.77422883,  0.08726342, 12.43797158,
       -0.14006342,  4.77422883, -0.14006342,  4.77758634,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000361686403783687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.67393392e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.67393392e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10210971, -0.09003203,  0.06198967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.40796035e-05,-3.36719225e-06, 7.01038559e-06, 2.58156455e-05,
  6.54268099e-06,-2.25911733e-05, 4.03267514e-06, 3.11330315e-05,
 -8.86409468e-06,-2.51315017e-05, 1.44249494e-05,-8.28546508e-06,
 -3.77173776e-04,-5.99929997e-05,-2.16694197e-04,-2.31121286e-04,
 -1.08384014e-06, 3.12661828e-06,-1.21644685e+00,-4.73849857e-04,
  1.29691350e-05,-5.53003076e-04]


--- Step 355 ---
qpos:
[ 6.16904689e-03,-1.80613788e-03,-4.97274720e-03, 3.35690310e-02,
  4.46044045e-03,-3.74040313e-03,-1.84805377e-02, 2.85621763e-02,
  1.29544242e-02, 3.32251186e-03,-9.97542977e-03, 2.58917468e-02,
  7.40514633e-01,-7.35932237e-04, 5.56119589e-01, 6.56441124e-02,
  9.41992915e-02,-7.02243115e-02, 1.31001219e-01, 5.02286503e-01,
  4.97736987e-01, 4.96487645e-01, 5.03454248e-01]

qacc:
[  1.63492135,  0.37376775, -3.93634963, 14.11180818,  3.66127606,
  -0.20740481, -0.159499  ,  1.55499843,  2.06182399, -2.79825724,
  11.41956701,-19.75312591, -1.51119766,  2.97786222,  4.82376383,
 -22.01660612, -0.61363435,  1.16474494,  0.42592373, -7.936244  ,
  -0.9569074 ,-16.6115204 ]

qfrc_actuator:
[-1.46023533e-05,-1.22739552e-04,-7.48429037e-05, 1.56440979e-04,
  3.47956451e-05,-3.84360358e-04,-2.79690626e-04, 6.14142935e-05,
  3.11998284e-05, 5.65888197e-06,-1.03678726e-04,-3.04498557e-05,
  5.57880886e-02,-6.94903315e-04, 3.57660076e-02,-4.32839125e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.7866002 , -0.02113857,  4.78655353, -0.02113857, 16.68988005,
        0.05256775,  4.78655353,  0.05256775,  4.78683236,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036433015049310014
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.52364967e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.52364967e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10211113, -0.09003152,  0.0619896 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.51057746e-06, 1.45785477e-05, 2.31136597e-05, 3.29464668e-05,
  2.14907474e-05,-4.22357664e-05,-1.19277961e-05, 9.35185695e-07,
  1.19268571e-05,-1.17822311e-05, 2.94360498e-05,-2.17710691e-05,
 -3.70021160e-04,-6.02187060e-05,-2.44756034e-04,-1.78033330e-04,
 -7.64717500e-07, 2.13038067e-06,-1.21644463e+00,-4.73386666e-04,
  1.13020817e-05,-5.53703327e-04]


--- Step 356 ---
qpos:
[ 6.16883157e-03,-1.80663134e-03,-4.97300509e-03, 3.35713389e-02,
  4.46102980e-03,-3.74081203e-03,-1.84805352e-02, 2.85639525e-02,
  1.29554125e-02, 3.32400353e-03,-9.97547714e-03, 2.58908270e-02,
  7.41703140e-01,-7.34323923e-04, 5.57204667e-01, 6.56404453e-02,
  9.42089517e-02,-7.02347665e-02, 1.31008419e-01, 5.02207865e-01,
  4.97798260e-01, 4.96494034e-01, 5.03465815e-01]

qacc:
[ -1.99643328, -0.27253354,  2.74339474, -8.44953615, -0.81968425,
  -0.57092486,  1.01937807, -0.29680238,  4.27518294,  0.09218134,
   1.34675885, -6.00079903, -1.43314548,  2.70323021, -3.71579945,
   8.45325523, -0.59411751,  1.14377625,  0.26140432, -7.90520789,
  -0.89104003,-16.34422744]

qfrc_actuator:
[-2.65236656e-05,-1.14132034e-04,-7.94777729e-05, 1.38920294e-04,
  2.93066679e-05,-4.21001751e-04,-2.84970303e-04, 6.13719936e-05,
  5.59230096e-05, 4.06260066e-05,-1.01909247e-04,-4.25444016e-05,
  5.56780608e-02,-6.91543741e-04, 3.57106270e-02,-4.30047945e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.78377538, -0.16787836,  4.78082877, -0.16787836, 24.34941245,
        0.68704552,  4.78082877,  0.68704552,  4.80790092,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003636877463984167
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.63170491e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.63170491e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10211258, -0.09003191,  0.06198962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16461944e-05, 2.29714762e-05, 2.36769795e-06,-1.54592638e-05,
 -4.88937835e-06,-6.26825695e-05,-1.54463916e-05,-2.25187400e-06,
  2.50613373e-05, 3.34892650e-05, 2.19508922e-06,-1.20063530e-05,
 -3.71982858e-04,-6.24786002e-05,-1.89299971e-04,-1.39951891e-05,
 -5.02278743e-07, 1.34106012e-06,-1.21644288e+00,-4.73007701e-04,
  9.93771389e-06,-5.54257732e-04]


--- Step 357 ---
qpos:
[ 6.16847517e-03,-1.80693500e-03,-4.97327269e-03, 3.35727284e-02,
  4.46085890e-03,-3.74135719e-03,-1.84807465e-02, 2.85656834e-02,
  1.29566900e-02, 3.32540793e-03,-9.97509702e-03, 2.58901277e-02,
  7.42889569e-01,-7.32662083e-04, 5.58287176e-01, 6.56374756e-02,
  9.42162987e-02,-7.02407155e-02, 1.31016114e-01, 5.02154131e-01,
  4.97836456e-01, 4.96507699e-01, 5.03468169e-01]

qacc:
[ -1.24460361, -1.61054394,  9.98728518,-26.0086947 , -6.65821048,
   0.33694806, -1.24860751,  0.88067373,  2.55881035, -0.86094419,
   1.96222514,  1.24637818, -1.30834974,  2.28634483, -5.8497454 ,
  15.06440963, -0.5783153 ,  1.12650699,  0.12390609, -7.87451772,
  -0.83896318,-16.12253675]

qfrc_actuator:
[-3.34544399e-05,-1.08893776e-04,-8.21299234e-05, 9.21741571e-05,
 -9.67097929e-06,-4.07025660e-04,-2.88132895e-04, 6.06239662e-05,
  7.00695260e-05, 2.53265816e-05,-8.30210607e-05,-3.15211632e-05,
  5.55746984e-02,-6.90245882e-04, 3.55851955e-02,-4.26462311e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.76963144, -0.36525453,  4.75562543, -0.36525453, 42.24307907,
        2.87813806,  4.75562543,  2.87813806,  4.99068606,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036044345098709685
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54007934e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.54007934e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10211405, -0.09003303,  0.06198971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.25196537e-06, 1.79230675e-05, 1.85400975e-06,-4.59836832e-05,
 -3.91384729e-05,-2.43536709e-05,-1.80895005e-05,-4.01546101e-06,
  1.48751128e-05, 3.32733144e-06, 2.56459414e-05, 1.22986663e-05,
 -3.66459048e-04,-6.54128425e-05,-2.17674907e-04, 9.74240644e-06,
 -2.98352176e-07, 7.47158302e-07,-1.21644158e+00,-4.72696644e-04,
  8.86435049e-06,-5.54671881e-04]


--- Step 358 ---
qpos:
[ 6.16769337e-03,-1.80703259e-03,-4.97331561e-03, 3.35735284e-02,
  4.46022171e-03,-3.74159669e-03,-1.84812006e-02, 2.85666452e-02,
  1.29581275e-02, 3.32655291e-03,-9.97438676e-03, 2.58899405e-02,
  7.44074049e-01,-7.31600415e-04, 5.59366787e-01, 6.56375951e-02,
  9.42213834e-02,-7.02422149e-02, 1.31023847e-01, 5.02125050e-01,
  4.97851745e-01, 4.96528532e-01, 5.03461510e-01]

qacc:
[-3.73723554e+00,-1.56206963e+00, 8.46524705e+00,-1.91891711e+01,
 -4.09417193e+00,-4.91451572e-01, 5.59995362e+00,-1.87613960e+01,
  1.42409278e+00,-2.14205333e-01,-1.90065925e+00, 1.04316045e+01,
 -4.57712536e-01,-8.73040992e-01,-1.35949761e+01, 4.13536644e+01,
 -5.65562986e-01, 1.11238362e+00, 9.35040397e-03,-7.84576205e+00,
 -7.97740331e-01,-1.59400033e+01]

qfrc_actuator:
[-5.51383292e-05,-8.79906124e-05,-6.58557082e-05, 6.41217346e-05,
 -3.25330504e-05,-3.62834922e-04,-2.89817592e-04, 2.40047753e-05,
  7.78730325e-05,-2.11510901e-06,-7.20966972e-05,-7.00724664e-06,
  5.54700818e-02,-7.25669282e-04, 3.54657792e-02,-4.10031872e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003551686616281996
  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([ 0.10211554, -0.09003471,  0.06198986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.18810214e-05, 2.93480139e-05, 1.86180688e-05,-2.81166662e-05,
 -2.39876851e-05, 2.66684756e-05,-9.07567789e-06,-3.83674935e-05,
  8.23042996e-06,-1.98009696e-05, 1.51774705e-05, 2.57804435e-05,
 -3.64513216e-04,-1.01537574e-04,-2.20423586e-04, 1.36245650e-04,
 -1.53975219e-07, 3.39542040e-07,-1.21644070e+00,-4.72441350e-04,
  8.07220853e-06,-5.54950183e-04]


--- Step 359 ---
qpos:
[ 6.16665771e-03,-1.80685132e-03,-4.97350295e-03, 3.35743473e-02,
  4.46000487e-03,-3.74156738e-03,-1.84814428e-02, 2.85671330e-02,
  1.29593026e-02, 3.32760417e-03,-9.97412879e-03, 2.58900822e-02,
  7.45256475e-01,-7.30906361e-04, 5.60444310e-01, 6.56388743e-02,
  9.42242469e-02,-7.02393106e-02, 1.31031237e-01, 5.02120414e-01,
  4.97844268e-01, 4.96556446e-01, 5.03445995e-01]

qacc:
[ -2.24157321,  0.81534435, -2.4438863 ,  2.78568035,  3.68058716,
  -1.21904492,  6.85197484,-15.58009664, -2.32164944,  1.82160471,
  -8.05541659, 14.530183  , -0.83881219,  0.42842841, -6.5587396 ,
  18.51783895, -0.55531907,  1.10093521, -0.08576053, -7.81999476,
  -0.76503595,-15.79113787]

qfrc_actuator:
[-6.75807112e-05,-7.55333139e-05,-7.39614609e-05, 6.50765609e-05,
 -1.02103918e-05,-3.36408072e-04,-2.72748449e-04, 2.10993103e-06,
  6.41314320e-05,-1.88824653e-05,-1.01529522e-04, 7.46875539e-06,
  5.53594499e-02,-7.46987886e-04, 3.53820489e-02,-4.03914275e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034833873877522514
  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([ 0.10211703, -0.09003682,  0.06199006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30536594e-05, 3.15070223e-05,-7.21667802e-07, 2.30896787e-06,
  2.16487071e-05, 3.78244368e-05, 2.01390190e-05,-2.18122854e-05,
 -1.35120484e-05,-2.36421825e-05,-3.07816506e-05, 1.46505457e-05,
 -3.75062355e-04,-9.08310536e-05,-1.71023093e-04, 4.00179287e-05,
 -6.96736500e-08, 1.10992170e-07,-1.21644024e+00,-4.72232789e-04,
  7.55325060e-06,-5.55096095e-04]


--- Step 360 ---
qpos:
[ 6.16617075e-03,-1.80647568e-03,-4.97377459e-03, 3.35755232e-02,
  4.46005728e-03,-3.74151185e-03,-1.84816732e-02, 2.85677448e-02,
  1.29603042e-02, 3.32835523e-03,-9.97411848e-03, 2.58900640e-02,
  7.46436706e-01,-7.30094498e-04, 5.61519972e-01, 6.56388414e-02,
  9.42249218e-02,-7.02320393e-02, 1.31037969e-01, 5.02140055e-01,
  4.97814141e-01, 4.96591368e-01, 5.03421750e-01]

qacc:
[  4.81884685,  1.21844951, -5.49520579, 11.68376095,  2.3565126 ,
   0.25270369, -1.38278652,  3.50107147, -1.52977263, -0.03060345,
   0.21345162, -2.36834417, -1.51356042,  2.85469802,  1.26611912,
  -8.29459106, -0.54714177,  1.09176084, -0.16442845, -7.79787375,
  -0.73899049,-15.67125748]

qfrc_actuator:
[-3.89742911e-05,-6.82987528e-05,-7.86633179e-05, 8.30633041e-05,
  3.01773602e-06,-3.56230236e-04,-2.80289964e-04, 6.81501252e-06,
  5.55738725e-05,-4.70597821e-05,-1.19021038e-04,-1.85225574e-06,
  5.52452887e-02,-7.42083470e-04, 3.52824811e-02,-4.11016045e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003403474373571691
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.15507113e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.15507113e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10211853, -0.09003924,  0.06199029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.82456579e-05, 2.47959235e-05, 1.79721703e-06, 1.93557614e-05,
  1.38598310e-05, 4.56238730e-06, 1.99779511e-06, 6.59687253e-06,
 -8.94543232e-06,-4.71710721e-05,-2.56735092e-05,-1.11165811e-05,
 -3.83796420e-04,-6.55342317e-05,-1.78028932e-04,-9.19258083e-05,
 -4.56551735e-08, 5.58366357e-08,-1.21644018e+00,-4.72064259e-04,
  7.30101717e-06,-5.55112314e-04]


--- Step 361 ---
qpos:
[ 6.16637527e-03,-1.80602866e-03,-4.97376328e-03, 3.35768957e-02,
  4.46026800e-03,-3.74136640e-03,-1.84819962e-02, 2.85684078e-02,
  1.29615406e-02, 3.32831776e-03,-9.97354428e-03, 2.58899413e-02,
  7.47614753e-01,-7.29191605e-04, 5.62593629e-01, 6.56385620e-02,
  9.42234340e-02,-7.02204298e-02, 1.31043784e-01, 5.02183836e-01,
  4.97761451e-01, 4.96633242e-01, 5.03388872e-01]

qacc:
[  6.08801014, -0.30365558,  0.36887824,  2.55127732,  1.38113037,
   0.47946721, -1.75766562,  2.72858993,  2.09786143, -2.83738099,
   9.03900872,-11.16140239, -1.45141453,  2.6480722 , -2.16511709,
   3.39551323, -0.54067029,  1.08451934, -0.22922915, -7.77976859,
  -0.71812177,-15.57636364]

qfrc_actuator:
[-4.19223827e-06,-6.42249080e-05,-6.35725698e-05, 9.31707157e-05,
  1.07720959e-05,-3.50408845e-04,-2.84729661e-04, 9.31887304e-06,
  6.78954494e-05,-9.95917398e-05,-9.38662095e-05,-7.34170985e-06,
  5.51344221e-02,-7.39536251e-04, 3.52000943e-02,-4.11646533e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003315192930471028
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.3722354e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        8.3722354e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10212001, -0.0900419 ,  0.06199054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.55917930e-05, 1.91389257e-05, 2.10992808e-05, 1.16049075e-05,
  8.15151107e-06, 9.07217888e-06,-3.02284721e-06, 2.89533917e-06,
  1.20548609e-05,-8.47171122e-05, 1.18566413e-05,-8.61670688e-06,
 -3.82380465e-04,-6.69060502e-05,-1.79180167e-04,-3.55625749e-05,
 -8.19417646e-08, 1.69651078e-07,-1.21644051e+00,-4.71930793e-04,
  7.31045688e-06,-5.55000923e-04]


--- Step 362 ---
qpos:
[ 6.16630521e-03,-1.80523610e-03,-4.97391298e-03, 3.35776834e-02,
  4.46056992e-03,-3.74083554e-03,-1.84825151e-02, 2.85690644e-02,
  1.29629149e-02, 3.32774659e-03,-9.97278001e-03, 2.58904375e-02,
  7.48790667e-01,-7.28246401e-04, 5.63665028e-01, 6.56421138e-02,
  9.42198037e-02,-7.02045047e-02, 1.31048470e-01, 5.02251646e-01,
  4.97686263e-01, 4.96682021e-01, 5.03347432e-01]

qacc:
[-2.42578662e+00,-2.92657143e-01, 4.18305715e+00,-1.43095588e+01,
  7.85401179e-01, 1.04189781e+00,-2.95196011e+00, 2.87444590e+00,
  1.22843012e+00, 3.50242916e-02,-3.76567667e+00, 1.45706336e+01,
 -1.27133298e+00, 2.10790598e+00,-1.48435488e+01, 4.72066357e+01,
 -5.35609636e-01, 1.07892053e+00,-2.82371455e-01,-7.76584305e+00,
 -7.01247102e-01,-1.55030420e+01]

qfrc_actuator:
[-1.93249734e-05,-4.42495934e-05,-7.24450397e-05, 6.30629230e-05,
  1.52454373e-05,-3.11522887e-04,-2.87208803e-04, 1.05253513e-05,
  7.46529189e-05,-1.12870168e-04,-7.93413228e-05, 2.49817098e-05,
  5.50309361e-02,-7.38423694e-04, 3.51334222e-02,-3.90695706e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032212025187280946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.72330522e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.72330522e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10212147, -0.09004472,  0.06199081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.41171102e-05, 3.55259920e-05,-1.92889104e-06,-2.83373897e-05,
  4.70936165e-06, 4.34586598e-05,-8.77168155e-07, 1.54559593e-06,
  7.07071017e-06,-5.85697935e-05,-1.81752412e-06, 2.89342965e-05,
 -3.74147945e-04,-6.83715113e-05,-1.57368736e-04, 1.83328128e-04,
 -1.78458560e-07, 4.49013893e-07,-1.21644123e+00,-4.71828712e-04,
  7.57776313e-06,-5.54763511e-04]


--- Step 363 ---
qpos:
[ 6.16605482e-03,-1.80448944e-03,-4.97347318e-03, 3.35784479e-02,
  4.46057848e-03,-3.74016340e-03,-1.84832587e-02, 2.85697636e-02,
  1.29640142e-02, 3.32714027e-03,-9.97206486e-03, 2.58912687e-02,
  7.49964486e-01,-7.26989383e-04, 5.64734394e-01, 6.56477909e-02,
  9.42140466e-02,-7.01842807e-02, 1.31051852e-01, 5.02343402e-01,
  4.97588621e-01, 4.96737669e-01, 5.03297485e-01]

qacc:
[ -1.56618203, -1.75317696,  6.26571371, -7.58001088, -2.5768585 ,
   0.90662326, -3.13303247,  4.11562109, -2.42040584,  0.78520506,
  -4.27359572, 10.16774907, -1.58154593,  3.34619962, -9.34854239,
  28.50209206, -0.53171846,  1.07471787, -0.32574735, -7.75611799,
  -0.68742166,-15.4483783 ]

qfrc_actuator:
[-2.82118364e-05,-5.05413870e-05,-4.21067829e-05, 6.27867089e-05,
  1.32777909e-09,-3.24140159e-04,-3.06123756e-04, 1.09903891e-05,
  6.03223690e-05,-8.47832864e-05,-7.10461460e-05, 4.38059639e-05,
  5.49372785e-02,-7.20406997e-04, 3.50336672e-02,-3.80272415e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031236678565425835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.88557199e-14, -1.77711440e-13,  1.00000000e+00,  1.57906779e-26,
        1.00000000e+00,  1.77711440e-13, -1.00000000e+00,  0.00000000e+00,
        8.88557199e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10212291, -0.09004763,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.27710648e-06, 1.19284644e-05, 3.64500110e-05, 6.25270981e-07,
 -1.50944467e-05, 1.15567069e-05,-9.99482072e-06, 2.32550595e-06,
 -1.41521707e-05,-3.78369251e-06,-3.02814675e-06, 1.68129405e-05,
 -3.58489904e-04,-5.04693563e-05,-1.56057611e-04, 9.30535049e-05,
 -3.35092125e-07, 8.91305562e-07,-1.21644233e+00,-4.71755293e-04,
  8.10022225e-06,-5.54401273e-04]


--- Step 364 ---
qpos:
[ 6.16604489e-03,-1.80399601e-03,-4.97280884e-03, 3.35792553e-02,
  4.46074931e-03,-3.73946665e-03,-1.84841456e-02, 2.85701276e-02,
  1.29652783e-02, 3.32634286e-03,-9.97118791e-03, 2.58919785e-02,
  7.51136225e-01,-7.25197474e-04, 5.65802093e-01, 6.56503498e-02,
  9.42061743e-02,-7.01597699e-02, 1.31053791e-01, 5.02459040e-01,
  4.97468548e-01, 4.96800158e-01, 5.03239069e-01]

qacc:
[  2.12569058, -0.87813545,  2.45683602, -1.87822512,  1.41505575,
  -0.25919939,  2.38214866, -7.96727384,  1.45868484, -0.95732097,
   3.55427789, -5.76665075, -1.93954488,  4.64035477,  7.02336231,
 -27.96669682, -0.52879919,  1.07170221, -0.36097507, -7.75051841,
  -0.67588974,-15.40988734]

qfrc_actuator:
[-1.55829770e-05,-9.00928531e-05,-4.21860765e-05, 6.23290972e-05,
  8.78007977e-06,-3.32064151e-04,-3.17040515e-04,-6.78846920e-06,
  6.92019321e-05,-1.03172798e-04,-6.63256309e-05, 3.68143777e-05,
  5.48389396e-02,-6.92534242e-04, 3.49194494e-02,-3.97451464e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003024336997077548
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.67096334e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.67096334e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10212432, -0.09005058,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23647874e-05,-2.53612297e-05, 6.88076356e-06, 1.32293630e-06,
  8.35190964e-06,-3.44885015e-06,-9.68052779e-06,-1.75849450e-05,
  8.47457666e-06,-2.04000901e-05, 4.14627412e-06,-6.93259750e-06,
 -3.49517181e-04,-3.62091887e-05,-1.80485259e-04,-1.87960126e-04,
 -5.51727359e-07, 1.49454411e-06,-1.21644381e+00,-4.71708514e-04,
  8.87607597e-06,-5.53915082e-04]


--- Step 365 ---
qpos:
[ 6.16549635e-03,-1.80362597e-03,-4.97267513e-03, 3.35793972e-02,
  4.46102388e-03,-3.73877290e-03,-1.84849344e-02, 2.85712986e-02,
  1.29669837e-02, 3.32553910e-03,-9.97030720e-03, 2.58922411e-02,
  7.52305979e-01,-7.23354087e-04, 5.66867605e-01, 6.56501721e-02,
  9.41961952e-02,-7.01309804e-02, 1.31054172e-01, 5.02598512e-01,
  4.97326051e-01, 4.96869464e-01, 5.03172207e-01]

qacc:
[ -4.75092113, -0.04099234,  2.73539727,-13.33223094,  0.91154045,
   1.37959498, -8.3358325 , 22.15034755,  3.88305447, -0.94728064,
   5.24102469,-12.97000652, -1.3377678 ,  2.40434276,  5.07521599,
 -22.34233357, -0.52669002,  1.06969634, -0.3894364 , -7.74890846,
  -0.66604608,-15.38545228]

qfrc_actuator:
[-4.36512195e-05,-1.13869170e-04,-7.81393716e-05, 2.62005403e-05,
  1.38816373e-05,-3.19359371e-04,-3.05397170e-04, 3.58576164e-05,
  9.16777682e-05,-9.60202535e-05,-6.39411777e-05, 1.46556433e-05,
  5.47325401e-02,-6.94600920e-04, 3.48072459e-02,-4.11224693e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029246081024258963
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.89807144e-13, -1.42355358e-13,  1.00000000e+00,  2.70200640e-26,
        1.00000000e+00,  1.42355358e-13, -1.00000000e+00,  0.00000000e+00,
        1.89807144e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10212568, -0.09005355,  0.06199165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.77282614e-05,-3.65035891e-05,-4.03146174e-05,-3.69563994e-05,
  5.34005424e-06, 8.01022935e-06, 9.13112520e-06, 4.18203568e-05,
  2.27081151e-05,-3.67192696e-06,-1.56019030e-06,-2.30262890e-05,
 -3.49492622e-04,-6.30938446e-05,-2.21133470e-04,-1.72739462e-04,
 -8.28269670e-07, 2.25725018e-06,-1.21644567e+00,-4.71686857e-04,
  9.90439936e-06,-5.53305553e-04]


--- Step 366 ---
qpos:
[ 6.16530578e-03,-1.80351401e-03,-4.97297952e-03, 3.35798074e-02,
  4.46101272e-03,-3.73825730e-03,-1.84852319e-02, 2.85733114e-02,
  1.29682555e-02, 3.32452176e-03,-9.96959869e-03, 2.58922752e-02,
  7.53473760e-01,-7.21792859e-04, 5.67930333e-01, 6.56483499e-02,
  9.41821123e-02,-7.01099309e-02, 1.31054123e-01, 5.02724274e-01,
  4.97193194e-01, 4.96896917e-01, 5.03150758e-01]

qacc:
[  3.13844419,  1.42989278, -6.73626931, 12.28089245, -2.48175391,
   0.12807803, -4.34491104, 18.25114155, -3.81729941, -0.26375953,
   1.50830954, -5.04331743, -0.93331509,  0.85728737,  0.87693306,
  -8.98776185, -1.02596229, -1.93503743, -0.10749528,-15.97967829,
   1.75546794, 27.66444021]

qfrc_actuator:
[-2.44443213e-05,-1.28208941e-04,-9.94464559e-05, 4.03712843e-05,
 -9.82129159e-07,-3.29764848e-04,-2.80401865e-04, 7.82453403e-05,
  6.87110977e-05,-1.26908677e-04,-8.06176794e-05, 1.52377046e-06,
  5.46213707e-02,-7.14361800e-04, 3.46697287e-02,-4.19317321e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002920584403644788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.80137285e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.80137285e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11012695, -0.03407289,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.84075960e-05,-4.46872838e-05,-3.50959926e-05, 1.04922105e-05,
 -1.47105395e-05,-2.26461575e-06, 2.92199449e-05, 4.38582130e-05,
 -2.23233779e-05,-3.42192919e-05,-1.84245498e-05,-1.37927149e-05,
 -3.58968551e-04,-8.34974132e-05,-2.61149152e-04,-1.19773323e-04,
 -1.16465715e-06, 3.17833636e-06,-1.21644790e+00,-4.71689164e-04,
  1.11849943e-05,-5.52573092e-04]


--- Step 367 ---
qpos:
[ 6.16603639e-03,-1.80349974e-03,-4.97364320e-03, 3.35803576e-02,
  4.46082346e-03,-3.73779611e-03,-1.84851702e-02, 2.85747736e-02,
  1.29692421e-02, 3.32354291e-03,-9.96920905e-03, 2.58921297e-02,
  7.54639351e-01,-7.19477647e-04, 5.68990540e-01, 6.56464102e-02,
  9.41640003e-02,-7.00964686e-02, 1.31052887e-01, 5.02836644e-01,
  4.97069783e-01, 4.96883348e-01, 5.03173805e-01]

qacc:
[  8.09026064,  1.14770998, -4.89767418,  7.99583953, -1.54689881,
  -2.20369688, 10.08351031,-20.15006793, -2.52023581,  0.57717442,
  -1.21715389, -1.41965527, -2.16180439,  5.43215636, -3.27351229,
   6.26873196, -1.00728396, -1.89676135, -0.29689899,-15.67202654,
   1.70105554, 27.0980031 ]

qfrc_actuator:
[ 2.24465212e-05,-1.18950104e-04,-1.11846093e-04, 4.85486353e-05,
 -9.72448577e-06,-3.36107474e-04,-2.65580559e-04, 4.91098883e-05,
  5.46825166e-05,-1.09401384e-04,-9.08036574e-05,-6.23195061e-06,
  5.45180612e-02,-6.73415628e-04, 3.45810652e-02,-4.18675544e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54007581, -4.1512263 ,  1.83837119, -4.1512263 ,  8.04274988,
        7.90938893,  1.83837119,  7.90938893, 22.40026833,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002998834544793577
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.85109083e-13,  1.85109083e-13,  1.00000000e+00, -3.42653726e-26,
        1.00000000e+00, -1.85109083e-13, -1.00000000e+00,  0.00000000e+00,
        1.85109083e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11012513, -0.03407688,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.73994824e-05,-2.25250030e-05,-2.55892484e-05, 5.25113466e-06,
 -9.16636756e-06, 2.81129929e-07, 1.94639931e-05,-2.73722892e-05,
 -1.46759030e-05,-6.00052636e-06,-1.99953173e-05,-1.01263123e-05,
 -3.61156906e-04,-2.65079443e-05,-2.22406881e-04,-3.40605509e-05,
 -1.57658691e-06, 2.01323169e-06,-1.21644559e+00,-4.70898003e-04,
  1.13346566e-05,-5.52229147e-04]


--- Step 368 ---
qpos:
[ 6.16697833e-03,-1.80349356e-03,-4.97394092e-03, 3.35802481e-02,
  4.46053075e-03,-3.73737036e-03,-1.84849142e-02, 2.85758848e-02,
  1.29703972e-02, 3.32303310e-03,-9.96891400e-03, 2.58918203e-02,
  7.55802908e-01,-7.16694679e-04, 5.70048689e-01, 6.56447283e-02,
  9.41419203e-02,-7.00904651e-02, 1.31049824e-01, 5.02935893e-01,
  4.96955650e-01, 4.96829437e-01, 5.03240579e-01]

qacc:
[  1.86944136, -2.3956816 , 11.30446589,-23.29204882, -0.89886371,
  -1.30942846,  6.08680658,-12.45037561,  1.47162754,  0.54397219,
  -0.35297635, -2.6726344 , -1.75522526,  4.04115681, -3.74160632,
   8.85169638, -0.99198102, -1.86474138, -0.45649177,-15.41909399,
   1.65069294, 26.62635262]

qfrc_actuator:
[ 3.19834443e-05,-9.55892613e-05,-8.32995671e-05, 1.76456725e-05,
 -1.47873352e-05,-3.40064885e-04,-2.56927912e-04, 3.13740166e-05,
  6.37944403e-05,-4.52706644e-05,-7.91271501e-05,-1.07194189e-05,
  5.44248841e-02,-6.50226400e-04, 3.45111390e-02,-4.16430585e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55363688, -4.18178739,  1.80229382, -4.18178739,  7.88468157,
        7.72888447,  1.80229382,  7.72888447, 22.4866461 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003039644005517206
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82623857e-13,  9.13119285e-14,  1.00000000e+00, -1.66757366e-26,
        1.00000000e+00, -9.13119285e-14, -1.00000000e+00,  0.00000000e+00,
        1.82623857e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11012418, -0.03407895,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08781004e-05, 5.72411699e-06, 2.09273414e-05,-3.26532549e-05,
 -5.32423942e-06,-9.76871731e-07, 1.01521764e-05,-1.75871213e-05,
  8.69138686e-06, 5.62401539e-05, 7.63259485e-06,-5.63110682e-06,
 -3.42455995e-04,-3.91177881e-05,-1.78091840e-04,-8.67595011e-06,
 -1.81296492e-06, 1.00391174e-06,-1.21644456e+00,-4.70321485e-04,
  1.06366546e-05,-5.52166226e-04]


--- Step 369 ---
qpos:
[ 6.16802761e-03,-1.80339101e-03,-4.97397710e-03, 3.35801074e-02,
  4.46017958e-03,-3.73693006e-03,-1.84848847e-02, 2.85774883e-02,
  1.29713078e-02, 3.32251321e-03,-9.96805550e-03, 2.58918199e-02,
  7.56964526e-01,-7.13923212e-04, 5.71104877e-01, 6.56445578e-02,
  9.41159221e-02,-7.00918139e-02, 1.31044398e-01, 5.03022246e-01,
  4.96850652e-01, 4.96735735e-01, 5.03350434e-01]

qacc:
[  0.95043565, -0.66974875,  2.70097629, -3.72535065, -0.51877355,
   1.66476319, -7.98561524, 16.85522926, -2.13434183, -0.94781711,
   2.06270648,  2.38413108, -1.152122  ,  1.82295928, -7.41501952,
  21.83270783, -0.9795514 , -1.83803307, -0.59090193,-15.2129017 ,
   1.60336626, 26.23528851]

qfrc_actuator:
[ 3.72020276e-05,-8.15703764e-05,-6.62721335e-05, 1.72961677e-05,
 -1.76458975e-05,-3.42588368e-04,-2.69707865e-04, 5.60039405e-05,
  5.09458079e-05,-6.01276274e-05,-5.44298803e-05, 4.56283379e-06,
  5.43218739e-02,-6.55459336e-04, 3.44418526e-02,-4.07930741e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003050251902868284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.81988744e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.81988744e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11012395, -0.03407947,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.53069518e-06, 2.01477861e-05, 1.96598242e-05,-1.54066135e-08,
 -3.01067030e-06,-1.74931419e-06,-1.23499716e-05, 2.45932684e-05,
 -1.25835225e-05, 1.79505399e-05, 3.70637314e-05, 1.78479257e-05,
 -3.41334205e-04,-6.58172965e-05,-1.56323889e-04, 6.05003564e-05,
 -1.88420269e-06, 1.38612565e-07,-1.21644475e+00,-4.69940094e-04,
  9.13817238e-06,-5.52374582e-04]


--- Step 370 ---
qpos:
[ 6.16878638e-03,-1.80307666e-03,-4.97413116e-03, 3.35799748e-02,
  4.46014185e-03,-3.73658642e-03,-1.84852359e-02, 2.85793998e-02,
  1.29724026e-02, 3.32164624e-03,-9.96670704e-03, 2.58923970e-02,
  7.58124056e-01,-7.10824096e-04, 5.72159395e-01, 6.56436870e-02,
  9.40860456e-02,-7.01004259e-02, 1.31036156e-01, 5.03095892e-01,
  4.96754668e-01, 4.96602679e-01, 5.03502832e-01]

qacc:
[ -2.561821  ,  0.63117511, -1.86977391,  2.03295759,  2.73323829,
   1.56347286, -7.0699225 , 13.08841387,  1.64339061, -0.64241146,
  -0.81913047, 10.29300981, -1.67061811,  3.58004736, -0.28511791,
  -2.42606427, -0.96956875, -1.81583073, -0.70406183,-15.04674214,
   1.55823032, 25.91290209]

qfrc_actuator:
[ 2.20964266e-05,-7.32578913e-05,-7.39507624e-05, 1.71614353e-05,
 -1.43285057e-06,-3.62039929e-04,-2.95004469e-04, 6.98450882e-05,
  6.07718055e-05,-1.04333065e-04,-4.02929893e-05, 3.12996076e-05,
  5.42077026e-02,-6.41948151e-04, 3.43570381e-02,-4.11791023e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003036712118346663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.82800177e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.82800177e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11012428, -0.03407876,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.49423723e-05, 2.36352759e-05,-1.09769241e-06, 1.40827436e-06,
  1.61259095e-05,-2.19477343e-05,-2.63372551e-05, 1.38129624e-05,
  9.47175897e-06,-2.57392471e-05, 2.30250581e-05, 2.91357734e-05,
 -3.56009112e-04,-4.97800265e-05,-1.54856175e-04,-5.66152030e-05,
 -1.79808119e-06,-5.91267940e-07,-1.21644609e+00,-4.69737722e-04,
  6.87463219e-06,-5.52846213e-04]


--- Step 371 ---
qpos:
[ 6.16935830e-03,-1.80262296e-03,-4.97436599e-03, 3.35801940e-02,
  4.46029886e-03,-3.73653710e-03,-1.84857616e-02, 2.85807833e-02,
  1.29736065e-02, 3.32051091e-03,-9.96543072e-03, 2.58933199e-02,
  7.59281575e-01,-7.07847952e-04, 5.73212153e-01, 6.56377372e-02,
  9.40523225e-02,-7.01162277e-02, 1.31024716e-01, 5.03156990e-01,
  4.96667593e-01, 4.96430612e-01, 5.03697323e-01]

qacc:
[ -1.64762151,  1.13736259, -5.26697713, 11.37332141,  1.70353106,
  -0.99012854,  5.18965929,-13.82417679,  0.96294073,  0.55685382,
  -3.96341635, 10.26437529, -1.23629118,  1.86477219, 12.76404172,
 -48.34959467, -0.96167   , -1.79744561, -0.79932153,-14.91495509,
   1.51457747, 25.64916925]

qfrc_actuator:
[ 1.29038685e-05,-6.85232191e-05,-7.84255880e-05, 3.48813883e-05,
  8.12199894e-06,-3.91542970e-04,-3.09813516e-04, 4.16951745e-05,
  6.61189127e-05,-1.30301295e-04,-5.03968480e-05, 4.67643326e-05,
  5.40975695e-02,-6.53030308e-04, 3.42309965e-02,-4.38884021e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003004073523231593
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.54358781e-13,  9.23931302e-14,  1.00000000e+00, -5.12189430e-26,
        1.00000000e+00, -9.23931302e-14, -1.00000000e+00,  0.00000000e+00,
        5.54358781e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11012506, -0.03407707,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.60999228e-06, 1.77683956e-05, 3.19164581e-07, 1.87225967e-05,
  1.00083228e-05,-4.66312469e-05,-2.21135921e-05,-2.97379049e-05,
  5.60382396e-06,-3.43359269e-05,-1.15826559e-05, 1.57228644e-05,
 -3.59327014e-04,-7.53273704e-05,-2.09243680e-04,-2.95463575e-04,
 -1.56026036e-06,-1.19169898e-06,-1.21644855e+00,-4.69700825e-04,
  3.87210105e-06,-5.53574484e-04]


--- Step 372 ---
qpos:
[ 6.16981547e-03,-1.80206875e-03,-4.97463219e-03, 3.35806253e-02,
  4.46056922e-03,-3.73660099e-03,-1.84868508e-02, 2.85821682e-02,
  1.29745198e-02, 3.31975464e-03,-9.96454671e-03, 2.58940144e-02,
  7.60437084e-01,-7.04989391e-04, 5.74262662e-01, 6.56291864e-02,
  9.40147772e-02,-7.01391587e-02, 1.31009758e-01, 5.03205669e-01,
  4.96589337e-01, 4.96219791e-01, 5.03933531e-01]

qacc:
[ -1.01158922,  0.65947355, -3.05091822,  6.69550469,  0.97640618,
   1.42480413, -5.30653901,  6.31643017, -2.5772004 ,  1.13233836,
  -2.33753193, -1.27633776, -1.17430312,  1.69633215,  4.56405559,
 -20.71135425, -0.95554544, -1.78228823, -0.87954007,-14.81275024,
   1.47181288, 25.43562823]

qfrc_actuator:
[ 7.27167023e-06,-6.59475025e-05,-8.09680872e-05, 4.52146785e-05,
  1.36752678e-05,-3.91335289e-04,-3.36136534e-04, 4.23211833e-05,
  5.10274836e-05,-7.42565543e-05,-5.69264029e-05, 3.77139160e-05,
  5.39952533e-02,-6.60796277e-04, 3.41388703e-02,-4.51046566e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029565331314852783
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.87757582e-13,  1.87757582e-13,  1.00000000e+00, -3.52529097e-26,
        1.00000000e+00, -1.87757582e-13, -1.00000000e+00,  0.00000000e+00,
        1.87757582e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11012618, -0.03407463,  0.06199156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.90127068e-06, 1.33608163e-05, 1.81167868e-06, 1.14694339e-05,
  5.82501918e-06,-3.17056539e-05,-3.97057111e-05,-2.71874124e-06,
 -1.49465021e-05, 3.51550345e-05,-1.45074283e-05,-1.06190121e-05,
 -3.58714303e-04,-7.50517298e-05,-2.25217373e-04,-1.66063054e-04,
 -1.17467298e-06,-1.66642297e-06,-1.21645210e+00,-4.69817764e-04,
  1.49169558e-07,-5.54553833e-04]


--- Step 373 ---
qpos:
[ 6.17020137e-03,-1.80134564e-03,-4.97465774e-03, 3.35808040e-02,
  4.46090409e-03,-3.73676508e-03,-1.84882845e-02, 2.85831873e-02,
  1.29748998e-02, 3.31989803e-03,-9.96461622e-03, 2.58945659e-02,
  7.61590469e-01,-7.01867330e-04, 5.75310928e-01, 6.56227164e-02,
  9.39744430e-02,-7.01571390e-02, 1.30998671e-01, 5.03281195e-01,
  4.96486694e-01, 4.96016945e-01, 5.04158896e-01]

qacc:
[ -0.6221864 , -0.96854177,  4.84586411, -9.72960722,  0.55524356,
   0.07646076,  1.0780923 , -6.78291424, -4.73840113,  3.56862348,
 -10.37872591,  8.74681466, -1.54992172,  3.12158389, -9.52739562,
  28.67148065, -0.69720075,  1.23765714,  0.96759033, -8.10153421,
  -1.20226388,-17.52331211]

qfrc_actuator:
[ 3.77833379e-06,-4.69314336e-05,-6.46156543e-05, 3.33621485e-05,
  1.68310676e-05,-3.91117203e-04,-3.51156614e-04, 2.43893992e-05,
  2.40291176e-05,-5.04937575e-06,-9.64676176e-05, 3.21428690e-05,
  5.38870481e-02,-6.48776101e-04, 3.40885041e-02,-4.38318096e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 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: -0.0003060785553704176
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  4.5340608e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -4.5340608e-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([ 0.10213774, -0.0900513 ,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.65858317e-06, 2.73318215e-05, 1.97277168e-05,-1.09955423e-05,
  3.31284551e-06,-2.58154235e-05,-2.65438850e-05,-2.07180779e-05,
 -2.74110524e-05, 8.54274742e-05,-3.44353176e-05,-4.77417133e-06,
 -3.64025935e-04,-5.52545739e-05,-1.74894529e-04, 8.83639727e-05,
 -6.43830938e-07,-2.01726837e-06,-1.21645672e+00,-4.70078287e-04,
 -4.28157244e-06,-5.55779531e-04]


--- Step 374 ---
qpos:
[ 6.17123234e-03,-1.80065631e-03,-4.97411380e-03, 3.35808422e-02,
  4.46127448e-03,-3.73741262e-03,-1.84894736e-02, 2.85839920e-02,
  1.29752985e-02, 3.32030058e-03,-9.96499903e-03, 2.58957748e-02,
  7.62741950e-01,-6.99542336e-04, 5.76356788e-01, 6.56171658e-02,
  9.39314363e-02,-7.01702982e-02, 1.30990461e-01, 5.03383059e-01,
  4.96359854e-01, 4.95821784e-01, 5.04374018e-01]

qacc:
[  5.69049263, -1.93682528,  7.41409969,-10.70765528,  0.3266187 ,
  -1.7631335 ,  6.26403609,-10.00787006,  0.15120693,  2.57110992,
 -11.44689755, 23.13570423, -0.29087399, -1.51366453, -6.33181301,
  16.96993542, -0.66816034,  1.20530691,  0.71950096, -8.14999886,
  -1.04127321,-17.12606394]

qfrc_actuator:
[ 3.70760022e-05,-5.36650098e-05,-3.71857320e-05, 2.63307965e-05,
  1.85518960e-05,-4.26365858e-04,-3.41635861e-04, 1.34421746e-05,
  2.57507051e-05,-1.73801199e-05,-1.19592431e-04, 6.41707336e-05,
  5.37807178e-02,-6.96228816e-04, 3.39620842e-02,-4.34097598e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59941327,  0.11948164,  4.59786109,  0.11948164, 12.12580322,
       -0.19558342,  4.59786109, -0.19558342,  4.60449577,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003171987152939121
  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([ 0.10213891, -0.09004837,  0.06199094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.32005450e-05, 1.21256791e-05, 3.51162389e-05,-5.39346238e-06,
  1.80838650e-06,-5.60334923e-05, 2.18237085e-07,-1.33740522e-05,
  9.74733781e-07, 2.81091433e-05,-9.88588625e-06, 3.44042109e-05,
 -3.61699513e-04,-1.13967475e-04,-2.00927296e-04, 2.36050997e-05,
 -1.75326454e-06,-2.13303377e-06,-1.21645674e+00,-4.68258832e-04,
 -1.66421578e-06,-5.55954770e-04]


--- Step 375 ---
qpos:
[ 6.17230953e-03,-1.80012539e-03,-4.97367596e-03, 3.35805141e-02,
  4.46166254e-03,-3.73843697e-03,-1.84903305e-02, 2.85853299e-02,
  1.29760599e-02, 3.32030857e-03,-9.96480525e-03, 2.58977264e-02,
  7.63891471e-01,-6.97775226e-04, 5.77400152e-01, 6.56118233e-02,
  9.38858486e-02,-7.01787440e-02, 1.30984293e-01, 5.03510833e-01,
  4.96208979e-01, 4.95634067e-01, 5.04579392e-01]

qacc:
[  0.40558377, -0.66795156,  3.62295172, -9.67517042,  0.17188044,
  -0.32934758, -1.8006959 , 10.77687374,  3.21716092, -0.61041206,
  -1.72691797, 13.9612586 , -0.60042761, -0.40227873, -4.3038622 ,
   9.71823143, -0.64522932,  1.17832721,  0.51032774, -8.1856827 ,
  -0.90751326,-16.7930764 ]

qfrc_actuator:
[ 3.85025425e-05,-9.34658774e-05,-5.67923092e-05, 4.42832806e-06,
  1.94149303e-05,-4.29213338e-04,-3.17841866e-04, 4.21858682e-05,
  4.43655351e-05,-6.06003418e-05,-9.76209522e-05, 1.00262048e-04,
  5.36808948e-02,-7.25152202e-04, 3.38380597e-02,-4.33173701e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.62321189,  0.03566194,  4.62307435,  0.03566194, 15.99647796,
       -0.08773224,  4.62307435, -0.08773224,  4.62388865,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003237750689157465
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.57248698e-14,  1.71449740e-13,  1.00000000e+00, -1.46975066e-26,
        1.00000000e+00, -1.71449740e-13, -1.00000000e+00,  0.00000000e+00,
        8.57248698e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1021401 , -0.09004672,  0.06199075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.37081389e-06,-2.60205228e-05,-1.29802528e-05,-2.02772608e-05,
  8.95685376e-07,-3.46729951e-05, 1.18039284e-05, 2.60918691e-05,
  1.86524199e-05,-2.80803162e-05, 2.77479943e-05, 3.76207083e-05,
 -3.63869902e-04,-1.01087985e-04,-2.16486135e-04,-1.60398206e-05,
 -2.89954419e-06,-2.06251035e-06,-1.21645727e+00,-4.66550765e-04,
  1.18388397e-06,-5.56018748e-04]


--- Step 376 ---
qpos:
[ 6.17270589e-03,-1.79979879e-03,-4.97370830e-03, 3.35799585e-02,
  4.46205743e-03,-3.73925192e-03,-1.84908562e-02, 2.85865798e-02,
  1.29763488e-02, 3.31973572e-03,-9.96388364e-03, 2.58997639e-02,
  7.65038859e-01,-6.95707509e-04, 5.78441198e-01, 6.56068756e-02,
  9.38377518e-02,-7.01825662e-02, 1.30979462e-01, 5.03664151e-01,
  4.96034204e-01, 4.95453590e-01, 5.04775427e-01]

qacc:
[ -5.99786961,  0.58773669, -1.50702023, -1.54853668,  0.06658518,
  -0.82950895,  3.73077457, -5.93665684, -4.12579369, -2.61665475,
   7.86676837, -7.12892022, -1.63517086,  3.38073189, -4.54660677,
  11.09191737, -0.62727607,  1.15590164,  0.33420653, -8.2137846 ,
  -0.79508364,-16.51504241]

qfrc_actuator:
[ 3.39459406e-06,-1.17463722e-04,-8.64203633e-05,-8.36207103e-06,
  1.97669216e-05,-3.77028104e-04,-2.85669368e-04, 4.08243461e-05,
  1.95069744e-05,-1.04051564e-04,-6.71089021e-05, 1.02937984e-04,
  5.35797242e-02,-7.07373084e-04, 3.37421960e-02,-4.30642881e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6339078 , -0.07745651,  4.63326041, -0.07745651, 22.68268121,
        0.30173027,  4.63326041,  0.30173027,  4.63895197,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003266679325705374
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.49657185e-14, -3.39862874e-13,  1.00000000e+00,  2.88766933e-26,
        1.00000000e+00,  3.39862874e-13, -1.00000000e+00,  0.00000000e+00,
        8.49657185e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10214132, -0.0900461 ,  0.06199067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.50503225e-05,-4.21250869e-05,-3.73150669e-05,-1.47509082e-05,
  3.63913956e-07, 3.63971097e-05, 2.73865867e-05,-1.93004201e-06,
 -2.43405238e-05,-5.18079562e-05, 2.94244863e-05, 3.15940807e-06,
 -3.64591107e-04,-5.34808397e-05,-1.99327706e-04,-4.04847793e-06,
 -4.08933665e-06,-1.81452268e-06,-1.21645827e+00,-4.64925527e-04,
  4.26729392e-06,-5.55972050e-04]


--- Step 377 ---
qpos:
[ 6.17302346e-03,-1.79996217e-03,-4.97315661e-03, 3.35792177e-02,
  4.46245322e-03,-3.73952928e-03,-1.84911648e-02, 2.85877680e-02,
  1.29766823e-02, 3.31903777e-03,-9.96269991e-03, 2.59011009e-02,
  7.66184039e-01,-6.93069634e-04, 5.79480216e-01, 6.56008541e-02,
  9.37872015e-02,-7.01818390e-02, 1.30975375e-01, 5.03842709e-01,
  4.95835636e-01, 4.95280181e-01, 5.04962463e-01]

qacc:
[-6.66144392e-01,-2.66035921e+00, 9.32979076e+00,-1.31098165e+01,
  5.31701179e-03,-2.32011333e-02, 1.37420552e+00,-3.18460224e+00,
  4.02867908e-01,-2.34083834e+00, 1.10632749e+01,-2.35139365e+01,
 -2.01362349e+00, 4.69540375e+00, 3.30647944e-01,-5.30580467e+00,
 -6.13387800e-01, 1.13734185e+00, 1.86158201e-01,-8.23812903e+00,
 -6.99321520e-01,-1.62841211e+01]

qfrc_actuator:
[ 3.32404410e-07,-1.31870474e-04,-5.06442628e-05,-1.56776676e-05,
  1.98160556e-05,-3.27763988e-04,-2.66354332e-04, 3.95602634e-05,
  2.25124867e-05,-9.40393975e-05,-4.96070160e-05, 6.81716707e-05,
  5.34671795e-02,-6.79960431e-04, 3.36473253e-02,-4.36051226e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6336552 , -0.22909546,  4.62798831, -0.22909546, 36.82628112,
        1.59360483,  4.62798831,  1.59360483,  4.7125421 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003266000485256798
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.49833787e-14, -1.69966757e-13,  1.00000000e+00,  1.44443493e-26,
        1.00000000e+00,  1.69966757e-13, -1.00000000e+00,  0.00000000e+00,
        8.49833787e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10214257, -0.09004629,  0.06199067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.07224567e-06,-4.63271910e-05, 2.19670603e-05,-1.06969142e-05,
  7.12061469e-08, 7.52244529e-05, 3.01526371e-05, 1.20596130e-06,
  2.29412084e-06,-1.27478852e-05, 1.05265027e-05,-3.59111584e-05,
 -3.68108128e-04,-3.92000125e-05,-1.90101537e-04,-8.07920456e-05,
 -5.32771847e-06,-1.39612127e-06,-1.21645973e+00,-4.63361102e-04,
  7.58996582e-06,-5.55815314e-04]


--- Step 378 ---
qpos:
[ 6.17364627e-03,-1.80035974e-03,-4.97199927e-03, 3.35783596e-02,
  4.46250171e-03,-3.73940822e-03,-1.84911816e-02, 2.85889441e-02,
  1.29770483e-02, 3.31905717e-03,-9.96195294e-03, 2.59012594e-02,
  7.67327077e-01,-6.90080901e-04, 5.80516809e-01, 6.55955365e-02,
  9.37342398e-02,-7.01766236e-02, 1.30971536e-01, 5.04046252e-01,
  4.95613352e-01, 4.95113697e-01, 5.05140781e-01]

qacc:
[  2.70701554, -2.2493944 ,  8.05666765,-10.87109769, -3.03716398,
  -0.30732157,  1.92139279, -2.90156924,  0.25972972, -0.25764951,
   7.2694881 ,-27.49502938, -1.68610621,  3.56470619, -5.6343762 ,
  14.67601528, -0.60282668,  1.12206565,  0.06193891, -8.26148246,
  -0.6165396 ,-16.09367391]

qfrc_actuator:
[ 1.61679731e-05,-1.22402563e-04,-1.19970566e-05,-1.96595363e-05,
  1.93406154e-06,-3.16169756e-04,-2.54772207e-04, 3.83635375e-05,
  2.41556093e-05,-1.66673234e-05,-5.74892786e-05, 1.16921987e-05,
  5.33585453e-02,-6.64910085e-04, 3.35424561e-02,-4.31889887e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.62468983,  0.43075792, -4.60458506,  0.43075792, 45.93217634,
        3.86430629, -4.60458506,  3.86430629,  4.98619483,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003241770623231416
  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([ 0.10214386, -0.09004715,  0.06199074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57032700e-05,-1.23606729e-05, 3.14100657e-05,-5.41429814e-06,
 -1.78549755e-05, 5.99503821e-05, 3.08801500e-05, 3.09247494e-06,
  1.70418290e-06, 7.08891289e-05,-1.04699191e-05,-5.73645344e-05,
 -3.64119139e-04,-5.07856641e-05,-2.05336734e-04, 1.15990858e-05,
 -6.61865757e-06,-8.12918144e-07,-1.21646162e+00,-4.61840276e-04,
  1.11556379e-05,-5.55549202e-04]


--- Step 379 ---
qpos:
[ 6.17410900e-03,-1.80081579e-03,-4.97100042e-03, 3.35774905e-02,
  4.46233567e-03,-3.73909898e-03,-1.84908905e-02, 2.85894325e-02,
  1.29767415e-02, 3.31954574e-03,-9.96103070e-03, 2.59010735e-02,
  7.68468277e-01,-6.87886030e-04, 5.81550543e-01, 6.55917757e-02,
  9.36788982e-02,-7.01669698e-02, 1.30967529e-01, 5.04274568e-01,
  4.95367404e-01, 4.94954014e-01, 5.05310617e-01]

qacc:
[ -1.41157698,  0.34596652, -1.2946456 ,  1.39634358, -1.87151179,
  -2.02174046, 10.48056543,-23.02034882, -5.92457409, -0.56704215,
   4.39547378,-11.00218541, -0.23181775, -1.61155499, -8.92529415,
  25.06728351, -0.59499516,  1.10957954, -0.04207779, -8.28580367,
  -0.54382027,-15.93806   ]

qfrc_actuator:
[ 7.48441227e-06,-1.34174896e-04,-2.51403241e-05,-2.16350263e-05,
 -8.60615751e-06,-3.27253335e-04,-2.47991234e-04, 1.67706964e-06,
 -1.05297419e-05, 1.15651116e-05,-4.45027272e-05,-3.79916064e-06,
  5.32629827e-02,-7.10543781e-04, 3.34050678e-02,-4.23896835e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003199049801321796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.67619366e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.67619366e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10214518, -0.09004851,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.24218819e-06,-1.24220278e-05,-1.20234910e-05,-1.52432515e-06,
 -1.10307112e-05, 2.89383381e-05, 2.30716395e-05,-3.29907266e-05,
 -3.46085227e-05, 6.32449805e-05, 2.43461597e-05,-1.39341945e-05,
 -3.50254218e-04,-1.12084283e-04,-2.33252604e-04, 5.34146020e-05,
 -7.96535227e-06,-6.93636840e-08,-1.21646393e+00,-4.60349363e-04,
  1.49680877e-05,-5.55174392e-04]


--- Step 380 ---
qpos:
[ 6.17480943e-03,-1.80158808e-03,-4.97030076e-03, 3.35763031e-02,
  4.46238961e-03,-3.73895333e-03,-1.84900646e-02, 2.85898531e-02,
  1.29756766e-02, 3.32021075e-03,-9.95955082e-03, 2.59007141e-02,
  7.69607644e-01,-6.86832510e-04, 5.82582246e-01, 6.55904498e-02,
  9.36239882e-02,-7.01530788e-02, 1.30965304e-01, 5.04515828e-01,
  4.95108199e-01, 4.94811478e-01, 5.05463404e-01]

qacc:
[  2.08582191, -0.24125248,  1.59072071, -6.38169878,  1.94472062,
  -1.852965  ,  6.57288093, -8.47146982, -6.65600805, -1.66951378,
   7.04635218,-11.09536553,  0.14517978, -3.05999709,-10.37577864,
  31.86626253,  0.10791653,  1.0593189 ,  0.44557986,  2.00302811,
   0.24715561,-15.09716277]

qfrc_actuator:
[ 1.99378640e-05,-1.76526054e-04,-5.10833669e-05,-4.02187713e-05,
  3.01746953e-06,-3.51892707e-04,-2.26471162e-04,-2.36486952e-06,
 -4.85670678e-05, 1.02750141e-05,-1.94322301e-05,-1.28130250e-05,
  5.31593354e-02,-7.73830893e-04, 3.33548099e-02,-4.10167658e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031933168348488583
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73835401e-13, -8.69177005e-14,  1.00000000e+00,  1.51093733e-26,
        1.00000000e+00,  8.69177005e-14, -1.00000000e+00,  0.00000000e+00,
        1.73835401e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09148577, -0.08812965,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.22159073e-05,-5.18441692e-05,-3.00471613e-05,-1.95607363e-05,
  1.13190693e-05,-5.12505390e-06, 2.91901679e-05,-2.64750516e-06,
 -3.89964319e-05, 3.84676220e-05, 4.06362092e-05,-5.73367450e-06,
 -3.59574263e-04,-1.33751291e-04,-1.52366003e-04, 1.09959250e-04,
 -9.37046861e-06, 8.31024169e-07,-1.21646667e+00,-4.58877256e-04,
  1.90312834e-05,-5.54691568e-04]


--- Step 381 ---
qpos:
[ 6.17599825e-03,-1.80220043e-03,-4.97039795e-03, 3.35745307e-02,
  4.46292731e-03,-3.73898541e-03,-1.84889436e-02, 2.85905861e-02,
  1.29745087e-02, 3.32123228e-03,-9.95811315e-03, 2.59006134e-02,
  7.70744884e-01,-6.85850270e-04, 5.83612355e-01, 6.55906796e-02,
  9.35695004e-02,-7.01350166e-02, 1.30964275e-01, 5.04769911e-01,
  4.94835753e-01, 4.94685831e-01, 5.05599489e-01]

qacc:
[  4.26621977,  1.2260368 , -1.60941966, -7.34315329,  4.24636423,
  -0.42464538, -0.16023156,  5.24188201, -0.91305744,  1.12348477,
  -4.41139537,  8.69048751, -1.2240936 ,  1.78230737, -7.00434698,
  21.18963393,  0.10553096,  1.04280152,  0.29903192,  1.88646104,
   0.2994181 ,-14.91105447]

qfrc_actuator:
[ 4.47397819e-05,-1.48180196e-04,-8.45021671e-05,-6.84556631e-05,
  2.75907186e-05,-3.66636444e-04,-2.14210443e-04, 1.28349751e-05,
 -5.27560671e-05, 2.68817258e-05,-2.30690964e-05,-2.20801137e-07,
  5.30509030e-02,-7.76034494e-04, 3.32929494e-02,-4.02023207e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031958277569056615
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.68494103e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.68494103e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09148622, -0.0881299 ,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51351430e-05,-7.66620377e-06,-4.85032415e-05,-3.18766311e-05,
  2.48937287e-05,-1.17057834e-05, 1.46934258e-05, 1.59351091e-05,
 -5.28132042e-06, 4.62086899e-05, 9.09217927e-06, 1.55326287e-05,
 -3.73829356e-04,-7.69079781e-05,-1.24427776e-04, 6.67433518e-05,
 -9.92232639e-06, 1.68630488e-06,-1.21646704e+00,-4.57398037e-04,
  2.26248131e-05,-5.54244980e-04]


--- Step 382 ---
qpos:
[ 6.17713012e-03,-1.80252580e-03,-4.97106848e-03, 3.35727466e-02,
  4.46375519e-03,-3.73876833e-03,-1.84881223e-02, 2.85914819e-02,
  1.29736448e-02, 3.32228742e-03,-9.95686692e-03, 2.59010621e-02,
  7.71879977e-01,-6.84582103e-04, 5.84640870e-01, 6.55908799e-02,
  9.35154239e-02,-7.01128366e-02, 1.30963951e-01, 5.05036720e-01,
  4.94550069e-01, 4.94576859e-01, 5.05719162e-01]

qacc:
[ -0.5237111 ,  1.95884104, -6.38206227,  6.88049338,  2.52613172,
   1.4955875 , -5.55067862,  8.67075051,  2.66778564,  1.70530495,
  -8.34506574, 18.14603207, -1.65897161,  3.38506734, -2.19580103,
   4.42490672,  0.10284439,  1.02944626,  0.17622611,  1.78464211,
   0.34680486,-14.75919242]

qfrc_actuator:
[ 4.10997340e-05,-1.13271075e-04,-1.04036473e-04,-6.65852295e-05,
  4.18293328e-05,-3.39857954e-04,-2.25232046e-04, 2.14742422e-05,
 -3.69879494e-05, 7.17955205e-07,-4.35535914e-05, 2.49722308e-05,
  5.29503436e-02,-7.59954151e-04, 3.32081837e-02,-4.02564863e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003174963241184131
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.74840296e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.74840296e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09148653, -0.0881307 ,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.92239459e-06, 1.92693807e-05,-2.81846739e-05,-7.52397911e-07,
  1.49443766e-05, 2.39455754e-05,-1.10935479e-05, 8.95102805e-06,
  1.56378721e-05, 2.16101922e-06,-9.31164661e-06, 2.77848919e-05,
 -3.65640597e-04,-5.53266836e-05,-1.41243418e-04,-1.93832484e-05,
 -1.04643559e-05, 2.61275576e-06,-1.21646772e+00,-4.55931215e-04,
  2.60906179e-05,-5.53721801e-04]


--- Step 383 ---
qpos:
[ 6.17821008e-03,-1.80290914e-03,-4.97189864e-03, 3.35713592e-02,
  4.46440249e-03,-3.73816204e-03,-1.84875538e-02, 2.85927977e-02,
  1.29729767e-02, 3.32319965e-03,-9.95544839e-03, 2.59011168e-02,
  7.73013088e-01,-6.83455319e-04, 5.85668042e-01, 6.55886257e-02,
  9.34617473e-02,-7.00865815e-02, 1.30963922e-01, 5.05316180e-01,
  4.94251133e-01, 4.94484383e-01, 5.05822668e-01]

qacc:
[ -0.46030756,  1.18746647, -6.01835585, 13.1806079 , -1.59479269,
   2.08738638, -8.46556204, 15.84828303,  1.73097947, -1.4849536 ,
   6.67867055,-13.66265077, -1.15875877,  1.61635016,  5.46079942,
 -21.90082306,  0.09994822,  1.01876921,  0.07357516,  1.69460884,
   0.39047461,-14.63704156]

qfrc_actuator:
[ 3.84971209e-05,-1.27872907e-04,-1.15144828e-04,-4.69896140e-05,
  3.21146088e-05,-3.06274555e-04,-2.31993755e-04, 4.39545237e-05,
 -2.73638226e-05,-1.54225185e-05,-3.84752875e-05, 4.07358763e-06,
  5.28545864e-02,-7.68737399e-04, 3.31363612e-02,-4.15322940e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003135732557180415
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.09798469e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.09798469e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09148671, -0.08813195,  0.06199104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.67574964e-06,-9.66144903e-06,-1.06107968e-05, 1.94376229e-05,
 -9.27939765e-06, 4.50515692e-05,-2.88729420e-06, 2.32918722e-05,
  1.00730753e-05,-1.57158231e-05, 5.30971571e-06,-2.05944455e-05,
 -3.51707993e-04,-7.65019304e-05,-1.45209666e-04,-1.48415459e-04,
 -1.09986227e-05, 3.61068420e-06,-1.21646870e+00,-4.54470647e-04,
  2.94420767e-05,-5.53120708e-04]


--- Step 384 ---
qpos:
[ 6.17925039e-03,-1.80324440e-03,-4.97290217e-03, 3.35702049e-02,
  4.46458364e-03,-3.73731889e-03,-1.84869864e-02, 2.85936838e-02,
  1.29731193e-02, 3.32388968e-03,-9.95364935e-03, 2.59009166e-02,
  7.74144232e-01,-6.82423134e-04, 5.86693469e-01, 6.55828756e-02,
  9.34099288e-02,-7.00561783e-02, 1.30964507e-01, 5.05602718e-01,
  4.93943831e-01, 4.94414342e-01, 5.05904973e-01]

qacc:
[ -0.35481004,  1.02871328, -4.55795895,  8.83041433, -4.08410521,
  -0.56002835,  4.28002579,-11.90619671,  7.15006037, -1.89578308,
   7.38560574,-12.21597143, -1.21637222,  1.83746739,  8.00994626,
 -31.68037569,  0.46454705,  1.03702796,  0.15375346,  7.0530339 ,
   0.79459764,-14.75938678]

qfrc_actuator:
[ 3.65347206e-05,-1.18693250e-04,-1.21382009e-04,-3.49153891e-05,
  8.38257440e-06,-3.04353186e-04,-2.36126446e-04, 2.11589917e-05,
  1.40656622e-05,-2.53859521e-05,-1.83464670e-05,-8.25103515e-06,
  5.27564470e-02,-7.74373233e-04, 3.30350587e-02,-4.33391927e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030887662695840146
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.39158483e-13,  5.05461078e-14,  1.00000000e+00, -2.72523628e-26,
        1.00000000e+00, -5.05461078e-14, -1.00000000e+00,  0.00000000e+00,
        5.39158483e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08599955, -0.08819217,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.03990208e-06, 2.44034228e-06,-8.85095747e-06, 1.16771048e-05,
 -2.39822369e-05, 2.74809814e-05, 5.60673784e-06,-2.05166330e-05,
  4.17151697e-05,-1.85859250e-05, 1.67954573e-05,-1.32210677e-05,
 -3.48457418e-04,-7.31605337e-05,-1.91192607e-04,-2.09300749e-04,
 -1.15269154e-05, 4.68050505e-06,-1.21646998e+00,-4.53010957e-04,
  3.26905174e-05,-5.52440659e-04]


--- Step 385 ---
qpos:
[ 6.18025898e-03,-1.80343893e-03,-4.97375607e-03, 3.35691696e-02,
  4.46482381e-03,-3.73624489e-03,-1.84867249e-02, 2.85939669e-02,
  1.29741025e-02, 3.32433066e-03,-9.95188333e-03, 2.59009477e-02,
  7.75273375e-01,-6.81137075e-04, 5.87716233e-01, 6.55779996e-02,
  9.33599395e-02,-7.00216705e-02, 1.30965287e-01, 5.05896314e-01,
  4.93628109e-01, 4.94366514e-01, 5.05966362e-01]

qacc:
[-2.76508581e-01, 1.32639245e-02,-2.78835064e-01, 1.99427336e+00,
  5.02676400e-01,-8.14383767e-02, 3.27769477e+00,-1.33925453e+01,
  7.40090039e+00, 2.24948335e-01,-2.28166192e+00, 6.54939812e+00,
 -1.48458602e+00, 2.95785967e+00,-6.50764902e+00, 1.71986679e+01,
  4.57299468e-01, 1.02613225e+00, 4.84494815e-02, 6.91778489e+00,
  8.35093851e-01,-1.46411773e+01]

qfrc_actuator:
[ 3.49649496e-05,-9.53275729e-05,-1.06866245e-04,-2.73489428e-05,
  1.21032149e-05,-3.03679744e-04,-2.56585052e-04,-1.03675068e-05,
  5.61324976e-05,-4.92593383e-05,-2.49697208e-05, 2.33987825e-06,
  5.26622743e-02,-7.60358216e-04, 3.29268046e-02,-4.27816195e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030582716220331485
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81511514e-13,  9.64279918e-14,  1.00000000e+00, -1.75027908e-26,
        1.00000000e+00, -9.64279918e-14, -1.00000000e+00,  0.00000000e+00,
        1.81511514e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08599941, -0.08819324,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.62473819e-06, 2.34248631e-05, 1.43509942e-05, 7.59749360e-06,
  3.04579308e-06, 1.62719075e-05,-1.48191570e-05,-3.05582272e-05,
  4.32493423e-05,-3.13945636e-05,-8.88135831e-06, 1.01114447e-05,
 -3.42026064e-04,-5.25312077e-05,-2.23952270e-04, 1.83382320e-05,
 -1.15731343e-05, 5.71261202e-06,-1.21647025e+00,-4.51482916e-04,
  3.52394394e-05,-5.51737106e-04]


--- Step 386 ---
qpos:
[ 6.18124074e-03,-1.80326464e-03,-4.97452336e-03, 3.35678620e-02,
  4.46510644e-03,-3.73483636e-03,-1.84870593e-02, 2.85938771e-02,
  1.29755825e-02, 3.32499774e-03,-9.95094889e-03, 2.59007547e-02,
  7.76400344e-01,-6.78419065e-04, 5.88736762e-01, 6.55723915e-02,
  9.33129351e-02,-6.99960257e-02, 1.30968424e-01, 5.06149328e-01,
  4.93357335e-01, 4.94295075e-01, 5.06047208e-01]

qacc:
[-0.23966153,-0.31460991, 2.9788757 ,-8.10027987, 0.3469815 , 1.33873134,
 -2.55848904,-3.18838353, 4.34048014, 2.15283042,-6.31033177, 3.60793115,
 -2.90635396, 8.10408398,-0.94849848,-1.13628548, 0.74621751,-2.21572162,
  0.58960042,10.6027905 ,-2.50995588,32.12644016]

qfrc_actuator:
[ 3.36386810e-05,-6.35621533e-05,-9.79050073e-05,-4.02189633e-05,
  1.42041150e-05,-2.86091151e-04,-2.86533880e-04,-2.90348747e-05,
  8.04749187e-05,-2.81050711e-05,-6.51355388e-05,-9.20949362e-06,
  5.25705553e-02,-6.81605426e-04, 3.28251765e-02,-4.31429210e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032398184013741893
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.42680634e-13,  1.71340317e-13,  1.00000000e+00, -5.87150085e-26,
        1.00000000e+00, -1.71340317e-13, -1.00000000e+00,  0.00000000e+00,
        3.42680634e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08255636, -0.03126506,  0.06199074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.36349569e-06, 4.81703317e-05, 1.58440048e-05,-1.12173110e-05,
  2.19545399e-06, 2.22756005e-05,-2.94870597e-05,-1.90812579e-05,
  2.55633328e-05, 2.17852516e-06,-4.74214670e-05,-1.30118889e-05,
 -3.31484401e-04, 1.54051543e-05,-2.04203252e-04,-6.44074610e-05,
 -1.16110480e-05, 6.79335254e-06,-1.21647088e+00,-4.49954883e-04,
  3.75123405e-05,-5.50948761e-04]


--- Step 387 ---
qpos:
[ 6.18185403e-03,-1.80280289e-03,-4.97487568e-03, 3.35663978e-02,
  4.46506734e-03,-3.73333826e-03,-1.84876524e-02, 2.85928819e-02,
  1.29769984e-02, 3.32551001e-03,-9.95039800e-03, 2.59004429e-02,
  7.77525378e-01,-6.75353507e-04, 5.89754904e-01, 6.55679842e-02,
  9.32687863e-02,-6.99789806e-02, 1.30972680e-01, 5.06362962e-01,
  4.93130132e-01, 4.94200886e-01, 5.06146924e-01]

qacc:
[ -3.23190336, -1.09631015,  5.13215222, -8.72933614, -2.82609872,
  -1.01551918,  7.62622934,-22.96012493, -0.57288343,  0.62397945,
  -2.0183026 ,  0.68776076, -1.54244045,  3.26125792, -7.08242345,
  19.81238297,  0.71390762, -2.14994695,  0.27965569, 10.32089044,
  -2.39479344, 31.12030757]

qfrc_actuator:
[ 1.47136796e-05,-4.47939162e-05,-7.45206803e-05,-4.72546131e-05,
 -2.42650562e-06,-2.94054760e-04,-3.04011863e-04,-7.54809204e-05,
  7.64377617e-05,-5.13202581e-05,-8.91098542e-05,-1.59273726e-05,
  5.24644188e-02,-6.71805391e-04, 3.27329070e-02,-4.24452460e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003426281881007548
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.10078580e-14, -2.43023574e-13,  1.00000000e+00,  1.96868192e-26,
        1.00000000e+00,  2.43023574e-13, -1.00000000e+00,  0.00000000e+00,
        8.10078580e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08255789, -0.03127549,  0.06199021])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89466442e-05, 4.84995833e-05, 3.49068407e-05,-4.63750787e-06,
 -1.65581480e-05,-2.46182729e-06,-1.71819073e-05,-4.68853559e-05,
 -3.30464695e-06,-3.23711350e-05,-2.98333399e-05,-8.52250432e-06,
 -3.26854848e-04,-4.45834477e-05,-1.96591614e-04, 3.90457316e-05,
 -9.12893465e-06, 4.20180202e-06,-1.21646396e+00,-4.49829725e-04,
  3.01912411e-05,-5.50053127e-04]


--- Step 388 ---
qpos:
[ 6.18189090e-03,-1.80215814e-03,-4.97517157e-03, 3.35652444e-02,
  4.46482955e-03,-3.73216361e-03,-1.84882672e-02, 2.85910299e-02,
  1.29780103e-02, 3.32571693e-03,-9.94981065e-03, 2.59000433e-02,
  7.78648749e-01,-6.73678622e-04, 5.90770936e-01, 6.55679460e-02,
  9.32273851e-02,-6.99703148e-02, 1.30977010e-01, 5.06538233e-01,
  4.92945347e-01, 4.94084646e-01, 5.06265015e-01]

qacc:
[-5.06956117e+00, 7.34190768e-01,-3.56201392e+00, 8.69840804e+00,
 -1.73458288e+00,-2.12526131e+00, 1.05819189e+01,-2.51437917e+01,
 -3.54889716e+00,-6.79117707e-01, 2.21834539e+00,-3.58329054e+00,
  5.63870307e-01,-4.32863487e+00,-1.63470328e+01, 5.25427042e+01,
  6.86887481e-01,-2.09480658e+00, 1.83458696e-02, 1.00777556e+01,
 -2.30731419e+00, 3.02791772e+01]

qfrc_actuator:
[-1.44181850e-05,-5.16427841e-05,-7.83507775e-05,-3.30436642e-05,
 -1.21961923e-05,-3.34991177e-04,-3.14106181e-04,-1.20159800e-04,
  5.57348848e-05,-6.53613967e-05,-8.57320414e-05,-1.97621317e-05,
  5.23550145e-02,-7.56123280e-04, 3.26836274e-02,-4.00634264e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035482271184798797
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.56447571e-13, -3.91118926e-13,  1.00000000e+00,  6.11896058e-26,
        1.00000000e+00,  3.91118926e-13, -1.00000000e+00,  0.00000000e+00,
        1.56447571e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0825587 , -0.0312823 ,  0.06198987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.96556779e-05, 2.72663786e-05, 1.03291854e-05, 1.74104085e-05,
 -1.02408907e-05,-4.79223590e-05,-1.43493345e-05,-4.62904709e-05,
 -2.08043715e-05,-3.86919245e-05,-7.28854451e-06,-6.42139210e-06,
 -3.37213027e-04,-1.44421269e-04,-1.38246044e-04, 2.14279002e-04,
 -6.98616144e-06, 2.23443248e-06,-1.21645867e+00,-4.49477256e-04,
  2.38772258e-05,-5.49398282e-04]


--- Step 389 ---
qpos:
[ 6.18123327e-03,-1.80142407e-03,-4.97543833e-03, 3.35642849e-02,
  4.46482148e-03,-3.73155630e-03,-1.84889013e-02, 2.85890342e-02,
  1.29791106e-02, 3.32637710e-03,-9.94982279e-03, 2.58995466e-02,
  7.79770131e-01,-6.72312915e-04, 5.91785937e-01, 6.55656744e-02,
  9.31886410e-02,-6.99698438e-02, 1.30980533e-01, 5.06676000e-01,
  4.92802016e-01, 4.93946925e-01, 5.06401066e-01]

qacc:
[ -6.10717285,  0.447743  , -2.22277621,  5.44278967,  2.01954826,
  -0.99469712,  3.05852155, -5.08809742,  0.75135943,  2.07300213,
  -6.11455008,  5.06026679, -0.99313165,  0.94869964,  5.24461566,
 -20.49744165,  0.66426888, -2.04871487, -0.20177459,  9.86830415,
  -2.24219665, 29.57766866]

qfrc_actuator:
[-4.93188341e-05,-5.61197957e-05,-8.05643330e-05,-2.42422874e-05,
 -9.10472405e-08,-3.77581442e-04,-3.19903885e-04,-1.27959602e-04,
  6.09034347e-05,-2.67511701e-06,-1.01714800e-04,-2.18505267e-05,
  5.22490202e-02,-7.71044300e-04, 3.26122707e-02,-4.13232910e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003617637616067093
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53445859e-13,  3.83614648e-14,  1.00000000e+00, -5.88640793e-27,
        1.00000000e+00, -3.83614648e-14, -1.00000000e+00,  0.00000000e+00,
        1.53445859e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08255893, -0.03128619,  0.06198967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.57369841e-05, 1.36224786e-05, 5.29295567e-06, 1.06690357e-05,
  1.17983932e-05,-7.43708974e-05,-1.90674957e-05,-1.12476012e-05,
  4.56573411e-06, 3.92512798e-05,-2.51015423e-05,-4.12349036e-06,
 -3.57625715e-04,-8.78352989e-05,-1.15907505e-04,-1.33077254e-04,
 -5.14549332e-06, 8.32910432e-07,-1.21645487e+00,-4.48931124e-04,
  1.84752131e-05,-5.48971250e-04]


--- Step 390 ---
qpos:
[ 6.18016223e-03,-1.80072569e-03,-4.97537801e-03, 3.35634341e-02,
  4.46495862e-03,-3.73168652e-03,-1.84895719e-02, 2.85880201e-02,
  1.29802642e-02, 3.32734147e-03,-9.95008402e-03, 2.58997134e-02,
  7.80889356e-01,-6.70471455e-04, 5.92799236e-01, 6.55629345e-02,
  9.31524781e-02,-6.99774142e-02, 1.30982507e-01, 5.06776984e-01,
  4.92699333e-01, 4.93788178e-01, 5.06554727e-01]

qacc:
[ -3.62411734, -0.73071025,  2.09032832, -0.71945828,  1.28295504,
   1.14343782, -9.64114232, 27.23501502,  0.45637117,  2.46281602,
 -11.00047981, 22.65738794, -1.88092401,  4.16014474, -1.02042034,
   0.10931915,  0.64531915, -2.01032725, -0.386986  ,  9.68818816,
  -2.1951534 , 28.99469562]

qfrc_actuator:
[-6.95794728e-05,-5.91532327e-05,-6.40506088e-05,-1.86939800e-05,
  7.03743364e-06,-4.20790759e-04,-3.23117251e-04,-7.84971476e-05,
  6.35113817e-05, 1.66480099e-05,-1.10939901e-04, 1.26586487e-05,
  5.21451614e-02,-7.44852425e-04, 3.25329722e-02,-4.15241444e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.78716328, -3.53633956,  3.22664452, -3.53633956, 25.66434609,
       22.88098582,  3.22664452, 22.88098582, 29.86427819,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003644579843682244
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52311525e-13,  1.52311525e-13,  1.00000000e+00, -2.31988005e-26,
        1.00000000e+00, -1.52311525e-13, -1.00000000e+00,  0.00000000e+00,
        1.52311525e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0825587 , -0.03128771,  0.06198959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.12745086e-05, 6.10316587e-06, 2.03474891e-05, 6.52554421e-06,
  7.44079091e-06,-8.92238117e-05,-2.13085272e-05, 4.54006529e-05,
  2.75453034e-06, 3.58933230e-05,-4.35723435e-06, 3.52421600e-05,
 -3.59697408e-04,-4.42838462e-05,-1.55473762e-04,-4.44090592e-05,
 -3.57780604e-06,-4.79240554e-08,-1.21645243e+00,-4.48214717e-04,
  1.39087734e-05,-5.48761979e-04]


--- Step 391 ---
qpos:
[ 6.17920139e-03,-1.80012000e-03,-4.97534301e-03, 3.35626884e-02,
  4.46449010e-03,-3.73219734e-03,-1.84901447e-02, 2.85875509e-02,
  1.29810955e-02, 3.32824151e-03,-9.95029565e-03, 2.59003189e-02,
  7.82006595e-01,-6.68643942e-04, 5.93810243e-01, 6.55619820e-02,
  9.31188329e-02,-6.99928985e-02, 1.30982311e-01, 5.06841787e-01,
  4.92636629e-01, 4.93608767e-01, 5.06725705e-01]

qacc:
[ 0.96980842, 0.16300421,-1.20629044, 3.13908157,-5.29091883, 0.35481689,
 -4.27819929,13.8130013 ,-2.83333201, 0.68532741,-4.41049875,11.96410707,
 -1.17797416, 1.79641464,-8.73124997,25.73689514, 0.62943139,-1.97849722,
 -0.54261795, 9.53365606,-2.16271784,28.51261841]

qfrc_actuator:
[-6.33067601e-05,-7.89838562e-05,-7.21153830e-05,-1.50898402e-05,
 -2.43327228e-05,-4.10716471e-04,-3.07002497e-04,-4.90029772e-05,
  4.68300879e-05,-7.83165126e-06,-1.16221021e-04, 3.28994438e-05,
  5.20479962e-02,-7.47911968e-04, 3.24330290e-02,-4.05657294e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.78404538, -3.8770122 ,  2.80283189, -3.8770122 , 17.78351956,
       17.98149941,  2.80283189, 17.98149941, 29.65692229,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036374922640429463
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52608300e-13,  1.52608300e-13,  1.00000000e+00, -2.32892934e-26,
        1.00000000e+00, -1.52608300e-13, -1.00000000e+00,  0.00000000e+00,
        1.52608300e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0825581 , -0.03128736,  0.06198961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.66675133e-06,-1.19631133e-05,-4.07721187e-06, 4.69798395e-06,
 -3.11897752e-05,-4.22576104e-05,-3.35721177e-06, 2.58204854e-05,
 -1.65889773e-05,-3.82529940e-06, 2.80832405e-06, 2.23122537e-05,
 -3.46863420e-04,-6.92737882e-05,-1.82067632e-04, 7.19318008e-05,
 -2.26033651e-06,-4.42750116e-07,-1.21645127e+00,-4.47343817e-04,
  1.01164912e-05,-5.48762711e-04]


--- Step 392 ---
qpos:
[ 6.17832302e-03,-1.79972895e-03,-4.97505190e-03, 3.35619884e-02,
  4.46364895e-03,-3.73280523e-03,-1.84900330e-02, 2.85859790e-02,
  1.29817207e-02, 3.32886365e-03,-9.95041432e-03, 2.59008423e-02,
  7.83121780e-01,-6.66508578e-04, 5.94818923e-01, 6.55592309e-02,
  9.30876522e-02,-7.00161918e-02, 1.30979423e-01, 5.06870910e-01,
  4.92613347e-01, 4.93408974e-01, 5.06913756e-01]

qacc:
[  0.73698347, -0.90704478,  2.62705274, -2.08499561, -3.23883173,
  -4.30091956, 19.81736783,-39.9346095 , -1.80615979, -0.79269754,
   2.64655871, -4.01933396, -1.65546929,  3.41159353,  2.06033052,
 -12.04099768,  0.61610115, -1.95224348, -0.67321334,  9.40145329,
  -2.14207727, 28.11659943]

qfrc_actuator:
[-5.92249131e-05,-9.10688937e-05,-5.92004199e-05,-1.26922253e-05,
 -4.26040103e-05,-3.86486585e-04,-2.61657939e-04,-1.02456240e-04,
  3.66821682e-05,-4.05934958e-05,-1.19334801e-04, 2.67857249e-05,
  5.19442579e-02,-7.32717699e-04, 3.22888584e-02,-4.15953315e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003603429959565252
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54050868e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.54050868e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08255721, -0.0312855 ,  0.06198971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.23695656e-06,-1.94314513e-05, 1.00991084e-05, 1.83553192e-06,
 -1.91779204e-05, 1.02811231e-06, 3.71110327e-05,-5.48731012e-05,
 -1.06188367e-05,-3.33993255e-05,-2.79389433e-06,-5.74828031e-06,
 -3.49098785e-04,-5.15031306e-05,-2.23443267e-04,-1.23314613e-04,
 -1.17535193e-06,-3.77827647e-07,-1.21645133e+00,-4.46328553e-04,
  7.04910810e-06,-5.48967496e-04]


--- Step 393 ---
qpos:
[ 6.17784510e-03,-1.79924489e-03,-4.97443505e-03, 3.35609324e-02,
  4.46293998e-03,-3.73349832e-03,-1.84894049e-02, 2.85841337e-02,
  1.29822190e-02, 3.32965241e-03,-9.95075055e-03, 2.59012529e-02,
  7.84234940e-01,-6.64168467e-04, 5.95825421e-01, 6.55558111e-02,
  9.30588911e-02,-7.00472080e-02, 1.30973403e-01, 5.06864763e-01,
  4.92629028e-01, 4.93189013e-01, 5.07118675e-01]

qacc:
[  3.52960693, -1.52760155,  7.11570891,-13.85233423,  1.17423374,
  -2.11902284,  8.54299174,-14.03175722, -1.12673085,  0.59819271,
  -1.33315904, -0.39858531, -1.50124493,  2.89126766, -1.14539313,
  -0.53541858,  0.60490808, -1.93072408, -0.78265624,  9.2887478 ,
  -2.13094193, 27.79410578]

qfrc_actuator:
[-3.87213105e-05,-6.28422981e-05,-3.39689241e-05,-2.87536958e-05,
 -3.52541174e-05,-3.89399882e-04,-2.34906584e-04,-1.15485195e-04,
  3.04670061e-05,-7.07482151e-06,-1.21211372e-04, 2.29574361e-05,
  5.18419793e-02,-7.24639993e-04, 3.22087755e-02,-4.18362440e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035482726333627146
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.12891127e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.12891127e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08255609, -0.03128249,  0.06198987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.06154082e-05, 1.95134130e-05, 2.25193227e-05,-1.65089516e-05,
  6.80321468e-06, 2.99301703e-06, 2.96465776e-05,-1.27632977e-05,
 -6.52619585e-06, 1.39940924e-05,-9.32465963e-06,-5.46986465e-06,
 -3.46501693e-04,-5.69915881e-05,-1.98997679e-04,-6.03859494e-05,
 -3.09126788e-07, 1.27408588e-07,-1.21645253e+00,-4.45174839e-04,
  4.66725619e-06,-5.49371820e-04]


--- Step 394 ---
qpos:
[ 6.17796165e-03,-1.79873463e-03,-4.97351519e-03, 3.35600471e-02,
  4.46232419e-03,-3.73381567e-03,-1.84892765e-02, 2.85835390e-02,
  1.29826386e-02, 3.33096142e-03,-9.95133684e-03, 2.59019154e-02,
  7.85346203e-01,-6.62047159e-04, 5.96829532e-01, 6.55520898e-02,
  9.30325120e-02,-7.00858771e-02, 1.30963887e-01, 5.06823680e-01,
  4.92683295e-01, 4.92949040e-01, 5.07340291e-01]

qacc:
[  5.23624137, -0.47105749,  0.99123915,  1.47925616,  0.79425924,
   4.46154049,-20.47187991, 42.63882428, -0.70940349,  1.90629807,
  -6.86052207, 11.2340289 , -0.953605  ,  1.00629747, -2.58253628,
   3.98462404,  0.59550125, -1.91321579, -0.87427348,  9.19307227,
  -2.12744181, 27.53451921]

qfrc_actuator:
[-8.71562300e-06,-6.39083940e-05,-1.92722109e-05,-2.00019130e-05,
 -3.06398930e-05,-3.55314245e-04,-2.54922079e-04,-5.13899058e-05,
  2.66147539e-05, 4.81261647e-05,-1.22072290e-04, 3.83165455e-05,
  5.17459735e-02,-7.38604894e-04, 3.20979809e-02,-4.19630999e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 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: -0.00034769020306951726
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.59656932e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.59656932e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0825548 , -0.03127858,  0.06199007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.05964741e-05, 1.37765448e-05, 2.09190338e-05, 1.00449390e-05,
  4.80894010e-06, 4.13602586e-05,-1.61823508e-05, 6.50049648e-05,
 -4.02993707e-06, 6.08397762e-05, 6.86514313e-07, 1.55281641e-05,
 -3.39152239e-04,-7.93558656e-05,-2.12393659e-04,-4.25431300e-05,
  3.48850697e-07, 1.05910643e-06,-1.21645486e+00,-4.43885450e-04,
  2.93964329e-06,-5.49972307e-04]


--- Step 395 ---
qpos:
[ 6.17809234e-03,-1.79844111e-03,-4.97257904e-03, 3.35596705e-02,
  4.46176867e-03,-3.73402199e-03,-1.84890329e-02, 2.85840533e-02,
  1.29833539e-02, 3.33242652e-03,-9.95150922e-03, 2.59024115e-02,
  7.86455488e-01,-6.60040415e-04, 5.97831109e-01, 6.55462509e-02,
  9.30082966e-02,-7.01198987e-02, 1.30960133e-01, 5.06791369e-01,
  4.92726671e-01, 4.92733875e-01, 5.07539422e-01]

qacc:
[  0.12894597,  0.7151281 , -5.11311314, 14.04981304,  0.53000571,
   2.10460846,-11.9769343 , 30.90753069,  2.61288523, -1.29820362,
   5.62216546, -9.26994391, -1.16010883,  1.62574704,  2.68900874,
 -14.75485901,  0.54094423,  1.16186032,  1.44070951,  6.91384657,
   1.34808814,-16.7189287 ]

qfrc_actuator:
[-8.86813583e-06,-1.00273145e-04,-2.87565648e-05, 3.25346482e-06,
 -2.76809515e-05,-3.52713995e-04,-2.48930347e-04, 4.30746045e-06,
  4.19354443e-05, 4.49057473e-05,-1.04451662e-04, 2.93632455e-05,
  5.16378154e-02,-7.47701076e-04, 3.19582044e-02,-4.30876778e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 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: -0.0003531609603974889
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.57183714e-13,  8.35038478e-14,  1.00000000e+00, -1.31254449e-26,
        1.00000000e+00, -8.35038478e-14, -1.00000000e+00,  0.00000000e+00,
        1.57183714e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08599814, -0.08818145,  0.06198991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.18590988e-07,-2.39261782e-05,-3.73066210e-06, 2.47624937e-05,
  3.10869027e-06, 2.51851207e-05, 1.47940341e-05, 5.81766020e-05,
  1.52304375e-05, 3.15666876e-05, 3.08004040e-05,-6.02293639e-06,
 -3.50289168e-04,-7.56597211e-05,-2.44641527e-04,-1.42833581e-04,
  8.06498984e-07, 2.40802190e-06,-1.21645827e+00,-4.42460823e-04,
  1.84159140e-06,-5.50766487e-04]


--- Step 396 ---
qpos:
[ 6.17787553e-03,-1.79840738e-03,-4.97168193e-03, 3.35592405e-02,
  4.46090805e-03,-3.73401914e-03,-1.84889696e-02, 2.85845485e-02,
  1.29849372e-02, 3.33416715e-03,-9.95146839e-03, 2.59024497e-02,
  7.87562659e-01,-6.57769497e-04, 5.98830369e-01, 6.55406066e-02,
  9.29861465e-02,-7.01494134e-02, 1.30960872e-01, 5.06767537e-01,
  4.92759612e-01, 4.92542828e-01, 5.07716644e-01]

qacc:
[ -3.05236562, -0.33846807,  0.9447596 , -1.6280377 , -2.67965702,
   0.7454622 , -2.16699386,  1.95930924,  7.63976566, -1.1890295 ,
   6.67513398,-15.11425347, -1.5998177 ,  3.15005214, -3.94308118,
   8.9789991 ,  0.5163127 ,  1.12672848,  1.12300889,  6.78490333,
   1.27279254,-16.21565568]

qfrc_actuator:
[-2.67730409e-05,-1.22079356e-04,-3.48314094e-05,-7.00523569e-07,
 -4.34721837e-05,-3.51137938e-04,-2.63254451e-04, 1.34944104e-06,
  8.61695458e-05, 6.00464274e-05,-9.40586746e-05, 6.14010886e-06,
  5.15277673e-02,-7.36140113e-04, 3.18863506e-02,-4.28387314e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 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: -0.00036821564704632437
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.71116176e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.71116176e-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([ 0.08599834, -0.08817751,  0.06198948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.78955198e-05,-3.49163302e-05,-1.06335729e-05,-4.62835072e-06,
 -1.56966622e-05, 2.12129992e-05,-5.28841994e-06,-2.35964871e-07,
  4.46813900e-05, 3.88525114e-05, 2.04827401e-05,-2.09263442e-05,
 -3.59347980e-04,-5.65471162e-05,-2.01586744e-04,-1.49504611e-05,
  6.32432686e-07, 1.78422559e-06,-1.21645458e+00,-4.42478587e-04,
  4.87032087e-06,-5.51642697e-04]


--- Step 397 ---
qpos:
[ 6.17744570e-03,-1.79848389e-03,-4.97094573e-03, 3.35591011e-02,
  4.45986476e-03,-3.73363307e-03,-1.84893973e-02, 2.85843135e-02,
  1.29866939e-02, 3.33581691e-03,-9.95114365e-03, 2.59025972e-02,
  7.88667742e-01,-6.55334248e-04, 5.99827435e-01, 6.55375012e-02,
  9.29659802e-02,-7.01745395e-02, 1.30965031e-01, 5.06751942e-01,
  4.92782495e-01, 4.92375318e-01, 5.07872453e-01]

qacc:
[ -1.87609302,  0.90635948, -4.66372369, 10.02572465, -1.62099771,
   0.37939638,  2.47100504,-14.61154069,  1.53658307, -0.69141966,
   1.82395639, -0.31199008, -1.4218515 ,  2.56944387,-10.83915323,
  33.3588711 ,  0.49594088,  1.09716125,  0.85521455,  6.6704982 ,
   1.21294578,-15.79297984]

qfrc_actuator:
[-3.72207580e-05,-1.17268064e-04,-3.88117358e-05, 1.48838489e-05,
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  9.38032834e-05, 3.27640067e-05,-8.79671341e-05, 1.02182699e-05,
  5.14219944e-02,-7.30270406e-04, 3.18180418e-02,-4.14252697e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003773854044997471
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.94188119e-13,  2.25237779e-13,  1.00000000e+00, -6.62622786e-26,
        1.00000000e+00, -2.25237779e-13, -1.00000000e+00,  0.00000000e+00,
        2.94188119e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08599823, -0.08817514,  0.06198922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09690411e-05,-1.71253491e-05,-1.26716153e-05, 1.36298379e-05,
 -9.38817299e-06, 2.93239826e-05,-2.25435573e-05,-3.67457414e-05,
  8.92231591e-06,-2.26466129e-06, 1.58947642e-05, 6.03900955e-06,
 -3.57331304e-04,-6.20606286e-05,-1.65725311e-04, 1.13772161e-04,
  4.73977453e-07, 1.26695762e-06,-1.21645140e+00,-4.42439491e-04,
  7.54296287e-06,-5.52399009e-04]


--- Step 398 ---
qpos:
[ 6.17723871e-03,-1.79855577e-03,-4.97062982e-03, 3.35594978e-02,
  4.45941213e-03,-3.73307751e-03,-1.84898299e-02, 2.85839706e-02,
  1.29874943e-02, 3.33707401e-03,-9.95083638e-03, 2.59028533e-02,
  7.89770873e-01,-6.53152471e-04, 6.00822886e-01, 6.55327191e-02,
  9.29477303e-02,-7.01953761e-02, 1.30971710e-01, 5.06744383e-01,
  4.92795627e-01, 4.92230855e-01, 5.08007270e-01]

qacc:
[ 1.94649443e+00, 2.28092280e+00,-1.03928622e+01, 2.03439403e+01,
  5.16626912e+00, 5.65549581e-03, 7.43185070e-01,-2.70906855e+00,
 -8.40846344e+00,-2.30374794e-01,-3.61165536e-01, 2.52483256e+00,
 -1.00842833e+00, 1.06987154e+00, 2.70469229e+00,-1.28594362e+01,
  4.79100310e-01, 1.07236465e+00, 6.29925831e-01, 6.56965220e+00,
  1.16553024e+00,-1.54386869e+01]

qfrc_actuator:
[-2.54370097e-05,-1.14284550e-04,-5.91504982e-05, 4.18684116e-05,
 -2.17558825e-05,-3.21807698e-04,-2.87058996e-04,-4.03124824e-05,
  4.43189093e-05,-1.97160917e-05,-1.02365094e-04, 1.25405078e-05,
  5.13241863e-02,-7.45573913e-04, 3.17253032e-02,-4.23552678e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.86649374, -1.20148177, -4.71584594, -1.20148177, 10.97078021,
       -1.55522233, -4.71584594, -1.55522233,  5.26272622,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000381782813876283
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.08936985e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.08936985e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08599786, -0.08817404,  0.0619891 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14653524e-05,-8.63455853e-06,-2.49718955e-05, 2.60769415e-05,
  3.04082143e-05, 2.09135590e-05, 4.46968712e-06,-4.43274397e-06,
 -4.92269801e-05,-5.02596261e-05,-1.27209963e-05, 2.88792703e-06,
 -3.48530999e-04,-8.37327034e-05,-1.60541656e-04,-1.09071039e-04,
  3.31604827e-07, 8.45635484e-07,-1.21644870e+00,-4.42357287e-04,
  9.88623571e-06,-5.53041050e-04]


--- Step 399 ---
qpos:
[ 6.17717468e-03,-1.79887612e-03,-4.97074104e-03, 3.35602482e-02,
  4.45933033e-03,-3.73215379e-03,-1.84906112e-02, 2.85835780e-02,
  1.29873509e-02, 3.33771087e-03,-9.95055854e-03, 2.59031665e-02,
  7.90872018e-01,-6.50848987e-04, 6.01817059e-01, 6.55244235e-02,
  9.29313412e-02,-7.02120060e-02, 1.30980152e-01, 5.06744693e-01,
  4.92799257e-01, 4.92109028e-01, 5.08121455e-01]

qacc:
[  1.24795423,  1.59132424, -7.64710227, 14.63646118,  3.22837864,
   1.35162877, -3.91443523,  3.35134017, -8.2961753 , -0.60361262,
   0.74940554,  0.71358695, -1.48670276,  2.7544733 ,  8.77176629,
 -33.29847679,  0.46519314,  1.05166035,  0.4408603 ,  6.48135944,
   1.12812484,-15.14258867]

qfrc_actuator:
[-1.84176765e-05,-1.47973720e-04,-8.89805792e-05, 5.75788151e-05,
 -3.53098450e-06,-2.97923819e-04,-3.03159775e-04,-4.26277344e-05,
 -2.87079632e-06,-6.92240251e-05,-1.11116284e-04, 1.37663454e-05,
  5.12312198e-02,-7.37724012e-04, 3.16658657e-02,-4.41267622e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.86916563, -1.50942316, -4.62929969, -1.50942316, 14.54539926,
       -3.15501958, -4.62929969, -3.15501958,  5.89788702,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003823438854674982
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.80745798e-13,  4.53707655e-15,  1.00000000e+00, -2.63488814e-27,
        1.00000000e+00, -4.53707655e-15, -1.00000000e+00,  0.00000000e+00,
        5.80745798e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0859973 , -0.08817395,  0.06198908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.34206064e-06,-4.25558820e-05,-3.37910898e-05, 1.49820483e-05,
  1.91008239e-05, 3.63082045e-05,-1.13857195e-05,-1.35138093e-06,
 -4.86010495e-05,-8.01816644e-05,-2.06159870e-05,-1.31381703e-06,
 -3.41799246e-04,-6.13642752e-05,-1.50952605e-04,-2.05278283e-04,
  2.05474227e-07, 5.12056807e-07,-1.21644643e+00,-4.42242146e-04,
  1.19220775e-05,-5.53573287e-04]


--- Step 400 ---
qpos:
[ 6.17719533e-03,-1.79937777e-03,-4.97126198e-03, 3.35615170e-02,
  4.45912338e-03,-3.73139277e-03,-1.84913450e-02, 2.85828566e-02,
  1.29866427e-02, 3.33762622e-03,-9.94974748e-03, 2.59031209e-02,
  7.91971048e-01,-6.47799830e-04, 6.02809109e-01, 6.55186792e-02,
  9.29167669e-02,-7.02244981e-02, 1.30989725e-01, 5.06752736e-01,
  4.92793589e-01, 4.92009494e-01, 5.08215310e-01]

qacc:
[  0.73519399,  1.97161816, -9.56800456, 19.3292621 , -1.09131024,
  -1.02160346,  4.72282776,-10.3728366 , -4.94156072, -3.17276107,
  11.46086044,-18.01032925, -2.05889899,  4.90969774,-10.7345931 ,
  33.23744954,  0.45372701,  1.0344664 ,  0.28265515,  6.40460772,
   1.09878127,-14.89613077]

qfrc_actuator:
[-1.42662313e-05,-1.50157378e-04,-1.06577858e-04, 8.42453318e-05,
 -1.05384634e-05,-3.37441767e-04,-3.12298490e-04,-6.15826314e-05,
 -3.05609406e-05,-9.88113873e-05,-8.09552275e-05,-3.41038866e-06,
  5.11305802e-02,-6.98503225e-04, 3.16051336e-02,-4.26500271e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003798540652670407
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.92276199e-13, -6.85022342e-14,  1.00000000e+00,  2.00215727e-26,
        1.00000000e+00,  6.85022342e-14, -1.00000000e+00,  0.00000000e+00,
        2.92276199e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08599657, -0.08817466,  0.06198916])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.34706936e-06,-3.23052874e-05,-3.00281996e-05, 2.39643768e-05,
 -6.44866939e-06,-2.16410314e-05,-3.08999723e-06,-1.78193934e-05,
 -2.90956426e-05,-7.87846404e-05, 1.10041189e-05,-2.13525135e-05,
 -3.40990763e-04,-2.64093572e-05,-1.59577665e-04, 1.15182651e-04,
  9.55523765e-08, 2.59867215e-07,-1.21644456e+00,-4.42101565e-04,
  1.36684556e-05,-5.53999265e-04]


--- Step 401 ---
qpos:
[ 6.17830038e-03,-1.79992516e-03,-4.97178607e-03, 3.35627039e-02,
  4.45917954e-03,-3.73132407e-03,-1.84916695e-02, 2.85826486e-02,
  1.29859520e-02, 3.33767320e-03,-9.94891666e-03, 2.59021039e-02,
  7.93068130e-01,-6.44592052e-04, 6.03799118e-01, 6.55134061e-02,
  9.29039699e-02,-7.02329091e-02, 1.30999901e-01, 5.06768399e-01,
  4.92778786e-01, 4.91931965e-01, 5.08289090e-01]

qacc:
[  9.53558028, -0.2389095 ,  1.07770074, -2.42174827,  2.32779347,
  -1.00636879,  0.08490737,  8.66476093,  0.15193988, -1.88113054,
  11.0607654 ,-28.00072882, -1.38108871,  2.53520909, -4.37928533,
  11.07470591,  0.44429529,  1.02028232,  0.15071526,  6.33839974,
   1.07592726,-14.69209439]

qfrc_actuator:
[ 4.14234550e-05,-1.33405492e-04,-9.89293918e-05, 8.16740263e-05,
  3.16755498e-06,-3.96864582e-04,-2.99764099e-04,-3.69644856e-05,
 -2.88001950e-05,-4.50865083e-05,-6.35029410e-05,-4.89881341e-05,
  5.10307456e-02,-6.94390453e-04, 3.14958146e-02,-4.24664220e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003749704206724158
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.96082828e-13,  4.62629418e-15,  1.00000000e+00, -1.36976626e-27,
        1.00000000e+00, -4.62629418e-15, -1.00000000e+00,  0.00000000e+00,
        2.96082828e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08599572, -0.08817601,  0.0619893 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.58040982e-05,-6.46646121e-06,-1.88501448e-06,-4.52891063e-06,
  1.35151242e-05,-7.29460018e-05, 7.06872860e-06, 2.32388245e-05,
  9.07632506e-07, 1.10073437e-05, 1.78690606e-06,-4.89892548e-05,
 -3.33020609e-04,-5.77681088e-05,-1.74492215e-04, 3.08396274e-06,
  1.69315213e-09, 8.41517545e-08,-1.21644307e+00,-4.41941037e-04,
  1.51400277e-05,-5.54321791e-04]


--- Step 402 ---
qpos:
[ 6.18006411e-03,-1.80019950e-03,-4.97266444e-03, 3.35638334e-02,
  4.45974442e-03,-3.73197858e-03,-1.84915043e-02, 2.85830813e-02,
  1.29852871e-02, 3.33836096e-03,-9.94852171e-03, 2.59015492e-02,
  7.94163356e-01,-6.41634289e-04, 6.04787230e-01, 6.55044038e-02,
  9.28929191e-02,-7.02372853e-02, 1.31010242e-01, 5.06791589e-01,
  4.92754980e-01, 4.91876205e-01, 5.08343007e-01]

qacc:
[  5.77596102,  1.22175958, -3.60960516,  3.00208887,  4.48040042,
  -1.01436532, -0.49094083, 11.34676031,  0.20288463,  3.01622726,
 -11.4782995 , 19.70458404, -0.99981555,  1.10941191,  8.48199003,
 -33.6798525 ,  0.43656145,  1.00867722,  0.04109424,  6.2817717 ,
   1.05829069,-14.52436551]

qfrc_actuator:
[ 7.37446163e-05,-1.05355338e-04,-1.11881407e-04, 7.97056388e-05,
  2.89634630e-05,-4.32130366e-04,-2.74606552e-04,-4.66578122e-06,
 -2.74779718e-05, 2.25559047e-05,-7.11283882e-05,-2.20872521e-05,
  5.09314550e-02,-7.11053704e-04, 3.13733900e-02,-4.44683091e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00036824063911243543
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01493889e-13,  3.06204731e-13,  1.00000000e+00, -9.23188553e-26,
        1.00000000e+00, -3.06204731e-13, -1.00000000e+00,  0.00000000e+00,
        3.01493889e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08599477, -0.08817783,  0.06198949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.39078695e-05, 2.38898899e-05,-1.46701245e-05,-2.40164645e-06,
  2.61552635e-05,-7.35945086e-05, 1.17681075e-05, 2.98699116e-05,
  1.35461754e-06, 7.20564706e-05,-6.83545634e-06, 2.64811502e-05,
 -3.32863634e-04,-8.05469409e-05,-2.06577531e-04,-2.23554709e-04,
 -7.63099414e-08,-1.88817533e-08,-1.21644194e+00,-4.41764545e-04,
  1.63486865e-05,-5.54543078e-04]


--- Step 403 ---
qpos:
[ 6.18116730e-03,-1.80038894e-03,-4.97366551e-03, 3.35652838e-02,
  4.45992426e-03,-3.73316582e-03,-1.84910762e-02, 2.85838888e-02,
  1.29853333e-02, 3.33941754e-03,-9.94793885e-03, 2.59023476e-02,
  7.95256845e-01,-6.39499941e-04, 6.05773108e-01, 6.54949740e-02,
  9.28835892e-02,-7.02376645e-02, 1.31020384e-01, 5.06822234e-01,
  4.92722274e-01, 4.91842019e-01, 5.08377235e-01]

qacc:
[ -5.81329234,  1.12724334, -5.19100385, 10.85548463, -3.35223596,
  -0.66092714, -0.23647504,  6.683446  ,  6.25834106,  2.73532575,
 -14.78013244, 37.64945219, -0.2214275 , -1.53526305, -2.0210773 ,
   2.24181024,  0.43024649,  0.99928016, -0.04960082,  6.23380819,
   1.0448398 ,-14.38775325]

qfrc_actuator:
[ 3.87787054e-05,-1.06331962e-04,-1.19088704e-04, 9.58598731e-05,
  8.40456797e-06,-4.52594106e-04,-2.59871948e-04, 1.41559223e-05,
  9.07107791e-06, 4.47291514e-05,-5.78474742e-05, 4.72556856e-05,
  5.08378785e-02,-7.57590015e-04, 3.12964203e-02,-4.45458997e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00036011933538103447
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.18903519e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.18903519e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08599377, -0.08818002,  0.06198972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.39912444e-05, 9.27347288e-06,-4.15464657e-06, 1.66219226e-05,
 -1.98391619e-05,-5.78767457e-05, 2.02033298e-06, 1.66553361e-05,
  3.66143292e-05, 6.21605928e-05, 2.82273175e-05, 7.27083573e-05,
 -3.31558510e-04,-1.12784470e-04,-2.00487723e-04,-4.77371882e-05,
 -1.38690150e-07,-5.21501381e-08,-1.21644115e+00,-4.41574942e-04,
  1.73040124e-05,-5.54664863e-04]


--- Step 404 ---
qpos:
[ 6.18149841e-03,-1.80082704e-03,-4.97401605e-03, 3.35665603e-02,
  4.45951127e-03,-3.73441280e-03,-1.84906701e-02, 2.85848741e-02,
  1.29854725e-02, 3.34062307e-03,-9.94674744e-03, 2.59032787e-02,
  7.96348558e-01,-6.38214001e-04, 6.06756870e-01, 6.54873827e-02,
  9.28759599e-02,-7.02340765e-02, 1.31030028e-01, 5.06860272e-01,
  4.92680746e-01, 4.91829246e-01, 5.08391916e-01]

qacc:
[ -6.76416442, -2.49184613,  9.16394864,-13.05199376, -5.18816737,
   0.35846502, -2.12591061,  5.2626725 ,  0.83440525, -1.23205406,
   4.11487571, -2.89496564, -0.16566994, -1.73509693, -8.68333725,
  25.80677068,  0.42511885,  0.9917721 , -0.12428736,  6.19365285,
   1.03473595,-14.27784407]

qfrc_actuator:
[ 1.58151819e-09,-1.24645739e-04,-8.74337709e-05, 8.70271138e-05,
 -2.15243212e-05,-4.28572554e-04,-2.51360242e-04, 2.49010463e-05,
  1.28026981e-05, 3.96365500e-05,-3.24721930e-05, 5.22249844e-05,
  5.07424609e-02,-8.03624124e-04, 3.12308450e-02,-4.34870114e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035098206456678216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.58159510e-13,  1.63101994e-13,  1.00000000e+00, -2.57961314e-26,
        1.00000000e+00, -1.63101994e-13, -1.00000000e+00,  0.00000000e+00,
        1.58159510e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08599271, -0.08818248,  0.06198998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.97395407e-05,-1.32739412e-05, 3.36448343e-05,-8.25500014e-06,
 -3.05165751e-05,-7.18248495e-06,-2.60982919e-06, 8.65956363e-06,
  4.79346496e-06, 3.85806179e-05, 4.41855888e-05, 1.00179106e-05,
 -3.37946795e-04,-1.15801902e-04,-1.66030567e-04, 7.66563850e-05,
 -1.85686759e-07,-1.78895924e-08,-1.21644070e+00,-4.41374229e-04,
  1.80136489e-05,-5.54688498e-04]


--- Step 405 ---
qpos:
[ 6.18136169e-03,-1.80116124e-03,-4.97413834e-03, 3.35683954e-02,
  4.45908747e-03,-3.73572514e-03,-1.84901662e-02, 2.85856269e-02,
  1.29849657e-02, 3.34217945e-03,-9.94556520e-03, 2.59042797e-02,
  7.97438303e-01,-6.36846593e-04, 6.07738359e-01, 6.54827559e-02,
  9.28700145e-02,-7.02265451e-02, 1.31038931e-01, 5.06905656e-01,
  4.92630458e-01, 4.91837760e-01, 5.08387161e-01]

qacc:
[ -4.10783953,  0.65747706, -4.48896526, 13.69869499, -0.09053273,
  -0.8372096 ,  3.84185198, -7.9730428 , -5.69037334,  0.64402276,
  -1.8987508 ,  2.84146601, -1.24450032,  2.05675657,-12.24825282,
  38.09958165,  0.42098624,  0.98587901, -0.18547251,  6.16051516,
   1.02729601,-14.19088298]

qfrc_actuator:
[-2.29338884e-05,-9.98043011e-05,-6.86909208e-05, 1.16826400e-04,
 -2.12081190e-05,-4.31377612e-04,-2.46402375e-04, 1.30947228e-05,
 -2.05750126e-05, 5.37620309e-05,-3.58413499e-05, 5.47543968e-05,
  5.06513304e-02,-7.95744656e-04, 3.11348954e-02,-4.19447131e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003411373653311317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.67808867e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.67808867e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08599163, -0.08818512,  0.06199026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.40695267e-05, 2.40168438e-05, 1.98668166e-05, 3.02344083e-05,
 -5.58277631e-07,-6.96173909e-06, 3.46134578e-06,-1.20349574e-05,
 -3.32250422e-05, 4.51988609e-05, 1.03590710e-05, 5.89899114e-06,
 -3.38081335e-04,-6.36262069e-05,-1.67917704e-04, 1.36081704e-04,
 -2.17533121e-07, 8.21901754e-08,-1.21644057e+00,-4.41163772e-04,
  1.84836173e-05,-5.54615019e-04]


--- Step 406 ---
qpos:
[ 6.18164087e-03,-1.80153462e-03,-4.97423419e-03, 3.35706056e-02,
  4.45901551e-03,-3.73732353e-03,-1.84892423e-02, 2.85865839e-02,
  1.29850981e-02, 3.34394095e-03,-9.94461111e-03, 2.59049923e-02,
  7.98526092e-01,-6.35093248e-04, 6.08717460e-01, 6.54793860e-02,
  9.28657398e-02,-7.02150881e-02, 1.31046893e-01, 5.06958349e-01,
  4.92571453e-01, 4.91867460e-01, 5.08363057e-01]

qacc:
[  3.65872424,  0.6392679 , -3.94977631, 10.43905555,  3.09757354,
  -1.13745743,  2.63490616,  0.44855385,  5.61354818,  0.30419843,
   0.50718952, -5.26335789, -1.60119346,  3.35160314, -7.24576758,
  20.39788895,  0.41768887,  0.98136599, -0.23530833,  6.13367385,
   1.02196252,-14.12367535]

qfrc_actuator:
[-8.54520564e-07,-1.20333371e-04,-7.52858660e-05, 1.33636785e-04,
 -3.08976191e-06,-4.50249128e-04,-2.25935234e-04, 2.36018925e-05,
  1.32465140e-05, 4.36516258e-05,-5.60828658e-05, 3.80771885e-05,
  5.05628532e-02,-7.73860188e-04, 3.10048343e-02,-4.13736661e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003308371044449948
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.67789980e-13,  4.71909320e-14,  1.00000000e+00, -7.91816554e-27,
        1.00000000e+00, -4.71909320e-14, -1.00000000e+00,  0.00000000e+00,
        1.67789980e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08599054, -0.08818788,  0.06199056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.14021511e-05,-1.69783155e-06, 1.86143428e-06, 1.91133116e-05,
  1.81003417e-05,-2.25254067e-05, 1.90469518e-05, 1.00945170e-05,
  3.28990449e-05, 1.74720350e-05,-9.45847184e-06,-1.42740636e-05,
 -3.26104441e-04,-4.39744111e-05,-1.96060380e-04, 4.20778412e-05,
 -2.34450535e-07, 2.46783283e-07,-1.21644076e+00,-4.40944456e-04,
  1.87185780e-05,-5.54445206e-04]


--- Step 407 ---
qpos:
[ 6.18218231e-03,-1.80201923e-03,-4.97398651e-03, 3.35716065e-02,
  4.45916102e-03,-3.73890728e-03,-1.84879225e-02, 2.85879671e-02,
  1.29856350e-02, 3.34545850e-03,-9.94367582e-03, 2.59051985e-02,
  7.99612051e-01,-6.33664961e-04, 6.09694493e-01, 6.54766410e-02,
  9.28631256e-02,-7.01997191e-02, 1.31053752e-01, 5.07018322e-01,
  4.92503761e-01, 4.91918265e-01, 5.08319670e-01]

qacc:
[  2.31799644, -3.60162999, 17.72440995,-39.10725279,  1.91565924,
  -0.21337847, -1.01772942,  7.75930527,  3.56278531, -1.31931173,
   6.36264543,-14.90516355, -0.79094212,  0.48295849, -4.914864  ,
  12.81119835,  0.41509399,  0.97803212, -0.27563925,  6.1124776 ,
   1.01827976,-14.07350462]

qfrc_actuator:
[ 1.20318867e-05,-1.32477947e-04,-6.14677317e-05, 7.16034336e-05,
  7.59892625e-06,-4.25255791e-04,-1.96523953e-04, 4.71535901e-05,
  3.31029867e-05, 1.25245468e-06,-6.84725241e-05, 1.02061842e-05,
  5.04600606e-02,-7.97167671e-04, 3.09183079e-02,-4.10250996e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003202853521852983
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.19953387e-13,  1.78733977e-13,  1.00000000e+00, -9.29333366e-26,
        1.00000000e+00, -1.78733977e-13, -1.00000000e+00,  0.00000000e+00,
        5.19953387e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08598945, -0.08819071,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34943150e-05,-1.18741856e-05, 1.43574004e-05,-6.16745376e-05,
  1.11966828e-05, 1.68154259e-05, 2.74591668e-05, 2.34404819e-05,
  2.08049088e-05,-3.52588208e-05,-1.04740314e-05,-2.77363175e-05,
 -3.29106792e-04,-8.47740673e-05,-1.74932138e-04, 1.11994186e-05,
 -2.36645929e-07, 4.74889668e-07,-1.21644126e+00,-4.40716820e-04,
  1.87220491e-05,-5.54179633e-04]


--- Step 408 ---
qpos:
[ 6.18252898e-03,-1.80226652e-03,-4.97368891e-03, 3.35711411e-02,
  4.45943343e-03,-3.74016936e-03,-1.84863874e-02, 2.85895938e-02,
  1.29860614e-02, 3.34651822e-03,-9.94309187e-03, 2.59058114e-02,
  8.00696143e-01,-6.32761259e-04, 6.10669299e-01, 6.54772631e-02,
  9.28621637e-02,-7.01804472e-02, 1.31059379e-01, 5.07085555e-01,
  4.92427399e-01, 4.91990119e-01, 5.08257041e-01]

qacc:
[ -1.71590649, -2.84145659, 16.78109367,-42.41383291,  1.11212271,
   0.32211786, -1.5637764 ,  5.20129404, -0.97539346,  1.21598782,
  -6.92777737, 14.86240468, -0.52895357, -0.45911298,-13.43887299,
  42.26032987,  0.41309136,  0.97570592, -0.30804318,  6.09634354,
   1.01587455,-14.0380629 ]

qfrc_actuator:
[ 1.63717115e-06,-1.03998844e-04,-5.34820382e-05,-7.96659321e-07,
  1.38234600e-05,-3.91882442e-04,-1.79642618e-04, 6.04755535e-05,
  2.68067916e-05,-4.24003379e-05,-9.40217834e-05, 2.92102463e-05,
  5.03540635e-02,-8.29281072e-04, 3.08419821e-02,-3.92109920e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003096459855489869
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.58545913e-13, -3.92159592e-14,  1.00000000e+00,  1.40607219e-26,
        1.00000000e+00,  3.92159592e-14, -1.00000000e+00,  0.00000000e+00,
        3.58545913e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08598837, -0.08819356,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00121043e-05, 2.21772798e-05, 5.16677655e-06,-7.36148818e-05,
  6.54815618e-06, 4.94956836e-05, 2.45477050e-05, 1.54459306e-05,
 -5.71004719e-06,-6.67792858e-05,-3.51116836e-05, 1.65841661e-05,
 -3.41490576e-04,-9.87989076e-05,-1.59599469e-04, 1.58478596e-04,
 -2.24311983e-07, 7.65736519e-07,-1.21644206e+00,-4.40481143e-04,
  1.84965875e-05,-5.53818701e-04]


--- Step 409 ---
qpos:
[ 6.18274850e-03,-1.80213473e-03,-4.97398150e-03, 3.35701830e-02,
  4.45977861e-03,-3.74115506e-03,-1.84854628e-02, 2.85914309e-02,
  1.29867543e-02, 3.34700501e-03,-9.94303778e-03, 2.59066751e-02,
  8.01778137e-01,-6.31276628e-04, 6.11641560e-01, 6.54801258e-02,
  9.28628481e-02,-7.01572783e-02, 1.31063670e-01, 5.07160032e-01,
  4.92342374e-01, 4.92082978e-01, 5.08175199e-01]

qacc:
[ -1.14354499,  1.1385559 , -1.2484946 , -6.6188195 ,  0.61306579,
   2.50144118, -9.27987146, 13.69415469,  2.33935513,  1.23534569,
  -6.5702861 , 12.1882638 , -1.87254927,  4.17574036,-10.42723334,
  31.2346546 ,  0.41158942,  0.97424146, -0.33386728,  6.0847543 ,
   1.01444083,-14.01539187]

qfrc_actuator:
[-4.62147224e-06,-8.69548626e-05,-8.43448771e-05,-2.54182070e-05,
  1.73730685e-05,-4.07051862e-04,-2.23514957e-04, 6.76719432e-05,
  4.06774591e-05,-8.64938299e-05,-1.27126749e-04, 4.01234605e-05,
  5.02568646e-02,-7.95337948e-04, 3.07026302e-02,-3.81452193e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029904918969003713
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.85625486e-13,  9.86135395e-14,  1.00000000e+00,  1.83051862e-26,
        1.00000000e+00, -9.86135395e-14, -1.00000000e+00,  0.00000000e+00,
       -1.85625486e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08598731, -0.08819641,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.53214870e-06, 2.73603865e-05,-2.81919567e-05,-2.49239192e-05,
  3.75229887e-06, 1.82672533e-05,-3.00976943e-05, 1.04629963e-05,
  1.36899379e-05,-8.80261427e-05,-5.06699778e-05, 7.15457123e-06,
 -3.43201709e-04,-3.67622894e-05,-1.99261572e-04, 9.38043962e-05,
 -1.97628710e-07, 1.11871508e-06,-1.21644318e+00,-4.40237520e-04,
  1.80439400e-05,-5.53362671e-04]


--- Step 410 ---
qpos:
[ 6.18220152e-03,-1.80194638e-03,-4.97458453e-03, 3.35696503e-02,
  4.45981916e-03,-3.74222651e-03,-1.84854402e-02, 2.85930631e-02,
  1.29872634e-02, 3.34647201e-03,-9.94261572e-03, 2.59073133e-02,
  8.02857955e-01,-6.28732580e-04, 6.12611728e-01, 6.54848107e-02,
  9.28651746e-02,-7.01302154e-02, 1.31066544e-01, 5.07241742e-01,
  4.92248684e-01, 4.92196814e-01, 5.08074152e-01]

qacc:
[ -6.75014934,  1.83145312, -8.19383357, 15.98294423, -2.69302027,
   1.99007772, -6.38648482,  4.33556597, -1.58920034, -2.83736822,
   9.11892787,-12.86584725, -2.45106587,  6.17948207, -8.46851574,
  25.42804133,  0.41051224,  0.9735148 , -0.35425917,  6.077254  ,
   1.01372719,-14.00383224]

qfrc_actuator:
[-4.38934294e-05,-9.47612705e-05,-1.02391434e-04,-4.00701335e-06,
  1.56847645e-06,-4.51430331e-04,-2.85347169e-04, 5.33760957e-05,
  3.08100779e-05,-1.48306151e-04,-1.11188187e-04, 2.84227595e-05,
  5.01543810e-02,-7.40409219e-04, 3.06214356e-02,-3.71755967e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002885970058207482
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.01632783e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.01632783e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08598628, -0.08819922,  0.06199176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.94458912e-05, 6.00054578e-07,-1.67254291e-05, 2.11258389e-05,
 -1.56902516e-05,-3.99096714e-05,-6.14080801e-05,-1.43549237e-05,
 -9.50565716e-06,-1.21210207e-04,-8.24606116e-06,-1.70905670e-05,
 -3.38818295e-04,-9.08829861e-06,-1.65004690e-04, 7.58424715e-05,
 -1.56765874e-07, 1.53332974e-06,-1.21644460e+00,-4.39985921e-04,
  1.73651670e-05,-5.52811689e-04]


--- Step 411 ---
qpos:
[ 6.18153310e-03,-1.80179801e-03,-4.97538299e-03, 3.35697281e-02,
  4.45967005e-03,-3.74352926e-03,-1.84858425e-02, 2.85944981e-02,
  1.29876500e-02, 3.34547989e-03,-9.94195993e-03, 2.59077429e-02,
  8.03935768e-01,-6.25813910e-04, 6.13579896e-01, 6.54909105e-02,
  9.28691403e-02,-7.00992588e-02, 1.31067938e-01, 5.07330681e-01,
  4.92146321e-01, 4.92331614e-01, 5.07953897e-01]

qacc:
[ -1.07295637,  1.7527508 , -8.89961152, 19.80274426, -1.66933562,
   0.47848577, -1.31080528, -1.26145938, -1.06345969, -1.68736451,
   6.02038423, -9.67030763, -1.62938002,  3.35362424, -7.1476933 ,
  20.89264022,  0.40979687,  0.97342104, -0.37019427,  6.07344358,
   1.01352679,-14.00198051]

qfrc_actuator:
[-4.90252903e-05,-9.95543898e-05,-1.12791895e-04, 2.65502398e-05,
 -7.74772462e-06,-4.59824749e-04,-3.04161629e-04, 4.42685764e-05,
  2.47963459e-05,-1.31310570e-04,-8.42620188e-05, 2.12824116e-05,
  5.00488090e-02,-7.26857883e-04, 3.05325800e-02,-3.64459697e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002783680549324069
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.99416385e-13,  1.05939955e-13,  1.00000000e+00,  2.11261628e-26,
        1.00000000e+00, -1.05939955e-13, -1.00000000e+00,  0.00000000e+00,
       -1.99416385e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08598528, -0.08820197,  0.06199205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.25328825e-06,-7.01779252e-06,-1.15973717e-05, 3.04193058e-05,
 -9.77525316e-06,-4.39814337e-05,-3.51097064e-05,-1.32226776e-05,
 -6.32618040e-06,-5.32103588e-05, 2.82332462e-07,-1.29533442e-05,
 -3.33740149e-04,-4.67416916e-05,-1.60875284e-04, 5.47883854e-05,
 -1.01885809e-07, 2.00915680e-06,-1.21644633e+00,-4.39726226e-04,
  1.64607458e-05,-5.52165803e-04]


--- Step 412 ---
qpos:
[ 6.18115271e-03,-1.80143330e-03,-4.97610548e-03, 3.35694287e-02,
  4.45941000e-03,-3.74471760e-03,-1.84866546e-02, 2.85954211e-02,
  1.29883055e-02, 3.34513576e-03,-9.94238271e-03, 2.59083758e-02,
  8.05011885e-01,-6.23688243e-04, 6.14546633e-01, 6.54928005e-02,
  9.28747436e-02,-7.00644068e-02, 1.31067802e-01, 5.07426846e-01,
  4.92035267e-01, 4.92487371e-01, 5.07814416e-01]

qacc:
[  2.53104377, -0.70819454,  4.5238793 ,-11.32391512, -0.98615874,
   0.24475168,  1.51173919, -9.8044116 ,  2.32211865,  4.28466367,
 -14.90077441, 19.6743215 , -0.35541515, -1.09924969, 10.57998561,
 -40.11531208,  0.4093912 ,  0.97387155, -0.38249966,  6.07297588,
   1.01366918,-14.00865167]

qfrc_actuator:
[-3.40115408e-05,-6.69603555e-05,-1.00842888e-04, 8.98184551e-06,
 -1.31640128e-05,-4.28696255e-04,-3.15034455e-04, 2.05958508e-05,
  3.88596714e-05,-4.94303775e-05,-1.21766772e-04, 3.47041833e-05,
  4.99574244e-02,-7.73377218e-04, 3.04338690e-02,-3.87039772e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002684215503411108
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.06805866e-13,  1.61567083e-13,  1.00000000e+00, -3.34130206e-26,
        1.00000000e+00, -1.61567083e-13, -1.00000000e+00,  0.00000000e+00,
        2.06805866e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08598431, -0.08820466,  0.06199233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48330365e-05, 2.75812562e-05, 1.01318398e-05,-1.76766696e-05,
 -5.70890449e-06,-1.23901598e-06,-2.47225327e-05,-2.70287238e-05,
  1.38631674e-05, 5.16541855e-05,-4.89058587e-05, 1.08992841e-05,
 -3.22852211e-04,-1.10207476e-04,-1.71347715e-04,-2.44664669e-04,
 -3.31463618e-08, 2.54581118e-06,-1.21644837e+00,-4.39458270e-04,
  1.53306543e-05,-5.51424986e-04]


--- Step 413 ---
qpos:
[ 6.18026515e-03,-1.80076933e-03,-4.97670495e-03, 3.35682159e-02,
  4.45943167e-03,-3.74564486e-03,-1.84874341e-02, 2.85956573e-02,
  1.29887798e-02, 3.34481285e-03,-9.94310386e-03, 2.59095357e-02,
  8.06086212e-01,-6.22095753e-04, 6.15512180e-01, 6.54898335e-02,
  9.28830425e-02,-7.00380653e-02, 1.31068154e-01, 5.07485046e-01,
  4.91967139e-01, 4.92620013e-01, 5.07693595e-01]

qacc:
[ -4.4613197 , -1.82012899, 10.93368504,-27.17097353,  2.46174013,
  -1.16314994,  7.5405235 ,-19.66327673, -1.60397146,  1.95002768,
  -9.13220684, 18.70943345, -0.71567826,  0.07511032, 12.90972707,
 -47.69949705,  0.67391701, -2.12765073,  0.12206819,  9.76717043,
  -2.82449476, 30.63087018]

qfrc_actuator:
[-6.05292141e-05,-4.76796223e-05,-9.34300728e-05,-3.67183001e-05,
  1.50943739e-06,-3.91859840e-04,-3.03234863e-04,-1.14225034e-05,
  2.91214315e-05,-7.15639238e-05,-1.43453371e-04, 6.01347282e-05,
  4.98639451e-02,-8.01663284e-04, 3.03878493e-02,-4.11062412e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002705800848778611
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.10312173e-13,  2.05156086e-13,  1.00000000e+00, -8.41780395e-26,
        1.00000000e+00, -2.05156086e-13, -1.00000000e+00,  0.00000000e+00,
        4.10312173e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08253463, -0.03123691,  0.06199227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.60863308e-05, 3.60420871e-05, 1.37510613e-05,-4.45108092e-05,
  1.45120629e-05, 2.99273932e-05, 7.58470644e-06,-3.34502545e-05,
 -9.32623427e-06,-2.86039779e-06,-1.66557689e-05, 2.61639238e-05,
 -3.29477848e-04,-9.70387428e-05,-1.57499142e-04,-2.77292795e-04,
  4.92961985e-08, 3.14291920e-06,-1.21645072e+00,-4.39181860e-04,
  1.39744397e-05,-5.50589143e-04]


--- Step 414 ---
qpos:
[ 6.17941179e-03,-1.79973418e-03,-4.97785292e-03, 3.35671932e-02,
  4.45997425e-03,-3.74682423e-03,-1.84876101e-02, 2.85958792e-02,
  1.29887889e-02, 3.34432824e-03,-9.94369108e-03, 2.59106399e-02,
  8.07158620e-01,-6.20509768e-04, 6.16475656e-01, 6.54863097e-02,
  9.28939558e-02,-7.00200373e-02, 1.31068089e-01, 5.07506035e-01,
  4.91940927e-01, 4.92730274e-01, 5.07591004e-01]

qacc:
[ 0.27719307, 2.4146793 ,-8.70047739,12.59247856, 4.58222154,-2.05687674,
  6.89553587,-7.90381883,-4.08645888,-0.69477829, 2.4162924 ,-3.49074162,
 -1.22133459, 1.90256199,-1.33040067, 0.32049644, 0.65360413,-2.0783701 ,
 -0.10410555, 9.61721319,-2.66954241,29.90134136]

qfrc_actuator:
[-5.80278595e-05,-3.65563265e-05,-1.24321679e-04,-2.76000263e-05,
  2.78884406e-05,-4.22801630e-04,-2.78110192e-04,-1.25632311e-05,
  5.44484673e-06,-8.47276299e-05,-1.38245207e-04, 5.68602048e-05,
  4.97692784e-02,-8.01199382e-04, 3.03095647e-02,-4.12639047e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48883903,  2.18293107, -3.92230643,  2.18293107,  8.16241171,
        2.04450011, -3.92230643,  2.04450011,  5.62669067,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002837207579664408
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.95654176e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.95654176e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08253541, -0.03124419,  0.0619919 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.77227501e-06, 3.21908244e-05,-2.32890623e-05, 1.02760270e-05,
  2.68050806e-05,-1.40259697e-05, 3.11020547e-05,-2.44047702e-07,
 -2.39444930e-05,-1.70667050e-05, 3.48157199e-06,-3.46399572e-06,
 -3.32666139e-04,-6.81189022e-05,-1.87995878e-04,-5.30826917e-05,
  2.47216261e-07, 1.56711211e-06,-1.21644660e+00,-4.40365245e-04,
  1.33699421e-05,-5.50004195e-04]


--- Step 415 ---
qpos:
[ 6.17894006e-03,-1.79873021e-03,-4.97950211e-03, 3.35666822e-02,
  4.46048405e-03,-3.74819570e-03,-1.84877662e-02, 2.85968096e-02,
  1.29885137e-02, 3.34425267e-03,-9.94418850e-03, 2.59116253e-02,
  8.08229176e-01,-6.19217116e-04, 6.17437273e-01, 6.54844648e-02,
  9.29074176e-02,-7.00101577e-02, 1.31066846e-01, 5.07490443e-01,
  4.91955783e-01, 4.92818760e-01, 5.07506283e-01]

qacc:
[  3.34069326,  2.40697803,-10.81292471, 20.50359114, -0.28248616,
   1.14822478, -7.45371188, 19.8243082 , -2.507282  ,  0.04993024,
   1.11658682, -3.62698997, -0.82138191,  0.5792297 , -7.78466324,
  23.30730383,  0.6371154 , -2.03710754, -0.29471442,  9.49025677,
  -2.54082412, 29.29252256]

qfrc_actuator:
[-3.84535930e-05,-6.60243845e-05,-1.59820977e-04,-4.08137189e-06,
  2.54336336e-05,-4.40743684e-04,-2.81079763e-04, 2.21773905e-05,
 -8.48566596e-06,-2.13244595e-05,-1.17213153e-04, 5.44872443e-05,
  4.96739752e-02,-8.19304163e-04, 3.02599753e-02,-4.02759090e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51523406,  2.55354874, -3.72380551,  2.55354874, 10.02581013,
        3.77880224, -3.72380551,  3.77880224,  7.10649606,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029220035171359515
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.89976333e-13, -9.49881663e-14,  1.00000000e+00,  1.80455035e-26,
        1.00000000e+00,  9.49881663e-14, -1.00000000e+00,  0.00000000e+00,
        1.89976333e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08253575, -0.03124887,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.96345020e-05,-1.58555169e-05,-3.13582640e-05, 2.42949116e-05,
 -1.69524106e-06,-1.93177899e-05,-2.02957007e-06, 3.52123768e-05,
 -1.46186519e-05, 5.44437127e-05, 1.78267184e-05,-3.05036475e-06,
 -3.30085878e-04,-8.41130096e-05,-1.45736298e-04, 7.06797513e-05,
  2.00214035e-07, 5.23924049e-07,-1.21644390e+00,-4.41275045e-04,
  1.34604532e-05,-5.49638023e-04]


--- Step 416 ---
qpos:
[ 6.17801717e-03,-1.79839712e-03,-4.98128559e-03, 3.35668606e-02,
  4.46096045e-03,-3.74941060e-03,-1.84880719e-02, 2.85977707e-02,
  1.29880733e-02, 3.34447168e-03,-9.94414099e-03, 2.59125564e-02,
  8.09297880e-01,-6.18412586e-04, 6.18397464e-01, 6.54833750e-02,
  9.29233746e-02,-7.00082887e-02, 1.31063781e-01, 5.07438791e-01,
  4.92011000e-01, 4.92885971e-01, 5.07439129e-01]

qacc:
[-3.9593517 , 0.91575097,-7.44796945,20.0707646 ,-0.29971796, 0.68802162,
 -2.28141862, 2.93403246,-1.44012733,-1.24251829, 5.22910927,-7.26115722,
 -0.65181656,-0.08101832,-4.36891667,12.25829425, 0.62379538,-2.00264695,
 -0.45528663, 9.38394745,-2.43298993,28.78608407]

qfrc_actuator:
[-6.22545834e-05,-1.37345988e-04,-1.80160153e-04, 2.76797946e-05,
  2.37764921e-05,-4.15339811e-04,-2.82810962e-04, 2.44718648e-05,
 -1.65631998e-05,-1.25038465e-06,-8.66961980e-05, 5.27406131e-05,
  4.95730276e-02,-8.48260725e-04, 3.02063555e-02,-3.98633319e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53028187,  2.86826406, -3.50663872,  2.86826406, 13.16203962,
        7.0603682 , -3.50663872,  7.0603682 , 10.305328  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002968872285512847
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.34886144e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.34886144e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08253573, -0.03125145,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.32493988e-05,-8.56321533e-05,-2.66276496e-05, 3.04714584e-05,
 -1.71369321e-06, 1.57402498e-05,-4.73704438e-06, 2.08307872e-06,
 -8.47499814e-06, 5.40713127e-05, 4.38580401e-05, 1.14361056e-06,
 -3.36398025e-04,-9.65800846e-05,-1.18084107e-04, 2.51127618e-05,
 -7.33002021e-08,-2.35761184e-08,-1.21644252e+00,-4.41952589e-04,
  1.42113528e-05,-5.49483021e-04]


--- Step 417 ---
qpos:
[ 6.17716133e-03,-1.79878659e-03,-4.98270030e-03, 3.35677360e-02,
  4.46141329e-03,-3.75047952e-03,-1.84886556e-02, 2.85980713e-02,
  1.29875398e-02, 3.34477192e-03,-9.94385245e-03, 2.59131627e-02,
  8.10364587e-01,-6.17318849e-04, 6.19355885e-01, 6.54802029e-02,
  9.29417840e-02,-7.00143156e-02, 1.31058355e-01, 5.07351501e-01,
  4.92105981e-01, 4.92932317e-01, 5.07389286e-01]

qacc:
[  0.61403374, -0.55206488, -2.36160788, 14.36798774, -0.2177759 ,
  -0.38801861,  4.45317368,-15.546854  , -0.8147466 , -1.23317893,
   5.92682862,-11.99579264, -1.63521529,  3.2488818 ,  3.73906827,
 -16.71704383,  0.61310604, -1.97395648, -0.59049573,  9.29614773,
  -2.34175676, 28.36672856]

qfrc_actuator:
[-5.81426890e-05,-1.62117038e-04,-1.56064425e-04, 6.40041522e-05,
  2.26116925e-05,-4.17458095e-04,-3.01390326e-04,-1.00595162e-05,
 -2.11345817e-05,-2.49755518e-05,-8.64846265e-05, 3.36001232e-05,
  4.94794114e-02,-8.30158337e-04, 3.00864358e-02,-4.10361679e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53556747,  3.18240816, -3.23166374,  3.18240816, 20.31099087,
       15.5349814 , -3.23166374, 15.5349814 , 19.83377157,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002985094275870931
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.78941699e-13,  4.64902831e-14,  1.00000000e+00, -1.29680786e-26,
        1.00000000e+00, -4.64902831e-14, -1.00000000e+00,  0.00000000e+00,
        2.78941699e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08253541, -0.03125234,  0.06199148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.42150477e-06,-7.68485886e-05, 4.20028279e-06, 3.23306511e-05,
 -1.20815509e-06, 5.83943369e-06,-1.58238530e-05,-3.39788706e-05,
 -4.79417986e-06, 1.56053708e-05, 1.68170600e-05,-1.52859151e-05,
 -3.35398862e-04,-5.22350933e-05,-1.78423247e-04,-1.32805592e-04,
 -5.59554838e-07,-1.03488854e-07,-1.21644237e+00,-4.42429437e-04,
  1.55959213e-05,-5.49533088e-04]


--- Step 418 ---
qpos:
[ 6.17670579e-03,-1.79936600e-03,-4.98403718e-03, 3.35689906e-02,
  4.46115892e-03,-3.75152872e-03,-1.84894613e-02, 2.85986593e-02,
  1.29869555e-02, 3.34520850e-03,-9.94352467e-03, 2.59131975e-02,
  8.11429284e-01,-6.15688040e-04, 6.20312093e-01, 6.54782636e-02,
  9.29626118e-02,-7.00281431e-02, 1.31050111e-01, 5.07228914e-01,
  4.92240232e-01, 4.92958135e-01, 5.07356541e-01]

qacc:
[  3.52581961,  0.3054269 , -3.06618351,  9.65784611, -6.19663499,
   1.24875646, -5.60756242, 10.89833897, -0.44763645, -1.10525527,
   6.61732757,-16.67490429, -1.80510395,  3.95380701, -6.90240594,
  19.60336974,  0.60460424, -1.95015774, -0.70430787,  9.22491676,
  -2.26368763, 28.02162853]

qfrc_actuator:
[-3.76208141e-05,-1.40885074e-04,-1.41262370e-04, 8.50304251e-05,
 -1.37594549e-05,-4.18389085e-04,-3.12137577e-04, 5.00290597e-06,
 -2.36080202e-05,-2.16268572e-05,-8.66177081e-05, 4.31553890e-06,
  4.93849481e-02,-8.02155291e-04, 3.00067054e-02,-4.02944755e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029767604100121303
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.86481757e-13,  9.32408786e-14,  1.00000000e+00, -1.73877229e-26,
        1.00000000e+00, -9.32408786e-14, -1.00000000e+00,  0.00000000e+00,
        1.86481757e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08253486, -0.03125187,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.05933335e-05,-1.94567117e-05, 5.83679372e-07, 1.85098752e-05,
 -3.64015679e-05,-2.34562234e-06,-1.26472560e-05, 1.41069426e-05,
 -2.60287396e-06, 1.48750630e-05, 4.62430290e-06,-2.83339994e-05,
 -3.28123814e-04,-3.69273666e-05,-1.81334507e-04, 4.26096311e-05,
 -1.24838991e-06, 2.63226547e-07,-1.21644341e+00,-4.42729939e-04,
  1.75938786e-05,-5.49783284e-04]


--- Step 419 ---
qpos:
[ 6.17649966e-03,-1.79987923e-03,-4.98559970e-03, 3.35704749e-02,
  4.46081552e-03,-3.75267281e-03,-1.84900915e-02, 2.85997555e-02,
  1.29866912e-02, 3.34565268e-03,-9.94342114e-03, 2.59129163e-02,
  8.12492022e-01,-6.13414795e-04, 6.21265727e-01, 6.54795468e-02,
  9.29858313e-02,-7.00496925e-02, 1.31038667e-01, 5.07071295e-01,
  4.92413340e-01, 4.92963697e-01, 5.07340712e-01]

qacc:
[ 2.18484245e+00, 1.18667698e+00,-5.08054535e+00, 9.37306661e+00,
 -7.71665133e-01, 4.31006886e-01,-3.86222132e+00, 1.24436819e+01,
  2.80863392e+00,-1.89747946e-02, 1.40655318e+00,-6.51068129e+00,
 -1.81970745e+00, 4.13738010e+00,-1.34320978e+01, 4.16887243e+01,
  5.97924017e-01,-1.93050125e+00,-8.00098326e-01, 9.16849602e+00,
 -2.19601833e+00, 2.77399867e+01]

qfrc_actuator:
[-2.53656599e-05,-1.27800162e-04,-1.49645710e-04, 9.69167579e-05,
 -1.73034319e-05,-4.18539841e-04,-3.00377901e-04, 3.13853536e-05,
 -7.07531911e-06,-3.76267040e-05,-1.04604850e-04,-1.29261386e-05,
  4.92953753e-02,-7.68575399e-04, 2.98979342e-02,-3.86064164e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002948953157752704
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.82360290e-13,  1.41180145e-13,  1.00000000e+00, -3.98636667e-26,
        1.00000000e+00, -1.41180145e-13, -1.00000000e+00,  0.00000000e+00,
        2.82360290e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08253411, -0.03125033,  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:
[ 1.28360550e-05, 3.16075762e-06,-1.16708466e-05, 1.14337410e-05,
 -4.58471437e-06,-3.43661907e-06, 1.02273020e-05, 2.61232133e-05,
  1.64666617e-05,-7.96312975e-06,-1.53348110e-05,-1.69974259e-05,
 -3.15311767e-04,-2.84381116e-05,-1.91154855e-04, 1.46890804e-04,
 -2.13247834e-06, 1.06144192e-06,-1.21644559e+00,-4.42873128e-04,
  2.01902104e-05,-5.50229560e-04]


--- Step 420 ---
qpos:
[ 6.17678729e-03,-1.80052389e-03,-4.98688361e-03, 3.35717350e-02,
  4.46112146e-03,-3.75337593e-03,-1.84913448e-02, 2.86008001e-02,
  1.29866274e-02, 3.34590936e-03,-9.94374515e-03, 2.59128160e-02,
  8.13552895e-01,-6.10731022e-04, 6.22216916e-01, 6.54831543e-02,
  9.30114219e-02,-7.00788994e-02, 1.31023699e-01, 5.06878844e-01,
  4.92624961e-01, 4.92949222e-01, 5.07341649e-01]

qacc:
[  4.35259998, -1.42245414,  5.75082316, -9.96113192,  5.65581897,
   2.20569591, -6.82045454,  6.61845014,  1.7533563 ,  1.31600598,
  -5.8215435 ,  9.7799202 , -1.54072498,  3.21334478,-10.55178119,
  31.8412258 ,  0.5927624 , -1.91434665, -0.88074489,  9.12529758,
  -2.13652094, 27.51268847]

qfrc_actuator:
[-3.27121327e-07,-1.37536271e-04,-1.36162701e-04, 8.55644612e-05,
  1.62662162e-05,-3.82610449e-04,-3.28680564e-04, 2.87188207e-05,
  2.75800665e-06,-6.51614779e-05,-1.33056633e-04,-5.21652017e-06,
  4.92034790e-02,-7.49722223e-04, 2.97825022e-02,-3.74405225e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029059002703132886
  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([ 0.08253322, -0.03124795,  0.0619917 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.54075369e-05,-9.85074618e-06, 1.31147224e-05,-1.13973018e-05,
  3.34359817e-05, 3.72845652e-05,-2.68302354e-05,-1.94982232e-06,
  1.03011503e-05,-3.58955812e-05,-3.25803309e-05, 6.50563313e-06,
 -3.07377108e-04,-3.99497232e-05,-1.89637234e-04, 9.94705062e-05,
 -3.20673136e-06, 2.28083735e-06,-1.21644887e+00,-4.42874130e-04,
  2.33742222e-05,-5.50868559e-04]


--- Step 421 ---
qpos:
[ 6.17737293e-03,-1.80125582e-03,-4.98797999e-03, 3.35725047e-02,
  4.46182723e-03,-3.75356332e-03,-1.84930412e-02, 2.86021276e-02,
  1.29863368e-02, 3.34611216e-03,-9.94386900e-03, 2.59117121e-02,
  8.14611977e-01,-6.08092450e-04, 6.23166051e-01, 6.54870715e-02,
  9.30391427e-02,-7.01035662e-02, 1.31013382e-01, 5.06694935e-01,
  4.92825784e-01, 4.92958990e-01, 5.07320829e-01]

qacc:
[  2.62742748, -1.65458741,  7.79331063,-16.50594206,  3.47681485,
   2.49371696, -9.10946009, 14.34655241, -1.98806025, -2.69275375,
  13.74243221,-31.40064378, -1.07688799,  1.55234921, -3.92449062,
   9.42136054,  0.53254171,  1.13503345,  1.16232848,  6.67179039,
   1.41881148,-16.31369618]

qfrc_actuator:
[ 1.42846834e-05,-1.43041214e-04,-1.27726484e-04, 6.06308693e-05,
  3.58960298e-05,-3.43283520e-04,-3.44786933e-04, 4.44846586e-05,
 -9.18932064e-06,-4.61672494e-05,-1.14236307e-04,-5.39170815e-05,
  4.91049246e-02,-7.57482776e-04, 2.96844581e-02,-3.73019403e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029211504520981757
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.50159058e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.50159058e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08597918, -0.0881985 ,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.53338288e-05,-8.74940167e-06, 7.64076061e-06,-2.51233923e-05,
  2.05991191e-05, 5.46005231e-05,-1.17583432e-05, 1.63980235e-05,
 -1.16656935e-05,-7.53177910e-06, 7.61827096e-06,-5.12396133e-05,
 -3.10813346e-04,-6.64824239e-05,-1.77066839e-04,-5.77153096e-06,
 -4.46784215e-06, 3.91509828e-06,-1.21645323e+00,-4.42745218e-04,
  2.71387718e-05,-5.51697454e-04]


--- Step 422 ---
qpos:
[ 6.17778435e-03,-1.80189743e-03,-4.98904439e-03, 3.35729575e-02,
  4.46276340e-03,-3.75369339e-03,-1.84944732e-02, 2.86036433e-02,
  1.29859054e-02, 3.34628759e-03,-9.94353328e-03, 2.59100110e-02,
  8.15669204e-01,-6.05487260e-04, 6.24113660e-01, 6.54883644e-02,
  9.30689156e-02,-7.01238097e-02, 1.31006652e-01, 5.06519282e-01,
  4.93016302e-01, 4.92992461e-01, 5.07278599e-01]

qacc:
[ -1.53263438, -0.61946887,  3.72460811, -9.33099023,  2.02377998,
  -0.27991098,  0.30645744,  2.49320903, -1.2252484 , -2.54747214,
  11.55634525,-22.61085101, -1.22691808,  1.90647184,  5.70901445,
 -23.14547094,  0.51305237,  1.10578871,  0.89704731,  6.64378115,
   1.30850135,-15.89937819]

qfrc_actuator:
[ 4.88607638e-06,-1.28246409e-04,-1.22338724e-04, 4.56571239e-05,
  4.71517058e-05,-3.55427116e-04,-3.35753699e-04, 5.32433939e-05,
 -1.61054988e-05,-3.48195095e-05,-8.52620381e-05,-8.20936402e-05,
  4.90024359e-02,-7.63167415e-04, 2.96075510e-02,-3.86565286e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56028454, -0.71309883, -4.50418529, -0.71309883,  9.69694145,
       -0.8132312 , -4.50418529, -0.8132312 ,  4.68903462,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003059370509970738
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81446317e-13,  1.87116515e-13,  1.00000000e+00, -3.39516025e-26,
        1.00000000e+00, -1.87116515e-13, -1.00000000e+00,  0.00000000e+00,
        1.81446317e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08597913, -0.08819487,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.96165040e-06, 1.04449195e-05, 3.67071050e-06,-1.55716610e-05,
  1.18629562e-05, 1.66938154e-05, 1.94483969e-05, 1.10113244e-05,
 -7.24810450e-06, 6.50531831e-06, 2.65856051e-05,-2.92302176e-05,
 -3.21891615e-04,-6.81454624e-05,-1.62984304e-04,-1.59602296e-04,
 -4.36373371e-06, 3.05971013e-06,-1.21645203e+00,-4.43906140e-04,
  2.59381031e-05,-5.52210625e-04]


--- Step 423 ---
qpos:
[ 6.17773507e-03,-1.80236975e-03,-4.98985104e-03, 3.35738916e-02,
  4.46382742e-03,-3.75379022e-03,-1.84957003e-02, 2.86045691e-02,
  1.29857394e-02, 3.34644917e-03,-9.94348496e-03, 2.59094167e-02,
  8.16724673e-01,-6.03540291e-04, 6.25059968e-01, 6.54872199e-02,
  9.31006788e-02,-7.01397285e-02, 1.31002616e-01, 5.06351648e-01,
  4.93196921e-01, 4.93049179e-01, 5.07215252e-01]

qacc:
[ -4.04538307,  0.50217698, -3.48387513, 11.26125059,  1.12450979,
  -1.74340987,  8.76762457,-19.32432403,  2.32770051,  3.05875693,
 -15.61401255, 35.24812326, -0.50654074, -0.57972673,  5.43721297,
 -21.81232482,  0.49757592,  1.08120478,  0.67333967,  6.61846027,
   1.21603613,-15.55221078]

qfrc_actuator:
[-1.85657560e-05,-1.01414445e-04,-1.00946873e-04, 7.21871423e-05,
  5.33924115e-05,-3.62695632e-04,-3.29919667e-04, 2.22741810e-05,
 -2.24546535e-06,-4.58172406e-05,-1.03792769e-04,-2.69502682e-05,
  4.89029828e-02,-8.03105509e-04, 2.95646559e-02,-3.98137605e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59092373, -0.87457248, -4.50685074, -0.87457248, 12.5222595 ,
       -1.53910754, -4.50685074, -1.53910754,  4.88959372,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003148042441468851
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.36782132e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.36782132e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0859789 , -0.08819257,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.36994597e-05, 3.27940556e-05, 2.34816182e-05, 2.68046254e-05,
  6.58416542e-06, 6.57790805e-06, 1.20733445e-05,-2.93669483e-05,
  1.36570949e-05,-3.13132967e-06,-1.49260999e-05, 5.57760487e-05,
 -3.26659696e-04,-1.04669591e-04,-1.41192127e-04,-1.46989985e-04,
 -4.26187824e-06, 2.30714491e-06,-1.21645126e+00,-4.45004635e-04,
  2.45042887e-05,-5.52623519e-04]


--- Step 424 ---
qpos:
[ 6.17740487e-03,-1.80242581e-03,-4.99048464e-03, 3.35747642e-02,
  4.46495789e-03,-3.75357663e-03,-1.84969635e-02, 2.86050979e-02,
  1.29857406e-02, 3.34670621e-03,-9.94369735e-03, 2.59094719e-02,
  8.17778427e-01,-6.02667103e-04, 6.26004818e-01, 6.54833094e-02,
  9.31343837e-02,-7.01514048e-02, 1.31000519e-01, 5.06191833e-01,
  4.93367985e-01, 4.93128762e-01, 5.07131032e-01]

qacc:
[ -2.47186701, -0.05533894,  1.263481  , -2.9198299 ,  0.57478908,
  -0.30651681,  3.36321749,-10.40414696,  1.46226031,  2.18904649,
 -10.36977071, 21.96374016, -0.047859  , -2.1903064 ,  6.16814422,
 -24.77691344,  0.4853962 ,  1.06060991,  0.48495191,  6.5972952 ,
   1.13770586,-15.26207432]

qfrc_actuator:
[-3.23407238e-05,-6.74752817e-05,-8.79437465e-05, 6.96901163e-05,
  5.66345080e-05,-3.31532689e-04,-3.26051346e-04, 3.67626870e-06,
  5.97768991e-06,-3.47195757e-05,-1.14758091e-04, 5.70937557e-06,
  4.88054089e-02,-8.62957484e-04, 2.94942703e-02,-4.11990024e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60816128, -1.07884157, -4.48009501, -1.07884157, 17.10601234,
       -3.00957932, -4.48009501, -3.00957932,  5.33289129,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003196390150828621
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73668259e-13,  5.42713309e-15,  1.00000000e+00, -9.42520755e-28,
        1.00000000e+00, -5.42713309e-15, -1.00000000e+00,  0.00000000e+00,
        1.73668259e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08597851, -0.08819133,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44372895e-05, 5.82932722e-05, 2.36106428e-05, 2.44146133e-07,
  3.43321120e-06, 3.60946877e-05, 5.71129366e-06,-1.84691735e-05,
  8.60878555e-06, 8.65281941e-06,-1.15225542e-05, 3.30947437e-05,
 -3.34425727e-04,-1.29829843e-04,-1.58235955e-04,-1.66509482e-04,
 -4.15845745e-06, 1.64730777e-06,-1.21645092e+00,-4.46057764e-04,
  2.28397178e-05,-5.52938627e-04]


--- Step 425 ---
qpos:
[ 6.17691202e-03,-1.80218063e-03,-4.99084530e-03, 3.35745719e-02,
  4.46611865e-03,-3.75337209e-03,-1.84975154e-02, 2.86057336e-02,
  1.29854956e-02, 3.34699962e-03,-9.94372732e-03, 2.59095495e-02,
  8.18830267e-01,-6.02444642e-04, 6.26948220e-01, 6.54756947e-02,
  9.31699922e-02,-7.01589074e-02, 1.30999729e-01, 5.06039667e-01,
  4.93529777e-01, 4.93230892e-01, 5.07026135e-01]

qacc:
[ -1.42736524, -2.55454783, 14.18537143,-33.27472647,  0.28761062,
  -1.77888071,  5.87260768, -5.14809592, -2.1623334 , -0.41163599,
   1.45057777, -1.3907981 , -0.65180675, -0.29919469,  9.04417597,
 -34.74069475,  0.47593219,  1.04343186,  0.32658475,  6.58122304,
   1.07055945,-15.02052231]

qfrc_actuator:
[-4.03050691e-05,-6.50917420e-05,-7.99922554e-05, 1.46218921e-05,
  5.80877154e-05,-3.30859247e-04,-2.87698091e-04, 1.02969121e-05,
 -6.94189271e-06,-2.82210701e-05,-1.03343271e-04, 7.14067371e-06,
  4.86983704e-02,-8.98573676e-04, 2.94234289e-02,-4.30630670e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61387056, -1.34790212, -4.41259123, -1.34790212, 25.83134572,
       -6.48124385, -4.41259123, -6.48124385,  6.59367831,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032121714529220746
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72815032e-13,  9.18079857e-14,  1.00000000e+00, -1.58658000e-26,
        1.00000000e+00, -9.18079857e-14, -1.00000000e+00,  0.00000000e+00,
        1.72815032e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08597798, -0.08819096,  0.06199082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.35479931e-06, 3.98726686e-05, 2.29163208e-05,-5.17483591e-05,
  1.56441590e-06, 2.12527421e-05, 4.58841809e-05, 8.00669264e-06,
 -1.26722918e-05, 1.03713888e-05, 1.29270428e-05, 2.04691284e-06,
 -3.53785375e-04,-1.09959110e-04,-1.67857223e-04,-2.17469318e-04,
 -4.05066575e-06, 1.07211390e-06,-1.21645096e+00,-4.47078720e-04,
  2.09459843e-05,-5.53158049e-04]


--- Step 426 ---
qpos:
[ 6.17632780e-03,-1.80208151e-03,-4.99092384e-03, 3.35744697e-02,
  4.46728795e-03,-3.75334543e-03,-1.84971972e-02, 2.86064542e-02,
  1.29854426e-02, 3.34728297e-03,-9.94331292e-03, 2.59096312e-02,
  8.19880144e-01,-6.02637859e-04, 6.27889421e-01, 6.54695126e-02,
  9.32074756e-02,-7.01622933e-02, 1.30999714e-01, 5.05895009e-01,
  4.93682536e-01, 4.93355302e-01, 5.06900720e-01]

qacc:
[ -0.79199357, -0.79444033,  2.17435955, -0.95978797,  0.10522133,
  -2.49104764,  8.18275743, -7.97313433,  1.70492444, -1.25004774,
   4.41463962, -5.03980014, -0.77143213,  0.23607471, -7.54952233,
  21.74020478,  0.46871115,  1.02918145,  0.1937278 ,  6.57078157,
   1.01224549,-14.82046643]

qfrc_actuator:
[-4.47889472e-05,-9.94457013e-05,-7.52408716e-05, 1.78020559e-05,
  5.84771636e-05,-3.48284194e-04,-2.47139516e-04, 1.39507586e-05,
  3.30479648e-06,-2.44611463e-05,-7.88392122e-05, 7.95504716e-06,
  4.86017103e-02,-9.19641940e-04, 2.93523656e-02,-4.21760331e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003201896638823226
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.46739183e-13,  1.35444993e-13,  1.00000000e+00,  4.69640863e-26,
        1.00000000e+00, -1.35444993e-13, -1.00000000e+00,  0.00000000e+00,
       -3.46739183e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08597734, -0.08819128,  0.06199085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.70665016e-06,-9.54622684e-06, 1.40223251e-05, 4.67562142e-06,
  4.39369101e-07, 4.27832117e-06, 5.08801346e-05, 6.30739926e-06,
  9.89059400e-06, 1.23019883e-05, 2.83064861e-05, 1.74567686e-06,
 -3.52840598e-04,-9.67164690e-05,-1.78098786e-04, 5.35945376e-05,
 -3.93643351e-06, 5.75033123e-07,-1.21645137e+00,-4.48077848e-04,
  1.88239005e-05,-5.53283567e-04]


--- Step 427 ---
qpos:
[ 6.17569428e-03,-1.80201188e-03,-4.99128498e-03, 3.35754673e-02,
  4.46845245e-03,-3.75280945e-03,-1.84971913e-02, 2.86072067e-02,
  1.29855125e-02, 3.34801376e-03,-9.94305046e-03, 2.59093588e-02,
  8.20928021e-01,-6.02788690e-04, 6.28827993e-01, 6.54648127e-02,
  9.32468124e-02,-7.01616094e-02, 1.31000029e-01, 5.05757738e-01,
  4.93826465e-01, 4.93501772e-01, 5.06754905e-01]

qacc:
[ -0.44109301,  3.0160126 ,-15.45017243, 34.95029094, -0.06058028,
   1.61105323, -4.9021383 ,  5.57704148,  1.06811692,  0.28498075,
   1.33350585, -7.54485513, -1.26359108,  1.97780441, -8.3012723 ,
  23.52534147,  0.46334753,  1.01743975,  0.0825302 ,  6.56621392,
   0.96088749,-14.65593286]

qfrc_actuator:
[-4.71907591e-05,-1.02257455e-04,-9.02805164e-05, 7.29548014e-05,
  5.82379773e-05,-3.05385201e-04,-2.58959074e-04, 1.58039407e-05,
  9.35870309e-06, 1.31927634e-05,-8.23217964e-05,-9.34409817e-06,
  4.85113504e-02,-9.14203572e-04, 2.92173795e-02,-4.14501530e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031710144276565766
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.75058022e-13,  4.92350686e-14,  1.00000000e+00, -8.61899370e-27,
        1.00000000e+00, -4.92350686e-14, -1.00000000e+00,  0.00000000e+00,
        1.75058022e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0859766 , -0.08819215,  0.06199094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.53993940e-06,-5.05543642e-06,-1.51219470e-05, 5.53203329e-05,
 -2.27458209e-07, 5.60649880e-05,-4.45576642e-06, 3.91739212e-06,
  6.33931574e-06, 5.04431374e-05, 2.59672252e-06,-1.57607060e-05,
 -3.43142371e-04,-6.87028083e-05,-2.14681996e-04, 5.17107922e-05,
 -3.81422759e-06, 1.50739878e-07,-1.21645214e+00,-4.49063400e-04,
  1.64735394e-05,-5.53316719e-04]


--- Step 428 ---
qpos:
[ 6.17503670e-03,-1.80178950e-03,-4.99186560e-03, 3.35763993e-02,
  4.46926001e-03,-3.75164517e-03,-1.84974170e-02, 2.86079542e-02,
  1.29853099e-02, 3.34884666e-03,-9.94270089e-03, 2.59089091e-02,
  8.21973821e-01,-6.02529865e-04, 6.29763945e-01, 6.54600170e-02,
  9.32879873e-02,-7.01568941e-02, 1.31000303e-01, 5.05627751e-01,
  4.93961734e-01, 4.93670125e-01, 5.06588778e-01]

qacc:
[-2.21249079e-01, 6.81029611e-01,-1.85789687e+00, 9.61600011e-01,
 -3.14194353e+00, 1.47233921e+00,-4.01355347e+00, 3.82348689e+00,
 -2.39761233e+00,-4.68626003e-01, 2.62316373e+00,-5.91366815e+00,
 -1.74481016e+00, 3.55849782e+00,-3.49763578e+00, 6.80495133e+00,
  4.59526150e-01, 1.00784755e+00,-1.03024435e-02, 6.56755126e+00,
  9.14985766e-01,-1.45218710e+01]

qfrc_actuator:
[-4.83488707e-05,-8.62020339e-05,-9.89902975e-05, 6.94823690e-05,
  3.98789211e-05,-2.62413159e-04,-2.65865663e-04, 1.65957612e-05,
 -4.86323455e-06,-2.80932436e-07,-8.44251644e-05,-1.94021517e-05,
  4.84088673e-02,-8.93153019e-04, 2.90814381e-02,-4.15372980e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031240706674806606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.33065578e-13, -3.88693651e-14,  1.00000000e+00,  2.07199206e-26,
        1.00000000e+00,  3.88693651e-14, -1.00000000e+00,  0.00000000e+00,
        5.33065578e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08597579, -0.08819343,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23383163e-06, 1.24758656e-05,-9.70057225e-06,-3.13694110e-06,
 -1.83459712e-05, 7.35496342e-05, 4.25242643e-06, 3.11367563e-06,
 -1.40211484e-05, 1.45688759e-05, 8.07964688e-06,-8.11508569e-06,
 -3.43857810e-04,-4.80120743e-05,-2.30796340e-04,-3.39671113e-05,
 -3.68290727e-06,-2.05158089e-07,-1.21645325e+00,-4.50042090e-04,
  1.38942924e-05,-5.53258845e-04]


--- Step 429 ---
qpos:
[ 6.17437042e-03,-1.80156566e-03,-4.99248093e-03, 3.35769440e-02,
  4.46984155e-03,-3.75032836e-03,-1.84972553e-02, 2.86087235e-02,
  1.29852840e-02, 3.34904161e-03,-9.94203112e-03, 2.59087679e-02,
  8.23017571e-01,-6.01701131e-04, 6.30697171e-01, 6.54583895e-02,
  9.33309902e-02,-7.01481785e-02, 1.31000226e-01, 5.05504962e-01,
  4.94088488e-01, 4.93860214e-01, 5.06402398e-01]

qacc:
[ -0.07783837, -0.69859201,  4.1291622 ,-10.77892988, -1.9684977 ,
  -0.83131818,  3.17140519, -3.53222478,  1.57726287, -1.10603447,
   1.41221338,  3.89109405, -1.80053977,  3.89067326,-13.49799593,
  41.58401938,  0.45698884,  1.00009687, -0.08759159,  6.57467715,
   0.87334014,-14.41400105]

qfrc_actuator:
[-4.87662608e-05,-9.45020236e-05,-1.03852224e-04, 4.93127605e-05,
  2.87546335e-05,-2.72977899e-04,-2.52027878e-04, 1.67748127e-05,
  4.60083566e-06,-7.97701044e-05,-8.58792755e-05,-7.39814875e-06,
  4.83151667e-02,-8.63119378e-04, 2.89876235e-02,-3.97945633e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030648440534511434
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.62244540e-13,  2.32062909e-13,  1.00000000e+00, -8.40635216e-26,
        1.00000000e+00, -2.32062909e-13, -1.00000000e+00,  0.00000000e+00,
        3.62244540e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08597493, -0.08819505,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.47885223e-07,-3.46329923e-06,-3.58533085e-06,-2.00327890e-05,
 -1.16229935e-05, 3.15280399e-05, 2.96492717e-05, 3.53576496e-06,
  9.07373234e-06,-7.00597629e-05, 2.25721182e-06, 1.27488828e-05,
 -3.31944909e-04,-3.67391825e-05,-2.05271594e-04, 1.42255048e-04,
 -3.54162024e-06,-4.96331844e-07,-1.21645470e+00,-4.51019513e-04,
  1.10849335e-05,-5.53111130e-04]


--- Step 430 ---
qpos:
[ 6.17370447e-03,-1.80148656e-03,-4.99338099e-03, 3.35776247e-02,
  4.47062997e-03,-3.74881401e-03,-1.84969425e-02, 2.86101904e-02,
  1.29857169e-02, 3.34847270e-03,-9.94150129e-03, 2.59084762e-02,
  8.24059505e-01,-6.00854461e-04, 6.31628219e-01, 6.54607143e-02,
  9.33758151e-02,-7.01354871e-02, 1.30999542e-01, 5.05389296e-01,
  4.94206849e-01, 4.94071924e-01, 5.06195796e-01]

qacc:
[-3.51642877e-03, 8.84826654e-01,-4.00669178e+00, 6.92286481e+00,
  1.81247679e+00, 1.26959505e+00,-7.10050162e+00, 1.87940758e+01,
  4.04495739e+00,-9.36420833e-01, 2.49644112e+00,-4.30286305e+00,
 -1.06082657e+00, 1.54451060e+00,-1.50936208e+01, 4.82457918e+01,
  4.55523769e-01, 9.93923697e-01,-1.51754552e-01, 6.58737704e+00,
  8.34988842e-01,-1.43286911e+01]

qfrc_actuator:
[-4.87449632e-05,-1.17325056e-04,-1.24255059e-04, 5.49782203e-05,
  3.97356843e-05,-2.62182348e-04,-2.44022202e-04, 5.20667160e-05,
  2.79361553e-05,-1.44911445e-04,-1.04964405e-04,-1.80770234e-05,
  4.82321335e-02,-8.63525265e-04, 2.89191891e-02,-3.76962646e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029964623202993756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.55766887e-13,  1.44730960e-13,  1.00000000e+00, -8.04366753e-26,
        1.00000000e+00, -1.44730960e-13, -1.00000000e+00,  0.00000000e+00,
        5.55766887e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08597403, -0.0881969 ,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.14983160e-09,-2.63589407e-05,-2.22488770e-05, 5.00291894e-06,
  1.06586866e-05, 3.46460634e-05, 1.82738785e-05, 3.77332075e-05,
  2.35693055e-05,-1.03318048e-04,-3.28479452e-05,-1.33570208e-05,
 -3.10781022e-04,-6.39079892e-05,-1.48953386e-04, 1.90815160e-04,
 -3.38972741e-06,-7.25898239e-07,-1.21645647e+00,-4.52000449e-04,
  8.04368459e-06,-5.52874640e-04]


--- Step 431 ---
qpos:
[ 6.17338874e-03,-1.80133337e-03,-4.99466357e-03, 3.35790374e-02,
  4.47119887e-03,-3.74709866e-03,-1.84964912e-02, 2.86117238e-02,
  1.29864258e-02, 3.34754246e-03,-9.94164988e-03, 2.59080450e-02,
  8.25099682e-01,-6.00293763e-04, 6.32558086e-01, 6.54650353e-02,
  9.34224599e-02,-7.01188393e-02, 1.30998039e-01, 5.05280689e-01,
  4.94316924e-01, 4.94305167e-01, 5.05968977e-01]

qacc:
[ 3.06659414e+00, 2.66832038e+00,-1.24715793e+01, 2.57051064e+01,
 -1.92037874e+00, 1.95041057e-02, 4.16893793e-02, 7.32798130e-01,
  2.41437978e+00, 1.12688812e+00,-4.13064117e+00, 3.07790467e+00,
 -7.84325745e-01, 5.43557950e-01,-7.74031627e+00, 2.46088719e+01,
  4.54956878e-01, 9.89101985e-01,-2.04861918e-01, 6.60537566e+00,
  7.99160082e-01,-1.42628566e+01]

qfrc_actuator:
[-3.07133686e-05,-9.54584010e-05,-1.35965891e-04, 9.35288102e-05,
  2.81321784e-05,-2.56429276e-04,-2.39434675e-04, 5.44838635e-05,
  4.14890075e-05,-1.47805112e-04,-1.34296079e-04,-2.42772501e-05,
  4.81395762e-02,-8.81870859e-04, 2.88873346e-02,-3.66478247e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002921501754667155
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90008961e-13,  1.95946741e-13,  1.00000000e+00, -3.72316366e-26,
        1.00000000e+00, -1.95946741e-13, -1.00000000e+00,  0.00000000e+00,
        1.90008961e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08597309, -0.08819893,  0.06199165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.80238557e-05, 2.75333878e-06,-1.97140873e-05, 3.67490907e-05,
 -1.12892477e-05, 3.04603534e-05, 1.52752358e-05, 5.26073956e-06,
  1.41869641e-05,-6.80026381e-05,-5.51808979e-05,-1.20245341e-05,
 -3.10653679e-04,-8.13742575e-05,-8.35739883e-05, 9.51816435e-05,
 -3.22674888e-06,-8.96552291e-07,-1.21645857e+00,-4.52989097e-04,
  4.76827664e-06,-5.52550339e-04]


--- Step 432 ---
qpos:
[ 6.17363660e-03,-1.80129457e-03,-4.99574707e-03, 3.35808843e-02,
  4.47162466e-03,-3.74559878e-03,-1.84954769e-02, 2.86129535e-02,
  1.29869465e-02, 3.34668406e-03,-9.94273730e-03, 2.59081953e-02,
  8.26137967e-01,-5.99587795e-04, 6.33487019e-01, 6.54679056e-02,
  9.34709253e-02,-7.00982498e-02, 1.30995541e-01, 5.05179087e-01,
  4.94418802e-01, 4.94559875e-01, 5.05721928e-01]

qacc:
[  4.96414083,  0.1766777 , -2.69900217,  9.99715415, -1.23129866,
  -2.47939913,  9.71450408,-15.7162316 , -1.68692252,  3.91873224,
 -16.28364759, 27.78655415, -1.42865311,  2.56471931,  3.05605117,
 -12.55684021,  0.45514494,  0.98543839, -0.24868615,  6.62836487,
   0.76523367,-14.21387673]

qfrc_actuator:
[-2.22562200e-06,-1.00196774e-04,-1.24497223e-04, 1.15654898e-04,
  2.10742345e-05,-2.89289443e-04,-2.19193059e-04, 3.75282650e-05,
  3.14188555e-05,-1.13447156e-04,-1.69181233e-04, 7.76392092e-06,
  4.80413646e-02,-8.75178279e-04, 2.88241589e-02,-3.74682318e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002842072402753082
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95319272e-13,  6.10372725e-15,  1.00000000e+00, -1.19217556e-27,
        1.00000000e+00, -6.10372725e-15, -1.00000000e+00,  0.00000000e+00,
        1.95319272e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08597215, -0.08820108,  0.06199188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.90009941e-05,-5.68258346e-06, 1.08904665e-05, 2.22758901e-05,
 -7.37063773e-06,-1.25212536e-05, 2.85685439e-05,-1.50271059e-05,
 -9.69128659e-06,-1.55395746e-05,-5.61310628e-05, 2.69865469e-05,
 -3.19085915e-04,-5.85833248e-05,-9.93459520e-05,-8.95335695e-05,
 -3.05232507e-06,-1.01067275e-06,-1.21646100e+00,-4.53989251e-04,
  1.25600629e-06,-5.52139120e-04]


--- Step 433 ---
qpos:
[ 6.17422447e-03,-1.80177903e-03,-4.99645305e-03, 3.35826772e-02,
  4.47196277e-03,-3.74466090e-03,-1.84940235e-02, 2.86143699e-02,
  1.29869976e-02, 3.34564464e-03,-9.94365819e-03, 2.59086830e-02,
  8.27174508e-01,-5.99400350e-04, 6.34414407e-01, 6.54678547e-02,
  9.35198258e-02,-7.00736505e-02, 1.30992886e-01, 5.05090229e-01,
  4.94507369e-01, 4.94830808e-01, 5.05458993e-01]

qacc:
[ 3.01043132e+00,-1.86399127e+00, 5.85989845e+00,-6.99999511e+00,
 -7.43940330e-01,-1.58329100e+00, 3.78203439e+00,-8.41408116e-01,
 -4.12391316e+00,-1.97734629e-03,-1.75092614e+00, 7.44303585e+00,
 -6.60804936e-01,-1.55952137e-02, 6.54639799e+00,-2.61941853e+01,
  1.08782045e-01, 1.00243570e+00,-3.93871583e-02, 1.51832894e+00,
  3.85784531e-01,-1.45383705e+01]

qfrc_actuator:
[ 1.44297227e-05,-1.56244587e-04,-1.17302060e-04, 1.10178633e-04,
  1.67550130e-05,-3.44981473e-04,-2.07791693e-04, 4.47979075e-05,
  7.52879359e-06,-1.10284755e-04,-1.53608796e-04, 2.65796887e-05,
  4.79451616e-02,-9.07037544e-04, 2.87209076e-02,-3.90284115e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027798724336350333
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99689563e-13,  9.98447817e-14,  1.00000000e+00, -1.99379608e-26,
        1.00000000e+00, -9.98447817e-14, -1.00000000e+00,  0.00000000e+00,
        1.99689563e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09146111, -0.08814423,  0.06199205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.74771990e-05,-5.60049392e-05, 8.14007167e-06,-4.91246722e-06,
 -4.53466742e-06,-5.75087071e-05, 1.17822818e-05, 7.42101397e-06,
 -2.41734762e-05,-1.59238123e-05, 6.40587423e-06, 1.67373511e-05,
 -3.18843274e-04,-9.59521651e-05,-1.67478463e-04,-1.75886877e-04,
 -2.86618902e-06,-1.07040679e-06,-1.21646374e+00,-4.55004425e-04,
 -2.49621435e-06,-5.51641814e-04]


--- Step 434 ---
qpos:
[ 6.17500747e-03,-1.80247389e-03,-4.99715281e-03, 3.35843768e-02,
  4.47190164e-03,-3.74440299e-03,-1.84922995e-02, 2.86155447e-02,
  1.29871064e-02, 3.34486872e-03,-9.94455518e-03, 2.59086535e-02,
  8.28209174e-01,-5.98967569e-04, 6.35339491e-01, 6.54672851e-02,
  9.35691693e-02,-7.00450610e-02, 1.30989825e-01, 5.05014021e-01,
  4.94582759e-01, 4.95117900e-01, 5.05180163e-01]

qacc:
[  1.71960122, -0.49112931,  1.73608515, -3.20107241, -3.47421135,
  -2.14370314,  7.37166912,-11.49596731,  0.50386938, -0.78426204,
   5.48394383,-14.66633254, -1.46086641,  2.75990043, -1.77245932,
   1.40809995,  0.11076193,  0.99756199, -0.10128587,  1.56066506,
   0.35075186,-14.46626805]

qfrc_actuator:
[ 2.39837845e-05,-1.53860262e-04,-1.12929096e-04, 1.06208069e-04,
 -3.67178358e-06,-3.96187271e-04,-2.01795666e-04, 3.07285230e-05,
  1.12087130e-05,-7.23576663e-05,-1.43996887e-04, 1.96635255e-06,
  4.78608700e-02,-8.90411704e-04, 2.86150027e-02,-3.92366829e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027272234707313714
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.08861410e-14, -2.03544564e-13,  1.00000000e+00,  1.03575974e-26,
        1.00000000e+00,  2.03544564e-13, -1.00000000e+00,  0.00000000e+00,
        5.08861410e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09146089, -0.08814564,  0.0619922 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00332226e-05,-2.74370818e-05,-6.35446139e-06,-6.18660446e-06,
 -2.05771871e-05,-8.06687089e-05,-4.20546350e-06,-1.59901714e-05,
  2.98249507e-06, 3.11019333e-05, 7.71365057e-06,-2.47440506e-05,
 -3.14189414e-04,-5.16479766e-05,-2.07793594e-04,-5.35055334e-05,
 -2.39078916e-06,-1.03626615e-06,-1.21646563e+00,-4.56081189e-04,
 -6.02556373e-06,-5.51140742e-04]


--- Step 435 ---
qpos:
[ 6.17555406e-03,-1.80334014e-03,-4.99752947e-03, 3.35856427e-02,
  4.47194073e-03,-3.74436577e-03,-1.84909695e-02, 2.86165290e-02,
  1.29876032e-02, 3.34432901e-03,-9.94562795e-03, 2.59083463e-02,
  8.29241895e-01,-5.97712845e-04, 6.36261505e-01, 6.54655723e-02,
  9.36189648e-02,-7.00124958e-02, 1.30986154e-01, 5.04950386e-01,
  4.94645087e-01, 4.95421100e-01, 5.04885412e-01]

qacc:
[ -2.0659028 , -2.0185749 ,  8.70573689,-16.60676167,  0.86845282,
   0.41516411, -1.10229731, -1.39898102,  3.40442836,  0.22538797,
   0.80980589, -5.4942765 , -2.10614434,  4.97343971, -0.97861272,
  -2.91746281,  0.11298578,  0.99392363, -0.15273011,  1.6029332 ,
   0.31720689,-14.41312515]

qfrc_actuator:
[ 1.15333039e-05,-1.52025484e-04,-9.22765006e-05, 8.54493226e-05,
  2.08876841e-06,-3.91100679e-04,-2.16802589e-04, 2.19618983e-05,
  3.10911353e-05,-6.72017862e-05,-1.55637921e-04,-1.24794836e-05,
  4.77731484e-02,-8.45251250e-04, 2.84383943e-02,-3.98888343e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002667538196253344
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.30061753e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.30061753e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09146068, -0.08814725,  0.06199237])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.21716868e-05,-1.50553851e-05, 1.39996711e-05,-2.22759802e-05,
  5.14543267e-06,-4.16164457e-05,-3.27656438e-05,-1.26866294e-05,
  1.99753493e-05, 2.31212640e-05,-5.10296188e-06,-1.33239463e-05,
 -3.06412085e-04,-1.70377209e-05,-2.80795735e-04,-9.56401860e-05,
 -1.91335940e-06,-9.23814461e-07,-1.21646780e+00,-4.57172104e-04,
 -9.62184134e-06,-5.50556363e-04]


--- Step 436 ---
qpos:
[ 6.17594736e-03,-1.80434828e-03,-4.99792343e-03, 3.35863244e-02,
  4.47239306e-03,-3.74431407e-03,-1.84899860e-02, 2.86173664e-02,
  1.29883343e-02, 3.34414983e-03,-9.94720032e-03, 2.59082206e-02,
  8.30272874e-01,-5.96507112e-04, 6.37180256e-01, 6.54650177e-02,
  9.36641152e-02,-6.99883693e-02, 1.30985717e-01, 5.04872871e-01,
  4.94717748e-01, 4.95677320e-01, 5.04640196e-01]

qacc:
[ -1.34630288, -1.33950895,  6.97456175,-16.9571962 ,  3.60549328,
   0.6778183 , -1.78062526, -0.2071839 ,  2.04030094,  2.24203682,
  -8.07519076, 11.75377044, -0.99250726,  1.33509658, -8.27101257,
  22.02802271, -1.16126584, -2.10968415,  0.80861476,-18.08850797,
   1.21984234, 30.18895975]

qfrc_actuator:
[ 3.98622811e-06,-1.68227919e-04,-9.76807798e-05, 5.49952680e-05,
  2.32219623e-05,-3.70178560e-04,-2.26102436e-04, 1.64224484e-05,
  4.25890813e-05,-4.62814573e-05,-1.79840605e-04,-3.10497165e-06,
  4.76781167e-02,-8.54655297e-04, 2.83047283e-02,-3.92012571e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029446618326824103
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -3.7702904e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  3.7702904e-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([ 0.11009394, -0.03407578,  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:
[-7.89516270e-06,-2.26572682e-05,-7.54901061e-06,-3.10480179e-05,
  2.12675048e-05,-9.67856949e-06,-2.23894150e-05,-8.70905052e-06,
  1.20714136e-05, 3.22661182e-05,-2.04969986e-05, 9.93303376e-06,
 -3.02655588e-04,-6.58853324e-05,-2.72551736e-04, 2.74293786e-05,
 -1.43264864e-06,-7.35064408e-07,-1.21647024e+00,-4.58280502e-04,
 -1.32904936e-05,-5.49889060e-04]


--- Step 437 ---
qpos:
[ 6.17624697e-03,-1.80525695e-03,-4.99873222e-03, 3.35859420e-02,
  4.47309530e-03,-3.74443995e-03,-1.84888255e-02, 2.86184638e-02,
  1.29888522e-02, 3.34487375e-03,-9.94879079e-03, 2.59081038e-02,
  8.31302128e-01,-5.95664814e-04, 6.38096928e-01, 6.54686151e-02,
  9.37047791e-02,-6.99724060e-02, 1.30987152e-01, 5.04781874e-01,
  4.94800420e-01, 4.95888250e-01, 5.04442908e-01]

qacc:
[-8.39293574e-01,-8.98137249e-01, 7.88753282e+00,-2.57140395e+01,
  2.19595658e+00,-1.98609351e-01,-7.37819426e-01, 5.09386511e+00,
 -1.89272742e+00, 1.26637261e+00,-2.81506839e+00, 2.32798399e+00,
 -6.00386497e-01, 1.26411601e-02,-1.55788394e+01, 5.00873795e+01,
 -1.12163738e+00,-2.04079570e+00, 4.68083548e-01,-1.74440218e+01,
  1.23768848e+00, 2.91848260e+01]

qfrc_actuator:
[-6.07365941e-07,-1.59708356e-04,-1.18508014e-04, 1.29545040e-06,
  3.54730011e-05,-3.75407289e-04,-2.14115135e-04, 3.06046517e-05,
  3.13021622e-05, 5.48892508e-05,-1.57928236e-04, 2.46124635e-06,
  4.75840765e-02,-8.78503255e-04, 2.82874941e-02,-3.68406519e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003183534592826054
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.71847778e-14,  1.30777167e-13,  1.00000000e+00, -1.14017782e-26,
        1.00000000e+00, -1.30777167e-13, -1.00000000e+00,  0.00000000e+00,
        8.71847778e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11008796, -0.03408782,  0.0619909 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.82092366e-06,-7.00477063e-06,-2.74966523e-05,-5.55343182e-05,
  1.28564490e-05,-1.56466560e-05, 6.91396047e-06, 1.28181515e-05,
 -1.09344919e-05, 1.15437537e-04, 2.64174310e-05, 6.43688609e-06,
 -3.07905810e-04,-8.55858746e-05,-1.38224723e-04, 2.02741148e-04,
 -1.94571097e-06,-6.35716887e-07,-1.21646229e+00,-4.59001554e-04,
 -6.05011627e-06,-5.48807820e-04]


--- Step 438 ---
qpos:
[ 6.17648924e-03,-1.80620562e-03,-4.99951888e-03, 3.35852520e-02,
  4.47359425e-03,-3.74461421e-03,-1.84884088e-02, 2.86197699e-02,
  1.29888864e-02, 3.34580979e-03,-9.94927591e-03, 2.59077189e-02,
  8.32329596e-01,-5.95065039e-04, 6.39012879e-01, 6.54724723e-02,
  9.37410904e-02,-6.99643750e-02, 1.30989311e-01, 5.04677722e-01,
  4.94892832e-01, 4.96055300e-01, 5.04292198e-01]

qacc:
[ -0.50291358, -0.74716577,  3.88747929, -9.21842911, -1.80159919,
   2.4458982 , -9.68960185, 14.51882317, -4.22570184, -3.35243674,
  13.50628082,-20.08425176, -0.91424751,  0.89507017, -1.81791734,
   4.88692068, -1.08813199, -1.98306923,  0.18085608,-16.90347009,
   1.25366036, 28.34436274]

qfrc_actuator:
[-3.42714683e-06,-1.54292835e-04,-1.12679304e-04,-1.23804306e-05,
  2.46401507e-05,-3.96140258e-04,-2.60751058e-04, 3.85190139e-05,
  6.69818149e-06, 4.37497150e-05,-1.08628506e-04,-1.19103453e-05,
  4.74906923e-02,-8.92930888e-04, 2.82708946e-02,-3.67062742e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003349781355827669
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.28578724e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.28578724e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1100838 , -0.03409616,  0.06199043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.95209571e-06,-6.52057061e-06,-9.05484838e-07,-1.60034266e-05,
 -1.04718701e-05,-2.75121272e-05,-4.85877012e-05, 7.72720247e-06,
 -2.48750288e-05, 5.91369808e-05, 7.66328584e-05,-8.38249882e-06,
 -3.13197989e-04,-8.00718907e-05,-6.24365557e-05, 5.73130829e-06,
 -2.25432439e-06,-3.73882968e-07,-1.21645611e+00,-4.59871967e-04,
 -1.07765488e-07,-5.48024870e-04]


--- Step 439 ---
qpos:
[ 6.17669598e-03,-1.80733356e-03,-5.00020360e-03, 3.35847608e-02,
  4.47361474e-03,-3.74494275e-03,-1.84885119e-02, 2.86208142e-02,
  1.29886257e-02, 3.34668004e-03,-9.94919672e-03, 2.59068938e-02,
  8.33355095e-01,-5.93698960e-04, 6.39928158e-01, 6.54715061e-02,
  9.37731624e-02,-6.99640832e-02, 1.30991224e-01, 5.04560685e-01,
  4.94994754e-01, 4.96179649e-01, 5.04186935e-01]

qacc:
[ -0.30604992, -0.1119562 , -0.78290354,  4.19164151, -4.20121888,
   0.71789215, -1.73593563, -1.86639517, -2.5760561 , -2.56510621,
  10.88714569,-19.36816279, -2.23397991,  5.19026312, 13.66684355,
 -49.00748074, -1.05983712, -1.93480369, -0.06130035,-16.45029733,
   1.26833536, 27.64220159]

qfrc_actuator:
[-5.18152605e-06,-1.68392679e-04,-1.08880690e-04,-2.37274850e-06,
  3.10207981e-07,-4.08481308e-04,-2.88453052e-04, 2.48673138e-05,
 -7.78763352e-06, 1.05904787e-06,-9.72704599e-05,-3.79710965e-05,
  4.74030952e-02,-8.48423969e-04, 2.81960449e-02,-3.93055311e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003456597146366397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.40892193e-13, -1.60594796e-13,  1.00000000e+00,  3.86860326e-26,
        1.00000000e+00,  1.60594796e-13, -1.00000000e+00,  0.00000000e+00,
        2.40892193e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11008112, -0.03410148,  0.06199013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.83594429e-06,-1.85757107e-05, 1.80816608e-06, 9.39095752e-06,
 -2.46370408e-05,-3.74356584e-05,-3.91078182e-05,-1.63645821e-05,
 -1.51722261e-05, 5.81344025e-06, 3.27191639e-05,-2.10371397e-05,
 -3.09643645e-04,-2.16696954e-05,-1.12809950e-04,-2.70042521e-04,
 -2.37782764e-06, 3.24385907e-08,-1.21645151e+00,-4.60883377e-04,
  4.67968679e-06,-5.47527492e-04]


--- Step 440 ---
qpos:
[ 6.17653504e-03,-1.80844516e-03,-5.00089466e-03, 3.35840303e-02,
  4.47334331e-03,-3.74554371e-03,-1.84881214e-02, 2.86219765e-02,
  1.29885382e-02, 3.34758316e-03,-9.94924329e-03, 2.59061449e-02,
  8.34378675e-01,-5.91488297e-04, 6.40841756e-01, 6.54681436e-02,
  9.38010904e-02,-6.99713697e-02, 1.30992077e-01, 5.04430978e-01,
  4.95105995e-01, 4.96262277e-01, 5.04126170e-01]

qacc:
[ -3.23360465, -0.4470332 ,  2.64626222, -6.80083486, -2.53474567,
  -1.49077568,  4.30345055, -2.85785871,  1.51998737,  0.54871457,
  -2.22015382,  3.72064711, -2.18679354,  5.18112514,  4.85806884,
 -20.34457516, -1.0359837 , -1.89456849, -0.2652928 ,-16.07089005,
   1.28209511, 27.05735243]

qfrc_actuator:
[-2.40481592e-05,-1.58541217e-04,-1.06388808e-04,-1.40435991e-05,
 -1.40088864e-05,-3.97909322e-04,-2.51463190e-04, 3.41682720e-05,
  1.55470338e-06,-7.11135083e-06,-1.08578526e-04,-3.52607629e-05,
  4.73137253e-02,-8.04973400e-04, 2.81128955e-02,-4.04772260e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.73171059, -3.20941158,  3.47688977, -3.20941158, 17.39607518,
       11.69009118,  3.47688977, 11.69009118, 15.52247952,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003515076522306454
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.18442268e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.18442268e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11007964, -0.03410436,  0.06198996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89214128e-05, 2.88353525e-07,-7.75422868e-07,-1.22163321e-05,
 -1.50336721e-05,-1.91388449e-05, 2.38775236e-05, 6.02463652e-06,
  8.91555318e-06, 9.00836228e-07,-6.81396787e-06, 3.68246864e-06,
 -2.98918772e-04,-1.48592072e-05,-1.73913647e-04,-1.48877891e-04,
 -2.33106036e-06, 5.70087915e-07,-1.21644835e+00,-4.62029756e-04,
  8.42424123e-06,-5.47305485e-04]


--- Step 441 ---
qpos:
[ 6.17614901e-03,-1.80917642e-03,-5.00171615e-03, 3.35827817e-02,
  4.47290196e-03,-3.74613603e-03,-1.84876715e-02, 2.86228888e-02,
  1.29889084e-02, 3.34845125e-03,-9.94994203e-03, 2.59054803e-02,
  8.35400503e-01,-5.89047973e-04, 6.41753189e-01, 6.54663297e-02,
  9.38249548e-02,-6.99861008e-02, 1.30991181e-01, 5.04288775e-01,
  4.95226390e-01, 4.96303997e-01, 5.04109112e-01]

qacc:
[ -1.99014245, -0.19563412,  3.62076736,-12.66579559, -1.48559977,
  -0.66590993,  3.45226092, -7.88739417,  4.00750483,  1.94222263,
  -7.3620679 ,  9.90501799, -1.30882809,  2.41441696, -7.80949824,
  22.81877228, -1.01591922, -1.86115253, -0.43695692,-15.75397132,
   1.29517267, 26.57231224]

qfrc_actuator:
[-3.50831532e-05,-1.16690247e-04,-1.04613442e-04,-3.83629732e-05,
 -2.23166147e-05,-3.91162286e-04,-2.47474261e-04, 2.14604706e-05,
  2.48437817e-05,-3.01471963e-05,-1.50774549e-04,-3.33806922e-05,
  4.72233582e-02,-7.98046705e-04, 2.80408587e-02,-3.95546791e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.7398396 , -3.36958694,  3.33346115, -3.36958694, 16.11485178,
       11.49828683,  3.33346115, 11.49828683, 16.36273704,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035345328722367897
  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([ 0.11007911, -0.03410527,  0.06198991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.15679721e-05, 4.13724293e-05, 1.34038669e-06,-2.45651360e-05,
 -8.74506876e-06, 1.24421489e-06, 3.18596674e-06,-1.25860681e-05,
  2.35454730e-05,-2.38094515e-05,-4.27306090e-05, 1.75394318e-06,
 -2.91705795e-04,-4.85091964e-05,-1.73541200e-04, 6.03492905e-05,
 -2.12529576e-06, 1.22969879e-06,-1.21644652e+00,-4.63307001e-04,
  1.12135157e-05,-5.47350724e-04]


--- Step 442 ---
qpos:
[ 6.17563371e-03,-1.80967276e-03,-5.00248817e-03, 3.35812572e-02,
  4.47270905e-03,-3.74644144e-03,-1.84875676e-02, 2.86232886e-02,
  1.29888650e-02, 3.34915455e-03,-9.95055078e-03, 2.59048091e-02,
  8.36420700e-01,-5.86549309e-04, 6.42662716e-01, 6.54648971e-02,
  9.38448228e-02,-7.00081660e-02, 1.30987961e-01, 5.04134209e-01,
  4.95355804e-01, 4.96305476e-01, 5.04135102e-01]

qacc:
[ -1.13927027, -0.39351429,  3.02182954, -8.05151234,  2.15832693,
   0.28740694,  1.68218383,-10.20193319, -3.63381765, -0.4759669 ,
   1.42156225, -1.57297753, -1.09045339,  1.75615629, -3.91818894,
   9.72637295, -0.99908744, -1.8335255 , -0.58124986,-15.49014236,
   1.30768984, 26.17239262]

qfrc_actuator:
[-4.14146831e-05,-1.09267989e-04,-1.03141370e-04,-5.21442730e-05,
 -9.27012568e-06,-3.69129703e-04,-2.63049162e-04,-4.13167655e-06,
  2.88928730e-06,-2.65422844e-05,-1.39916092e-04,-3.20374721e-05,
  4.71484241e-02,-7.95004615e-04, 2.79542903e-02,-3.93582399e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.73491548, -3.4742546 ,  3.21698299, -3.4742546 , 15.16120503,
       11.26011066,  3.21698299, 11.26011066, 16.89553038,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003522767372649699
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.87891242e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.87891242e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11007935, -0.0341046 ,  0.06198994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.64162973e-06, 2.98183237e-05, 9.35511351e-06,-1.24333540e-05,
  1.27975099e-05, 2.28581886e-05,-1.53609632e-05,-2.56748938e-05,
 -2.12903172e-05,-1.84732691e-05, 7.36711829e-07,-1.12131080e-06,
 -2.77372266e-04,-5.52586440e-05,-1.63401881e-04,-2.74114878e-07,
 -1.76895356e-06, 2.00492619e-06,-1.21644594e+00,-4.64712580e-04,
  1.31158854e-05,-5.47656798e-04]


--- Step 443 ---
qpos:
[ 6.17504658e-03,-1.81010153e-03,-5.00292124e-03, 3.35802716e-02,
  4.47267383e-03,-3.74635620e-03,-1.84877430e-02, 2.86233603e-02,
  1.29885590e-02, 3.34975202e-03,-9.95054926e-03, 2.59048052e-02,
  8.37439311e-01,-5.84297544e-04, 6.43570681e-01, 6.54619642e-02,
  9.38607508e-02,-7.00374744e-02, 1.30981931e-01, 5.03967379e-01,
  4.95494121e-01, 4.96267260e-01, 5.04203594e-01]

qacc:
[ -0.62175206,  0.25257263, -3.04369964, 11.77535069,  1.36442576,
   0.61884377, -0.07664005, -5.4377151 , -2.28996128, -0.46732824,
  -1.34652562, 11.98987556, -0.80728503,  0.74468535,  2.24737025,
 -11.15480704, -0.98501271, -1.81080795, -0.70239893,-15.27153112,
   1.31968644, 25.84520548]

qfrc_actuator:
[-4.49299214e-05,-1.04757055e-04,-8.42263675e-05,-2.41324841e-05,
 -1.51413667e-06,-3.38207489e-04,-2.72228044e-04,-1.93394043e-05,
 -1.00179082e-05,-6.80914866e-06,-9.77062518e-05, 4.54622106e-06,
  4.70614987e-02,-8.11966463e-04, 2.78803609e-02,-4.01245643e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 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: -0.0003486296798043409
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.59226694e-13,  7.96133468e-14,  1.00000000e+00, -1.26765700e-26,
        1.00000000e+00, -7.96133468e-14, -1.00000000e+00,  0.00000000e+00,
        1.59226694e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11008018, -0.03410268,  0.06199004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.69086991e-06, 2.26149367e-05, 2.58154853e-05, 2.93778481e-05,
  8.13122478e-06, 3.94447442e-05,-7.23708649e-06,-1.52602943e-05,
 -1.35170126e-05, 9.48248455e-06, 3.84470916e-05, 3.57978676e-05,
 -2.81050712e-04,-7.34442410e-05,-1.53580472e-04,-9.88008965e-05,
 -1.26815068e-06, 2.89187141e-06,-1.21644655e+00,-4.66245223e-04,
  1.41844436e-05,-5.48218716e-04]


--- Step 444 ---
qpos:
[ 6.17373167e-03,-1.81004888e-03,-5.00356277e-03, 3.35796138e-02,
  4.47238743e-03,-3.74638777e-03,-1.84878129e-02, 2.86229425e-02,
  1.29884450e-02, 3.35087036e-03,-9.95087837e-03, 2.59055685e-02,
  8.38456296e-01,-5.82771104e-04, 6.44476877e-01, 6.54587462e-02,
  9.38727856e-02,-7.00739518e-02, 1.30972684e-01, 5.03788358e-01,
  4.95641242e-01, 4.96189786e-01, 5.04314135e-01]

qacc:
[ -6.41385388,  1.90640017, -7.23550817, 12.86127919, -2.19331904,
  -1.45114616,  7.02489552,-15.58673289,  1.67157374,  3.18847852,
 -13.61499983, 27.04459045, -0.29610292, -1.07234679, -1.75829225,
   2.33571261, -0.97328751, -1.79224755, -0.80401855,-15.09151916,
   1.33114322, 25.58026352]

qfrc_actuator:
[-8.22663773e-05,-6.64142620e-05,-9.06601459e-05,-7.25449550e-06,
 -1.46936974e-05,-3.73180556e-04,-2.77497635e-04,-4.60485262e-05,
  2.70424437e-07, 4.03605042e-05,-1.08252382e-04, 4.38502770e-05,
  4.69567819e-02,-8.58401401e-04, 2.78087266e-02,-4.02085737e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003430547265397682
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.61814273e-13,  8.09071366e-14,  1.00000000e+00, -1.30919295e-26,
        1.00000000e+00, -8.09071366e-14, -1.00000000e+00,  0.00000000e+00,
        1.61814273e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11008149, -0.0340998 ,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.74337747e-05, 5.76040467e-05, 2.44672254e-06, 1.93164291e-05,
 -1.29325938e-05,-1.50628686e-05, 1.45889285e-06,-2.55664058e-05,
  9.90647222e-06, 6.19208316e-05,-2.61991997e-06, 4.17365915e-05,
 -3.04710589e-04,-1.05837287e-04,-1.58703643e-04,-3.50219718e-05,
 -6.27130322e-07, 3.88865220e-06,-1.21644829e+00,-4.67904654e-04,
  1.44600829e-05,-5.49032653e-04]


--- Step 445 ---
qpos:
[ 6.17197962e-03,-1.80969164e-03,-5.00419526e-03, 3.35788257e-02,
  4.47194549e-03,-3.74671492e-03,-1.84875585e-02, 2.86222165e-02,
  1.29888001e-02, 3.35259596e-03,-9.95163559e-03, 2.59061016e-02,
  8.39471439e-01,-5.81145112e-04, 6.45381519e-01, 6.54566535e-02,
  9.38809662e-02,-7.01175380e-02, 1.30959881e-01, 5.03597188e-01,
  4.95797085e-01, 4.96073402e-01, 5.04466355e-01]

qacc:
[ -3.84887383,  0.11669958,  0.73067357, -3.23684186, -1.34624885,
  -1.92743455,  7.61216633,-13.25214644,  4.10334016,  1.51711602,
  -3.28661736, -0.44572816, -1.26378038,  2.09195817, -5.6340782 ,
  16.50916264, -0.96356244, -1.77719996, -0.88920379,-14.94452632,
   1.34199959, 25.36866499]

qfrc_actuator:
[-1.03705626e-04,-6.14711368e-05,-9.41387180e-05,-1.48138123e-05,
 -2.23361666e-05,-3.94081677e-04,-2.62942088e-04,-6.16132017e-05,
  2.41263738e-05, 6.79024384e-05,-1.32002671e-04, 3.11617860e-05,
  4.68680797e-02,-8.50932482e-04, 2.77651732e-02,-3.95342912e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003360019465810382
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.65210802e-13,  8.26054012e-14,  1.00000000e+00, -1.36473046e-26,
        1.00000000e+00, -8.26054012e-14, -1.00000000e+00,  0.00000000e+00,
        1.65210802e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11008315, -0.03409617,  0.0619904 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24837771e-05, 3.84870506e-05, 9.40128918e-06,-4.62570629e-06,
 -8.01614869e-06,-3.01201596e-05, 1.07420007e-05,-1.66555822e-05,
  2.41607273e-05, 6.33805742e-05,-9.84973710e-06,-9.31720484e-06,
 -3.10385388e-04,-6.03805917e-05,-1.25299661e-04, 4.38423640e-05,
  1.51401642e-07, 4.99508059e-06,-1.21645112e+00,-4.69691355e-04,
  1.39739111e-05,-5.50095746e-04]


--- Step 446 ---
qpos:
[ 6.17101912e-03,-1.80953539e-03,-5.00436264e-03, 3.35783325e-02,
  4.47141498e-03,-3.74690228e-03,-1.84875893e-02, 2.86212958e-02,
  1.29894390e-02, 3.35429252e-03,-9.95240671e-03, 2.59065325e-02,
  8.40484547e-01,-5.78204762e-04, 6.46285233e-01, 6.54483637e-02,
  9.38860820e-02,-7.01559164e-02, 1.30952996e-01, 5.03434038e-01,
  4.95927615e-01, 4.95965454e-01, 5.04607013e-01]

qacc:
[  6.97837962, -0.97201616,  1.81120394,  2.72445512, -0.78657911,
   0.58210256, -0.98248489, -2.03826438,  2.49754264, -0.21477018,
   1.13315322, -2.84918637, -2.88444372,  7.30664728, 17.47404802,
 -62.78009901, -0.76620054,  1.30195355,  1.47942989, -8.32359388,
  -1.3071257 ,-18.34879749]

qfrc_actuator:
[-6.23481644e-05,-9.43361654e-05,-7.82256649e-05,-1.20339607e-06,
 -2.66515499e-05,-3.70808872e-04,-2.72257749e-04,-7.04766483e-05,
  3.80164937e-05, 3.01151029e-05,-1.45693094e-04, 2.34735762e-05,
  4.67837384e-02,-7.76150731e-04, 2.76746033e-02,-4.28561556e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033040803968469035
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.68007871e-13,  1.78508363e-13,  1.00000000e+00, -2.99908099e-26,
        1.00000000e+00, -1.78508363e-13, -1.00000000e+00,  0.00000000e+00,
        1.68007871e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10214508, -0.09005129,  0.06199056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.07311034e-05,-9.60509786e-06, 2.48686628e-05, 1.54985384e-05,
 -4.55462116e-06, 7.94244357e-06,-1.47873389e-05,-1.01045904e-05,
  1.46042333e-05,-4.82369912e-06,-2.14704465e-06,-5.49850523e-06,
 -3.00953239e-04, 1.11274210e-05,-1.49732728e-04,-3.47437488e-04,
  1.06601170e-06, 6.21242157e-06,-1.21645503e+00,-4.71606363e-04,
  1.27491582e-05,-5.51405917e-04]


--- Step 447 ---
qpos:
[ 6.17090644e-03,-1.80951860e-03,-5.00402675e-03, 3.35779961e-02,
  4.47083689e-03,-3.74708566e-03,-1.84877087e-02, 2.86202796e-02,
  1.29898951e-02, 3.35542518e-03,-9.95275762e-03, 2.59065624e-02,
  8.41496042e-01,-5.75611178e-04, 6.47186857e-01, 6.54378474e-02,
  9.38883069e-02,-7.01892646e-02, 1.30950695e-01, 5.03298197e-01,
  4.96033224e-01, 4.95865587e-01, 5.04736847e-01]

qacc:
[  7.47309147, -1.2831282 ,  3.62059711, -1.58277513, -0.41944745,
   0.0576365 ,  0.20641669, -1.72036073, -1.58545532, -2.74179266,
  10.39274113,-17.59340748, -0.73098264,  0.42774073,  3.65462177,
 -17.2259099 , -0.72272358,  1.2575611 ,  1.14604797, -8.32193274,
  -1.13408031,-17.7984762 ]

qfrc_actuator:
[-1.98717924e-05,-9.62444603e-05,-5.11373110e-05, 6.98309985e-06,
 -2.89754383e-05,-3.74606760e-04,-2.77663773e-04,-7.53095725e-05,
  2.81720873e-05,-2.87237594e-05,-1.35837924e-04, 9.96978630e-07,
  4.66914459e-02,-8.04256962e-04, 2.75824519e-02,-4.38913011e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.71932498, -0.17639919, -4.7160271 , -0.17639919, 35.6966359 ,
       -1.15868133, -4.7160271 , -1.15868133,  4.76266452,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003485104505338982
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.46181199e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.46181199e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10214622, -0.09004646,  0.06199004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.36292514e-05,-1.46375871e-06, 2.87040437e-05, 8.93660334e-06,
 -2.45020507e-06,-2.83625342e-06,-5.93185239e-06,-5.19811932e-06,
 -9.42619458e-06,-6.22616955e-05, 8.39234215e-06,-2.28681247e-05,
 -2.89970337e-04,-8.11047845e-05,-2.07005518e-04,-1.43913649e-04,
  1.09495297e-06, 4.61770279e-06,-1.21645151e+00,-4.70247132e-04,
  1.13052665e-05,-5.52529303e-04]


--- Step 448 ---
qpos:
[ 6.17130402e-03,-1.80954801e-03,-5.00337395e-03, 3.35777613e-02,
  4.47023556e-03,-3.74748051e-03,-1.84878370e-02, 2.86199265e-02,
  1.29902298e-02, 3.35624187e-03,-9.95275298e-03, 2.59059505e-02,
  8.42506042e-01,-5.74232324e-04, 6.48085654e-01, 6.54330662e-02,
  9.38877817e-02,-7.02177313e-02, 1.30951854e-01, 5.03189059e-01,
  4.96114260e-01, 4.95773505e-01, 5.04856458e-01]

qacc:
[  4.49752638, -0.74657546,  2.12915072, -0.82701879, -0.19954784,
   1.10930912, -7.16059429, 18.80562593, -1.05316563, -2.73060864,
  11.84416729,-23.29342448,  0.49986868, -3.48405866,-21.52583496,
  69.12980552, -0.6875149 ,  1.22036652,  0.86493395, -8.30704217,
  -0.99552603,-17.33481138]

qfrc_actuator:
[ 5.15041409e-06,-9.73124846e-05,-3.53206186e-05, 1.19355591e-05,
 -3.01099759e-05,-3.94567155e-04,-2.80806385e-04,-4.22403566e-05,
  2.21926307e-05,-2.86365398e-05,-1.12283951e-04,-3.00130569e-05,
  4.65997437e-02,-8.75207970e-04, 2.75107928e-02,-4.07289110e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.76906511, -0.12623549, -4.76739411, -0.12623549, 43.50852052,
       -1.02577931, -4.76739411, -1.02577931,  4.79622664,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003603125700512577
  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([ 0.10214743, -0.09004339,  0.06198971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.62603420e-05, 4.43741760e-06, 1.93538537e-05, 6.05497494e-06,
 -1.20506332e-06,-2.29849387e-05,-4.63307880e-06, 3.26443111e-05,
 -6.26513648e-06,-3.40151462e-05, 1.09270688e-05,-3.38342160e-05,
 -2.99359839e-04,-1.33058881e-04,-1.85736657e-04, 2.80853650e-04,
  1.08444296e-06, 3.27743610e-06,-1.21644859e+00,-4.69059230e-04,
  1.01894225e-05,-5.53495781e-04]


--- Step 449 ---
qpos:
[ 6.17199899e-03,-1.80980308e-03,-5.00268171e-03, 3.35772851e-02,
  4.46962531e-03,-3.74816777e-03,-1.84876854e-02, 2.86203082e-02,
  1.29897998e-02, 3.35718279e-03,-9.95269419e-03, 2.59052804e-02,
  8.43514241e-01,-5.73037369e-04, 6.48981943e-01, 6.54311143e-02,
  9.38846203e-02,-7.02414408e-02, 1.30955525e-01, 5.03106109e-01,
  4.96171033e-01, 4.95688964e-01, 5.04966336e-01]

qacc:
[  2.61986347, -0.91053347,  3.82342729, -7.88625624, -0.06384181,
   0.34294629, -4.88638272, 17.37100451, -6.72862228, -0.09361315,
   0.84010393, -2.0483574 , -0.86808244,  0.82275518,-12.20637437,
  37.40160219, -0.65905096,  1.18927587,  0.62824171, -8.2846535 ,
  -0.88413137,-16.94485826]

qfrc_actuator:
[ 1.96985473e-05,-1.33419072e-04,-4.40344931e-05,-2.81259557e-06,
 -3.05362302e-05,-4.06258572e-04,-2.64882659e-04,-4.90281726e-06,
 -1.69612422e-05, 6.78396434e-06,-9.83667601e-05,-3.02365115e-05,
  4.65084431e-02,-8.82096015e-04, 2.73770097e-02,-3.93793419e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.79835186,  0.11188753,  4.79704719,  0.11188753, 11.96014419,
       -0.16704344,  4.79704719, -0.16704344,  4.80224802,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003669832135263368
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.56317308e-14, -3.02526923e-13,  1.00000000e+00, -2.28806348e-26,
        1.00000000e+00,  3.02526923e-13, -1.00000000e+00,  0.00000000e+00,
       -7.56317308e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10214872, -0.09004176,  0.06198952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.52947771e-05,-2.93660022e-05,-5.21227274e-06,-1.37725674e-05,
 -4.69871251e-07,-2.40862922e-05, 1.17419239e-05, 3.68295285e-05,
 -3.93402963e-05, 1.71768409e-05, 7.05847336e-06,-1.96167302e-06,
 -3.14129435e-04,-7.74590966e-05,-1.89621115e-04, 1.26248349e-04,
  1.02643759e-06, 2.17044580e-06,-1.21644621e+00,-4.68001462e-04,
  9.38864435e-06,-5.54313847e-04]


--- Step 450 ---
qpos:
[ 6.17286309e-03,-1.81017349e-03,-5.00210325e-03, 3.35762878e-02,
  4.46901434e-03,-3.74870072e-03,-1.84874809e-02, 2.86204015e-02,
  1.29885591e-02, 3.35822178e-03,-9.95282056e-03, 2.59056681e-02,
  8.44520449e-01,-5.71271654e-04, 6.49876147e-01, 6.54307279e-02,
  9.38789145e-02,-7.02604970e-02, 1.30960914e-01, 5.03048912e-01,
  4.96203810e-01, 4.95611762e-01, 5.05066879e-01]

qacc:
[ 1.48524639e+00,-9.10286073e-01, 5.21918058e+00,-1.39649261e+01,
 -7.52246588e-03,-5.37101408e-01, 3.42911651e+00,-8.61890072e+00,
 -7.14197807e+00, 2.83840327e+00,-1.43744749e+01, 3.28788224e+01,
 -1.82770795e+00, 3.88317796e+00,-7.71091323e+00, 2.27212980e+01,
 -6.36100782e-01, 1.16336900e+00, 4.29341171e-01,-8.25897063e+00,
 -7.94101089e-01,-1.66178100e+01]

qfrc_actuator:
[ 2.79710072e-05,-1.37092972e-04,-4.95633913e-05,-2.90788738e-05,
 -3.05425312e-05,-3.77317801e-04,-2.55557018e-04,-1.85991016e-05,
 -5.75754793e-05, 9.83273484e-06,-1.07825081e-04, 2.31901986e-05,
  4.64121389e-02,-8.51091221e-04, 2.72859120e-02,-3.85787679e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.80965715e+00,  8.82176755e-04,  4.80965707e+00,  8.82176755e-04,
        1.59058829e+01, -2.03524540e-03,  4.80965707e+00, -2.03524540e-03,
        4.80965752e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.00036950646784171537
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.51152633e-14, -3.00461053e-13,  1.00000000e+00, -2.25692111e-26,
        1.00000000e+00,  3.00461053e-13, -1.00000000e+00,  0.00000000e+00,
       -7.51152633e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10215008, -0.09004128,  0.06198945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.69806034e-06,-2.17570953e-05,-1.27187491e-05,-2.79737272e-05,
 -3.01362369e-08, 1.94976345e-05, 7.07674426e-06,-1.36050967e-05,
 -4.17231987e-05, 1.39797556e-05,-5.11773509e-06, 5.43696845e-05,
 -3.18762915e-04,-3.55669560e-05,-1.66800039e-04, 6.20303933e-05,
  9.15423140e-07, 1.27976286e-06,-1.21644435e+00,-4.67042873e-04,
  8.89138614e-06,-5.54990306e-04]


--- Step 451 ---
qpos:
[ 6.17381954e-03,-1.81036183e-03,-5.00179439e-03, 3.35756464e-02,
  4.46806299e-03,-3.74883300e-03,-1.84878165e-02, 2.86196486e-02,
  1.29871859e-02, 3.35940341e-03,-9.95334814e-03, 2.59067023e-02,
  8.45524650e-01,-5.68796551e-04, 6.50768662e-01, 6.54282660e-02,
  9.38707381e-02,-7.02749856e-02, 1.30967354e-01, 5.03017102e-01,
  4.96212822e-01, 4.95541729e-01, 5.05158415e-01]

qacc:
[  0.80060554,  1.72541798, -7.30741832, 13.76455466, -3.0031938 ,
   0.30376285,  3.26881562,-17.3568177 , -1.18015304,  2.64286905,
 -11.8754166 , 23.59599046, -2.09853758,  4.68683772,  3.87212211,
 -16.92661004, -0.61766713,  1.1418681 ,  0.26259531, -8.23301152,
  -0.72084983,-16.34457725]

qfrc_actuator:
[ 3.24873623e-05,-1.03574672e-04,-5.30438345e-05,-8.62178197e-06,
 -4.80541173e-05,-3.59832752e-04,-2.85580507e-04,-6.21864007e-05,
 -6.32085994e-05, 1.11875534e-05,-1.31091061e-04, 5.44564903e-05,
  4.63129148e-02,-8.15784455e-04, 2.71885231e-02,-3.97040083e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.8060707 , -0.15028501,  4.80372043, -0.15028501, 22.84491453,
        0.56434753,  4.80372043,  0.56434753,  4.82372638,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003687090425023576
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.52777188e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.52777188e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10215151, -0.09004172,  0.06198947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.75852464e-06, 1.75347842e-05,-1.05105146e-05, 1.85414994e-05,
 -1.75053620e-05, 2.92834910e-05,-2.55915766e-05,-4.27711083e-05,
 -6.81242617e-06, 1.03897133e-05,-1.91385122e-05, 3.27450223e-05,
 -3.16808074e-04,-2.71448411e-05,-1.71449559e-04,-1.31590781e-04,
  7.47632320e-07, 5.91809306e-07,-1.21644297e+00,-4.66160096e-04,
  8.68768425e-06,-5.55530606e-04]


--- Step 452 ---
qpos:
[ 6.17447800e-03,-1.81064194e-03,-5.00146186e-03, 3.35756147e-02,
  4.46690948e-03,-3.74894365e-03,-1.84886626e-02, 2.86184268e-02,
  1.29864457e-02, 3.36031099e-03,-9.95362879e-03, 2.59070764e-02,
  8.46526948e-01,-5.65886266e-04, 6.51659107e-01, 6.54221726e-02,
  9.38601498e-02,-7.02849778e-02, 1.30974286e-01, 5.03010371e-01,
  4.96198264e-01, 4.95478727e-01, 5.05241210e-01]

qacc:
[ -2.61748466,  1.07311576, -6.56706826, 17.13834685, -1.78609653,
   0.49355931,  0.26783655, -7.5904032 ,  5.5827558 , -2.42212952,
  10.87924943,-22.47725541, -1.78104794,  3.66941256,  7.98277989,
 -32.18042772, -0.60294022,  1.12411341,  0.12319019, -8.20888381,
  -0.66074629,-16.11747187]

qfrc_actuator:
[ 1.70065536e-05,-1.19002871e-04,-5.50938943e-05, 2.14481596e-05,
 -5.79763121e-05,-3.85034474e-04,-3.20888890e-04,-8.75299163e-05,
 -3.04544668e-05,-2.40630589e-05,-1.26846258e-04, 1.91568004e-05,
  4.62173374e-02,-7.96016069e-04, 2.70660956e-02,-4.15995366e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.79080729, -0.35501022,  4.77763563, -0.35501022, 38.2135545 ,
        2.48353325,  4.77763563,  2.48353325,  4.97535039,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036528352714923495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.59836498e-14, -3.03934599e-13,  1.00000000e+00,  2.30940602e-26,
        1.00000000e+00,  3.03934599e-13, -1.00000000e+00,  0.00000000e+00,
        7.59836498e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10215299, -0.09004289,  0.06198957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53393356e-05,-6.99591835e-06, 9.17853388e-07, 3.08193168e-05,
 -1.04092158e-05,-1.59411335e-05,-3.38842724e-05,-2.58029951e-05,
  3.25670259e-05,-3.20363287e-05, 5.15553707e-06,-3.48831389e-05,
 -3.10545424e-04,-4.12315151e-05,-2.20929432e-04,-2.20181854e-04,
  5.20488556e-07, 9.57476928e-08,-1.21644204e+00,-4.65335397e-04,
  8.76918219e-06,-5.55939106e-04]


--- Step 453 ---
qpos:
[ 6.17460104e-03,-1.81117312e-03,-5.00103754e-03, 3.35756144e-02,
  4.46599063e-03,-3.74889061e-03,-1.84900177e-02, 2.86168928e-02,
  1.29861043e-02, 3.36034915e-03,-9.95329274e-03, 2.59074219e-02,
  8.47527427e-01,-5.62737761e-04, 6.52547146e-01, 6.54173887e-02,
  9.38471966e-02,-7.02905318e-02, 1.30981246e-01, 5.03028463e-01,
  4.96160294e-01, 4.95422640e-01, 5.05315482e-01]

qacc:
[-4.70068390e+00,-5.14536422e-01, 1.23620771e+00,-6.70957727e-01,
  2.03485896e+00, 9.91895994e-01,-1.91155017e+00,-2.79117473e+00,
  3.54333554e+00,-2.93819638e+00, 8.91740046e+00,-9.74330580e+00,
 -1.36621125e+00, 2.48451517e+00,-7.43864907e+00, 2.10143330e+01,
 -5.91261085e-01, 1.10954400e+00, 7.00270087e-03,-8.18800522e+00,
 -6.10912325e-01,-1.59299637e+01]

qfrc_actuator:
[-1.01191554e-05,-1.45845315e-04,-5.64711359e-05, 2.13843271e-05,
 -4.55942854e-05,-3.64618959e-04,-3.41429174e-04,-1.01965955e-04,
 -1.08857440e-05,-9.86699188e-05,-1.06582639e-04, 1.59761100e-05,
  4.61293368e-02,-7.85580261e-04, 2.69979755e-02,-4.07379009e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035980825612803857
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54279815e-13, -3.08559630e-13,  1.00000000e+00,  4.76045227e-26,
        1.00000000e+00,  3.08559630e-13, -1.00000000e+00,  0.00000000e+00,
        1.54279815e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10215451, -0.09004462,  0.06198972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75650629e-05,-2.92454857e-05,-1.64357214e-06, 2.68429516e-07,
  1.20815588e-05, 3.40965177e-06,-2.88853375e-05,-1.67884923e-05,
  2.04866774e-05,-9.29731010e-05, 1.30638757e-05,-5.05781690e-06,
 -3.01877703e-04,-5.09641422e-05,-1.96980421e-04, 4.47631143e-05,
  2.32214264e-07,-2.17042300e-07,-1.21644156e+00,-4.64555237e-04,
  9.12907815e-06,-5.56219291e-04]


--- Step 454 ---
qpos:
[ 6.17508759e-03,-1.81157263e-03,-5.00106406e-03, 3.35756022e-02,
  4.46488209e-03,-3.74853690e-03,-1.84911822e-02, 2.86151307e-02,
  1.29860002e-02, 3.35982058e-03,-9.95305742e-03, 2.59077380e-02,
  8.48526193e-01,-5.59767201e-04, 6.53433222e-01, 6.54141959e-02,
  9.38319149e-02,-7.02916950e-02, 1.30987848e-01, 5.03071165e-01,
  4.96099041e-01, 4.95373373e-01, 5.05381407e-01]

qacc:
[  3.1797518 ,  1.40336231, -4.71104899,  5.13802774, -1.65947557,
  -0.6010187 ,  3.68902318, -8.17033898,  2.09519522, -0.5320188 ,
   0.92707624, -0.84951342, -0.86806181,  0.87923065, -7.66590084,
  22.68485963, -0.58209256,  1.0976824 , -0.08950446, -8.17127781,
  -0.56906493,-15.77649077]

qfrc_actuator:
[ 9.38272089e-06,-1.26082404e-04,-7.52749138e-05, 2.13272617e-05,
 -5.56909622e-05,-3.16983818e-04,-3.17400638e-04,-1.09826698e-04,
  7.52805489e-07,-1.25175015e-04,-1.12681546e-04, 1.39466118e-05,
  4.60406174e-02,-7.98473742e-04, 2.69305896e-02,-3.98545887e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035276432469029395
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.36040668e-13, -1.57360445e-13,  1.00000000e+00,  3.71434646e-26,
        1.00000000e+00,  1.57360445e-13, -1.00000000e+00,  0.00000000e+00,
        2.36040668e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10215605, -0.09004679,  0.06198993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.87092167e-05, 3.08487485e-06,-2.50357701e-05,-1.36055142e-06,
 -9.74850252e-06, 4.28776168e-05, 2.06119779e-05,-9.03497002e-06,
  1.21883423e-05,-7.60144285e-05,-2.38759646e-05,-5.66273417e-06,
 -2.98083257e-04,-7.41420190e-05,-1.55558632e-04, 6.48202123e-05,
 -1.18443160e-07,-3.53387729e-07,-1.21644149e+00,-4.63809193e-04,
  9.76202619e-06,-5.56373946e-04]


--- Step 455 ---
qpos:
[ 6.17580367e-03,-1.81166958e-03,-5.00142259e-03, 3.35752134e-02,
  4.46331642e-03,-3.74798088e-03,-1.84920751e-02, 2.86139847e-02,
  1.29870710e-02, 3.35931860e-03,-9.95316073e-03, 2.59076217e-02,
  8.49523198e-01,-5.56918696e-04, 6.54317841e-01, 6.54083671e-02,
  9.38143333e-02,-7.02885058e-02, 1.30993773e-01, 5.03138305e-01,
  4.96014603e-01, 4.95330844e-01, 5.05439131e-01]

qacc:
[  2.00245292,  0.54869104,  0.20698528, -6.40925915, -3.99534579,
   0.78365884, -4.99506794, 15.06220885, 10.3274136 ,  0.07122397,
   1.5879826 , -8.51267263, -1.09900471,  1.47460021,  5.84269037,
 -23.47526111, -0.57499607,  1.08812202, -0.16936811, -8.15922449,
  -0.53339175,-15.65230763]

qfrc_actuator:
[ 2.06711285e-05,-9.63912151e-05,-8.62760745e-05, 3.55247571e-06,
 -7.89443697e-05,-3.06477255e-04,-3.02632047e-04,-7.81960888e-05,
  6.08930473e-05,-8.72687132e-05,-1.16374574e-04,-5.13255118e-06,
  4.59461969e-02,-8.07291287e-04, 2.68423880e-02,-4.12741657e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003445501894253772
  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([ 0.10215761, -0.09004927,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18238028e-05, 2.62062593e-05,-1.34907884e-05,-1.85351930e-05,
 -2.35173745e-05, 3.83552212e-05, 2.58653451e-05, 3.40116757e-05,
  6.04598096e-05,-9.75636055e-06,-2.25294747e-05,-2.32736291e-05,
 -3.05267344e-04,-7.24058541e-05,-1.57058795e-04,-1.59487001e-04,
 -5.32401193e-07,-3.18667486e-07,-1.21644183e+00,-4.63089163e-04,
  1.06640132e-05,-5.56405304e-04]


--- Step 456 ---
qpos:
[ 6.17630484e-03,-1.81172125e-03,-5.00156347e-03, 3.35746091e-02,
  4.46217397e-03,-3.74718795e-03,-1.84930863e-02, 2.86139400e-02,
  1.29888542e-02, 3.35890505e-03,-9.95311317e-03, 2.59068892e-02,
  8.50518481e-01,-5.54466489e-04, 6.55201076e-01, 6.54001128e-02,
  9.37944733e-02,-7.02809946e-02, 1.30998757e-01, 5.03229742e-01,
  4.95907051e-01, 4.95294989e-01, 5.05488771e-01]

qacc:
[ -1.8837519 , -0.98836764,  4.52627068, -8.64120337,  3.6969458 ,
   2.90025179,-14.55038204, 33.6375984 ,  6.27169804, -1.58548655,
   8.40336775,-19.35151954, -0.78445638,  0.43548814,  5.29698581,
 -21.45476902, -0.56961305,  1.08051673, -0.23519507, -8.15209476,
  -0.50245292,-15.55336245]

qfrc_actuator:
[ 9.26738142e-06,-9.64718939e-05,-7.47815187e-05,-6.73089890e-06,
 -5.64906045e-05,-3.00517106e-04,-3.11329292e-04,-2.36237932e-05,
  9.58439446e-05,-6.43400941e-05,-1.00593257e-04,-3.40267226e-05,
  4.58537476e-02,-8.31400616e-04, 2.67896542e-02,-4.24418335e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003354942039170694
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.48191253e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.48191253e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10215917, -0.09005199,  0.06199042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10563512e-05, 1.10035120e-05, 1.46099270e-05,-9.98666665e-06,
  2.17928958e-05, 3.41930437e-05, 3.59559709e-06, 5.77772164e-05,
  3.66653255e-05, 1.18658084e-05, 1.01917173e-05,-3.05454592e-05,
 -3.08030038e-04,-8.87846270e-05,-1.48351129e-04,-1.47243420e-04,
 -1.01037213e-06,-1.17094325e-07,-1.21644257e+00,-4.62388763e-04,
  1.18322265e-05,-5.56315146e-04]


--- Step 457 ---
qpos:
[ 6.17666559e-03,-1.81173558e-03,-5.00155171e-03, 3.35738918e-02,
  4.46165416e-03,-3.74615245e-03,-1.84939173e-02, 2.86148736e-02,
  1.29903531e-02, 3.35845718e-03,-9.95288294e-03, 2.59065199e-02,
  8.51512056e-01,-5.52593754e-04, 6.56082492e-01, 6.53934380e-02,
  9.37723506e-02,-7.02691850e-02, 1.31002584e-01, 5.03345365e-01,
  4.95776433e-01, 4.95265751e-01, 5.05530423e-01]

qacc:
[ -1.2306749 , -0.60774828,  2.71993766, -4.95250002,  5.4514525 ,
   1.8185897 ,-10.16923628, 26.65411594, -2.49515633,  0.19656502,
  -2.29165503,  8.30121872, -0.45644768, -0.55570192, -7.44685668,
  22.16041773, -0.56565007,  1.07457202, -0.28922144, -8.1499458 ,
  -0.47510361,-15.47619535]

qfrc_actuator:
[ 2.35361223e-06,-9.65268044e-05,-6.79590259e-05,-1.25299932e-05,
 -2.50626651e-05,-2.79647712e-04,-2.98319660e-04, 2.62293248e-05,
  8.01685224e-05,-6.82231898e-05,-9.12340162e-05,-1.51952377e-05,
  4.57625407e-02,-8.64361948e-04, 2.67369438e-02,-4.14971274e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032586537995180076
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70349950e-13, -5.11049850e-13,  1.00000000e+00,  8.70573166e-26,
        1.00000000e+00,  5.11049850e-13, -1.00000000e+00,  0.00000000e+00,
        1.70349950e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10216072, -0.09005486,  0.06199069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.22404286e-06, 8.68771115e-06, 1.05528666e-05,-5.01431116e-06,
  3.20598523e-05, 4.31995346e-05, 2.25161543e-05, 5.25670042e-05,
 -1.46301518e-05, 3.58306123e-06, 1.20149679e-05, 1.90994383e-05,
 -3.11589143e-04,-1.00288126e-04,-1.43304701e-04, 6.57214230e-05,
 -1.55295065e-06, 2.48054070e-07,-1.21644371e+00,-4.61702882e-04,
  1.32649222e-05,-5.56104903e-04]


--- Step 458 ---
qpos:
[ 6.17659551e-03,-1.81157522e-03,-5.00153051e-03, 3.35734481e-02,
  4.46117045e-03,-3.74498085e-03,-1.84944730e-02, 2.86157137e-02,
  1.29909629e-02, 3.35800823e-03,-9.95251649e-03, 2.59060326e-02,
  8.52503822e-01,-5.51081451e-04, 6.56961900e-01, 6.53899110e-02,
  9.37479765e-02,-7.02530953e-02, 1.31005078e-01, 5.03485087e-01,
  4.95622771e-01, 4.95243085e-01, 5.05564163e-01]

qacc:
[ -3.79065094,  0.77530073, -3.57150005,  8.14879219,  0.32217547,
  -0.78227739,  3.44419242, -5.60129944, -7.8202257 , -0.60963915,
   2.69609552, -4.98297744, -0.69968551,  0.20899362,-12.43897471,
  39.26470298, -0.56286675,  1.07003766, -0.33336314, -8.1527039 ,
  -0.45043269,-15.41785337]

qfrc_actuator:
[-1.96073207e-05,-7.88237926e-05,-6.39618142e-05, 2.09796386e-06,
 -2.41241944e-05,-2.85438439e-04,-2.90289474e-04, 1.96755103e-05,
  3.48290219e-05,-7.03533094e-05,-8.58201664e-05,-2.17191386e-05,
  4.56668143e-02,-8.84540158e-04, 2.66577075e-02,-3.98479239e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003158826183824043
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31800109e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.31800109e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10216225, -0.09005783,  0.06199098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.21633464e-05, 2.45245442e-05, 6.91959401e-06, 1.52696046e-05,
  1.86626420e-06, 2.52510880e-05, 2.15398553e-05,-2.90424386e-06,
 -4.57564247e-05, 3.18788532e-06, 8.30023787e-06,-5.58070232e-06,
 -3.20260800e-04,-8.98162991e-05,-1.42965126e-04, 1.48886042e-04,
 -2.16067163e-06, 7.74245461e-07,-1.21644524e+00,-4.61027334e-04,
  1.49612998e-05,-5.55775719e-04]


--- Step 459 ---
qpos:
[ 6.17626270e-03,-1.81117070e-03,-5.00179365e-03, 3.35735398e-02,
  4.46070208e-03,-3.74370212e-03,-1.84948402e-02, 2.86157885e-02,
  1.29913692e-02, 3.35774953e-03,-9.95212631e-03, 2.59047635e-02,
  8.53493767e-01,-5.50084262e-04, 6.57840027e-01, 6.53895603e-02,
  9.37213581e-02,-7.02327387e-02, 1.31006094e-01, 5.03648842e-01,
  4.95446070e-01, 4.95226954e-01, 5.05590052e-01]

qacc:
[ -2.3230949 ,  2.22439813, -9.71458661, 19.24423618,  0.13792753,
  -1.95854698, 10.42050415,-24.04454107, -1.79339363, -1.4206744 ,
   8.73741938,-22.45258552, -0.5676117 , -0.2845507 ,-11.46244926,
  37.38609922, -0.56106608,  1.06670127, -0.36925924, -8.16021042,
  -0.42771436,-15.37581848]

qfrc_actuator:
[-3.24973612e-05,-6.83709409e-05,-7.93302664e-05, 2.86406751e-05,
 -2.33892861e-05,-2.89463180e-04,-2.85414360e-04,-2.00419834e-05,
  2.56675459e-05,-5.36985179e-05,-8.28001619e-05,-6.08730526e-05,
  4.55684468e-02,-9.14788379e-04, 2.66318733e-02,-3.81530744e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030572261757841335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.07867918e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.07867918e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10216375, -0.09006084,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.35130083e-05, 2.62382516e-05,-8.92214165e-06, 2.81317421e-05,
  7.96283009e-07, 1.43829521e-05, 1.26344463e-05,-3.79499071e-05,
 -1.04615510e-05, 1.99118631e-05, 4.51228420e-06,-3.88354151e-05,
 -3.26515793e-04,-1.00365794e-04,-7.98375870e-05, 1.58200352e-04,
 -2.83404719e-06, 1.45953732e-06,-1.21644715e+00,-4.60358605e-04,
  1.69213882e-05,-5.55328513e-04]


--- Step 460 ---
qpos:
[ 6.17612274e-03,-1.81057430e-03,-5.00220281e-03, 3.35736007e-02,
  4.46059133e-03,-3.74263662e-03,-1.84947481e-02, 2.86161004e-02,
  1.29923521e-02, 3.35749722e-03,-9.95165675e-03, 2.59034004e-02,
  8.54481848e-01,-5.49162437e-04, 6.58717293e-01, 6.53905153e-02,
  9.36924993e-02,-7.02081247e-02, 1.31005517e-01, 5.03836582e-01,
  4.95246313e-01, 4.95217324e-01, 5.05608139e-01]

qacc:
[  1.68786196,  0.59530469, -1.63057798,  1.19726224,  3.14799564,
  -1.08331907,  2.4422087 ,  1.09525032,  5.0771502 , -0.41693285,
   1.87875197, -3.61940856, -1.11870682,  1.49845841, -5.16535973,
  16.33359359, -0.56008649,  1.0643829 , -0.39830955, -8.17225562,
  -0.40636977,-15.3479462 ]

qfrc_actuator:
[-2.21879814e-05,-6.24075307e-05,-8.82754780e-05, 2.64557889e-05,
 -5.01757364e-06,-3.10206427e-04,-2.64702808e-04,-7.93796111e-06,
  5.56354812e-05,-6.14689512e-05,-8.11584722e-05,-6.56360628e-05,
  4.54845382e-02,-9.15274486e-04, 2.65954809e-02,-3.75088736e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029552663829426895
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.75676126e-13,  1.05658910e-13,  1.00000000e+00, -3.96935300e-26,
        1.00000000e+00, -1.05658910e-13, -1.00000000e+00,  0.00000000e+00,
        3.75676126e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10216522, -0.09006386,  0.06199156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.93248196e-06, 1.99830845e-05,-3.65184399e-06,-8.21617801e-07,
  1.84005485e-05,-1.17590748e-05, 2.39147195e-05, 1.24167643e-05,
  2.96784403e-05, 2.63747298e-06, 4.96892206e-06,-4.50631743e-06,
 -3.17698879e-04,-7.33892249e-05,-6.36082170e-05, 6.10037161e-05,
 -3.57358949e-06, 2.30244888e-06,-1.21644946e+00,-4.59693660e-04,
  1.91459429e-05,-5.54764021e-04]


--- Step 461 ---
qpos:
[ 6.17645226e-03,-1.80983639e-03,-5.00268117e-03, 3.35732911e-02,
  4.46104666e-03,-3.74182204e-03,-1.84946007e-02, 2.86162427e-02,
  1.29933416e-02, 3.35726262e-03,-9.95148171e-03, 2.59027062e-02,
  8.55468160e-01,-5.48023047e-04, 6.59593396e-01, 6.53886775e-02,
  9.36640979e-02,-7.01794956e-02, 1.31004755e-01, 5.04036762e-01,
  4.95033755e-01, 4.95224022e-01, 5.05610218e-01]

qacc:
[  4.1232274 , -0.39062858,  3.2145545 , -9.60615381,  4.96022781,
  -0.84403878,  3.22769488, -6.0474443 ,  0.04793494,  2.22339856,
 -10.71826304, 22.75325174, -1.47001432,  2.72242107,  6.77523793,
 -26.04629651,  0.11432828,  1.00376108, -0.04650397,  1.78693978,
   0.30533856,-14.39007455]

qfrc_actuator:
[ 1.69054656e-06,-5.91831808e-05,-9.33913289e-05, 7.38626380e-06,
  2.35878205e-05,-3.40703267e-04,-2.70340988e-04,-1.86951499e-05,
  5.51244076e-05,-6.60341118e-05,-9.81615463e-05,-3.23869260e-05,
  4.54147002e-02,-8.98137030e-04, 2.64941784e-02,-3.90867961e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028685895686611507
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.45135309e-13,  2.90270619e-13,  1.00000000e+00,  4.21285160e-26,
        1.00000000e+00, -2.90270619e-13, -1.00000000e+00,  0.00000000e+00,
       -1.45135309e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09149924, -0.08815838,  0.0619918 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.41666115e-05, 1.35964552e-05,-1.46884169e-06,-1.83565066e-05,
  2.91254338e-05,-3.16347920e-05,-4.70657378e-06,-1.01960568e-05,
  3.32420311e-07,-2.23682878e-06,-1.60018514e-05, 3.34479066e-05,
 -2.92677735e-04,-5.07972266e-05,-1.33281932e-04,-1.64869805e-04,
 -4.37982389e-06, 3.30185603e-06,-1.21645216e+00,-4.59029788e-04,
  2.16363564e-05,-5.54082839e-04]


--- Step 462 ---
qpos:
[ 6.17741055e-03,-1.80914092e-03,-5.00310219e-03, 3.35720799e-02,
  4.46184124e-03,-3.74088522e-03,-1.84949302e-02, 2.86158991e-02,
  1.29943173e-02, 3.35739350e-03,-9.95195391e-03, 2.59023955e-02,
  8.56452753e-01,-5.46685621e-04, 6.60467506e-01, 6.53869902e-02,
  9.36361460e-02,-7.01468751e-02, 1.31003564e-01, 5.04249342e-01,
  4.94808381e-01, 4.95246960e-01, 5.05596396e-01]

qacc:
[  5.53069864, -2.08348169, 11.13399599,-26.77467205,  2.95181211,
   0.48832161,  0.5352256 , -8.26247676, -0.14788883,  3.08164481,
 -11.90569367, 19.30789776, -1.30638244,  2.32899101, -3.33536155,
   7.53554777,  0.11237448,  0.99785671, -0.10700667,  1.74290667,
   0.32703338,-14.3353339 ]

qfrc_actuator:
[ 3.33568001e-05,-7.53812610e-05,-9.62279681e-05,-3.92144977e-05,
  4.02292804e-05,-3.23671391e-04,-2.91568611e-04,-4.28572804e-05,
  5.44180829e-05,-3.31847362e-05,-1.26009325e-04,-1.25611230e-05,
  4.53320599e-02,-8.88440852e-04, 2.64072457e-02,-3.89442835e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002809887572719355
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48167364e-13,  2.96334728e-13,  1.00000000e+00,  4.39071354e-26,
        1.00000000e+00, -2.96334728e-13, -1.00000000e+00,  0.00000000e+00,
       -1.48167364e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09149918, -0.08816012,  0.06199197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.23571618e-05,-9.69789485e-06,-8.47781328e-07,-4.64271818e-05,
  1.74630238e-05,-2.08880974e-06,-2.87072214e-05,-2.58828205e-05,
 -6.99105153e-07, 2.97377690e-05,-2.91202250e-05, 1.98290769e-05,
 -2.85417395e-04,-5.03505195e-05,-1.73513036e-04,-1.37757584e-05,
 -4.64316872e-06, 4.17556747e-06,-1.21645374e+00,-4.58255286e-04,
  2.31295660e-05,-5.53375633e-04]


--- Step 463 ---
qpos:
[ 6.17874132e-03,-1.80874132e-03,-5.00347494e-03, 3.35710443e-02,
  4.46282938e-03,-3.73992379e-03,-1.84952454e-02, 2.86152467e-02,
  1.29949318e-02, 3.35793791e-03,-9.95253810e-03, 2.59019356e-02,
  8.57435501e-01,-5.44855222e-04, 6.61339862e-01, 6.53889798e-02,
  9.36086358e-02,-7.01102806e-02, 1.31001745e-01, 5.04474297e-01,
  4.94570160e-01, 4.95286068e-01, 5.05566762e-01]

qacc:
[  3.28187694, -0.17090604, -0.71028657,  3.90133776,  1.69388714,
  -0.64573385,  3.64775547, -9.02574922, -3.18877306,  0.55860556,
  -0.55794797, -2.16142694, -1.59457962,  3.25940079,-13.6045127 ,
  44.02815119,  0.11045243,  0.99348472, -0.15713243,  1.70320842,
   0.34771537,-14.29657469]

qfrc_actuator:
[ 5.15959728e-05,-1.03105472e-04,-9.77959555e-05,-3.06442875e-05,
  4.96927728e-05,-3.13900337e-04,-2.86134632e-04,-5.69255673e-05,
  3.58596692e-05, 4.00588255e-06,-1.24388131e-04,-1.85241207e-05,
  4.52364716e-02,-8.65524304e-04, 2.63769836e-02,-3.69001401e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027447054263038395
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.0112406e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.0112406e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09149909, -0.08816201,  0.06199216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.91562259e-05,-3.53212352e-05,-5.28479124e-06, 7.22227057e-06,
  9.96384331e-06, 1.54090729e-06, 5.63669705e-07,-1.56561483e-05,
 -1.85676727e-05, 4.86590632e-05, 4.86895314e-06,-5.30861493e-06,
 -2.93502241e-04,-3.57086061e-05,-1.15593627e-04, 1.80318547e-04,
 -4.89874897e-06, 5.12636218e-06,-1.21645560e+00,-4.57487132e-04,
  2.45377297e-05,-5.52582406e-04]


--- Step 464 ---
qpos:
[ 6.18028062e-03,-1.80856418e-03,-5.00415758e-03, 3.35701351e-02,
  4.46392342e-03,-3.73899135e-03,-1.84952108e-02, 2.86144139e-02,
  1.29953193e-02, 3.35861382e-03,-9.95276129e-03, 2.59021016e-02,
  8.58416494e-01,-5.42738624e-04, 6.62210928e-01, 6.53903806e-02,
  9.35815600e-02,-7.00697245e-02, 1.30999131e-01, 5.04711610e-01,
  4.94319055e-01, 4.95341292e-01, 5.05521381e-01]

qacc:
[  1.827721  ,  0.8289542 , -3.92190308,  6.7750512 ,  0.93822485,
  -1.38791301,  5.65251524, -9.31038277, -1.98817333,  0.45695751,
  -4.01281302, 14.16269869, -1.46392301,  2.77625782, -0.0583639 ,
  -2.3999686 ,  0.1085679 ,  0.99041145, -0.19853843,  1.66707047,
   0.36762892,-14.27188567]

qfrc_actuator:
[ 6.17836803e-05,-1.19722311e-04,-1.16369236e-04,-2.51932642e-05,
  5.48594758e-05,-3.08437039e-04,-2.65004175e-04,-6.49203629e-05,
  2.46954977e-05, 8.10173277e-06,-1.05361921e-04, 1.36768086e-05,
  4.51491651e-02,-8.52802320e-04, 2.62955616e-02,-3.73014113e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002675028510836508
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.03758055e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.03758055e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09149898, -0.08816398,  0.06199235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.07192726e-05,-3.71562397e-05,-2.62705551e-05, 3.89636981e-06,
  5.45249377e-06, 5.74413938e-06, 2.09699231e-05,-8.21435184e-06,
 -1.16736336e-05, 3.20681343e-05, 2.94962899e-05, 3.43533461e-05,
 -2.87064919e-04,-4.59916928e-05,-1.20680552e-04,-4.64610904e-05,
 -5.14730722e-06, 6.15420424e-06,-1.21645773e+00,-4.56722984e-04,
  2.58645092e-05,-5.51702926e-04]


--- Step 465 ---
qpos:
[ 6.18193026e-03,-1.80870482e-03,-5.00476972e-03, 3.35696297e-02,
  4.46507120e-03,-3.73828769e-03,-1.84951130e-02, 2.86138827e-02,
  1.29955702e-02, 3.35903926e-03,-9.95279402e-03, 2.59023682e-02,
  8.59395810e-01,-5.40472788e-04, 6.63080017e-01, 6.53907169e-02,
  9.35549110e-02,-7.00252146e-02, 1.30995587e-01, 5.04961275e-01,
  4.94055015e-01, 4.95412590e-01, 5.05460303e-01]

qacc:
[  0.97811801,  0.21233815, -3.07425605, 10.1864143 ,  0.47637638,
   0.14059233, -2.21574852,  7.50633641, -1.19154628, -0.65365743,
   1.42913533,  0.18950592, -1.26496607,  2.19546839,  0.35007798,
  -5.33451505,  0.10672374,  0.98844128, -0.2326406 ,  1.63386842,
   0.38696241,-14.2596108 ]

qfrc_actuator:
[ 6.71554652e-05,-1.29629806e-04,-1.09301588e-04,-3.88221663e-06,
  5.74583369e-05,-3.41019910e-04,-2.70302171e-04,-5.15231507e-05,
  1.79781965e-05,-4.30479091e-05,-1.11826151e-04, 1.48028926e-05,
  4.50668860e-02,-8.46187488e-04, 2.61781391e-02,-3.78992967e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002602476046514035
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.19981979e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.19981979e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09149884, -0.08816602,  0.06199256])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.66480373e-06,-3.59426904e-05,-3.70239441e-06, 1.88881534e-05,
  2.75611551e-06,-2.54219278e-05,-1.82233687e-06, 1.42085711e-05,
 -7.03843228e-06,-2.56770018e-05, 4.97684478e-06, 4.18869855e-06,
 -2.80053665e-04,-5.20658865e-05,-1.85070814e-04,-7.96094734e-05,
 -5.38951172e-06, 7.25914417e-06,-1.21646012e+00,-4.55960634e-04,
  2.71130595e-05,-5.50736934e-04]


--- Step 466 ---
qpos:
[ 6.18363165e-03,-1.80924249e-03,-5.00527105e-03, 3.35697362e-02,
  4.46624153e-03,-3.73807772e-03,-1.84951780e-02, 2.86132218e-02,
  1.29960838e-02, 3.35898724e-03,-9.95269692e-03, 2.59019906e-02,
  8.60373405e-01,-5.37804351e-04, 6.63946900e-01, 6.53880243e-02,
  9.35313128e-02,-6.99897046e-02, 1.30995032e-01, 5.05169087e-01,
  4.93836694e-01, 4.95460616e-01, 5.05418927e-01]

qacc:
[  0.46564662,  0.42434297, -4.85863287, 15.56332001,  0.2006079 ,
  -0.46488817,  1.25824051, -2.8799063 ,  2.32314514, -2.32448718,
  10.08465682,-21.08140702, -1.6090963 ,  3.26440353,  5.9596292 ,
 -25.40604153,  0.76267811, -2.24997685,  0.74718949, 11.11997332,
  -2.19589942, 32.62547812]

qfrc_actuator:
[ 6.96524768e-05,-1.53079998e-04,-1.04858440e-04, 2.66169295e-05,
  5.85263003e-05,-3.96219083e-04,-2.91310655e-04,-6.12060033e-05,
  3.16820254e-05,-9.15102215e-05,-1.15805866e-04,-2.01937904e-05,
  4.49823537e-02,-8.25461834e-04, 2.60498762e-02,-3.94956710e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002696333075185575
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02938231e-13, -3.08814692e-13,  1.00000000e+00,  3.17888380e-26,
        1.00000000e+00,  3.08814692e-13, -1.00000000e+00,  0.00000000e+00,
        1.02938231e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08250155, -0.03126426,  0.06199229])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.64606091e-06,-4.34948890e-05,-2.77581770e-06, 2.92007175e-05,
  1.13730346e-06,-6.92071081e-05,-2.60006253e-05,-1.05595696e-05,
  1.34958961e-05,-6.16307801e-05,-8.53034710e-06,-3.58444601e-05,
 -2.79290519e-04,-3.72044286e-05,-2.25920204e-04,-1.88820651e-04,
 -5.62597263e-06, 8.44129213e-06,-1.21646279e+00,-4.55197967e-04,
  2.82861174e-05,-5.49684143e-04]


--- Step 467 ---
qpos:
[ 6.18500477e-03,-1.80999598e-03,-5.00601328e-03, 3.35695180e-02,
  4.46741540e-03,-3.73810389e-03,-1.84955953e-02, 2.86124307e-02,
  1.29971023e-02, 3.35869650e-03,-9.95243871e-03, 2.59008188e-02,
  8.61349450e-01,-5.35487317e-04, 6.64811380e-01, 6.53840202e-02,
  9.35106468e-02,-6.99629109e-02, 1.30996148e-01, 5.05336377e-01,
  4.93662618e-01, 4.95486242e-01, 5.05396627e-01]

qacc:
[-2.89042569e+00,-2.74847703e-01, 1.94665314e+00,-7.03264816e+00,
  2.39143993e-02, 4.04432493e-01,-1.34562493e+00,-1.69320414e-01,
  4.45207252e+00,-2.40925882e+00, 1.14708851e+01,-2.52815783e+01,
 -6.60348052e-01, 2.82736276e-01, 4.26694789e-01,-6.61211981e+00,
  7.33062507e-01,-2.17906197e+00, 4.17737145e-01, 1.07949361e+01,
 -2.09067359e+00, 3.15502674e+01]

qfrc_actuator:
[ 5.26864534e-05,-1.66696833e-04,-1.19811135e-04, 9.00146100e-06,
  5.86854168e-05,-3.93621102e-04,-3.03792110e-04,-6.66734773e-05,
  5.72939397e-05,-8.47750598e-05,-1.00557805e-04,-5.84068811e-05,
  4.48965339e-02,-8.49840640e-04, 2.59524813e-02,-4.00694982e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002939696691713206
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88832921e-13, -9.44164604e-14,  1.00000000e+00,  1.78289360e-26,
        1.00000000e+00,  9.44164604e-14, -1.00000000e+00,  0.00000000e+00,
        1.88832921e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08250447, -0.03127777,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69048839e-05,-3.72409764e-05,-2.32586965e-05,-1.90053613e-05,
  1.68940897e-07,-4.19304561e-05,-3.03448282e-05,-9.53741556e-06,
  2.59755232e-05,-3.10193388e-05, 2.26746543e-07,-4.18467071e-05,
 -2.77660104e-04,-8.01585171e-05,-2.24434112e-04,-9.75363482e-05,
 -4.00203185e-06, 5.57452355e-06,-1.21645534e+00,-4.55418124e-04,
  2.31233098e-05,-5.48777166e-04]


--- Step 468 ---
qpos:
[ 6.18581874e-03,-1.81062947e-03,-5.00708573e-03, 3.35687080e-02,
  4.46823710e-03,-3.73838190e-03,-1.84959399e-02, 2.86118976e-02,
  1.29973848e-02, 3.35837501e-03,-9.95184513e-03, 2.58991585e-02,
  8.62323902e-01,-5.33708520e-04, 6.65673537e-01, 6.53818690e-02,
  9.34928143e-02,-6.99445952e-02, 1.30997823e-01, 5.05464265e-01,
  4.93531552e-01, 4.95490187e-01, 5.05392875e-01]

qacc:
[-4.92940368e+00,-1.26871136e-01, 3.19674474e+00,-1.30140732e+01,
 -3.07548396e+00, 6.67016195e-04,-1.56408812e+00, 6.08569956e+00,
 -6.46567878e+00,-1.97104770e+00, 9.05375552e+00,-1.80468149e+01,
 -4.05616440e-01,-5.56201649e-01,-9.01493731e+00, 2.65645847e+01,
  7.08378126e-01,-2.11950556e+00, 1.39909567e-01, 1.05192857e+01,
 -2.00633066e+00, 3.06504216e+01]

qfrc_actuator:
[ 2.44019137e-05,-1.38930787e-04,-1.28341329e-04,-1.90383240e-05,
  4.05565805e-05,-3.91910170e-04,-2.93150046e-04,-5.18068562e-05,
  1.86928308e-05,-6.27218075e-05,-7.38562820e-05,-8.03895095e-05,
  4.48046623e-02,-8.82936528e-04, 2.58843561e-02,-3.89696996e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031122464673453976
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.45909023e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.45909023e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08250646, -0.03128732,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.87732786e-05, 1.34798029e-06,-1.97278461e-05,-3.08059787e-05,
 -1.81370217e-05,-2.84053123e-05,-2.07976597e-06, 1.18368564e-05,
 -3.78731162e-05, 2.98300334e-06, 1.88770445e-05,-2.41166964e-05,
 -2.90626336e-04,-9.40920348e-05,-1.83743441e-04, 7.52397396e-05,
 -2.69732961e-06, 3.37022105e-06,-1.21644961e+00,-4.55461439e-04,
  1.89436090e-05,-5.48095593e-04]


--- Step 469 ---
qpos:
[ 6.18663223e-03,-1.81119712e-03,-5.00803243e-03, 3.35678883e-02,
  4.46883517e-03,-3.73902757e-03,-1.84958318e-02, 2.86115346e-02,
  1.29972028e-02, 3.35806553e-03,-9.95124505e-03, 2.58972643e-02,
  8.63296639e-01,-5.32000360e-04, 6.66534140e-01, 6.53769537e-02,
  9.34777331e-02,-6.99345579e-02, 1.30999121e-01, 5.05553687e-01,
  4.93442461e-01, 4.95473046e-01, 5.05407229e-01]

qacc:
[-1.34947487e-03,-2.84667330e-01, 1.18251452e+00,-1.60124949e+00,
 -1.93665786e+00,-1.39618294e+00, 3.56113816e+00,-1.07482396e+00,
 -4.08840038e+00,-4.75580649e-01, 2.71972026e+00,-6.80018095e+00,
 -1.13099727e+00, 1.60899011e+00, 6.09096773e+00,-2.45420293e+01,
  6.87817295e-01,-2.06958588e+00,-9.43174542e-02, 1.02859047e+01,
 -1.93879108e+00, 2.98984429e+01]

qfrc_actuator:
[ 2.51937266e-05,-1.22089753e-04,-1.15079688e-04,-1.74306064e-05,
  2.95619021e-05,-4.08373929e-04,-2.68917929e-04,-4.28283689e-05,
 -4.13926838e-06,-6.70954395e-05,-7.60266562e-05,-9.26217792e-05,
  4.47198708e-02,-8.85430005e-04, 2.57965914e-02,-4.04426484e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032267449130983505
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00,  4.300863e-14,  1.000000e+00,  0.000000e+00,
        1.000000e+00, -4.300863e-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([ 0.08250769, -0.03129364,  0.06199078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.04864753e-08, 1.22243500e-05, 1.00665197e-05, 3.89998323e-07,
 -1.15230947e-05,-3.22612198e-05, 1.85275358e-05, 7.92291642e-06,
 -2.39075286e-05, 1.56361878e-07,-6.11976593e-08,-1.19158885e-05,
 -2.94193339e-04,-6.80431366e-05,-1.66717431e-04,-1.67468491e-04,
 -1.67768857e-06, 1.76167876e-06,-1.21644543e+00,-4.55357424e-04,
  1.56554073e-05,-5.47629698e-04]


--- Step 470 ---
qpos:
[ 6.18710371e-03,-1.81173514e-03,-5.00854972e-03, 3.35674225e-02,
  4.46929645e-03,-3.73970956e-03,-1.84958504e-02, 2.86116249e-02,
  1.29970930e-02, 3.35804695e-03,-9.95135805e-03, 2.58952527e-02,
  8.64267654e-01,-5.30313121e-04, 6.67392996e-01, 6.53712254e-02,
  9.34653347e-02,-6.99326319e-02, 1.30999252e-01, 5.05605427e-01,
  4.93394477e-01, 4.95435304e-01, 5.05439316e-01]

qacc:
[-2.99406938,-0.42682255, 0.09504681, 5.30911321,-1.20027485, 1.23994385,
 -6.40056086,14.46778819, 0.60827805, 2.13431436,-6.55808496, 5.45223484,
 -1.12149269, 1.63174629,-0.07955827,-3.36212273, 0.67071273,-2.02785315,
 -0.29166802,10.08883857,-1.88476593,29.27163015]

qfrc_actuator:
[ 7.59106972e-06,-1.11797580e-04,-8.90668496e-05, 1.62041335e-06,
  2.28600469e-05,-4.00020682e-04,-2.72446131e-04,-1.96455844e-05,
  2.65666411e-07,-5.18504019e-05,-1.13078084e-04,-9.90632013e-05,
  4.46340701e-02,-8.87566974e-04, 2.57343379e-02,-4.07575927e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.64410945, -4.1504448 ,  2.08364118, -4.1504448 , 10.92260562,
       12.50625684,  2.08364118, 12.50625684, 29.55556214,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003293922817188266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.68525962e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.68525962e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08250831, -0.03129734,  0.06199059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75964711e-05, 1.92550941e-05, 2.98100043e-05, 1.99357858e-05,
 -7.04335519e-06,-5.50168830e-06,-7.62785021e-06, 2.25979861e-05,
  3.72553592e-06, 1.48086829e-05,-3.74373617e-05,-6.66420225e-06,
 -2.92793525e-04,-6.50576739e-05,-1.62631839e-04,-6.35209738e-05,
 -9.16641167e-07, 6.97293559e-07,-1.21644266e+00,-4.55127594e-04,
  1.31863866e-05,-5.47371793e-04]


--- Step 471 ---
qpos:
[ 6.18736039e-03,-1.81185207e-03,-5.00944073e-03, 3.35668483e-02,
  4.47001846e-03,-3.74019084e-03,-1.84963649e-02, 2.86130231e-02,
  1.29966920e-02, 3.35773558e-03,-9.95116234e-03, 2.58935293e-02,
  8.65236910e-01,-5.28613659e-04, 6.68250443e-01, 6.53656718e-02,
  9.34555624e-02,-6.99386783e-02, 1.30997553e-01, 5.05620132e-01,
  4.93386874e-01, 4.95377355e-01, 5.05488824e-01]

qacc:
[ -1.90773454,  1.38201771, -3.65618265,  2.06159676,  2.26385329,
   4.33510357,-20.60424145, 43.89360524, -2.54770079, -0.65124088,
   0.55176588,  4.15112743, -1.16149582,  1.73671022, -2.5565742 ,
   6.04082144,  0.65651019, -1.99307875, -0.45781447,  9.92306203,
  -1.84159292, 28.75110524]

qfrc_actuator:
[-2.95390534e-06,-8.76722172e-05,-1.09015142e-04,-4.72753654e-06,
  3.64891305e-05,-3.76961519e-04,-2.92232230e-04, 4.72140066e-05,
 -1.48434432e-05,-7.83757524e-05,-9.93306252e-05,-8.43002860e-05,
  4.45424003e-02,-8.89511498e-04, 2.56981161e-02,-4.05637150e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.65505674, -4.3506689 ,  1.65566704, -4.3506689 ,  8.22400507,
        9.37828206,  1.65566704,  9.37828206, 29.29877984,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003322789628470435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.35309445e-14, -4.17654723e-14,  1.00000000e+00,  3.48870935e-27,
        1.00000000e+00,  4.17654723e-14, -1.00000000e+00,  0.00000000e+00,
        8.35309445e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08250842, -0.03129893,  0.06199051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10382845e-05, 4.19238638e-05,-1.15959389e-05,-4.09939801e-06,
  1.34253329e-05, 1.93978713e-05,-2.10718814e-05, 6.68013366e-05,
 -1.49968774e-05,-2.62555890e-05, 1.19703390e-05, 1.39770698e-05,
 -2.96951597e-04,-6.43586888e-05,-1.22832486e-04,-6.24108550e-06,
 -3.93729758e-07, 1.37385182e-07,-1.21644122e+00,-4.54787566e-04,
  1.14795244e-05,-5.47315780e-04]


--- Step 472 ---
qpos:
[ 6.18748862e-03,-1.81158133e-03,-5.01087422e-03, 3.35665643e-02,
  4.47124301e-03,-3.74039651e-03,-1.84974487e-02, 2.86152067e-02,
  1.29961131e-02, 3.35705418e-03,-9.95049428e-03, 2.58926855e-02,
  8.66204377e-01,-5.26626791e-04, 6.69106386e-01, 6.53597004e-02,
  9.34483691e-02,-6.99525815e-02, 1.30993462e-01, 5.05598336e-01,
  4.93419047e-01, 4.95299520e-01, 5.05555489e-01]

qacc:
[-1.15309131e+00, 2.62862194e+00,-9.84967203e+00, 1.54480379e+01,
  4.37611680e+00, 3.56034860e+00,-1.54984497e+01, 2.98139324e+01,
 -1.54371805e+00, 4.32849675e-03,-4.43349862e+00, 1.91674852e+01,
 -1.47916893e+00, 2.76608544e+00,-8.90780925e-01, 5.30005364e-02,
  6.44747298e-01,-1.96421663e+00,-5.97566878e-01, 9.78430560e+00,
 -1.80710863e+00, 2.83210735e+01]

qfrc_actuator:
[-9.25468730e-06,-7.34028835e-05,-1.38156108e-04, 9.51098892e-06,
  6.19739623e-05,-3.63053939e-04,-3.21353202e-04, 8.59856845e-05,
 -2.35737831e-05,-9.39907377e-05,-7.35930214e-05,-3.94209278e-05,
  4.44579260e-02,-8.73612699e-04, 2.56242878e-02,-4.07812760e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000332089457587198
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.35786111e-14,  1.67157222e-13,  1.00000000e+00, -1.39707685e-26,
        1.00000000e+00, -1.67157222e-13, -1.00000000e+00,  0.00000000e+00,
        8.35786111e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08250813, -0.03129882,  0.06199052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.59796871e-06, 3.51537703e-05,-2.20377768e-05, 1.55579613e-05,
  2.58731726e-05, 2.32902326e-05,-2.53905513e-05, 4.01724703e-05,
 -9.16775598e-06,-2.72193209e-05, 2.22775863e-05, 4.44450463e-05,
 -2.91961875e-04,-4.74605715e-05,-1.37588710e-04,-3.94970082e-05,
 -9.32212599e-08, 5.17808786e-08,-1.21644102e+00,-4.54348600e-04,
  1.04900112e-05,-5.47456819e-04]


--- Step 473 ---
qpos:
[ 6.18754048e-03,-1.81130477e-03,-5.01224249e-03, 3.35668057e-02,
  4.47207419e-03,-3.74092097e-03,-1.84983045e-02, 2.86171690e-02,
  1.29950886e-02, 3.35650983e-03,-9.95000507e-03, 2.58927110e-02,
  8.67170109e-01,-5.24447076e-04, 6.69959859e-01, 6.53565826e-02,
  9.34437159e-02,-6.99742463e-02, 1.30986512e-01, 5.05540473e-01,
  4.93490492e-01, 4.95202052e-01, 5.05639092e-01]

qacc:
[ -0.66918137,  0.90848595, -5.44353968, 14.42425022, -3.43031665,
  -1.50582916,  5.70422409, -9.67601173, -3.9287269 ,  2.47795824,
 -12.2294963 , 27.44432071, -1.21714086,  2.06811951,-12.19783827,
  37.51630731,  0.63503704, -1.94037324, -0.71501987,  9.66892368,
  -1.77954862, 27.968256  ]

qfrc_actuator:
[-1.30093723e-05,-8.29348118e-05,-1.36989180e-04, 3.57461954e-05,
  4.09682592e-05,-4.08050381e-04,-3.20298109e-04, 7.23987034e-05,
 -4.62263190e-05,-6.73598901e-05,-7.64537307e-05, 5.06914281e-06,
  4.43725092e-02,-8.65040610e-04, 2.55119776e-02,-3.92876821e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003294547517439378
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.52741010e-13, -2.52741010e-13,  1.00000000e+00,  6.38780184e-26,
        1.00000000e+00,  2.52741010e-13, -1.00000000e+00,  0.00000000e+00,
        2.52741010e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08250752, -0.03129737,  0.06199059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.92911024e-06, 6.24566358e-06, 6.26683132e-06, 2.72853759e-05,
 -2.02591400e-05,-3.54711662e-05, 4.13730184e-06,-1.26886735e-05,
 -2.29268854e-05, 1.79297547e-05,-4.19958886e-06, 4.49615879e-05,
 -2.86498993e-04,-5.16726021e-05,-1.85982776e-04, 1.28002797e-04,
 -3.12525493e-09, 4.17961966e-07,-1.21644200e+00,-4.53818750e-04,
  1.01828465e-05,-5.47791066e-04]


--- Step 474 ---
qpos:
[ 6.18789187e-03,-1.81104346e-03,-5.01353618e-03, 3.35670165e-02,
  4.47230296e-03,-3.74244769e-03,-1.84982447e-02, 2.86193400e-02,
  1.29941454e-02, 3.35613189e-03,-9.94979699e-03, 2.58922366e-02,
  8.68134139e-01,-5.22422183e-04, 6.70811072e-01, 6.53529543e-02,
  9.34415709e-02,-7.00035941e-02, 1.30976307e-01, 5.05446890e-01,
  4.93600794e-01, 4.95085151e-01, 5.05739450e-01]

qacc:
[ 2.63627532e+00,-2.96766566e-01, 1.14903689e+00,-1.77655621e+00,
 -5.22631038e+00,-3.44209438e+00, 9.48814574e+00,-6.62072396e+00,
  7.03618474e-01,-2.46252187e-02, 2.51502136e+00,-1.08362579e+01,
 -9.49485097e-01, 1.08432674e+00,-1.75969855e+00, 1.38947427e+00,
  6.27054589e-01,-1.92078373e+00,-8.13668305e-01, 9.57379273e+00,
 -1.75746884e+00, 2.76814465e+01]

qfrc_actuator:
[ 2.51552192e-06,-8.87680789e-05,-1.35780841e-04, 3.33228848e-05,
  1.05157545e-05,-4.87905083e-04,-2.83954145e-04, 8.13470004e-05,
 -4.13880478e-05,-6.89984945e-05,-9.60111610e-05,-2.20264336e-05,
  4.42759348e-02,-8.78637583e-04, 2.53820451e-02,-3.96388617e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003249006477155647
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.56283659e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.56283659e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08250666, -0.03129487,  0.06199072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54144448e-05, 1.26987945e-07, 4.22671851e-06,-1.40575100e-06,
 -3.10432375e-05,-9.93616372e-05, 2.91005185e-05, 7.32392300e-06,
  4.19024806e-06, 9.44982077e-06,-1.48148887e-05,-2.55966717e-05,
 -2.94921610e-04,-7.33258147e-05,-2.03764615e-04,-5.25639906e-05,
 -1.14437176e-07, 1.21962942e-06,-1.21644411e+00,-4.53203708e-04,
  1.05309446e-05,-5.48315462e-04]


--- Step 475 ---
qpos:
[ 6.18842656e-03,-1.81079668e-03,-5.01477552e-03, 3.35668530e-02,
  4.47216435e-03,-3.74429679e-03,-1.84982410e-02, 2.86215815e-02,
  1.29932675e-02, 3.35567974e-03,-9.94971034e-03, 2.58911166e-02,
  8.69096386e-01,-5.20499021e-04, 6.71660960e-01, 6.53451019e-02,
  9.34419080e-02,-7.00405612e-02, 1.30962516e-01, 5.05317860e-01,
  4.93749607e-01, 4.94948968e-01, 5.05856407e-01]

qacc:
[  1.61352563, -0.94504869,  4.91634814,-11.46430601, -3.21160224,
  -0.11809653, -0.48402614,  2.01932555,  0.57137764, -1.08873558,
   6.46365904,-17.38634023, -1.20098023,  1.69210952, 10.83640693,
 -40.64900418,  0.62052683, -1.90479265, -0.89650009,  9.49623075,
  -1.73968366, 27.45116197]

qfrc_actuator:
[ 1.15101889e-05,-9.23634159e-05,-1.34583112e-04, 1.40502890e-05,
 -7.48581399e-06,-4.81347969e-04,-2.80473737e-04, 8.57224180e-05,
 -3.81566100e-05,-8.76829679e-05,-1.07660178e-04,-5.55467700e-05,
  4.41780513e-02,-8.87512831e-04, 2.53214961e-02,-4.17847815e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003188637342018963
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74090514e-13, -3.48181027e-13,  1.00000000e+00,  6.06150138e-26,
        1.00000000e+00,  3.48181027e-13, -1.00000000e+00,  0.00000000e+00,
        1.74090514e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08250561, -0.03129155,  0.06199089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.43333091e-06,-2.70200894e-06, 1.70652775e-06,-1.91471493e-05,
 -1.89244934e-05,-4.26418676e-05,-1.31913175e-05, 1.26641048e-06,
  3.35436525e-06,-1.75464347e-05,-1.24055684e-05,-3.41250553e-05,
 -3.06285650e-04,-7.28886556e-05,-1.62594357e-04,-2.44376351e-04,
 -4.20550511e-07, 2.44558609e-06,-1.21644733e+00,-4.52507452e-04,
  1.15136327e-05,-5.49027576e-04]


--- Step 476 ---
qpos:
[ 6.18872023e-03,-1.81073423e-03,-5.01591281e-03, 3.35664787e-02,
  4.47181045e-03,-3.74599843e-03,-1.84989883e-02, 2.86238452e-02,
  1.29920903e-02, 3.35505154e-03,-9.94976405e-03, 2.58903092e-02,
  8.70056892e-01,-5.18691613e-04, 6.72509628e-01, 6.53355565e-02,
  9.34447061e-02,-7.00850956e-02, 1.30944861e-01, 5.05153588e-01,
  4.93936651e-01, 4.94793615e-01, 5.05989838e-01]

qacc:
[ -2.11301968, -0.95877868,  3.96176079, -7.64386743, -1.91017344,
   2.34199723, -8.15595687,  9.62616611, -2.63514381,  0.80810175,
  -4.52975441, 10.28350199, -1.08301903,  1.41853431,  3.34835036,
 -14.23621298,  0.61522382, -1.89183807, -0.96607182,  9.43393234,
  -1.72521663, 27.26936229]

qfrc_actuator:
[-1.16950406e-06,-1.12363247e-04,-1.33401346e-04, 2.77674800e-06,
 -1.80108745e-05,-4.58727990e-04,-3.13858614e-04, 8.74087876e-05,
 -5.36583745e-05,-9.86682656e-05,-1.14611378e-04,-3.93183633e-05,
  4.40954281e-02,-8.93546206e-04, 2.53025743e-02,-4.24830011e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031170500963859094
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78088736e-13, -2.22610920e-13,  1.00000000e+00,  3.96444974e-26,
        1.00000000e+00,  2.22610920e-13, -1.00000000e+00,  0.00000000e+00,
        1.78088736e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08250442, -0.03128762,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24111735e-05,-2.19712663e-05, 1.82376587e-07,-1.17008520e-05,
 -1.10800526e-05,-3.84011785e-06,-4.37563872e-05,-5.72948232e-07,
 -1.54122342e-05,-2.48060560e-05,-1.32786880e-05, 1.43860952e-05,
 -2.98382543e-04,-7.22773937e-05,-1.26581825e-04,-1.05736826e-04,
 -9.16797426e-07, 4.08886121e-06,-1.21645163e+00,-4.51732727e-04,
  1.31154516e-05,-5.49925473e-04]


--- Step 477 ---
qpos:
[ 6.18885982e-03,-1.81095539e-03,-5.01671062e-03, 3.35663141e-02,
  4.47133306e-03,-3.74766527e-03,-1.85004438e-02, 2.86264684e-02,
  1.29907362e-02, 3.35450244e-03,-9.94974826e-03, 2.58896545e-02,
  8.71015781e-01,-5.17021319e-04, 6.73356250e-01, 6.53292252e-02,
  9.34499117e-02,-7.01248681e-02, 1.30933940e-01, 5.04998059e-01,
  4.94112800e-01, 4.94663828e-01, 5.06099989e-01]

qacc:
[ -1.33917154, -0.88953499,  1.74711632,  1.54271224, -1.1033627 ,
   2.76460365,-11.30504411, 18.62575777, -1.55575493,  0.22782175,
  -1.30042763,  3.76951185, -0.80227405,  0.79695481,-12.68477814,
  40.06917641,  0.60189629,  1.19046791,  1.68353343,  7.31674873,
   1.30162795,-17.10136352]

qfrc_actuator:
[-8.75017522e-06,-1.24277524e-04,-1.14545973e-04, 1.40414324e-05,
 -2.40551844e-05,-4.62316465e-04,-3.50892594e-04, 1.05254331e-04,
 -6.23089564e-05,-6.93972694e-05,-1.00923773e-04,-2.94458891e-05,
  4.40273474e-02,-8.97819741e-04, 2.52341062e-02,-4.07232766e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000322468091865577
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.60723163e-14,  1.72144633e-13,  1.00000000e+00, -1.48168873e-26,
        1.00000000e+00, -1.72144633e-13, -1.00000000e+00,  0.00000000e+00,
        8.60723163e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0860018 , -0.08821515,  0.06199078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.93970817e-06,-2.46578888e-05, 1.39481107e-05, 1.01054613e-05,
 -6.36036963e-06,-1.47367306e-05,-4.32128828e-05, 1.61566765e-05,
 -9.09937325e-06, 1.32889955e-05, 7.43499314e-06, 8.63368367e-06,
 -2.78013381e-04,-6.91797588e-05,-1.45273327e-04, 1.52156775e-04,
 -1.60008797e-06, 6.14602211e-06,-1.21645698e+00,-4.50881416e-04,
  1.53251946e-05,-5.51007612e-04]


--- Step 478 ---
qpos:
[ 6.18925217e-03,-1.81128662e-03,-5.01705556e-03, 3.35662550e-02,
  4.47113154e-03,-3.74919535e-03,-1.85018506e-02, 2.86288735e-02,
  1.29896331e-02, 3.35468853e-03,-9.94961857e-03, 2.58890342e-02,
  8.71973013e-01,-5.15114978e-04, 6.74200250e-01, 6.53271280e-02,
  9.34565843e-02,-7.01600225e-02, 1.30928517e-01, 5.04854187e-01,
  4.94275735e-01, 4.94555597e-01, 5.06190191e-01]

qacc:
[  2.23878514, -1.19837579,  3.6081672 , -2.41481435,  2.41340559,
  -0.40810139,  2.63018048, -6.57356804,  2.20027721,  0.71968436,
  -1.30860666,  1.18740367, -1.16085217,  2.01266854,-16.58846582,
  52.5507449 ,  0.3667419 ,  1.15453417,  1.37451052,  4.17212938,
   0.97512154,-16.58087193]

qfrc_actuator:
[ 4.49067272e-06,-1.13414829e-04,-8.53646761e-05, 2.07403091e-05,
 -9.66408785e-06,-4.28318424e-04,-3.36600680e-04, 9.69441375e-05,
 -4.90988879e-05, 1.93480335e-05,-7.50065960e-05,-2.33522093e-05,
  4.39520663e-02,-8.83217080e-04, 2.51040737e-02,-3.85962437e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 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: -0.00034299958267069216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.61832986e-07,  1.66897797e-13,  1.00000000e+00,  4.36993486e-20,
        1.00000000e+00, -1.66897797e-13, -1.00000000e+00,  0.00000000e+00,
       -2.61832986e-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([ 0.08878718, -0.08817737,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30070572e-05, 4.02529007e-07, 2.61678737e-05, 6.32447350e-06,
  1.42053365e-05, 1.75935349e-05, 6.51500717e-06,-1.01211400e-05,
  1.29536771e-05, 9.80960666e-05, 2.98833912e-05, 7.09122099e-06,
 -2.70918198e-04,-4.61148331e-05,-1.84321526e-04, 2.01411146e-04,
 -1.63508855e-06, 5.09743952e-06,-1.21645374e+00,-4.51718998e-04,
  1.63651645e-05,-5.51953830e-04]


--- Step 479 ---
qpos:
[ 6.18945504e-03,-1.81150851e-03,-5.01738860e-03, 3.35659334e-02,
  4.47144867e-03,-3.75036719e-03,-1.85028784e-02, 2.86300716e-02,
  1.29893866e-02, 3.35593807e-03,-9.94965641e-03, 2.58884674e-02,
  8.72928518e-01,-5.12967602e-04, 6.75041829e-01, 6.53292303e-02,
  9.34646517e-02,-7.01906958e-02, 1.30927386e-01, 5.04721591e-01,
  4.94426019e-01, 4.94468382e-01, 5.06260848e-01]

qacc:
[ -1.66779605, -0.42616894,  2.84324649, -7.49284093,  4.54425919,
  -3.07612538, 16.73747371,-38.47919892,  7.51361708,  1.96917587,
  -5.23318456,  5.67162111, -1.2213833 ,  2.11657112,-16.18397892,
  51.57375321,  0.34871471,  1.12026473,  1.07298192,  4.17194218,
   0.88785308,-16.10943364]

qfrc_actuator:
[-5.62605211e-06,-1.06698678e-04,-8.57422733e-05, 6.96727356e-06,
  1.66382923e-05,-3.89636997e-04,-3.09739310e-04, 3.78689216e-05,
 -5.37699385e-06, 8.98323068e-05,-7.73291330e-05,-1.94684621e-05,
  4.38565494e-02,-8.75359649e-04, 2.50011376e-02,-3.64494092e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003570757964149833
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.42461482e-07,  4.37232415e-14,  1.00000000e+00, -1.93458502e-20,
        1.00000000e+00, -4.37232415e-14, -1.00000000e+00,  0.00000000e+00,
        4.42461482e-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([ 0.08878666, -0.0881738 ,  0.0619898 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.74666216e-06, 1.26370767e-05, 3.15445946e-06,-1.27262816e-05,
  2.67144655e-05, 4.95033223e-05, 3.09761992e-05,-5.82921870e-05,
  4.41232436e-05, 1.31811008e-04, 2.18627047e-05, 9.25951685e-06,
 -2.82226192e-04,-4.84792534e-05,-1.67438891e-04, 2.01633515e-04,
 -1.56425187e-06, 4.10965678e-06,-1.21645094e+00,-4.52402659e-04,
  1.66721924e-05,-5.52774438e-04]


--- Step 480 ---
qpos:
[ 6.18919040e-03,-1.81173325e-03,-5.01796986e-03, 3.35658275e-02,
  4.47207854e-03,-3.75088174e-03,-1.85039739e-02, 2.86298537e-02,
  1.29896667e-02, 3.35765158e-03,-9.95000457e-03, 2.58876938e-02,
  8.73882288e-01,-5.10677381e-04, 6.75882366e-01, 6.53320213e-02,
  9.34732899e-02,-7.02169898e-02, 1.30929669e-01, 5.04602966e-01,
  4.94561429e-01, 4.94398685e-01, 5.06314902e-01]

qacc:
[ -4.11832744,  1.14242149, -4.97555015,  9.09292104,  2.72273988,
  -1.85949807, 13.86140007,-38.73295757,  4.61648583,  1.04583102,
  -1.98178402, -1.42558491, -1.27597802,  2.13949411, -3.5576463 ,
  10.35186762,  0.14266778,  1.09482955,  0.85358339,  1.33202715,
   0.62817784,-15.7347965 ]

qfrc_actuator:
[-2.94161727e-05,-1.20398476e-04,-1.03595396e-04, 1.67422988e-05,
  3.19816720e-05,-3.48421715e-04,-3.11191449e-04,-3.28365133e-05,
  2.04408677e-05, 5.99744449e-05,-1.14112272e-04,-3.46962354e-05,
  4.37649343e-02,-8.71648760e-04, 2.49731193e-02,-3.60825453e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.79441914, -1.2985935 , -4.6152042 , -1.2985935 , 12.17770253,
       -2.07745604, -4.6152042 , -2.07745604,  5.37895902,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036609882196360355
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.51628871e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.51628871e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09148467, -0.08814032,  0.06198954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.40613279e-05,-6.51818406e-06,-1.52871565e-05, 1.01803186e-05,
  1.61249549e-05, 7.28587785e-05, 1.05936974e-05,-6.86454730e-05,
  2.71199534e-05, 4.87355234e-05,-6.55750306e-06,-8.64574830e-06,
 -2.86066602e-04,-5.52426870e-05,-8.56768338e-05, 2.55935417e-05,
 -1.49296992e-06, 3.24560276e-06,-1.21644859e+00,-4.53036949e-04,
  1.68077768e-05,-5.53492818e-04]


--- Step 481 ---
qpos:
[ 6.18864283e-03,-1.81220724e-03,-5.01866522e-03, 3.35662079e-02,
  4.47288760e-03,-3.75061978e-03,-1.85054549e-02, 2.86287969e-02,
  1.29902554e-02, 3.35868434e-03,-9.95024519e-03, 2.58872102e-02,
  8.74834345e-01,-5.08321505e-04, 6.76722213e-01, 6.53295699e-02,
  9.34824672e-02,-7.02390041e-02, 1.30934500e-01, 5.04497984e-01,
  4.94682404e-01, 4.94346185e-01, 5.06352597e-01]

qacc:
[ -2.48680052,  0.9956389 , -6.07211719, 14.84371157,  1.54246448,
   0.37446991,  3.6916905 ,-18.16207424,  2.73161908, -0.60880335,
  -0.36811768,  5.72511052, -1.37933613,  2.31767757, 14.85788719,
 -53.32836566,  0.13481103,  1.06993205,  0.63673247,  1.38177737,
   0.57450977,-15.40193602]

qfrc_actuator:
[-4.33038890e-05,-1.46279370e-04,-1.13925833e-04, 4.02728163e-05,
  4.07481166e-05,-3.06128466e-04,-3.29336560e-04,-7.43230590e-05,
  3.55035725e-05,-4.76672089e-05,-1.35856691e-04,-2.56467855e-05,
  4.36757232e-02,-8.70424023e-04, 2.48994763e-02,-3.88956706e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.81356461, -0.26913127, -4.80603502, -0.26913127, 12.77174279,
       -0.44564689, -4.80603502, -0.44564689,  4.83852021,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003703720801091076
  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([ 0.0914839 , -0.08813938,  0.06198942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45726051e-05,-3.22398465e-05,-1.31965748e-05, 2.29235036e-05,
  9.25492665e-06, 8.23196733e-05,-4.14746049e-06,-3.93301380e-05,
  1.58557422e-05,-8.21594174e-05,-1.27993482e-05, 1.07404255e-05,
 -2.87121748e-04,-5.95766273e-05,-1.18491611e-04,-2.92915247e-04,
 -1.33339004e-06, 2.45151872e-06,-1.21644653e+00,-4.53575900e-04,
  1.64862870e-05,-5.54101961e-04]


--- Step 482 ---
qpos:
[ 6.18793292e-03,-1.81301801e-03,-5.01914717e-03, 3.35668562e-02,
  4.47345085e-03,-3.74986199e-03,-1.85068275e-02, 2.86279435e-02,
  1.29913656e-02, 3.35876186e-03,-9.95026928e-03, 2.58872139e-02,
  8.75784725e-01,-5.06220011e-04, 6.77560586e-01, 6.53244263e-02,
  9.34921592e-02,-7.02568217e-02, 1.30941149e-01, 5.04406375e-01,
  4.94789311e-01, 4.94310609e-01, 5.06374139e-01]

qacc:
[ -1.4147448 , -0.48755988, -0.03316422,  4.56923509, -2.15626227,
   0.7744713 , -2.66228796,  5.63594455,  4.61232037, -0.87350715,
  -0.79051406,  9.59862527, -0.92603117,  0.93241557,  5.97963061,
 -24.0106458 ,  0.12865379,  1.04916927,  0.45471756,  1.42104195,
   0.53051409,-15.12327212]

qfrc_actuator:
[-5.12477322e-05,-1.61468761e-04,-1.02024855e-04, 5.39471732e-05,
  2.78242057e-05,-2.81323210e-04,-3.21647232e-04,-6.27836081e-05,
  6.18731195e-05,-1.12256857e-04,-1.31118990e-04,-2.44497386e-06,
  4.35826892e-02,-8.88423556e-04, 2.48357449e-02,-4.01872330e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.81625811, -0.51053554, -4.78912264, -0.51053554, 17.93054586,
       -1.39802432, -4.78912264, -1.39802432,  4.9652919 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037096684780704714
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.49639116e-13,  2.24458674e-13,  1.00000000e+00,  3.35877976e-26,
        1.00000000e+00, -2.24458674e-13, -1.00000000e+00,  0.00000000e+00,
       -1.49639116e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09148322, -0.08813938,  0.0619894 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.36771961e-06,-3.49407074e-05, 4.42311690e-06, 1.22848703e-05,
 -1.26290014e-05, 6.83094591e-05, 2.28372178e-05, 1.41630609e-05,
  2.67943362e-05,-1.12743368e-04,-1.34465296e-05, 1.94458460e-05,
 -2.93145274e-04,-7.93196453e-05,-1.58998313e-04,-1.62695876e-04,
 -1.17859704e-06, 1.77411136e-06,-1.21644484e+00,-4.54089267e-04,
  1.61074451e-05,-5.54615961e-04]


--- Step 483 ---
qpos:
[ 6.18713333e-03,-1.81430331e-03,-5.01912192e-03, 3.35676605e-02,
  4.47351024e-03,-3.74895738e-03,-1.85076915e-02, 2.86279426e-02,
  1.29931277e-02, 3.35872557e-03,-9.95084337e-03, 2.58870949e-02,
  8.76733311e-01,-5.03993503e-04, 6.78397057e-01, 6.53200312e-02,
  9.35023466e-02,-7.02705115e-02, 1.30949007e-01, 5.04327911e-01,
  4.94882452e-01, 4.94291730e-01, 5.06379702e-01]

qacc:
[ -0.76440854, -1.72208353,  4.5733137 , -2.334784  , -4.39578883,
   0.5353719 , -5.21287386, 19.03131463,  5.72133721,  1.12317161,
  -3.72473037,  2.58681523, -1.27279918,  2.07007502, -5.00854816,
  13.5791596 ,  0.12386589,  1.03194054,  0.30237635,  1.4524766 ,
   0.49419545,-14.89096028]

qfrc_actuator:
[-5.56326723e-05,-1.87808655e-04,-7.70669007e-05, 6.17318191e-05,
  2.23941303e-06,-2.84793300e-04,-2.98797064e-04,-2.01353285e-05,
  9.46905239e-05,-7.94579866e-05,-1.46149285e-04,-6.57036545e-06,
  4.34927457e-02,-8.82158612e-04, 2.47727299e-02,-3.96827592e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003686348727939409
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50585729e-13,  7.52928647e-14,  1.00000000e+00, -1.13380310e-26,
        1.00000000e+00, -7.52928647e-14, -1.00000000e+00,  0.00000000e+00,
        1.50585729e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09148262, -0.08814013,  0.06198947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.63280683e-06,-4.44060434e-05, 1.87249951e-05, 6.68144914e-06,
 -2.59232259e-05, 4.00384798e-05, 4.02725070e-05, 4.66453480e-05,
  3.35392413e-05,-3.21817466e-05,-3.93029014e-05,-9.04477625e-06,
 -2.97888799e-04,-5.87859740e-05,-1.59571692e-04, 1.96263768e-05,
 -1.02567329e-06, 1.20492705e-06,-1.21644348e+00,-4.54585054e-04,
  1.56674711e-05,-5.55036471e-04]


--- Step 484 ---
qpos:
[ 6.18628707e-03,-1.81562565e-03,-5.01895732e-03, 3.35685209e-02,
  4.47395272e-03,-3.74845251e-03,-1.85081921e-02, 2.86278435e-02,
  1.29949247e-02, 3.35856174e-03,-9.95166788e-03, 2.58869077e-02,
  8.77680096e-01,-5.01397802e-04, 6.79232356e-01, 6.53134695e-02,
  9.35130148e-02,-7.02801304e-02, 1.30957567e-01, 5.04262404e-01,
  4.94962078e-01, 4.94289357e-01, 5.06369432e-01]

qacc:
[ -0.40519235, -0.32248778,  0.8438289 , -0.07205884,  3.37091792,
  -1.75142066,  5.88161915, -7.85395979,  0.30075113,  0.39006064,
  -1.34778094,  0.66015321, -1.63871843,  3.18104004,  4.88627699,
 -19.42347239,  0.12018302,  1.01773239,  0.17528709,  1.47812444,
   0.46396935,-14.69836139]

qfrc_actuator:
[-5.78899825e-05,-1.67308492e-04,-6.24065484e-05, 6.59871901e-05,
  2.26723621e-05,-3.58335812e-04,-3.02799100e-04,-3.05627904e-05,
  9.55323386e-05,-7.74484841e-05,-1.54607827e-04,-8.92449723e-06,
  4.34100532e-02,-8.61612626e-04, 2.47208881e-02,-4.07871958e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00036400506650799413
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.6687682e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.6687682e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09148208, -0.08814146,  0.0619896 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.40167534e-06,-1.32432604e-07, 8.03901875e-06, 3.13179134e-06,
  1.97028297e-05,-4.08675004e-05, 1.08434360e-05,-6.40933795e-06,
  1.78467872e-06,-2.44672756e-05,-2.02522244e-05,-5.26863239e-06,
 -2.89495946e-04,-4.29425102e-05,-1.27514721e-04,-1.30972036e-04,
 -8.72412096e-07, 7.37267964e-07,-1.21644244e+00,-4.55069396e-04,
  1.51634968e-05,-5.55364887e-04]


--- Step 485 ---
qpos:
[ 6.18541991e-03,-1.81640717e-03,-5.01891651e-03, 3.35697136e-02,
  4.47463641e-03,-3.74827161e-03,-1.85086264e-02, 2.86265971e-02,
  1.29960283e-02, 3.35791795e-03,-9.95217908e-03, 2.58866997e-02,
  8.78625297e-01,-4.99182605e-04, 6.80066276e-01, 6.53045962e-02,
  9.35241526e-02,-7.02857249e-02, 1.30966405e-01, 5.04209700e-01,
  4.95028393e-01, 4.94303333e-01, 5.06343444e-01]

qacc:
[ -0.19682007,  1.7458433 , -6.59022111, 12.1418268 ,  2.11796436,
  -2.97671274, 14.83119481,-34.54853541, -6.0829814 , -1.54071043,
   4.68108268, -5.20907254, -0.72721274,  0.38572334,  4.95983013,
 -20.2663046 ,  0.11739342,  1.00610531,  0.06965413,  1.49955118,
   0.43857636,-14.53983739]

qfrc_actuator:
[-5.88778717e-05,-1.01199333e-04,-5.37597922e-05, 8.59153371e-05,
  3.45252867e-05,-3.84670800e-04,-3.05218138e-04,-8.99786517e-05,
  5.97924860e-05,-1.11605997e-04,-1.41450259e-04,-1.02210779e-05,
  4.33264506e-02,-8.86050093e-04, 2.46544497e-02,-4.19431902e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003576017098220474
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55231784e-13,  2.32847675e-13,  1.00000000e+00, -3.61453600e-26,
        1.00000000e+00, -2.32847675e-13, -1.00000000e+00,  0.00000000e+00,
        1.55231784e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09148159, -0.08814324,  0.06198978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05282121e-06, 6.78757624e-05, 9.73046787e-06, 2.02624989e-05,
  1.24013236e-05,-4.72282844e-05,-9.74700676e-06,-6.09173983e-05,
 -3.56980456e-05,-5.22265941e-05, 5.44046631e-06,-3.14549368e-06,
 -2.81779436e-04,-8.43122664e-05,-1.46587629e-04,-1.40967511e-04,
 -7.17128404e-07, 3.65830955e-07,-1.21644169e+00,-4.55547042e-04,
  1.45932831e-05,-5.55602374e-04]


--- Step 486 ---
qpos:
[ 6.18489264e-03,-1.81666242e-03,-5.01908532e-03, 3.35711428e-02,
  4.47476703e-03,-3.74820108e-03,-1.85089535e-02, 2.86253088e-02,
  1.29966949e-02, 3.35700307e-03,-9.95261542e-03, 2.58868129e-02,
  8.79568917e-01,-4.97537709e-04, 6.80897841e-01, 6.52922077e-02,
  9.35357516e-02,-7.02873326e-02, 1.30975173e-01, 5.04169671e-01,
  4.95081566e-01, 4.94333531e-01, 5.06301834e-01]

qacc:
[ 2.97317106e+00, 1.76259892e+00,-6.28320440e+00, 1.03324761e+01,
 -4.83524850e+00,-5.21701687e-01, 1.84150636e+00,-2.67265947e+00,
 -3.83905905e+00, 1.00909253e-01,-2.22241801e+00, 7.84530749e+00,
 -5.43032891e-01,-2.41525407e-01, 7.13707006e+00,-3.00143113e+01,
  1.15327202e-01, 9.96683042e-01,-1.77840543e-02, 1.51795152e+00,
  4.17014461e-01,-1.44105896e+01]

qfrc_actuator:
[-4.13585643e-05,-7.92983574e-05,-6.62664153e-05, 9.71956399e-05,
  5.71357367e-06,-3.64844503e-04,-2.88783030e-04,-8.89358827e-05,
  3.83231053e-05,-1.13802387e-04,-1.33539229e-04, 6.84922053e-06,
  4.32370216e-02,-9.19122983e-04, 2.44994274e-02,-4.38301088e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003498600726781348
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.98333404e-13,  7.93333615e-14,  1.00000000e+00, -1.57344556e-26,
        1.00000000e+00, -7.93333615e-14, -1.00000000e+00,  0.00000000e+00,
        1.98333404e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09148113, -0.08814535,  0.06199001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75140300e-05, 6.27634045e-05, 3.42056930e-06, 1.49191020e-05,
 -2.84710082e-05,-1.12018822e-05, 3.37677073e-06,-2.50118054e-06,
 -2.25044818e-05,-3.03920040e-05,-2.29925222e-06, 1.49639365e-05,
 -2.90642826e-04,-9.68102597e-05,-2.43883158e-04,-2.16798105e-04,
 -5.58520635e-07, 8.64223229e-08,-1.21644124e+00,-4.56021718e-04,
  1.39550204e-05,-5.55749903e-04]


--- Step 487 ---
qpos:
[ 6.18457965e-03,-1.81665873e-03,-5.01926324e-03, 3.35723717e-02,
  4.47489649e-03,-3.74845234e-03,-1.85090454e-02, 2.86247513e-02,
  1.29970982e-02, 3.35631670e-03,-9.95346345e-03, 2.58870986e-02,
  8.80510789e-01,-4.95950330e-04, 6.81726085e-01, 6.52826269e-02,
  9.35478061e-02,-7.02849838e-02, 1.30983580e-01, 5.04142211e-01,
  4.95121735e-01, 4.94379846e-01, 5.06244671e-01]

qacc:
[ 1.87916860e+00,-4.85059380e-02, 1.50892338e+00,-5.14540497e+00,
  3.18613661e-03, 4.20702716e-01,-5.20317440e+00, 1.77112813e+01,
 -2.33326515e+00, 1.81240345e+00,-6.74477587e+00, 1.02127462e+01,
 -9.48191440e-01, 1.13712757e+00,-1.33322700e+01, 3.96164532e+01,
  1.13847971e-01, 9.89143559e-01,-8.98304353e-02, 1.53423267e+00,
  3.98485811e-01,-1.43065289e+01]

qfrc_actuator:
[-3.08400129e-05,-8.41240692e-05,-7.35770938e-05, 8.54976461e-05,
  6.45877633e-06,-3.88415985e-04,-2.78855459e-04,-5.22645672e-05,
  2.54371010e-05,-7.90863422e-05,-1.46415627e-04, 1.68535088e-05,
  4.31494793e-02,-9.21529862e-04, 2.43766049e-02,-4.22287194e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000341139829182574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.62722574e-13,  1.62722574e-13,  1.00000000e+00, -2.64786362e-26,
        1.00000000e+00, -1.62722574e-13, -1.00000000e+00,  0.00000000e+00,
        1.62722574e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0914807 , -0.08814772,  0.06199026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10383782e-05, 3.16337435e-05, 6.59311506e-06,-8.60265496e-06,
 -7.20415501e-08,-2.92510231e-05, 7.95025183e-06, 3.62640652e-05,
 -1.35398172e-05, 1.79192285e-05,-1.89025661e-05, 8.91735622e-06,
 -2.97790076e-04,-6.91826660e-05,-2.60118210e-04, 1.16406729e-04,
 -3.95569590e-07,-1.04268990e-07,-1.21644107e+00,-4.56496392e-04,
  1.32471866e-05,-5.55808275e-04]


--- Step 488 ---
qpos:
[ 6.18405046e-03,-1.81658144e-03,-5.01912999e-03, 3.35731076e-02,
  4.47537858e-03,-3.74909475e-03,-1.85089068e-02, 2.86239564e-02,
  1.29969986e-02, 3.35593583e-03,-9.95448783e-03, 2.58864392e-02,
  8.81450793e-01,-4.94045378e-04, 6.82551740e-01, 6.52807667e-02,
  9.35603119e-02,-7.02787021e-02, 1.30991393e-01, 5.04127237e-01,
  4.95149009e-01, 4.94442196e-01, 5.06172008e-01]

qacc:
[ -1.8926631 , -1.78376353,  8.58802255,-17.67574638,  3.09997234,
  -1.65459861,  6.14171134,-10.31858411, -4.43697522, -1.04020667,
   8.30037595,-24.61692017, -1.2787842 ,  2.22143311,-27.05018815,
  89.24899685,  0.1128461 ,  0.98321159, -0.14889251,  1.54907991,
   0.38235463,-14.22416883]

qfrc_actuator:
[-4.22848759e-05,-8.71763340e-05,-6.01342397e-05, 6.03549025e-05,
  2.46074421e-05,-4.20017916e-04,-2.73003252e-04,-6.59824723e-05,
 -5.05212462e-08,-5.81192785e-05,-1.53555235e-04,-3.06196469e-05,
  4.30578150e-02,-9.05821799e-04, 2.43371834e-02,-3.80509356e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003317365810939915
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.36675157e-14,  8.36675157e-14,  1.00000000e+00, -7.00025319e-27,
        1.00000000e+00, -8.36675157e-14, -1.00000000e+00,  0.00000000e+00,
        8.36675157e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0914803 , -0.08815026,  0.06199052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11199441e-05, 1.56348836e-05, 2.04908353e-05,-2.37292613e-05,
  1.81345689e-05,-4.47513291e-05, 2.04971898e-06,-1.39885985e-05,
 -2.58686288e-05, 2.74958549e-05,-5.43960141e-06,-4.71823119e-05,
 -3.00851910e-04,-4.90742313e-05,-1.44682632e-04, 3.91096484e-04,
 -2.27464292e-07,-2.08852729e-07,-1.21644117e+00,-4.56973472e-04,
  1.24684474e-05,-5.55778143e-04]


--- Step 489 ---
qpos:
[ 6.18304337e-03,-1.81630930e-03,-5.01942743e-03, 3.35735727e-02,
  4.47641924e-03,-3.74994691e-03,-1.85087745e-02, 2.86233422e-02,
  1.29969392e-02, 3.35581394e-03,-9.95558982e-03, 2.58848698e-02,
  8.82389027e-01,-4.91967539e-04, 6.83376319e-01, 6.52804490e-02,
  9.35732667e-02,-7.02685059e-02, 1.30998417e-01, 5.04124680e-01,
  4.95163478e-01, 4.94520517e-01, 5.06083881e-01]

qacc:
[ -4.21920815,  0.91221864, -1.72146789, -2.43491731,  4.89204155,
   0.10261472, -1.54786687,  4.8578855 ,  0.34569087, -1.31455266,
   9.02461183,-24.83815543, -1.30477723,  2.19419157, -6.18167173,
  19.46709396,  0.1122334 ,  0.97865214, -0.19703586,  1.56300773,
   0.36811388,-14.16053775]

qfrc_actuator:
[-6.65630392e-05,-8.90827643e-05,-8.78137851e-05, 4.52706564e-05,
  5.28448573e-05,-4.20734802e-04,-2.69685677e-04,-5.60001990e-05,
  2.75111744e-06,-4.55699859e-05,-1.57323433e-04,-7.60253478e-05,
  4.29744031e-02,-8.97349486e-04, 2.42839467e-02,-3.73584102e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000321891751055875
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.31132136e-14,  1.72452854e-13,  1.00000000e+00,  7.43499674e-27,
        1.00000000e+00, -1.72452854e-13, -1.00000000e+00,  0.00000000e+00,
       -4.31132136e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09147992, -0.08815291,  0.0619908 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.45892413e-05, 1.00443651e-05,-2.27503030e-05,-1.41686805e-05,
  2.87403300e-05,-2.58879748e-05,-6.15050417e-06, 7.86527786e-06,
  2.07610670e-06, 2.47974413e-05,-3.72279736e-07,-4.53281791e-05,
 -2.89422960e-04,-5.49127680e-05,-7.96140529e-05, 7.16056634e-05,
 -5.35474716e-08,-2.29382942e-07,-1.21644153e+00,-4.57454952e-04,
  1.16175858e-05,-5.55660033e-04]


--- Step 490 ---
qpos:
[ 6.18140830e-03,-1.81619584e-03,-5.01963503e-03, 3.35738635e-02,
  4.47778986e-03,-3.75023843e-03,-1.85092673e-02, 2.86231407e-02,
  1.29969134e-02, 3.35600314e-03,-9.95682077e-03, 2.58834560e-02,
  8.83325615e-01,-4.90099394e-04, 6.84199979e-01, 6.52805956e-02,
  9.35866692e-02,-7.02544085e-02, 1.31004497e-01, 5.04134487e-01,
  4.95165210e-01, 4.94614760e-01, 5.05980309e-01]

qacc:
[ -5.51636542, -0.80927045,  3.33612749, -6.40166624,  2.85883837,
   3.32935655,-12.54874622, 20.28633312,  0.28746525,  1.0910595 ,
  -3.95112452,  6.62017967, -0.87155457,  0.85872985, -2.7233718 ,
   7.63619248,  0.11193888,  0.97526499, -0.23603013,  1.57639976,
   0.35535893,-14.11310416]

qfrc_actuator:
[-9.81929930e-05,-1.08205021e-04,-8.62915018e-05, 3.61964910e-05,
  6.90359013e-05,-3.49687681e-04,-2.85496874e-04,-3.21209562e-05,
  4.43180378e-06,-2.03944137e-05,-1.59096994e-04,-6.65898289e-05,
  4.28906750e-02,-9.10953598e-04, 2.42436811e-02,-3.71284065e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000311801067111539
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.2254234e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.2254234e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09147956, -0.08815562,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.23247314e-05,-1.88247339e-05, 3.06100961e-07,-9.70641768e-06,
  1.70029270e-05, 5.56781338e-05,-2.16352483e-05, 2.27118544e-05,
  1.74840691e-06, 3.70443738e-05, 1.75209340e-06, 9.60929102e-06,
 -2.83325630e-04,-7.56029572e-05,-7.72389849e-05, 1.47485029e-05,
  1.26724561e-07,-1.67475317e-07,-1.21644216e+00,-4.57942527e-04,
  1.06934531e-05,-5.55454361e-04]


--- Step 491 ---
qpos:
[ 6.17975162e-03,-1.81639163e-03,-5.01916790e-03, 3.35736765e-02,
  4.47865420e-03,-3.74995658e-03,-1.85097002e-02, 2.86221404e-02,
  1.29969081e-02, 3.35645879e-03,-9.95808427e-03, 2.58825102e-02,
  8.84260506e-01,-4.88361682e-04, 6.85022174e-01, 6.52833719e-02,
  9.36005193e-02,-7.02364197e-02, 1.31009508e-01, 5.04156616e-01,
  4.95154257e-01, 4.94724890e-01, 5.05861297e-01]

qacc:
[ -0.16364734, -3.27798643, 13.1108245 ,-22.22601402, -4.43922481,
  -1.04392054,  8.21018483,-22.56871032,  0.17389615,  1.40617787,
  -6.47963653, 14.43640576, -0.9019366 ,  0.97844325,-10.0615558 ,
  32.14621281,  0.11190536,  0.97287983, -0.26738876,  1.58953972,
   0.34376658,-14.07971387]

qfrc_actuator:
[-9.83875095e-05,-1.19628554e-04,-4.98437245e-05, 1.29877512e-05,
  4.24990430e-05,-3.07279195e-04,-2.76658754e-04,-7.12182923e-05,
  5.43027198e-06,-5.55140680e-06,-1.59591372e-04,-4.27036428e-05,
  4.28014841e-02,-9.19737506e-04, 2.41845938e-02,-3.57510920e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030162182843283813
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.20211105e-14,  1.84042221e-13,  1.00000000e+00, -1.69357696e-26,
        1.00000000e+00, -1.84042221e-13, -1.00000000e+00,  0.00000000e+00,
        9.20211105e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09147922, -0.08815835,  0.06199138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11998243e-06,-2.23116021e-05, 3.22645460e-05,-2.41924987e-05,
 -2.60317936e-05, 7.00708022e-05, 1.84683379e-05,-3.70163285e-05,
  1.05966311e-06, 3.63433770e-05, 7.72117104e-06, 2.57267374e-05,
 -2.88830991e-04,-7.23340070e-05,-1.01595510e-04, 1.26540943e-04,
  3.13811507e-07,-2.44019700e-08,-1.21644304e+00,-4.58437668e-04,
  9.69493448e-06,-5.55161446e-04]


--- Step 492 ---
qpos:
[ 6.17845021e-03,-1.81693239e-03,-5.01821503e-03, 3.35732305e-02,
  4.47953925e-03,-3.74968664e-03,-1.85094833e-02, 2.86203685e-02,
  1.29965698e-02, 3.35721237e-03,-9.95963304e-03, 2.58818716e-02,
  8.85193627e-01,-4.86410256e-04, 6.85842864e-01, 6.52848470e-02,
  9.36148178e-02,-7.02145454e-02, 1.31013348e-01, 5.04191035e-01,
  4.95130657e-01, 4.94850884e-01, 5.05726838e-01]

qacc:
[  3.14489592, -2.35332832,  8.81171614,-13.80427981,  0.20124835,
  -3.41708092, 15.41926838,-29.80074832, -2.94368644,  1.82914673,
  -7.23773329, 12.7803307 , -1.42626583,  2.51280803,  1.77176284,
  -9.27007516,  0.11208673,  0.97135217, -0.29240356,  1.60263552,
   0.33307852,-14.05853619]

qfrc_actuator:
[-8.00759561e-05,-1.43971441e-04,-2.85667463e-05,-5.76135764e-07,
  4.42875815e-05,-3.35548756e-04,-2.53466110e-04,-1.11549936e-04,
 -1.17333523e-05, 3.01227286e-06,-1.77115706e-04,-2.82744271e-05,
  4.27144051e-02,-9.07872045e-04, 2.40770153e-02,-3.65493237e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002914791164153052
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.76116024e-14,  9.52232049e-14,  1.00000000e+00, -4.53372937e-27,
        1.00000000e+00, -9.52232049e-14, -1.00000000e+00,  0.00000000e+00,
        4.76116024e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09147889, -0.08816107,  0.06199167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.82718123e-05,-3.11847669e-05, 1.98039985e-05,-1.38743036e-05,
  1.07016231e-06, 1.31301566e-05, 3.86651834e-05,-3.74064485e-05,
 -1.71222514e-05, 3.15852548e-05,-8.16441353e-06, 1.67584006e-05,
 -2.89675854e-04,-5.23796192e-05,-1.47047127e-04,-8.74989728e-05,
  5.08110920e-07, 1.98831836e-07,-1.21644419e+00,-4.58941692e-04,
  8.62092511e-06,-5.54781525e-04]


--- Step 493 ---
qpos:
[ 6.17737836e-03,-1.81774495e-03,-5.01700658e-03, 3.35726323e-02,
  4.48078369e-03,-3.74955429e-03,-1.85089303e-02, 2.86192018e-02,
  1.29956838e-02, 3.35778937e-03,-9.96087009e-03, 2.58810859e-02,
  8.86125159e-01,-4.84929086e-04, 6.86661761e-01, 6.52850186e-02,
  9.36295661e-02,-7.01887889e-02, 1.31015941e-01, 5.04237724e-01,
  4.95094437e-01, 4.94992729e-01, 5.05576913e-01]

qacc:
[ 2.03106968e+00,-1.39122410e+00, 5.07495944e+00,-7.91070760e+00,
  3.15859567e+00, 1.17820268e-01,-3.25041255e+00, 1.33005714e+01,
 -4.80691234e+00,-1.39806371e+00, 5.28379938e+00,-8.21622848e+00,
 -6.00869155e-01,-7.18539713e-03, 1.30026648e+00,-8.36752768e+00,
  1.12445809e-01, 9.70559657e-01,-3.12174852e-01, 1.61583777e+00,
  3.23088044e-01,-1.40480178e+01]

qfrc_actuator:
[-6.87816212e-05,-1.58153886e-04,-1.64731557e-05,-8.38064624e-06,
  6.27468969e-05,-3.52611315e-04,-2.40027077e-04,-8.13193259e-05,
 -3.94490838e-05,-2.78349789e-05,-1.69087002e-04,-3.72984172e-05,
  4.26286610e-02,-9.37166830e-04, 2.39883303e-02,-3.72038817e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002814710937504711
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.93044867e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.93044867e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09147858, -0.08816376,  0.06199196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18035824e-05,-2.81049937e-05, 7.60781064e-06,-8.72607478e-06,
  1.84944651e-05,-3.34489381e-06, 1.96178712e-05, 3.14060122e-05,
 -2.81908438e-05,-1.41676953e-05, 1.41383599e-05,-7.62292941e-06,
 -2.85637627e-04,-9.08475209e-05,-1.71655132e-04,-9.06194913e-05,
  7.09974342e-07, 5.01425500e-07,-1.21644559e+00,-4.59455801e-04,
  7.47031386e-06,-5.54314759e-04]


--- Step 494 ---
qpos:
[ 6.17679509e-03,-1.81847490e-03,-5.01584720e-03, 3.35726110e-02,
  4.48189473e-03,-3.74942972e-03,-1.85082902e-02, 2.86194430e-02,
  1.29948173e-02, 3.35830077e-03,-9.96201313e-03, 2.58801995e-02,
  8.87055332e-01,-4.84745218e-04, 6.87478251e-01, 6.52844452e-02,
  9.36447662e-02,-7.01591508e-02, 1.31017222e-01, 5.04296665e-01,
  4.95045610e-01, 4.95150422e-01, 5.05411493e-01]

qacc:
[  4.2934505 ,  1.42609476, -7.37650881, 17.3949849 , -1.16370031,
   2.64354131,-15.38288939, 39.61186742,  0.17548573, -0.55694803,
   2.28433502, -4.12734523,  0.43065961, -3.11854284, -1.35693178,
  -0.54724925,  0.11295259,  0.97039895, -0.32763776,  1.62925408,
   0.31362961,-14.04684288]

qfrc_actuator:
[-4.39613793e-05,-1.30669982e-04,-9.85372399e-06, 2.27725967e-05,
  5.53564464e-05,-3.45066613e-04,-2.32386521e-04,-9.81951262e-06,
 -3.76428787e-05,-2.87155517e-05,-1.63961993e-04,-4.23102173e-05,
  4.25544167e-02,-1.00831191e-03, 2.38631296e-02,-3.75894818e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000271673515741519
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.10825936e-14,  2.04330375e-13,  1.00000000e+00, -1.04377255e-26,
        1.00000000e+00, -2.04330375e-13, -1.00000000e+00,  0.00000000e+00,
        5.10825936e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09147828, -0.08816639,  0.06199224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51475592e-05, 1.29891028e-05, 1.44635901e-06, 3.00424695e-05,
 -6.86540303e-06, 1.10700520e-05, 1.04467420e-05, 7.26467899e-05,
  1.00050861e-06,-6.22675800e-06, 3.68587307e-06,-5.27387148e-06,
 -2.79119486e-04,-1.36948037e-04,-2.18365544e-04,-6.67225348e-05,
  9.19719238e-07, 8.82732621e-07,-1.21644726e+00,-4.59981124e-04,
  6.24197186e-06,-5.53761246e-04]


--- Step 495 ---
qpos:
[ 6.17651362e-03,-1.81872889e-03,-5.01483574e-03, 3.35732637e-02,
  4.48290863e-03,-3.74914158e-03,-1.85078516e-02, 2.86198464e-02,
  1.29939787e-02, 3.35905482e-03,-9.96326708e-03, 2.58799248e-02,
  8.87983887e-01,-4.84804538e-04, 6.88292702e-01, 6.52816456e-02,
  9.36604206e-02,-7.01256296e-02, 1.31017145e-01, 5.04367852e-01,
  4.94984183e-01, 4.95323964e-01, 5.05230540e-01]

qacc:
[  2.6412566 ,  2.42504318,-10.58711811, 22.14384751, -0.85920179,
   1.11400487, -4.34021083,  7.34390653,  0.23814339,  1.88950877,
  -8.85567253, 19.44290491, -0.87410882,  0.84373311,  3.73785692,
 -17.38469641,  0.11358286,  0.97078297, -0.33958521,  1.64296001,
   0.30457048,-14.05389935]

qfrc_actuator:
[-2.91290785e-05,-7.84319618e-05,-6.31637715e-06, 5.88794409e-05,
  5.05577954e-05,-3.40584953e-04,-2.45863197e-04,-3.36615140e-06,
 -3.62242441e-05, 6.09617527e-06,-1.60486180e-04,-9.39709567e-06,
  4.24817831e-02,-1.01478886e-03, 2.37693970e-02,-3.87017110e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002621435622670032
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.58818943e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.58818943e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09147799, -0.08816896,  0.06199251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55516780e-05, 6.11112975e-05, 7.43263603e-06, 3.72963481e-05,
 -4.99435220e-06, 1.59281250e-05,-7.39884468e-06, 8.70110007e-06,
  1.44523135e-06, 3.18594777e-05, 2.46954524e-06, 3.26743522e-05,
 -2.82487521e-04,-7.69970122e-05,-2.02897350e-04,-1.43408741e-04,
  1.13763783e-06, 1.34222000e-06,-1.21644918e+00,-4.60518737e-04,
  4.93474467e-06,-5.53121029e-04]


--- Step 496 ---
qpos:
[ 6.17606725e-03,-1.81834998e-03,-5.01410709e-03, 3.35732964e-02,
  4.48351228e-03,-3.74885516e-03,-1.85074438e-02, 2.86192981e-02,
  1.29935089e-02, 3.35946870e-03,-9.96368426e-03, 2.58804008e-02,
  8.88910633e-01,-4.84311601e-04, 6.89105877e-01, 6.52769604e-02,
  9.36765323e-02,-7.00882218e-02, 1.31015674e-01, 5.04451281e-01,
  4.94910152e-01, 4.95513368e-01, 5.05034008e-01]

qacc:
[ -1.47010609,  0.3534607 ,  2.57551317,-13.32358437, -3.59203841,
  -1.86604238, 10.68166643,-27.11492705,  3.27870253, -1.24940378,
   0.62189357, 11.29471632, -1.82201606,  3.74342223,  3.89871132,
 -16.15791823,  0.11431707,  0.97163851, -0.34868793,  1.65700746,
   0.29580402,-14.06824893]

qfrc_actuator:
[-3.80508230e-05,-4.72731384e-05,-2.22624319e-05, 2.66202396e-05,
  2.95786993e-05,-3.55861984e-04,-2.54003692e-04,-5.30106308e-05,
 -1.73017199e-05,-2.67218944e-05,-1.22327292e-04, 2.78462095e-05,
  4.23995366e-02,-9.83000129e-04, 2.37478569e-02,-3.95220184e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025292308495734883
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09739195e-13,  2.19478389e-13,  1.00000000e+00,  2.40853816e-26,
        1.00000000e+00, -2.19478389e-13, -1.00000000e+00,  0.00000000e+00,
       -1.09739195e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09147772, -0.08817144,  0.06199277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.46044440e-06, 6.84684747e-05,-1.12739918e-06,-2.86611927e-05,
 -2.11162701e-05,-7.54370017e-06,-5.47006656e-06,-4.90508699e-05,
  1.89742917e-05,-1.31058944e-05, 4.61801751e-05, 3.93314717e-05,
 -2.82607164e-04,-3.15276185e-05,-1.33574762e-04,-1.16825545e-04,
  1.36400362e-06, 1.87943430e-06,-1.21645136e+00,-4.61069687e-04,
  3.54744678e-06,-5.52394097e-04]


--- Step 497 ---
qpos:
[ 6.17551790e-03,-1.81787221e-03,-5.01307793e-03, 3.35729711e-02,
  4.48385983e-03,-3.74872652e-03,-1.85067917e-02, 2.86181606e-02,
  1.29929248e-02, 3.35954444e-03,-9.96380655e-03, 2.58810120e-02,
  8.89835662e-01,-4.83431189e-04, 6.89918167e-01, 6.52691866e-02,
  9.36880926e-02,-7.00588575e-02, 1.31015573e-01, 5.04520353e-01,
  4.94846105e-01, 4.95658689e-01, 5.04885145e-01]

qacc:
[ -0.89794447, -1.44470325,  6.85466943,-13.60548907, -2.23133074,
  -2.09799274,  9.6737706 ,-20.15200077, -0.99163114, -0.99076473,
   2.31661912, -0.20247937, -1.64473234,  3.21330865,  8.09501495,
 -30.02857344, -1.13783824, -2.01086059,  0.34259256,-16.87098991,
   1.71339384, 29.03016087]

qfrc_actuator:
[-4.31263820e-05,-6.46144026e-05,-1.41992085e-05, 7.62362293e-06,
  1.69959357e-05,-3.65141738e-04,-2.41279957e-04,-8.20069681e-05,
 -2.37342577e-05,-6.41268215e-05,-1.17519790e-04, 3.17988028e-05,
  4.23169234e-02,-9.64455418e-04, 2.37163790e-02,-4.10493064e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002471875253402117
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12285503e-13,  2.24571006e-13,  1.00000000e+00, -2.52160684e-26,
        1.00000000e+00, -2.24571006e-13, -1.00000000e+00,  0.00000000e+00,
        1.12285503e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11009665, -0.03406322,  0.06199293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.29292958e-06, 1.94619227e-05, 2.10636517e-05,-1.66615876e-05,
 -1.31863412e-05,-1.67514516e-05, 8.78846263e-06,-3.04629538e-05,
 -5.90057711e-06,-3.35152016e-05, 9.14704247e-06, 5.75234940e-06,
 -2.73600872e-04,-3.90889619e-05,-1.12359510e-04,-1.77972986e-04,
  1.59907624e-06, 2.49397485e-06,-1.21645381e+00,-4.61635008e-04,
  2.07885776e-06,-5.51580396e-04]


--- Step 498 ---
qpos:
[ 6.17525706e-03,-1.81755122e-03,-5.01180441e-03, 3.35724581e-02,
  4.48405352e-03,-3.74843736e-03,-1.85067097e-02, 2.86170453e-02,
  1.29922680e-02, 3.35968983e-03,-9.96426449e-03, 2.58813125e-02,
  8.90759069e-01,-4.82328586e-04, 6.90728762e-01, 6.52609872e-02,
  9.36952397e-02,-7.00373339e-02, 1.31015806e-01, 5.04575616e-01,
  4.94791776e-01, 4.95761029e-01, 5.04782675e-01]

qacc:
[  2.54707373, -1.28173147,  5.05276254, -8.56580056, -1.36715733,
   1.85261199, -6.38705017,  7.55790961, -0.65104445,  0.3918521 ,
   0.05040583, -4.94456822, -1.30058919,  2.29866706, -1.15688729,
   0.55639218, -1.10331615, -1.96020612,  0.0834469 ,-16.47982032,
   1.60516936, 28.23277712]

qfrc_actuator:
[-2.81375568e-05,-9.30222246e-05,-9.95324404e-06,-3.42942127e-06,
  9.46091395e-06,-3.52913741e-04,-2.69558469e-04,-8.08436662e-05,
 -2.72914684e-05,-5.08919227e-05,-1.32515932e-04, 1.60921373e-05,
  4.22394730e-02,-9.53913241e-04, 2.36416686e-02,-4.12059468e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002653789921247679
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.13765329e-13, -3.66059551e-13,  1.00000000e+00,  1.14856795e-25,
        1.00000000e+00,  3.66059551e-13, -1.00000000e+00,  0.00000000e+00,
        3.13765329e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1100932 , -0.0340728 ,  0.06199242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48424667e-05,-1.39162483e-05, 1.02678192e-05,-9.81687416e-06,
 -7.91663528e-06, 3.35603396e-06,-3.17161255e-05, 1.57993870e-07,
 -3.73692104e-06,-3.37762223e-06,-2.05946361e-05,-1.67156181e-05,
 -2.63908543e-04,-4.64144901e-05,-1.53973850e-04,-4.18942379e-05,
  8.75476807e-07, 1.67191018e-06,-1.21644832e+00,-4.60886262e-04,
  5.53939988e-06,-5.50574407e-04]


--- Step 499 ---
qpos:
[ 6.17483289e-03,-1.81737031e-03,-5.01075540e-03, 3.35721931e-02,
  4.48381039e-03,-3.74805978e-03,-1.85069987e-02, 2.86162933e-02,
  1.29922636e-02, 3.35968934e-03,-9.96454006e-03, 2.58810689e-02,
  8.91680881e-01,-4.81076457e-04, 6.91537342e-01, 6.52559264e-02,
  9.36980877e-02,-7.00234810e-02, 1.31015498e-01, 5.04617517e-01,
  4.94746942e-01, 4.95821304e-01, 5.04725529e-01]

qacc:
[ -1.44059072,  0.95583702, -4.71836354,  9.46579249, -3.83595194,
   1.90734449, -8.1529957 , 14.95463285,  5.7494615 , -1.8337665 ,
   8.53669449,-18.11703029, -1.08370796,  1.73324493,-12.39239236,
  39.15911995, -1.07475637, -1.9176359 , -0.13500146,-16.15046019,
   1.51648956, 27.56710574]

qfrc_actuator:
[-3.69656598e-05,-1.10101234e-04,-2.58143221e-05, 8.00918886e-06,
 -1.27978927e-05,-3.45788925e-04,-2.86216268e-04,-6.19602267e-05,
  6.38575515e-06,-6.08035684e-05,-1.23376427e-04,-1.10183020e-05,
  4.21598477e-02,-9.48162290e-04, 2.35784040e-02,-3.94893174e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47181733,  3.62251277,  2.62193659,  3.62251277,  6.2543944 ,
       -2.46283919,  2.62193659, -2.46283919,  7.87451839,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027806542217641284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.98167100e-14, -2.49541775e-13,  1.00000000e+00,  2.49084390e-26,
        1.00000000e+00,  2.49541775e-13, -1.00000000e+00,  0.00000000e+00,
        9.98167100e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11009089, -0.03407949,  0.06199205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.41316801e-06,-2.31801433e-05,-1.78285371e-05, 1.10034975e-05,
 -2.24825087e-05, 2.44548411e-06,-1.98675356e-05, 1.79349188e-05,
  3.35714543e-05,-1.67748287e-05, 5.32921843e-06,-2.82930402e-05,
 -2.61234553e-04,-5.02655494e-05,-1.43538537e-04, 1.48359578e-04,
  3.63595647e-07, 1.01786938e-06,-1.21644434e+00,-4.60384314e-04,
  7.97220725e-06,-5.49877256e-04]


--- Step 500 ---
qpos:
[ 6.17361656e-03,-1.81745731e-03,-5.01013917e-03, 3.35724441e-02,
  4.48364748e-03,-3.74808776e-03,-1.85067272e-02, 2.86157723e-02,
  1.29923178e-02, 3.35970241e-03,-9.96479638e-03, 2.58808382e-02,
  8.92601029e-01,-4.79681399e-04, 6.92344125e-01, 6.52558625e-02,
  9.36967310e-02,-7.00171558e-02, 1.31013915e-01, 5.04646423e-01,
  4.94711414e-01, 4.95840280e-01, 5.04712811e-01]

qacc:
[-6.97416156e+00, 1.93160452e+00,-9.55491413e+00, 1.93458950e+01,
  7.26707430e-01,-1.62749749e+00, 4.04768231e+00,-6.44305731e-01,
  5.15387238e-01,-1.02590253e-02, 6.22111029e-03, 1.78769453e-01,
 -1.07078927e+00, 1.65339469e+00,-1.76755030e+01, 5.81169644e+01,
 -1.05118750e+00,-1.88194084e+00,-3.19107672e-01,-1.58742668e+01,
  1.44310627e+00, 2.70125518e+01]

qfrc_actuator:
[-7.75001253e-05,-1.38089596e-04,-5.33684986e-05, 3.25821992e-05,
 -8.04119812e-06,-3.77223381e-04,-2.60367538e-04,-5.05473897e-05,
  8.44971908e-06,-4.89101961e-05,-1.17891914e-04,-9.10800869e-06,
  4.20683219e-02,-9.45302288e-04, 2.35274227e-02,-3.68601908e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.49659161,  -3.87503148,  -2.28111096,  -3.87503148,
        15.23109401, -18.23520881,  -2.28111096, -18.23520881,
        35.47360649,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002862468223375353
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -4.8481893e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  4.8481893e-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([ 0.11008952, -0.03408381,  0.06199182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.07830996e-05,-4.41819256e-05,-3.41705366e-05, 2.31752917e-05,
  4.11536734e-06,-3.34185300e-05, 2.45286455e-05, 1.11816636e-05,
  3.01250937e-06, 2.41662230e-06, 1.69930281e-06, 8.24947555e-07,
 -2.71738753e-04,-5.33539448e-05,-1.04826412e-04, 2.51656318e-04,
  4.21092916e-08, 5.15551206e-07,-1.21644173e+00,-4.60090785e-04,
  9.45837588e-06,-5.49471404e-04]


--- Step 501 ---
qpos:
[ 6.17226877e-03,-1.81785199e-03,-5.00984484e-03, 3.35729854e-02,
  4.48423245e-03,-3.74846452e-03,-1.85061385e-02, 2.86157472e-02,
  1.29920514e-02, 3.36005808e-03,-9.96518928e-03, 2.58812906e-02,
  8.93519368e-01,-4.77594348e-04, 6.93149714e-01, 6.52572456e-02,
  9.36912471e-02,-7.00182389e-02, 1.31010434e-01, 5.04662634e-01,
  4.94685032e-01, 4.95818586e-01, 5.04743771e-01]

qacc:
[ -1.16051212,  1.09318941, -5.70921533, 11.46958603,  6.56161085,
  -0.3398544 , -1.57330258,  9.9294902 , -2.83111119,  2.24604617,
 -10.22586887, 22.00307395, -1.85782935,  3.94379813, -6.02922773,
  18.77208895, -1.03180435, -1.85209456, -0.47422025,-15.64394299,
   1.38162566, 26.55205466]

qfrc_actuator:
[-8.31063362e-05,-1.54687067e-04,-6.98878289e-05, 4.69160461e-05,
  3.03351163e-05,-3.95829526e-04,-2.45303178e-04,-2.58772248e-05,
 -8.12132553e-06,-6.28226926e-06,-1.14510225e-04, 2.76279445e-05,
  4.19803709e-02,-9.08724802e-04, 2.34625609e-02,-3.62000727e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.5106844 ,  -4.08660358,  -1.90943576,  -4.08660358,
        10.8991689 , -13.67273214,  -1.90943576, -13.67273214,
        33.77327462,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002907627480462638
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.54578116e-14, -4.77289058e-14,  1.00000000e+00,  4.55609690e-27,
        1.00000000e+00,  4.77289058e-14, -1.00000000e+00,  0.00000000e+00,
        9.54578116e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11008892, -0.03408622,  0.06199169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.78120352e-06,-4.73846731e-05,-2.90563884e-05, 1.17095622e-05,
  3.84807562e-05,-3.17476025e-05, 1.15682082e-05, 2.43047889e-05,
 -1.64849841e-05, 4.43699443e-05, 4.12201759e-06, 3.69153113e-05,
 -2.75164809e-04,-2.23780934e-05,-9.09775271e-05, 6.51186350e-05,
 -1.05051035e-07, 1.52698953e-07,-1.21644043e+00,-4.59976751e-04,
  1.00610829e-05,-5.49343160e-04]


--- Step 502 ---
qpos:
[ 6.17155367e-03,-1.81838282e-03,-5.00986775e-03, 3.35740170e-02,
  4.48527269e-03,-3.74887801e-03,-1.85057769e-02, 2.86163609e-02,
  1.29915886e-02, 3.36060151e-03,-9.96517464e-03, 2.58814703e-02,
  8.94436064e-01,-4.75095020e-04, 6.93953610e-01, 6.52617806e-02,
  9.36816994e-02,-7.00266310e-02, 1.31004534e-01, 5.04666393e-01,
  4.94667660e-01, 4.95756738e-01, 5.04817784e-01]

qacc:
[  5.55579377,  1.70548187, -8.43014656, 17.54148835,  3.97844633,
   1.89177784, -9.52715857, 20.98725533, -1.71919   , -1.44867397,
   6.68231193,-12.19650078, -1.39216749,  2.6758647 ,-11.93483345,
  38.30241538, -1.01593673, -1.82722212, -0.60486207,-15.45328927,
   1.32933012, 26.17140355]

qfrc_actuator:
[-5.03468137e-05,-1.46550436e-04,-7.97240180e-05, 7.28782594e-05,
  5.26781886e-05,-3.88880610e-04,-2.54443021e-04, 6.39003567e-06,
 -1.77650207e-05, 1.19402195e-06,-9.44894738e-05, 1.35734837e-05,
  4.19052893e-02,-8.88028328e-04, 2.33893813e-02,-3.45755317e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002923168781101826
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.89900602e-13, -1.89900602e-13,  1.00000000e+00,  3.60622388e-26,
        1.00000000e+00,  1.89900602e-13, -1.00000000e+00,  0.00000000e+00,
        1.89900602e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11008892, -0.0340871 ,  0.06199165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.25517075e-05,-2.38499474e-05,-2.27961663e-05, 2.31538461e-05,
  2.34297553e-05,-7.35294707e-06,-1.34354081e-05, 3.17779721e-05,
 -1.00974405e-05, 3.47057619e-05, 3.09707964e-05,-1.12922498e-05,
 -2.58618561e-04,-3.47827793e-05,-1.15516703e-04, 1.52518264e-04,
 -8.98857597e-08,-7.96672955e-08,-1.21644034e+00,-4.60020253e-04,
  9.82924765e-06,-5.49481785e-04]


--- Step 503 ---
qpos:
[ 6.17089155e-03,-1.81882100e-03,-5.01014591e-03, 3.35753172e-02,
  4.48588308e-03,-3.74916714e-03,-1.85058307e-02, 2.86163127e-02,
  1.29910138e-02, 3.36117616e-03,-9.96479998e-03, 2.58811586e-02,
  8.95351291e-01,-4.72936981e-04, 6.94755640e-01, 6.52689293e-02,
  9.36681396e-02,-7.00422493e-02, 1.30995774e-01, 5.04657896e-01,
  4.94659183e-01, 4.95655150e-01, 5.04934325e-01]

qacc:
[ 4.56302417e-01, 1.38813618e+00,-5.90679260e+00, 1.08954125e+01,
 -3.77762743e+00,-2.94003951e-02, 3.15089184e+00,-1.40468119e+01,
 -9.74659049e-01,-1.97442400e+00, 9.17774532e+00,-1.82836280e+01,
 -5.23872038e-01, 1.34848080e-02,-1.06264560e+01, 3.32096985e+01,
 -1.00302492e+00,-1.80657539e+00,-7.14871785e-01,-1.52970142e+01,
  1.28403851e+00, 2.58587077e+01]

qfrc_actuator:
[-4.85373079e-05,-1.23621802e-04,-8.54262290e-05, 8.77487613e-05,
  2.98895047e-05,-3.84523835e-04,-2.77687846e-04,-2.81362597e-05,
 -2.32482332e-05,-1.24028666e-05,-8.27274115e-05,-1.25201318e-05,
  4.18220023e-02,-9.12362804e-04, 2.32953215e-02,-3.32828059e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002914977443231881
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.52171197e-14,  1.42825680e-13,  1.00000000e+00, -1.35994498e-26,
        1.00000000e+00, -1.42825680e-13, -1.00000000e+00,  0.00000000e+00,
        9.52171197e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11008943, -0.03408673,  0.06199167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.72818635e-06, 5.90566555e-06,-1.26317642e-05, 1.35081196e-05,
 -2.21227367e-05,-1.15064977e-06,-2.53207540e-05,-3.46900717e-05,
 -5.75697764e-06, 1.16990358e-05, 2.23480102e-05,-2.37557829e-05,
 -2.58442817e-04,-7.82272843e-05,-1.36064716e-04, 1.21480487e-04,
  7.87834881e-08,-1.87829999e-07,-1.21644143e+00,-4.60204456e-04,
  8.80037916e-06,-5.49878814e-04]


--- Step 504 ---
qpos:
[ 6.16991143e-03,-1.81900641e-03,-5.01028292e-03, 3.35760458e-02,
  4.48587066e-03,-3.74900186e-03,-1.85066153e-02, 2.86154855e-02,
  1.29903780e-02, 3.36160925e-03,-9.96504084e-03, 2.58813186e-02,
  8.96264914e-01,-4.70725390e-04, 6.95556200e-01, 6.52752186e-02,
  9.36506095e-02,-7.00650258e-02, 1.30983785e-01, 5.04637300e-01,
  4.94659502e-01, 4.95514150e-01, 5.05092961e-01]

qacc:
[ -2.79635339, -1.23188075,  7.29898198,-17.61127814, -5.48194095,
   1.04991572,  0.43646956,-13.10799522, -0.55341337,  2.5049157 ,
 -11.19208143, 20.4393265 , -1.1412285 ,  1.75675113,  0.47550563,
  -4.69590239, -0.99260019, -1.78951345, -0.80751601,-15.17058615,
   1.24399617, 25.60398118]

qfrc_actuator:
[-6.49711699e-05,-9.19923109e-05,-7.08304992e-05, 6.04845700e-05,
 -1.52257855e-06,-3.46363458e-04,-3.09116690e-04,-6.61883306e-05,
 -2.62410672e-05,-5.63148502e-05,-1.29293939e-04, 7.74843987e-06,
  4.17391613e-02,-9.09869300e-04, 2.32101134e-02,-3.37941317e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002887962837251068
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.61078005e-14, -1.44161701e-13,  1.00000000e+00,  1.38550640e-26,
        1.00000000e+00,  1.44161701e-13, -1.00000000e+00,  0.00000000e+00,
        9.61078005e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11009032, -0.0340854 ,  0.06199175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63528619e-05, 3.29208167e-05, 1.47332529e-05,-2.71865606e-05,
 -3.20419764e-05, 3.08037421e-05,-3.59808744e-05,-3.96508397e-05,
 -3.15007819e-06,-3.37999017e-05,-4.22300285e-05, 2.10795689e-05,
 -2.66562544e-04,-5.71470218e-05,-1.39014883e-04,-6.30525286e-05,
  3.94642318e-07,-1.75814188e-07,-1.21644365e+00,-4.60516280e-04,
  7.00280895e-06,-5.50527526e-04]


--- Step 505 ---
qpos:
[ 6.16908702e-03,-1.81902743e-03,-5.01018589e-03, 3.35757559e-02,
  4.48582673e-03,-3.74873476e-03,-1.85074582e-02, 2.86148977e-02,
  1.29893664e-02, 3.36172657e-03,-9.96575122e-03, 2.58817337e-02,
  8.97176888e-01,-4.68176264e-04, 6.96355512e-01, 6.52817251e-02,
  9.36291422e-02,-7.00949041e-02, 1.30968253e-01, 5.04604729e-01,
  4.94668532e-01, 4.95333988e-01, 5.05293331e-01]

qacc:
[  1.37311851, -2.53666878, 13.65409991,-31.76829789, -0.27913304,
   0.79023401, -3.63266637,  7.7935479 , -3.31613987,  1.4265033 ,
  -6.75789767, 12.14434906, -1.42995468,  2.67769443, -2.42746573,
   5.98456294, -0.98426914, -1.77548664, -0.88557955,-15.07011563,
   1.20778812, 25.39881334]

qfrc_actuator:
[-5.64960069e-05,-9.08447476e-05,-6.21029608e-05, 8.67228618e-06,
 -2.23854148e-06,-3.41558624e-04,-3.09469046e-04,-5.27159439e-05,
 -4.54984846e-05,-8.27503418e-05,-1.56768196e-04, 1.95626630e-05,
  4.16619786e-02,-8.91537334e-04, 2.31781798e-02,-3.35883487e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028462074185139907
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95035509e-13, -3.90071018e-13,  1.00000000e+00,  7.60776995e-26,
        1.00000000e+00,  3.90071018e-13, -1.00000000e+00,  0.00000000e+00,
        1.95035509e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11009152, -0.0340833 ,  0.06199186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.02281835e-06, 2.14396122e-05, 1.64056114e-05,-5.04209787e-05,
 -1.61742117e-06, 1.28928730e-05, 2.16483690e-07, 1.27804124e-05,
 -1.93567282e-05,-5.31727469e-05,-3.89313777e-05, 9.31401115e-06,
 -2.62349908e-04,-4.00091845e-05,-1.08550446e-04,-2.21490771e-06,
  8.53373686e-07,-4.57231583e-08,-1.21644696e+00,-4.60945369e-04,
  4.45745482e-06,-5.51422543e-04]


--- Step 506 ---
qpos:
[ 6.16837066e-03,-1.81912832e-03,-5.00990534e-03, 3.35755734e-02,
  4.48611933e-03,-3.74868435e-03,-1.85075846e-02, 2.86141173e-02,
  1.29877868e-02, 3.36143916e-03,-9.96593403e-03, 2.58822291e-02,
  8.98087234e-01,-4.65385749e-04, 6.97153328e-01, 6.52877707e-02,
  9.36079024e-02,-7.01200620e-02, 1.30958374e-01, 5.04586093e-01,
  4.94664164e-01, 4.95172873e-01, 5.05474100e-01]

qacc:
[  0.95728021, -0.3992928 ,  0.81370863,  0.81450597,  2.97128691,
  -2.68893575,  9.97557579,-14.28175447, -4.97479123, -1.83414101,
   5.44107769, -4.61347551, -1.33356456,  2.36931333, -0.75028398,
  -0.42817579,  0.05687133,  1.18011238,  1.41321078,  2.83943563,
  -0.10856328,-16.49507569]

qfrc_actuator:
[-5.11745757e-05,-1.07999067e-04,-5.70456614e-05, 1.38172443e-05,
  1.51209851e-05,-3.56596294e-04,-2.73803053e-04,-6.22936776e-05,
 -7.41754591e-05,-8.07164641e-05,-1.19428996e-04, 2.63320696e-05,
  4.15776012e-02,-8.81760325e-04, 2.30983571e-02,-3.38472614e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029404789181070035
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53385933e-13, -3.77565375e-13,  1.00000000e+00,  5.79132175e-26,
        1.00000000e+00,  3.77565375e-13, -1.00000000e+00,  0.00000000e+00,
        1.53385933e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09149193, -0.08816466,  0.06199159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.55849209e-06,-3.93122384e-06, 9.76231203e-06, 5.65027638e-06,
  1.73172816e-05,-7.23465347e-06, 3.88060749e-05,-8.76631328e-06,
 -2.92445543e-05,-3.53500987e-05, 2.18884445e-05, 3.32592909e-06,
 -2.63073928e-04,-4.56264032e-05,-1.36991854e-04,-4.16838887e-05,
  1.45226895e-06, 2.02004863e-07,-1.21645135e+00,-4.61483315e-04,
  1.17922140e-06,-5.52559518e-04]


--- Step 507 ---
qpos:
[ 6.16806860e-03,-1.81917916e-03,-5.00959898e-03, 3.35754483e-02,
  4.48627265e-03,-3.74861956e-03,-1.85073384e-02, 2.86132223e-02,
  1.29865653e-02, 3.36115608e-03,-9.96616240e-03, 2.58834785e-02,
  8.98996082e-01,-4.63050760e-04, 6.97949275e-01, 6.52921700e-02,
  9.35869319e-02,-7.01406511e-02, 1.30952951e-01, 5.04581135e-01,
  4.94646455e-01, 4.95030228e-01, 5.05636071e-01]

qacc:
[ 3.64280461e+00, 1.04961322e-01,-5.32558191e-01, 1.45976472e+00,
 -1.20756859e+00,-1.25506955e+00, 4.99114176e+00,-7.58561864e+00,
  3.14989233e+00, 1.67893590e+00,-9.17231874e+00, 2.23028641e+01,
 -5.71223496e-01,-6.59437742e-03, 2.22084607e+00,-1.17545521e+01,
  6.73184746e-02, 1.14220655e+00, 1.11404179e+00, 2.57328789e+00,
 -4.06000533e-03,-1.60712654e+01]

qfrc_actuator:
[-3.00073713e-05,-1.00450749e-04,-5.42336253e-05, 1.69127516e-05,
  7.46511312e-06,-3.47756408e-04,-2.52782785e-04,-6.76126389e-05,
 -5.49037382e-05,-6.13857151e-05,-1.15021520e-04, 6.56525918e-05,
  4.14889644e-02,-9.12660423e-04, 2.29898681e-02,-3.47341305e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57790419, -0.84911539, -4.4984675 , -0.84911539, 48.29231145,
       -8.25138253, -4.4984675 , -8.25138253,  6.13540703,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003110803480245311
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.23057932e-13,  8.92231727e-14,  1.00000000e+00,  1.99019364e-26,
        1.00000000e+00, -8.92231727e-14, -1.00000000e+00,  0.00000000e+00,
       -2.23057932e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09149454, -0.08816085,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.13233185e-05, 7.61360718e-06, 3.39667218e-06, 3.37470275e-06,
 -7.16491197e-06, 1.24415489e-05, 2.40047661e-05,-4.45567703e-06,
  1.84265144e-05, 4.22288124e-06,-7.94789335e-08, 3.86285622e-05,
 -2.69148145e-04,-8.71298597e-05,-1.81810485e-04,-1.10029571e-04,
  1.02245727e-06,-1.63694498e-07,-1.21644904e+00,-4.60383200e-04,
  3.32633835e-06,-5.52978673e-04]


--- Step 508 ---
qpos:
[ 6.16802247e-03,-1.81900582e-03,-5.00934332e-03, 3.35753438e-02,
  4.48633293e-03,-3.74819406e-03,-1.85070228e-02, 2.86129372e-02,
  1.29859285e-02, 3.36135704e-03,-9.96684297e-03, 2.58851551e-02,
  8.99903448e-01,-4.61370740e-04, 6.98743726e-01, 6.52943413e-02,
  9.35662619e-02,-7.01567977e-02, 1.30950975e-01, 5.04589636e-01,
  4.94615466e-01, 4.94905573e-01, 5.05779908e-01]

qacc:
[  2.24501028,  0.47627559, -1.36325063,  1.64574953, -0.81793097,
   1.53866699, -7.36770599, 17.54421014,  5.1237228 ,  2.77273324,
 -10.7789206 , 18.55642207, -0.39072216, -0.61021763,  4.51341179,
 -19.00747321,  0.07510882,  1.11061846,  0.8617101 ,  2.35797918,
   0.07980163,-15.71366976]

qfrc_actuator:
[-1.74347984e-05,-7.81788183e-05,-5.26844209e-05, 1.87857203e-05,
  2.89382569e-06,-3.06981765e-04,-2.40492699e-04,-3.48719445e-05,
 -2.53142993e-05,-1.41713611e-05,-1.30010984e-04, 8.82927432e-05,
  4.14084704e-02,-9.49613793e-04, 2.29335021e-02,-3.58065508e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61837811,  0.85334132,  4.53885723,  0.85334132, 11.06284581,
       -1.21161128,  4.53885723, -1.21161128,  4.84617068,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003224551501662398
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.29113656e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.29113656e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09149653, -0.08815841,  0.06199078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31811121e-05, 2.73826981e-05, 3.65376139e-06, 2.38130480e-06,
 -4.77240203e-06, 5.24934802e-05, 1.76613548e-05, 3.40193663e-05,
  3.01119150e-05, 5.12274918e-05,-1.27891731e-05, 2.35674919e-05,
 -2.73537758e-04,-9.98364097e-05,-1.55750121e-04,-1.37656896e-04,
  6.30313471e-07,-4.31236559e-07,-1.21644714e+00,-4.59368089e-04,
  5.28068129e-06,-5.53319174e-04]


--- Step 509 ---
qpos:
[ 6.16743765e-03,-1.81862022e-03,-5.00909936e-03, 3.35756065e-02,
  4.48668275e-03,-3.74730266e-03,-1.85069133e-02, 2.86133969e-02,
  1.29853067e-02, 3.36175690e-03,-9.96755336e-03, 2.58860611e-02,
  9.00809180e-01,-4.59814231e-04, 6.99536155e-01, 6.52952142e-02,
  9.35459152e-02,-7.01686069e-02, 1.30951595e-01, 5.04611404e-01,
  4.94571258e-01, 4.94798505e-01, 5.05906158e-01]

qacc:
[ -4.74044128,  1.07842876, -4.97158363, 11.16908661,  2.52001055,
   2.71748599,-11.95038613, 24.83635872,  0.12673667, -1.24020686,
   8.05664075,-21.49125801, -0.98420331,  1.19263856,  0.97248441,
  -7.64976003,  0.0808435 ,  1.08436423,  0.64917933,  2.18318677,
   0.1475239 ,-15.41278093]

qfrc_actuator:
[-4.55316327e-05,-6.50194970e-05,-5.18267506e-05, 3.76914772e-05,
  1.79354005e-05,-2.82903598e-04,-2.51039088e-04, 2.27318766e-06,
 -2.54094357e-05,-2.17188211e-05,-1.38461117e-04, 4.76920231e-05,
  4.13275889e-02,-9.54312210e-04, 2.28338825e-02,-3.64453199e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.64343709,  0.75285553,  4.58199919,  0.75285553, 14.87981359,
       -1.68191053,  4.58199919, -1.68191053,  4.91978713,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000329213756709662
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26463012e-13,  1.68617350e-13,  1.00000000e+00,  2.13238580e-26,
        1.00000000e+00, -1.68617350e-13, -1.00000000e+00,  0.00000000e+00,
       -1.26463012e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09149805, -0.08815708,  0.06199059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.77135351e-05, 2.93244274e-05, 7.04110902e-06, 2.02506412e-05,
  1.49214356e-05, 5.85180800e-05, 3.64109204e-06, 4.06671099e-05,
  7.78025304e-07, 1.94728721e-05, 1.37178050e-06,-3.83933073e-05,
 -2.79107928e-04,-7.02990915e-05,-1.91569063e-04,-9.28183082e-05,
  2.68156863e-07,-6.04217819e-07,-1.21644563e+00,-4.58417733e-04,
  7.06949031e-06,-5.53578248e-04]


--- Step 510 ---
qpos:
[ 6.16686584e-03,-1.81820349e-03,-5.00875864e-03, 3.35761095e-02,
  4.48721032e-03,-3.74622661e-03,-1.85070166e-02, 2.86132994e-02,
  1.29846892e-02, 3.36195947e-03,-9.96811637e-03, 2.58854772e-02,
  9.01713267e-01,-4.58311841e-04, 7.00325924e-01, 6.52986290e-02,
  9.35259085e-02,-7.01761655e-02, 1.30954098e-01, 5.04646279e-01,
  4.94513889e-01, 4.94708690e-01, 5.06015275e-01]

qacc:
[ 1.16980440e-01, 2.65240508e-01,-1.90082111e+00, 5.88223384e+00,
  1.54561471e+00,-3.10429890e-01, 3.80898873e+00,-1.32431745e+01,
  4.49902821e-02,-3.73959253e+00, 1.92459942e+01,-4.51215679e+01,
 -9.13019967e-01, 1.09056406e+00,-1.15537842e+01, 3.48133317e+01,
  8.49916968e-02, 1.06262138e+00, 4.70501012e-01, 2.04072514e+00,
  2.02637237e-01,-1.51606001e+01]

qfrc_actuator:
[-4.40799584e-05,-7.51581380e-05,-5.14027082e-05, 4.87096008e-05,
  2.66467015e-05,-3.04598058e-04,-2.75039752e-04,-2.93284381e-05,
 -2.52267688e-05,-6.20318488e-05,-1.43229148e-04,-2.98263718e-05,
  4.12465420e-02,-9.57679758e-04, 2.27297152e-02,-3.50490199e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.65488127,  0.61310412,  4.61432801,  0.61310412, 21.81235028,
       -2.27970679,  4.61432801, -2.27970679,  4.9577851 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033223298867017526
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.67085007e-13,  8.35425035e-14,  1.00000000e+00, -1.39586998e-26,
        1.00000000e+00, -8.35425035e-14, -1.00000000e+00,  0.00000000e+00,
        1.67085007e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09149918, -0.08815666,  0.06199051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.71281433e-07, 8.55679046e-06, 8.04308169e-06, 1.29117396e-05,
  9.15612813e-06, 1.34940479e-05,-1.00713263e-05,-2.81802751e-05,
  2.13825834e-07,-3.07955398e-05,-1.90419304e-06,-7.73851121e-05,
 -2.77267728e-04,-6.60324650e-05,-2.05627636e-04, 1.09049413e-04,
 -6.98239385e-08,-6.85723392e-07,-1.21644448e+00,-4.57516859e-04,
  8.71385759e-06,-5.53754021e-04]


--- Step 511 ---
qpos:
[ 6.16735049e-03,-1.81774230e-03,-5.00869229e-03, 3.35771105e-02,
  4.48783863e-03,-3.74524337e-03,-1.85075460e-02, 2.86128761e-02,
  1.29844237e-02, 3.36184999e-03,-9.96813300e-03, 2.58843020e-02,
  9.02615539e-01,-4.56207918e-04, 7.01113627e-01, 6.53032445e-02,
  9.35062535e-02,-7.01795454e-02, 1.30957883e-01, 5.04694125e-01,
  4.94443408e-01, 4.94635846e-01, 5.06107633e-01]

qacc:
[  9.28029242,  1.83295887, -8.58343725, 17.64015702,  0.86959938,
   0.39557824, -0.21542184, -4.67195269,  3.11982061, -3.16274937,
  13.16489409,-24.03153816, -1.75367608,  3.56611422, -6.58079593,
  18.8120425 ,  0.08791884,  1.04469937,  0.32061937,  1.92409528,
   0.24790871,-14.95035277]

qfrc_actuator:
[ 1.02698675e-05,-8.14266997e-05,-6.90952619e-05, 7.27277276e-05,
  3.15557918e-05,-3.35908583e-04,-3.07023743e-04,-4.79160880e-05,
 -7.12012129e-06,-6.84296800e-05,-1.10447931e-04,-5.74573116e-05,
  4.11601296e-02,-9.24763507e-04, 2.26442524e-02,-3.44176767e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6549445 ,  0.42351387,  4.6356385 ,  0.42351387, 38.13237641,
       -3.05851218,  4.6356385 , -3.05851218,  4.93437145,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033224955615331064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.92384182e-13,  8.35383377e-14,  1.00000000e+00, -2.44252885e-26,
        1.00000000e+00, -8.35383377e-14, -1.00000000e+00,  0.00000000e+00,
        2.92384182e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09150002, -0.08815696,  0.0619905 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.43692714e-05, 7.13010330e-07,-1.44970793e-05, 2.49116491e-05,
  5.17693351e-06,-2.70871114e-05,-3.14240063e-05,-1.89086154e-05,
  1.81052238e-05,-2.73298249e-05, 2.35127179e-05,-3.05206118e-05,
 -2.80356916e-04,-2.89410167e-05,-1.69146066e-04, 4.24078164e-05,
 -3.88050317e-07,-6.78344648e-07,-1.21644365e+00,-4.56653862e-04,
  1.02302134e-05,-5.53845228e-04]


--- Step 512 ---
qpos:
[ 6.16848248e-03,-1.81695164e-03,-5.00893233e-03, 3.35776663e-02,
  4.48886615e-03,-3.74462518e-03,-1.85086750e-02, 2.86133175e-02,
  1.29847222e-02, 3.36150962e-03,-9.96783896e-03, 2.58838461e-02,
  9.03516055e-01,-4.53688292e-04, 7.01900305e-01, 6.53027966e-02,
  9.34869580e-02,-7.01788052e-02, 1.30962449e-01, 5.04754827e-01,
  4.94359855e-01, 4.94579744e-01, 5.06183539e-01]

qacc:
[  5.67632778,  0.36438837,  1.19248893, -8.62769172,  3.48192631,
   2.96343619,-14.93030097, 31.13441522,  4.97726398,  0.29749537,
  -4.55744468, 16.6979104 , -1.76598007,  3.44407957, 13.8543684 ,
 -50.46407483,  0.08990892,  1.03001665,  0.19522072,  1.82813131,
   0.28550571,-14.77627201]

qfrc_actuator:
[ 4.20520177e-05,-4.98937162e-05,-7.95727117e-05, 5.09341450e-05,
  5.19421180e-05,-3.72785134e-04,-3.43499365e-04,-5.44594659e-06,
  2.13914957e-05,-7.20373630e-05,-9.11003726e-05,-1.99530714e-05,
  4.10705727e-02,-9.06216245e-04, 2.25753807e-02,-3.70824842e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003298808911194745
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.10345433e-13,  3.36552694e-13,  1.00000000e+00, -7.07923222e-26,
        1.00000000e+00, -3.36552694e-13, -1.00000000e+00,  0.00000000e+00,
        2.10345433e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09150063, -0.08815784,  0.06199057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.33261027e-05, 3.00023464e-05,-1.12648691e-05,-2.17855433e-05,
  2.05268132e-05,-5.93514010e-05,-4.66002661e-05, 3.98537301e-05,
  2.90161775e-05,-1.53294923e-05, 1.55453744e-05, 3.65547211e-05,
 -2.77995577e-04,-3.90314418e-05,-1.45616145e-04,-2.86790972e-04,
 -6.89907523e-07,-5.84215980e-07,-1.21644314e+00,-4.55819835e-04,
  1.16314320e-05,-5.53851018e-04]


--- Step 513 ---
qpos:
[ 6.16929736e-03,-1.81617375e-03,-5.00918320e-03, 3.35779803e-02,
  4.49012997e-03,-3.74437197e-03,-1.85096322e-02, 2.86131748e-02,
  1.29850153e-02, 3.36102793e-03,-9.96790044e-03, 2.58842231e-02,
  9.04415049e-01,-4.51559729e-04, 7.02685559e-01, 6.52997426e-02,
  9.34680274e-02,-7.01739927e-02, 1.30967377e-01, 5.04828291e-01,
  4.94263262e-01, 4.94540190e-01, 5.06243247e-01]

qacc:
[ -2.78856423, -0.47935449,  2.71537384, -6.8856832 ,  2.07926676,
  -2.16692419,  9.48642272,-19.59340236, -0.05585748,  2.52154953,
 -12.77858287, 27.86681885, -0.70233937,  0.34364074,  5.78016712,
 -23.23649487,  0.09118221,  1.01808233,  0.0906149 ,  1.74872282,
   0.3171247 ,-14.63343151]

qfrc_actuator:
[ 2.47748479e-05,-6.69931369e-05,-8.55793270e-05, 3.79027224e-05,
  6.35233725e-05,-3.77186688e-04,-3.29068137e-04,-3.39171269e-05,
  2.02880450e-05,-9.16799157e-05,-1.15301118e-04, 2.00529231e-05,
  4.09898405e-02,-9.31850424e-04, 2.25270957e-02,-3.82941439e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003256429120758464
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.70466327e-13,  8.52331636e-14,  1.00000000e+00,  1.45293844e-26,
        1.00000000e+00, -8.52331636e-14, -1.00000000e+00,  0.00000000e+00,
       -1.70466327e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09150106, -0.08815917,  0.06199069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63201464e-05,-3.60136349e-06,-1.96057814e-06,-1.25636229e-05,
  1.21471308e-05,-4.55111959e-05,-2.18512606e-06,-3.18522072e-05,
 -2.87464527e-07,-2.34162822e-05,-2.41869777e-05, 4.05983308e-05,
 -2.69906466e-04,-8.40405349e-05,-1.53688580e-04,-1.57453825e-04,
 -9.78006668e-07,-4.05061533e-07,-1.21644293e+00,-4.55007865e-04,
  1.29276599e-05,-5.53770811e-04]


--- Step 514 ---
qpos:
[ 6.16920944e-03,-1.81574788e-03,-5.00909865e-03, 3.35788462e-02,
  4.49117783e-03,-3.74425876e-03,-1.85102348e-02, 2.86123043e-02,
  1.29849483e-02, 3.36024122e-03,-9.96812723e-03, 2.58843946e-02,
  9.05312549e-01,-4.49763344e-04, 7.03469309e-01, 6.52945068e-02,
  9.34501760e-02,-7.01651144e-02, 1.30972401e-01, 5.04911678e-01,
  4.94156128e-01, 4.94519873e-01, 5.06284519e-01]

qacc:
[-7.92127795e+00,-2.50726768e-01,-2.08485900e+00, 1.13328415e+01,
 -1.87697315e+00,-2.66812387e+00, 1.23249208e+01,-2.53897373e+01,
 -3.16910047e+00,-3.58007206e-01, 1.57008755e+00,-4.65005565e+00,
 -7.25089113e-01, 4.70192382e-01, 4.38741834e+00,-1.85246419e+01,
  2.69822737e-01, 1.01642928e+00, 2.37340141e-02, 4.31447844e+00,
  5.14075935e-01,-1.45250291e+01]

qfrc_actuator:
[-2.12324042e-05,-9.53089165e-05,-7.13238237e-05, 6.56087394e-05,
  5.20721914e-05,-3.61957281e-04,-3.02376920e-04,-6.83449016e-05,
  1.75935388e-06,-1.20940622e-04,-1.29583668e-04, 7.90066548e-06,
  4.09197713e-02,-9.47847719e-04, 2.24646067e-02,-3.93483401e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003199415985556388
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.95571610e-08, -1.24706009e-13,  1.00000000e+00,  7.42713587e-21,
        1.00000000e+00,  1.24706009e-13, -1.00000000e+00,  0.00000000e+00,
        5.95571610e-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([ 0.08880087, -0.08819239,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.64742094e-05,-3.13072565e-05, 1.28283813e-05, 2.72379819e-05,
 -1.11186553e-05,-1.20301092e-05, 1.59275546e-05,-3.70722836e-05,
 -1.85472604e-05,-4.55934031e-05,-2.06880810e-05,-1.32020920e-05,
 -2.62682724e-04,-7.90333691e-05,-1.55874404e-04,-1.35225077e-04,
 -1.25437921e-06,-1.42245876e-07,-1.21644301e+00,-4.54212515e-04,
  1.41269400e-05,-5.53604210e-04]


--- Step 515 ---
qpos:
[ 6.16857046e-03,-1.81543668e-03,-5.00887035e-03, 3.35793295e-02,
  4.49208022e-03,-3.74402406e-03,-1.85106884e-02, 2.86116984e-02,
  1.29850048e-02, 3.35890160e-03,-9.96813122e-03, 2.58844247e-02,
  9.06208536e-01,-4.48168291e-04, 7.04251180e-01, 6.52880210e-02,
  9.34341288e-02,-7.01521767e-02, 1.30977233e-01, 5.05002096e-01,
  4.94041017e-01, 4.94521519e-01, 5.06305071e-01]

qacc:
[ -4.83908603, -1.33205766,  6.16150754,-12.94785379, -1.27046033,
   0.29093621, -1.91735653,  6.16403904,  1.10347837, -1.64648144,
   5.40334438, -7.79432487, -0.82750134,  0.82073266,  1.02754056,
  -7.55839772,  0.45103953,  1.01486289, -0.0477178 ,  6.93230509,
   0.70565716,-14.41050098]

qfrc_actuator:
[-4.82599030e-05,-9.45048916e-05,-6.30055959e-05, 4.60494489e-05,
  4.49119108e-05,-3.35028286e-04,-2.86333951e-04,-5.27114708e-05,
  8.63765320e-06,-1.55751972e-04,-1.20210658e-04, 6.64027938e-07,
  4.08455003e-02,-9.57965343e-04, 2.23776763e-02,-3.99468238e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031443600856584375
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.82058903e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.82058903e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08601476, -0.08822674,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.83630838e-05,-1.29204416e-05, 4.36774432e-06,-1.99279893e-05,
 -7.48119253e-06, 2.19039573e-05, 1.42455066e-05, 1.49510113e-05,
  6.33415042e-06,-6.51225316e-05,-3.03775817e-06,-1.01606374e-05,
 -2.61139591e-04,-7.10892338e-05,-1.78579641e-04,-8.86287823e-05,
 -1.44325607e-06, 1.99665349e-07,-1.21644316e+00,-4.53432364e-04,
  1.51393749e-05,-5.53331712e-04]


--- Step 516 ---
qpos:
[ 6.16761200e-03,-1.81509402e-03,-5.00886963e-03, 3.35792363e-02,
  4.49323440e-03,-3.74351881e-03,-1.85107658e-02, 2.86115938e-02,
  1.29854878e-02, 3.35723880e-03,-9.96813044e-03, 2.58846987e-02,
  9.07103018e-01,-4.46970220e-04, 7.05031082e-01, 6.52827651e-02,
  9.34198758e-02,-7.01352134e-02, 1.30981593e-01, 5.05099531e-01,
  4.93917895e-01, 4.94544985e-01, 5.06305081e-01]

qacc:
[ -2.81719305, -0.50356192,  4.29840983,-13.94256873,  2.21125082,
   0.33339951, -2.79470866, 10.6797381 ,  3.75941263,  0.05413939,
  -1.85512791,  6.3194597 , -0.54091611, -0.02271273, -6.6018443 ,
  18.90724143,  0.44857072,  1.00641424, -0.11811021,  6.84700244,
   0.72847948,-14.3335411 ]

qfrc_actuator:
[-6.38901770e-05,-9.40781537e-05,-7.59448536e-05, 1.65976249e-05,
  5.80947081e-05,-3.01285035e-04,-2.58863481e-04,-2.54951526e-05,
  3.04205496e-05,-1.58018565e-04,-1.14718938e-04, 1.41474143e-05,
  4.07634382e-02,-9.82305771e-04, 2.23134496e-02,-3.92073128e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030788567758638363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.80297933e-13,  1.40857760e-13,  1.00000000e+00, -2.53963630e-26,
        1.00000000e+00, -1.40857760e-13, -1.00000000e+00,  0.00000000e+00,
        1.80297933e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08601435, -0.08822877,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64418887e-05,-6.77308219e-06,-1.57652957e-05,-3.02431879e-05,
  1.29755367e-05, 4.95705964e-05, 3.42711368e-05, 2.89410611e-05,
  2.19364246e-05,-3.96955192e-05,-8.67049060e-06, 1.03924300e-05,
 -2.66426473e-04,-8.39180972e-05,-1.59707827e-04, 4.51839814e-05,
 -1.53575234e-06, 6.00710104e-07,-1.21644341e+00,-4.52663884e-04,
  1.58334481e-05,-5.52950554e-04]


--- Step 517 ---
qpos:
[ 6.16612812e-03,-1.81439253e-03,-5.00896589e-03, 3.35794299e-02,
  4.49488241e-03,-3.74266908e-03,-1.85105313e-02, 2.86118105e-02,
  1.29858830e-02, 3.35547116e-03,-9.96843199e-03, 2.58847797e-02,
  9.07995860e-01,-4.45729506e-04, 7.05809456e-01, 6.52776617e-02,
  9.34074086e-02,-7.01142506e-02, 1.30985249e-01, 5.05203971e-01,
  4.93786730e-01, 4.94590156e-01, 5.06284693e-01]

qacc:
[ -4.62901366,  1.34489436, -5.30181123, 10.13778726,  4.3259688 ,
   0.23599299, -1.55204624,  6.37546705, -0.7809079 ,  0.31053648,
  -0.49048913, -2.29314682, -1.12391255,  1.66069974, -2.66381445,
   6.16324685,  0.44642441,  0.99986913, -0.1762263 ,  6.77711098,
   0.74810154,-14.27424733]

qfrc_actuator:
[-9.04459026e-05,-4.07201506e-05,-6.58195194e-05, 3.48149020e-05,
  8.31442616e-05,-2.81403511e-04,-2.42575952e-04,-9.42435987e-06,
  2.52885141e-05,-1.58519483e-04,-1.29179710e-04, 4.22890607e-06,
  4.06820808e-02,-9.79398436e-04, 2.22522693e-02,-3.91050147e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003005549489136089
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.77173486e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.77173486e-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([ 0.08601381, -0.08823096,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.70247505e-05, 4.50030194e-05, 5.73595943e-06, 1.67932742e-05,
  2.54349229e-05, 5.59076342e-05, 3.17441505e-05, 1.99429538e-05,
 -4.52796925e-06,-2.39757431e-05,-2.33503454e-05,-1.17151094e-05,
 -2.71325556e-04,-5.96894994e-05,-1.33373407e-04,-8.71853110e-06,
 -1.61064981e-06, 1.05846358e-06,-1.21644399e+00,-4.51910890e-04,
  1.62680416e-05,-5.52479985e-04]


--- Step 518 ---
qpos:
[ 6.16571708e-03,-1.81334417e-03,-5.00872033e-03, 3.35801551e-02,
  4.49612827e-03,-3.74162141e-03,-1.85099653e-02, 2.86115452e-02,
  1.29862135e-02, 3.35384829e-03,-9.96932837e-03, 2.58847294e-02,
  9.08887079e-01,-4.44712672e-04, 7.06585727e-01, 6.52724568e-02,
  9.33967197e-02,-7.00893080e-02, 1.30988008e-01, 5.05315410e-01,
  4.93647487e-01, 4.94656942e-01, 5.06244017e-01]

qacc:
[  9.43847278,  0.57933521, -3.6769025 , 12.11094026, -3.51285389,
  -1.64837073,  8.30474568,-17.33489685, -0.59035358,  1.58453945,
  -4.81565368,  3.38470753, -0.83652305,  0.75331667, -2.76638043,
   5.23928601,  0.44458439,  0.99492667, -0.22401709,  6.72015518,
   0.76517237,-14.2304936 ]

qfrc_actuator:
[-3.44600047e-05,-9.20125027e-06,-4.18950015e-05, 6.32484051e-05,
  6.17132362e-05,-2.87773805e-04,-2.33084409e-04,-3.55665593e-05,
  2.21039251e-05,-1.40297452e-04,-1.55306785e-04,-1.63876261e-06,
  4.05905611e-02,-9.95928538e-04, 2.21343642e-02,-3.92016629e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029268083828763725
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.00759241e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.00759241e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08601318, -0.08823325,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.52301227e-05, 5.85599511e-05, 3.45031598e-05, 3.08868757e-05,
 -2.06870533e-05, 3.22793423e-05, 2.56255443e-05,-2.22637267e-05,
 -3.32605800e-06,-4.43680868e-07,-3.43364386e-05,-7.92637179e-06,
 -2.79733714e-04,-7.68963321e-05,-1.85772795e-04,-2.86425151e-05,
 -1.66858410e-06, 1.57306481e-06,-1.21644490e+00,-4.51170784e-04,
  1.64487349e-05,-5.51919299e-04]


--- Step 519 ---
qpos:
[ 6.16632521e-03,-1.81246256e-03,-5.00765189e-03, 3.35812480e-02,
  4.49641829e-03,-3.74059838e-03,-1.85096649e-02, 2.86103493e-02,
  1.29868477e-02, 3.35272527e-03,-9.97050089e-03, 2.58848858e-02,
  9.09776669e-01,-4.43879163e-04, 7.07360056e-01, 6.52664432e-02,
  9.33878029e-02,-7.00604001e-02, 1.30989714e-01, 5.05433844e-01,
  4.93500130e-01, 4.94745272e-01, 5.06183136e-01]

qacc:
[  8.99047814, -1.78129481,  4.44894984,  0.75368692, -8.37396916,
  -1.1880259 ,  8.14677618,-23.83918173,  2.65544119,  1.85268137,
  -6.52908243, 10.18976615, -0.91046609,  0.95722567, -0.39038072,
  -2.71870384,  0.44303136,  0.99133561, -0.26315183,  6.67410349,
   0.78019175,-14.20042627]

qfrc_actuator:
[ 1.64048782e-05,-4.41752601e-05,-1.00909718e-05, 7.96993753e-05,
  1.30923004e-05,-3.27639078e-04,-2.63319980e-04,-8.63617890e-05,
  3.78523894e-05,-7.55440423e-05,-1.52514950e-04, 1.26921848e-05,
  4.05089788e-02,-1.00611900e-03, 2.20464405e-02,-3.95932766e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002844567189436986
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95147970e-13,  1.95147970e-13,  1.00000000e+00, -3.80827302e-26,
        1.00000000e+00, -1.95147970e-13, -1.00000000e+00,  0.00000000e+00,
        1.95147970e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08601247, -0.08823561,  0.06199187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.24492874e-05, 6.20196424e-06, 4.92001472e-05, 2.07485408e-05,
 -4.92007224e-05,-1.75271996e-05,-2.11994333e-05,-4.89606622e-05,
  1.56494649e-05, 5.71422220e-05,-1.77330936e-06, 1.29755345e-05,
 -2.79077038e-04,-7.44491482e-05,-1.79420365e-04,-6.53631403e-05,
 -1.71006780e-06, 2.14460231e-06,-1.21644614e+00,-4.50441397e-04,
  1.63796889e-05,-5.51267889e-04]


--- Step 520 ---
qpos:
[ 6.16650396e-03,-1.81178343e-03,-5.00666588e-03, 3.35829434e-02,
  4.49646810e-03,-3.73967265e-03,-1.85097290e-02, 2.86092623e-02,
  1.29876657e-02, 3.35201980e-03,-9.97163759e-03, 2.58848551e-02,
  9.10664630e-01,-4.42898683e-04, 7.08132864e-01, 6.52572409e-02,
  9.33818470e-02,-7.00398809e-02, 1.30991496e-01, 5.05514714e-01,
  4.93395389e-01, 4.94810633e-01, 5.06140595e-01]

qacc:
[-3.77427860e+00, 1.21079245e+00,-7.23605565e+00, 1.79299971e+01,
 -2.11203124e+00, 1.11745068e+00,-4.62344877e+00, 7.15254181e+00,
  1.61039428e+00, 6.35276599e-02, 1.35866377e+00,-4.95513783e+00,
 -1.33547412e+00, 2.24471915e+00, 7.43936964e+00,-2.91449736e+01,
  7.40238032e-01,-2.09716746e+00, 1.87581352e-02, 9.68856907e+00,
 -2.77316177e+00, 3.03523350e+01]

qfrc_actuator:
[-7.18884477e-06,-8.31649055e-05,-2.74349123e-05, 1.06664899e-04,
  2.12986729e-06,-3.34200041e-04,-2.81422190e-04,-8.02970214e-05,
  4.68655488e-05,-5.42953330e-05,-1.50205162e-04, 3.35153164e-06,
  4.04387436e-02,-9.94704061e-04, 2.19712411e-02,-4.12195481e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028798388911320527
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.85515672e-13, -9.63789179e-14,  1.00000000e+00,  3.71555833e-26,
        1.00000000e+00,  9.63789179e-14, -1.00000000e+00,  0.00000000e+00,
        3.85515672e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08249849, -0.031286  ,  0.06199177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.21072199e-05,-2.44998230e-05,-9.31318177e-06, 2.93283064e-05,
 -1.23711175e-05,-2.28943436e-05,-2.60388600e-05, 3.62901623e-06,
  9.47251304e-06, 5.34542212e-05, 1.43703306e-05,-6.69644834e-06,
 -2.66792747e-04,-5.24286424e-05,-1.68373738e-04,-1.90175633e-04,
 -1.73552342e-06, 2.77311809e-06,-1.21644770e+00,-4.49720887e-04,
  1.60639037e-05,-5.50525215e-04]


--- Step 521 ---
qpos:
[ 6.16639899e-03,-1.81126618e-03,-5.00608745e-03, 3.35839313e-02,
  4.49673037e-03,-3.73866014e-03,-1.85098857e-02, 2.86089038e-02,
  1.29882405e-02, 3.35164227e-03,-9.97271929e-03, 2.58850684e-02,
  9.11551192e-01,-4.42691195e-04, 7.08903449e-01, 6.52487934e-02,
  9.33787393e-02,-7.00275702e-02, 1.30992503e-01, 5.05558585e-01,
  4.93332310e-01, 4.94853862e-01, 5.06115998e-01]

qacc:
[ -2.50518142, -0.52653521,  4.56212413,-16.04447229,  1.85558187,
   1.86759187, -9.57592454, 22.27557105, -2.14348192,  0.78611952,
  -3.19697918,  7.08235654, -0.10199275, -1.32466393, -5.57498457,
  14.69393898,  0.71201904, -2.05212008, -0.19353903,  9.61756874,
  -2.55652458, 29.66579237]

qfrc_actuator:
[-2.11589466e-05,-1.06708848e-04,-5.59388618e-05, 6.85466008e-05,
  1.34292441e-05,-3.02943273e-04,-2.74286489e-04,-4.07833576e-05,
  3.40834171e-05,-4.15144511e-05,-1.48386098e-04, 1.56242907e-05,
  4.03593982e-02,-1.04159337e-03, 2.18877309e-02,-4.07191600e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53552532,  1.4220884 , -4.3068149 ,  1.4220884 , 11.08440673,
        2.16240737, -4.3068149 ,  2.16240737,  5.24954125,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029849654189378905
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.85969160e-13, -3.71938320e-13,  1.00000000e+00,  6.91690571e-26,
        1.00000000e+00,  3.71938320e-13, -1.00000000e+00,  0.00000000e+00,
        1.85969160e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08249782, -0.03129199,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.46115647e-05,-3.79596373e-05,-3.37196153e-05,-3.89261855e-05,
  1.09388957e-05, 1.31966674e-05,-6.82322119e-07, 3.77031910e-05,
 -1.24980614e-05, 4.53990010e-05, 1.44211247e-05, 1.49343540e-05,
 -2.63615111e-04,-1.05251611e-04,-1.86706549e-04, 1.66787735e-05,
 -9.27068541e-07, 1.36370223e-06,-1.21644384e+00,-4.50892355e-04,
  1.41486358e-05,-5.49897488e-04]


--- Step 522 ---
qpos:
[ 6.16647204e-03,-1.81089126e-03,-5.00559207e-03, 3.35840849e-02,
  4.49712604e-03,-3.73774676e-03,-1.85098541e-02, 2.86083346e-02,
  1.29883130e-02, 3.35105023e-03,-9.97297111e-03, 2.58857887e-02,
  9.12436121e-01,-4.42408519e-04, 7.09672133e-01, 6.52461303e-02,
  9.33783880e-02,-7.00233173e-02, 1.30992021e-01, 5.05565938e-01,
  4.93310093e-01, 4.94875642e-01, 5.06109013e-01]

qacc:
[  1.56466428, -1.67707667,  9.22347676,-23.41908374,  1.17490021,
  -1.09240539,  4.59094035, -8.46088962, -4.38943479, -1.55052955,
   2.99101454,  4.60011903, -0.94952774,  1.29109714,-20.21179955,
  66.75238927,  0.68911933, -2.01445084, -0.37232127,  9.55137989,
  -2.38278964, 29.09411876]

qfrc_actuator:
[-1.15761580e-05,-1.03192355e-04,-5.52754210e-05, 2.79523347e-05,
  1.99764803e-05,-3.20151540e-04,-2.69886851e-04,-5.28741624e-05,
  8.57748396e-06,-6.93969403e-05,-1.11389713e-04, 4.05088795e-05,
  4.02852761e-02,-1.03384088e-03, 2.18685875e-02,-3.75492443e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55622173,  1.60901954, -4.26265324,  1.60901954, 14.74703009,
        3.84671444, -4.26265324,  3.84671444,  6.00823726,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030473357978406945
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.82162895e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.82162895e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08249697, -0.03129556,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.15464899e-06,-2.63766115e-05,-1.26919076e-05,-4.41491900e-05,
  6.86277748e-06,-8.38422640e-06, 8.33628892e-06,-1.08166703e-05,
 -2.58486215e-05, 1.14706921e-06, 4.86848536e-05, 2.76231794e-05,
 -2.66602573e-04,-5.73810899e-05,-1.05474428e-04, 2.93326431e-04,
 -3.82483760e-07, 4.69630048e-07,-1.21644136e+00,-4.51790202e-04,
  1.29496747e-05,-5.49494898e-04]


--- Step 523 ---
qpos:
[ 6.16631428e-03,-1.81074552e-03,-5.00489064e-03, 3.35851224e-02,
  4.49725245e-03,-3.73717187e-03,-1.85093374e-02, 2.86072904e-02,
  1.29884244e-02, 3.35006029e-03,-9.97285976e-03, 2.58865131e-02,
  9.13319310e-01,-4.41424947e-04, 7.10439925e-01, 6.52458326e-02,
  9.33807190e-02,-7.00269966e-02, 1.30989448e-01, 5.05537176e-01,
  4.93328070e-01, 4.94876524e-01, 5.06119358e-01]

qacc:
[ -2.01860866,  0.94533114, -7.53508952, 22.66572412, -2.33575484,
  -2.7740241 , 11.25610407,-20.01058819,  0.35979519, -1.53307555,
   4.68466331, -4.89975146, -1.79712874,  3.75752088, -8.35434782,
  27.55640716,  0.67057313, -1.98305058, -0.52279347,  9.49140894,
  -2.2430126 , 28.61994135]

qfrc_actuator:
[-2.37151532e-05,-1.01147033e-04,-3.72730495e-05, 7.50455392e-05,
  5.91388962e-06,-3.48535004e-04,-2.49620072e-04,-7.75271809e-05,
  1.12988729e-05,-1.21266174e-04,-1.07341721e-04, 3.70946702e-05,
  4.02090335e-02,-9.93842315e-04, 2.18348572e-02,-3.63814543e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56561941,  1.81966614, -4.1873256 ,  1.81966614, 21.62784632,
        7.41465067, -4.1873256 ,  7.41465067,  7.78776883,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030750724011520403
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.35389864e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.35389864e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08249597, -0.03129719,  0.06199121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18872810e-05,-1.72349792e-05, 9.45219411e-06, 4.46618605e-05,
 -1.38693619e-05,-3.18434674e-05, 1.91775144e-05,-2.49355192e-05,
  1.98232030e-06,-3.99735266e-05, 1.12467055e-05,-1.14154612e-06,
 -2.60078368e-04,-1.96524365e-05,-5.50044519e-05, 1.18259262e-04,
 -7.91507937e-08, 5.94422361e-08,-1.21644016e+00,-4.52469211e-04,
  1.24355966e-05,-5.49306824e-04]


--- Step 524 ---
qpos:
[ 6.16566725e-03,-1.81076045e-03,-5.00369910e-03, 3.35863413e-02,
  4.49651918e-03,-3.73633479e-03,-1.85090817e-02, 2.86055880e-02,
  1.29885666e-02, 3.34956158e-03,-9.97362179e-03, 2.58875084e-02,
  9.14200848e-01,-4.39946766e-04, 7.11207084e-01, 6.52429684e-02,
  9.33856724e-02,-7.00385037e-02, 1.30984278e-01, 5.05472633e-01,
  4.93385682e-01, 4.94856952e-01, 5.06146799e-01]

qacc:
[ -4.28367881, -1.20077944,  3.22221076, -0.76505052, -7.53706858,
  -0.26341426,  4.24725002,-15.4426778 ,  0.23594892,  3.64725156,
 -13.20708667, 18.93060733, -1.70526172,  3.39761766,  6.8988379 ,
 -25.28370919,  0.65559579, -1.95697436, -0.64936552,  9.43848703,
  -2.13008543, 28.22873422]

qfrc_actuator:
[-4.85495834e-05,-9.98406251e-05,-9.12319556e-06, 8.46033525e-05,
 -3.79179480e-05,-3.12334050e-04,-2.55710379e-04,-1.09368953e-04,
  1.28638775e-05,-6.29898390e-05,-1.40680625e-04, 5.25065625e-05,
  4.01262613e-02,-9.70657140e-04, 2.17710494e-02,-3.78240973e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56558705,  2.0595139 , -4.07467639,  2.0595139 , 40.26379061,
       18.04338293, -4.07467639, 18.04338293, 13.68547643,  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: -0.00030749775192770445
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.70788083e-13, -4.51313472e-14,  1.00000000e+00,  1.22210310e-26,
        1.00000000e+00,  4.51313472e-14, -1.00000000e+00,  0.00000000e+00,
        2.70788083e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08249485, -0.03129726,  0.06199121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51820593e-05,-4.48465986e-06, 2.72875873e-05, 1.00118691e-05,
 -4.42388747e-05, 2.12572693e-05,-1.11780435e-05,-3.30276833e-05,
  1.60408405e-06, 3.82311222e-05,-4.02414963e-05, 1.40660683e-05,
 -2.54714324e-04,-3.00561447e-05,-8.50260530e-05,-1.46909470e-04,
 -6.48829133e-11, 1.09213208e-07,-1.21644018e+00,-4.52969662e-04,
  1.25810865e-05,-5.49325025e-04]


--- Step 525 ---
qpos:
[ 6.16507221e-03,-1.81063273e-03,-5.00224761e-03, 3.35869511e-02,
  4.49561087e-03,-3.73505969e-03,-1.85090385e-02, 2.86034906e-02,
  1.29883813e-02, 3.34971996e-03,-9.97492782e-03, 2.58882901e-02,
  9.15080763e-01,-4.37877333e-04, 7.11973354e-01, 6.52373772e-02,
  9.33932000e-02,-7.00577526e-02, 1.30976084e-01, 5.05372580e-01,
  4.93482468e-01, 4.94817280e-01, 5.06191138e-01]

qacc:
[  0.46248529, -1.79308877,  9.23611771,-20.29445798, -1.54638366,
   0.36277985,  1.2197557 , -8.0449052 , -2.91095647,  1.95486454,
  -4.79841568,  1.47701554, -1.78115254,  3.67441271,  7.01177042,
 -26.21337598,  0.64354835, -1.93541494, -0.75578628,  9.39301925,
  -2.03835203, 27.9082991 ]

qfrc_actuator:
[-4.51452439e-05,-8.12017706e-05, 6.99603167e-06, 5.42364629e-05,
 -4.56552980e-05,-2.73353000e-04,-2.59310232e-04,-1.27398124e-04,
 -4.02517857e-06,-1.03666526e-05,-1.59855134e-04, 4.34403795e-05,
  4.00502775e-02,-9.39881441e-04, 2.17264843e-02,-3.91954061e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5580413 , -2.33278458,  3.91584685, -2.33278458, 33.24547395,
       17.08994327,  3.91584685, 17.08994327, 14.7390207 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030527339367800166
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81840777e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.81840777e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08249363, -0.03129609,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.68384834e-06, 2.21738198e-05, 1.88853393e-05,-2.94242435e-05,
 -8.99182150e-06, 4.70987346e-05,-1.73606697e-06,-1.81445232e-05,
 -1.68312669e-05, 6.63183828e-05,-1.57346777e-05,-8.54590999e-06,
 -2.47113282e-04,-2.25929562e-05,-1.08789927e-04,-1.58344315e-04,
 -1.32558833e-07, 6.01175927e-07,-1.21644137e+00,-4.53321252e-04,
  1.33660699e-05,-5.49543089e-04]


--- Step 526 ---
qpos:
[ 6.16486725e-03,-1.81024853e-03,-5.00094369e-03, 3.35872057e-02,
  4.49530643e-03,-3.73355660e-03,-1.85090062e-02, 2.86015514e-02,
  1.29883404e-02, 3.34999298e-03,-9.97625155e-03, 2.58886450e-02,
  9.15959287e-01,-4.36042116e-04, 7.12737243e-01, 6.52306954e-02,
  9.34032632e-02,-7.00846721e-02, 1.30964509e-01, 5.05237229e-01,
  4.93618042e-01, 4.94757791e-01, 5.06252210e-01]

qacc:
[ 3.42057704e+00, 1.37069249e-02, 1.93033218e+00,-8.01561752e+00,
  5.28097230e+00, 6.46683046e-01,-2.55459342e+00, 5.16130447e+00,
  1.26775849e+00,-6.80265002e-01, 4.44355417e+00,-1.18832854e+01,
 -6.92961913e-01, 5.46102340e-01,-1.99521456e-01,-4.35693562e+00,
  6.33909430e-01,-1.91768158e+00,-8.45250112e-01, 9.35510293e+00,
 -1.96330573e+00, 2.76483576e+01]

qfrc_actuator:
[-2.51431850e-05,-7.01551429e-05,-1.82162429e-06, 3.61378843e-05,
 -1.43240921e-05,-2.68489849e-04,-2.61359960e-04,-1.19387030e-04,
  3.86466669e-06,-3.25082508e-05,-1.70511018e-04, 2.00634662e-05,
  3.99730981e-02,-9.58103810e-04, 2.15816691e-02,-3.98019388e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030130751529020006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84234207e-13,  1.84234207e-13,  1.00000000e+00, -3.39422431e-26,
        1.00000000e+00, -1.84234207e-13, -1.00000000e+00,  0.00000000e+00,
        1.84234207e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08249232, -0.03129395,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.00845647e-05, 2.60664352e-05,-2.94869843e-06,-1.70725351e-05,
  3.10916096e-05, 3.00191536e-05, 6.82655726e-06, 9.61845085e-06,
  7.43512304e-06, 1.13289126e-05, 8.21457352e-07,-2.12441555e-05,
 -2.42049690e-04,-6.89820676e-05,-2.20022230e-04,-8.52706894e-05,
 -4.67343344e-07, 1.52264952e-06,-1.21644368e+00,-4.53545969e-04,
  1.47749518e-05,-5.49956007e-04]


--- Step 527 ---
qpos:
[ 6.16524870e-03,-1.80977665e-03,-4.99998679e-03, 3.35876228e-02,
  4.49469001e-03,-3.73187151e-03,-1.85089326e-02, 2.85990350e-02,
  1.29880493e-02, 3.35026323e-03,-9.97740466e-03, 2.58897556e-02,
  9.16836579e-01,-4.35300552e-04, 7.13499007e-01, 6.52212582e-02,
  9.34153867e-02,-7.01070978e-02, 1.30957237e-01, 5.05109958e-01,
  4.93744119e-01, 4.94722889e-01, 5.06290370e-01]

qacc:
[  5.14397635,  1.41014316, -5.56213394,  8.87961131, -2.73261445,
  -1.05622209,  6.56194242,-16.76096736, -2.19565601,  1.07936975,
  -7.03727692, 19.83758489,  0.20653151, -2.22623737,  5.13811041,
 -22.63628672,  0.51505826,  1.12347691,  1.07563258,  7.49792788,
   0.96140546,-16.25061108]

qfrc_actuator:
[ 4.45862614e-06,-8.15873589e-05,-2.52978759e-05, 4.31425511e-05,
 -3.12711797e-05,-2.66309986e-04,-2.62596161e-04,-1.49404873e-04,
 -9.22431933e-06,-2.82185685e-05,-1.58611812e-04, 5.94093935e-05,
  3.98952385e-02,-1.02288868e-03, 2.14780601e-02,-4.11977454e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003060581307288146
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.06872676e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.06872676e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08601536, -0.08823001,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.01802022e-05, 1.78158521e-06,-1.90666325e-05, 7.68221530e-06,
 -1.60491346e-05, 2.07489127e-05, 6.12312656e-06,-2.83083548e-05,
 -1.28733678e-05, 9.89142022e-06, 1.36166068e-05, 3.94476330e-05,
 -2.49393079e-04,-1.20660410e-04,-2.15361913e-04,-1.72927306e-04,
 -9.97780015e-07, 2.86519617e-06,-1.21644709e+00,-4.53660193e-04,
  1.67959570e-05,-5.50559841e-04]


--- Step 528 ---
qpos:
[ 6.16598219e-03,-1.80940098e-03,-4.99896125e-03, 3.35881156e-02,
  4.49353086e-03,-3.73032408e-03,-1.85084686e-02, 2.85965412e-02,
  1.29872585e-02, 3.35073726e-03,-9.97792951e-03, 2.58912697e-02,
  9.17712331e-01,-4.34949411e-04, 7.14259520e-01, 6.52115763e-02,
  9.34295217e-02,-7.01251378e-02, 1.30953256e-01, 5.04990553e-01,
  4.93860991e-01, 4.94711990e-01, 5.06306143e-01]

qacc:
[  3.0992853 , -0.16910123,  0.08812018,  1.19549131, -4.73539237,
  -1.21655893,  3.99458339, -4.14324035, -4.38123297, -0.64726995,
   1.00955014,  4.80451971, -0.64937382,  0.20969965, -1.08798144,
   1.16759543,  0.50288743,  1.09639846,  0.82274145,  7.3478494 ,
   0.91971622,-15.84821425]

qfrc_actuator:
[ 2.17152793e-05,-8.86880482e-05,-2.18055446e-05, 4.70811345e-05,
 -5.87583106e-05,-2.83537940e-04,-2.45639412e-04,-1.48310079e-04,
 -3.45637972e-05, 9.75406845e-06,-1.15608150e-04, 8.21193112e-05,
  3.98116811e-02,-1.04364741e-03, 2.14844502e-02,-4.10933167e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60202444, -4.34143978, -1.52660719, -4.34143978,  5.13997376,
       -1.52984646, -1.52660719, -1.52984646,  8.95267621,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003179299580040873
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74601826e-13,  9.27572201e-14,  1.00000000e+00, -1.61955800e-26,
        1.00000000e+00, -9.27572201e-14, -1.00000000e+00,  0.00000000e+00,
        1.74601826e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08601637, -0.08822684,  0.06199091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.81132796e-05,-9.73359738e-06, 1.75854988e-06, 3.49929856e-06,
 -2.79374126e-05,-5.63571217e-06, 2.10028958e-05, 1.64730017e-06,
 -2.57040595e-05, 4.80029728e-05, 4.80970461e-05, 2.43726435e-05,
 -2.70237479e-04,-8.53097920e-05,-1.13473475e-04,-2.73049003e-05,
 -1.09722501e-06, 2.23574373e-06,-1.21644561e+00,-4.54004465e-04,
  1.68229341e-05,-5.51028141e-04]


--- Step 529 ---
qpos:
[ 6.16622713e-03,-1.80918187e-03,-4.99758806e-03, 3.35886399e-02,
  4.49274127e-03,-3.72934234e-03,-1.85073483e-02, 2.85951528e-02,
  1.29868601e-02, 3.35112923e-03,-9.97771613e-03, 2.58920369e-02,
  9.18586193e-01,-4.33866924e-04, 7.15019409e-01, 6.51992823e-02,
  9.34456286e-02,-7.01388833e-02, 1.30951713e-01, 5.04878832e-01,
  4.93968905e-01, 4.94724606e-01, 5.06299960e-01]

qacc:
[ -4.28214659, -1.10542454,  3.52225126, -3.43184567,  3.26531352,
  -0.31354562, -4.64636529, 23.15919008,  3.47844592, -3.71579791,
  16.23326385,-30.26595447, -2.11012822,  4.38388263,  7.07428237,
 -25.81819336,  0.49297561,  1.07364203,  0.60960377,  7.22402291,
   0.88332205,-15.51161053]

qfrc_actuator:
[-3.94061143e-06,-9.30410121e-05,-2.40891877e-06, 4.92017117e-05,
 -3.89560287e-05,-3.29916346e-04,-2.18132581e-04,-9.34113281e-05,
 -1.36460294e-05,-2.10321214e-05,-8.99729647e-05, 4.16396217e-05,
  3.97194512e-02,-1.00275095e-03, 2.14609733e-02,-4.24106736e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.62819793, -4.50795069, -1.04813963, -4.50795069,  5.05827685,
       -1.84972929, -1.04813963, -1.84972929, 12.58371094,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032512833373099514
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.41472246e-13,  1.33387596e-13,  1.00000000e+00, -4.55481621e-26,
        1.00000000e+00, -1.33387596e-13, -1.00000000e+00,  0.00000000e+00,
        3.41472246e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08601694, -0.08822493,  0.06199071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51468291e-05,-9.30556049e-06, 1.77047061e-05, 1.82730549e-06,
  1.90013494e-05,-4.51869337e-05, 2.89700491e-05, 5.54182599e-05,
  2.02025692e-05, 7.01101721e-06, 4.23157997e-05,-3.62863634e-05,
 -2.84355291e-04,-2.34434848e-05,-8.51779335e-05,-1.49389844e-04,
 -1.17531509e-06, 1.69756254e-06,-1.21644457e+00,-4.54346250e-04,
  1.65503411e-05,-5.51393459e-04]


--- Step 530 ---
qpos:
[ 6.16581779e-03,-1.80897271e-03,-4.99631404e-03, 3.35891975e-02,
  4.49253978e-03,-3.72883299e-03,-1.85058588e-02, 2.85944414e-02,
  1.29870608e-02, 3.35092163e-03,-9.97688072e-03, 2.58923893e-02,
  9.19458307e-01,-4.32305292e-04, 7.15778318e-01, 6.51867729e-02,
  9.34636755e-02,-7.01484104e-02, 1.30951891e-01, 5.04774643e-01,
  4.94068067e-01, 4.94760331e-01, 5.06272179e-01]

qacc:
[ -5.75587325,  0.34389515, -1.36636949,  2.08761558,  5.16716249,
  -0.27330066, -2.80754964, 14.30002934,  5.30097405, -3.39494337,
  12.68839115,-20.40000272, -1.66703948,  3.21938745, -0.70834324,
   0.58568329,  0.48498158,  1.05459729,  0.43026631,  7.12290397,
   0.85115267,-15.23087631]

qfrc_actuator:
[-3.68916182e-05,-9.56464908e-05,-9.28143440e-06, 5.02454059e-05,
 -9.22792492e-06,-3.57796681e-04,-2.02470437e-04,-6.05800440e-05,
  1.65810756e-05,-9.28692912e-05,-7.51201485e-05, 1.74930533e-05,
  3.96380820e-02,-9.79084881e-04, 2.14355422e-02,-4.24261351e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032853624020048877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.69611107e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.69611107e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08601716, -0.08822404,  0.06199061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.36722456e-05,-4.10846458e-06,-6.56991523e-06, 1.28935051e-06,
  3.02516423e-05,-4.48290187e-05, 1.17924683e-05, 3.29733245e-05,
  3.08049213e-05,-6.07433199e-05, 2.02475885e-05,-2.30921192e-05,
 -2.70245887e-04,-3.49524273e-05,-9.01691092e-05,-2.29215218e-05,
 -1.23313684e-06, 1.24310862e-06,-1.21644394e+00,-4.54690076e-04,
  1.59935500e-05,-5.51658477e-04]


--- Step 531 ---
qpos:
[ 6.16570622e-03,-1.80853947e-03,-4.99549938e-03, 3.35894130e-02,
  4.49269600e-03,-3.72828010e-03,-1.85046382e-02, 2.85937617e-02,
  1.29869319e-02, 3.35100614e-03,-9.97677863e-03, 2.58927749e-02,
  9.20328838e-01,-4.30495482e-04, 7.16535586e-01, 6.51789788e-02,
  9.34828924e-02,-7.01537725e-02, 1.30953464e-01, 5.04680873e-01,
  4.94155949e-01, 4.94815959e-01, 5.06225524e-01]

qacc:
[  2.59968837,  0.87059142, -1.23836571, -4.10549069,  3.12156637,
   0.86757967, -3.15425645,  4.11078851, -2.92849664,  2.50951261,
  -8.51777953, 10.03812644, -1.13282989,  1.88470893,-16.59119203,
  54.67073116,  0.2925321 ,  1.04125635,  0.34846768,  4.28691727,
   0.63898808,-15.10819806]

qfrc_actuator:
[-2.06006601e-05,-7.95348414e-05,-3.16076894e-05, 3.28759366e-05,
  8.33667424e-06,-3.38939914e-04,-2.11643113e-04,-5.87554963e-05,
 -1.22761250e-06,-4.67656469e-05,-1.02421100e-04, 2.08656399e-05,
  3.95686103e-02,-9.65797378e-04, 2.13930158e-02,-3.98987124e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000329068732493744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.23089821e-07, -7.90742163e-14,  1.00000000e+00,  3.34554960e-20,
        1.00000000e+00,  7.90742163e-14, -1.00000000e+00, -6.01853108e-36,
        4.23089821e-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([ 0.0888026 , -0.08819001,  0.0619906 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.53302614e-05, 1.24781294e-05,-2.39563052e-05,-1.77508150e-05,
  1.84112599e-05,-2.38648374e-06,-1.58617778e-05, 9.48992313e-07,
 -1.69543072e-05, 1.53367959e-05,-3.81625357e-05, 1.01721780e-06,
 -2.51294788e-04,-4.42175141e-05,-9.44325221e-05, 2.38016279e-04,
 -1.27158825e-06, 8.66300075e-07,-1.21644370e+00,-4.55039565e-04,
  1.51642276e-05,-5.51825438e-04]


--- Step 532 ---
qpos:
[ 6.16579053e-03,-1.80802687e-03,-4.99521233e-03, 3.35894422e-02,
  4.49306172e-03,-3.72754817e-03,-1.85038887e-02, 2.85927602e-02,
  1.29862459e-02, 3.35133712e-03,-9.97678906e-03, 2.58931598e-02,
  9.21197643e-01,-4.27886531e-04, 7.17291086e-01, 6.51727016e-02,
  9.35025461e-02,-7.01550153e-02, 1.30956129e-01, 5.04600277e-01,
  4.94230143e-01, 4.94888432e-01, 5.06162588e-01]

qacc:
[  1.70430913,  1.1929141 , -3.32040023,  0.88761582,  1.81556472,
   0.8873145 , -1.46808173, -3.4725812 , -4.91082772,  0.64827085,
  -1.81912098,  1.78692309, -1.8841219 ,  4.02085513, -7.07901904,
  21.23141238,  0.10916614,  1.02982417,  0.27335394,  1.58253599,
   0.43348048,-14.99194769]

qfrc_actuator:
[-1.09601167e-05,-8.79282289e-05,-6.28063149e-05, 2.25734064e-05,
  1.85983191e-05,-3.27873135e-04,-2.35226224e-04,-7.51604865e-05,
 -2.94161452e-05,-1.93125331e-05,-1.00649885e-04, 2.27150222e-05,
  3.94850222e-02,-9.23192442e-04, 2.12764175e-02,-3.92670059e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032852979955017014
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.6896839e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.6896839e-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([ 0.09150261, -0.08815724,  0.06199061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00802412e-05,-7.14468757e-06,-3.22014137e-05,-1.09460593e-05,
  1.07873392e-05, 6.47016706e-06,-2.60171331e-05,-1.70408484e-05,
 -2.86629085e-05, 2.81787103e-05, 2.71390995e-07, 1.20536720e-06,
 -2.54561741e-04,-1.25869015e-05,-1.39709404e-04, 6.28255428e-05,
 -1.20565314e-06, 5.33457632e-07,-1.21644356e+00,-4.55370482e-04,
  1.40124837e-05,-5.51929091e-04]


--- Step 533 ---
qpos:
[ 6.16598993e-03,-1.80756712e-03,-4.99529136e-03, 3.35896991e-02,
  4.49354833e-03,-3.72736241e-03,-1.85031707e-02, 2.85923241e-02,
  1.29852276e-02, 3.35123016e-03,-9.97565615e-03, 2.58935643e-02,
  9.22064794e-01,-4.24734067e-04, 7.18044862e-01, 6.51652554e-02,
  9.35226352e-02,-7.01521843e-02, 1.30959419e-01, 5.04532686e-01,
  4.94290849e-01, 4.94977560e-01, 5.06083531e-01]

qacc:
[  1.00138339,  1.42038638, -6.13011821, 10.69782505,  1.06665932,
   0.52642362, -5.31558777, 15.55599021, -2.88007606, -3.72821015,
  12.38041826,-13.55713953, -1.67647745,  3.34498739,  1.07361488,
  -7.24161621,  0.10888333,  1.01843792,  0.15600721,  1.58743171,
   0.41324459,-14.81145649]

qfrc_actuator:
[-5.32704955e-06,-9.32169154e-05,-8.13237458e-05, 3.42445908e-05,
  2.44833146e-05,-3.92643801e-04,-2.49393155e-04,-4.89045989e-05,
 -4.57205393e-05,-5.63788312e-05,-4.62575842e-05, 2.36711263e-05,
  3.93983596e-02,-8.99152547e-04, 2.11740301e-02,-3.99371334e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032562599706262296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.52375912e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.52375912e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09150247, -0.08815798,  0.06199069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.91701598e-06,-1.64235117e-05,-2.43480020e-05, 1.00355518e-05,
  6.19715840e-06,-6.72861577e-05,-1.66405615e-05, 2.52997767e-05,
 -1.71078253e-05,-2.12257893e-05, 6.02839688e-05, 2.19601838e-06,
 -2.54018538e-04,-2.71346114e-05,-1.64478884e-04,-8.26344699e-05,
 -1.04843442e-06, 2.63307589e-07,-1.21644348e+00,-4.55688925e-04,
  1.26890903e-05,-5.51972374e-04]


--- Step 534 ---
qpos:
[ 6.16694518e-03,-1.80712542e-03,-4.99537418e-03, 3.35904092e-02,
  4.49375710e-03,-3.72808497e-03,-1.85018589e-02, 2.85922100e-02,
  1.29840213e-02, 3.35118311e-03,-9.97482472e-03, 2.58936682e-02,
  9.22930525e-01,-4.21893919e-04, 7.18796586e-01, 6.51580386e-02,
  9.35431600e-02,-7.01453167e-02, 1.30962941e-01, 5.04477959e-01,
  4.94338236e-01, 4.95083185e-01, 5.05988475e-01]

qacc:
[  6.64661005,  0.90680405, -5.20311832, 13.08834872, -2.39727038,
  -2.19106035,  4.71908393,  0.5659312 , -1.66449442,  0.30636921,
   0.2970939 , -5.06677631, -0.60355316,  0.24969389, -3.70186184,
   8.59276513,  0.10890544,  1.00915651,  0.05814343,  1.59435774,
   0.39464949,-14.6645594 ]

qfrc_actuator:
[ 3.34092490e-05,-7.87896944e-05,-7.44303192e-05, 5.87605231e-05,
  9.99451094e-06,-4.49005423e-04,-2.22656463e-04,-3.33158182e-05,
 -5.48965134e-05,-6.05604335e-05,-6.80192600e-05, 6.31867059e-06,
  3.93205599e-02,-9.21820966e-04, 2.10855549e-02,-3.97698309e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003210073774157912
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.32319902e-14,  1.72927961e-13,  1.00000000e+00, -7.47601992e-27,
        1.00000000e+00, -1.72927961e-13, -1.00000000e+00,  0.00000000e+00,
        4.32319902e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09150231, -0.08815919,  0.06199083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.88979423e-05, 6.28802316e-07, 8.43836281e-07, 2.31633481e-05,
 -1.43356427e-05,-9.63528067e-05, 1.16542537e-05, 1.26204991e-05,
 -9.67104586e-06,-3.52409666e-06,-1.86581248e-05,-1.61361243e-05,
 -2.48098031e-04,-7.56343447e-05,-1.77504124e-04,-1.00358545e-05,
 -8.86384783e-07, 8.65825926e-08,-1.21644369e+00,-4.56012883e-04,
  1.12999178e-05,-5.51924230e-04]


--- Step 535 ---
qpos:
[ 6.16835718e-03,-1.80654119e-03,-4.99571632e-03, 3.35910587e-02,
  4.49344538e-03,-3.72915377e-03,-1.85007130e-02, 2.85922638e-02,
  1.29830594e-02, 3.35115052e-03,-9.97423038e-03, 2.58932201e-02,
  9.23794784e-01,-4.19298451e-04, 7.19546216e-01, 6.51520170e-02,
  9.35641216e-02,-7.01344424e-02, 1.30966370e-01, 5.04435980e-01,
  4.94372441e-01, 4.95205181e-01, 5.05877515e-01]

qacc:
[  4.00546207,  0.78073374, -2.2679884 ,  1.54326616, -4.5546099 ,
   0.35986074, -2.64128016,  6.0520095 ,  2.14134726, -0.45882569,
   3.98729612,-13.16518631, -0.67354135,  0.44034583, -6.6728811 ,
  18.90957647,  0.10918406,  1.00169119, -0.02320804,  1.60319559,
   0.37735336,-14.54643531]

qfrc_actuator:
[ 5.58154152e-05,-7.02991991e-05,-8.80114887e-05, 5.51615204e-05,
 -1.63682140e-05,-4.46483121e-04,-2.25247973e-04,-2.41101028e-05,
 -4.20542164e-05,-6.30865229e-05,-8.12279467e-05,-2.17066878e-05,
  3.92427903e-02,-9.36370687e-04, 2.10001927e-02,-3.91093809e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003150751191320078
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.80919309e-14,  1.76183862e-13,  1.00000000e+00,  1.55203766e-26,
        1.00000000e+00, -1.76183862e-13, -1.00000000e+00,  0.00000000e+00,
       -8.80919309e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09150212, -0.08816077,  0.06199099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.35099119e-05, 1.00029517e-05,-1.25542413e-05,-3.09623423e-06,
 -2.68068489e-05,-4.84037095e-05,-2.06272415e-05, 5.72488826e-06,
  1.25684544e-05,-9.05781814e-06,-1.68033665e-05,-2.91378225e-05,
 -2.53899993e-04,-7.31907509e-05,-1.70984787e-04, 4.19493129e-05,
 -7.18989651e-07,-3.97152920e-10,-1.21644419e+00,-4.56343812e-04,
  9.84293809e-06,-5.51785638e-04]


--- Step 536 ---
qpos:
[ 6.16968209e-03,-1.80576825e-03,-4.99651797e-03, 3.35913228e-02,
  4.49281981e-03,-3.73028939e-03,-1.85003343e-02, 2.85927785e-02,
  1.29822590e-02, 3.35061225e-03,-9.97304752e-03, 2.58927947e-02,
  9.24657525e-01,-4.16861595e-04, 7.20294641e-01, 6.51459759e-02,
  9.35855218e-02,-7.01195848e-02, 1.30969437e-01, 5.04406654e-01,
  4.94393579e-01, 4.95343448e-01, 5.05750715e-01]

qacc:
[ -0.78365377,  0.74205134, -0.65443151, -5.42168583, -2.76938959,
   3.00756105,-12.7888989 , 22.02817682,  1.44955959, -2.26896088,
   7.0192257 , -7.18769753, -0.86183839,  0.91758255, -1.68441824,
   3.39102282,  0.10967931,  0.99579206, -0.09059445,  1.6138181 ,
   0.36107996,-14.45300784]

qfrc_actuator:
[ 5.06676365e-05,-6.55241181e-05,-1.13620370e-04, 3.50260380e-05,
 -3.17488619e-05,-4.44334479e-04,-2.62667084e-04,-9.56400363e-07,
 -3.41105994e-05,-1.00103074e-04,-5.37433864e-05,-2.02588218e-05,
  3.91650948e-02,-9.45991900e-04, 2.09700339e-02,-3.90512477e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030816153440453575
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.50341339e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.50341339e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09150191, -0.08816261,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.47682927e-06, 7.62799436e-06,-2.52026725e-05,-2.02047173e-05,
 -1.61626930e-05,-2.89179178e-05,-4.97597949e-05, 2.04778585e-05,
  8.29983226e-06,-4.68048051e-05, 2.25285864e-05,-8.97496269e-08,
 -2.56936589e-04,-6.91966726e-05,-1.07113253e-04,-1.45730423e-05,
 -5.45782744e-07,-5.70153703e-10,-1.21644496e+00,-4.56683068e-04,
  8.31615490e-06,-5.51557405e-04]


--- Step 537 ---
qpos:
[ 6.17059032e-03,-1.80498183e-03,-4.99730001e-03, 3.35913331e-02,
  4.49201423e-03,-3.73125028e-03,-1.85002761e-02, 2.85931586e-02,
  1.29815602e-02, 3.34969991e-03,-9.97186829e-03, 2.58931050e-02,
  9.25518919e-01,-4.15168754e-04, 7.21041020e-01, 6.51411385e-02,
  9.36073635e-02,-7.01007623e-02, 1.30971919e-01, 5.04389903e-01,
  4.94401740e-01, 4.95497907e-01, 5.05608118e-01]

qacc:
[ -3.66367425, -0.55272279,  3.08082599, -7.5296676 , -1.58866095,
   0.85204016, -2.12949187,  0.17799804,  0.90006453,  1.02808014,
  -7.49181293, 20.50658144, -0.09254797, -1.26467571, -6.66635197,
  18.89671611,  0.11035827,  0.9912432 , -0.14619956,  1.6260957 ,
   0.34560572,-14.38082639]

qfrc_actuator:
[ 2.93486200e-05,-6.30814761e-05,-1.10636703e-04, 2.30702793e-05,
 -4.05387201e-05,-4.07045691e-04,-2.67056983e-04,-5.29915786e-06,
 -2.91212640e-05,-1.21794288e-04,-5.58315267e-05, 1.62716305e-05,
  3.90928265e-02,-9.88149465e-04, 2.08611509e-02,-3.84595072e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030054056946374197
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.23232617e-13,  9.23521762e-14,  1.00000000e+00, -2.98512355e-26,
        1.00000000e+00, -9.23521762e-14, -1.00000000e+00,  0.00000000e+00,
        3.23232617e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0915017 , -0.08816464,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.14434695e-05, 6.11529057e-07, 7.54750334e-07,-1.28947203e-05,
 -9.26048729e-06, 1.17475761e-05,-1.57755550e-05,-6.90404373e-06,
  5.20731190e-06,-4.32080241e-05,-8.99225442e-06, 3.53014384e-05,
 -2.52237429e-04,-1.02031897e-04,-1.66435939e-04, 4.29963665e-05,
 -3.66333408e-07, 8.37105484e-08,-1.21644600e+00,-4.57031950e-04,
  6.71759314e-06,-5.51240189e-04]


--- Step 538 ---
qpos:
[ 6.17089098e-03,-1.80433405e-03,-4.99742611e-03, 3.35911749e-02,
  4.49145410e-03,-3.73187475e-03,-1.85001105e-02, 2.85930867e-02,
  1.29805811e-02, 3.34927667e-03,-9.97163884e-03, 2.58934594e-02,
  9.26378803e-01,-4.13667741e-04, 7.21785473e-01, 6.51360233e-02,
  9.36296499e-02,-7.00779884e-02, 1.30973634e-01, 5.04385666e-01,
  4.94396998e-01, 4.95668501e-01, 5.05449745e-01]

qacc:
[ -5.31927552, -2.35324662,  8.85315527,-12.73241617,  2.14556919,
  -0.78902702,  5.3604707 ,-13.59551718, -2.50487538,  3.39675601,
 -11.35164717, 13.26575727, -0.81003379,  0.77306358, -1.97302531,
   2.84329295,  0.11119371,  0.98785849, -0.19189424,  1.63990088,
   0.33074939,-14.32696836]

qfrc_actuator:
[-1.30869807e-06,-6.19385429e-05,-7.30401927e-05, 1.60450957e-05,
 -2.76297576e-05,-3.66640259e-04,-2.51769346e-04,-2.57287619e-05,
 -4.36616654e-05,-6.32091200e-05,-9.30592009e-05, 1.98718541e-05,
  3.90185281e-02,-9.95922101e-04, 2.07637361e-02,-3.86249152e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002924368003562744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.3727841e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.3727841e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09150147, -0.08816682,  0.06199164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.12679945e-05, 1.05853795e-06, 3.73695021e-05,-7.22314686e-06,
  1.26494567e-05, 4.34504425e-05, 1.55420895e-05,-2.06048196e-05,
 -1.44102753e-05, 3.40965049e-05,-4.60437290e-05, 2.12281322e-06,
 -2.58158944e-04,-7.11979663e-05,-1.72244499e-04,-3.63095814e-05,
 -1.80237423e-07, 2.50552318e-07,-1.21644732e+00,-4.57391727e-04,
  5.04529061e-06,-5.50834519e-04]


--- Step 539 ---
qpos:
[ 6.17116652e-03,-1.80363117e-03,-4.99741464e-03, 3.35905990e-02,
  4.49105324e-03,-3.73248681e-03,-1.84998781e-02, 2.85921242e-02,
  1.29794353e-02, 3.34929254e-03,-9.97215437e-03, 2.58928101e-02,
  9.27237252e-01,-4.12841849e-04, 7.22528923e-01, 6.51311681e-02,
  9.36478087e-02,-7.00627951e-02, 1.30975580e-01, 5.04369582e-01,
  4.94401385e-01, 4.95796622e-01, 5.05335834e-01]

qacc:
[ -0.21775107, -1.17110368,  6.04458212,-13.53177733,  1.39529369,
  -2.00424917, 10.92671924,-26.45083056, -1.4979151 ,  0.59892514,
   2.95027397,-19.46219199, -0.28980999, -0.80616056, -2.26899873,
   5.77544182, -1.03191215, -1.89516664,  0.05784464,-16.52288703,
   0.90873042, 26.96858217]

qfrc_actuator:
[-1.70618497e-06,-6.14287069e-05,-6.85780416e-05,-5.75829450e-06,
 -1.98076010e-05,-3.95606964e-04,-2.60480020e-04,-7.31917747e-05,
 -5.18260793e-05,-4.59348085e-05,-1.32670341e-04,-3.13942517e-05,
  3.89377491e-02,-1.03657625e-03, 2.07638036e-02,-3.83469792e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028467526641209976
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.88144316e-07,  7.88144901e-07,  1.00000000e+00,  6.21171924e-13,
        1.00000000e+00, -7.88144901e-07, -1.00000000e+00,  1.00974196e-28,
       -7.88144316e-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([ 0.10958286, -0.03542448,  0.06199186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28925755e-06, 8.47798289e-06, 9.02872127e-06,-2.06052185e-05,
  8.19888732e-06,-2.31678047e-06, 1.47072741e-06,-4.54634978e-05,
 -8.56118127e-06, 2.69250189e-05,-3.81648386e-05,-5.13567205e-05,
 -2.62425459e-04,-1.00884839e-04,-8.65163416e-05, 2.80377838e-06,
  1.28896976e-08, 4.98422181e-07,-1.21644890e+00,-4.57763665e-04,
  3.29729139e-06,-5.50340814e-04]


--- Step 540 ---
qpos:
[ 6.17177982e-03,-1.80284433e-03,-4.99767102e-03, 3.35904819e-02,
  4.49040449e-03,-3.73302194e-03,-1.85000790e-02, 2.85913185e-02,
  1.29785456e-02, 3.34938991e-03,-9.97253386e-03, 2.58922270e-02,
  9.28094313e-01,-4.13082307e-04, 7.23271101e-01, 6.51299457e-02,
  9.36618312e-02,-7.00552708e-02, 1.30976710e-01, 5.04341231e-01,
  4.94415157e-01, 4.95882096e-01, 5.05266783e-01]

qacc:
[  2.96025577,  1.79835467, -8.1970129 , 16.5109508 , -2.18439543,
   1.63857664, -6.35017991,  9.69200994,  2.25613958, -0.14041702,
   0.36933267,  0.50911587,  0.25610064, -2.36846089,-12.8772864 ,
  42.23407933, -1.03408062, -1.91723306, -0.20384045,-16.49618529,
   1.00421561, 27.28151289]

qfrc_actuator:
[ 1.57128105e-05,-6.14370240e-05,-8.37405096e-05, 1.71458189e-05,
 -3.28021601e-05,-3.94996978e-04,-2.83592115e-04,-6.52449439e-05,
 -3.84138228e-05,-3.58400386e-05,-1.20278559e-04,-2.57866234e-05,
  3.88584549e-02,-1.09639929e-03, 2.07371341e-02,-3.63870935e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000295096335987996
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88111964e-13,  1.88111964e-13,  1.00000000e+00, -3.53861109e-26,
        1.00000000e+00, -1.88111964e-13, -1.00000000e+00,  0.00000000e+00,
        1.88111964e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11004498, -0.03407194,  0.06199156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73836641e-05, 5.68906568e-06,-1.30194175e-05, 2.31784528e-05,
 -1.27593287e-05,-2.30558156e-06,-2.49762760e-05, 7.01630424e-06,
  1.31815015e-05, 1.50673666e-05, 1.14821383e-05, 4.44415007e-06,
 -2.68907560e-04,-1.25523041e-04,-7.36863212e-05, 1.83222000e-04,
 -2.10421522e-07, 2.65927339e-07,-1.21644492e+00,-4.58259549e-04,
  6.48656437e-06,-5.49885204e-04]


--- Step 541 ---
qpos:
[ 6.17225216e-03,-1.80217128e-03,-4.99746730e-03, 3.35906149e-02,
  4.48994970e-03,-3.73315956e-03,-1.85004758e-02, 2.85909013e-02,
  1.29781683e-02, 3.34976645e-03,-9.97319441e-03, 2.58927545e-02,
  9.28949719e-01,-4.13418225e-04, 7.24012285e-01, 6.51271258e-02,
  9.36717827e-02,-7.00552716e-02, 1.30976325e-01, 5.04300733e-01,
  4.94438151e-01, 4.95925830e-01, 5.05241779e-01]

qacc:
[ -1.22284274, -0.91914086,  2.00699835,  1.66608493,  1.68490746,
   1.86756338, -7.54327458, 14.29317498,  4.49642249,  3.43157667,
 -16.40422529, 35.88378878, -1.0836268 ,  1.39006962,  3.39950547,
 -13.91726662, -1.01775508, -1.88128826, -0.37895798,-16.1384442 ,
   1.04492062, 26.78084138]

qfrc_actuator:
[ 7.96360202e-06,-6.18071230e-05,-5.70694678e-05, 3.06599170e-05,
 -2.24380258e-05,-3.41205193e-04,-2.79366367e-04,-4.24960431e-05,
 -1.24115845e-05,-1.21183890e-05,-1.30525953e-04, 3.10292821e-05,
  3.87800992e-02,-1.09605186e-03, 2.06518763e-02,-3.73583854e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54469385, -1.0280757 ,  4.42688407, -1.0280757 , 34.80918166,
        7.02846157,  4.42688407,  7.02846157,  6.17694589,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003012818647456922
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.76374839e-13, -3.68499785e-13,  1.00000000e+00,  1.01844069e-25,
        1.00000000e+00,  3.68499785e-13, -1.00000000e+00,  0.00000000e+00,
        2.76374839e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11004289, -0.03407485,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.25560498e-06, 1.09403530e-06, 2.70373511e-05, 1.37567658e-05,
  9.99956943e-06, 4.76634385e-05, 9.26620855e-07, 2.19264190e-05,
  2.63811398e-05, 3.47136412e-05,-5.56382277e-06, 5.79466001e-05,
 -2.76709127e-04,-7.03824067e-05,-1.05995328e-04,-9.81277138e-05,
 -2.89473760e-07, 1.67338211e-07,-1.21644220e+00,-4.58842662e-04,
  8.80905556e-06,-5.49679172e-04]


--- Step 542 ---
qpos:
[ 6.17228318e-03,-1.80167264e-03,-4.99686558e-03, 3.35905755e-02,
  4.48962271e-03,-3.73321008e-03,-1.85004234e-02, 2.85904089e-02,
  1.29781057e-02, 3.35049499e-03,-9.97427317e-03, 2.58936133e-02,
  9.29803377e-01,-4.13435459e-04, 7.24752325e-01, 6.51228003e-02,
  9.36777181e-02,-7.00626781e-02, 1.30973834e-01, 5.04248192e-01,
  4.94470227e-01, 4.95928566e-01, 5.05260144e-01]

qacc:
[ -3.86507225, -1.69063893,  6.43436048, -9.94006685,  1.13103948,
  -1.29608015,  5.102388  , -7.18153482,  2.74986806,  2.31063871,
  -8.97187742, 15.12521827, -1.55031271,  2.76764641,  2.93482837,
 -12.53385603, -1.00400357, -1.85143153, -0.52639464,-15.84315901,
   1.07595244, 26.36519425]

qfrc_actuator:
[-1.45429141e-05,-7.99827562e-05,-4.14243920e-05, 2.08124636e-05,
 -1.61540093e-05,-3.44618846e-04,-2.58802098e-04,-4.66655655e-05,
  3.03320540e-06, 1.79648631e-06,-1.53994165e-04, 4.64889122e-05,
  3.86970547e-02,-1.07789913e-03, 2.06007217e-02,-3.80978226e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55392436, -1.33718084,  4.35317981, -1.33718084, 31.37393701,
        8.23839324,  4.35317981,  8.23839324,  7.08453925,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030405008330619543
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.65144786e-13, -2.73858589e-13,  1.00000000e+00,  9.99980358e-26,
        1.00000000e+00,  2.73858589e-13, -1.00000000e+00,  0.00000000e+00,
        3.65144786e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11004175, -0.03407606,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.27164644e-05,-1.14204626e-05, 1.96663611e-05,-8.59939814e-06,
  6.58534163e-06, 2.43847433e-05, 3.12889083e-05,-1.66639034e-06,
  1.62048260e-05, 3.46618467e-05,-1.49772476e-05, 1.78807654e-05,
 -2.76019333e-04,-4.60542972e-05,-1.18081649e-04,-9.47732288e-05,
 -2.18482448e-07, 2.02781699e-07,-1.21644078e+00,-4.59521408e-04,
  1.02190432e-05,-5.49726136e-04]


--- Step 543 ---
qpos:
[ 6.17204425e-03,-1.80143933e-03,-4.99631383e-03, 3.35911524e-02,
  4.48902893e-03,-3.73334487e-03,-1.85000055e-02, 2.85898986e-02,
  1.29782292e-02, 3.35119777e-03,-9.97540905e-03, 2.58936389e-02,
  9.30655320e-01,-4.12946464e-04, 7.25490796e-01, 6.51199097e-02,
  9.36796836e-02,-7.00773916e-02, 1.30968742e-01, 5.04183689e-01,
  4.94511265e-01, 4.95890908e-01, 5.05321308e-01]

qacc:
[ -2.37016928,  1.06285591, -6.89244471, 17.82609476, -2.32210084,
  -1.16415988,  4.07266126, -4.91148098,  1.63603567, -1.5925939 ,
   9.14135729,-23.44439131, -1.59568688,  3.06161703, -6.55954625,
  19.79054693, -0.99248863, -1.82672343, -0.65045825,-15.6005222 ,
   1.09918317, 26.02213293]

qfrc_actuator:
[-2.77944362e-05,-1.08735586e-04,-5.02694639e-05, 5.05285321e-05,
 -3.00821147e-05,-3.64451726e-04,-2.46753955e-04,-4.89251782e-05,
  1.21363372e-05,-2.58624775e-05,-1.67392665e-04, 1.96448621e-06,
  3.86219165e-02,-1.04943917e-03, 2.05487750e-02,-3.72724641e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55399862, -1.6578743 ,  4.24150401, -1.6578743 , 43.50214344,
       15.22363954,  4.24150401, 15.22363954, 10.50445408,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003040722109906857
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82559107e-13,  2.28198883e-13,  1.00000000e+00, -4.16597843e-26,
        1.00000000e+00, -2.28198883e-13, -1.00000000e+00,  0.00000000e+00,
        1.82559107e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11004138, -0.03407591,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39040257e-05,-3.14783907e-05,-9.09135339e-06, 2.97383360e-05,
 -1.37326757e-05, 1.99015642e-07, 2.08822731e-05,-1.63569311e-07,
  9.57684168e-06,-1.06135694e-05,-7.46325580e-06,-4.32110777e-05,
 -2.62825014e-04,-3.21508140e-05,-1.23497364e-04, 6.04769520e-05,
 -2.69103488e-09, 3.64215958e-07,-1.21644059e+00,-4.60299199e-04,
  1.07730923e-05,-5.50022851e-04]


--- Step 544 ---
qpos:
[ 6.17164825e-03,-1.80160808e-03,-4.99574126e-03, 3.35914036e-02,
  4.48827281e-03,-3.73348497e-03,-1.84991410e-02, 2.85890044e-02,
  1.29784615e-02, 3.35136261e-03,-9.97670960e-03, 2.58928605e-02,
  9.31505809e-01,-4.12472630e-04, 7.26228134e-01, 6.51143211e-02,
  9.36777174e-02,-7.00993305e-02, 1.30960630e-01, 5.04107288e-01,
  4.94561165e-01, 4.95813341e-01, 5.05424799e-01]

qacc:
[ -1.3738879 , -1.2578139 ,  5.09354687,-10.47348034, -1.40696042,
  -2.04132896,  8.89481354,-16.25421168,  0.96075426, -1.9078686 ,
   9.16301657,-22.41717223, -1.05802404,  1.5185432 ,  6.51744549,
 -25.12124378, -0.98291362, -1.80636607, -0.75481336,-15.40240211,
   1.11604759, 25.74117027]

qfrc_actuator:
[-3.54878191e-05,-1.43674035e-04,-5.57672190e-05, 3.22522495e-05,
 -3.80413898e-05,-3.58494339e-04,-2.22158864e-04,-6.78187722e-05,
  1.74371367e-05,-9.59814032e-05,-1.92695771e-04,-4.20131816e-05,
  3.85569078e-02,-1.05061516e-03, 2.04751294e-02,-3.87270860e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030190884500617965
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00,  3.217677e-13,  1.000000e+00,  0.000000e+00,
        1.000000e+00, -3.217677e-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([ 0.11004162, -0.03407467,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.10198814e-06,-5.31653149e-05,-1.21005539e-05,-1.93633548e-05,
 -8.35232287e-06, 1.03713012e-05, 2.72012394e-05,-1.81646156e-05,
  5.57234488e-06,-7.94559990e-05,-2.99051447e-05,-4.55311654e-05,
 -2.41126328e-04,-5.72608995e-05,-1.29297407e-04,-1.59308453e-04,
  3.54041097e-07, 6.46246725e-07,-1.21644157e+00,-4.61178144e-04,
  1.05144753e-05,-5.50566476e-04]


--- Step 545 ---
qpos:
[ 6.17081785e-03,-1.80183573e-03,-4.99590119e-03, 3.35907519e-02,
  4.48742701e-03,-3.73351131e-03,-1.84983190e-02, 2.85882548e-02,
  1.29787556e-02, 3.35093962e-03,-9.97800838e-03, 2.58919024e-02,
  9.32354875e-01,-4.12011737e-04, 7.26963472e-01, 6.51077586e-02,
  9.36759621e-02,-7.01167483e-02, 1.30956218e-01, 5.04044154e-01,
  4.94598402e-01, 4.95754065e-01, 5.05509465e-01]

qacc:
[ -3.84216736,  0.11826834,  3.28979854,-17.71418602, -0.78805621,
   0.56798571, -2.4147685 ,  4.89735575,  0.55403174, -1.15274019,
   3.73967834, -6.41734977, -0.95131362,  1.29872593,  0.02918989,
  -4.29488614,  0.05270826,  1.13026979,  0.92493479,  2.81681229,
  -0.13377356,-15.75975802]

qfrc_actuator:
[-5.76038249e-05,-1.46575740e-04,-9.48126635e-05,-1.41237756e-05,
 -4.24171021e-05,-3.54860683e-04,-2.25768310e-04,-6.08142536e-05,
  2.04594399e-05,-1.20043295e-04,-1.89505985e-04,-4.98533099e-05,
  3.84873635e-02,-1.05150120e-03, 2.03725043e-02,-3.92062645e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030061443662723897
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50035410e-13,  1.84658967e-13,  1.00000000e+00, -2.77053838e-26,
        1.00000000e+00, -1.84658967e-13, -1.00000000e+00,  0.00000000e+00,
        1.50035410e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09151175, -0.08816791,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.23637283e-05,-3.59641645e-05,-5.21924008e-05,-4.94508079e-05,
 -4.61102312e-06, 1.42673313e-05, 1.24880385e-06, 8.03739426e-06,
  3.15502542e-06,-7.66089900e-05,-1.84667708e-05,-1.31619373e-05,
 -2.37056478e-04,-5.60177578e-05,-1.85950247e-04,-7.48925316e-05,
  8.49051483e-07, 1.04567550e-06,-1.21644368e+00,-4.62159442e-04,
  9.47590931e-06,-5.51354562e-04]


--- Step 546 ---
qpos:
[ 6.17041863e-03,-1.80205681e-03,-4.99666919e-03, 3.35902233e-02,
  4.48688004e-03,-3.73309037e-03,-1.84985485e-02, 2.85879676e-02,
  1.29794284e-02, 3.35020805e-03,-9.97940461e-03, 2.58908281e-02,
  9.33202368e-01,-4.10934830e-04, 7.27696153e-01, 6.51017114e-02,
  9.36744692e-02,-7.01297622e-02, 1.30954626e-01, 5.03994131e-01,
  4.94622942e-01, 4.95712652e-01, 5.05575937e-01]

qacc:
[  3.7721072 ,  1.95431388, -7.48704836, 10.59514424,  2.57505829,
   4.47348484,-17.05540586, 26.41914491,  3.33444062, -0.38107657,
   1.24609983, -2.86099714, -1.60074681,  3.24832959, -5.38686955,
  13.35884948,  0.0656115 ,  1.1009761 ,  0.7049918 ,  2.58249244,
  -0.03846709,-15.46424805]

qfrc_actuator:
[-3.47753719e-05,-1.30437736e-04,-1.17736457e-04,-5.64175109e-06,
 -2.68977711e-05,-3.34985583e-04,-2.81495099e-04,-3.86457555e-05,
  3.98707244e-05,-1.16205906e-04,-1.87073655e-04,-5.40663336e-05,
  3.84151475e-02,-1.01670415e-03, 2.02419588e-02,-3.89290986e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57259837,  0.94978498,  4.47286981,  0.94978498, 15.95986453,
       -2.41801233,  4.47286981, -2.41801233,  5.08604765,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030954431690813355
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90540078e-13, -1.79331838e-13,  1.00000000e+00,  3.41699023e-26,
        1.00000000e+00,  1.79331838e-13, -1.00000000e+00,  0.00000000e+00,
        1.90540078e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09151417, -0.08816626,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.21852171e-05,-1.68671762e-05,-3.84842376e-05, 4.17605990e-06,
  1.53922085e-05, 2.84471185e-05,-5.23553714e-05, 2.29796487e-05,
  1.94726190e-05,-4.33467178e-05,-1.60998282e-05,-8.38526643e-06,
 -2.37132171e-04,-1.92150693e-05,-2.27077759e-04,-1.03280553e-06,
  6.20032369e-07, 6.56854228e-07,-1.21644229e+00,-4.61490193e-04,
  1.00257734e-05,-5.51668777e-04]


--- Step 547 ---
qpos:
[ 6.17064111e-03,-1.80271854e-03,-4.99701038e-03, 3.35897853e-02,
  4.48652348e-03,-3.73253289e-03,-1.84993438e-02, 2.85876097e-02,
  1.29803281e-02, 3.34952130e-03,-9.98070163e-03, 2.58899969e-02,
  9.34048254e-01,-4.08834586e-04, 7.28427206e-01, 6.50944946e-02,
  9.36732790e-02,-7.01384691e-02, 1.30955113e-01, 5.03957084e-01,
  4.94634772e-01, 4.95688746e-01, 5.05624729e-01]

qacc:
[  5.48762214, -1.59943499,  4.45594193, -3.22276754,  1.64635818,
   1.61173644, -5.19223313,  4.77779177,  2.00024968,  0.2783776 ,
  -1.9396587 ,  5.96198558, -2.12143572,  4.76130486,  1.25173388,
  -7.57600398,  0.07566915,  1.07675011,  0.5198903 ,  2.39580846,
   0.03635177,-15.2154264 ]

qfrc_actuator:
[-3.42468789e-06,-1.56175696e-04,-9.53134235e-05,-4.14869198e-07,
 -1.75466813e-05,-3.41249892e-04,-3.14208432e-04,-4.32599301e-05,
  5.10211853e-05,-7.79204373e-05,-1.67244670e-04,-3.83421346e-05,
  3.83467187e-02,-9.61121023e-04, 2.01906563e-02,-3.94518082e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58987648,  0.86877793,  4.50690481,  0.86877793, 23.43558425,
       -3.63281137,  4.50690481, -3.63281137,  5.29015893,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003145070445800535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.41255229e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.41255229e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09151603, -0.08816552,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.19785561e-05,-4.29135749e-05, 1.43556994e-05, 3.25638971e-06,
  9.80185964e-06,-1.92699525e-07,-3.24938566e-05,-4.75982928e-06,
  1.16855961e-05, 1.04149057e-05, 8.62914484e-06, 1.31528088e-05,
 -2.26143719e-04, 6.88676085e-06,-1.56125721e-04,-8.16284290e-05,
  4.23601283e-07, 3.62554866e-07,-1.21644125e+00,-4.60894142e-04,
  1.04325560e-05,-5.51896866e-04]


--- Step 548 ---
qpos:
[ 6.17089296e-03,-1.80388008e-03,-4.99702027e-03, 3.35894277e-02,
  4.48628213e-03,-3.73226222e-03,-1.84997888e-02, 2.85868453e-02,
  1.29803196e-02, 3.34903660e-03,-9.98185443e-03, 2.58893360e-02,
  9.34892696e-01,-4.06333354e-04, 7.29156733e-01, 6.50895455e-02,
  9.36724228e-02,-7.01429489e-02, 1.30957058e-01, 5.03932895e-01,
  4.94633891e-01, 4.95682053e-01, 5.05656260e-01]

qacc:
[  0.27731407, -1.42197383,  3.77147223, -2.54190431,  1.02404241,
  -2.1953415 ,  8.99162959,-16.37318258, -7.99179132,  0.23024197,
  -1.12566916,  3.66528603, -1.27377194,  2.38706011, -9.02578197,
  28.4717974 ,  0.08350961,  1.05679061,  0.36440645,  2.24714746,
   0.09506103,-15.006997  ]

qfrc_actuator:
[-2.82892179e-06,-1.88842029e-04,-8.19792144e-05, 2.84199638e-06,
 -1.19076476e-05,-3.63066031e-04,-2.97673621e-04,-6.35955181e-05,
  3.95744151e-06,-5.47013419e-05,-1.54887994e-04,-2.87209615e-05,
  3.82699706e-02,-9.46977880e-04, 2.01655995e-02,-3.81318111e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59609177,  0.75713727,  4.53329932,  0.75713727, 41.15539443,
       -6.10601874,  4.53329932, -6.10601874,  5.61589964,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031626500341461194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.38802512e-14,  1.75521005e-13,  1.00000000e+00, -7.70190580e-27,
        1.00000000e+00, -1.75521005e-13, -1.00000000e+00,  0.00000000e+00,
        4.38802512e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09151744, -0.08816552,  0.06199096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49184554e-06,-5.35196220e-05, 6.36175876e-06, 1.97987936e-06,
  5.92047143e-06,-2.88462804e-05, 1.23308440e-05,-2.15598810e-05,
 -4.67326775e-05, 3.14381093e-05, 1.60514845e-05, 1.06280212e-05,
 -2.21628325e-04,-2.88327875e-05,-1.10386143e-04, 1.06308948e-04,
  2.53386953e-07, 1.60137318e-07,-1.21644052e+00,-4.60355107e-04,
  1.07132287e-05,-5.52037671e-04]


--- Step 549 ---
qpos:
[ 6.17080522e-03,-1.80527713e-03,-4.99693754e-03, 3.35887492e-02,
  4.48645527e-03,-3.73231618e-03,-1.84997172e-02, 2.85858363e-02,
  1.29797472e-02, 3.34886160e-03,-9.98317830e-03, 2.58888035e-02,
  9.35735793e-01,-4.03918818e-04, 7.29884560e-01, 6.50865595e-02,
  9.36719252e-02,-7.01432669e-02, 1.30959939e-01, 5.03921460e-01,
  4.94620308e-01, 4.95692329e-01, 5.05670870e-01]

qacc:
[ -2.97924419, -1.22497045,  5.2801874 ,-10.81708567,  3.64910548,
  -2.3812414 ,  8.88845285,-13.69220983, -4.97352132,  1.16121561,
  -4.0714536 ,  6.31938386, -0.72959359,  0.77826011, -8.40000227,
  25.8182631 ,  0.08962559,  1.04042839,  0.23409481,  2.12887714,
   0.14110215,-14.8335737 ]

qfrc_actuator:
[-2.03424553e-05,-1.89924695e-04,-7.41735131e-05,-1.28616347e-05,
  9.25580905e-06,-3.76091895e-04,-2.70032317e-04,-7.52471228e-05,
 -2.37324215e-05,-4.06972422e-05,-1.64852028e-04,-2.27861063e-05,
  3.81935998e-02,-9.57485712e-04, 2.00817786e-02,-3.71560973e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5932325 , -0.60615812, -4.5530602 , -0.60615812, 37.44638611,
       -4.37380684, -4.5530602 , -4.37380684,  5.17552626,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031545803160856756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.79850022e-14, -1.75970004e-13,  1.00000000e+00,  1.54827212e-26,
        1.00000000e+00,  1.75970004e-13, -1.00000000e+00,  0.00000000e+00,
        8.79850022e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0915185 , -0.08816612,  0.06199098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.74863759e-05,-2.95695921e-05,-2.38333459e-06,-1.77350686e-05,
  2.13229115e-05,-2.75344422e-05, 2.24594880e-05,-1.28788925e-05,
 -2.90105041e-05, 3.53717420e-05,-1.10274278e-06, 8.05142614e-06,
 -2.24863500e-04,-5.80403326e-05,-1.28458437e-04, 8.79364430e-05,
  1.04642793e-07, 4.72400032e-08,-1.21644011e+00,-4.59861071e-04,
  1.08804389e-05,-5.52090540e-04]


--- Step 550 ---
qpos:
[ 6.16981826e-03,-1.80666949e-03,-4.99690215e-03, 3.35882117e-02,
  4.48653591e-03,-3.73266703e-03,-1.84995747e-02, 2.85847231e-02,
  1.29795368e-02, 3.34889126e-03,-9.98460968e-03, 2.58890462e-02,
  9.36577496e-01,-4.01585000e-04, 7.30610618e-01, 6.50854284e-02,
  9.36718051e-02,-7.01394765e-02, 1.30963321e-01, 5.03922693e-01,
  4.94594031e-01, 4.95719374e-01, 5.05668831e-01]

qacc:
[ -7.90818907,  0.44410518, -2.14243666,  4.62386859, -0.80228912,
  -0.80307721,  2.73745326, -4.44029359,  3.18035397,  2.16072526,
 -10.59618396, 24.04768904, -0.77152297,  0.84826877, -8.17529334,
  24.88673453,  0.09440294,  1.02710299,  0.12516074,  2.03493167,
   0.1771798 ,-14.69053112]

qfrc_actuator:
[-6.61169850e-05,-1.72121534e-04,-6.95787595e-05,-4.06730253e-06,
  3.88331223e-06,-4.01443677e-04,-2.71538719e-04,-8.16878138e-05,
 -4.27370372e-06,-3.24105952e-05,-1.70198263e-04, 1.64161037e-05,
  3.81174985e-02,-9.64704209e-04, 2.00000503e-02,-3.62154504e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031262170296560143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.43916327e-14,  8.87832654e-14,  1.00000000e+00, -3.94123411e-27,
        1.00000000e+00, -8.87832654e-14, -1.00000000e+00,  0.00000000e+00,
        4.43916327e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09151928, -0.08816718,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.62767290e-05, 6.06482035e-08,-2.40276676e-06, 7.10479673e-06,
 -4.77337627e-06,-3.66509985e-05,-4.87153756e-06,-7.09287329e-06,
  1.86445670e-05, 2.81950461e-05, 2.12233013e-06, 4.08422109e-05,
 -2.32732976e-04,-5.95681267e-05,-1.35753864e-04, 8.12986779e-05,
 -2.61634065e-08, 2.18041909e-08,-1.21644000e+00,-4.59403106e-04,
  1.09435872e-05,-5.52055132e-04]


--- Step 551 ---
qpos:
[ 6.16863507e-03,-1.80783855e-03,-4.99695381e-03, 3.35881029e-02,
  4.48620661e-03,-3.73308853e-03,-1.84993021e-02, 2.85841988e-02,
  1.29788710e-02, 3.34932538e-03,-9.98643835e-03, 2.58894059e-02,
  9.37417796e-01,-3.99586273e-04, 7.31335369e-01, 6.50856607e-02,
  9.36720776e-02,-7.01316208e-02, 1.30966841e-01, 5.03936521e-01,
  4.94555073e-01, 4.95763023e-01, 5.05650361e-01]

qacc:
[ -1.73172593,  1.42475507, -6.45572706, 13.84368388, -3.58212298,
   0.76119816, -5.32469703, 15.3483165 , -4.02788467,  1.89343256,
  -6.45556037,  8.80159738, -0.55988624,  0.13700064, -6.02402347,
  18.31536821,  0.09814345,  1.01634412,  0.03435875,  1.96048566,
   0.20541908,-14.57388758]

qfrc_actuator:
[-7.48947579e-05,-1.43132880e-04,-6.68076595e-05, 1.90924122e-05,
 -1.70695767e-05,-3.80831016e-04,-2.54789443e-04,-4.95390709e-05,
 -2.82368815e-05,-9.82063456e-06,-1.90521578e-04, 2.16224929e-05,
  3.80362859e-02,-9.87673035e-04, 1.99569255e-02,-3.54801417e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003082029253415053
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.05252773e-13,  1.80112344e-13,  1.00000000e+00, -7.29910268e-26,
        1.00000000e+00, -1.80112344e-13, -1.00000000e+00,  0.00000000e+00,
        4.05252773e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09151984, -0.0881686 ,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00892483e-05, 2.88688722e-05, 2.75345763e-06, 2.32238060e-05,
 -2.11015411e-05,-1.18075748e-06, 8.33853615e-06, 3.02746133e-05,
 -2.34267538e-05, 4.05664156e-05,-1.28097757e-05, 7.28472905e-06,
 -2.43274337e-04,-7.71514633e-05,-1.00934844e-04, 5.95262678e-05,
 -1.41656148e-07, 8.20704307e-08,-1.21644017e+00,-4.58974577e-04,
  1.09096302e-05,-5.51931301e-04]


--- Step 552 ---
qpos:
[ 6.16770042e-03,-1.80878770e-03,-4.99667152e-03, 3.35875524e-02,
  4.48562833e-03,-3.73313062e-03,-1.84990467e-02, 2.85840148e-02,
  1.29775785e-02, 3.34989663e-03,-9.98842019e-03, 2.58901885e-02,
  9.38256513e-01,-3.97239570e-04, 7.32059355e-01, 6.50856649e-02,
  9.36727545e-02,-7.01197340e-02, 1.30970196e-01, 5.03962883e-01,
  4.94503440e-01, 4.95823145e-01, 5.05615634e-01]

qacc:
[  2.19181521, -1.55660464,  7.82864754,-16.15922411, -2.18598835,
   1.25319939, -5.17100285, 10.80181765, -5.52118855,  1.49041364,
  -6.81778302, 14.25909599, -1.4330532 ,  2.60097517, -0.36462683,
  -0.1840214 ,  0.1010829 ,  1.00775662, -0.04108999,  1.90169711,
   0.22748922,-14.48021129]

qfrc_actuator:
[-6.18177785e-05,-1.25406040e-04,-4.73194665e-05,-2.73077857e-06,
 -2.92636307e-05,-3.32747160e-04,-2.44927000e-04,-3.03934533e-05,
 -5.98277715e-05,-1.44356222e-05,-2.01745724e-04, 4.22849151e-05,
  3.79627090e-02,-9.66547503e-04, 1.99316591e-02,-3.55806446e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030257327667614076
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.17317482e-14, -1.83463496e-13,  1.00000000e+00,  1.68294272e-26,
        1.00000000e+00,  1.83463496e-13, -1.00000000e+00,  0.00000000e+00,
        9.17317482e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09152022, -0.0881703 ,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28028920e-05, 3.54778775e-05, 2.66102785e-05,-2.00352394e-05,
 -1.27988394e-05, 5.04492865e-05, 1.16970265e-05, 1.99751203e-05,
 -3.22425015e-05, 1.57307105e-05,-4.15459014e-06, 2.21025654e-05,
 -2.45731495e-04,-3.79044336e-05,-7.14233511e-05,-2.12437215e-05,
 -2.43781494e-07, 2.26558641e-07,-1.21644061e+00,-4.58570554e-04,
  1.07836783e-05,-5.51719003e-04]


--- Step 553 ---
qpos:
[ 6.16693009e-03,-1.80997328e-03,-4.99593458e-03, 3.35867955e-02,
  4.48525310e-03,-3.73272559e-03,-1.84992642e-02, 2.85837390e-02,
  1.29766075e-02, 3.35018927e-03,-9.99034130e-03, 2.58915971e-02,
  9.39093574e-01,-3.94045519e-04, 7.32781737e-01, 6.50850076e-02,
  9.36738450e-02,-7.01038432e-02, 1.30973137e-01, 5.04001730e-01,
  4.94439139e-01, 4.95899632e-01, 5.05564783e-01]

qacc:
[  1.46316814, -2.01129875,  7.58393736,-11.70234369,  1.75466592,
   1.7192063 , -4.89056058,  3.73237655,  2.83613723,  0.74541185,
  -5.84547635, 16.80060368, -1.96370645,  4.19373726, -0.25886198,
  -2.26787709,  0.10340529,  1.00100824, -0.10356567,  1.85550437,
   0.24470089,-14.40654329]

qfrc_actuator:
[-5.37468505e-05,-1.67780121e-04,-3.59398455e-05,-1.53394655e-05,
 -1.84467222e-05,-3.21860288e-04,-2.74606718e-04,-3.67893650e-05,
 -4.23840758e-05,-5.30206541e-05,-2.07595578e-04, 7.18683043e-05,
  3.78884546e-02,-9.19514386e-04, 1.98265676e-02,-3.59946472e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002960404193404903
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99231572e-13,  1.87512068e-13,  1.00000000e+00, -3.73583241e-26,
        1.00000000e+00, -1.87512068e-13, -1.00000000e+00,  0.00000000e+00,
        1.99231572e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09152047, -0.08817221,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.44992344e-06,-1.78566464e-05, 2.13018199e-05,-1.05552879e-05,
  1.04676043e-05, 4.23645335e-05,-1.71288278e-05,-3.43994596e-06,
  1.65323513e-05,-2.97139286e-05,-2.33269493e-06, 3.05464097e-05,
 -2.39909435e-04,-6.93190513e-06,-1.48818575e-04,-5.37948443e-05,
 -3.33978513e-07, 4.54039431e-07,-1.21644134e+00,-4.58187383e-04,
  1.05694436e-05,-5.51418252e-04]


--- Step 554 ---
qpos:
[ 6.16626262e-03,-1.81117138e-03,-4.99570099e-03, 3.35866227e-02,
  4.48570041e-03,-3.73228857e-03,-1.84994068e-02, 2.85837500e-02,
  1.29761977e-02, 3.35033591e-03,-9.99285356e-03, 2.58926878e-02,
  9.39929248e-01,-3.90897995e-04, 7.33502350e-01, 6.50841622e-02,
  9.36753564e-02,-7.00839691e-02, 1.30975457e-01, 5.04053023e-01,
  4.94362169e-01, 4.95992400e-01, 5.05497908e-01]

qacc:
[  0.88913327,  2.5915586 ,-11.73266115, 22.65730956,  7.20088434,
   0.40912163, -2.6335946 ,  7.48287173,  4.92263833,  0.79494421,
  -1.78834194, -2.6449957 , -0.87423702,  1.10688216, -2.00352641,
   3.30705155,  0.105254  ,  0.99581944, -0.15510657,  1.81946566,
   0.25808286,-14.35033321]

qfrc_actuator:
[-4.86947591e-05,-1.74835840e-04,-6.51849002e-05, 1.30272116e-05,
  2.35769417e-05,-3.33511083e-04,-2.74291112e-04,-2.27087929e-05,
 -1.39697194e-05,-7.61215598e-05,-2.45878742e-04, 5.31739326e-05,
  3.78138571e-02,-9.28585809e-04, 1.97482452e-02,-3.60589235e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002888578733900443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.52229185e-13,  1.92174617e-13,  1.00000000e+00, -4.84720471e-26,
        1.00000000e+00, -1.92174617e-13, -1.00000000e+00,  0.00000000e+00,
        2.52229185e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09152062, -0.08817426,  0.06199174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.28884769e-06,-1.30520023e-05,-3.06677873e-05, 2.81355812e-05,
  4.23382950e-05, 8.34600355e-06, 6.83511701e-06, 1.52362529e-05,
  2.88717258e-05,-3.88784857e-05,-4.36371151e-05,-1.94543608e-05,
 -2.30854225e-04,-5.70907528e-05,-1.57441219e-04,-2.96962319e-05,
 -4.13307527e-07, 7.63501562e-07,-1.21644233e+00,-4.57822355e-04,
  1.02695749e-05,-5.51029077e-04]


--- Step 555 ---
qpos:
[ 6.16600592e-03,-1.81236301e-03,-4.99558619e-03, 3.35871075e-02,
  4.48699301e-03,-3.73189250e-03,-1.84995085e-02, 2.85842871e-02,
  1.29757869e-02, 3.35024261e-03,-9.99579335e-03, 2.58935476e-02,
  9.40763651e-01,-3.88431208e-04, 7.34221334e-01, 6.50854510e-02,
  9.36729272e-02,-7.00717455e-02, 1.30976595e-01, 5.04093144e-01,
  4.94294455e-01, 4.96042134e-01, 5.05475316e-01]

qacc:
[ 3.60834548e+00, 1.68744453e+00,-8.79179113e+00, 2.03681599e+01,
  7.40034250e+00, 8.98490994e-01,-5.52830810e+00, 1.46221120e+01,
 -1.89631444e-02, 4.02524071e-01,-9.20363412e-01,-2.21583784e+00,
 -9.14641851e-02,-1.14275733e+00,-8.85782512e+00, 2.74632202e+01,
 -9.85182623e-01,-1.91261059e+00,-2.95698865e-01,-1.67649246e+01,
  5.31417070e-01, 2.69170068e+01]

qfrc_actuator:
[-2.77056012e-05,-1.60829889e-04,-6.47707223e-05, 4.75184473e-05,
  6.58713251e-05,-3.40695561e-04,-2.74089616e-04, 3.31557788e-06,
 -1.48465892e-05,-8.99531589e-05,-2.67489054e-04, 4.17118192e-05,
  3.77390893e-02,-9.70765021e-04, 1.97073599e-02,-3.48502954e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002917979077354804
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.90238346e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.90238346e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11002605, -0.03406341,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.11386382e-05, 1.62293516e-06,-5.07350272e-06, 3.34208952e-05,
  4.35058010e-05,-4.52111510e-07, 3.28935452e-06, 2.69126197e-05,
 -6.95143050e-08,-4.53897825e-05,-3.56655379e-05,-1.50151663e-05,
 -2.35359322e-04,-9.56364700e-05,-1.20414059e-04, 9.80231924e-05,
 -4.82546045e-07, 1.15411865e-06,-1.21644358e+00,-4.57473478e-04,
  9.88591087e-06,-5.50551502e-04]


--- Step 556 ---
qpos:
[ 6.16600293e-03,-1.81368653e-03,-4.99509846e-03, 3.35872944e-02,
  4.48878288e-03,-3.73140952e-03,-1.85002200e-02, 2.85855062e-02,
  1.29753689e-02, 3.34983573e-03,-9.99814613e-03, 2.58942019e-02,
  9.41596536e-01,-3.85840593e-04, 7.34939080e-01, 6.50831893e-02,
  9.36665807e-02,-7.00670296e-02, 1.30975911e-01, 5.04122001e-01,
  4.94235854e-01, 4.96049818e-01, 5.05496297e-01]

qacc:
[  2.24464589, -1.83459744,  7.53796408,-13.18310745,  4.33200573,
   3.21202603,-14.18176363, 26.91243538, -0.03963751, -2.47801567,
   9.1021341 ,-13.36684253, -1.27126807,  2.06338034,  8.94800811,
 -33.81960157, -0.97931642, -1.87694987, -0.45539422,-16.35379027,
   0.66017797, 26.48179319]

qfrc_actuator:
[-1.52558841e-05,-1.69706187e-04,-4.67442309e-05, 3.21194795e-05,
  9.02237420e-05,-3.45140110e-04,-3.09457888e-04, 3.61524712e-05,
 -1.52077380e-05,-8.03182042e-05,-2.25764901e-04, 3.46291530e-05,
  3.76642588e-02,-9.61145556e-04, 1.96091011e-02,-3.68059744e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52936534, -0.44318503, -4.50763102, -0.44318503, 27.35036586,
       -2.2437342 , -4.50763102, -2.2437342 ,  4.74996668,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002966046824263019
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.35776718e-14, -4.67888359e-14,  1.00000000e+00,  4.37839033e-27,
        1.00000000e+00,  4.67888359e-14, -1.00000000e+00,  0.00000000e+00,
        9.35776718e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11002303, -0.03406522,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30536933e-05,-7.53570069e-06, 1.89041156e-05,-1.48540134e-05,
  2.55937711e-05,-2.86382051e-06,-3.41316715e-05, 3.34514232e-05,
 -3.80038153e-07,-2.37234099e-05, 2.74688951e-05,-1.05493271e-05,
 -2.45625187e-04,-5.06221376e-05,-1.47699999e-04,-2.06802866e-04,
 -5.25057478e-07, 4.95180871e-07,-1.21644145e+00,-4.58063647e-04,
  1.08654487e-05,-5.50513506e-04]


--- Step 557 ---
qpos:
[ 6.16580446e-03,-1.81509575e-03,-4.99439423e-03, 3.35873004e-02,
  4.49050625e-03,-3.73097430e-03,-1.85009909e-02, 2.85863981e-02,
  1.29749496e-02, 3.34917144e-03,-9.99944844e-03, 2.58947254e-02,
  9.42427802e-01,-3.82808512e-04, 7.35655520e-01, 6.50798150e-02,
  9.36563377e-02,-7.00697034e-02, 1.30972867e-01, 5.04139534e-01,
  4.94186245e-01, 4.96016248e-01, 5.05560251e-01]

qacc:
[ -1.71059   , -1.08754853,  4.48243987, -7.90123109, -0.58326543,
  -0.56897208,  3.32101968, -8.85617214,  0.0262626 , -3.54503473,
  12.69798773,-16.44865757, -1.5658269 ,  2.94599333,  1.51393387,
  -7.8989628 , -0.97411594, -1.84741244, -0.58986138,-16.02008132,
   0.75742656, 26.11940182]

qfrc_actuator:
[-2.56897110e-05,-1.74423423e-04,-3.63471926e-05, 2.29840916e-05,
  8.60682468e-05,-3.48052172e-04,-3.12275704e-04, 1.94524333e-05,
 -1.52528935e-05,-7.41863318e-05,-1.64636245e-04, 3.02411871e-05,
  3.75841327e-02,-9.38731789e-04, 1.95776318e-02,-3.72389259e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53497401,  0.25283031,  4.52792073,  0.25283031, 19.27548633,
       -0.8230816 ,  4.52792073, -0.8230816 ,  4.58093329,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029832790158741684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.30371429e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.30371429e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11002115, -0.03406558,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00617887e-05,-5.61647576e-06, 1.06636520e-05,-9.09242537e-06,
 -3.42541147e-06,-1.01329257e-05,-6.45738458e-06,-1.73560303e-05,
 -6.84711703e-08,-1.87308098e-06, 5.92770489e-05,-4.65483805e-06,
 -2.49071529e-04,-3.31136571e-05,-1.27753713e-04,-7.51009840e-05,
 -4.37614855e-07,-2.23019688e-08,-1.21644060e+00,-4.58674435e-04,
  1.09513472e-05,-5.50708229e-04]


--- Step 558 ---
qpos:
[ 6.16513769e-03,-1.81653927e-03,-4.99356001e-03, 3.35868510e-02,
  4.49182167e-03,-3.73058460e-03,-1.85012497e-02, 2.85870426e-02,
  1.29745333e-02, 3.34785145e-03,-9.99974693e-03, 2.58949014e-02,
  9.43257540e-01,-3.79779456e-04, 7.36370749e-01, 6.50764984e-02,
  9.36422162e-02,-7.00796693e-02, 1.30967012e-01, 5.04145697e-01,
  4.94145524e-01, 4.95942062e-01, 5.05666677e-01]

qacc:
[ -4.11326738, -1.33835957,  6.64227052,-14.72010988, -3.55383883,
  -1.99201229,  8.07241176,-13.15100245,  0.06909979, -4.38740189,
  15.85304241,-22.98819515, -1.02540929,  1.39660155, -1.91362586,
   4.21053153, -0.96962651, -1.82302249, -0.70303754,-15.75066366,
   0.8295717 , 25.81957544]

qfrc_actuator:
[-4.95059667e-05,-1.76638651e-04,-3.05205563e-05,-1.43643309e-07,
  6.51728688e-05,-3.32192211e-04,-2.78117149e-04, 9.27197692e-06,
 -1.51115030e-05,-1.41097572e-04,-1.28068414e-04, 9.72477601e-06,
  3.75008932e-02,-9.44513872e-04, 1.95436805e-02,-3.71234714e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53253582,  0.04476534,  4.53231475,  0.04476534, 28.23520131,
       -0.2341095 ,  4.53231475, -0.2341095 ,  4.5348481 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029758048829120476
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.32708182e-14, -9.32708182e-14,  1.00000000e+00,  8.69944552e-27,
        1.00000000e+00,  9.32708182e-14, -1.00000000e+00,  0.00000000e+00,
        9.32708182e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11002018, -0.03406479,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.41006103e-05,-3.50299376e-06, 5.67410996e-06,-2.31743973e-05,
 -2.09957795e-05, 8.10610610e-06, 3.06716761e-05,-1.11770195e-05,
  1.33257556e-07,-5.58769330e-05, 4.33425262e-05,-1.86330812e-05,
 -2.50447340e-04,-5.96840410e-05,-1.06873692e-04,-1.04547473e-05,
 -2.19193223e-07,-4.07628226e-07,-1.21644096e+00,-4.59328846e-04,
  1.01977578e-05,-5.51137728e-04]


--- Step 559 ---
qpos:
[ 6.16384555e-03,-1.81783017e-03,-4.99272732e-03, 3.35857676e-02,
  4.49287619e-03,-3.72997976e-03,-1.85012276e-02, 2.85878870e-02,
  1.29737770e-02, 3.34583534e-03,-9.99977264e-03, 2.58952331e-02,
  9.44085936e-01,-3.77428328e-04, 7.37085050e-01, 6.50702937e-02,
  9.36242313e-02,-7.00968470e-02, 1.30957963e-01, 5.04140461e-01,
  4.94113600e-01, 4.95827767e-01, 5.05815155e-01]

qacc:
[ -5.50181403, -1.08854014,  6.86837611,-17.9684225 , -2.2780961 ,
  -0.08480633, -0.12128156,  2.96466578, -2.97103264, -1.35628845,
   2.85406288, -0.09556492, -0.35113128, -0.60696344,  7.34341854,
 -27.69165029, -0.96585666, -1.80295716, -0.79827579,-15.53480113,
   0.88163191, 25.57359491]

qfrc_actuator:
[-8.10006665e-05,-1.59617173e-04,-2.74362596e-05,-3.13199047e-05,
  5.23542545e-05,-3.05052174e-04,-2.57825759e-04, 2.08069535e-05,
 -3.26145797e-05,-1.98075536e-04,-1.24363241e-04, 1.53056526e-05,
  3.74264872e-02,-9.84698193e-04, 1.94869752e-02,-3.86390157e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5237769 , -0.1964244 ,  4.51951048, -0.1964244 , 39.43828486,
        1.51743456,  4.51951048,  1.51743456,  4.58972679,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000294873768355422
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88253949e-13,  1.88253949e-13,  1.00000000e+00, -3.54395492e-26,
        1.00000000e+00, -1.88253949e-13, -1.00000000e+00,  0.00000000e+00,
        1.88253949e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11001992, -0.03406307,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.21766279e-05, 1.52788157e-05, 2.26751853e-06,-3.15775866e-05,
 -1.34163123e-05, 3.75093736e-05, 2.53550636e-05, 1.27252574e-05,
 -1.75242203e-05,-8.00205711e-05,-3.12498995e-06, 4.32650721e-06,
 -2.47600595e-04,-9.84081300e-05,-1.13486104e-04,-1.67420839e-04,
  1.30848683e-07,-6.67153967e-07,-1.21644248e+00,-4.60042449e-04,
  8.64518147e-06,-5.51802673e-04]


--- Step 560 ---
qpos:
[ 6.16253071e-03,-1.81883417e-03,-4.99198807e-03, 3.35849985e-02,
  4.49342395e-03,-3.72934263e-03,-1.85011442e-02, 2.85889017e-02,
  1.29731612e-02, 3.34389085e-03,-1.00003374e-02, 2.58955868e-02,
  9.44912963e-01,-3.75845991e-04, 7.37797792e-01, 6.50665878e-02,
  9.36063834e-02,-7.01094730e-02, 1.30952671e-01, 5.04148440e-01,
  4.94069200e-01, 4.95731767e-01, 5.05944652e-01]

qacc:
[ -0.20741831,  1.28785045, -5.36723472, 10.74189609, -4.43366728,
   0.22999595, -1.46236906,  4.27172651,  1.21746615,  1.64434345,
  -5.82310732,  7.01900741, -0.06406746, -1.3323457 , -9.85707035,
  31.10299692,  0.03424954,  1.13794329,  0.93910369,  2.9227129 ,
  -0.19842907,-15.73926254]

qfrc_actuator:
[-8.12527814e-05,-1.31226862e-04,-2.59178392e-05,-1.37066833e-05,
  2.66451816e-05,-3.24644426e-04,-2.63580905e-04, 2.72702846e-05,
 -2.48573064e-05,-1.60027665e-04,-1.40046151e-04, 1.84281845e-05,
  3.73520938e-02,-1.02709511e-03, 1.94539163e-02,-3.71983523e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.55069957,   1.39994279,   4.33001464,   1.39994279,
        41.29307154, -11.87922516,   4.33001464, -11.87922516,
         8.39138766,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00030308700491034346
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48811429e-13, -1.83152528e-13,  1.00000000e+00,  2.72551895e-26,
        1.00000000e+00,  1.83152528e-13, -1.00000000e+00,  0.00000000e+00,
        1.48811429e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09153221, -0.08817421,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.15698168e-06, 3.60818781e-05, 3.87159644e-06, 1.77368432e-05,
 -2.60807791e-05, 7.13656509e-06, 5.54741348e-06, 9.19303922e-06,
  7.22507412e-06,-7.09612657e-06,-3.24243555e-05,-3.26224463e-07,
 -2.53908943e-04,-1.05588749e-04,-1.10599637e-04, 1.18541648e-04,
  6.13066186e-07,-8.04830335e-07,-1.21644512e+00,-4.60825392e-04,
  6.32342140e-06,-5.52702844e-04]


--- Step 561 ---
qpos:
[ 6.16191269e-03,-1.81946995e-03,-4.99156847e-03, 3.35844512e-02,
  4.49400432e-03,-3.72886060e-03,-1.85013053e-02, 2.85903776e-02,
  1.29729877e-02, 3.34212469e-03,-1.00017438e-02, 2.58956367e-02,
  9.45738566e-01,-3.74790699e-04, 7.38509354e-01, 6.50638983e-02,
  9.35887310e-02,-7.01176694e-02, 1.30950244e-01, 5.04169511e-01,
  4.94012202e-01, 4.95653619e-01, 5.06055865e-01]

qacc:
[  6.11085909,  1.82502234, -6.75777937, 10.85785568,  0.28058383,
   1.42618366, -7.33179628, 15.82093154,  3.86306919,  1.95462341,
  -5.35729587,  1.32586779, -0.4072937 , -0.38793775, -4.80370829,
  14.28658059,  0.048877  ,  1.1073947 ,  0.7162305 ,  2.63889251,
  -0.0746738 ,-15.45383306]

qfrc_actuator:
[-4.53592176e-05,-1.13963220e-04,-4.29990507e-05,-3.01963549e-06,
  2.90573151e-05,-3.54426644e-04,-2.84856869e-04, 4.83928621e-05,
 -2.28822278e-06,-1.54216753e-04,-1.84411811e-04, 2.39429604e-06,
  3.72830845e-02,-1.05270492e-03, 1.94031806e-02,-3.66891763e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58143787,  1.04855684,  4.459832  ,  1.04855684, 16.4122408 ,
       -2.7815553 ,  4.459832  , -2.7815553 ,  5.23541291,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031209736612365646
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.44662125e-14,  1.77864850e-13,  1.00000000e+00,  7.90897622e-27,
        1.00000000e+00, -1.77864850e-13, -1.00000000e+00,  0.00000000e+00,
       -4.44662125e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09153502, -0.08817267,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.58749447e-05, 3.90338745e-05,-8.53123450e-06, 1.27149757e-05,
  1.66900775e-06,-2.42871802e-05,-1.88101321e-05, 2.17964746e-05,
  2.27665231e-05,-4.79214291e-06,-4.98088814e-05,-1.74618645e-05,
 -2.53542579e-04,-9.13996725e-05,-9.38287238e-05, 4.20029781e-05,
  2.09569165e-07,-8.74811353e-07,-1.21644389e+00,-4.59634780e-04,
  7.94271083e-06,-5.52818411e-04]


--- Step 562 ---
qpos:
[ 6.16138486e-03,-1.81995375e-03,-4.99123336e-03, 3.35833574e-02,
  4.49460887e-03,-3.72852431e-03,-1.85019658e-02, 2.85917671e-02,
  1.29727412e-02, 3.34035387e-03,-1.00039113e-02, 2.58951673e-02,
  9.46562671e-01,-3.74040181e-04, 7.39219197e-01, 6.50619209e-02,
  9.35713189e-02,-7.01215369e-02, 1.30949931e-01, 5.04203562e-01,
  4.93942519e-01, 4.95592957e-01, 5.06149361e-01]

qacc:
[  0.78746483, -0.68957612,  5.05408397,-14.4840141 ,  0.19851713,
   1.02398969, -3.56646832,  2.97622051, -0.66719181,  1.05337061,
  -1.56967909, -6.20113973, -0.66965914,  0.35122512, -4.66325013,
  12.68043345,  0.06007074,  1.08221435,  0.52862902,  2.4107269 ,
   0.0243596 ,-15.21334748]

qfrc_actuator:
[-4.17466009e-05,-1.21324281e-04,-5.32238363e-05,-3.20268483e-05,
  3.02528896e-05,-3.72395724e-04,-3.15163863e-04, 4.24466261e-05,
 -6.69543822e-06,-1.67883375e-04,-2.27716351e-04,-2.48163218e-05,
  3.72067084e-02,-1.06817670e-03, 1.93045803e-02,-3.63790111e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59903417,  0.98177862,  4.4930197 ,  0.98177862, 24.02872537,
       -4.24562023,  4.4930197 , -4.24562023,  5.52675303,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003170923450598606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.37657611e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.37657611e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09153718, -0.08817203,  0.06199094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.64778050e-06, 1.32833954e-05,-2.76965163e-06,-2.73819390e-05,
  1.23462619e-06,-3.45199423e-05,-3.68936072e-05,-7.21782301e-06,
 -3.76637645e-06,-2.72957301e-05,-5.09977794e-05,-2.94732714e-05,
 -2.57747189e-04,-7.91649298e-05,-1.43829841e-04, 1.96818363e-05,
 -1.63367382e-07,-8.62290027e-07,-1.21644303e+00,-4.58522583e-04,
  9.40008800e-06,-5.52861259e-04]


--- Step 563 ---
qpos:
[ 6.16055992e-03,-1.82031791e-03,-4.99128721e-03, 3.35819507e-02,
  4.49453315e-03,-3.72828177e-03,-1.85027198e-02, 2.85923492e-02,
  1.29724436e-02, 3.33861729e-03,-1.00061056e-02, 2.58943194e-02,
  9.47385035e-01,-3.72827168e-04, 7.39926988e-01, 6.50600437e-02,
  9.35541811e-02,-7.01211582e-02, 1.30951102e-01, 5.04250499e-01,
  4.93860088e-01, 4.95549476e-01, 5.06225606e-01]

qacc:
[ -2.62703697,  0.60599961, -0.60073297, -4.29299076, -5.95572618,
  -1.51140949,  8.63946053,-22.41699242, -0.45042614, -0.65794769,
   4.01112759,-10.5451948 , -1.60287672,  2.96274718, -3.24291293,
   7.15102717,  0.0685845 ,  1.06153964,  0.37101308,  2.22682728,
   0.1039926 ,-15.01193829]

qfrc_actuator:
[-5.71746496e-05,-1.25638586e-04,-7.71946857e-05,-4.86658115e-05,
 -4.79136779e-06,-3.65471609e-04,-3.15031599e-04, 2.86966620e-06,
 -9.19731474e-06,-1.39866959e-04,-2.16870104e-04,-4.06433425e-05,
  3.71206442e-02,-1.04207184e-03, 1.91933298e-02,-3.63668014e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60529908,  0.88887496,  4.51870346,  0.88887496, 42.1756925 ,
       -7.39047874,  4.51870346, -7.39047874,  6.05908147,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031884357386482987
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74101521e-13,  2.61152282e-13,  1.00000000e+00, -4.54670095e-26,
        1.00000000e+00, -2.61152282e-13, -1.00000000e+00,  0.00000000e+00,
        1.74101521e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09153884, -0.08817211,  0.06199089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52886046e-05, 1.38774283e-06,-2.25109587e-05,-1.66958231e-05,
 -3.50192470e-05,-2.03162850e-05,-1.17916641e-05,-4.24757943e-05,
 -2.62304073e-06, 1.04358891e-06,-2.04634056e-06,-1.93249900e-05,
 -2.68057054e-04,-3.64916337e-05,-1.79515654e-04,-1.72186662e-05,
 -5.12103889e-07,-7.67309207e-07,-1.21644250e+00,-4.57469594e-04,
  1.07171372e-05,-5.52827261e-04]


--- Step 564 ---
qpos:
[ 6.15990160e-03,-1.82068005e-03,-4.99161824e-03, 3.35807085e-02,
  4.49438263e-03,-3.72790966e-03,-1.85030373e-02, 2.85920407e-02,
  1.29721181e-02, 3.33704740e-03,-1.00080440e-02, 2.58942865e-02,
  9.48205925e-01,-3.71666805e-04, 7.40633234e-01, 6.50551120e-02,
  9.35373434e-02,-7.01166010e-02, 1.30953229e-01, 5.04310237e-01,
  4.93764862e-01, 4.95522922e-01, 5.06284979e-01]

qacc:
[  1.45644127,  1.11368927, -4.66680283,  7.96258777, -0.64374209,
  -2.87791711, 14.27385486,-30.48312356, -0.24090961,  1.1829191 ,
  -7.33845285, 20.91074602, -1.04427268,  1.41269256,  6.9843156 ,
 -27.6412376 ,  0.07500931,  1.04465268,  0.23888406,  2.07816865,
   0.16840671,-14.8445502 ]

qfrc_actuator:
[-4.81705972e-05,-1.28153297e-04,-9.13222794e-05,-4.01460172e-05,
 -7.62683216e-06,-3.25852644e-04,-2.79089286e-04,-3.83775140e-05,
 -1.05488300e-05,-1.04630386e-04,-1.91715890e-04, 3.68456285e-06,
  3.70554719e-02,-1.04492427e-03, 1.91118614e-02,-3.79503044e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6022703 , -0.76181809, -4.53878014, -0.76181809, 31.65811749,
       -4.54122764, -4.53878014, -4.54122764,  5.3644992 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003179986864274009
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.36410224e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.36410224e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154009, -0.08817278,  0.06199091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.57292611e-06,-7.08984879e-06,-1.71816783e-05, 7.48032177e-06,
 -3.84064835e-06, 2.39887544e-05, 2.88298033e-05,-4.33511953e-05,
 -1.43269704e-06, 3.46578764e-05, 2.44967283e-05, 4.39364430e-05,
 -2.45408832e-04,-6.11905509e-05,-1.68806779e-04,-1.83091111e-04,
 -8.41414540e-07,-5.90169847e-07,-1.21644228e+00,-4.56461344e-04,
  1.19103448e-05,-5.52713468e-04]


--- Step 565 ---
qpos:
[ 6.15935626e-03,-1.82117786e-03,-4.99183204e-03, 3.35802591e-02,
  4.49488895e-03,-3.72767533e-03,-1.85025641e-02, 2.85915943e-02,
  1.29717784e-02, 3.33593449e-03,-1.00097809e-02, 2.58944050e-02,
  9.49025440e-01,-3.70850841e-04, 7.41337382e-01, 6.50519144e-02,
  9.35208249e-02,-7.01079199e-02, 1.30955869e-01, 5.04382705e-01,
  4.93656802e-01, 4.95513088e-01, 5.06327787e-01]

qacc:
[ 9.99908333e-01, 1.12302782e+00,-7.61352571e+00, 2.12459404e+01,
  5.77584280e+00,-2.68481572e+00, 9.87144838e+00,-1.33961261e+01,
 -1.25257182e-01, 3.52756518e-01,-1.02016606e+00, 2.98114826e+00,
 -4.95801749e-01, 2.94287794e-03,-8.31637265e+00, 2.46249939e+01,
  7.98081553e-02, 1.03095439e+00, 1.28401694e-01, 1.95759379e+00,
  2.20886800e-01,-1.47068121e+01]

qfrc_actuator:
[-4.26048132e-05,-1.29518472e-04,-8.17474748e-05, 8.69170485e-07,
  2.62822414e-05,-3.37813117e-04,-2.39906137e-04,-4.47153608e-05,
 -1.12127005e-05,-6.52078664e-05,-1.76001625e-04, 1.20528523e-05,
  3.69868962e-02,-1.06482091e-03, 1.90482904e-02,-3.69095640e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59196662, -0.59808758, -4.55285061, -0.59808758, 45.56550834,
       -5.38251055, -4.55285061, -5.38251055,  5.2990429 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031509980619427724
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.76170058e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.76170058e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154102, -0.08817391,  0.06199099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.80917612e-06,-8.53362364e-06, 6.26412704e-06, 4.02665807e-05,
  3.38083769e-05, 5.54056633e-06, 4.61896129e-05,-5.15521250e-06,
 -7.02259330e-07, 6.58244485e-05, 2.74516882e-05, 1.15641169e-05,
 -2.39438206e-04,-7.71725909e-05,-1.65563309e-04, 7.12008619e-05,
 -1.15489428e-06,-3.31278719e-07,-1.21644237e+00,-4.55486866e-04,
  1.29923538e-05,-5.52517754e-04]


--- Step 566 ---
qpos:
[ 6.15922686e-03,-1.82166932e-03,-4.99225681e-03, 3.35803089e-02,
  4.49545294e-03,-3.72761360e-03,-1.85018443e-02, 2.85914632e-02,
  1.29714332e-02, 3.33540373e-03,-1.00110568e-02, 2.58938976e-02,
  9.49843355e-01,-3.69633388e-04, 7.42039909e-01, 6.50505236e-02,
  9.35046397e-02,-7.00951591e-02, 1.30958655e-01, 5.04467846e-01,
  4.93535877e-01, 4.95519803e-01, 5.06354279e-01]

qacc:
[  3.65090893,  1.61899249, -7.88000089, 16.86499464,  0.51554046,
  -0.26935081, -0.70379769,  5.89572485, -0.0450269 , -1.806909  ,
  10.20156871,-22.19802761, -1.39624835,  2.52612985, -7.76551783,
  23.87836349,  0.08334331,  1.01994376,  0.0362811 ,  1.85942281,
   0.2640126 ,-14.59493657]

qfrc_actuator:
[-2.13623614e-05,-1.30057058e-04,-9.37400561e-05, 2.51824897e-05,
  2.82784159e-05,-3.62753095e-04,-2.34812574e-04,-3.05042240e-05,
 -1.14667253e-05,-2.36307498e-05,-1.48246563e-04,-1.85696442e-05,
  3.69109966e-02,-1.04137337e-03, 1.89955634e-02,-3.59276800e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031059932221685904
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.78722706e-13, -8.93613528e-14,  1.00000000e+00, -1.59709028e-26,
        1.00000000e+00,  8.93613528e-14, -1.00000000e+00,  0.00000000e+00,
       -1.78722706e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154171, -0.08817539,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.14046011e-05,-2.26594641e-06,-1.15809578e-05, 2.49505266e-05,
  2.96220831e-06,-1.25233202e-05, 1.17406783e-05, 1.59444742e-05,
 -2.57871354e-07, 8.46116284e-05, 4.51661221e-05,-2.66206604e-05,
 -2.45725726e-04,-3.51851001e-05,-1.23675987e-04, 8.01924891e-05,
 -1.45526208e-06, 8.94308397e-09,-1.21644275e+00,-4.54537774e-04,
  1.39728995e-05,-5.52238568e-04]


--- Step 567 ---
qpos:
[ 6.15935323e-03,-1.82227496e-03,-4.99270902e-03, 3.35796168e-02,
  4.49534695e-03,-3.72757108e-03,-1.85016278e-02, 2.85911913e-02,
  1.29714326e-02, 3.33543119e-03,-1.00119712e-02, 2.58930371e-02,
  9.50659737e-01,-3.68132001e-04, 7.42740953e-01, 6.50496248e-02,
  9.34887982e-02,-7.00783534e-02, 1.30961279e-01, 5.04565610e-01,
  4.93402055e-01, 4.95542927e-01, 5.06364656e-01]

qacc:
[  2.24950177, -1.60598856,  8.63085483,-21.33134001, -5.87920808,
   1.10178597, -3.350772  ,  1.70909478,  3.03378349, -1.00559417,
   6.13674454,-13.22611202, -1.28745539,  2.21538825, -3.6067875 ,
   9.597263  ,  0.08589796,  1.01120123, -0.04029063,  1.77914545,
   0.29980927,-14.50563974]

qfrc_actuator:
[-8.81470112e-06,-1.47940056e-04,-1.00639110e-04,-1.38068950e-05,
 -6.28933471e-06,-3.77638218e-04,-2.67697563e-04,-3.98669251e-05,
  6.27493192e-06, 1.17853257e-06,-1.31359702e-04,-3.63647019e-05,
  3.68360983e-02,-1.02803273e-03, 1.89227463e-02,-3.56988804e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030487337863722985
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.68998016e-14, -1.82079365e-13,  1.00000000e+00,  1.03602798e-26,
        1.00000000e+00,  1.82079365e-13, -1.00000000e+00,  0.00000000e+00,
        5.68998016e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154221, -0.08817715,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31568768e-05,-2.04426531e-05,-7.92034488e-06,-3.90005069e-05,
 -3.44886422e-05,-1.87891174e-05,-3.34827713e-05,-9.18442454e-06,
  1.77600625e-05, 8.03475216e-05, 3.90285228e-05,-1.31192601e-05,
 -2.39808451e-04,-4.06183491e-05,-1.25885723e-04, 1.02218384e-05,
 -1.74458669e-06, 4.30111458e-07,-1.21644341e+00,-4.53607590e-04,
  1.48595084e-05,-5.51874758e-04]


--- Step 568 ---
qpos:
[ 6.15928422e-03,-1.82289639e-03,-4.99330978e-03, 3.35788045e-02,
  4.49517239e-03,-3.72759029e-03,-1.85015702e-02, 2.85914820e-02,
  1.29716447e-02, 3.33583628e-03,-1.00123115e-02, 2.58923241e-02,
  9.51474786e-01,-3.67065419e-04, 7.43440163e-01, 6.50480601e-02,
  9.34733074e-02,-7.00575303e-02, 1.30963488e-01, 5.04675960e-01,
  4.93255305e-01, 4.95582350e-01, 5.06359077e-01]

qacc:
[ -1.72239878,  0.15007419, -0.05174355, -1.7871451 , -0.60375978,
   1.52052536, -7.9141337 , 17.94852841,  1.88372392, -0.80541466,
   2.96702345, -1.60390223, -0.4758444 , -0.1007002 , -0.68722138,
  -1.50885358,  0.08769324,  1.00437508, -0.1037232 ,  1.71317812,
   0.32986592,-14.43607427]

qfrc_actuator:
[-1.92427388e-05,-1.40606469e-04,-1.04581190e-04,-1.87259939e-05,
 -8.83297495e-06,-3.68822140e-04,-2.69460614e-04,-9.78598937e-06,
  1.67134446e-05, 1.57181873e-05,-1.03326156e-04,-2.87330234e-05,
  3.67618524e-02,-1.05630452e-03, 1.88166181e-02,-3.60935370e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000298233422009353
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.51233252e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.51233252e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154255, -0.08817911,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00566228e-05,-7.37243116e-06,-1.04764602e-05,-6.82485209e-06,
 -3.53364439e-06,-9.01581246e-06,-1.00873090e-05, 2.79398992e-05,
  1.09690765e-05, 6.69878982e-05, 4.89952406e-05, 1.21731844e-05,
 -2.36564978e-04,-8.17963219e-05,-1.68165582e-04,-5.63506817e-05,
 -2.02445459e-06, 9.31904385e-07,-1.21644435e+00,-4.52691249e-04,
  1.56580226e-05,-5.51425452e-04]


--- Step 569 ---
qpos:
[ 6.15909081e-03,-1.82344269e-03,-4.99376359e-03, 3.35782521e-02,
  4.49496823e-03,-3.72756401e-03,-1.85013636e-02, 2.85927854e-02,
  1.29719809e-02, 3.33593693e-03,-1.00119633e-02, 2.58921339e-02,
  9.52288537e-01,-3.66626484e-04, 7.44137958e-01, 6.50462235e-02,
  9.34608299e-02,-7.00449195e-02, 1.30965255e-01, 5.04749367e-01,
  4.93150805e-01, 4.95598792e-01, 5.06371601e-01]

qacc:
[ -1.09025984,  0.22571653, -1.75402863,  5.9568745 , -0.2545021 ,
   1.72680413,-10.34599877, 27.60062207,  1.12027689, -1.25222039,
   1.66893822,  6.51049963, -0.26366591, -0.71965538, -1.27117266,
   1.40031022,  0.75331617, -2.05309637, -0.11075619,  9.46860604,
  -2.87678195, 30.05829169]

qfrc_actuator:
[-2.53547313e-05,-1.18195638e-04,-8.88643715e-05,-3.52773105e-06,
 -1.02481884e-05,-3.45735134e-04,-2.52693445e-04, 4.33139800e-05,
  2.27640814e-05,-4.69571666e-05,-8.67143298e-05,-6.20459993e-06,
  3.66933608e-02,-1.09118597e-03, 1.87758008e-02,-3.61425502e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56729702,  0.72054799, -4.51010118,  0.72054799, 48.11997679,
        6.95811346, -4.51010118,  6.95811346,  5.67894717,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030799866293730604
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.01158964e-14, -9.01158964e-14,  1.00000000e+00,  8.12087479e-27,
        1.00000000e+00,  9.01158964e-14, -1.00000000e+00,  0.00000000e+00,
        9.01158964e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08242799, -0.03132815,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.39705648e-06, 1.58596407e-05, 1.26840457e-05, 1.43920091e-05,
 -1.52005596e-06, 1.71573400e-05, 1.46281460e-05, 5.29077276e-05,
  6.38396248e-06,-1.45776522e-05, 3.69057120e-05, 2.73323741e-05,
 -2.37569068e-04,-9.36409769e-05,-1.27597860e-04,-3.04495350e-05,
 -2.29609483e-06, 1.51407028e-06,-1.21644556e+00,-4.51784728e-04,
  1.63729954e-05,-5.50889966e-04]


--- Step 570 ---
qpos:
[ 6.15848075e-03,-1.82420888e-03,-4.99306300e-03, 3.35778532e-02,
  4.49440361e-03,-3.72727965e-03,-1.85012860e-02, 2.85940156e-02,
  1.29723875e-02, 3.33552531e-03,-1.00111666e-02, 2.58915697e-02,
  9.53100786e-01,-3.66262758e-04, 7.44835059e-01, 6.50438149e-02,
  9.34512452e-02,-7.00403705e-02, 1.30965804e-01, 5.04786275e-01,
  4.93087650e-01, 4.95593125e-01, 5.06401856e-01]

qacc:
[ -3.62335575, -3.19426649, 10.33063118, -9.3671081 , -3.16329096,
   0.55658878, -1.16954291, -0.09441368,  0.64084969, -2.70189887,
  10.22882745,-17.04073899, -0.98045976,  1.23104209,  0.74728021,
  -3.99614091,  0.72319076, -2.0154433 , -0.30438871,  9.44291772,
  -2.63093766, 29.41307179]

qfrc_actuator:
[-4.66225625e-05,-1.22328325e-04,-2.60830304e-05, 5.65628518e-06,
 -2.87505267e-05,-3.31920738e-04,-2.60557834e-04, 3.85396881e-05,
  2.61854250e-05,-1.02172596e-04,-7.72996201e-05,-2.84305453e-05,
  3.66177152e-02,-1.09416120e-03, 1.87741983e-02,-3.63405057e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59249287,  1.73039197, -4.25402567,  1.73039197, 14.06409023,
        3.85272147, -4.25402567,  3.85272147,  6.15964803,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003152487978106133
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.80433988e-14,  8.80433988e-14,  1.00000000e+00,  7.75164007e-27,
        1.00000000e+00, -8.80433988e-14, -1.00000000e+00,  0.00000000e+00,
       -8.80433988e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08242639, -0.0313327 ,  0.06199099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.14429913e-05, 7.99763982e-06, 6.81309558e-05, 1.05863579e-05,
 -1.85425655e-05, 2.86907587e-05,-6.93485287e-07,-2.50656439e-06,
  3.59563580e-06,-5.45766590e-05, 1.18902390e-05,-2.10425295e-05,
 -2.47397647e-04,-6.39102832e-05,-6.87906823e-05,-3.91355357e-05,
 -1.26409336e-06, 4.70501583e-07,-1.21644255e+00,-4.52933823e-04,
  1.41099656e-05,-5.50337102e-04]


--- Step 571 ---
qpos:
[ 6.15727547e-03,-1.82495377e-03,-4.99192361e-03, 3.35775859e-02,
  4.49362151e-03,-3.72668966e-03,-1.85010361e-02, 2.85948066e-02,
  1.29717965e-02, 3.33530593e-03,-1.00108055e-02, 2.58907150e-02,
  9.53911353e-01,-3.65302178e-04, 7.45531202e-01, 6.50398670e-02,
  9.34444555e-02,-7.00437571e-02, 1.30964483e-01, 5.04787065e-01,
  4.93065087e-01, 4.95566050e-01, 5.06449532e-01]

qacc:
[ -5.22016191, -0.91739546,  2.77397072, -1.23320206, -1.90351637,
  -0.97671371,  5.92969405,-14.03670681, -8.79492583,  0.8909092 ,
  -1.55139165, -2.95452855, -1.79079808,  3.50180923,  3.32972444,
 -13.46867174,  0.69876013, -1.98390279, -0.46738071,  9.41262269,
  -2.4360743 , 28.87827029]

qfrc_actuator:
[-7.66418740e-05,-1.24369530e-04,-7.13974087e-06, 1.12340829e-05,
 -3.94098052e-05,-3.06148062e-04,-2.47477509e-04, 1.74743920e-05,
 -2.52244218e-05,-6.38193298e-05,-8.99912531e-05,-4.13159585e-05,
  3.65378422e-02,-1.06054144e-03, 1.87162238e-02,-3.71563184e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60483008,  1.87451055, -4.20602785,  1.87451055, 20.00949675,
        6.86543484, -4.20602785,  6.86543484,  7.66456494,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031871295729768434
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74172872e-13,  1.30629654e-13,  1.00000000e+00, -2.27521421e-26,
        1.00000000e+00, -1.30629654e-13, -1.00000000e+00,  0.00000000e+00,
        1.74172872e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08242478, -0.03133504,  0.06199089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.06276089e-05, 1.69731178e-05, 2.93561127e-05, 8.48588195e-06,
 -1.11788092e-05, 4.15453292e-05, 1.88280678e-05,-1.99113174e-05,
 -5.13269441e-05, 9.39740335e-06,-2.32316890e-05,-1.52220376e-05,
 -2.51360103e-04,-2.52093111e-05,-1.02425023e-04,-9.46102421e-05,
 -4.97873533e-07,-8.09088829e-08,-1.21644086e+00,-4.53802751e-04,
  1.25558229e-05,-5.50016540e-04]


--- Step 572 ---
qpos:
[ 6.15606441e-03,-1.82534250e-03,-4.99122906e-03, 3.35774062e-02,
  4.49271779e-03,-3.72609808e-03,-1.85004774e-02, 2.85950233e-02,
  1.29702493e-02, 3.33507651e-03,-1.00108669e-02, 2.58900826e-02,
  9.54720297e-01,-3.63653202e-04, 7.46225870e-01, 6.50359770e-02,
  9.34403816e-02,-7.00549741e-02, 1.30960745e-01, 5.04752058e-01,
  4.93082488e-01, 4.95518129e-01, 5.06514367e-01]

qacc:
[ -0.07085788,  1.8948287 , -6.44235865,  8.40647372, -1.05509978,
  -2.0389588 ,  9.7023834 ,-20.14002959, -8.42848463,  1.64147342,
  -6.78247267, 11.28286423, -1.76112043,  3.55174574, -2.24962234,
   4.9477631 ,  0.67897162, -1.9575959 , -0.60447911,  9.38096077,
  -2.28153248, 28.4370701 ]

qfrc_actuator:
[-7.60615817e-05,-1.07556441e-04,-3.19980606e-05, 1.46087741e-05,
 -4.53620434e-05,-3.26609095e-04,-2.39832686e-04,-1.29703522e-05,
 -7.29881017e-05,-7.63402171e-05,-1.15241828e-04,-3.07783494e-05,
  3.64661546e-02,-1.02335930e-03, 1.86511040e-02,-3.70882005e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6063319 ,  2.03533051, -4.13227823,  2.03533051, 34.32184572,
       14.63620998, -4.13227823, 14.63620998, 11.81531519,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031913094050828317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73944749e-13, -4.34861872e-14,  1.00000000e+00,  7.56419390e-27,
        1.00000000e+00,  4.34861872e-14, -1.00000000e+00,  0.00000000e+00,
        1.73944749e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08242314, -0.03133561,  0.06199088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.84906924e-07, 3.27395291e-05,-1.74445616e-05, 5.28409913e-06,
 -6.25699785e-06, 5.77662472e-06, 1.78452724e-05,-2.84035286e-05,
 -4.92175258e-05,-1.27311061e-05,-2.66958876e-05, 9.84385624e-06,
 -2.38121881e-04,-1.65985361e-05,-1.29918426e-04,-1.33234259e-05,
  2.55934953e-08,-1.66254989e-07,-1.21644041e+00,-4.54450290e-04,
  1.16823767e-05,-5.49915777e-04]


--- Step 573 ---
qpos:
[ 6.15555943e-03,-1.82554535e-03,-4.99050601e-03, 3.35772577e-02,
  4.49209466e-03,-3.72552081e-03,-1.85000865e-02, 2.85952547e-02,
  1.29688313e-02, 3.33451427e-03,-1.00113740e-02, 2.58896253e-02,
  9.55527847e-01,-3.61881444e-04, 7.46919241e-01, 6.50321123e-02,
  9.34389597e-02,-7.00739342e-02, 1.30954127e-01, 5.04681521e-01,
  4.93139332e-01, 4.95449807e-01, 5.06596142e-01]

qacc:
[ 6.20617468, 0.21803355,-0.57336766, 0.95244858, 2.45066054, 0.47504173,
 -1.79151846, 2.33265542, 1.12981176, 1.16359986,-5.52999189, 9.52071632,
 -1.05654672, 1.63236231,-1.93830022, 4.12392084, 0.66297239,-1.93576305,
 -0.71971915, 9.35022151,-2.15885271,28.07541151]

qfrc_actuator:
[-3.97202548e-05,-9.75267977e-05,-2.91713421e-05, 1.66528809e-05,
 -3.07462992e-05,-3.39123306e-04,-2.53407133e-04,-1.32266551e-05,
 -6.49483595e-05,-1.19260218e-04,-1.47866798e-04,-2.43362709e-05,
  3.63994335e-02,-1.01987527e-03, 1.86030810e-02,-3.70321157e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59913714, -2.22816105,  4.02335194, -2.22816105, 21.92690186,
        9.5962399 ,  4.02335194,  9.5962399 ,  9.91360336,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003171212434107118
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.75235456e-14,  8.75235456e-14,  1.00000000e+00, -7.66037104e-27,
        1.00000000e+00, -8.75235456e-14, -1.00000000e+00,  0.00000000e+00,
        8.75235456e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0824215 , -0.03133477,  0.06199094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.63456969e-05, 2.49709283e-05, 7.62188814e-06, 2.94627663e-06,
  1.44394892e-05,-6.84592086e-06,-1.11795782e-05, 5.31428004e-08,
  6.63677316e-06,-5.51434868e-05,-3.81971072e-05, 5.16817559e-06,
 -2.22956953e-04,-4.62773023e-05,-1.14491750e-04,-1.30848050e-05,
  3.23543517e-07, 1.94918709e-07,-1.21644114e+00,-4.54918985e-04,
  1.14665171e-05,-5.50025191e-04]


--- Step 574 ---
qpos:
[ 6.15549396e-03,-1.82566430e-03,-4.98943001e-03, 3.35771251e-02,
  4.49165144e-03,-3.72489370e-03,-1.84999284e-02, 2.85961682e-02,
  1.29678651e-02, 3.33383147e-03,-1.00123905e-02, 2.58895717e-02,
  9.56334066e-01,-3.60074898e-04, 7.47611216e-01, 6.50286395e-02,
  9.34401381e-02,-7.01005652e-02, 1.30944244e-01, 5.04575671e-01,
  4.93235187e-01, 4.95361434e-01, 5.06694673e-01]

qacc:
[  3.87415829, -0.85032812,  3.11183562, -3.44592347,  1.5669624 ,
   2.11575563,-10.33491834, 22.4824917 ,  3.96091417,  2.08801342,
  -9.3941876 , 17.29910509, -0.90968877,  1.26779195, -3.19817372,
   8.2996658 ,  0.65007016, -1.91774691, -0.81654036,  9.32197372,
  -2.06131428, 27.78149579]

qfrc_actuator:
[-1.81371152e-05,-9.15393946e-05,-1.00289918e-05, 1.79200856e-05,
 -2.18959456e-05,-3.29101519e-04,-2.61607480e-04, 2.20234879e-05,
 -4.18823045e-05,-1.09082373e-04,-1.66971614e-04,-2.64049802e-06,
  3.63357301e-02,-1.01856723e-03, 1.85440502e-02,-3.68056322e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58528579, -2.43116335,  3.88771019, -2.43116335, 29.19215942,
       15.38780582,  3.88771019, 15.38780582, 14.20798599,  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: -0.00031319945560871754
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.86194887e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.86194887e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08241983, -0.03133281,  0.06199105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.26247768e-05, 2.16655080e-05, 2.53344523e-05, 2.65605131e-06,
  9.26088238e-06, 3.86562491e-06,-1.10021407e-05, 3.45676778e-05,
  2.32342915e-05,-2.83022084e-05,-3.50096118e-05, 1.81144097e-05,
 -2.16143704e-04,-4.98311103e-05,-1.18939218e-04, 5.81347072e-06,
  4.08757638e-07, 9.88445630e-07,-1.21644302e+00,-4.55239582e-04,
  1.18896340e-05,-5.50337386e-04]


--- Step 575 ---
qpos:
[ 6.15568786e-03,-1.82546191e-03,-4.98851500e-03, 3.35773591e-02,
  4.49097304e-03,-3.72427249e-03,-1.85001137e-02, 2.85971665e-02,
  1.29671825e-02, 3.33317689e-03,-1.00129173e-02, 2.58896888e-02,
  9.57139025e-01,-3.58539650e-04, 7.48301598e-01, 6.50280758e-02,
  9.34432943e-02,-7.01226916e-02, 1.30938704e-01, 5.04477792e-01,
  4.93321974e-01, 4.95297780e-01, 5.06769865e-01]

qacc:
[  2.27028661,  1.62493268, -6.73194835, 13.10235072, -2.06899729,
   1.12908493, -4.38788566,  6.39821337,  2.51122524, -0.98494622,
   2.83683652, -0.67717774, -0.462396  ,  0.06037472,-11.11396708,
  35.50324642,  0.49447825,  1.12615943,  1.08607418,  7.78878523,
   0.80338001,-16.25038777]

qfrc_actuator:
[-5.42474135e-06,-7.01970813e-05,-1.69383877e-05, 3.64764543e-05,
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 -2.79271684e-05,-6.71249440e-05,-1.24464265e-04, 1.01561500e-05,
  3.62685560e-02,-1.03627852e-03, 1.84944475e-02,-3.52379921e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 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: -0.00032475372239333666
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70933071e-13,  1.70933071e-13,  1.00000000e+00, -2.92181149e-26,
        1.00000000e+00, -1.70933071e-13, -1.00000000e+00,  0.00000000e+00,
        1.70933071e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08606172, -0.08824995,  0.06199072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33613959e-05, 3.88049734e-05, 7.66412757e-07, 2.04102437e-05,
 -1.21081914e-05,-1.06732362e-05,-2.19687385e-05, 3.07623089e-06,
  1.46027872e-05, 1.97170378e-05, 3.29937982e-05, 1.07276976e-05,
 -2.15954984e-04,-6.80035115e-05,-1.09050047e-04, 1.40501403e-04,
  2.90563562e-07, 2.20462550e-06,-1.21644600e+00,-4.55434261e-04,
  1.29370617e-05,-5.50846680e-04]


--- Step 576 ---
qpos:
[ 6.15637787e-03,-1.82506128e-03,-4.98791557e-03, 3.35778403e-02,
  4.49015173e-03,-3.72377681e-03,-1.85002064e-02, 2.85974832e-02,
  1.29659826e-02, 3.33252981e-03,-1.00126518e-02, 2.58899385e-02,
  9.57942815e-01,-3.57791997e-04, 7.48990981e-01, 6.50279771e-02,
  9.34483941e-02,-7.01404243e-02, 1.30936482e-01, 5.04387702e-01,
  4.93399887e-01, 4.95258225e-01, 5.06822344e-01]

qacc:
[ 4.34903262e+00, 1.64492745e+00,-6.54325204e+00, 1.11966300e+01,
 -1.24610788e+00,-1.82290949e+00, 9.14135823e+00,-2.09952135e+01,
 -4.52683227e+00,-1.92260745e+00, 6.32462382e+00,-5.31675937e+00,
 -6.49225033e-03,-1.34408233e+00,-2.89745103e+00, 7.94528074e+00,
  4.85863553e-01, 1.09842233e+00, 8.29309420e-01, 7.57228336e+00,
  7.96179811e-01,-1.58444870e+01]

qfrc_actuator:
[ 1.97221291e-05,-7.54180918e-05,-3.91060703e-05, 4.72968097e-05,
 -4.12804076e-05,-3.48578956e-04,-2.79728973e-04,-9.73554582e-06,
 -5.49565026e-05,-5.94582191e-05,-8.12903346e-05, 1.76849091e-05,
  3.61993411e-02,-1.08286188e-03, 1.84505698e-02,-3.50227125e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033583745387828767
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.30583445e-13,  1.70457089e-13,  1.00000000e+00, -5.63502916e-26,
        1.00000000e+00, -1.70457089e-13, -1.00000000e+00,  0.00000000e+00,
        3.30583445e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08606326, -0.08824704,  0.0619904 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.55378144e-05, 1.74974424e-05,-1.33656943e-05, 1.29033430e-05,
 -7.36021695e-06,-1.78583110e-05,-3.36287787e-07,-3.55421266e-05,
 -2.66119562e-05, 2.60001751e-05, 5.16941099e-05, 9.72575244e-06,
 -2.21283256e-04,-9.97164982e-05,-8.35358254e-05, 1.40949277e-05,
  9.96100473e-08, 1.69633549e-06,-1.21644422e+00,-4.55352367e-04,
  1.36712369e-05,-5.51274584e-04]


--- Step 577 ---
qpos:
[ 6.15701950e-03,-1.82506927e-03,-4.98732221e-03, 3.35788505e-02,
  4.48925264e-03,-3.72332236e-03,-1.85005688e-02, 2.85973999e-02,
  1.29644684e-02, 3.33176096e-03,-1.00114768e-02, 2.58902849e-02,
  9.58745276e-01,-3.57549861e-04, 7.49679361e-01, 6.50248382e-02,
  9.34554083e-02,-7.01538565e-02, 1.30936712e-01, 5.04305243e-01,
  4.93469095e-01, 4.95242253e-01, 5.06852627e-01]

qacc:
[ -0.41823343,  0.56668442, -5.03524329, 14.49664841, -0.68876404,
  -0.12282473,  2.05080673, -8.51664535, -2.73601219, -2.49817751,
   8.27497162, -7.97580581, -0.52490663, -0.0569786 ,  7.70531097,
 -29.08713715,  0.47862806,  1.07514536,  0.61297062,  7.39455589,
   0.78797225,-15.50485712]

qfrc_actuator:
[ 1.64839480e-05,-1.32087788e-04,-5.24570999e-05, 7.12007608e-05,
 -4.50729677e-05,-3.53176184e-04,-2.94815050e-04,-3.00824065e-05,
 -7.03838116e-05,-7.23564867e-05,-3.82149889e-05, 2.20226808e-05,
  3.61236130e-02,-1.11063841e-03, 1.83728504e-02,-3.66712039e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.69385264, -1.93667875,  4.27569035, -1.93667875, 11.34059759,
        3.0106506 ,  4.27569035,  3.0106506 ,  6.05753021,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034221754028669615
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.62210129e-13,  2.07831727e-13,  1.00000000e+00, -3.37124112e-26,
        1.00000000e+00, -2.07831727e-13, -1.00000000e+00,  0.00000000e+00,
        1.62210129e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08606423, -0.08824538,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.50793352e-06,-4.91088132e-05,-1.09509223e-05, 2.44379233e-05,
 -4.00754482e-06,-1.61963784e-05,-2.00511265e-05,-2.18168339e-05,
 -1.61785067e-05, 1.27427497e-05, 5.51535580e-05, 7.43111047e-06,
 -2.37700477e-04,-8.67878216e-05,-1.21591218e-04,-1.76489304e-04,
 -6.15343187e-08, 1.27324484e-06,-1.21644290e+00,-4.55291260e-04,
  1.40754307e-05,-5.51602219e-04]


--- Step 578 ---
qpos:
[ 6.15692773e-03,-1.82555933e-03,-4.98681042e-03, 3.35801549e-02,
  4.48865982e-03,-3.72274398e-03,-1.85015290e-02, 2.85977656e-02,
  1.29631254e-02, 3.33142134e-03,-1.00105047e-02, 2.58903417e-02,
  9.59546354e-01,-3.57893493e-04, 7.50365888e-01, 6.50211221e-02,
  9.34643130e-02,-7.01630658e-02, 1.30938666e-01, 5.04230282e-01,
  4.93529743e-01, 4.95249433e-01, 5.06861140e-01]

qacc:
[ -6.44283834,  0.20918869, -2.89049408,  8.44368745,  2.66003647,
   2.75125381,-11.47770176, 20.12149918,  1.49327291,  0.53505037,
   0.13308386, -5.13153674, -0.36506765, -0.50310747, -0.99374151,
  -0.50073714,  0.47262014,  1.05569629,  0.43103334,  7.2494229 ,
   0.77904404,-15.22156947]

qfrc_actuator:
[-2.11918506e-05,-1.65841237e-04,-6.07014163e-05, 8.48217194e-05,
 -2.91895659e-05,-3.38338931e-04,-3.21312601e-04,-6.51187289e-06,
 -6.10932078e-05,-4.42095812e-05,-4.88906712e-05, 6.67619072e-06,
  3.60440335e-02,-1.14485049e-03, 1.82855138e-02,-3.69193956e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003447923014981563
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.82996439e-13,  4.52809161e-14,  1.00000000e+00, -2.18705212e-26,
        1.00000000e+00, -4.52809161e-14, -1.00000000e+00,  0.00000000e+00,
        4.82996439e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08606475, -0.08824475,  0.06199015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.77656042e-05,-6.24421607e-05,-1.89013562e-05, 1.16097321e-05,
  1.57649913e-05, 6.90227648e-07,-3.30685202e-05, 2.17581957e-05,
  8.83171234e-06, 4.69867596e-05,-9.99426332e-07,-1.27487161e-05,
 -2.50010771e-04,-9.44367428e-05,-1.69050744e-04,-5.17617483e-05,
 -1.95916379e-07, 9.29401523e-07,-1.21644200e+00,-4.55249446e-04,
  1.41720828e-05,-5.51831292e-04]


--- Step 579 ---
qpos:
[ 6.15638495e-03,-1.82631110e-03,-4.98647220e-03, 3.35812452e-02,
  4.48826222e-03,-3.72247553e-03,-1.85023867e-02, 2.85987632e-02,
  1.29619040e-02, 3.33152394e-03,-1.00099703e-02, 2.58902291e-02,
  9.60345735e-01,-3.57710141e-04, 7.51050455e-01, 6.50177510e-02,
  9.34743423e-02,-7.01681222e-02, 1.30941932e-01, 5.04165708e-01,
  4.93579259e-01, 4.95276518e-01, 5.06850693e-01]

qacc:
[ -3.9667196 , -0.2938518 ,  1.46318075, -4.71297428,  1.71738725,
   0.60038154, -5.40979807, 16.41789237,  1.04901884,  1.4573252 ,
  -3.636467  ,  1.08289318, -1.62926001,  3.05773402, -3.8417032 ,
   9.45369758,  0.28114226,  1.0382311 ,  0.32798286,  4.37007474,
   0.58847005,-15.0808711 ]

qfrc_actuator:
[-4.33205770e-05,-1.67855399e-04,-6.58037838e-05, 7.45433580e-05,
 -1.96061682e-05,-3.65247557e-04,-3.18715747e-04, 2.49674107e-05,
 -5.50844143e-05,-2.74431225e-05,-7.33158841e-05,-2.38066346e-06,
  3.59675217e-02,-1.11163094e-03, 1.82031712e-02,-3.66949312e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034422155421122153
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.31755188e-07,  1.25988877e-13,  1.00000000e+00,  2.91985757e-20,
        1.00000000e+00, -1.25988877e-13, -1.00000000e+00,  0.00000000e+00,
       -2.31755188e-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([ 0.08884938, -0.08820503,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.32232568e-05,-4.03431950e-05,-1.99285628e-05,-1.33834762e-05,
  1.00343978e-05,-3.24256616e-05,-5.78147012e-07, 3.07874826e-05,
  6.27659941e-06, 4.22885677e-05,-1.52929502e-05,-7.32812824e-06,
 -2.56561310e-04,-3.06386378e-05,-1.68904790e-04,-2.92141120e-06,
 -3.05908339e-07, 6.59959116e-07,-1.21644149e+00,-4.55225948e-04,
  1.39783802e-05,-5.51963309e-04]


--- Step 580 ---
qpos:
[ 6.15627072e-03,-1.82725787e-03,-4.98627576e-03, 3.35825380e-02,
  4.48763768e-03,-3.72234029e-03,-1.85032610e-02, 2.86001158e-02,
  1.29611096e-02, 3.33152525e-03,-1.00092516e-02, 2.58903813e-02,
  9.61143304e-01,-3.56496229e-04, 7.51733129e-01, 6.50120052e-02,
  9.34854891e-02,-7.01690778e-02, 1.30945986e-01, 5.04111382e-01,
  4.93617793e-01, 4.95323239e-01, 5.06821545e-01]

qacc:
[  3.76714108,  0.54826047, -3.19641358,  7.08515988, -1.98422142,
   0.60436454, -3.90268309, 10.16312716,  3.76478633, -0.11143762,
  -0.92800149,  5.30561901, -2.30288101,  4.89723738,  4.50897792,
 -19.5138667 ,  0.27938043,  1.02520705,  0.19713452,  4.30949802,
   0.58022124,-14.87683308]

qfrc_actuator:
[-2.06048354e-05,-1.68606172e-04,-6.88963516e-05, 8.58213252e-05,
 -3.15668436e-05,-3.63561517e-04,-3.16876077e-04, 4.30767461e-05,
 -3.33109611e-05,-5.31948885e-05,-7.01694240e-05, 1.00845117e-05,
  3.58822770e-02,-1.05658347e-03, 1.80919465e-02,-3.79690490e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034162683586803894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.99301360e-07,  1.26945785e-13,  1.00000000e+00, -1.01467939e-19,
        1.00000000e+00, -1.26945785e-13, -1.00000000e+00,  1.20370622e-35,
        7.99301360e-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([ 0.08884937, -0.08820569,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.20445398e-05,-2.79865838e-05,-1.43397191e-05, 8.59877872e-06,
 -1.16866150e-05,-1.52447303e-05,-3.85959602e-06, 1.72975622e-05,
  2.19682996e-05,-5.58815543e-06, 9.73580127e-06, 1.36039840e-05,
 -2.56254006e-04,-6.92372585e-07,-1.92362954e-04,-1.50044998e-04,
 -3.42495151e-07, 4.29799954e-07,-1.21644120e+00,-4.55192695e-04,
  1.34538887e-05,-5.52038846e-04]


--- Step 581 ---
qpos:
[ 6.15642938e-03,-1.82833122e-03,-4.98616693e-03, 3.35839429e-02,
  4.48721942e-03,-3.72208654e-03,-1.85041869e-02, 2.86009539e-02,
  1.29605823e-02, 3.33154301e-03,-1.00084984e-02, 2.58903319e-02,
  9.61939371e-01,-3.55216241e-04, 7.52414011e-01, 6.50023769e-02,
  9.34970348e-02,-7.01659815e-02, 1.30950557e-01, 5.04070050e-01,
  4.93642910e-01, 4.95386595e-01, 5.06776266e-01]

qacc:
[  2.39901723,  0.30358517, -1.80614039,  3.98670846,  1.80149324,
  -0.76090918,  5.10709737,-14.00973443,  2.35133723, -0.49428047,
   2.63754021, -6.18655196, -1.20911064,  1.83680772,  9.12937422,
 -35.65041943,  0.09972907,  1.01298518,  0.12898072,  1.62148982,
   0.39367604,-14.78723175]

qfrc_actuator:
[-7.18682532e-06,-1.68560923e-04,-7.07453981e-05, 9.19494342e-05,
 -2.06046372e-05,-3.44771441e-04,-3.15412521e-04, 1.76830829e-05,
 -2.01852945e-05,-5.08330586e-05,-6.86797028e-05,-4.08834265e-07,
  3.58025155e-02,-1.06016416e-03, 1.80007377e-02,-3.99389714e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033785621902725216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.64304068e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.64304068e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154925, -0.0881678 ,  0.06199034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.40378022e-05,-1.81615147e-05,-9.09361317e-06, 4.59795070e-06,
  1.06224914e-05, 1.02075869e-05,-1.55608573e-06,-2.58447758e-05,
  1.37476443e-05, 1.82730886e-06, 1.99484309e-06,-1.01342151e-05,
 -2.44805318e-04,-5.46095138e-05,-1.99132316e-04,-2.30745986e-04,
 -3.61661300e-07, 2.80756003e-07,-1.21644123e+00,-4.55172857e-04,
  1.27585223e-05,-5.52021813e-04]


--- Step 582 ---
qpos:
[ 6.15605803e-03,-1.82968089e-03,-4.98570557e-03, 3.35847081e-02,
  4.48693552e-03,-3.72150663e-03,-1.85051741e-02, 2.86007640e-02,
  1.29598717e-02, 3.33167237e-03,-1.00080352e-02, 2.58898223e-02,
  9.62734083e-01,-3.54284295e-04, 7.53093157e-01, 6.49939145e-02,
  9.35089816e-02,-7.01588669e-02, 1.30955263e-01, 5.04041581e-01,
  4.93654747e-01, 4.95466420e-01, 5.06715011e-01]

qacc:
[-4.64484852e+00,-2.65863753e+00, 1.16648987e+01,-2.31097704e+01,
  1.16770932e+00,-1.51417501e+00, 1.03617631e+01,-2.82903954e+01,
 -1.62503293e+00, 1.37659277e-02, 2.11372094e+00,-9.70377215e+00,
 -5.15887090e-01, 5.38137148e-02,-6.06638134e+00, 1.75334691e+01,
  1.00268717e-01, 1.00455134e+00, 3.40406757e-02, 1.60895047e+00,
  3.86302783e-01,-1.46402407e+01]

qfrc_actuator:
[-3.48684868e-05,-1.85781117e-04,-5.40931580e-05, 5.94918593e-05,
 -1.39837834e-05,-3.15917359e-04,-3.14133083e-04,-3.30849127e-05,
 -3.00118885e-05,-4.94329404e-05,-8.58604613e-05,-2.43167050e-05,
  3.57367329e-02,-1.08061684e-03, 1.79801810e-02,-3.91063275e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033216783315863363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.08897226e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.08897226e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154922, -0.08816923,  0.06199051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.72856732e-05,-2.90187858e-05, 1.19471965e-05,-3.34625628e-05,
  6.92898863e-06, 3.31366092e-05, 2.30748254e-06,-5.08881850e-05,
 -9.43422743e-06, 2.39351254e-06,-1.69182497e-05,-2.39600534e-05,
 -2.34756745e-04,-7.71582714e-05,-1.40273114e-04, 4.42098957e-05,
 -3.24038349e-07, 1.93955696e-07,-1.21644141e+00,-4.55152781e-04,
  1.19323544e-05,-5.51951561e-04]


--- Step 583 ---
qpos:
[ 6.15570295e-03,-1.83124740e-03,-4.98505854e-03, 3.35850825e-02,
  4.48638813e-03,-3.72031854e-03,-1.85063116e-02, 2.85999365e-02,
  1.29587041e-02, 3.33174703e-03,-1.00080252e-02, 2.58894087e-02,
  9.63527452e-01,-3.53615746e-04, 7.53770828e-01, 6.49867444e-02,
  9.35213318e-02,-7.01477612e-02, 1.30959791e-01, 5.04025866e-01,
  4.93653418e-01, 4.95562581e-01, 5.06637896e-01]

qacc:
[  0.15234288, -1.61077956,  6.97666581,-13.87675609, -2.32154542,
  -0.08310157,  4.16326508,-15.41490368, -4.0339736 ,  1.40012709,
  -5.4889941 ,  7.90115716, -0.59410717,  0.30444392, -6.05448902,
  18.06975644,  0.10084322,  0.99779296, -0.04470301,  1.60107298,
   0.37886334,-14.52245233]

qfrc_actuator:
[-3.32583050e-05,-1.95407578e-04,-4.44978781e-05, 4.00950068e-05,
 -2.77309502e-05,-2.63527314e-04,-3.12933851e-04,-6.28529945e-05,
 -5.32661914e-05,-6.64642025e-05,-1.13932830e-04,-2.04288054e-05,
  3.56740527e-02,-1.09305240e-03, 1.79275142e-02,-3.84023611e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003252683894430647
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.98659562e-13,  1.70662607e-13,  1.00000000e+00, -5.09700193e-26,
        1.00000000e+00, -1.70662607e-13, -1.00000000e+00,  0.00000000e+00,
        2.98659562e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154913, -0.08817102,  0.0619907 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.28806372e-07,-2.47866083e-05, 3.92487988e-06,-2.08767655e-05,
 -1.35356490e-05, 6.92090789e-05, 6.57206176e-06,-2.92574803e-05,
 -2.35190323e-05,-2.02287849e-05,-3.04969912e-05, 2.93885008e-06,
 -2.28914817e-04,-7.09224730e-05,-1.16225036e-04, 5.38807802e-05,
 -2.78959992e-07, 1.96318349e-07,-1.21644187e+00,-4.55141988e-04,
  1.10329547e-05,-5.51790197e-04]


--- Step 584 ---
qpos:
[ 6.15640448e-03,-1.83282886e-03,-4.98440935e-03, 3.35855533e-02,
  4.48602559e-03,-3.71898139e-03,-1.85075599e-02, 2.85991602e-02,
  1.29576118e-02, 3.33168749e-03,-1.00077800e-02, 2.58890073e-02,
  9.64319502e-01,-3.53123890e-04, 7.54446832e-01, 6.49811395e-02,
  9.35340878e-02,-7.01326855e-02, 1.30963879e-01, 5.04022818e-01,
  4.93639011e-01, 4.95674973e-01, 5.06545010e-01]

qacc:
[  9.29100631,  0.15474175, -1.01904429,  2.73004111,  1.61181902,
   0.60840209, -2.10533699,  3.06496556,  0.67172435, -0.81132893,
   2.58175854, -2.64569261, -0.64435572,  0.50361983, -7.1557969 ,
  21.52302256,  0.10145897,  0.99248669, -0.10975587,  1.59712405,
   0.37138207,-14.42966478]

qfrc_actuator:
[ 2.10979752e-05,-1.82674113e-04,-3.91109316e-05, 4.62943134e-05,
 -1.78495740e-05,-2.86191321e-04,-3.29421675e-04,-6.22476253e-05,
 -4.87249826e-05,-5.89273731e-05,-9.50029766e-05,-1.79882673e-05,
  3.56132816e-02,-1.10062312e-03, 1.78502944e-02,-3.76040023e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031747999738099275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.62273931e-13,  8.74246436e-14,  1.00000000e+00, -2.29292049e-26,
        1.00000000e+00, -8.74246436e-14, -1.00000000e+00,  0.00000000e+00,
        2.62273931e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154901, -0.08817305,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.43761348e-05,-1.16151159e-06, 3.82407793e-08, 4.86790123e-06,
  9.51983241e-06, 1.61084425e-05,-2.39347697e-06, 3.23165086e-06,
  3.86724060e-06,-9.96263975e-06, 1.10963349e-05, 5.77099722e-07,
 -2.21745932e-04,-6.40463378e-05,-1.29838183e-04, 6.66701677e-05,
 -2.26578820e-07, 2.85223289e-07,-1.21644260e+00,-4.55140372e-04,
  1.00601348e-05,-5.51538481e-04]


--- Step 585 ---
qpos:
[ 6.15740707e-03,-1.83435570e-03,-4.98374423e-03, 3.35860844e-02,
  4.48647428e-03,-3.71778309e-03,-1.85091569e-02, 2.85991426e-02,
  1.29572720e-02, 3.33153713e-03,-1.00070347e-02, 2.58882682e-02,
  9.65110329e-01,-3.53041696e-04, 7.55121403e-01, 6.49784340e-02,
  9.35472523e-02,-7.01136561e-02, 1.30967315e-01, 5.04032367e-01,
  4.93611598e-01, 4.95803511e-01, 5.06436414e-01]

qacc:
[  2.64680029,  0.14644804, -0.68053547,  1.66646807,  7.09202602,
   2.33659304,-11.8258412 , 25.64109615,  6.63950578, -2.22560896,
   9.16471409,-15.71705219, -0.30996583, -0.37153438,-10.85980922,
  34.93158062,  0.10211945,  0.98843783, -0.16326742,  1.59649807,
   0.36387182,-14.35833001]

qfrc_actuator:
[ 3.50445319e-05,-1.74392481e-04,-3.61397233e-05, 4.97676773e-05,
  2.36186244e-05,-3.18166656e-04,-3.56501238e-04,-2.60993706e-05,
 -1.01032001e-05,-5.43009465e-05,-6.61317520e-05,-3.41233248e-05,
  3.55537021e-02,-1.12300891e-03, 1.78116712e-02,-3.60468002e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003090674678162125
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.69412784e-13, -8.98042612e-14,  1.00000000e+00,  2.41944160e-26,
        1.00000000e+00,  8.98042612e-14, -1.00000000e+00,  0.00000000e+00,
        2.69412784e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154885, -0.08817527,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54962788e-05, 7.91398142e-06, 2.91135687e-06, 3.51828466e-06,
  4.17457178e-05,-2.33523173e-05,-2.39350239e-05, 3.68198062e-05,
  3.87276822e-05, 1.37016122e-06, 2.81974842e-05,-1.61667167e-05,
 -2.14618476e-04,-7.63252993e-05,-9.52685094e-05, 1.41700577e-04,
 -1.66966151e-07, 4.58598972e-07,-1.21644360e+00,-4.55148001e-04,
  9.01343470e-06,-5.51197022e-04]


--- Step 586 ---
qpos:
[ 6.15753469e-03,-1.83573091e-03,-4.98337295e-03, 3.35866619e-02,
  4.48672687e-03,-3.71688716e-03,-1.85106794e-02, 2.85992053e-02,
  1.29573978e-02, 3.33144729e-03,-1.00062942e-02, 2.58877023e-02,
  9.65899914e-01,-3.53492097e-04, 7.55794712e-01, 6.49785691e-02,
  9.35608280e-02,-7.00906848e-02, 1.30969922e-01, 5.04054457e-01,
  4.93571234e-01, 4.95948134e-01, 5.06312147e-01]

qacc:
[ -7.7053009 ,  1.13252426, -3.9171119 ,  5.05042452, -1.70885608,
  -0.4390421 ,  0.65228676,  0.8349632 ,  4.09522313,  0.44193488,
  -2.20457025,  5.17917731, -0.21224317, -0.7011708 ,-10.43691782,
  33.80121977,  0.10282611,  0.98547721, -0.20707998,  1.598694  ,
   0.35633729,-14.30545037]

qfrc_actuator:
[-1.04271046e-05,-1.68845536e-04,-5.23852415e-05, 5.16031500e-05,
  1.23280573e-05,-3.37747869e-04,-3.54148320e-04,-2.26112189e-05,
  1.27542505e-05,-5.14104513e-05,-6.71598017e-05,-2.55534707e-05,
  3.54842249e-02,-1.15398010e-03, 1.77642900e-02,-3.45864747e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003002471819571889
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.62212092e-14,  1.84884837e-13,  1.00000000e+00,  8.54560072e-27,
        1.00000000e+00, -1.84884837e-13, -1.00000000e+00,  0.00000000e+00,
       -4.62212092e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154868, -0.08817761,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.50244821e-05, 1.07732089e-05,-1.41232195e-05, 2.34369999e-06,
 -1.01068096e-05,-3.60158852e-05,-4.14189264e-06, 2.37496892e-06,
  2.39578620e-05, 8.79926577e-06, 2.16150799e-06, 9.28824562e-06,
 -2.22064550e-04,-8.55110657e-05,-8.11064439e-05, 1.40321836e-04,
 -1.00131077e-07, 7.14805294e-07,-1.21644487e+00,-4.55165080e-04,
  7.89218184e-06,-5.50766297e-04]


--- Step 587 ---
qpos:
[ 6.15780653e-03,-1.83708059e-03,-4.98288025e-03, 3.35872444e-02,
  4.48615284e-03,-3.71652920e-03,-1.85114492e-02, 2.85986020e-02,
  1.29577965e-02, 3.33187199e-03,-1.00063320e-02, 2.58872386e-02,
  9.66688209e-01,-3.54562562e-04, 7.56466457e-01, 6.49795456e-02,
  9.35748181e-02,-7.00637796e-02, 1.30971558e-01, 5.04089045e-01,
  4.93517958e-01, 4.96108796e-01, 5.06172227e-01]

qacc:
[  1.27148647, -0.29791394,  1.08583973, -1.20787585, -7.20234961,
  -4.16818831, 16.66779745,-29.02605962,  2.36953178,  3.06110429,
 -10.36769508, 13.01168444, -0.22619459, -0.77528223, -4.85301948,
  13.60900564,  0.10357899,  0.98345836, -0.24277047,  1.60329674,
   0.34877756,-14.26849303]

qfrc_actuator:
[-1.73088922e-06,-1.65058260e-04,-4.43521289e-05, 5.24455509e-05,
 -2.99349134e-05,-3.67426177e-04,-3.16667004e-04,-5.60968559e-05,
  2.61391386e-05,-1.41712625e-05,-1.03575165e-04,-2.02890517e-05,
  3.54088548e-02,-1.18981573e-03, 1.76637583e-02,-3.42604418e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029119468676358506
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.53162158e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.53162158e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154849, -0.08818003,  0.06199168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.42412626e-06, 7.02285738e-06, 8.61221642e-06, 8.63809278e-07,
 -4.25641738e-05,-5.05903874e-05, 2.96217270e-05,-3.51245178e-05,
  1.40684929e-05, 4.30089351e-05,-3.40173224e-05, 5.89589818e-06,
 -2.34478185e-04,-9.34021358e-05,-1.28663278e-04, 2.84528141e-05,
 -2.60349970e-08, 1.05253859e-06,-1.21644640e+00,-4.55191932e-04,
  6.69553569e-06,-5.50246667e-04]


--- Step 588 ---
qpos:
[ 6.15852496e-03,-1.83822833e-03,-4.98237244e-03, 3.35878167e-02,
  4.48542162e-03,-3.71676341e-03,-1.85117333e-02, 2.85983186e-02,
  1.29583528e-02, 3.33286271e-03,-1.00068966e-02, 2.58868173e-02,
  9.67475072e-01,-3.55742920e-04, 7.57136843e-01, 6.49801954e-02,
  9.35846690e-02,-7.00447621e-02, 1.30973264e-01, 5.04111846e-01,
  4.93474263e-01, 4.96225138e-01, 5.06078068e-01]

qacc:
[ 3.92375255e+00, 1.96239823e-01,-2.83097727e-01,-5.01328266e-02,
 -1.35017551e+00,-1.47818896e+00, 2.78919996e+00, 2.40135003e+00,
  1.35941007e+00, 2.30448674e+00,-7.31458711e+00, 8.47692982e+00,
 -8.72210571e-01, 9.86220496e-01,-9.80936901e-01, 6.07184473e-01,
 -1.03481753e+00,-1.97191411e+00, 1.74392260e-02,-1.72447558e+01,
  6.20543723e-01, 2.78295550e+01]

qfrc_actuator:
[ 2.10442037e-05,-1.44508718e-04,-3.98021982e-05, 5.27150195e-05,
 -3.68144794e-05,-4.02806192e-04,-2.94321937e-04,-4.00420658e-05,
  3.38467312e-05, 2.54462750e-05,-1.24942270e-04,-1.70063277e-05,
  3.53406496e-02,-1.19276425e-03, 1.76006440e-02,-3.44288296e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002841763597066088
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90680993e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.90680993e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10996908, -0.03403637,  0.06199188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.29919086e-05, 2.63363149e-05, 7.09936224e-06, 8.85446564e-07,
 -8.11280512e-06,-5.90743120e-05, 1.43369094e-05, 1.42321378e-05,
  8.12463570e-06, 5.68865846e-05,-1.64726613e-05, 4.06321511e-06,
 -2.37428884e-04,-6.40516062e-05,-1.23678526e-04,-3.29024383e-05,
  5.53972875e-08, 1.47075475e-06,-1.21644820e+00,-4.55228978e-04,
  5.42252142e-06,-5.49638398e-04]


--- Step 589 ---
qpos:
[ 6.15882094e-03,-1.83908523e-03,-4.98214094e-03, 3.35883965e-02,
  4.48495795e-03,-3.71726145e-03,-1.85121669e-02, 2.85989222e-02,
  1.29589975e-02, 3.33407510e-03,-1.00078841e-02, 2.58864758e-02,
  9.68260380e-01,-3.56622719e-04, 7.57806095e-01, 6.49828309e-02,
  9.35904395e-02,-7.00334504e-02, 1.30974200e-01, 5.04122897e-01,
  4.93439956e-01, 4.96298354e-01, 5.06028712e-01]

qacc:
[ -3.72822213,  1.1793406 , -3.66560337,  4.00690632,  2.3420669 ,
   1.88801311,-10.99211181, 26.78564716,  0.76176304,  1.63792428,
  -5.75441977,  7.65066938, -1.27684675,  2.15101984, -7.59684231,
  24.31252517, -1.02008186, -1.92644461, -0.19256648,-16.76319035,
   0.7239816 , 27.23642929]

qfrc_actuator:
[-1.35132677e-06,-1.31841052e-04,-5.50370558e-05, 5.26538096e-05,
 -2.28027882e-05,-4.05832580e-04,-2.98845218e-04, 5.01757772e-06,
  3.81543092e-05, 1.29756338e-05,-1.54973337e-04,-1.48935650e-05,
  3.52661509e-02,-1.17624265e-03, 1.75866470e-02,-3.32878163e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52377987, -0.22093598, -4.51838153, -0.22093598, 11.39863522,
       -0.33616084, -4.51838153, -0.33616084,  4.54021718,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029487469170100256
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88253359e-13, -3.76506718e-13,  1.00000000e+00,  7.08786544e-26,
        1.00000000e+00,  3.76506718e-13, -1.00000000e+00,  0.00000000e+00,
        1.88253359e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10996503, -0.03404129,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.17299281e-05, 2.89396487e-05,-8.88513022e-06, 1.32925443e-06,
  1.37581615e-05,-3.24796670e-05,-1.44596909e-05, 4.33031866e-05,
  4.56123083e-06, 1.60884021e-05,-2.01725684e-05, 4.05946420e-06,
 -2.39575001e-04,-4.07613928e-05,-7.98172673e-05, 9.50973287e-05,
 -1.54937590e-07, 8.65024702e-07,-1.21644416e+00,-4.55832719e-04,
  8.13880357e-06,-5.49275170e-04]


--- Step 590 ---
qpos:
[ 6.15919159e-03,-1.83987132e-03,-4.98198843e-03, 3.35886407e-02,
  4.48501057e-03,-3.71798315e-03,-1.85123740e-02, 2.85996841e-02,
  1.29593444e-02, 3.33501353e-03,-1.00090006e-02, 2.58862066e-02,
  9.69044079e-01,-3.56966653e-04, 7.58474167e-01, 6.49861542e-02,
  9.35921802e-02,-7.00296930e-02, 1.30973658e-01, 5.04122238e-01,
  4.93414875e-01, 4.96329422e-01, 5.06023353e-01]

qacc:
[  0.65265855, -0.37794676,  2.8978764 , -8.62924753,  4.52960116,
  -0.61091372,  1.06549721,  1.49442556, -2.62024703,  0.15229724,
  -1.36530237,  3.01678859, -1.58873843,  2.99685652, -3.72349338,
  10.71579194, -1.00743822, -1.88859084, -0.36952011,-16.36728247,
   0.8028881 , 26.74067774]

qfrc_actuator:
[ 3.09906546e-06,-1.41824833e-04,-6.41047820e-05, 3.46281046e-05,
  3.38179163e-06,-4.07290907e-04,-2.83543534e-04, 1.35270574e-05,
  2.26752206e-05,-3.06299635e-05,-1.72343135e-04,-1.35371635e-05,
  3.51879389e-02,-1.14840547e-03, 1.75222624e-02,-3.29807182e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54474366e+00, -5.63281375e-03,  4.54474017e+00, -5.63281375e-03,
        4.95251198e+01,  5.57492995e-02,  4.54474017e+00,  5.57492995e-02,
        4.54481276e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0003012968986633585
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84240699e-13,  4.60601748e-14,  1.00000000e+00, -8.48615880e-27,
        1.00000000e+00, -4.60601748e-14, -1.00000000e+00,  0.00000000e+00,
        1.84240699e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10996233, -0.03404412,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.84530985e-06, 4.43960308e-06,-4.13156954e-06,-1.70662035e-05,
  2.65650295e-05,-2.07251385e-05, 8.31911282e-06, 7.46014462e-06,
 -1.53404776e-05,-3.86297743e-05,-1.63921487e-05, 1.42706728e-06,
 -2.39242942e-04,-2.66717518e-05,-9.75666453e-05, 2.40687994e-05,
 -2.21593587e-07, 4.13998316e-07,-1.21644152e+00,-4.56469025e-04,
  9.86264890e-06,-5.49152319e-04]


--- Step 591 ---
qpos:
[ 6.15961248e-03,-1.84051050e-03,-4.98198058e-03, 3.35886620e-02,
  4.48572148e-03,-3.71875400e-03,-1.85122096e-02, 2.86008543e-02,
  1.29591582e-02, 3.33559259e-03,-1.00097027e-02, 2.58859297e-02,
  9.69826249e-01,-3.56950834e-04, 7.59141426e-01, 6.49893952e-02,
  9.35899342e-02,-7.00333643e-02, 1.30971041e-01, 5.04109909e-01,
  4.93398880e-01, 4.96319142e-01, 5.06061315e-01]

qacc:
[  0.43459178,  0.13886615,  0.72586268, -4.45768988,  5.77425855,
  -0.27439076, -0.85968318,  7.39010155, -4.67201951, -1.63970009,
   5.20628986, -5.75690164, -1.40506185,  2.48698867, -0.87515576,
   1.50109793, -0.99668555, -1.85716064, -0.51854362,-16.04284002,
   0.86227389, 26.32804035]

qfrc_actuator:
[ 5.57623874e-06,-1.29790518e-04,-6.95590334e-05, 2.39163958e-05,
  3.65143558e-05,-3.89990396e-04,-2.56662843e-04, 3.59856135e-05,
 -4.32492795e-06,-3.92516913e-05,-1.46735855e-04,-1.26591343e-05,
  3.51128853e-02,-1.13188711e-03, 1.74969251e-02,-3.29914047e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55460817, -0.25443908,  4.54749561, -0.25443908, 44.67891877,
        2.24501426,  4.54749561,  2.24501426,  4.68022002,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030425375118856013
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82450179e-13, -2.73675268e-13,  1.00000000e+00,  4.99321015e-26,
        1.00000000e+00,  2.73675268e-13, -1.00000000e+00,  0.00000000e+00,
        1.82450179e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10996072, -0.03404527,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.59122000e-06, 1.29585348e-05,-5.63020140e-06,-1.09959326e-05,
  3.38835191e-05, 7.78534296e-06, 2.38908776e-05, 2.20026803e-05,
 -2.74470745e-05,-3.35731554e-05, 1.56617716e-05,-1.31513228e-06,
 -2.33190152e-04,-3.56962312e-05,-7.40712978e-05,-1.38317252e-05,
 -1.47821970e-07, 1.04427040e-07,-1.21644020e+00,-4.57156182e-04,
  1.06700777e-05,-5.49269951e-04]


--- Step 592 ---
qpos:
[ 6.16005974e-03,-1.84085137e-03,-4.98211102e-03, 3.35881892e-02,
  4.48716901e-03,-3.71935125e-03,-1.85120698e-02, 2.86019375e-02,
  1.29593396e-02, 3.33596080e-03,-1.00101250e-02, 2.58853098e-02,
  9.70606912e-01,-3.56690537e-04, 7.59808145e-01, 6.49905360e-02,
  9.35837377e-02,-7.00443601e-02, 1.30965849e-01, 5.04085945e-01,
  4.93391853e-01, 4.96268159e-01, 5.06142030e-01]

qacc:
[  0.22199147, -0.2369103 ,  3.50178684,-12.05008891,  6.44322067,
   0.10649395,  0.29914771, -1.87117079,  3.24679053, -1.7731857 ,
   7.35490078,-13.56980562, -1.36392013,  2.30559831,  5.61121763,
 -20.62243256, -0.98763119, -1.83114844, -0.64397951,-15.77822075,
   0.90604702, 25.9865142 ]

qfrc_actuator:
[ 6.86403652e-06,-1.04649767e-04,-7.27479300e-05,-1.38075439e-07,
  7.34671835e-05,-3.79272258e-04,-2.58575792e-04, 3.09950370e-05,
  1.53745818e-05,-4.44407387e-05,-1.31339155e-04,-2.97694281e-05,
  3.50344518e-02,-1.12219828e-03, 1.74683969e-02,-3.40754456e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55518082, -0.54525314,  4.52242981, -0.54525314, 34.12032575,
        3.5645635 ,  4.52242981,  3.5645635 ,  4.98494746,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003044241646017465
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.11740224e-14,  4.55870112e-14,  1.00000000e+00,  4.15635118e-27,
        1.00000000e+00, -4.55870112e-14, -1.00000000e+00,  0.00000000e+00,
       -9.11740224e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10995996, -0.03404507,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.36869365e-06, 3.07756490e-05,-1.57921747e-06,-2.39068212e-05,
  3.79215525e-05, 2.09846261e-05, 3.40251398e-06,-3.40474575e-06,
  1.89085022e-05,-2.08068667e-05, 1.03482797e-05,-1.80307299e-05,
 -2.34412838e-04,-4.27425285e-05,-7.20157084e-05,-1.20572968e-04,
  6.36938419e-08,-7.32795694e-08,-1.21644012e+00,-4.57906648e-04,
  1.06191825e-05,-5.49627353e-04]


--- Step 593 ---
qpos:
[ 6.16120894e-03,-1.84099675e-03,-4.98198624e-03, 3.35874173e-02,
  4.48870358e-03,-3.71974853e-03,-1.85119090e-02, 2.86019100e-02,
  1.29601002e-02, 3.33629507e-03,-1.00101361e-02, 2.58841121e-02,
  9.71385821e-01,-3.55089482e-04, 7.60473877e-01, 6.49854705e-02,
  9.35736208e-02,-7.00625948e-02, 1.30957658e-01, 5.04050379e-01,
  4.93393691e-01, 4.96176991e-01, 5.06265024e-01]

qacc:
[  6.17658719, -1.08275912,  5.47660412,-11.17978302,  0.75826955,
  -2.07957083, 12.48623953,-31.88518883,  5.11037808, -2.39318122,
  10.89012343,-21.50277893, -2.73791147,  6.07240566, 17.43931051,
 -62.73660603, -0.98009296, -1.80970345, -0.74952178,-15.56383776,
   0.93725105, 25.70595233]

qfrc_actuator:
[ 4.29472612e-05,-8.96079590e-05,-5.67734845e-05,-1.40851676e-05,
  7.68652636e-05,-3.72706635e-04,-2.59764701e-04,-2.56382171e-05,
  4.46538300e-05,-2.98223023e-05,-1.04347552e-04,-5.73345331e-05,
  3.49593692e-02,-1.04562525e-03, 1.73687237e-02,-3.73807260e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54832563, -0.85933433,  4.46640913, -0.85933433, 48.0589847 ,
        8.37142366,  4.46640913,  8.37142366,  6.15898232,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030237527487356197
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83583632e-13,  1.83583632e-13,  1.00000000e+00, -3.37029500e-26,
        1.00000000e+00, -1.83583632e-13, -1.00000000e+00,  0.00000000e+00,
        1.83583632e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1099599 , -0.03404378,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.61352460e-05, 3.09151207e-05, 2.13159975e-05,-1.31462829e-05,
  4.48864416e-06, 1.88879246e-05, 3.44825450e-06,-5.56854638e-05,
  2.98101256e-05, 4.34816091e-06, 2.33458422e-05,-2.84488636e-05,
 -2.33431442e-04, 2.28465064e-05,-1.54717143e-04,-3.48523209e-04,
  4.10905331e-07,-1.25758431e-07,-1.21644121e+00,-4.58728700e-04,
  9.75399415e-06,-5.50223365e-04]


--- Step 594 ---
qpos:
[ 6.16243701e-03,-1.84128905e-03,-4.98154496e-03, 3.35872149e-02,
  4.48923251e-03,-3.71985337e-03,-1.85118234e-02, 2.86011990e-02,
  1.29605160e-02, 3.33669469e-03,-1.00098688e-02, 2.58825894e-02,
  9.72163099e-01,-3.52272328e-04, 7.61138246e-01, 6.49760679e-02,
  9.35596084e-02,-7.00879979e-02, 1.30946114e-01, 5.04003236e-01,
  4.93404307e-01, 4.96046045e-01, 5.06429905e-01]

qacc:
[  0.70631485,  0.09206128, -3.01604453, 12.47445244, -8.80928443,
  -0.79204676,  6.30142328,-18.258683  , -3.02694601, -1.35515427,
   6.33997778,-12.47021025, -2.44532555,  5.40168072, 11.22352324,
 -41.84186573, -0.97390062, -1.79210435, -0.8383201 ,-15.39177065,
   0.95825223, 25.47774882]

qfrc_actuator:
[ 4.59637156e-05,-1.16147286e-04,-4.73918603e-05, 1.35399877e-05,
  2.49801701e-05,-3.50975698e-04,-2.60554948e-04,-5.89408233e-05,
  2.60643354e-05,-2.11645838e-05,-8.83948377e-05,-7.30478763e-05,
  3.48863737e-02,-9.83373683e-04, 1.73169613e-02,-3.94839215e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002985794644841111
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.85917512e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.85917512e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10996038, -0.03404166,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.05485038e-06,-5.39705980e-06, 1.79374634e-05, 2.94316056e-05,
 -5.17481029e-05, 3.06330187e-05, 1.61173978e-06,-3.34571716e-05,
 -1.77400094e-05, 1.46959826e-05, 1.87405440e-05,-1.52720177e-05,
 -2.18152366e-04, 1.91955224e-05,-1.67285967e-04,-2.50953091e-04,
  8.92419946e-07,-5.72173392e-08,-1.21644344e+00,-4.59627587e-04,
  8.10745308e-06,-5.51056599e-04]


--- Step 595 ---
qpos:
[ 6.16300215e-03,-1.84167441e-03,-4.98124082e-03, 3.35873702e-02,
  4.48844606e-03,-3.72011854e-03,-1.85118620e-02, 2.86005018e-02,
  1.29600169e-02, 3.33627623e-03,-1.00093246e-02, 2.58820409e-02,
  9.72939199e-01,-3.49882191e-04, 7.61800634e-01, 6.49710483e-02,
  9.35456732e-02,-7.01087275e-02, 1.30939337e-01, 5.03969609e-01,
  4.93402218e-01, 4.95933799e-01, 5.06575316e-01]

qacc:
[-5.83155360e+00, 1.00835692e+00,-5.26401663e+00, 1.17208121e+01,
 -1.15134741e+01, 1.85748265e-01,-9.88933495e-01, 1.50113612e+00,
 -8.02756799e+00, 1.66625679e-01,-6.24972217e+00, 2.32431230e+01,
 -1.87442583e-01,-6.18465171e-01,-1.61513989e+01, 5.22550046e+01,
  1.93454880e-02, 1.16837425e+00, 1.19158446e+00, 3.02692353e+00,
 -2.25645452e-01,-1.60934186e+01]

qfrc_actuator:
[ 1.17297761e-05,-1.31865796e-04,-5.98819271e-05, 2.98544215e-05,
 -4.12643373e-05,-3.91328561e-04,-2.78770869e-04,-6.04752376e-05,
 -2.05540469e-05,-1.22684800e-04,-9.68498819e-05,-2.84138488e-05,
  3.48146824e-02,-1.01888979e-03, 1.72993408e-02,-3.69541527e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.58618962,   1.41064082,   4.36385469,   1.41064082,
        45.3450241 , -13.1755248 ,   4.36385469, -13.1755248 ,
         8.84525287,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003134575192721839
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43888111e-13, -3.54186120e-13,  1.00000000e+00,  5.09631718e-26,
        1.00000000e+00,  3.54186120e-13, -1.00000000e+00,  0.00000000e+00,
        1.43888111e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09156499, -0.08817918,  0.06199104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.41219711e-05,-1.37667570e-05,-1.03800329e-05, 1.72763149e-05,
 -6.77106848e-05,-2.43375354e-05,-1.28438019e-05,-8.13200191e-07,
 -4.71161245e-05,-9.01045788e-05,-3.64277507e-06, 4.56177685e-05,
 -2.07768742e-04,-7.60001031e-05,-1.26752182e-04, 2.16478553e-04,
  1.50749407e-06, 1.30172398e-07,-1.21644676e+00,-4.60606344e-04,
  5.70370909e-06,-5.52125584e-04]


--- Step 596 ---
qpos:
[ 6.16384246e-03,-1.84195355e-03,-4.98144567e-03, 3.35877205e-02,
  4.48721640e-03,-3.72087963e-03,-1.85116419e-02, 2.85994638e-02,
  1.29589628e-02, 3.33518252e-03,-1.00091437e-02, 2.58824047e-02,
  9.73714103e-01,-3.48158121e-04, 7.62461270e-01, 6.49716849e-02,
  9.35318828e-02,-7.01249285e-02, 1.30936264e-01, 5.03949332e-01,
  4.93387326e-01, 4.95839729e-01, 5.06702063e-01]

qacc:
[ 2.40184132e+00, 1.95997207e+00,-7.61534441e+00, 1.17324096e+01,
 -3.86271264e+00,-2.07042282e+00, 7.88342238e+00,-1.38419021e+01,
 -4.88336818e+00, 2.00979724e+00,-1.22958879e+01, 2.91423926e+01,
  7.10830547e-02,-1.38894061e+00,-1.96726418e+01, 6.50252636e+01,
  3.61739836e-02, 1.13216734e+00, 9.26206943e-01, 2.71287429e+00,
 -9.22042096e-02,-1.57432461e+01]

qfrc_actuator:
[ 2.68663818e-05,-1.23334296e-04,-8.51679704e-05, 3.93663034e-05,
 -6.21546093e-05,-4.33090642e-04,-2.71857848e-04,-7.88778657e-05,
 -4.77765035e-05,-1.65186073e-04,-1.20059247e-04, 1.57539838e-05,
  3.47437917e-02,-1.05865193e-03, 1.72437264e-02,-3.40223002e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6311826 ,  1.07751122,  4.50408945,  1.07751122, 11.3974196 ,
       -1.61868373,  4.50408945, -1.61868373,  5.01841955,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000325934451588919
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55470775e-13,  2.55470775e-13,  1.00000000e+00, -6.52653167e-26,
        1.00000000e+00, -2.55470775e-13, -1.00000000e+00,  0.00000000e+00,
        2.55470775e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09156818, -0.08817681,  0.06199068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.41621821e-05,-5.74459537e-07,-2.88090772e-05, 8.90020432e-06,
 -2.28323839e-05,-5.80713070e-05, 2.83630639e-07,-1.99007953e-05,
 -2.85951097e-05,-9.16938174e-05,-4.06907784e-05, 4.10710216e-05,
 -2.18964752e-04,-9.31733322e-05,-9.33157381e-05, 2.88109397e-04,
  1.09590920e-06,-1.76546712e-07,-1.21644496e+00,-4.59432688e-04,
  7.24539553e-06,-5.52429872e-04]


--- Step 597 ---
qpos:
[ 6.16554715e-03,-1.84201175e-03,-4.98204220e-03, 3.35881590e-02,
  4.48609005e-03,-3.72193028e-03,-1.85113885e-02, 2.85978575e-02,
  1.29579346e-02, 3.33408124e-03,-1.00097675e-02, 2.58822037e-02,
  9.74487488e-01,-3.45988824e-04, 7.63120846e-01, 6.49708649e-02,
  9.35182890e-02,-7.01367207e-02, 1.30936002e-01, 5.03942255e-01,
  4.93359571e-01, 4.95763400e-01, 5.06810802e-01]

qacc:
[ 7.58420476e+00, 1.55370458e+00,-5.51379923e+00, 7.53067276e+00,
  9.09797233e-01,-1.64611566e+00, 7.71139353e+00,-1.73844183e+01,
  2.02352205e-01, 1.07610463e+00,-1.46737908e+00,-7.01492020e+00,
 -1.52464363e+00, 2.80883590e+00, 2.91572703e+00,-1.22743289e+01,
  4.91390552e-02, 1.10218242e+00, 7.02595659e-01, 2.46119181e+00,
  1.38293443e-02,-1.54471615e+01]

qfrc_actuator:
[ 7.09523761e-05,-1.00414848e-04,-9.99522613e-05, 4.48163273e-05,
 -5.61783484e-05,-4.39793274e-04,-2.67953229e-04,-1.07052464e-04,
 -4.56026920e-05,-1.36586300e-04,-1.51591941e-04,-1.16960016e-05,
  3.46734253e-02,-1.02954131e-03, 1.71493889e-02,-3.49625675e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.65985906,  1.02208356,  4.54638666,  1.02208356, 15.0687962 ,
       -2.3400569 ,  4.54638666, -2.3400569 ,  5.18593259,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003335335324685801
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.16083735e-14,  8.32167471e-14,  1.00000000e+00, -3.46251350e-27,
        1.00000000e+00, -8.32167471e-14, -1.00000000e+00,  0.00000000e+00,
        4.16083735e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09157065, -0.08817555,  0.06199047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.44902837e-05, 1.70426545e-05,-1.81398421e-05, 4.60139769e-06,
  5.30460127e-06,-3.99507675e-05,-8.73422197e-06,-3.10362606e-05,
  1.32613702e-06,-2.92977155e-05,-5.40541853e-05,-3.19858875e-05,
 -2.28727117e-04,-2.94907885e-05,-1.10091191e-04,-9.11483956e-05,
  7.23241815e-07,-3.93531813e-07,-1.21644353e+00,-4.58354586e-04,
  8.60830171e-06,-5.52659803e-04]


--- Step 598 ---
qpos:
[ 6.16776710e-03,-1.84194438e-03,-4.98253261e-03, 3.35886366e-02,
  4.48504357e-03,-3.72288797e-03,-1.85113053e-02, 2.85962358e-02,
  1.29569400e-02, 3.33304491e-03,-1.00108797e-02, 2.58812981e-02,
  9.75259396e-01,-3.43467583e-04, 7.63778793e-01, 6.49666921e-02,
  9.35049315e-02,-7.01442032e-02, 1.30937797e-01, 5.03948249e-01,
  4.93318916e-01, 4.95704447e-01, 5.06902072e-01]

qacc:
[ 4.53176846e+00,-5.89912715e-02, 2.70695018e-01, 1.60585175e-01,
  6.92077359e-01, 5.64969964e-01,-1.77370260e+00, 1.71345665e+00,
  2.78521938e-01,-2.09598785e-04, 3.09930137e+00,-1.45596539e+01,
 -1.45756187e+00, 2.60409194e+00, 7.79326859e+00,-3.05746195e+01,
  5.90868665e-02, 1.07742440e+00, 5.14509530e-01, 2.25911823e+00,
  9.83650653e-02,-1.51978874e+01]

qfrc_actuator:
[ 9.62034711e-05,-8.67724587e-05,-9.05965937e-05, 4.78580037e-05,
 -5.22040357e-05,-4.07715592e-04,-2.65731830e-04,-1.05221053e-04,
 -4.39026628e-05,-1.18981383e-04,-1.69779174e-04,-4.54993694e-05,
  3.45981198e-02,-1.01320979e-03, 1.70371442e-02,-3.67573923e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.67395645,  0.94362313,  4.57771169,  0.94362313, 21.70978817,
       -3.51166828,  4.57771169, -3.51166828,  5.39783153,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033717600168979567
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.23177672e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.23177672e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09157254, -0.08817519,  0.06199036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.65232859e-05, 1.96411276e-05, 1.08042249e-05, 3.23220082e-06,
  4.11354374e-06, 6.64384990e-06,-8.16759224e-06,-7.81758560e-07,
  1.72682289e-06,-1.12700432e-05,-3.19842468e-05,-3.75476890e-05,
 -2.27403249e-04,-3.42386225e-05,-1.79325946e-04,-2.00215150e-04,
  3.81069935e-07,-5.22030756e-07,-1.21644246e+00,-4.57348518e-04,
  9.81849584e-06,-5.52811345e-04]


--- Step 599 ---
qpos:
[ 6.16958313e-03,-1.84196124e-03,-4.98306875e-03, 3.35888393e-02,
  4.48405292e-03,-3.72387857e-03,-1.85108848e-02, 2.85942835e-02,
  1.29556284e-02, 3.33196568e-03,-1.00119861e-02, 2.58806641e-02,
  9.76029981e-01,-3.41311541e-04, 7.64434612e-01, 6.49613708e-02,
  9.34918407e-02,-7.01474574e-02, 1.30941020e-01, 5.03967200e-01,
  4.93265340e-01, 4.95662570e-01, 5.06976314e-01]

qacc:
[ -3.55174201, -0.54274699,  2.94640479, -7.58274467,  0.49965785,
  -1.66612447,  7.27248478,-13.50731236, -2.78784829,  0.49164663,
  -2.97238453,  7.68424212, -0.55747244,  0.14211081,  0.33988861,
  -5.72123433,  0.06668147,  1.05706468,  0.3566486 ,  2.09654541,
   0.16604497,-14.98920219]

qfrc_actuator:
[ 7.46517312e-05,-1.14194571e-04,-1.02603328e-04, 3.17158732e-05,
 -4.94487746e-05,-4.05894310e-04,-2.46577588e-04,-1.21216943e-04,
 -6.02575695e-05,-1.08042869e-04,-1.62201000e-04,-2.94911765e-05,
  3.45199018e-02,-1.04013580e-03, 1.69461991e-02,-3.72649007e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.67575439,  0.83497711,  4.60059696,  0.83497711, 36.49425114,
       -5.77484111,  4.60059696, -5.77484111,  5.72384884,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003376362971957564
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.69924950e-13,  2.46616633e-13,  1.00000000e+00, -9.12296456e-26,
        1.00000000e+00, -2.46616633e-13, -1.00000000e+00,  0.00000000e+00,
        3.69924950e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09157398, -0.08817556,  0.06199035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.07911272e-05,-1.40639153e-05,-6.50649377e-06,-1.48654164e-05,
  2.87544626e-06, 3.85486376e-06, 1.95071241e-05,-1.60035685e-05,
 -1.63115275e-05,-3.52960260e-06, 3.75070972e-08, 1.36943446e-05,
 -2.31186146e-04,-7.76178988e-05,-1.98858957e-04,-8.57286494e-05,
  6.30742258e-08,-5.63391198e-07,-1.21644172e+00,-4.56396856e-04,
  1.08957800e-05,-5.52881706e-04]


--- Step 600 ---
qpos:
[ 6.17043732e-03,-1.84232551e-03,-4.98362404e-03, 3.35892253e-02,
  4.48344817e-03,-3.72509687e-03,-1.85104108e-02, 2.85921998e-02,
  1.29541309e-02, 3.33089333e-03,-1.00130516e-02, 2.58805626e-02,
  9.76799243e-01,-3.39740072e-04, 7.65089082e-01, 6.49532916e-02,
  9.34790397e-02,-7.01465500e-02, 1.30945140e-01, 5.03999010e-01,
  4.93198829e-01, 4.95637520e-01, 5.07033887e-01]

qacc:
[-8.45178506e+00,-1.16030238e-02,-1.37029899e+00, 4.79895497e+00,
  3.38279615e+00,-7.26927002e-01, 2.69869352e+00,-4.87767103e+00,
 -1.63473803e+00, 9.94082395e-01,-5.77425743e+00, 1.49143318e+01,
 -4.35393303e-01,-3.11550837e-01, 6.33810238e+00,-2.50585805e+01,
  7.24433612e-02, 1.04041098e+00, 2.24493004e-01, 1.96545733e+00,
  2.20514207e-01,-1.48157579e+01]

qfrc_actuator:
[ 2.57313635e-05,-1.48343196e-04,-1.09565475e-04, 3.98671653e-05,
 -2.96802340e-05,-4.39890822e-04,-2.53208219e-04,-1.29835161e-04,
 -6.93557337e-05,-1.01022333e-04,-1.57214974e-04,-2.04294787e-06,
  3.44453014e-02,-1.07468734e-03, 1.69000924e-02,-3.86063873e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.66768851, -0.68770154, -4.61675023, -0.68770154, 34.86088803,
       -4.49751636, -4.61675023, -4.49751636,  5.33762922,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003355638533032168
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.65426492e-13,  1.65426492e-13,  1.00000000e+00,  2.73659244e-26,
        1.00000000e+00, -1.65426492e-13, -1.00000000e+00,  0.00000000e+00,
       -1.65426492e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09157505, -0.08817651,  0.06199041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.95149961e-05,-4.40008686e-05,-1.11779669e-05, 7.03548786e-06,
  1.98519028e-05,-2.84610248e-05,-3.97426119e-06,-8.08397089e-06,
 -9.56805898e-06, 5.68495879e-06, 4.76169033e-06, 2.75714985e-05,
 -2.38943483e-04,-9.27382693e-05,-1.48452525e-04,-1.64837144e-04,
 -2.35497404e-07,-5.18918414e-07,-1.21644130e+00,-4.55486317e-04,
  1.18552462e-05,-5.52868944e-04]


--- Step 601 ---
qpos:
[ 6.17104313e-03,-1.84279060e-03,-4.98405924e-03, 3.35893192e-02,
  4.48308492e-03,-3.72630746e-03,-1.85101420e-02, 2.85907079e-02,
  1.29525357e-02, 3.32995793e-03,-1.00143619e-02, 2.58804485e-02,
  9.77567202e-01,-3.38885440e-04, 7.65742543e-01, 6.49447976e-02,
  9.34672640e-02,-7.01414976e-02, 1.30949747e-01, 5.04040784e-01,
  4.93121911e-01, 4.95631924e-01, 5.07072643e-01]

qacc:
[ -2.17854989, -1.06612961,  4.84815477,-10.02805731,  2.10750202,
   1.79604697, -8.89574197, 19.46758867, -0.86988755,  0.84089619,
  -2.67960258,  2.74915604, -0.21604952, -0.88075045, -0.24768686,
  -1.32238877,  0.25632886,  1.03626671,  0.12156558,  4.51591218,
   0.43154201,-14.6440751 ]

qfrc_actuator:
[ 1.43672019e-05,-1.32972955e-04,-9.57565220e-05, 2.67408822e-05,
 -1.78087378e-05,-4.24159521e-04,-2.57408291e-04,-9.85885251e-05,
 -7.41040705e-05,-9.63852020e-05,-1.71574348e-04,-3.60555863e-06,
  3.43782450e-02,-1.11344874e-03, 1.68968723e-02,-3.86523093e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.65121316,  2.48179774, -3.93375951,  2.48179774, 37.70912929,
       20.85614572, -3.93375951, 20.85614572, 17.80929647,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033126972650334216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.84907409e-07,  8.90220166e-14,  1.00000000e+00, -5.20696371e-20,
        1.00000000e+00, -8.90220166e-14, -1.00000000e+00,  0.00000000e+00,
        5.84907409e-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([ 0.08887546, -0.0882197 ,  0.06199053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27855851e-05,-1.12440372e-05, 3.59762860e-06,-1.52585120e-05,
  1.24291374e-05,-1.30103913e-06,-1.08354442e-05, 2.97375972e-05,
 -5.02403475e-06, 1.00247753e-05,-1.16204795e-05,-6.12535628e-07,
 -2.39170980e-04,-1.01081767e-04,-9.42119879e-05,-3.39039027e-05,
 -5.18228770e-07,-3.89796889e-07,-1.21644118e+00,-4.54606834e-04,
  1.27084322e-05,-5.52771699e-04]


--- Step 602 ---
qpos:
[ 6.17150736e-03,-1.84304208e-03,-4.98443365e-03, 3.35881819e-02,
  4.48217707e-03,-3.72739052e-03,-1.85102980e-02, 2.85899468e-02,
  1.29512410e-02, 3.32873770e-03,-1.00153554e-02, 2.58799872e-02,
  9.78333740e-01,-3.38220117e-04, 7.66394699e-01, 6.49402228e-02,
  9.34565198e-02,-7.01323499e-02, 1.30954457e-01, 5.04092481e-01,
  4.93034547e-01, 4.95645596e-01, 5.07092841e-01]

qacc:
[-1.24749754e+00,-2.42005262e+00, 1.42391940e+01,-3.58020984e+01,
 -4.78137775e+00, 2.86694070e+00,-1.30483484e+01, 2.62636917e+01,
  2.65957848e+00,-1.98195014e+00, 7.97777788e+00,-1.42747373e+01,
 -6.30332126e-01, 4.00124018e-01,-1.37260798e+01, 4.52883012e+01,
  2.57886565e-01, 1.02379867e+00, 2.60423814e-02, 4.40428931e+00,
  4.69374114e-01,-1.45322800e+01]

qfrc_actuator:
[ 7.45540129e-06,-1.05751649e-04,-8.73691247e-05,-3.42550903e-05,
 -4.61907078e-05,-4.14241135e-04,-2.77665356e-04,-6.18462337e-05,
 -5.85037357e-05,-1.28816194e-04,-1.61766362e-04,-2.22425925e-05,
  3.43157607e-02,-1.11886470e-03, 1.68767959e-02,-3.65130821e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032606123294035716
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.24319960e-07, -3.72416685e-14,  1.00000000e+00, -1.95265501e-20,
        1.00000000e+00,  3.72416685e-14, -1.00000000e+00,  0.00000000e+00,
       -5.24319960e-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([ 0.08887584, -0.08822149,  0.06199068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.27687101e-06, 2.10381907e-05, 5.99015883e-06,-6.16480752e-05,
 -2.80281822e-05, 8.27569854e-06,-2.08176817e-05, 3.68952927e-05,
  1.54572633e-05,-2.92090515e-05, 1.04513127e-05,-1.86162662e-05,
 -2.35787889e-04,-6.94255799e-05,-7.36958493e-05, 1.98388095e-04,
 -7.37843658e-07,-1.61002514e-07,-1.21644121e+00,-4.53760526e-04,
  1.34028983e-05,-5.52543253e-04]


--- Step 603 ---
qpos:
[ 6.17154010e-03,-1.84309172e-03,-4.98477616e-03, 3.35870165e-02,
  4.48128109e-03,-3.72828430e-03,-1.85110024e-02, 2.85892874e-02,
  1.29504881e-02, 3.32737848e-03,-1.00157247e-02, 2.58796114e-02,
  9.79098799e-01,-3.37347395e-04, 7.67045513e-01, 6.49402376e-02,
  9.34475376e-02,-7.01191117e-02, 1.30958921e-01, 5.04151201e-01,
  4.92939305e-01, 4.95681207e-01, 5.07092250e-01]

qacc:
[ -3.79642398,  0.12693209,  0.06637954, -0.76795776,  0.08352237,
   1.99047845, -7.16420697,  9.66058059,  4.7888486 , -1.7610464 ,
   5.63522568, -5.03243956, -1.02525578,  1.553569  ,-15.77191163,
  52.44045578,  0.44047581,  1.02263085, -0.06167269,  6.99794122,
   0.6620171 ,-14.38171543]

qfrc_actuator:
[-1.45450452e-05,-8.94464369e-05,-8.22233922e-05,-3.41538276e-05,
 -4.47773630e-05,-4.07933398e-04,-3.07254933e-04,-5.76875666e-05,
 -3.10533808e-05,-1.12110531e-04,-1.20169041e-04,-1.52792926e-05,
  3.42507515e-02,-1.10451418e-03, 1.68253656e-02,-3.41696045e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032022494695863046
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.46700979e-13,  8.66752446e-14,  1.00000000e+00, -3.00503921e-26,
        1.00000000e+00, -8.66752446e-14, -1.00000000e+00,  0.00000000e+00,
        3.46700979e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609083, -0.0882668 ,  0.06199085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.21962817e-05, 2.66775971e-05, 8.10595199e-06, 1.43452579e-08,
  6.14900546e-07, 8.24981280e-06,-2.91505786e-05, 4.51669864e-06,
  2.78746795e-05, 1.79099320e-06, 3.62319392e-05, 5.71596238e-06,
 -2.28990180e-04,-4.43649689e-05,-6.97853012e-05, 2.34391127e-04,
 -9.38988245e-07, 1.36852287e-07,-1.21644154e+00,-4.52936243e-04,
  1.39165432e-05,-5.52229659e-04]


--- Step 604 ---
qpos:
[ 6.17096407e-03,-1.84313829e-03,-4.98500933e-03, 3.35865719e-02,
  4.48075348e-03,-3.72883729e-03,-1.85118861e-02, 2.85886378e-02,
  1.29497248e-02, 3.32621923e-03,-1.00157295e-02, 2.58792953e-02,
  9.79862641e-01,-3.37203399e-04, 7.67694600e-01, 6.49422048e-02,
  9.34403148e-02,-7.01018207e-02, 1.30962862e-01, 5.04216940e-01,
  4.92836123e-01, 4.95738624e-01, 5.07071051e-01]

qacc:
[ -5.3490076 ,  1.19321371, -7.27344461, 19.55174081,  3.21247959,
   0.96459514, -2.83811319,  3.05438315, -0.08287829, -0.63164769,
   2.38370278, -2.08010355, -0.02915738, -1.23602073, -8.45806836,
  25.84424294,  0.43985123,  1.01321241, -0.13082712,  6.90493121,
   0.69109344,-14.316222  ]

qfrc_actuator:
[-4.52521518e-05,-9.75171890e-05,-7.90180975e-05, 1.89529804e-06,
 -2.58254555e-05,-3.68399547e-04,-3.06645239e-04,-5.49896197e-05,
 -3.23596184e-05,-8.37074205e-05,-9.54373264e-05,-1.10022921e-05,
  3.41789579e-02,-1.14963530e-03, 1.67072411e-02,-3.33236925e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003131611129936762
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.54521356e-13, -4.43151695e-14,  1.00000000e+00,  1.57106740e-26,
        1.00000000e+00,  4.43151695e-14, -1.00000000e+00,  0.00000000e+00,
        3.54521356e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609056, -0.0882691 ,  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:
[-3.13284989e-05, 8.52313484e-06, 9.72286190e-06, 3.74774295e-05,
  1.89733398e-05, 3.83620004e-05,-1.10062668e-06, 2.13578375e-06,
 -5.20150517e-07, 3.71955070e-05, 2.97813605e-05, 5.72204641e-06,
 -2.26111275e-04,-9.86223683e-05,-1.30768354e-04, 8.71131260e-05,
 -1.06896833e-06, 5.06604148e-07,-1.21644207e+00,-4.52129347e-04,
  1.41071491e-05,-5.51781354e-04]


--- Step 605 ---
qpos:
[ 6.17002429e-03,-1.84311008e-03,-4.98546307e-03, 3.35862315e-02,
  4.48080210e-03,-3.72911512e-03,-1.85130437e-02, 2.85880402e-02,
  1.29486070e-02, 3.32516898e-03,-1.00154021e-02, 2.58793920e-02,
  9.80625230e-01,-3.37865003e-04, 7.68342269e-01, 6.49444682e-02,
  9.34348490e-02,-7.00805060e-02, 1.30966051e-01, 5.04289694e-01,
  4.92724948e-01, 4.95817740e-01, 5.07029386e-01]

qacc:
[ -3.20649276,  0.93599362, -3.62221616,  5.70863008,  5.0300053 ,
   1.22570828, -4.07929646,  5.23186886, -3.11005962,  0.07157243,
  -1.77869814,  8.30075609, -0.05619455, -1.26595483, -3.00567168,
   7.42631842,  0.43925946,  1.00591289, -0.18786757,  6.83042983,
   0.71476401,-14.26621252]

qfrc_actuator:
[-6.30807375e-05,-1.02342854e-04,-9.48198869e-05, 5.51741855e-06,
  3.28835083e-06,-3.62415142e-04,-3.23571047e-04,-5.31168795e-05,
 -5.05844674e-05,-8.40744730e-05,-8.08151832e-05, 9.40714198e-06,
  3.41084492e-02,-1.19408096e-03, 1.66397214e-02,-3.31907822e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003053666599713567
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.08926194e-14, -1.81785239e-13,  1.00000000e+00,  1.65229365e-26,
        1.00000000e+00,  1.81785239e-13, -1.00000000e+00,  0.00000000e+00,
        9.08926194e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609012, -0.08827152,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.87178582e-05, 3.55118927e-06,-1.15408799e-05, 5.05619611e-06,
  2.96691312e-05, 2.73390621e-05,-9.04615951e-06, 3.52412118e-06,
 -1.82318258e-05, 2.68699728e-05, 2.61851398e-05, 2.31484260e-05,
 -2.35032320e-04,-1.05394680e-04,-1.21856856e-04, 3.82692898e-07,
 -1.18084551e-06, 9.32679117e-07,-1.21644294e+00,-4.51340992e-04,
  1.40397629e-05,-5.51244608e-04]


--- Step 606 ---
qpos:
[ 6.16922264e-03,-1.84277357e-03,-4.98623392e-03, 3.35862593e-02,
  4.48154468e-03,-3.72950653e-03,-1.85141876e-02, 2.85868098e-02,
  1.29476249e-02, 3.32375257e-03,-1.00146377e-02, 2.58797871e-02,
  9.81386366e-01,-3.38477076e-04, 7.68989487e-01, 6.49479565e-02,
  9.34324052e-02,-7.00673287e-02, 1.30968290e-01, 5.04326352e-01,
  4.92655420e-01, 4.95873951e-01, 5.07005516e-01]

qacc:
[  1.19940916,  2.04991128, -8.27615948, 14.93286565,  6.07548928,
  -1.50141551,  7.78759826,-18.65529006,  1.21325374, -1.093189  ,
   1.93141005,  2.80948476, -1.01653921,  1.40421929, -4.31147811,
  14.23972987,  0.75550638, -2.03434262, -0.2376241 ,  9.17560525,
  -3.00036181, 29.60476124]

qfrc_actuator:
[-5.54311009e-05,-6.97891433e-05,-1.03987120e-04, 2.55170577e-05,
  3.81440756e-05,-3.94383730e-04,-3.33099077e-04,-8.72906212e-05,
 -4.31069982e-05,-1.37197894e-04,-7.23721564e-05, 2.13664463e-05,
  3.40494100e-02,-1.18449510e-03, 1.66718344e-02,-3.24117607e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54470445,  0.27753717, -4.53622218,  0.27753717, 40.08377716,
        2.17436741, -4.53622218,  2.17436741,  4.67773757,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003012850648420745
  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([ 0.08235765, -0.0313489 ,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.11936763e-06, 3.23737772e-05,-9.67272313e-06, 1.98535848e-05,
  3.57129973e-05,-1.83627693e-05,-4.85647194e-06,-3.32432221e-05,
  6.96388203e-06,-3.16726003e-05, 1.80274375e-05, 1.44692778e-05,
 -2.30696988e-04,-5.42876100e-05,-2.87136635e-05, 6.10883215e-05,
 -1.27540513e-06, 1.41531557e-06,-1.21644413e+00,-4.50568129e-04,
  1.37192236e-05,-5.50618388e-04]


--- Step 607 ---
qpos:
[ 6.16851893e-03,-1.84244745e-03,-4.98699584e-03, 3.35865448e-02,
  4.48200984e-03,-3.73020230e-03,-1.85150765e-02, 2.85855334e-02,
  1.29467396e-02, 3.32225469e-03,-1.00143659e-02, 2.58800063e-02,
  9.82146010e-01,-3.38434427e-04, 7.69635765e-01, 6.49504554e-02,
  9.34328634e-02,-7.00621494e-02, 1.30968889e-01, 5.04327187e-01,
  4.92626742e-01, 4.95908131e-01, 5.06999120e-01]

qacc:
[ 0.86189325, 0.49007289,-2.85761755, 7.31208513,-2.41474317,-1.204161  ,
  3.9121362 ,-4.89895082, 0.83860879, 0.90533618,-2.64413119, 0.44917017,
 -1.69327557, 3.33878574, 1.6995766 ,-7.72429881, 0.72549641,-1.99948832,
 -0.40994462, 9.20793707,-2.72535096,29.04258112]

qfrc_actuator:
[-5.06035301e-05,-8.60817636e-05,-1.08988856e-04, 3.72847282e-05,
  2.28388448e-05,-4.13340170e-04,-3.20613929e-04,-8.91703829e-05,
 -3.83089929e-05,-1.50533064e-04,-1.03379549e-04, 1.04522862e-05,
  3.39919899e-02,-1.14302320e-03, 1.65932656e-02,-3.30308095e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56257335,  1.29087537, -4.37615315,  1.29087537, 22.25869871,
        5.21999381, -4.37615315,  5.21999381,  6.10236439,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030661210119926896
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81046837e-13, -2.71570256e-13,  1.00000000e+00,  4.91669360e-26,
        1.00000000e+00,  2.71570256e-13, -1.00000000e+00,  0.00000000e+00,
        1.81046837e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08235542, -0.03135222,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.04057936e-06, 6.65541959e-07, 1.18667169e-06, 1.32074288e-05,
 -1.42898979e-05,-3.16097404e-05, 6.96311489e-06,-3.47700247e-06,
  4.97983369e-06,-2.66620011e-05,-3.48232043e-05,-1.13660128e-05,
 -2.14755377e-04,-1.40437300e-05,-9.46099460e-05,-6.44690642e-05,
 -6.00765847e-07, 5.33071044e-07,-1.21644155e+00,-4.52059508e-04,
  1.26201553e-05,-5.50122702e-04]


--- Step 608 ---
qpos:
[ 6.16753383e-03,-1.84227925e-03,-4.98799897e-03, 3.35870061e-02,
  4.48263319e-03,-3.73123350e-03,-1.85155187e-02, 2.85845803e-02,
  1.29462635e-02, 3.32077017e-03,-1.00140022e-02, 2.58803857e-02,
  9.82904310e-01,-3.37924254e-04, 7.70280589e-01, 6.49479925e-02,
  9.34361271e-02,-7.00648516e-02, 1.30967269e-01, 5.04292439e-01,
  4.92638253e-01, 4.95920983e-01, 5.07009927e-01]

qacc:
[ -2.47907372,  0.83256805, -4.00535657,  7.5417056 ,  1.40437097,
  -1.02838341,  1.65360192,  3.48070188,  3.60326331,  0.08310612,
  -0.95915823,  3.58739765, -1.54494451,  2.93746868, 12.91401242,
 -48.09859446,  0.70137186, -1.97039847, -0.55487649,  9.22610975,
  -2.50567127, 28.57702402]

qfrc_actuator:
[-6.52369101e-05,-1.13734182e-04,-1.29443117e-04, 4.40765760e-05,
  3.13887189e-05,-4.24253112e-04,-2.95167723e-04,-7.20075097e-05,
 -1.73816087e-05,-1.22380863e-04,-8.62918160e-05, 2.16743114e-05,
  3.39302712e-02,-1.11854996e-03, 1.64696512e-02,-3.57141390e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56950264,  1.41974392, -4.34334912,  1.41974392, 36.98686023,
       10.59651094, -4.34334912, 10.59651094,  8.03326565,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003086430663769013
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.69783241e-13, -1.79855494e-13,  1.00000000e+00,  4.85219982e-26,
        1.00000000e+00,  1.79855494e-13, -1.00000000e+00,  0.00000000e+00,
        2.69783241e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08235331, -0.03135364,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44907330e-05,-2.64687100e-05,-1.97086815e-05, 7.11873949e-06,
  8.13050787e-06,-2.72661786e-05, 1.96765869e-05, 1.59884972e-05,
  2.10570071e-05, 5.61189042e-06, 6.91057183e-06, 8.65518883e-06,
 -2.01256274e-04,-2.11181309e-05,-1.81166532e-04,-2.85723823e-04,
 -1.82424876e-07, 1.26868637e-07,-1.21644026e+00,-4.53253573e-04,
  1.21732658e-05,-5.49847856e-04]


--- Step 609 ---
qpos:
[ 6.16672599e-03,-1.84227466e-03,-4.98897233e-03, 3.35878730e-02,
  4.48335369e-03,-3.73214158e-03,-1.85158148e-02, 2.85834563e-02,
  1.29463867e-02, 3.31943610e-03,-1.00129699e-02, 2.58808374e-02,
  9.83661427e-01,-3.37668933e-04, 7.70923807e-01, 6.49435353e-02,
  9.34421189e-02,-7.00753387e-02, 1.30962941e-01, 5.04222312e-01,
  4.92689402e-01, 4.95913069e-01, 5.07037712e-01]

qacc:
[  1.56257011,  0.5324054 , -3.92904961, 11.02486413,  0.85261762,
  -0.59851135,  3.08926615, -6.36866945,  5.29165708, -1.53096022,
   5.42385676, -5.33156788, -0.61802863,  0.44005053,  3.66939387,
 -16.23399586,  0.68202373, -1.94621996, -0.67669718,  9.23519257,
  -2.32967621, 28.19357716]

qfrc_actuator:
[-5.57014260e-05,-1.12545528e-04,-1.23417059e-04, 6.56142198e-05,
  3.61743931e-05,-3.94681880e-04,-2.79991099e-04,-7.92751806e-05,
  1.28724030e-05,-8.71511180e-05,-4.07346358e-05, 2.81596904e-05,
  3.38606879e-02,-1.13985586e-03, 1.64256053e-02,-3.65744091e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56741032, -1.58348799,  4.28413384, -1.58348799, 18.19324718,
        5.03633869,  4.28413384,  5.03633869,  6.42892588,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003080318110082608
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.01061989e-14, -2.25265497e-13,  1.00000000e+00,  2.02978177e-26,
        1.00000000e+00,  2.25265497e-13, -1.00000000e+00,  0.00000000e+00,
        9.01061989e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08235131, -0.03135353,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.11513419e-06,-1.73762470e-05,-1.61223753e-06, 1.98616967e-05,
  5.00695152e-06, 1.91211529e-05, 1.25408491e-05,-7.43907708e-06,
  3.08493042e-05, 4.02208263e-05, 4.78779805e-05, 7.13411461e-06,
 -2.03086270e-04,-6.46629261e-05,-1.62436047e-04,-1.26041499e-04,
  4.36037465e-10, 1.75107332e-07,-1.21644018e+00,-4.54214539e-04,
  1.23634276e-05,-5.49783532e-04]


--- Step 610 ---
qpos:
[ 6.16603836e-03,-1.84217093e-03,-4.98995239e-03, 3.35882687e-02,
  4.48378101e-03,-3.73275974e-03,-1.85162963e-02, 2.85822552e-02,
  1.29458361e-02, 3.31896375e-03,-1.00119675e-02, 2.58809735e-02,
  9.84417242e-01,-3.37325785e-04, 7.71565457e-01, 6.49402610e-02,
  9.34507769e-02,-7.00935307e-02, 1.30955498e-01, 5.04116970e-01,
  4.92779731e-01, 4.95884837e-01, 5.07082286e-01]

qacc:
[  1.05486677, -0.8224804 ,  5.10807782,-13.32032183, -2.57665152,
   0.74699685, -1.773126  ,  0.51118232, -5.94400796,  0.58451889,
   0.92079971, -6.99033272, -0.9088701 ,  1.28855705, -5.83743611,
  17.16894577,  0.66655697, -1.92621976, -0.7790441 ,  9.23894086,
  -2.18813394, 27.88007049]

qfrc_actuator:
[-4.97633506e-05,-9.39833717e-05,-1.19429947e-04, 4.24414764e-05,
  2.09466773e-05,-3.76649770e-04,-2.88606957e-04,-8.30836129e-05,
 -2.26418678e-05,-1.23120224e-05,-3.19670044e-05, 1.40742201e-05,
  3.37970714e-02,-1.13483599e-03, 1.63920860e-02,-3.58180930e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55821271, -1.75506797,  4.20678494, -1.75506797, 24.94668298,
        8.50605666,  4.20678494,  8.50605666,  8.10693406,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000305324176270827
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.27263166e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.27263166e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08234938, -0.03135222,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.19123552e-06, 9.37831746e-06, 8.96276315e-07,-2.35865540e-05,
 -1.50782126e-05, 3.10368912e-05,-3.36247423e-06,-2.69483052e-06,
 -3.46291117e-05, 1.07572752e-04, 2.32212457e-05,-1.05679585e-05,
 -2.06931817e-04,-4.57208488e-05,-1.25484368e-04, 4.69369621e-05,
 -3.67928449e-08, 6.61767229e-07,-1.21644126e+00,-4.54989429e-04,
  1.31779440e-05,-5.49921744e-04]


--- Step 611 ---
qpos:
[ 6.16508233e-03,-1.84192036e-03,-4.99090385e-03, 3.35880295e-02,
  4.48402283e-03,-3.73345257e-03,-1.85167256e-02, 2.85810486e-02,
  1.29448650e-02, 3.31878082e-03,-1.00109126e-02, 2.58810078e-02,
  9.85171771e-01,-3.36652906e-04, 7.72205178e-01, 6.49369739e-02,
  9.34613274e-02,-7.01073471e-02, 1.30951156e-01, 5.04019372e-01,
  4.92861320e-01, 4.95880697e-01, 5.07104058e-01]

qacc:
[ -2.36199684, -1.1885037 ,  7.20715085,-18.35621975, -1.62070207,
  -0.25216843,  0.78440999, -0.91267467, -3.70460009,  0.03361607,
   0.87745454, -2.94956152, -1.16258717,  2.04056197, -2.74115348,
   5.60856866,  0.47312397,  1.09389244,  0.77534373,  7.65082945,
   0.75065659,-15.81378152]

qfrc_actuator:
[-6.37502185e-05,-8.29470591e-05,-1.16641636e-04, 1.09096458e-05,
  1.18150201e-05,-4.01262462e-04,-2.93472696e-04,-8.48419362e-05,
 -4.33260329e-05,-3.87471815e-05,-4.48420728e-05, 5.75781104e-06,
  3.37424141e-02,-1.11426138e-03, 1.62797244e-02,-3.58908818e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030967146696998793
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79258205e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.79258205e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0860944 , -0.08827096,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.38060127e-05, 1.54663250e-05, 4.02966978e-06,-3.15570545e-05,
 -9.55129701e-06,-8.04142203e-06, 1.05377845e-06,-5.91237894e-07,
 -2.16313781e-05, 3.80551497e-05, 1.18343804e-05,-3.10879153e-06,
 -1.95835861e-04,-2.83448379e-05,-1.69253224e-04,-2.18482931e-05,
 -2.82878647e-07, 1.57545990e-06,-1.21644347e+00,-4.55612753e-04,
  1.46065528e-05,-5.50256310e-04]


--- Step 612 ---
qpos:
[ 6.16431133e-03,-1.84182050e-03,-4.99147356e-03, 3.35884640e-02,
  4.48415323e-03,-3.73427661e-03,-1.85171404e-02, 2.85794956e-02,
  1.29439987e-02, 3.31842362e-03,-1.00100339e-02, 2.58810195e-02,
  9.85924948e-01,-3.35405299e-04, 7.72842755e-01, 6.49355898e-02,
  9.34737527e-02,-7.01168736e-02, 1.30949098e-01, 5.03929375e-01,
  4.92934301e-01, 4.95900147e-01, 5.07103544e-01]

qacc:
[  1.6418806 ,  0.11766693, -3.55826458, 14.72437888, -0.97258307,
  -0.92446842,  4.51108064,-10.43693403,  0.91928615,  0.21347401,
  -1.00282408,  1.02401802, -1.36176826,  2.63643286, -8.82585451,
  26.47206179,  0.46869819,  1.07248091,  0.57108375,  7.46410124,
   0.75077623,-15.49081681]

qfrc_actuator:
[-5.38462567e-05,-9.42662394e-05,-9.68525909e-05, 4.57250811e-05,
  6.35060798e-06,-4.15708140e-04,-2.96251659e-04,-1.03163668e-04,
 -3.73430958e-05,-9.02140150e-05,-7.07731566e-05, 8.15302679e-07,
  3.36772003e-02,-1.08463098e-03, 1.61947074e-02,-3.48561725e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59729566, -1.55927002,  4.32478952, -1.55927002, 14.23711454,
        3.47556351,  4.32478952,  3.47556351,  5.8503837 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003166038912696678
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.5066626e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        3.5066626e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609569, -0.08826911,  0.06199095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.51819264e-06,-3.18936961e-06, 2.23985690e-05, 3.50062877e-05,
 -5.74007570e-06,-1.87205029e-05,-4.31433235e-06,-1.86357786e-05,
  5.38182511e-06,-2.78912713e-05,-1.67305876e-05,-2.96401123e-06,
 -1.96172368e-04,-1.40420199e-05,-1.67718638e-04, 7.98965604e-05,
 -4.34157479e-07, 1.19115032e-06,-1.21644263e+00,-4.55577279e-04,
  1.44964335e-05,-5.50478720e-04]


--- Step 613 ---
qpos:
[ 6.16366488e-03,-1.84183826e-03,-4.99179429e-03, 3.35896624e-02,
  4.48456182e-03,-3.73513000e-03,-1.85173151e-02, 2.85770159e-02,
  1.29428657e-02, 3.31774477e-03,-1.00093500e-02, 2.58806483e-02,
  9.86676743e-01,-3.33719832e-04, 7.73479474e-01, 6.49338865e-02,
  9.34872837e-02,-7.01221871e-02, 1.30948868e-01, 5.03849910e-01,
  4.92996056e-01, 4.95939856e-01, 5.07083638e-01]

qacc:
[  1.10556652,  0.71922752, -6.01820952, 18.92972175,  2.44215818,
  -2.61967088, 13.19021296,-29.58214022, -2.34687405, -0.6642176 ,
   3.37651459, -9.46514534, -1.38398365,  2.54342252, -0.22332605,
  -0.87034785,  0.27641285,  1.0532695 ,  0.45703319,  4.5208034 ,
   0.56054535,-15.33324772]

qfrc_actuator:
[-4.77064897e-05,-1.01007258e-04,-8.49803359e-05, 8.37889235e-05,
  2.08392775e-05,-4.06214577e-04,-2.80009235e-04,-1.48832904e-04,
 -5.12222754e-05,-1.20846676e-04,-8.65776312e-05,-1.98939322e-05,
  3.36003791e-02,-1.06769662e-03, 1.61847697e-02,-3.49513340e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003201427888288634
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.05681136e-07, -1.24627639e-13,  1.00000000e+00,  7.54846100e-20,
        1.00000000e+00,  1.24627639e-13, -1.00000000e+00,  0.00000000e+00,
        6.05681136e-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([ 0.08888165, -0.08822328,  0.06199085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.40710864e-06,-2.38987841e-06, 1.51882934e-05, 3.93832975e-05,
  1.43191174e-05,-2.62836965e-06, 1.12176341e-05,-4.69769795e-05,
 -1.37354511e-05,-4.98107953e-05,-2.37363102e-05,-2.25426609e-05,
 -2.04794687e-04,-2.46938188e-05,-8.02261257e-05,-2.71335267e-05,
 -5.57761376e-07, 8.84080840e-07,-1.21644221e+00,-4.55566871e-04,
  1.40851356e-05,-5.50603424e-04]


--- Step 614 ---
qpos:
[ 6.16344189e-03,-1.84171864e-03,-4.99199288e-03, 3.35902475e-02,
  4.48514080e-03,-3.73595403e-03,-1.85173357e-02, 2.85740063e-02,
  1.29415753e-02, 3.31669125e-03,-1.00088812e-02, 2.58807311e-02,
  9.87427332e-01,-3.32375644e-04, 7.74115213e-01, 6.49317209e-02,
  9.35011891e-02,-7.01233530e-02, 1.30950055e-01, 5.03783759e-01,
  4.93044118e-01, 4.95996667e-01, 5.07047066e-01]

qacc:
[  3.72449075, -1.42976095,  7.93714066,-18.83153474,  1.49522851,
  -1.48373025,  7.57907281,-17.00989302, -1.38569376,  1.04314045,
  -6.3504509 , 14.82359544, -0.51648886,  0.1375133 , -0.03496482,
  -1.94225933,  0.09361255,  1.03688443,  0.35402998,  1.73748667,
   0.37007364,-15.18564001]

qfrc_actuator:
[-2.60861559e-05,-8.72215668e-05,-7.78780790e-05, 5.24316484e-05,
  2.92021281e-05,-4.00159476e-04,-2.70337963e-04,-1.74686488e-04,
 -5.89366440e-05,-1.38761743e-04,-9.62169267e-05, 3.56408124e-06,
  3.35272963e-02,-1.09397817e-03, 1.61399542e-02,-3.51772281e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003216914884686395
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.62801057e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.62801057e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09158288, -0.08817917,  0.0619908 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.17995735e-05, 1.72802475e-05, 9.84358560e-06,-3.01697363e-05,
  8.77247306e-06, 4.93276582e-06, 8.90177079e-06,-2.64850672e-05,
 -8.12160995e-06,-5.16296142e-05,-2.36318548e-05, 2.00645547e-05,
 -2.08173199e-04,-7.17081196e-05,-9.19371183e-05,-3.61190910e-05,
 -5.91174787e-07, 6.12902215e-07,-1.21644197e+00,-4.55550015e-04,
  1.33290217e-05,-5.50680076e-04]


--- Step 615 ---
qpos:
[ 6.16382462e-03,-1.84128146e-03,-4.99217619e-03, 3.35900912e-02,
  4.48581554e-03,-3.73652969e-03,-1.85176650e-02, 2.85714048e-02,
  1.29405469e-02, 3.31556627e-03,-1.00084062e-02, 2.58810392e-02,
  9.88176791e-01,-3.31898330e-04, 7.74749008e-01, 6.49304157e-02,
  9.35154759e-02,-7.01204186e-02, 1.30952139e-01, 5.03730746e-01,
  4.93078662e-01, 4.96070342e-01, 5.06994067e-01]

qacc:
[  5.32052003, -1.16004706,  7.85683448,-20.92600179,  0.82435114,
   2.02770378, -8.47994911, 15.85510701,  2.30770314,  0.34754906,
  -2.33559687,  6.28703625,  0.12609221, -1.62332745, -5.49426933,
  14.98005855,  0.09535084,  1.02506259,  0.22446484,  1.70495601,
   0.36753517,-14.97843373]

qfrc_actuator:
[ 4.47379736e-06,-6.13277947e-05,-7.36105630e-05, 1.59985481e-05,
  3.38860129e-05,-3.78461782e-04,-2.82372021e-04,-1.53171696e-04,
 -4.52019917e-05,-1.13359309e-04,-8.43063949e-05, 1.73333174e-05,
  3.34564906e-02,-1.14558527e-03, 1.60316475e-02,-3.47687503e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003204652150817222
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.2991539e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.2991539e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09158314, -0.08817937,  0.06199084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.11863858e-05, 3.63025431e-05, 8.00450552e-06,-3.59412143e-05,
  4.93694238e-06, 2.51997379e-05,-1.08187554e-05, 2.15270257e-05,
  1.34831681e-05,-7.46519595e-06,-9.65112877e-07, 1.11306914e-05,
 -2.17975306e-04,-1.05070729e-04,-1.61039470e-04, 2.54860742e-05,
 -5.48253274e-07, 3.97866021e-07,-1.21644186e+00,-4.55529888e-04,
  1.23874573e-05,-5.50709947e-04]


--- Step 616 ---
qpos:
[ 6.16457072e-03,-1.84041286e-03,-4.99240517e-03, 3.35898340e-02,
  4.48654102e-03,-3.73659769e-03,-1.85183227e-02, 2.85697395e-02,
  1.29400360e-02, 3.31446282e-03,-1.00080993e-02, 2.58808188e-02,
  9.88924896e-01,-3.31701120e-04, 7.75381245e-01, 6.49288599e-02,
  9.35301503e-02,-7.01134228e-02, 1.30954688e-01, 5.03690724e-01,
  4.93099830e-01, 4.96160686e-01, 5.06924832e-01]

qacc:
[  3.18609389,  0.48392842, -0.48283912, -1.49667123,  0.42582329,
   3.51182944,-15.50361784, 31.85785134,  4.5468328 , -0.59836061,
   4.39142673,-13.27060679, -0.65223437,  0.39573875, -1.51916589,
   2.02799891,  0.09688276,  1.01535346,  0.11613838,  1.68129597,
   0.36353049,-14.80925417]

qfrc_actuator:
[ 2.22932484e-05,-2.84043014e-05,-7.09859062e-05, 1.23987232e-05,
  3.63689996e-05,-3.29856659e-04,-2.89275490e-04,-1.03961795e-04,
 -1.89544652e-05,-1.15377612e-04,-9.51064652e-05,-1.01688876e-05,
  3.33870877e-02,-1.15846770e-03, 1.59652550e-02,-3.48786572e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003172376902906421
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31237128e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.31237128e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09158329, -0.08818014,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.87188554e-05, 5.33338062e-05, 9.86154495e-06,-2.46836548e-06,
  2.63234888e-06, 6.14169849e-05,-2.26996338e-06, 5.03421019e-05,
  2.66245330e-05,-5.87929891e-06,-1.20705297e-05,-2.76388933e-05,
 -2.30242252e-04,-7.34206286e-05,-1.39997684e-04,-3.08671587e-05,
 -4.96613876e-07, 2.77908062e-07,-1.21644205e+00,-4.55523380e-04,
  1.13716562e-05,-5.50646594e-04]


--- Step 617 ---
qpos:
[ 6.16586993e-03,-1.83932527e-03,-4.99254112e-03, 3.35898983e-02,
  4.48763559e-03,-3.73625363e-03,-1.85187888e-02, 2.85689977e-02,
  1.29398436e-02, 3.31340625e-03,-1.00082503e-02, 2.58806331e-02,
  9.89671448e-01,-3.31049171e-04, 7.76012599e-01, 6.49286363e-02,
  9.35452177e-02,-7.01023971e-02, 1.30957340e-01, 5.03663572e-01,
  4.93107745e-01, 4.96267540e-01, 5.06839509e-01]

qacc:
[  4.86284734,  0.68204697, -3.38580048,  8.65858501,  3.22967748,
   1.90174199, -9.90147966, 25.28545226,  2.78862595,  1.40746095,
  -5.08460986,  6.39319551, -1.45636416,  2.61021386, -5.23946733,
  16.63818836,  0.09826813,  1.00748032,  0.02583202,  1.66495198,
   0.35838647,-14.67251974]

qfrc_actuator:
[ 5.02210936e-05,-2.70091333e-05,-6.92921142e-05, 2.81549114e-05,
  5.52907757e-05,-3.00970987e-04,-2.75204845e-04,-5.65788079e-05,
 -3.31197926e-06,-1.16160140e-04,-1.19360924e-04,-8.51224105e-06,
  3.33185873e-02,-1.13060272e-03, 1.59719784e-02,-3.40492425e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003124539071233251
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33246416e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.33246416e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09158335, -0.08818135,  0.06199107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.84759315e-05, 3.31270805e-05, 1.38314455e-05, 1.83329942e-05,
  1.90164000e-05, 6.49332660e-05, 2.82309090e-05, 5.09214728e-05,
  1.63952512e-05,-7.70350413e-06,-2.79037792e-05, 4.50203060e-07,
 -2.30381825e-04,-3.03787852e-05,-6.50981037e-05, 6.22624014e-05,
 -4.36834994e-07, 2.49195923e-07,-1.21644253e+00,-4.55529405e-04,
  1.02820538e-05,-5.50491114e-04]


--- Step 618 ---
qpos:
[ 6.16749421e-03,-1.83855187e-03,-4.99182968e-03, 3.35901675e-02,
  4.48894845e-03,-3.73549471e-03,-1.85190421e-02, 2.85684820e-02,
  1.29401853e-02, 3.31239292e-03,-1.00084831e-02, 2.58811335e-02,
  9.90416586e-01,-3.30355947e-04, 7.76643482e-01, 6.49263560e-02,
  9.35606833e-02,-7.00873666e-02, 1.30959796e-01, 5.03649189e-01,
  4.93102503e-01, 4.96390778e-01, 5.06738209e-01]

qacc:
[  2.89044866, -2.36780256,  6.96472679, -4.53030148,  1.91031269,
   0.41513695, -1.64644044,  4.92312681,  4.69670845,  1.68875375,
  -8.85123933, 20.84162055, -1.11066235,  1.59896161,  5.56820033,
 -20.35908809,  0.09955242,  1.00120093, -0.04921263,  1.65466265,
   0.35235323,-14.56353314]

qfrc_actuator:
[ 6.61262425e-05,-6.22437273e-05,-3.27720197e-05, 3.73899361e-05,
  6.59845708e-05,-2.84024439e-04,-2.66690979e-04,-4.61589594e-05,
  2.37119159e-05,-9.84825131e-05,-1.15825885e-04, 2.80404299e-05,
  3.32453692e-02,-1.13216998e-03, 1.59373540e-02,-3.51564305e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003064836438536611
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.35842040e-13,  9.05613600e-14,  1.00000000e+00, -1.23020399e-26,
        1.00000000e+00, -9.05613600e-14, -1.00000000e+00,  0.00000000e+00,
        1.35842040e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09158335, -0.0881829 ,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67217268e-05,-1.30991124e-05, 4.56870926e-05, 1.14862231e-05,
  1.12564159e-05, 6.12717243e-05, 2.71678263e-05, 1.51715655e-05,
  2.74845657e-05, 7.67073603e-06,-1.46392734e-06, 3.52681927e-05,
 -2.25346941e-04,-5.35099810e-05,-6.53080839e-05,-1.17423108e-04,
 -3.69290192e-07, 3.08677170e-07,-1.21644328e+00,-4.55547330e-04,
  9.11857249e-06,-5.50244410e-04]


--- Step 619 ---
qpos:
[ 6.16860675e-03,-1.83788767e-03,-4.99122773e-03, 3.35902407e-02,
  4.49003472e-03,-3.73451790e-03,-1.85190327e-02, 2.85674271e-02,
  1.29405034e-02, 3.31127139e-03,-1.00083166e-02, 2.58817082e-02,
  9.91160366e-01,-3.29683194e-04, 7.77273480e-01, 6.49230932e-02,
  9.35765520e-02,-7.00683509e-02, 1.30961806e-01, 5.03647495e-01,
  4.93084183e-01, 4.96530299e-01, 5.06621013e-01]

qacc:
[ -4.50132927, -0.23318325,  1.46481915, -4.6185846 , -1.97901159,
  -1.55071679,  8.23144512,-18.15193411, -0.1932825 , -1.10530833,
   3.42061367, -2.69432092, -0.95642886,  1.25194575,  1.70391743,
  -7.75222843,  0.10076993,  0.99630382, -0.11136012,  1.64940237,
   0.34562147,-14.4783344 ]

qfrc_actuator:
[ 3.93193190e-05,-8.35053329e-05,-4.71582308e-05, 2.49477034e-05,
  5.39920865e-05,-2.92161627e-04,-2.61609038e-04,-7.53417836e-05,
  2.17165162e-05,-1.05249190e-04,-9.58100876e-05, 3.16075753e-05,
  3.31800155e-02,-1.13341239e-03, 1.58992188e-02,-3.56217546e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029963286499677666
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15789934e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.15789934e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0915833 , -0.0881847 ,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.63416022e-05,-1.86934249e-05,-1.10878503e-05,-1.12041786e-05,
 -1.16512799e-05, 3.23680190e-05, 2.16040963e-05,-2.53221496e-05,
 -1.21664273e-06,-1.21918218e-06, 2.26529873e-05, 4.53217876e-06,
 -2.19418915e-04,-5.56506039e-05,-8.96632594e-05,-6.34555783e-05,
 -2.94199789e-07, 4.53918025e-07,-1.21644431e+00,-4.55576866e-04,
  7.88074878e-06,-5.49907218e-04]


--- Step 620 ---
qpos:
[ 6.16904442e-03,-1.83715741e-03,-4.99114921e-03, 3.35901712e-02,
  4.49096919e-03,-3.73367864e-03,-1.85185077e-02, 2.85664050e-02,
  1.29401054e-02, 3.30982155e-03,-1.00071817e-02, 2.58816193e-02,
  9.91902796e-01,-3.29018749e-04, 7.77901563e-01, 6.49246596e-02,
  9.35884643e-02,-7.00568516e-02, 1.30963452e-01, 5.03634870e-01,
  4.93074848e-01, 4.96627429e-01, 5.06547440e-01]

qacc:
[ -5.95167916,  1.2682853 , -3.77251736,  2.06823289, -1.310061  ,
  -1.55142968,  5.13359771, -5.29072377, -6.26521247, -4.49424123,
  18.21763545,-31.03018835, -0.69618098,  0.72741376,-17.36320713,
  56.72509151, -0.98909241, -1.87909633, -0.09096893,-16.61124839,
   0.51741986, 26.43594479]

qfrc_actuator:
[ 5.34456227e-06,-7.87098210e-05,-7.37176800e-05, 1.75707261e-05,
  4.64980476e-05,-3.15318034e-04,-2.40968588e-04,-7.43532952e-05,
 -1.50990518e-05,-1.26548288e-04,-4.86014057e-05,-2.03181498e-06,
  3.31141006e-02,-1.13441466e-03, 1.58377282e-02,-3.30415821e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029297670329139053
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01027984e-06,  1.01027965e-06,  1.00000000e+00,  1.02066516e-12,
        1.00000000e+00, -1.01027965e-06, -1.00000000e+00,  0.00000000e+00,
       -1.01027984e-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([ 0.10944316, -0.03538719,  0.06199162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.47320804e-05,-8.47243825e-06,-3.21891917e-05,-8.78181897e-06,
 -7.81538934e-06,-1.71642837e-06, 2.91024764e-05, 2.63098580e-06,
 -3.68549305e-05,-1.70694068e-05, 4.99141341e-05,-3.28186546e-05,
 -2.16764201e-04,-5.44656889e-05,-1.16593257e-04, 2.41347991e-04,
 -2.11669318e-07, 6.82973390e-07,-1.21644561e+00,-4.55617998e-04,
  6.56782830e-06,-5.49480130e-04]


--- Step 621 ---
qpos:
[ 6.16907136e-03,-1.83668671e-03,-4.99068798e-03, 3.35893020e-02,
  4.49180649e-03,-3.73285177e-03,-1.85183157e-02, 2.85657915e-02,
  1.29399589e-02, 3.30854444e-03,-1.00059345e-02, 2.58811230e-02,
  9.92643967e-01,-3.28660339e-04, 7.78528088e-01, 6.49276479e-02,
  9.35963848e-02,-7.00529622e-02, 1.30963760e-01, 5.03610743e-01,
  4.93074793e-01, 4.96681996e-01, 5.06517980e-01]

qacc:
[ -3.59547353, -3.05228978, 13.77226005,-28.04194974, -0.86033775,
   1.75509519, -8.00417879, 15.61167048,  2.21287502, -0.928679  ,
   5.35564156,-12.70689178, -0.49414832,  0.09468313, -6.57394384,
  19.69594445, -0.99796285, -1.90249277, -0.33441017,-16.56086835,
   0.66336155, 26.81930351]

qfrc_actuator:
[-1.48104419e-05,-9.39168852e-05,-5.38654261e-05,-2.22472806e-05,
  4.17189218e-05,-3.29465049e-04,-2.64608947e-04,-5.56185137e-05,
 -1.09433444e-06,-1.03045565e-04,-3.90639177e-05,-2.17817733e-05,
  3.30478971e-02,-1.15302945e-03, 1.57463715e-02,-3.24163506e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54142386, -0.1720822 , -4.53816245, -0.1720822 , 11.58820784,
       -0.26720641, -4.53816245, -0.26720641,  4.55155604,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030029260456657103
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.62142177e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.62142177e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10990371, -0.03401881,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.11462209e-05,-2.70110951e-05, 1.38253636e-05,-4.14659929e-05,
 -5.00426220e-06,-9.01999355e-06,-2.03323531e-05, 1.97189669e-05,
  1.29476101e-05, 2.28867216e-05, 1.10289939e-05,-1.93907203e-05,
 -2.14816560e-04,-7.14826963e-05,-1.21935035e-04, 6.00652976e-05,
 -2.66286959e-07, 3.85325910e-07,-1.21644255e+00,-4.56403064e-04,
  8.90639104e-06,-5.49312224e-04]


--- Step 622 ---
qpos:
[ 6.16885627e-03,-1.83656631e-03,-4.98991992e-03, 3.35876341e-02,
  4.49257995e-03,-3.73208214e-03,-1.85183465e-02, 2.85647154e-02,
  1.29403255e-02, 3.30816055e-03,-1.00057798e-02, 2.58807296e-02,
  9.93383808e-01,-3.28233294e-04, 7.79153513e-01, 6.49280027e-02,
  9.36003520e-02,-7.00565490e-02, 1.30962112e-01, 5.03575087e-01,
  4.93083878e-01, 4.96694888e-01, 5.06531943e-01]

qacc:
[ -2.11289318, -2.96120835, 13.26483248,-27.32602381, -0.56501671,
  -0.40334115,  3.28408629,-10.89481936,  4.46558353,  4.43723118,
 -14.5581728 , 17.44522594, -1.07932068,  1.59634339,  6.37941995,
 -24.55082452, -0.9883255 , -1.86904136, -0.48908733,-16.19452112,
   0.75931883, 26.3981145 ]

qfrc_actuator:
[-2.66677793e-05,-1.20826302e-04,-4.23681974e-05,-6.30632856e-05,
  3.85748241e-05,-3.38276567e-04,-2.78670216e-04,-7.98826011e-05,
  2.49688786e-05,-3.52788316e-05,-8.71655853e-05,-1.54360611e-05,
  3.29868866e-02,-1.14640543e-03, 1.56744125e-02,-3.38369607e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55359799, -0.2237429 , -4.54809782, -0.2237429 , 26.07693593,
       -1.05883696, -4.54809782, -1.05883696,  4.60568729,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003039528075335779
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.13154112e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.13154112e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10990157, -0.03402018,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24686425e-05,-4.09632304e-05, 6.17766367e-06,-4.23014185e-05,
 -3.29019701e-06,-1.72427923e-05,-1.77570405e-05,-2.49711022e-05,
  2.64365396e-05, 8.20491483e-05,-4.26858051e-05, 7.33135387e-06,
 -2.12291147e-04,-4.83827148e-05,-1.25706114e-04,-1.55444278e-04,
 -1.92697260e-07, 2.19371359e-07,-1.21644073e+00,-4.57227142e-04,
  1.03848496e-05,-5.49374476e-04]


--- Step 623 ---
qpos:
[ 6.16884527e-03,-1.83641954e-03,-4.98951444e-03, 3.35865241e-02,
  4.49330987e-03,-3.73173188e-03,-1.85178618e-02, 2.85636977e-02,
  1.29406569e-02, 3.30829385e-03,-1.00058518e-02, 2.58804032e-02,
  9.94122418e-01,-3.28029578e-04, 7.79777218e-01, 6.49273367e-02,
  9.36003990e-02,-7.00675013e-02, 1.30957987e-01, 5.03527888e-01,
  4.93101986e-01, 4.96666825e-01, 5.06588750e-01]

qacc:
[  1.78297309,  2.19361408,-10.1314064 , 20.35126126, -0.35774675,
  -1.8727325 ,  5.62738263, -5.12988008, -0.32557661,  1.45551304,
  -4.47957964,  5.61897597, -0.6440901 ,  0.49177253,  0.5657216 ,
  -5.61363498, -0.98004475, -1.84138614, -0.61927462,-15.89529743,
   0.83315126, 26.04892424]

qfrc_actuator:
[-1.57982987e-05,-1.01304662e-04,-5.37138133e-05,-3.31485897e-05,
  3.64172843e-05,-3.61589624e-04,-2.51455649e-04,-7.59803753e-05,
  2.23996740e-05,-1.27537948e-05,-9.76802644e-05,-1.15330929e-05,
  3.29237178e-02,-1.16039565e-03, 1.55928038e-02,-3.43198909e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55606033e+00, -1.37408337e-02,  4.55603961e+00, -1.37408337e-02,
        2.59784138e+01,  6.46089631e-02,  4.55603961e+00,  6.46089631e-02,
        4.55625519e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0003046856315383206
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.10957812e-14, -3.64383125e-13,  1.00000000e+00,  3.31937654e-26,
        1.00000000e+00,  3.64383125e-13, -1.00000000e+00,  0.00000000e+00,
        9.10957812e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10990039, -0.03402016,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05013331e-05,-3.93518288e-06,-2.05158472e-05, 2.75521156e-05,
 -2.25578781e-06,-3.77194325e-05, 2.05955112e-05, 2.06377960e-06,
 -1.78921877e-06, 5.99276039e-05, 1.43250819e-06, 6.08519617e-06,
 -2.08366370e-04,-6.46669064e-05,-1.62047087e-04,-7.43920470e-05,
  1.38954346e-08, 1.87475877e-07,-1.21644016e+00,-4.58097807e-04,
  1.09803091e-05,-5.49669783e-04]


--- Step 624 ---
qpos:
[ 6.16896442e-03,-1.83613588e-03,-4.98963150e-03, 3.35861229e-02,
  4.49400846e-03,-3.73217219e-03,-1.85163082e-02, 2.85630893e-02,
  1.29413006e-02, 3.30828387e-03,-1.00054627e-02, 2.58798184e-02,
  9.94859720e-01,-3.27946194e-04, 7.80399281e-01, 6.49269946e-02,
  9.35965540e-02,-7.00857281e-02, 1.30950947e-01, 5.03469135e-01,
  4.93129013e-01, 4.96598388e-01, 5.06687920e-01]

qacc:
[  1.12600036,  3.09867873,-13.78084447, 26.78238389, -0.2268988 ,
  -3.18749348,  8.12240018, -2.16612692,  2.7651968 , -2.01548467,
   7.99341105,-13.08758802, -0.7484976 ,  0.75591596, -3.36705216,
   8.33616863, -0.97301655, -1.81860908, -0.72879933,-15.65214596,
   0.88930432, 25.76155043]

qfrc_actuator:
[-9.39466378e-06,-8.96662148e-05,-7.82184587e-05, 2.66212273e-06,
  3.48569212e-05,-4.10971204e-04,-2.00124872e-04,-5.55144918e-05,
  3.84993274e-05,-5.28603049e-05,-8.60716312e-05,-2.68535751e-05,
  3.28539672e-02,-1.16873727e-03, 1.55374555e-02,-3.40682817e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55068261, -0.2745109 ,  4.54239541, -0.2745109 , 37.78084311,
        2.00820061,  4.54239541,  2.00820061,  4.67204434,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003030819293274589
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.83155595e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.83155595e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10989999, -0.03401901,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.69986433e-06, 6.37677709e-06,-2.68954622e-05, 3.54692958e-05,
 -1.63888198e-06,-6.61486002e-05, 4.61407096e-05, 1.96027041e-05,
  1.60697128e-05,-6.04080668e-06, 2.43748953e-05,-1.25835993e-05,
 -2.16037638e-04,-6.06986535e-05,-1.41025707e-04,-5.23388055e-07,
  3.52861944e-07, 2.82185756e-07,-1.21644080e+00,-4.59030004e-04,
  1.07428215e-05,-5.50199509e-04]


--- Step 625 ---
qpos:
[ 6.16881438e-03,-1.83563867e-03,-4.98979182e-03, 3.35854197e-02,
  4.49468252e-03,-3.73280268e-03,-1.85145889e-02, 2.85623708e-02,
  1.29424771e-02, 3.30836008e-03,-1.00049824e-02, 2.58790513e-02,
  9.95595563e-01,-3.27610467e-04, 7.81020688e-01, 6.49250861e-02,
  9.35928576e-02,-7.00994585e-02, 1.30947269e-01, 5.03423623e-01,
  4.93143385e-01, 4.96548053e-01, 5.06768476e-01]

qacc:
[ -2.37220831, -0.21382429,  2.45437847, -7.77575287, -0.20626527,
  -0.94014952,  3.45312244, -5.48348548,  4.68958887, -0.52537058,
   2.7921185 , -6.13818651, -1.319195  ,  2.18192536,  3.83146338,
 -14.64053819,  0.03718581,  1.12409689,  0.84055095,  2.75724254,
  -0.11379227,-15.64612764]

qfrc_actuator:
[-2.34308656e-05,-6.51261090e-05,-7.48082652e-05,-1.16214442e-05,
  3.36600630e-05,-4.04444423e-04,-1.88341764e-04,-6.09897374e-05,
  6.54668728e-05,-4.13289864e-05,-7.95387723e-05,-3.56568571e-05,
  3.27803190e-02,-1.15595077e-03, 1.55298730e-02,-3.48055229e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.56231165,   1.3862737 ,   4.34660015,   1.3862737 ,
        42.33436002, -12.04674812,   4.34660015, -12.04674812,
         8.4044157 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00030653502326115356
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13182726e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.13182726e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09159293, -0.0881857 ,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.38445712e-05, 2.40642533e-05, 2.64059488e-06,-1.42503323e-05,
 -1.26943730e-06,-2.00941913e-05, 4.47029670e-06,-6.33309924e-06,
  2.74217743e-05, 1.26537252e-05, 7.84882741e-06,-8.46374150e-06,
 -2.23630946e-04,-4.07442817e-05,-7.61640591e-05,-9.27683068e-05,
  8.23787811e-07, 4.98683078e-07,-1.21644258e+00,-4.60034008e-04,
  9.71010067e-06,-5.50964151e-04]


--- Step 626 ---
qpos:
[ 6.16884210e-03,-1.83473222e-03,-4.98998895e-03, 3.35838340e-02,
  4.49568150e-03,-3.73296269e-03,-1.85138785e-02, 2.85615887e-02,
  1.29439674e-02, 3.30905728e-03,-1.00049957e-02, 2.58788466e-02,
  9.96330066e-01,-3.27403702e-04, 7.81641291e-01, 6.49209487e-02,
  9.35893656e-02,-7.01088042e-02, 1.30946125e-01, 5.03391221e-01,
  4.93145030e-01, 4.96515416e-01, 5.06831037e-01]

qacc:
[ 1.55435554e+00,-1.17623831e+00, 8.69845292e+00,-2.42061078e+01,
  2.80398233e+00, 3.30296877e+00,-1.06159850e+01, 1.07895832e+01,
  2.73585192e+00, 3.35283773e+00,-1.31477618e+01, 2.32231512e+01,
 -8.94322273e-01, 1.03125011e+00, 5.57955065e+00,-2.11523443e+01,
  5.10684789e-02, 1.09617845e+00, 6.33517780e-01, 2.51630302e+00,
 -1.29296229e-02,-1.53747445e+01]

qfrc_actuator:
[-1.38784191e-05,-3.29764244e-05,-7.26720655e-05,-5.52344180e-05,
  5.04396688e-05,-3.64656787e-04,-2.35317004e-04,-6.39214469e-05,
  8.08571453e-05, 1.87655013e-05,-9.36185771e-05,-5.01739135e-06,
  3.27097183e-02,-1.16631719e-03, 1.54870109e-02,-3.59409412e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58744132,  0.94627133,  4.48878474,  0.94627133, 18.97847849,
       -3.03374446,  4.48878474, -3.03374446,  5.22697865,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031381440145542006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43724476e-13,  3.53783325e-13,  1.00000000e+00, -5.08473230e-26,
        1.00000000e+00, -3.53783325e-13, -1.00000000e+00,  0.00000000e+00,
        1.43724476e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0915954 , -0.0881845 ,  0.06199103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.16641464e-06, 4.55224895e-05, 6.93754437e-06,-4.27663520e-05,
  1.67364142e-05, 2.92068741e-05,-5.08053392e-05,-3.76220340e-06,
  1.61743673e-05, 6.84357261e-05,-1.07968097e-05, 3.12881495e-05,
 -2.20766663e-04,-6.25838646e-05,-9.59097635e-05,-1.30313801e-04,
  5.68500779e-07, 2.24557247e-07,-1.21644146e+00,-4.59257908e-04,
  1.03254566e-05,-5.51180529e-04]


--- Step 627 ---
qpos:
[ 6.16898410e-03,-1.83364905e-03,-4.99012344e-03, 3.35824516e-02,
  4.49687372e-03,-3.73258933e-03,-1.85138563e-02, 2.85607468e-02,
  1.29452862e-02, 3.31009926e-03,-1.00054008e-02, 2.58793841e-02,
  9.97063098e-01,-3.26976030e-04, 7.82260222e-01, 6.49185042e-02,
  9.35861211e-02,-7.01138573e-02, 1.30946818e-01, 5.03371811e-01,
  4.93133905e-01, 4.96500138e-01, 5.06876103e-01]

qacc:
[  1.00386467,  0.47520749, -2.21717664,  5.5092736 ,  1.66041747,
   2.50009378, -7.64487588,  7.32205634, -1.52780916,  3.08097964,
 -13.4525253 , 26.66292295, -1.13270598,  1.76039189, -7.51352316,
  22.84849149,  0.06188845,  1.07315773,  0.45938503,  2.32431484,
   0.06651   ,-15.14654771]

qfrc_actuator:
[-8.26470110e-06,-3.20473740e-05,-7.12894135e-05,-4.47331746e-05,
  5.99128877e-05,-3.23249854e-04,-2.63180908e-04,-6.53294353e-05,
  7.15542446e-05, 1.86654495e-05,-1.19517529e-04, 3.08633361e-05,
  3.26356625e-02,-1.15478974e-03, 1.54230179e-02,-3.49945317e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60020209,  0.86630419,  4.51789512,  0.86630419, 29.45055259,
       -4.7650426 ,  4.51789512, -4.7650426 ,  5.51389669,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003174198768549491
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.74882404e-13, -8.74412021e-14,  1.00000000e+00, -1.52919277e-26,
        1.00000000e+00,  8.74412021e-14, -1.00000000e+00,  0.00000000e+00,
       -1.74882404e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0915973 , -0.08818413,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.88937713e-06, 2.59621625e-05, 1.01556134e-05, 1.18611982e-05,
  9.96370674e-06, 4.70891917e-05,-2.82250235e-05,-1.98764312e-06,
 -8.81820671e-06, 3.72659332e-05,-1.20165751e-05, 3.90473803e-05,
 -2.27214772e-04,-4.34635328e-05,-1.29313794e-04, 7.34672960e-05,
  3.43295342e-07, 4.14958316e-08,-1.21644067e+00,-4.58550544e-04,
  1.08020121e-05,-5.51312832e-04]


--- Step 628 ---
qpos:
[ 6.16884746e-03,-1.83257364e-03,-4.98992212e-03, 3.35822466e-02,
  4.49748045e-03,-3.73162301e-03,-1.85142705e-02, 2.85598686e-02,
  1.29457935e-02, 3.31142734e-03,-1.00063212e-02, 2.58796734e-02,
  9.97794696e-01,-3.26395095e-04, 7.82877877e-01, 6.49167918e-02,
  9.35831579e-02,-7.01146933e-02, 1.30948765e-01, 5.03365293e-01,
  4.93109983e-01, 4.96501941e-01, 5.06904083e-01]

qacc:
[ -2.43858241,  1.47987149,-10.25269092, 30.08549261, -5.14794391,
   1.93793769, -5.60278838,  5.21793928, -7.16150155,  1.32153091,
  -3.09158442, -0.6154626 , -1.09552587,  1.64168536, -4.03396128,
  11.51500497,  0.07031616,  1.05425599,  0.31322155,  2.17134428,
   0.12911448,-14.95584345]

qfrc_actuator:
[-2.27744666e-05,-3.20292407e-05,-5.26909763e-05, 1.52564045e-05,
  2.94987334e-05,-2.81122431e-04,-2.79495289e-04,-6.58015765e-05,
  3.00427011e-05, 1.79817651e-05,-1.52412479e-04, 1.62262563e-05,
  3.25649192e-02,-1.14817689e-03, 1.53730825e-02,-3.46045914e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60251769, -0.7551524 , -4.54014471, -0.7551524 , 25.95518404,
       -3.55154258, -4.54014471, -3.55154258,  5.19323805,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031806781920423743
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.30894611e-13,  8.72630739e-14,  1.00000000e+00,  1.14222661e-26,
        1.00000000e+00, -8.72630739e-14, -1.00000000e+00,  0.00000000e+00,
       -1.30894611e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09159874, -0.08818443,  0.06199091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43371792e-05, 1.71094711e-05, 2.56141202e-05, 6.16850140e-05,
 -3.01118784e-05, 6.25359542e-05,-1.01367390e-05, 5.31161054e-07,
 -4.17472084e-05, 1.93137080e-05,-2.53331434e-05,-1.26979296e-05,
 -2.23871603e-04,-4.67591289e-05,-1.05273051e-04, 2.55066165e-05,
  1.42060173e-07,-5.23145817e-08,-1.21644020e+00,-4.57895841e-04,
  1.11563824e-05,-5.51359390e-04]


--- Step 629 ---
qpos:
[ 6.16888279e-03,-1.83137894e-03,-4.98923441e-03, 3.35827347e-02,
  4.49737341e-03,-3.73047515e-03,-1.85147361e-02, 2.85590178e-02,
  1.29457994e-02, 3.31303086e-03,-1.00076513e-02, 2.58797798e-02,
  9.98524948e-01,-3.25753783e-04, 7.83493973e-01, 6.49132984e-02,
  9.35805022e-02,-7.01113740e-02, 1.30951475e-01, 5.03371576e-01,
  4.93073249e-01, 4.96520594e-01, 5.06915306e-01]

qacc:
[  1.52585802,  0.22229526, -3.49521082, 14.63120265, -6.25165251,
   0.45171583, -1.35659255,  1.7542701 , -4.43063051,  1.14119903,
  -2.752948  ,  0.02097577, -1.03315221,  1.47774034,  3.12463537,
 -14.15674088,  0.0768779 ,  1.0388233 ,  0.19082508,  2.04951004,
   0.17848984,-14.79773336]

qfrc_actuator:
[-1.35058555e-05,-1.46912456e-05,-2.40612926e-05, 5.06258006e-05,
 -6.39379756e-06,-2.92093537e-04,-2.88856329e-04,-6.57118951e-05,
  5.41967024e-06, 3.46212952e-05,-1.71472130e-04, 7.47709965e-06,
  3.25015390e-02,-1.14453351e-03, 1.52676967e-02,-3.56108549e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59642507, -0.61085795, -4.55565319, -0.61085795, 38.01338705,
       -4.48081009, -4.55565319, -4.48081009,  5.19724746,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003163588771831344
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.38672306e-14,  1.75468922e-13,  1.00000000e+00,  7.69733567e-27,
        1.00000000e+00, -1.75468922e-13, -1.00000000e+00,  0.00000000e+00,
       -4.38672306e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09159983, -0.08818527,  0.06199096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.85975644e-06, 3.47945872e-05, 3.74391732e-05, 3.81875764e-05,
 -3.67304880e-05, 2.18890055e-05, 2.32234591e-06, 2.43125558e-06,
 -2.57974569e-05, 2.16118685e-05,-1.86330517e-05,-9.04487423e-06,
 -2.14938175e-04,-4.96419280e-05,-1.56464741e-04,-1.14038452e-04,
 -3.97534536e-08,-5.85714253e-08,-1.21644004e+00,-4.57281847e-04,
  1.14009512e-05,-5.51319140e-04]


--- Step 630 ---
qpos:
[ 6.16902853e-03,-1.82981540e-03,-4.98826308e-03, 3.35832791e-02,
  4.49718202e-03,-3.72962022e-03,-1.85151129e-02, 2.85589175e-02,
  1.29461997e-02, 3.31483442e-03,-1.00086532e-02, 2.58797384e-02,
  9.99253800e-01,-3.24765139e-04, 7.84108163e-01, 6.49112367e-02,
  9.35781744e-02,-7.01039495e-02, 1.30954539e-01, 5.03390588e-01,
  4.93023692e-01, 4.96555909e-01, 5.06910035e-01]

qacc:
[  0.97335326, -0.19128275,  1.14830014, -0.89525229, -0.72993265,
   0.90965637, -6.97267618, 20.03412804,  3.47773766, -0.96412723,
   4.43344869, -7.65019326, -1.20477239,  2.0510807 , -7.06178306,
  20.78476624,  0.08198641,  1.02631598,  0.08860505,  1.952554  ,
   0.21746966,-14.66799022]

qfrc_actuator:
[-8.06200898e-06, 1.29147343e-05,-7.45040382e-06, 5.34836617e-05,
 -9.70560382e-06,-3.34749543e-04,-2.94255848e-04,-2.98288526e-05,
  2.64496415e-05, 6.15509758e-05,-1.46624709e-04, 2.29488005e-06,
  3.24372944e-02,-1.12488760e-03, 1.52036732e-02,-3.47697429e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031279524633345823
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.87340071e-14,  8.87340071e-14,  1.00000000e+00, -7.87372402e-27,
        1.00000000e+00, -8.87340071e-14, -1.00000000e+00,  0.00000000e+00,
        8.87340071e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09160064, -0.08818653,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.70021549e-06, 5.63839636e-05, 2.97071965e-05, 6.38179018e-06,
 -4.35359558e-06,-2.98790280e-05,-5.12707764e-07, 3.69506817e-05,
  2.03094746e-05, 3.47269104e-05, 2.67012218e-05,-5.07658027e-06,
 -2.11411315e-04,-3.19068914e-05,-1.52087748e-04, 5.68228173e-05,
 -2.05528375e-07, 2.12027723e-08,-1.21644016e+00,-4.56699658e-04,
  1.15449292e-05,-5.51191413e-04]


--- Step 631 ---
qpos:
[ 6.16889363e-03,-1.82812619e-03,-4.98724456e-03, 3.35839015e-02,
  4.49729697e-03,-3.72904319e-03,-1.85152509e-02, 2.85595815e-02,
  1.29465040e-02, 3.31649991e-03,-1.00089165e-02, 2.58796497e-02,
  9.99981450e-01,-3.24125489e-04, 7.84721558e-01, 6.49109357e-02,
  9.35761905e-02,-7.00924599e-02, 1.30957617e-01, 5.03422265e-01,
  4.92961306e-01, 4.96607732e-01, 5.06888482e-01]

qacc:
[-2.46823745e+00, 1.99764562e-01,-7.92465404e-01, 1.96650597e+00,
  2.69370684e+00, 5.32048800e-01,-5.66652350e+00, 1.87258071e+01,
 -8.18818734e-01,-2.34213960e+00, 8.28859530e+00,-1.01883413e+01,
 -4.29946205e-01,-4.68462702e-02,-6.47443330e+00, 2.09759208e+01,
  8.59650415e-02, 1.01627839e+00, 3.48860665e-03, 1.87550293e+00,
  2.48279993e-01,-1.45629598e+01]

qfrc_actuator:
[-2.26728660e-05,-6.87365534e-06,-1.57952028e-05, 5.49468570e-05,
  6.18710605e-06,-3.42756724e-04,-2.79645536e-04, 9.04335088e-06,
  2.09182154e-05, 4.13620661e-05,-1.13759870e-04,-7.09213132e-07,
  3.23725846e-02,-1.14920917e-03, 1.52178121e-02,-3.37328398e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003077954181119613
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.80350804e-13,  9.01754022e-14,  1.00000000e+00, -1.62632063e-26,
        1.00000000e+00, -9.01754022e-14, -1.00000000e+00,  0.00000000e+00,
        1.80350804e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09160123, -0.08818811,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44366216e-05, 1.80842136e-05, 7.15060040e-06, 5.02423948e-06,
  1.57564014e-05,-2.32657608e-05, 9.64888879e-06, 3.82924448e-05,
 -4.93849547e-06, 4.48336691e-06, 4.31416327e-05,-6.93267070e-07,
 -2.05556666e-04,-7.24856480e-05,-5.22999943e-05, 8.66278863e-05,
 -3.57778052e-07, 1.85683133e-07,-1.21644057e+00,-4.56142628e-04,
  1.15951412e-05,-5.50975792e-04]


--- Step 632 ---
qpos:
[ 6.16892978e-03,-1.82652674e-03,-4.98647348e-03, 3.35845860e-02,
  4.49725618e-03,-3.72827895e-03,-1.85153436e-02, 2.85596232e-02,
  1.29460505e-02, 3.31757849e-03,-1.00085056e-02, 2.58795886e-02,
  1.00070785e+00,-3.23749337e-04, 7.85334256e-01, 6.49121683e-02,
  9.35745629e-02,-7.00769369e-02, 1.30960426e-01, 5.03466556e-01,
  4.92886084e-01, 4.96675940e-01, 5.06850812e-01]

qacc:
[  1.49788115,  0.69776457, -2.92661019,  4.46602826, -1.36512569,
  -1.15602409,  7.11381356,-18.09932385, -6.63810828, -2.59008554,
   8.01492248, -8.20471087, -0.55875562,  0.26664295, -5.63519629,
  18.27185539,  0.0890669 ,  1.00832821, -0.06715612,  1.81440175,
   0.27266899,-14.47948145]

qfrc_actuator:
[-1.34644032e-05,-3.72504158e-05,-3.89904434e-05, 5.55289486e-05,
 -2.25967374e-06,-3.12119837e-04,-2.70967470e-04,-2.16153426e-05,
 -1.79700653e-05,-2.45925247e-05,-9.43787367e-05,-2.44780160e-06,
  3.23076283e-02,-1.16384858e-03, 1.51936046e-02,-3.29425318e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030170679812337176
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.44981980e-14, -1.83990389e-13,  1.00000000e+00, -6.34733688e-27,
        1.00000000e+00,  1.83990389e-13, -1.00000000e+00,  0.00000000e+00,
       -3.44981980e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09160165, -0.08818994,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.79728438e-06,-1.86506546e-05,-1.84374733e-05, 1.69541022e-06,
 -8.00679083e-06, 2.12454367e-05, 6.37872209e-06,-3.05797840e-05,
 -3.90237406e-05,-5.46234933e-05, 2.55813915e-05,-6.98688562e-08,
 -2.09736460e-04,-6.85087731e-05,-4.63013313e-05, 7.53195560e-05,
 -4.98368094e-07, 4.33742771e-07,-1.21644126e+00,-4.55605791e-04,
  1.15566136e-05,-5.50672012e-04]


--- Step 633 ---
qpos:
[ 6.16907594e-03,-1.82512872e-03,-4.98645569e-03, 3.35849774e-02,
  4.49711466e-03,-3.72734324e-03,-1.85156095e-02, 2.85589689e-02,
  1.29458243e-02, 3.31826123e-03,-1.00078222e-02, 2.58788209e-02,
  1.00143286e+00,-3.22972436e-04, 7.85945942e-01, 6.49104700e-02,
  9.35733012e-02,-7.00574054e-02, 1.30962734e-01, 5.03523420e-01,
  4.92798017e-01, 4.96760433e-01, 5.06797152e-01]

qacc:
[  0.9468283 ,  1.23428588, -3.55304995, -0.16282003, -0.89042434,
  -0.71886575,  5.8340242 ,-17.73099446,  2.01546644, -2.74315091,
  11.99897754,-24.36686397, -1.4482378 ,  2.60158097,  7.43272672,
 -27.98328049,  0.0914899 ,  1.00214445, -0.12558361,  1.76610285,
   0.29200903,-14.41482166]

qfrc_actuator:
[-8.05642350e-06,-7.38150247e-05,-8.85728147e-05, 3.78145901e-05,
 -7.21798851e-06,-3.11908363e-04,-2.83503332e-04,-5.74064542e-05,
 -5.16160854e-06,-4.64919368e-05,-8.33190105e-05,-3.89884407e-05,
  3.22478976e-02,-1.13711932e-03, 1.50931512e-02,-3.46127953e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029481651001943276
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.17681569e-14, -3.76581021e-13,  1.00000000e+00,  4.43166455e-27,
        1.00000000e+00,  3.76581021e-13, -1.00000000e+00,  0.00000000e+00,
        1.17681569e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09160193, -0.08819195,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.64628761e-06,-5.07955856e-05,-5.56767756e-05,-1.91256822e-05,
 -5.17860389e-06, 1.20693184e-05,-8.42756443e-06,-3.52563181e-05,
  1.16835180e-05,-4.72227808e-05, 2.90883805e-06,-3.79993605e-05,
 -2.06259619e-04,-2.74382699e-05,-1.21474366e-04,-1.70697731e-04,
 -6.28681691e-07, 7.64439886e-07,-1.21644222e+00,-4.55085424e-04,
  1.14330127e-05,-5.50279901e-04]


--- Step 634 ---
qpos:
[ 6.16894090e-03,-1.82406366e-03,-4.98698438e-03, 3.35848117e-02,
  4.49760478e-03,-3.72663598e-03,-1.85153018e-02, 2.85578907e-02,
  1.29457528e-02, 3.31885466e-03,-1.00074185e-02, 2.58776203e-02,
  1.00215658e+00,-3.21888381e-04, 7.86556059e-01, 6.49064779e-02,
  9.35681516e-02,-7.00455282e-02, 1.30963770e-01, 5.03569539e-01,
  4.92719207e-01, 4.96801622e-01, 5.06787579e-01]

qacc:
[ -2.48442609, -0.0549442 ,  1.91805795,-10.45121278,  5.54980057,
  -2.78634978, 11.2687966 ,-19.33330011,  1.35446458, -0.2301328 ,
   2.47231112, -9.44592781, -1.25923028,  2.1707795 ,  4.67624826,
 -19.56256071, -0.97196498, -1.91359436, -0.31758797,-16.94563034,
   0.28360148, 26.79184963]

qfrc_actuator:
[-2.26887384e-05,-9.61921328e-05,-1.17877373e-04, 9.45256404e-06,
  2.54293352e-05,-3.30011280e-04,-2.55309254e-04,-7.82018587e-05,
  2.47755531e-06,-4.19145443e-05,-9.48725929e-05,-6.01816938e-05,
  3.21860332e-02,-1.12163298e-03, 1.50109131e-02,-3.57681004e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029840439836864574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.30132926e-14,  1.86026585e-13,  1.00000000e+00,  1.73029452e-26,
        1.00000000e+00, -1.86026585e-13, -1.00000000e+00,  0.00000000e+00,
       -9.30132926e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10988068, -0.03400968,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44909830e-05,-6.31530020e-05,-4.73341216e-05,-3.28415966e-05,
  3.25054139e-05,-1.46366765e-05, 2.84228045e-05,-2.12557397e-05,
  7.95878829e-06,-2.28850710e-05,-2.22795694e-05,-2.38577012e-05,
 -1.98563735e-04,-3.08964240e-05,-1.62658630e-04,-1.41978318e-04,
 -7.49743115e-07, 1.17699761e-06,-1.21644344e+00,-4.54578737e-04,
  1.12269735e-05,-5.49799333e-04]


--- Step 635 ---
qpos:
[ 6.16863149e-03,-1.82339336e-03,-4.98738692e-03, 3.35853043e-02,
  4.49813757e-03,-3.72634089e-03,-1.85142587e-02, 2.85565840e-02,
  1.29454283e-02, 3.31983756e-03,-1.00074388e-02, 2.58764681e-02,
  1.00287905e+00,-3.20868762e-04, 7.87163938e-01, 6.49073781e-02,
  9.35625077e-02,-7.00414584e-02, 1.30963748e-01, 5.03591290e-01,
  4.92665880e-01, 4.96810235e-01, 5.06809366e-01]

qacc:
[ -1.5220617 ,  0.48393936, -5.25605602, 16.73072688,  0.40341052,
  -3.06895449, 11.11603363,-15.93915419, -2.24733844,  1.8035879 ,
  -5.88026533,  7.09905664, -0.54939363,  0.42621419,-18.03941345,
  58.37631388, -0.12360944, -1.95182713, -0.26490744, -3.62489075,
  -0.88015803, 28.42540627]

qfrc_actuator:
[-3.12453890e-05,-9.20920221e-05,-9.94154914e-05, 4.60938445e-05,
  2.66900613e-05,-3.58771486e-04,-2.21107427e-04,-8.99934528e-05,
 -1.07558646e-05, 1.39060069e-05,-1.01798438e-04,-5.44050902e-05,
  3.21176055e-02,-1.13071172e-03, 1.49609939e-02,-3.30585528e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54885881,  4.12381755,  1.91995971,  4.12381755,  8.28944864,
       -8.03428838,  1.91995971, -8.03428838, 21.80543938,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030253533212732026
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.74912621e-08,  4.58716267e-14,  1.00000000e+00,  2.17850144e-21,
        1.00000000e+00, -4.58716267e-14, -1.00000000e+00,  0.00000000e+00,
       -4.74912621e-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([ 0.0960527 , -0.03268589,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.99023734e-06,-4.24370379e-05,-1.55469674e-06, 3.16579812e-05,
  2.18389331e-06,-3.20006650e-05, 3.39334848e-05,-1.18502726e-05,
 -1.30113466e-05, 3.73775657e-05,-1.52321534e-05, 3.56078105e-06,
 -2.01279351e-04,-5.42540075e-05,-1.43669989e-04, 2.41376215e-04,
 -7.39564046e-07, 4.51828625e-07,-1.21644154e+00,-4.55304932e-04,
  1.19394594e-05,-5.49842760e-04]


--- Step 636 ---
qpos:
[ 6.16822186e-03,-1.82324578e-03,-4.98751508e-03, 3.35862372e-02,
  4.49868152e-03,-3.72617679e-03,-1.85132196e-02, 2.85561975e-02,
  1.29456376e-02, 3.32110801e-03,-1.00070133e-02, 2.58753453e-02,
  1.00360029e+00,-3.19944166e-04, 7.87769980e-01, 6.49101721e-02,
  9.35596814e-02,-7.00452209e-02, 1.30961702e-01, 5.03576657e-01,
  4.92653221e-01, 4.96797694e-01, 5.06848503e-01]

qacc:
[ -0.86339469, -0.54946186, -0.89953175,  8.46406372,  0.10027175,
   1.73017824,-10.30661218, 26.33433586,  4.70769817, -0.81448156,
   3.31522705, -3.71255216, -0.64316322,  0.59974575, -8.39520931,
  25.50176483,  0.70443052, -1.95810395, -0.50561433,  9.53226819,
  -2.32056533, 28.90225396]

qfrc_actuator:
[-3.61509924e-05,-1.25168480e-04,-8.82530306e-05, 6.74866297e-05,
  2.72077766e-05,-3.58145720e-04,-2.19197504e-04,-4.31507822e-05,
  1.70910300e-05, 4.67714844e-05,-7.01861549e-05,-5.05072256e-05,
  3.20559328e-02,-1.13652815e-03, 1.48613475e-02,-3.21758844e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56048198,  3.81016004,  2.50612776,  3.81016004,  9.83830416,
       -8.02407103,  2.50612776, -8.02407103, 16.75977813,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003059953660486947
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81411738e-13, -2.26764673e-13,  1.00000000e+00,  4.11377734e-26,
        1.00000000e+00,  2.26764673e-13, -1.00000000e+00,  0.00000000e+00,
        1.81411738e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08229946, -0.03137055,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.17909726e-06,-5.57949546e-05, 3.29677614e-06, 2.01353976e-05,
  5.68055804e-07,-1.07869843e-05,-9.42797390e-07, 4.64146258e-05,
  2.74936201e-05, 5.07350617e-05, 3.75716562e-05, 5.04280730e-06,
 -2.00340931e-04,-5.57194779e-05,-1.40948202e-04, 8.27319031e-05,
 -3.67017878e-07,-4.83734034e-08,-1.21644044e+00,-4.56223790e-04,
  1.14270758e-05,-5.49823980e-04]


--- Step 637 ---
qpos:
[ 6.16810138e-03,-1.82355320e-03,-4.98716604e-03, 3.35863605e-02,
  4.49922724e-03,-3.72582573e-03,-1.85125567e-02, 2.85560145e-02,
  1.29465241e-02, 3.32263796e-03,-1.00064662e-02, 2.58743035e-02,
  1.00432023e+00,-3.18780089e-04, 7.88374281e-01, 6.49126833e-02,
  9.35596011e-02,-7.00567302e-02, 1.30957117e-01, 5.03525975e-01,
  4.92680597e-01, 4.96764551e-01, 5.06904728e-01]

qacc:
[ 2.56496616e+00,-3.60734649e+00, 1.53978320e+01,-2.98249547e+01,
  7.26247061e-04, 1.71619311e+00,-6.62078811e+00, 1.06075578e+01,
  5.95794997e+00, 1.58233115e-01,-4.28912424e-01, 1.46792788e+00,
 -1.11309974e+00, 1.80495260e+00,-1.65489296e+00, 2.19899599e+00,
  6.86490692e-01,-1.93667020e+00,-6.34970725e-01, 9.49494656e+00,
 -2.16902343e+00, 2.84572010e+01]

qfrc_actuator:
[-2.11177304e-05,-1.44759755e-04,-6.39162879e-05, 2.64269847e-05,
  2.72941382e-05,-3.40004675e-04,-2.36217352e-04,-3.31952725e-05,
  5.11476882e-05, 4.80574338e-05,-6.94091062e-05,-4.77370415e-05,
  3.19930303e-02,-1.12257820e-03, 1.47638639e-02,-3.23789266e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56229915, -2.91327859,  3.51103708, -2.91327859, 13.32442398,
        7.27036203,  3.51103708,  7.27036203, 10.59487288,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030653134079822175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.05472685e-14,  9.05472685e-14,  1.00000000e+00, -8.19880783e-27,
        1.00000000e+00, -9.05472685e-14, -1.00000000e+00,  0.00000000e+00,
        9.05472685e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08229803, -0.03137155,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48650422e-05,-4.92548493e-05, 1.39125125e-05,-4.29464064e-05,
  9.69291917e-08, 1.38862742e-05,-1.77713384e-05, 1.03620605e-05,
  3.48579777e-05, 3.75960949e-05, 1.60410824e-05, 6.34017838e-06,
 -2.01512611e-04,-3.59038471e-05,-1.56113317e-04,-3.45538238e-05,
  9.03230822e-08,-5.90579044e-08,-1.21644014e+00,-4.57142586e-04,
  1.09147308e-05,-5.49712236e-04]


--- Step 638 ---
qpos:
[ 6.16850649e-03,-1.82371965e-03,-4.98678801e-03, 3.35859449e-02,
  4.49976996e-03,-3.72545935e-03,-1.85125861e-02, 2.85556516e-02,
  1.29474672e-02, 3.32464219e-03,-1.00065421e-02, 2.58733277e-02,
  1.00503878e+00,-3.17120254e-04, 7.88977126e-01, 6.49128745e-02,
  9.35622089e-02,-7.00759144e-02, 1.30949557e-01, 5.03439517e-01,
  4.92747481e-01, 4.96711248e-01, 5.06977819e-01]

qacc:
[  4.61951255, -1.01359744,  6.1439472 ,-15.60468078, -0.04837593,
   1.58342943, -4.85627849,  2.83454288,  0.4702162 ,  2.50305723,
  -8.29520681, 10.08455998, -1.50582446,  2.78589635,  4.93933011,
 -20.19884666,  0.67201172, -1.91873786, -0.74380014,  9.46042983,
  -2.0481098 , 28.09351115]

qfrc_actuator:
[ 5.52954714e-06,-1.02860658e-04,-4.97401747e-05, 2.22763178e-06,
  2.71265969e-05,-3.64877908e-04,-2.81973967e-04,-4.50235887e-05,
  5.30681905e-05, 6.58139597e-05,-1.04739971e-04,-4.57068478e-05,
  3.19241161e-02,-1.09706492e-03, 1.46890388e-02,-3.35742578e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55627969, -3.05218323,  3.38287779, -3.05218323, 17.43808589,
       11.62254015,  3.38287779, 11.62254015, 15.04265384,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030475079407255024
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82152606e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.82152606e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08229655, -0.03137112,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.70545654e-05, 1.54012805e-05, 4.22818006e-06,-2.66654369e-05,
 -1.59640671e-07,-2.03548141e-05,-4.47304364e-05,-1.16483291e-05,
  2.92823727e-06, 4.23211754e-05,-2.53921711e-05, 4.31618852e-06,
 -2.04379544e-04,-2.12822657e-05,-1.53366323e-04,-1.42240101e-04,
  3.21019995e-07, 3.78847155e-07,-1.21644103e+00,-4.57895586e-04,
  1.10614845e-05,-5.49806422e-04]


--- Step 639 ---
qpos:
[ 6.16853794e-03,-1.82364020e-03,-4.98635617e-03, 3.35855714e-02,
  4.50099618e-03,-3.72502642e-03,-1.85129584e-02, 2.85554647e-02,
  1.29480818e-02, 3.32671462e-03,-1.00071646e-02, 2.58724316e-02,
  1.00575602e+00,-3.15407445e-04, 7.89579105e-01, 6.49091391e-02,
  9.35651106e-02,-7.00907016e-02, 1.30945491e-01, 5.03366843e-01,
  4.92800590e-01, 4.96676116e-01, 5.07032775e-01]

qacc:
[ -3.28806276,  0.26800063, -0.65116382,  1.10292646,  5.97025711,
   1.39590575, -5.61358588,  9.18138459, -2.90912882,  1.78722479,
  -6.56840216,  8.76064004, -1.10639786,  1.63309075, 10.62763013,
 -38.9095487 ,  0.07349573,  1.09925704,  0.87371092,  2.24673219,
   0.17437599,-15.95752353]

qfrc_actuator:
[-1.44647414e-05,-7.77392044e-05,-4.14031164e-05, 5.95034967e-06,
  6.23160513e-05,-3.44452326e-04,-2.91248195e-04,-3.41147423e-05,
  3.60566760e-05, 3.98763527e-05,-1.43286860e-04,-4.41379690e-05,
  3.18516493e-02,-1.10047097e-03, 1.46598004e-02,-3.55209862e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003056763118843009
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13500681e-14,  1.81601089e-13,  1.00000000e+00, -2.06118473e-27,
        1.00000000e+00, -1.81601089e-13, -1.00000000e+00,  0.00000000e+00,
        1.13500681e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09160978, -0.08819023,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92185097e-05, 3.34754047e-05, 1.11135242e-05, 4.00924479e-06,
  3.51800811e-05,-7.07369336e-07,-1.93947496e-05, 8.26217614e-06,
 -1.69066227e-05,-7.39698899e-06,-3.28026709e-05, 2.58586534e-06,
 -2.06781156e-04,-4.84218080e-05,-1.19263694e-04,-2.23197585e-04,
  3.37717131e-07, 1.25102420e-06,-1.21644306e+00,-4.58513401e-04,
  1.18491668e-05,-5.50099578e-04]


--- Step 640 ---
qpos:
[ 6.16832997e-03,-1.82348248e-03,-4.98633278e-03, 3.35856444e-02,
  4.50194453e-03,-3.72425751e-03,-1.85133340e-02, 2.85553505e-02,
  1.29488331e-02, 3.32850578e-03,-1.00080926e-02, 2.58715906e-02,
  1.00647214e+00,-3.14308735e-04, 7.90180074e-01, 6.49056105e-02,
  9.35683308e-02,-7.01011815e-02, 1.30944072e-01, 5.03307712e-01,
  4.92840085e-01, 4.96658738e-01, 5.07070109e-01]

qacc:
[ -2.1190967 ,  2.16873342, -9.45986703, 17.77327344, -2.43773018,
   0.6075191 , -1.82073934,  2.82812799,  1.19839501,  0.59319807,
  -2.89106365,  4.54401381, -0.18427337, -0.73948013, -2.12216564,
   5.23973577,  0.07961773,  1.07680234,  0.66148141,  2.11381813,
   0.21429064,-15.62368248]

qfrc_actuator:
[-2.62496951e-05,-9.83509160e-05,-7.21111657e-05, 2.60606624e-05,
  4.70238734e-05,-2.96904822e-04,-2.78705467e-04,-2.76003341e-05,
  4.35536670e-05, 5.69125886e-06,-1.65838111e-04,-4.28860487e-05,
  3.17877443e-02,-1.13873677e-03, 1.46579134e-02,-3.52303110e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58664131, -0.85419091,  4.50639949, -0.85419091, 14.82085178,
        1.93990114,  4.50639949,  1.93990114,  4.95435081,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003135863702281305
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.76594208e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.76594208e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0916111 , -0.08818815,  0.06199103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23209466e-05, 5.61551549e-07,-2.22900971e-05, 2.20078153e-05,
 -1.42870490e-05, 4.35013131e-05, 1.02916969e-05, 5.97262467e-06,
  7.02106213e-06,-4.50562627e-05,-2.80437349e-05,-1.50166706e-07,
 -2.05298827e-04,-8.82713080e-05,-8.73138227e-05,-6.03882168e-08,
  2.16467243e-07, 8.24391597e-07,-1.21644184e+00,-4.58138291e-04,
  1.19340040e-05,-5.50409124e-04]


--- Step 641 ---
qpos:
[ 6.16867206e-03,-1.82314644e-03,-4.98697602e-03, 3.35856184e-02,
  4.50235757e-03,-3.72302832e-03,-1.85139456e-02, 2.85556598e-02,
  1.29496684e-02, 3.32988743e-03,-1.00089321e-02, 2.58704154e-02,
  1.00718700e+00,-3.13371122e-04, 7.90779550e-01, 6.49044580e-02,
  9.35718886e-02,-7.01074293e-02, 1.30944584e-01, 5.03261918e-01,
  4.92866108e-01, 4.96658766e-01, 5.07090240e-01]

qacc:
[  4.81246842,  1.8857983 , -5.9795489 ,  5.21601609, -4.70010309,
   2.14682779, -8.54483272, 15.89458618,  0.74878867, -1.47816588,
   5.89387241,-11.5156676 , -0.59743473,  0.4301822 , -9.34825781,
  29.5637369 ,  0.08440617,  1.05804362,  0.48289503,  2.00810988,
   0.24484158,-15.34548567]

qfrc_actuator:
[ 2.41143411e-06,-9.30753543e-05,-1.08052909e-04, 2.00770830e-05,
  1.98833165e-05,-2.68885469e-04,-2.88780185e-04,-5.93701462e-06,
  4.76693066e-05,-1.53674957e-05,-1.61061699e-04,-5.95841782e-05,
  3.17290078e-02,-1.14401464e-03, 1.45979204e-02,-3.39778752e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60118429, -1.01593336,  4.48762479, -1.01593336, 21.95799414,
        3.92933075,  4.48762479,  3.92933075,  5.49072795,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000317694944884761
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.36827467e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.36827467e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09161209, -0.08818709,  0.06199092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.83104491e-05, 1.91851226e-06,-3.78112263e-05,-6.30242269e-06,
 -2.75341565e-05, 5.46986265e-05, 3.81227616e-07, 2.39998928e-05,
  4.30508355e-06,-5.21010112e-05,-7.99768317e-06,-1.96024466e-05,
 -2.06960090e-04,-6.17230039e-05,-1.06228086e-04, 1.12579500e-04,
  1.16081060e-07, 5.03035155e-07,-1.21644097e+00,-4.57803175e-04,
  1.19081562e-05,-5.50624297e-04]


--- Step 642 ---
qpos:
[ 6.16900997e-03,-1.82281066e-03,-4.98773288e-03, 3.35855057e-02,
  4.50278690e-03,-3.72140362e-03,-1.85146384e-02, 2.85558785e-02,
  1.29502018e-02, 3.33069496e-03,-1.00093569e-02, 2.58690477e-02,
  1.00790030e+00,-3.11572562e-04, 7.91377987e-01, 6.49027713e-02,
  9.35757991e-02,-7.01095073e-02, 1.30946428e-01, 5.03229290e-01,
  4.92878781e-01, 4.96675913e-01, 5.07093509e-01]

qacc:
[ -0.04034282,  0.13876589, -0.12901821, -1.19014953,  0.13327859,
   0.56273109, -0.86561689, -0.86448962, -2.6339828 , -2.30852957,
   7.95153995,-11.53126788, -1.91775106,  3.84245187,  0.19939195,
  -2.64080018,  0.08816723,  1.04246083,  0.33291849,  1.92428763,
   0.26806111,-15.11468642]

qfrc_actuator:
[ 1.38860723e-06,-9.01514294e-05,-1.11208052e-04, 1.65567646e-05,
  2.15075884e-05,-2.52841694e-04,-2.94438854e-04,-1.10694740e-05,
  3.20015413e-05,-4.60623384e-05,-1.40160575e-04,-6.89324291e-05,
  3.16574472e-02,-1.09420186e-03, 1.45404241e-02,-3.43012172e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60492475, -1.21918242,  4.44059975, -1.21918242, 39.71727113,
        9.6402193 ,  4.44059975,  9.6402193 ,  7.25168117,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031873932786601056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.70792312e-14,  8.70792312e-14,  1.00000000e+00, -7.58279250e-27,
        1.00000000e+00, -8.70792312e-14, -1.00000000e+00,  0.00000000e+00,
        8.70792312e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09161282, -0.08818685,  0.06199089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.15820019e-07,-4.07955187e-06,-7.63177584e-06,-4.86951627e-06,
  8.55818936e-07, 4.76905497e-05, 6.51003642e-06,-2.30899578e-06,
 -1.55592115e-05,-6.23555425e-05, 8.47257784e-06,-1.22378326e-05,
 -2.15158842e-04,-2.74208591e-06,-9.84601504e-05,-4.08184880e-05,
  3.29254016e-08, 2.81464096e-07,-1.21644043e+00,-4.57499853e-04,
  1.17811624e-05,-5.50745988e-04]


--- Step 643 ---
qpos:
[ 6.16933352e-03,-1.82275006e-03,-4.98872788e-03, 3.35860865e-02,
  4.50357722e-03,-3.71970117e-03,-1.85149534e-02, 2.85556979e-02,
  1.29508882e-02, 3.33118056e-03,-1.00101928e-02, 2.58679490e-02,
  1.00861220e+00,-3.09203627e-04, 7.91975605e-01, 6.48989838e-02,
  9.35800742e-02,-7.01074668e-02, 1.30949100e-01, 5.03209681e-01,
  4.92878209e-01, 4.96709943e-01, 5.07080192e-01]

qacc:
[ -0.12870828,  1.73019865, -9.62357333, 22.20703282,  3.16965232,
  -1.77932488,  8.16892669,-15.72714759,  1.33946737,  1.27428874,
  -6.30090821, 11.85400861, -1.59069066,  3.01217061,  5.22468429,
 -19.81408906,  0.09113963,  1.02960774,  0.20726281,  1.85810762,
   0.28554045,-14.92436418]

qfrc_actuator:
[ 6.42250370e-07,-1.24036494e-04,-1.30482861e-04, 5.00469535e-05,
  4.00532713e-05,-2.61855257e-04,-2.79755555e-04,-3.19346471e-05,
  4.03213060e-05,-6.44577810e-05,-1.63204027e-04,-5.61262310e-05,
  3.15942425e-02,-1.06555018e-03, 1.45004160e-02,-3.53729030e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031733793033748847
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.74927564e-13,  1.74927564e-13,  1.00000000e+00,  3.05996528e-26,
        1.00000000e+00, -1.74927564e-13, -1.00000000e+00,  0.00000000e+00,
       -1.74927564e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09161334, -0.08818725,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.53674919e-07,-3.79557038e-05,-2.12211131e-05, 3.29576810e-05,
  1.85866062e-05, 1.88494508e-05, 2.52444764e-05,-1.86436758e-05,
  7.85798871e-06,-5.20642971e-05,-3.53039234e-05, 1.01919350e-05,
 -1.99636735e-04,-1.60820863e-05,-9.60002302e-05,-1.23546895e-04,
 -3.56881714e-08, 1.55241649e-07,-1.21644020e+00,-4.57222272e-04,
  1.15600232e-05,-5.50775033e-04]


--- Step 644 ---
qpos:
[ 6.16964553e-03,-1.82285541e-03,-4.98998164e-03, 3.35870519e-02,
  4.50423910e-03,-3.71828723e-03,-1.85148865e-02, 2.85553162e-02,
  1.29516684e-02, 3.33192135e-03,-1.00118476e-02, 2.58666208e-02,
  1.00932300e+00,-3.07103791e-04, 7.92572240e-01, 6.48935576e-02,
  9.35847233e-02,-7.01013499e-02, 1.30952182e-01, 5.03202971e-01,
  4.92864478e-01, 4.96760663e-01, 5.07050510e-01]

qacc:
[ -0.10649416,  1.29590171, -6.56133903, 13.75019719, -1.10735889,
  -1.85907879,  6.9287534 ,-10.81081746,  0.79511146,  2.15202258,
  -6.2174276 ,  3.36935966, -0.56734628,  0.3534498 ,  3.51608161,
 -14.36143143,  0.09350915,  1.01910081,  0.10226299,  1.80617941,
   0.29852455,-14.7686882 ]

qfrc_actuator:
[ 7.36399237e-08,-1.26474031e-04,-1.41506856e-04, 6.94926147e-05,
  3.28953292e-05,-3.03496282e-04,-2.71046203e-04,-4.41419863e-05,
  4.49467718e-05,-2.22382292e-05,-1.94201742e-04,-6.59170154e-05,
  3.15360921e-02,-1.08515424e-03, 1.44602669e-02,-3.61656852e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031400801938916145
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.20978239e-13,  8.83912955e-14,  1.00000000e+00, -1.95325528e-26,
        1.00000000e+00, -8.83912955e-14, -1.00000000e+00,  0.00000000e+00,
        2.20978239e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09161371, -0.08818818,  0.06199102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.03092146e-07,-2.66270524e-05,-2.03283626e-05, 1.77271739e-05,
 -6.62067175e-06,-2.67364247e-05, 1.50507067e-05,-1.08923650e-05,
  4.83201085e-06, 6.24873962e-06,-4.57411492e-05,-1.30421264e-05,
 -1.87724655e-04,-6.31570686e-05,-1.04569190e-04,-1.00035754e-04,
 -9.17448425e-08, 1.20794852e-07,-1.21644026e+00,-4.56965970e-04,
  1.12498306e-05,-5.50712190e-04]


--- Step 645 ---
qpos:
[ 6.16925809e-03,-1.82281661e-03,-4.99120555e-03, 3.35874916e-02,
  4.50446539e-03,-3.71721805e-03,-1.85146547e-02, 2.85551597e-02,
  1.29521530e-02, 3.33298976e-03,-1.00137376e-02, 2.58654801e-02,
  1.01003255e+00,-3.04901257e-04, 7.93167783e-01, 6.48848779e-02,
  9.35897541e-02,-7.00911906e-02, 1.30955323e-01, 5.03209062e-01,
  4.92837662e-01, 4.96827914e-01, 5.07004638e-01]

qacc:
[-6.15199698e+00,-9.63163954e-01, 5.95015287e+00,-1.52223718e+01,
 -3.80109076e+00,-4.45906112e-01,-8.97842576e-03, 3.88142573e+00,
 -2.61488334e+00, 1.48162250e+00,-5.43743215e+00, 8.80793851e+00,
 -1.08909283e+00, 1.65521833e+00, 8.26162127e+00,-3.11172940e+01,
  9.54200584e-02, 1.01061026e+00, 1.47817704e-02, 1.76579049e+00,
  3.07986630e-01,-1.46427313e+01]

qfrc_actuator:
[-3.58906735e-05,-9.22895831e-05,-1.29711865e-04, 4.50378887e-05,
  1.06602454e-05,-3.28873372e-04,-2.66076488e-04,-3.34404170e-05,
  2.96010461e-05, 2.03966940e-05,-1.93894461e-04,-5.33699019e-05,
  3.14703467e-02,-1.07984251e-03, 1.43934485e-02,-3.78525017e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030918086146944357
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90764066e-13, -3.59085300e-13,  1.00000000e+00,  6.85005718e-26,
        1.00000000e+00,  3.59085300e-13, -1.00000000e+00,  0.00000000e+00,
        1.90764066e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09161394, -0.0881895 ,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.59892458e-05, 1.58700308e-05, 4.41782746e-06,-2.59532176e-05,
 -2.24336904e-05,-3.77396847e-05, 9.08068010e-07, 9.86237526e-06,
 -1.52034807e-05, 3.61215509e-05,-4.47299701e-06, 1.09833409e-05,
 -1.97815935e-04,-4.33165760e-05,-1.31657520e-04,-1.89027238e-04,
 -1.36705279e-07, 1.75256334e-07,-1.21644061e+00,-4.56727677e-04,
  1.08542349e-05,-5.50558116e-04]


--- Step 646 ---
qpos:
[ 6.16844270e-03,-1.82276703e-03,-4.99195895e-03, 3.35872754e-02,
  4.50476814e-03,-3.71631027e-03,-1.85144433e-02, 2.85554672e-02,
  1.29527951e-02, 3.33391917e-03,-1.00149271e-02, 2.58651835e-02,
  1.01074080e+00,-3.02344368e-04, 7.93761662e-01, 6.48755538e-02,
  9.35951728e-02,-7.00770158e-02, 1.30958232e-01, 5.03227870e-01,
  4.92797818e-01, 4.96911569e-01, 5.06942712e-01]

qacc:
[ -3.74870574, -2.64425993, 12.22980716,-24.35295768,  0.67157869,
   0.79678504, -5.11269918, 13.2981517 ,  1.41195574, -0.40709961,
  -2.38380201, 15.98001511, -1.22963028,  2.13488803, -0.43884312,
  -1.86537514,  0.09698416,  1.00385256, -0.05786872,  1.73476777,
   0.3146868 ,-14.54232102]

qfrc_actuator:
[-5.68946176e-05,-8.96335575e-05,-1.04410577e-04, 1.27519301e-05,
  1.52426603e-05,-3.26567809e-04,-2.63286392e-04,-9.33927863e-06,
  3.81298287e-05, 9.84845038e-06,-1.57307626e-04,-9.99261138e-06,
  3.14107494e-02,-1.05984548e-03, 1.43266512e-02,-3.81002466e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030321467486871256
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94517624e-13, -1.83075411e-13,  1.00000000e+00,  3.56113940e-26,
        1.00000000e+00,  1.83075411e-13, -1.00000000e+00,  0.00000000e+00,
        1.94517624e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09161408, -0.08819113,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.20197405e-05, 1.13316990e-05, 2.82403617e-05,-3.19549329e-05,
  3.92797096e-06,-1.82371987e-05,-4.56604264e-06, 2.27055222e-05,
  8.11041095e-06, 9.18004702e-06, 4.38905713e-05, 4.49893466e-05,
 -1.94179111e-04,-2.74136714e-05,-1.53179513e-04,-5.33590877e-05,
 -1.71638297e-07, 3.16332512e-07,-1.21644124e+00,-4.56505007e-04,
  1.03757934e-05,-5.50313372e-04]


--- Step 647 ---
qpos:
[ 6.16772658e-03,-1.82270571e-03,-4.99242613e-03, 3.35873771e-02,
  4.50512356e-03,-3.71595568e-03,-1.85140180e-02, 2.85560953e-02,
  1.29535345e-02, 3.33455051e-03,-1.00152494e-02, 2.58654178e-02,
  1.01144810e+00,-3.00482026e-04, 7.94354061e-01, 6.48672077e-02,
  9.35966736e-02,-7.00704132e-02, 1.30959523e-01, 5.03235448e-01,
  4.92767204e-01, 4.96952780e-01, 5.06924551e-01]

qacc:
[  0.88192754, -0.13153544, -0.85382313,  5.89375648,  0.47724969,
  -0.66958594, -0.02915809,  5.64667686,  0.88842239, -1.72612797,
   3.33814805,  4.68788117,  0.07099487, -1.22678426, -5.15907309,
  14.8182836 , -0.97946221, -1.89302659, -0.40462171,-16.54234531,
   0.55470965, 26.61016941]

qfrc_actuator:
[-5.11614214e-05,-8.80662324e-05,-8.92107594e-05, 2.93656693e-05,
  1.78251339e-05,-3.78708633e-04,-2.61684633e-04, 4.71996741e-06,
  4.28956692e-05,-1.45214827e-05,-1.17547497e-04, 1.56459897e-05,
  3.13602157e-02,-1.10234053e-03, 1.42865861e-02,-3.74976260e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029761698835910344
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.86518759e-13,  1.86518759e-13,  1.00000000e+00, -3.47892473e-26,
        1.00000000e+00, -1.86518759e-13, -1.00000000e+00,  0.00000000e+00,
        1.86518759e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10986043, -0.03399972,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.11191387e-06, 1.23706454e-05, 1.99235929e-05, 1.74576183e-05,
  2.68755172e-06,-6.23438825e-05,-1.95598296e-06, 1.35582222e-05,
  4.99748841e-06,-8.25645021e-06, 4.86231850e-05, 2.84272625e-05,
 -1.79382441e-04,-8.65945541e-05,-1.19451768e-04, 3.68942476e-05,
 -1.97319580e-07, 5.42193701e-07,-1.21644214e+00,-4.56296245e-04,
  9.81623041e-06,-5.49978421e-04]


--- Step 648 ---
qpos:
[ 6.16673959e-03,-1.82261820e-03,-4.99270716e-03, 3.35880274e-02,
  4.50550710e-03,-3.71599506e-03,-1.85136207e-02, 2.85572292e-02,
  1.29539804e-02, 3.33499293e-03,-1.00150340e-02, 2.58656214e-02,
  1.01215439e+00,-2.99380136e-04, 7.94944973e-01, 6.48632104e-02,
  9.35942812e-02,-7.00712557e-02, 1.30958624e-01, 5.03231718e-01,
  4.92745693e-01, 4.96952413e-01, 5.06949524e-01]

qacc:
[ -2.37601688,  0.64840632, -4.56930865, 13.7368188 ,  0.25239579,
   0.59720199, -5.02160299, 14.11011877, -2.56283971, -1.81055181,
   6.23134314, -7.49120105,  0.21455296, -1.61319842,-15.34612731,
  50.43180823, -0.97331995, -1.86127872, -0.54753868,-16.17960873,
   0.66831174, 26.22554704]

qfrc_actuator:
[-6.52472536e-05,-8.71574164e-05,-8.00757224e-05, 5.68550638e-05,
  1.92008570e-05,-3.92050419e-04,-2.61022007e-04, 3.04644718e-05,
  2.76484470e-05,-2.92171409e-05,-9.40827658e-05, 1.28642572e-05,
  3.12991576e-02,-1.14591839e-03, 1.42572780e-02,-3.51557476e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5411851 , -0.38743609, -4.52462765, -0.38743609, 42.41250203,
       -3.2428558 , -4.52462765, -3.2428558 ,  4.81886527,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030022019355870067
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84901457e-13, -2.77352186e-13,  1.00000000e+00,  5.12828232e-26,
        1.00000000e+00,  2.77352186e-13, -1.00000000e+00,  0.00000000e+00,
        1.84901457e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10985825, -0.03400047,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39374324e-05, 1.26972366e-05, 1.47533378e-05, 2.90492131e-05,
  1.43025140e-06,-4.80456210e-05,-1.19971505e-05, 2.32656593e-05,
 -1.51095526e-05,-8.06624654e-06, 2.87282925e-05,-9.01178808e-07,
 -1.92697408e-04,-9.43556209e-05,-8.40405773e-05, 2.19962492e-04,
 -1.79223191e-07, 1.76246384e-07,-1.21644047e+00,-4.56903088e-04,
  1.08376574e-05,-5.50007521e-04]


--- Step 649 ---
qpos:
[ 6.16524650e-03,-1.82251361e-03,-4.99250959e-03, 3.35879469e-02,
  4.50555905e-03,-3.71616423e-03,-1.85133379e-02, 2.85586344e-02,
  1.29545851e-02, 3.33532112e-03,-1.00145026e-02, 2.58654510e-02,
  1.01285949e+00,-2.98761684e-04, 7.95534598e-01, 6.48584550e-02,
  9.35880170e-02,-7.00794384e-02, 1.30955054e-01, 5.03216623e-01,
  4.92733176e-01, 4.96911167e-01, 5.07017100e-01]

qacc:
[ -4.43565135, -2.81132574, 13.15601642,-26.59511608, -2.90335247,
   0.71151458, -3.9216563 ,  8.88377452,  1.40928279, -1.80681402,
   7.79776324,-14.68698668, -0.37502657, -0.26089344,  0.3920635 ,
  -4.12358598, -0.96795257, -1.83506887, -0.66777338,-15.88513352,
   0.75487563, 25.90666588]

qfrc_actuator:
[-9.08940622e-05,-8.66628435e-05,-5.68413510e-05, 1.95015335e-05,
  2.10336120e-06,-3.82050731e-04,-2.60766535e-04, 4.51541653e-05,
  3.62505165e-05,-3.80981542e-05,-8.04127293e-05,-6.62047530e-06,
  3.12318259e-02,-1.17204960e-03, 1.41545911e-02,-3.57135130e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54096757,  0.17369155,  4.53764452,  0.17369155, 25.03229491,
       -0.78436517,  4.53764452, -0.78436517,  4.57099143,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000300154202163741
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.24710546e-14, -9.24710546e-14,  1.00000000e+00, -8.55089594e-27,
        1.00000000e+00,  9.24710546e-14, -1.00000000e+00,  0.00000000e+00,
       -9.24710546e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10985704, -0.03399997,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.60405790e-05, 1.18842081e-05, 2.86817389e-05,-3.57338532e-05,
 -1.70738918e-05,-1.83535402e-05,-1.03480948e-05, 1.26649551e-05,
  8.17053222e-06,-7.51896994e-06, 1.55041009e-05,-1.88551213e-05,
 -2.08363557e-04,-8.13377057e-05,-1.21759450e-04,-5.54820691e-05,
 -3.23001158e-08,-5.50931504e-08,-1.21644004e+00,-4.57541239e-04,
  1.09901124e-05,-5.50266575e-04]


--- Step 650 ---
qpos:
[ 6.16380235e-03,-1.82221074e-03,-4.99209596e-03, 3.35874144e-02,
  4.50575073e-03,-3.71665393e-03,-1.85129445e-02, 2.85595227e-02,
  1.29552878e-02, 3.33595096e-03,-1.00142599e-02, 2.58650369e-02,
  1.01356346e+00,-2.98765335e-04, 7.96122819e-01, 6.48497809e-02,
  9.35819747e-02,-7.00832895e-02, 1.30953577e-01, 5.03214596e-01,
  4.92707873e-01, 4.96887431e-01, 5.07066961e-01]

qacc:
[ 4.33418829e-01,-1.27342456e+00, 6.82698848e+00,-1.51381070e+01,
  1.23147949e+00,-1.79745997e+00, 7.97307177e+00,-1.68541102e+01,
  8.48112154e-01, 7.02380252e-01,-8.99713926e-01,-3.07575907e+00,
 -3.41222942e-01,-4.28020790e-01, 9.75350519e+00,-3.71410300e+01,
  5.54719146e-02, 1.08292622e+00, 5.23301688e-01, 2.40401823e+00,
  3.52206907e-02,-1.52610986e+01]

qfrc_actuator:
[-8.76286253e-05,-6.86655553e-05,-4.32669093e-05,-2.43989007e-06,
  9.77567068e-06,-4.11410638e-04,-2.60657732e-04, 1.77379059e-05,
  4.10745954e-05,-7.98423292e-06,-9.03655091e-05,-1.80187261e-05,
  3.11714325e-02,-1.20543827e-03, 1.40558446e-02,-3.77998660e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.5411469 ,   1.35782267,   4.33339737,   1.35782267,
        40.68250147, -11.32449819,   4.33339737, -11.32449819,
         8.08955456,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003002086065682086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15567871e-14,  1.84908594e-13,  1.00000000e+00, -2.13694925e-27,
        1.00000000e+00, -1.84908594e-13, -1.00000000e+00,  0.00000000e+00,
        1.15567871e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09161862, -0.08819328,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.52899089e-06, 2.90261441e-05, 1.83247486e-05,-2.11343933e-05,
  7.17807513e-06,-4.12240958e-05,-4.52244261e-06,-2.83170730e-05,
  5.05529193e-06, 2.82908731e-05,-1.02580439e-05,-1.15527248e-05,
 -2.09296761e-04,-8.94705001e-05,-1.65408263e-04,-2.28442630e-04,
  2.44231549e-07,-1.59206133e-07,-1.21644080e+00,-4.58229321e-04,
  1.03203991e-05,-5.50757689e-04]


--- Step 651 ---
qpos:
[ 6.16309821e-03,-1.82164239e-03,-4.99185122e-03, 3.35869864e-02,
  4.50603271e-03,-3.71738580e-03,-1.85128531e-02, 2.85600947e-02,
  1.29560428e-02, 3.33700596e-03,-1.00142564e-02, 2.58648149e-02,
  1.01426599e+00,-2.98535812e-04, 7.96709398e-01, 6.48438334e-02,
  9.35761916e-02,-7.00828886e-02, 1.30953575e-01, 5.03225536e-01,
  4.92669739e-01, 4.96880906e-01, 5.07099550e-01]

qacc:
[  6.49696564,  1.02547122, -3.61009322,  5.51599851,  0.78485951,
  -0.12839824,  1.3266181 , -6.13773899,  0.44595982,  1.62464906,
  -5.79000451,  9.18514736, -1.07708889,  1.64429941,-10.58951575,
  33.6731313 ,  0.06482283,  1.06296909,  0.36885927,  2.23193117,
   0.1070705 ,-15.06037661]

qfrc_actuator:
[-4.96158012e-05,-5.81072999e-05,-5.31699689e-05, 2.63210503e-06,
  1.42185545e-05,-4.28638384e-04,-2.78568813e-04, 1.24293727e-06,
  4.36291524e-05, 2.74038223e-05,-9.62609740e-05,-6.79317840e-06,
  3.11045894e-02,-1.18959149e-03, 1.40447318e-02,-3.61530474e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54970382, -0.73187787, -4.49045205, -0.73187787, 22.64476187,
       -2.94922924, -4.49045205, -2.94922924,  5.03038496,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003027887544457819
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48958010e-13, -1.83332936e-13,  1.00000000e+00,  2.73089093e-26,
        1.00000000e+00,  1.83332936e-13, -1.00000000e+00,  0.00000000e+00,
        1.48958010e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09162028, -0.0881931 ,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.80937288e-05, 2.96603477e-05,-2.38736219e-06, 6.53826254e-06,
  4.63490268e-06,-4.24141004e-05,-2.79640694e-05,-1.89712912e-05,
  2.71111284e-06, 4.85737211e-05,-1.72361380e-06, 1.18570639e-05,
 -2.18720422e-04,-4.14544513e-05,-1.15620285e-04, 1.29971414e-04,
  3.27123766e-08,-1.92168986e-07,-1.21644037e+00,-4.57565308e-04,
  1.08735161e-05,-5.50769686e-04]


--- Step 652 ---
qpos:
[ 6.16285527e-03,-1.82109640e-03,-4.99130285e-03, 3.35862815e-02,
  4.50636571e-03,-3.71829584e-03,-1.85127723e-02, 2.85607813e-02,
  1.29568228e-02, 3.33843158e-03,-1.00143493e-02, 2.58650710e-02,
  1.01496709e+00,-2.98093524e-04, 7.97294570e-01, 6.48434428e-02,
  9.35706968e-02,-7.00783012e-02, 1.30954531e-01, 5.03249352e-01,
  4.92618745e-01, 4.96891343e-01, 5.07115229e-01]

qacc:
[ 4.06511056e+00,-1.45625799e+00, 6.30396236e+00,-1.15477151e+01,
  4.49364496e-01, 2.90791737e-02,-9.30846402e-01, 3.06403506e+00,
  2.09833480e-01, 1.74308483e+00,-7.52388430e+00, 1.56809377e+01,
 -9.48143182e-01, 1.36685309e+00,-1.87915295e+01, 6.28580721e+01,
  7.20674140e-02, 1.04664518e+00, 2.39287544e-01, 2.09439182e+00,
  1.64073762e-01,-1.48936437e+01]

qfrc_actuator:
[-2.69704554e-05,-6.99116025e-05,-4.13557297e-05,-1.19688061e-05,
  1.67173078e-05,-4.20784343e-04,-2.71418164e-04, 9.05959721e-06,
  4.48284559e-05, 4.79595590e-05,-9.96562111e-05, 1.76683377e-05,
  3.10339441e-02,-1.18031513e-03, 1.40223617e-02,-3.32047366e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54967146, -0.60609349, -4.50911976, -0.60609349, 33.2436156 ,
       -3.85689751, -4.50911976, -3.85689751,  5.06809647,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030277905427239515
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.72933778e-14, -3.66677618e-13,  1.00000000e+00,  2.10081993e-26,
        1.00000000e+00,  3.66677618e-13, -1.00000000e+00,  0.00000000e+00,
        5.72933778e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09162154, -0.0881935 ,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.37366767e-05, 4.56205645e-06, 1.78638302e-05,-1.32875850e-05,
  2.61826748e-06,-2.24270080e-05,-5.70515697e-06, 4.66214829e-06,
  1.29616069e-06, 4.78361152e-05, 6.82505372e-06, 2.67123973e-05,
 -2.17163139e-04,-4.27553846e-05,-6.51894975e-05, 2.86255272e-04,
 -1.59072478e-07,-1.38111398e-07,-1.21644026e+00,-4.56943664e-04,
  1.13115518e-05,-5.50695754e-04]


--- Step 653 ---
qpos:
[ 6.16288602e-03,-1.82070067e-03,-4.99029149e-03, 3.35861034e-02,
  4.50741545e-03,-3.71877849e-03,-1.85128707e-02, 2.85607980e-02,
  1.29576111e-02, 3.34025074e-03,-1.00147516e-02, 2.58652847e-02,
  1.01566686e+00,-2.97556353e-04, 7.97878702e-01, 6.48446184e-02,
  9.35655127e-02,-7.00695803e-02, 1.30956009e-01, 5.03285969e-01,
  4.92554868e-01, 4.96918540e-01, 5.07114286e-01]

qacc:
[  2.42396811, -0.41291585, -1.0479134 ,  9.54362084,  6.25955386,
  -0.32460586,  4.78475711,-16.38354456,  0.05770894,  1.2977316 ,
  -3.69365243,  3.16514145, -0.94296707,  1.30474863, -6.20972279,
  19.61605551,  0.07766969,  1.03338427,  0.13083112,  1.98442278,
   0.20941442,-14.75647931]

qfrc_actuator:
[-1.35627983e-05,-7.71991632e-05,-1.69160881e-05, 1.52239562e-05,
  5.35580058e-05,-3.62343110e-04,-2.67153708e-04,-2.20990616e-05,
  4.52211374e-05, 5.95003825e-05,-1.19350983e-04, 1.42032958e-05,
  3.09717203e-02,-1.17505389e-03, 1.39506690e-02,-3.25326873e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54280509, -0.44192697, -4.52125852, -0.44192697, 47.33339973,
       -4.18253405, -4.52125852, -4.18253405,  4.95162369,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030071101726975025
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.76873934e-14, -5.53798977e-13,  1.00000000e+00,  3.19472195e-26,
        1.00000000e+00,  5.53798977e-13, -1.00000000e+00,  0.00000000e+00,
        5.76873934e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0916225 , -0.08819438,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.40818351e-05,-1.63133397e-06, 2.71105281e-05, 2.77459073e-05,
  3.69076990e-05, 4.49530043e-05,-9.01272084e-07,-3.22262364e-05,
  4.49287462e-07, 4.07974094e-05,-8.06406903e-06,-6.62483608e-07,
 -2.07307349e-04,-4.70255170e-05,-7.57724023e-05, 7.33833582e-05,
 -3.34730636e-07, 1.66775978e-09,-1.21644044e+00,-4.56354593e-04,
  1.16450748e-05,-5.50534895e-04]


--- Step 654 ---
qpos:
[ 6.16342229e-03,-1.82029313e-03,-4.98928272e-03, 3.35859186e-02,
  4.50855385e-03,-3.71901409e-03,-1.85131752e-02, 2.85604657e-02,
  1.29587435e-02, 3.34210098e-03,-1.00154890e-02, 2.58651592e-02,
  1.01636519e+00,-2.96367493e-04, 7.98462140e-01, 6.48435866e-02,
  9.35631849e-02,-7.00687392e-02, 1.30955566e-01, 5.03286250e-01,
  4.92531740e-01, 4.96924427e-01, 5.07130703e-01]

qacc:
[ 4.44464415e+00, 2.50057628e-04, 3.52034125e-02,-1.40251400e-01,
  7.65154121e-01, 1.82812640e-01, 1.29305177e+00,-7.18271289e+00,
  3.01570516e+00, 2.73044548e-01, 5.08149862e-01,-5.85562176e+00,
 -1.70995191e+00, 3.27352929e+00, 5.74011259e+00,-2.13268085e+01,
  7.14064245e-01,-1.96995587e+00,-4.80461623e-01, 9.48620548e+00,
 -2.39129064e+00, 2.89539139e+01]

qfrc_actuator:
[ 1.20579162e-05,-8.16398343e-05,-2.06872652e-05, 1.35421606e-05,
  5.70598632e-05,-3.62847013e-04,-2.82200797e-04,-4.03990313e-05,
  6.28889673e-05, 2.99558203e-05,-1.48573827e-04,-5.68842574e-06,
  3.09092662e-02,-1.13666368e-03, 1.38973323e-02,-3.37412937e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53681596,  0.67146307, -4.48685151,  0.67146307, 42.57063605,
        5.69180988, -4.48685151,  5.69180988,  5.3886026 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002988908186744993
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.85723842e-13,  1.85723842e-13,  1.00000000e+00, -3.44933455e-26,
        1.00000000e+00, -1.85723842e-13, -1.00000000e+00,  0.00000000e+00,
        1.85723842e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08226916, -0.03137784,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.60160307e-05, 1.41515875e-06, 1.74254645e-07,-2.77020262e-07,
  4.57320154e-06, 2.30979984e-05,-6.98272129e-06,-1.70321295e-05,
  1.77005824e-05,-8.48354369e-06,-2.18280446e-05,-1.84387977e-05,
 -2.02686613e-04,-1.22943791e-05,-8.63989946e-05,-1.28017903e-04,
 -4.96939453e-07, 2.26009396e-07,-1.21644091e+00,-4.55790784e-04,
  1.18819816e-05,-5.50286448e-04]


--- Step 655 ---
qpos:
[ 6.16357160e-03,-1.81973095e-03,-4.98891700e-03, 3.35853964e-02,
  4.50972635e-03,-3.71978316e-03,-1.85133424e-02, 2.85606851e-02,
  1.29604240e-02, 3.34372844e-03,-1.00161759e-02, 2.58648032e-02,
  1.01706232e+00,-2.95298665e-04, 7.99044548e-01, 6.48404456e-02,
  9.35636355e-02,-7.00756837e-02, 1.30952671e-01, 5.03250510e-01,
  4.92548720e-01, 4.96909591e-01, 5.07164216e-01]

qacc:
[ -3.42563845,  1.3140922 , -2.95291921, -1.98417486,  0.31216582,
   0.04563319, -3.51629128, 13.23764306,  4.82918701, -0.91942946,
   3.80829026, -7.69769904, -0.80454627,  0.90208257,  4.88215245,
 -19.20451132,  0.69462478, -1.94640131, -0.61314213,  9.46185957,
  -2.22457639, 28.50475824]

qfrc_actuator:
[-8.59273544e-06,-8.44743398e-05,-5.88571994e-05,-5.14156462e-06,
  5.86524141e-05,-4.34213870e-04,-2.90983608e-04,-1.55314630e-05,
  9.05829690e-05, 1.14703497e-05,-1.47858984e-04,-1.73697423e-05,
  3.08414056e-02,-1.15000138e-03, 1.38443640e-02,-3.48041390e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54122634, -2.46503266,  3.81396784, -2.46503266, 14.1476695 ,
        6.20880854,  3.81396784,  6.20880854,  8.5540855 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003002327026378343
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.84893753e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.84893753e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08226764, -0.03137916,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.99127282e-05,-2.03777487e-06,-3.78834840e-05,-1.86263831e-05,
  1.73223763e-06,-6.06082645e-05,-5.45443880e-06, 2.52861193e-05,
  2.82006507e-05,-2.85769018e-05,-4.37643868e-06,-1.31617158e-05,
 -1.98206350e-04,-5.71804304e-05,-1.13919693e-04,-1.26162727e-04,
 -6.76878329e-08,-2.58784638e-08,-1.21644004e+00,-4.56643541e-04,
  1.12726581e-05,-5.50107626e-04]


--- Step 656 ---
qpos:
[ 6.16347241e-03,-1.81893007e-03,-4.98938884e-03, 3.35850029e-02,
  4.51090873e-03,-3.72086312e-03,-1.85136712e-02, 2.85615390e-02,
  1.29624238e-02, 3.34482905e-03,-1.00161501e-02, 2.58643031e-02,
  1.01775813e+00,-2.94055984e-04, 7.99625454e-01, 6.48360618e-02,
  9.35644277e-02,-7.00783864e-02, 1.30951663e-01, 5.03228123e-01,
  4.92552179e-01, 4.96912130e-01, 5.07180582e-01]

qacc:
[ -2.21540871,  2.92601316,-10.51003686, 13.88988289,  0.08715022,
   1.34498912, -8.07205314, 19.54112058,  2.84083186, -2.99007751,
  10.24962237,-13.48362123, -1.101538  ,  1.69877919,  1.59407737,
  -8.65814159,  0.08537912,  1.06043828,  0.47189626,  1.97531829,
   0.25991717,-15.3390452 ]

qfrc_actuator:
[-2.08106705e-05,-6.87400723e-05,-9.92722434e-05, 1.81210191e-06,
  5.91184884e-05,-4.40901003e-04,-2.96268727e-04, 1.67230075e-05,
  1.06198256e-04,-1.78908906e-05,-1.11680319e-04,-2.40977740e-05,
  3.07756581e-02,-1.14060688e-03, 1.37703689e-02,-3.54166266e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030201564165534267
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95289879e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.95289879e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09162496, -0.08819454,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27845741e-05, 5.94028042e-06,-4.61554005e-05, 5.19297727e-06,
  4.93571817e-07,-4.05920502e-05,-1.75904514e-05, 2.99619996e-05,
  1.64116090e-05,-4.68445919e-05, 2.92716405e-05,-8.36240509e-06,
 -2.03058541e-04,-4.07356678e-05,-1.45666490e-04,-8.41639902e-05,
  1.32095518e-07, 1.74857757e-07,-1.21644037e+00,-4.57318127e-04,
  1.13200699e-05,-5.50135516e-04]


--- Step 657 ---
qpos:
[ 6.16391728e-03,-1.81804900e-03,-4.99003955e-03, 3.35843248e-02,
  4.51105259e-03,-3.72207297e-03,-1.85138746e-02, 2.85627290e-02,
  1.29635609e-02, 3.34497713e-03,-1.00151826e-02, 2.58641106e-02,
  1.01845237e+00,-2.91768523e-04, 8.00204675e-01, 6.48355202e-02,
  9.35655741e-02,-7.00769089e-02, 1.30951958e-01, 5.03218924e-01,
  4.92542233e-01, 4.96931770e-01, 5.07180125e-01]

qacc:
[ 4.77670720e+00, 1.06731689e-02, 1.30108874e+00,-5.98217174e+00,
 -9.08289298e+00, 1.87204595e-01,-2.30558321e+00, 7.98586569e+00,
 -7.54487901e+00,-3.24285742e+00, 8.46212201e+00,-3.96785377e+00,
 -1.88906919e+00, 3.89541815e+00,-1.39566439e+01, 4.55119465e+01,
  8.85411593e-02, 1.04505584e+00, 3.25686363e-01, 1.89525882e+00,
  2.82520197e-01,-1.51195246e+01]

qfrc_actuator:
[ 7.55260620e-06,-5.97630746e-05,-1.05077367e-04,-1.16881352e-05,
  5.66135466e-06,-4.26542141e-04,-2.81458745e-04, 3.53534071e-05,
  6.13180722e-05,-8.88896636e-05,-7.26583794e-05,-1.00954567e-05,
  3.07059054e-02,-1.08231366e-03, 1.37424207e-02,-3.32737590e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030371374339838164
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94197989e-13, -1.82774578e-13,  1.00000000e+00,  3.54944554e-26,
        1.00000000e+00,  1.82774578e-13, -1.00000000e+00,  0.00000000e+00,
        1.94197989e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09162564, -0.08819416,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.80015151e-05, 2.96054352e-06,-1.00854904e-05,-1.47408710e-05,
 -5.34577386e-05,-1.06480465e-05, 5.31007538e-06, 1.68664968e-05,
 -4.44276896e-05,-9.15334302e-05, 3.26509915e-05, 1.28432163e-05,
 -2.06790677e-04, 9.89340935e-06,-1.07759080e-04, 1.90053706e-04,
  3.49932481e-08, 6.62526684e-08,-1.21644006e+00,-4.56981845e-04,
  1.13311160e-05,-5.50172111e-04]


--- Step 658 ---
qpos:
[ 6.16469837e-03,-1.81704101e-03,-4.99054975e-03, 3.35838067e-02,
  4.51089953e-03,-3.72349454e-03,-1.85135700e-02, 2.85637711e-02,
  1.29631164e-02, 3.34457459e-03,-1.00140957e-02, 2.58637480e-02,
  1.01914547e+00,-2.89696556e-04, 8.00782240e-01, 6.48395230e-02,
  9.35670844e-02,-7.00713018e-02, 1.30953065e-01, 5.03222776e-01,
  4.92518978e-01, 4.96968285e-01, 5.07163108e-01]

qacc:
[ 2.95868520e+00, 9.88033382e-02,-7.94728601e-01, 3.25791142e+00,
 -2.57920479e+00,-1.99778573e+00, 7.35126655e+00,-1.05774400e+01,
 -1.39052122e+01,-1.38445250e+00, 4.64605205e+00,-7.42770920e+00,
 -3.69033262e-01,-2.18229709e-02,-1.61436574e+01, 5.29623917e+01,
  9.10035994e-02, 1.03240108e+00, 2.03086581e-01, 1.83160843e+00,
  2.99864593e-01,-1.49387666e+01]

qfrc_actuator:
[ 2.40661829e-05,-3.70247973e-05,-9.04401997e-05,-1.59363106e-06,
 -8.09472515e-06,-4.35117580e-04,-2.54814005e-04, 2.81012858e-05,
 -1.88052095e-05,-1.13224005e-04,-6.79499590e-05,-1.95543304e-05,
  3.06444718e-02,-1.10213748e-03, 1.36782620e-02,-3.09437671e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030299345236500796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.72528371e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.72528371e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09162614, -0.08819441,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73098032e-05, 2.16644454e-05, 1.34937391e-05, 9.58526547e-06,
 -1.52877504e-05,-1.26851249e-05, 2.56991447e-05,-7.19373520e-06,
 -8.14178501e-05,-6.82536204e-05,-9.74260934e-06,-1.20017573e-05,
 -1.89189811e-04,-6.11468313e-05,-9.68909410e-05, 2.28726662e-04,
 -4.85351798e-08, 5.13781324e-08,-1.21644005e+00,-4.56668502e-04,
  1.12477389e-05,-5.50116169e-04]


--- Step 659 ---
qpos:
[ 6.16532651e-03,-1.81585227e-03,-4.99091341e-03, 3.35834057e-02,
  4.51127191e-03,-3.72484841e-03,-1.85130058e-02, 2.85640086e-02,
  1.29617145e-02, 3.34398187e-03,-1.00133957e-02, 2.58632637e-02,
  1.01983768e+00,-2.88753095e-04, 8.01358463e-01, 6.48433366e-02,
  9.35703519e-02,-7.00677355e-02, 1.30955637e-01, 5.03213541e-01,
  4.92509605e-01, 4.97002825e-01, 5.07147526e-01]

qacc:
[ -1.34335009,  0.07271205, -0.40177657,  2.0533717 ,  4.60508116,
  -2.29866538, 11.70856672,-26.08103353, -8.43443705,  0.59620102,
  -1.94825101,  0.5701754 ,  0.45980755, -2.34009694, -1.46313943,
   2.10975053,  0.43928637, -0.51018805,  0.36641012,  5.85798101,
  -0.4117284 ,  7.61524461]

qfrc_actuator:
[ 1.57075269e-05,-2.38611700e-05,-8.15381282e-05, 4.57423313e-06,
  1.93962641e-05,-4.21814547e-04,-2.39253845e-04,-1.20832772e-05,
 -6.57523981e-05,-1.09580596e-04,-8.33839249e-05,-2.49824858e-05,
  3.05880474e-02,-1.16798916e-03, 1.35817832e-02,-3.11867871e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003004634314581292
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.67431293e-13,  2.50803855e-07,  1.00000000e+00,  4.19924138e-20,
        1.00000000e+00, -2.50803855e-07, -1.00000000e+00,  6.01853108e-36,
       -1.67431293e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08705599, -0.06046794,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.86244190e-06, 2.84508099e-05, 1.53646222e-05, 7.74881460e-06,
  2.70491246e-05, 1.12499121e-05, 1.58681724e-05,-3.99781633e-05,
 -4.92834396e-05,-3.70783426e-05,-3.11523072e-05,-8.92121097e-06,
 -1.88101666e-04,-1.15156356e-04,-1.19793527e-04,-2.50243299e-05,
 -1.20273256e-07, 1.27046531e-07,-1.21644034e+00,-4.56374058e-04,
  1.10749762e-05,-5.49968340e-04]


--- Step 660 ---
qpos:
[ 6.16619477e-03,-1.81470332e-03,-4.99075884e-03, 3.35827388e-02,
  4.51162580e-03,-3.72602853e-03,-1.85126088e-02, 2.85641239e-02,
  1.29604496e-02, 3.34355852e-03,-1.00131176e-02, 2.58630189e-02,
  1.02052882e+00,-2.88570979e-04, 8.01933880e-01, 6.48457162e-02,
  9.35697658e-02,-7.00715356e-02, 1.30955560e-01, 5.03193183e-01,
  4.92509213e-01, 4.96996304e-01, 5.07174496e-01]

qacc:
[  2.12824843, -2.0525526 ,  8.35621774,-13.74493951, -0.16999418,
   0.44557307, -0.7394421 , -1.23514252,  1.19039175,  1.89327798,
  -7.44092095, 12.13919075, -0.08885558, -1.01745007,  3.11988233,
 -12.68693351, -0.96339126, -1.84162197, -0.66243212,-15.98731251,
   0.63405222, 25.8704124 ]

qfrc_actuator:
[ 2.82854848e-05,-3.42995758e-05,-5.83867114e-05,-9.38740626e-06,
  1.76740187e-05,-4.13331802e-04,-2.48051725e-04,-1.80536060e-05,
 -5.72802096e-05,-7.15380831e-05,-9.26920838e-05,-1.02200370e-05,
  3.05293211e-02,-1.20720045e-03, 1.35564823e-02,-3.18792963e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53995795, -3.35655545, -3.05691899, -3.35655545, 12.22703349,
       -8.4405558 , -3.05691899, -8.4405558 , 13.80784948,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002998476450869064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.8513119e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.8513119e-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([ 0.10984029, -0.03399324,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23600746e-05, 8.93470655e-06, 3.11797626e-05,-1.20608083e-05,
 -9.44626018e-07, 1.63894965e-05,-5.89515157e-06,-5.71708246e-06,
  7.05946920e-06, 1.04835777e-05,-2.11125713e-05, 1.19245775e-05,
 -2.01869415e-04,-9.68658062e-05,-8.71867006e-05,-8.70278405e-05,
 -8.60935027e-08, 9.97631191e-08,-1.21644025e+00,-4.56632068e-04,
  1.09922910e-05,-5.49823632e-04]


--- Step 661 ---
qpos:
[ 6.16755186e-03,-1.81357427e-03,-4.99027539e-03, 3.35815754e-02,
  4.51161157e-03,-3.72693632e-03,-1.85124000e-02, 2.85645008e-02,
  1.29592954e-02, 3.34363013e-03,-1.00134044e-02, 2.58622291e-02,
  1.02121857e+00,-2.88236370e-04, 8.02509257e-01, 6.48460460e-02,
  9.35693697e-02,-7.00714437e-02, 1.30956737e-01, 5.03185297e-01,
  4.92496331e-01, 4.97005308e-01, 5.07186006e-01]

qacc:
[  4.30855602, -1.97650474,  9.09043408,-18.17826495, -3.23230531,
   1.42945523, -5.66813423, 10.28186009,  0.94684028,  1.10934237,
  -0.70840163, -8.18142852, -1.22460525,  1.88206178,  6.19504888,
 -21.59999866,  0.04748862,  0.97301701,  0.3132847 ,  1.56517071,
   0.16730488,-13.97909671]

qfrc_actuator:
[ 5.30935109e-05,-4.09983203e-05,-4.48686306e-05,-3.50908404e-05,
 -1.24243285e-06,-3.90121726e-04,-2.53388978e-04,-3.85607106e-06,
 -5.17732202e-05,-3.08922274e-05,-1.15887786e-04,-3.69135954e-05,
  3.04639366e-02,-1.19483800e-03, 1.35845398e-02,-3.28282960e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.53335196,   1.35206235,   4.32703217,   1.35206235,
        42.8142015 , -11.96156934,   4.32703217, -11.96156934,
         8.27096862,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00029783096199174425
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.48036767e-08, -5.48038573e-08,  1.00000000e+00, -3.00345288e-15,
        1.00000000e+00,  5.48038573e-08, -1.00000000e+00,  0.00000000e+00,
       -5.48036767e-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([ 0.09208001, -0.08685078,  0.06199148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51581515e-05, 4.18106723e-06, 1.87714994e-05,-2.44786109e-05,
 -1.89372396e-05, 3.09500135e-05,-2.86698415e-06, 1.45862033e-05,
  5.71045482e-06, 4.26693513e-05,-2.32173863e-05,-2.67424079e-05,
 -2.13067217e-04,-4.53585639e-05,-2.79545629e-05,-1.12444664e-04,
  7.67724363e-08, 3.27856098e-08,-1.21644009e+00,-4.57218738e-04,
  1.11572054e-05,-5.50100580e-04]


--- Step 662 ---
qpos:
[ 6.16885081e-03,-1.81239513e-03,-4.98992023e-03, 3.35801361e-02,
  4.51171561e-03,-3.72758883e-03,-1.85122688e-02, 2.85650390e-02,
  1.29585614e-02, 3.34396278e-03,-1.00139288e-02, 2.58611329e-02,
  1.02190698e+00,-2.87768366e-04, 8.03084187e-01, 6.48435900e-02,
  9.35706818e-02,-7.00733653e-02, 1.30959210e-01, 5.03164182e-01,
  4.92497425e-01, 4.97012462e-01, 5.07198881e-01]

qacc:
[ -0.51626337, -0.1421403 ,  1.76898871, -6.37611498,  1.02850857,
   0.88356046, -3.34590218,  6.07811683,  3.68506607,  0.37112603,
   0.45887449, -5.56190252, -1.18688573,  1.81377632,  7.81026271,
 -28.13482478,  0.42705442, -0.50337128,  0.32436827,  5.96530476,
  -0.38656645,  7.6264564 ]

qfrc_actuator:
[ 4.93895674e-05,-4.54572577e-05,-5.49011188e-05,-4.97495703e-05,
  5.38690156e-06,-3.75995964e-04,-2.56561890e-04, 4.35481166e-06,
 -3.03210852e-05,-2.45829714e-05,-1.29351540e-04,-5.22868671e-05,
  3.03999498e-02,-1.18764587e-03, 1.35487081e-02,-3.42743473e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52937761,  0.74617828, -4.46749141,  0.74617828, 37.73576817,
        5.54626411, -4.46749141,  5.54626411,  5.45573682,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002966084668472531
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91851501e-13, -2.29370919e-08,  1.00000000e+00,  8.98793390e-21,
        1.00000000e+00,  2.29370919e-08, -1.00000000e+00,  1.50463277e-36,
        3.91851501e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08705477, -0.06046834,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.99075031e-06, 6.68275239e-07,-7.72244025e-06,-1.43088173e-05,
  6.09869226e-06, 3.14889229e-05, 3.37955913e-06, 9.72343507e-06,
  2.16310883e-05, 2.42291707e-05,-8.43201223e-06,-1.48667223e-05,
 -2.07196328e-04,-4.47288821e-05,-7.10212423e-05,-1.56764960e-04,
 -2.57973415e-08, 1.15615812e-08,-1.21644000e+00,-4.56859198e-04,
  1.12091373e-05,-5.50072048e-04]


--- Step 663 ---
qpos:
[ 6.17009549e-03,-1.81123785e-03,-4.98968044e-03, 3.35788864e-02,
  4.51224320e-03,-3.72825789e-03,-1.85117763e-02, 2.85656760e-02,
  1.29587802e-02, 3.34436045e-03,-1.00142840e-02, 2.58602033e-02,
  1.02259401e+00,-2.86914282e-04, 8.03658019e-01, 6.48414118e-02,
  9.35723130e-02,-7.00711864e-02, 1.30962150e-01, 5.03155934e-01,
  4.92485534e-01, 4.97036404e-01, 5.07195148e-01]

qacc:
[ -0.48032956,  0.68475907, -3.28164758,  6.75952155,  3.71857795,
  -0.83496407,  2.51584358, -1.35753451,  8.38977836, -0.06039215,
  -0.39180109,  2.98765028, -1.300478  ,  2.23578587, -2.38200145,
   6.15999696,  0.07975938,  1.02509594,  0.11647024,  1.94939112,
   0.22937125,-14.80241039]

qfrc_actuator:
[ 4.66825044e-05,-4.86343224e-05,-6.09857033e-05,-4.00509655e-05,
  2.70045477e-05,-3.85165294e-04,-2.40718970e-04, 8.96923453e-06,
  1.80970017e-05,-2.10870913e-05,-1.19324786e-04,-4.31358370e-05,
  3.03368471e-02,-1.16584519e-03, 1.35118615e-02,-3.40502818e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52293438, -1.15458277,  4.37308518, -1.15458277, 37.49791465,
        8.7060605 ,  4.37308518,  8.7060605 ,  6.82151011,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029461159017014904
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05987081e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.05987081e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09162971, -0.08819724,  0.06199158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.79478044e-06,-5.06049402e-06,-7.40869345e-06, 9.18122141e-06,
  2.18023059e-05, 9.57703958e-06, 2.31044524e-05, 6.26976867e-06,
  4.90423443e-05, 1.46678801e-05, 1.34816842e-05, 9.61009821e-06,
 -2.02928400e-04,-2.85557973e-05,-9.46789326e-05, 2.73027858e-06,
  1.59744730e-08, 6.55645506e-08,-1.21644004e+00,-4.57068386e-04,
  1.12418892e-05,-5.50038456e-04]


--- Step 664 ---
qpos:
[ 6.17095300e-03,-1.81011961e-03,-4.98951196e-03, 3.35777616e-02,
  4.51233578e-03,-3.72859915e-03,-1.85111822e-02, 2.85656463e-02,
  1.29595778e-02, 3.34488156e-03,-1.00148284e-02, 2.58597532e-02,
  1.02327963e+00,-2.85480979e-04, 8.04230313e-01, 6.48408693e-02,
  9.35701951e-02,-7.00760758e-02, 1.30962380e-01, 5.03137131e-01,
  4.92482130e-01, 4.97020791e-01, 5.07232405e-01]

qacc:
[ -3.40580908,  0.41180126, -2.05939785,  4.35325068, -3.81010028,
  -1.21435247,  7.78728595,-19.74422284,  5.08554907,  1.66887906,
  -7.75570343, 16.2849129 , -1.43656604,  2.65134501, -7.11626982,
  21.80983818, -0.93726287, -1.76703504, -0.67730816,-15.48372623,
   0.61353797, 24.8386509 ]

qfrc_actuator:
[ 2.68403249e-05,-5.09903620e-05,-6.46631450e-05,-3.38456064e-05,
  4.00470657e-06,-3.54884082e-04,-2.31626991e-04,-2.40814413e-05,
  4.64885842e-05,-1.91876550e-05,-1.31020802e-04,-1.96207035e-05,
  3.02690009e-02,-1.13558544e-03, 1.34425260e-02,-3.31986910e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.51451689,  -1.25977136,  -4.33518614,  -1.25977136,
        41.52978753, -10.75634959,  -4.33518614, -10.75634959,
         7.64022837,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002919743847404134
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13936557e-06,  1.13936595e-06,  1.00000000e+00,  1.29815434e-12,
        1.00000000e+00, -1.13936595e-06, -1.00000000e+00,  0.00000000e+00,
       -1.13936557e-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([ 0.10937385, -0.03536554,  0.06199165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.99271651e-05,-6.36969467e-06,-5.33229977e-06, 5.91040972e-06,
 -2.23748982e-05, 4.07023638e-05, 1.41329086e-05,-3.17207261e-05,
  2.97897692e-05, 1.33080910e-05,-6.67326380e-06, 2.47972044e-05,
 -2.01449272e-04,-1.65646296e-05,-1.18276828e-04, 7.18031521e-05,
 -6.64257337e-08, 6.60818612e-08,-1.21644009e+00,-4.56752705e-04,
  1.11281628e-05,-5.49965026e-04]


--- Step 665 ---
qpos:
[ 6.17156607e-03,-1.80919996e-03,-4.98931708e-03, 3.35767340e-02,
  4.51215228e-03,-3.72863476e-03,-1.85110635e-02, 2.85656091e-02,
  1.29607100e-02, 3.34546113e-03,-1.00154967e-02, 2.58599379e-02,
  1.02396420e+00,-2.84590948e-04, 8.04800969e-01, 6.48387460e-02,
  9.35683635e-02,-7.00767805e-02, 1.30963670e-01, 5.03131286e-01,
  4.92465770e-01, 4.97022216e-01, 5.07252689e-01]

qacc:
[ -2.1450378 , -0.13228957, -0.31148516,  2.08682926, -2.43638901,
   1.72110616, -5.5113897 ,  5.90873568,  2.93977815,  1.72436711,
  -8.72612249, 19.87688295, -0.25005179, -0.49138063,  2.34951676,
 -11.74442389,  0.07159429,  1.04614115,  0.26486529,  2.0892684 ,
   0.17203207,-14.97159711]

qfrc_actuator:
[ 1.48243122e-05,-7.05804797e-05,-6.68942232e-05,-2.97475273e-05,
 -9.57122093e-06,-3.54528158e-04,-2.61975699e-04,-2.57472625e-05,
  6.28572113e-05,-1.83304946e-05,-1.37707178e-04, 1.21333237e-05,
  3.02090133e-02,-1.17160834e-03, 1.33324730e-02,-3.41155910e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.51499555,   1.34857928,   4.30888834,   1.34857928,
        42.33314412, -11.83617846,   4.30888834, -11.83617846,
         8.21943709,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002921252281158637
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.93828711e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.93828711e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09163161, -0.08819829,  0.06199165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.25883530e-05,-2.40499204e-05,-4.01170039e-06, 3.75596847e-06,
 -1.42001240e-05, 2.46740442e-05,-2.13001754e-05,-4.93995359e-08,
  1.72198462e-05, 7.98476146e-06,-3.90047136e-06, 3.25759999e-05,
 -1.90164793e-04,-8.05302576e-05,-1.60601832e-04,-1.03870161e-04,
  1.17922985e-07,-4.66812644e-09,-1.21644018e+00,-4.57331464e-04,
  1.10660712e-05,-5.50287789e-04]


--- Step 666 ---
qpos:
[ 6.17168521e-03,-1.80851465e-03,-4.98915872e-03, 3.35764633e-02,
  4.51215267e-03,-3.72905028e-03,-1.85107115e-02, 2.85652469e-02,
  1.29616849e-02, 3.34600315e-03,-1.00159131e-02, 2.58604878e-02,
  1.02464749e+00,-2.83507044e-04, 8.05370382e-01, 6.48340945e-02,
  9.35668415e-02,-7.00733528e-02, 1.30965575e-01, 5.03138310e-01,
  4.92436457e-01, 4.97040464e-01, 5.07256300e-01]

qacc:
[-4.33974926e+00, 1.35949749e+00,-8.47737297e+00, 2.17919485e+01,
  1.62303755e+00,-1.82497445e+00, 7.14610170e+00,-1.28589713e+01,
 -1.37516143e+00, 1.07653219e-03,-1.61376031e+00, 7.55657231e+00,
 -1.16760615e+00, 1.84709263e+00, 5.85879448e+00,-2.30149978e+01,
  7.73811367e-02, 1.03311113e+00, 1.53881179e-01, 1.98254855e+00,
  2.13995621e-01,-1.48191516e+01]

qfrc_actuator:
[-1.02364912e-05,-8.25832650e-05,-6.83266603e-05, 8.56943694e-06,
  2.74902407e-07,-4.07741656e-04,-2.62194513e-04,-4.44800977e-05,
  5.42721273e-05,-1.80831073e-05,-1.23624705e-04, 3.07310623e-05,
  3.01484326e-02,-1.15774686e-03, 1.32832666e-02,-3.53578586e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51155417e+00, -2.22111640e-02, -4.51149950e+00, -2.22111640e-02,
        4.77796908e+01, -2.13019125e-01, -4.51149950e+00, -2.13019125e-01,
        4.51260292e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.00029103833299280735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.98023195e-13, -1.90734845e-13,  1.00000000e+00,  5.68434078e-26,
        1.00000000e+00,  1.90734845e-13, -1.00000000e+00,  0.00000000e+00,
        2.98023195e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09163258, -0.08819881,  0.06199168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.54300301e-05,-2.61590349e-05,-6.77530980e-06, 3.72209036e-05,
  9.44996121e-06,-4.38225423e-05, 2.25184472e-06,-1.84129072e-05,
 -8.09308766e-06, 5.29885259e-06, 1.63796560e-05, 1.94382316e-05,
 -1.98024045e-04,-3.84788453e-05,-1.37006884e-04,-1.51244692e-04,
 -1.53870166e-08,-2.70484303e-08,-1.21644002e+00,-4.56886437e-04,
  1.12429794e-05,-5.50263185e-04]


--- Step 667 ---
qpos:
[ 6.17150278e-03,-1.80789003e-03,-4.98912619e-03, 3.35773281e-02,
  4.51227104e-03,-3.73004232e-03,-1.85096550e-02, 2.85643110e-02,
  1.29625498e-02, 3.34623415e-03,-1.00160057e-02, 2.58612868e-02,
  1.02532931e+00,-2.81637210e-04, 8.05938122e-01, 6.48332048e-02,
  9.35657191e-02,-7.00661350e-02, 1.30967892e-01, 5.03156793e-01,
  4.92395496e-01, 4.97074493e-01, 5.07244384e-01]

qacc:
[ -2.65391681,  2.61468008,-14.22289237, 34.1075447 ,  1.06414393,
  -3.91072877, 15.25812386,-25.88328573, -0.95275607, -0.80155912,
   1.21323564,  2.8049981 , -1.56904199,  3.06250637,-13.717323  ,
  44.64860355,  0.09990347,  0.9475331 ,  0.10299781,  2.10987843,
   0.25353522,-13.59344082]

qfrc_actuator:
[-2.50242703e-05,-7.21658209e-05,-6.92275525e-05, 6.67189369e-05,
  6.07208419e-06,-4.39275585e-04,-2.27101290e-04,-7.31324933e-05,
  4.88254677e-05,-5.36342097e-05,-1.15159798e-04, 4.14505388e-05,
  3.00822298e-02,-1.11447460e-03, 1.32599400e-02,-3.32290228e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002882227589231724
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.53403544e-07, -8.53403915e-07,  1.00000000e+00, -7.28297926e-13,
        1.00000000e+00,  8.53403915e-07, -1.00000000e+00, -1.00974196e-28,
       -8.53403544e-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([ 0.0913935 , -0.08674807,  0.06199176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.55235168e-05,-4.05078017e-06,-5.85944680e-06, 5.75183041e-05,
  6.05250820e-06,-5.63482494e-05, 2.56830128e-05,-3.08102917e-05,
 -5.67480410e-06,-2.83872283e-05, 1.22481785e-05, 1.18906282e-05,
 -1.99426526e-04,-3.89839484e-06,-1.07281416e-04, 1.85873406e-04,
 -1.34144822e-07, 3.77856573e-08,-1.21644014e+00,-4.56468329e-04,
  1.13224526e-05,-5.50149468e-04]


--- Step 668 ---
qpos:
[ 6.17148923e-03,-1.80743506e-03,-4.98871770e-03, 3.35778258e-02,
  4.51280253e-03,-3.73093767e-03,-1.85087535e-02, 2.85633570e-02,
  1.29636878e-02, 3.34599945e-03,-1.00158707e-02, 2.58622354e-02,
  1.02601010e+00,-2.80433051e-04, 8.06504594e-01, 6.48335011e-02,
  9.35673916e-02,-7.00667059e-02, 1.30967765e-01, 5.03139309e-01,
  4.92394653e-01, 4.97087752e-01, 5.07249552e-01]

qacc:
[ 1.49951009e+00,-2.03407506e+00, 8.47156538e+00,-1.52945298e+01,
  3.60909452e+00, 5.16022813e-01,-1.59019051e+00, 1.46565250e+00,
  2.41819911e+00,-9.47989215e-01, 1.84693669e+00, 7.31360568e-01,
 -2.19621520e-02,-1.04000273e+00,-5.46852054e+00, 1.63694837e+01,
  6.98725610e-01,-1.94716738e+00,-6.11048725e-01, 9.43373491e+00,
 -2.25489816e+00, 2.85045630e+01]

qfrc_actuator:
[-1.58903906e-05,-8.38814196e-05,-5.19529646e-05, 4.73235186e-05,
  2.71848878e-05,-4.04195333e-04,-2.24643268e-04,-7.18527249e-05,
  6.30301858e-05,-9.26232983e-05,-1.10238129e-04, 4.74132131e-05,
  3.00180416e-02,-1.16074126e-03, 1.31936409e-02,-3.26808384e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50661636,  0.70881832, -4.45052442,  0.70881832, 44.6485159 ,
        6.39324972, -4.45052442,  6.39324972,  5.52484525,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002894690354855317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.8353775e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        3.8353775e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08224598, -0.03137999,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.68674739e-06,-1.27562156e-05, 1.76974544e-05,-1.86549894e-05,
  2.12662792e-05, 7.58285679e-06,-7.08214627e-06,-8.44306899e-07,
  1.40333951e-05,-5.18321047e-05, 9.75682892e-07, 5.39968248e-06,
 -1.90018761e-04,-8.84504738e-05,-9.90910492e-05, 5.04168138e-05,
 -2.30937231e-07, 1.74896377e-07,-1.21644051e+00,-4.56099158e-04,
  1.13011134e-05,-5.49951052e-04]


--- Step 669 ---
qpos:
[ 6.17124006e-03,-1.80700318e-03,-4.98838516e-03, 3.35774094e-02,
  4.51323784e-03,-3.73128303e-03,-1.85089515e-02, 2.85631229e-02,
  1.29646418e-02, 3.34565397e-03,-1.00158041e-02, 2.58632231e-02,
  1.02668972e+00,-2.79464547e-04, 8.07070136e-01, 6.48337231e-02,
  9.35717949e-02,-7.00749863e-02, 1.30964753e-01, 5.03086105e-01,
  4.92433400e-01, 4.97080731e-01, 5.07271588e-01]

qacc:
[ -2.07435107, -1.69621615,  9.86890746,-25.55542015, -0.88520519,
   5.27933275,-20.80744844, 34.61541103, -1.61845836,  0.12821554,
  -0.82927247,  1.69101047, -0.59584464,  0.3949883 , -1.12436619,
   1.99526258,  0.68269205, -1.92739005, -0.72126631,  9.41828294,
  -2.11224876, 28.13603679]

qfrc_actuator:
[-2.82586050e-05,-9.09909831e-05,-5.97298239e-05, 2.02220201e-07,
  2.16394727e-05,-3.65094421e-04,-2.76694017e-04,-3.51870994e-05,
  5.31813734e-05,-8.01381868e-05,-1.07475619e-04, 5.05215735e-05,
  2.99604014e-02,-1.17083088e-03, 1.31548402e-02,-3.27152816e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50515198, -2.48418902,  3.75835061, -2.48418902, 19.23950292,
        9.73908947,  3.75835061,  9.73908947, 10.94248091,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028900139483602205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.84158362e-13,  1.92079181e-13,  1.00000000e+00, -7.37888236e-26,
        1.00000000e+00, -1.92079181e-13, -1.00000000e+00,  0.00000000e+00,
        3.84158362e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08224445, -0.03138017,  0.06199174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.21275706e-05,-1.14059457e-05,-8.88912833e-06,-4.74220702e-05,
 -4.93496443e-06, 4.18737252e-05,-5.13848927e-05, 3.67303462e-05,
 -9.46889433e-06,-1.60534468e-05,-7.63743833e-06, 1.02371901e-06,
 -1.95826846e-04,-6.42073342e-05,-8.35186628e-05,-1.45093675e-05,
 -1.39752379e-08, 5.89994724e-08,-1.21644004e+00,-4.56864343e-04,
  1.12010295e-05,-5.49851799e-04]


--- Step 670 ---
qpos:
[ 6.17118967e-03,-1.80666555e-03,-4.98816901e-03, 3.35771346e-02,
  4.51325888e-03,-3.73153257e-03,-1.85096577e-02, 2.85636929e-02,
  1.29654703e-02, 3.34545039e-03,-1.00158442e-02, 2.58642099e-02,
  1.02736809e+00,-2.78346480e-04, 8.07634703e-01, 6.48361565e-02,
  9.35765640e-02,-7.00790353e-02, 1.30963568e-01, 5.03046282e-01,
  4.92458521e-01, 4.97091036e-01, 5.07276597e-01]

qacc:
[  1.74587419,  0.48879752, -2.52685361,  5.23789293, -3.64271516,
   3.20662449,-14.633467  , 29.27699635, -1.11066604,  0.4860696 ,
  -1.45304465,  1.49796848, -0.90901086,  1.31008987, -8.05916364,
  26.2291724 ,  0.09144999,  1.05784737,  0.4566637 ,  1.90416172,
   0.29634308,-15.3301425 ]

qfrc_actuator:
[-1.76858603e-05,-9.54156086e-05,-6.44833783e-05, 8.14970010e-06,
  4.43179409e-07,-3.77330985e-04,-3.07185576e-04, 4.22655013e-06,
  4.70008022e-05,-5.46898243e-05,-1.05803765e-04, 5.19680249e-05,
  2.99067403e-02,-1.15937803e-03, 1.31378794e-02,-3.14937063e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002893317400170653
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.99562107e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.99562107e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09163516, -0.08819975,  0.06199173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02246497e-05,-1.46932364e-05,-9.85249129e-06, 6.22798095e-06,
 -2.13221061e-05, 2.15317845e-06,-2.68941215e-05, 4.01469597e-05,
 -6.45575069e-06, 1.49466857e-05,-2.54707879e-06, 5.13149805e-07,
 -1.90248476e-04,-3.99351967e-05,-6.30522825e-05, 1.09177832e-04,
 -1.53890173e-08, 3.83551371e-07,-1.21644073e+00,-4.57475661e-04,
  1.17379364e-05,-5.49951578e-04]


--- Step 671 ---
qpos:
[ 6.17195633e-03,-1.80680701e-03,-4.98702908e-03, 3.35772793e-02,
  4.51302562e-03,-3.73165337e-03,-1.85107485e-02, 2.85647182e-02,
  1.29662182e-02, 3.34538106e-03,-1.00161261e-02, 2.58645257e-02,
  1.02804558e+00,-2.78297541e-04, 8.08198549e-01, 6.48360595e-02,
  9.35817076e-02,-7.00789119e-02, 1.30963641e-01, 5.03019668e-01,
  4.92470158e-01, 4.97118407e-01, 5.07264868e-01]

qacc:
[  7.22184113, -2.36574773,  5.72031804,  0.44421663, -2.23965331,
   2.18432731, -9.45698866, 17.847561  , -0.71947667, -0.5269343 ,
   4.97197006,-16.30042882,  0.28248728, -1.91282347,  6.52696769,
 -24.49069797,  0.09362823,  1.04310782,  0.3146785 ,  1.8444014 ,
   0.30825482,-15.11323516]

qfrc_actuator:
[ 2.40639399e-05,-1.15901526e-04,-1.40942503e-05, 3.06958214e-05,
 -1.20344550e-05,-3.66877969e-04,-3.24893007e-04, 2.71643068e-05,
  4.30363940e-05,-5.71771418e-05,-1.22473157e-04, 1.69365247e-05,
  2.98501896e-02,-1.22405381e-03, 1.30701506e-02,-3.29140785e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002914541003623955
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.57117668e-14, -1.90462756e-13,  1.00000000e+00, -6.80176152e-27,
        1.00000000e+00,  1.90462756e-13, -1.00000000e+00,  0.00000000e+00,
       -3.57117668e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09163567, -0.08819922,  0.06199167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.20342895e-05,-3.04811996e-05, 4.63497996e-05, 2.16957814e-05,
 -1.30865483e-05, 7.83116393e-06,-1.91756295e-05, 2.28825405e-05,
 -4.14300866e-06, 5.37282191e-06,-1.38761738e-05,-3.44703423e-05,
 -1.84028815e-04,-1.11048725e-04,-9.11663392e-05,-1.45614048e-04,
 -5.45043263e-08, 1.97727694e-07,-1.21644035e+00,-4.57301590e-04,
  1.14877655e-05,-5.50032815e-04]


--- Step 672 ---
qpos:
[ 6.17252733e-03,-1.80708813e-03,-4.98538070e-03, 3.35776775e-02,
  4.51229939e-03,-3.73159379e-03,-1.85118156e-02, 2.85659750e-02,
  1.29665678e-02, 3.34539563e-03,-1.00169192e-02, 2.58651356e-02,
  1.02872183e+00,-2.78375254e-04, 8.08761496e-01, 6.48322583e-02,
  9.35872327e-02,-7.00746646e-02, 1.30964497e-01, 5.03006119e-01,
  4.92468432e-01, 4.97162629e-01, 5.07236639e-01]

qacc:
[ -1.70182205, -1.08057   ,  2.52013348,  1.15207992, -4.31660006,
   0.65689698, -2.9597832 ,  6.78141764, -3.52216892,  2.15206838,
  -8.74257653, 14.57604906, -0.89806199,  1.0548461 ,  9.8935893 ,
 -36.44568404,  0.09537116,  1.03096029,  0.19558771,  1.79743908,
   0.31670166,-14.93458818]

qfrc_actuator:
[ 1.28116623e-05,-1.10096409e-04, 1.51289942e-05, 4.39138730e-05,
 -3.70277787e-05,-3.42882446e-04,-3.17097853e-04, 4.02436731e-05,
  2.26543036e-05,-5.87223630e-05,-1.49969678e-04, 3.16991827e-05,
  2.97865913e-02,-1.22673212e-03, 1.30145796e-02,-3.48158890e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002912024757658477
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.95710415e-14, -3.81254665e-13,  1.00000000e+00,  2.27117375e-26,
        1.00000000e+00,  3.81254665e-13, -1.00000000e+00,  0.00000000e+00,
        5.95710415e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09163603, -0.08819933,  0.06199167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00712833e-05,-7.32565038e-07, 2.93717679e-05, 1.39333713e-05,
 -2.53645952e-05, 2.54048745e-05, 7.85481866e-06, 1.31977670e-05,
 -2.04963660e-05,-2.87819545e-06,-2.92842238e-05, 1.38423248e-05,
 -2.03103786e-04,-5.92146650e-05,-1.19693665e-04,-2.11446811e-04,
 -8.17119548e-08, 1.07261175e-07,-1.21644028e+00,-4.57146798e-04,
  1.11487456e-05,-5.50020589e-04]


--- Step 673 ---
qpos:
[ 6.17226926e-03,-1.80708585e-03,-4.98412821e-03, 3.35785846e-02,
  4.51127932e-03,-3.73161781e-03,-1.85126501e-02, 2.85670528e-02,
  1.29666706e-02, 3.34509537e-03,-1.00173441e-02, 2.58662532e-02,
  1.02939658e+00,-2.77843939e-04, 8.09323193e-01, 6.48264884e-02,
  9.35888579e-02,-7.00778517e-02, 1.30963105e-01, 5.02981152e-01,
  4.92475821e-01, 4.97165415e-01, 5.07251493e-01]

qacc:
[ -7.3069062 ,  2.54310795,-10.6464465 , 19.84673958, -2.56315659,
  -1.12335534,  4.61029577, -8.02929821, -2.15477415, -0.39575632,
  -1.32915319,  9.75184887, -1.6847584 ,  3.1107533 ,  4.1987801 ,
 -17.12984894, -0.97495509, -1.85857579, -0.56185946,-16.11467975,
   0.71439945, 26.19992986]

qfrc_actuator:
[-2.95559734e-05,-8.86644516e-05,-3.80675342e-06, 6.92859093e-05,
 -5.14375067e-05,-3.64122462e-04,-3.12008103e-04, 2.96969612e-05,
  1.05241589e-05,-7.74582851e-05,-1.30338341e-04, 5.78889325e-05,
  2.97135028e-02,-1.19272676e-03, 1.29663452e-02,-3.57420191e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002916265450576133
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90350132e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.90350132e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10982477, -0.0339817 ,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.26568882e-05, 2.76712256e-05,-1.50044593e-05, 2.66244374e-05,
 -1.51262850e-05,-4.84696600e-06, 1.17714616e-05,-8.92884443e-06,
 -1.27134922e-05,-2.57999258e-05, 1.59177012e-05, 2.53238339e-05,
 -2.13764925e-04,-1.78641522e-05,-1.32026872e-04,-1.21011140e-04,
 -9.83061756e-08, 1.08597595e-07,-1.21644049e+00,-4.57008585e-04,
  1.07243510e-05,-5.49915808e-04]


--- Step 674 ---
qpos:
[ 6.17185030e-03,-1.80685317e-03,-4.98312718e-03, 3.35801306e-02,
  4.51043892e-03,-3.73130818e-03,-1.85141346e-02, 2.85680039e-02,
  1.29669720e-02, 3.34450102e-03,-1.00172069e-02, 2.58673142e-02,
  1.03007007e+00,-2.77233627e-04, 8.09882940e-01, 6.48232928e-02,
  9.35866758e-02,-7.00881451e-02, 1.30959305e-01, 5.02945219e-01,
  4.92491807e-01, 4.97128529e-01, 5.07307749e-01]

qacc:
[ -1.42631727,  2.32601611,-10.54406369, 21.82902474,  1.5463202 ,
   1.99256788, -5.93528761,  4.54046051,  1.76983912, -2.07942963,
   7.08343929, -8.7386245 , -0.79678049,  1.02013076,-10.60341592,
  33.01545996, -0.9518542 , -1.77659604, -0.60212496,-15.49159917,
   0.76276233, 25.09917498]

qfrc_actuator:
[-3.66232595e-05,-7.59762392e-05,-1.54316517e-05, 1.01593702e-04,
 -4.17463740e-05,-3.41301439e-04,-3.44265292e-04, 2.30452922e-05,
  2.11056813e-05,-8.83908389e-05,-1.00857866e-04, 5.50984713e-05,
  2.96560913e-02,-1.19065412e-03, 1.29012736e-02,-3.43100163e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51379011,  0.33532292,  4.50131755,  0.33532292, 32.8333894 ,
       -2.10965134,  4.50131755, -2.10965134,  4.67094731,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029174514479239795
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.46457189e-07,  6.46456808e-07,  1.00000000e+00,  4.17906651e-13,
        1.00000000e+00, -6.46456808e-07, -1.00000000e+00, -5.04870979e-29,
       -6.46457189e-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([ 0.10936076, -0.03536138,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.27245505e-06, 2.61728475e-05,-6.85055092e-06, 3.34895802e-05,
  9.25724584e-06, 2.21623659e-05,-3.21089844e-05,-6.62571143e-06,
  1.02084620e-05,-2.09775337e-05, 2.69946085e-05,-2.85281370e-06,
 -1.95815824e-04,-4.52594071e-05,-1.43633164e-04, 1.18469642e-04,
  3.08677200e-08, 8.47554214e-08,-1.21644009e+00,-4.57552249e-04,
  1.11567883e-05,-5.50127692e-04]


--- Step 675 ---
qpos:
[ 6.17169468e-03,-1.80680845e-03,-4.98178722e-03, 3.35817194e-02,
  4.51006589e-03,-3.73067120e-03,-1.85157709e-02, 2.85688338e-02,
  1.29677425e-02, 3.34373209e-03,-1.00167331e-02, 2.58683337e-02,
  1.03074240e+00,-2.76371872e-04, 8.10440976e-01, 6.48204848e-02,
  9.35847840e-02,-7.00941261e-02, 1.30957711e-01, 5.02922566e-01,
  4.92494557e-01, 4.97109145e-01, 5.07346530e-01]

qacc:
[  2.32952901, -1.11243721,  3.41753603, -3.07251771,  4.08007027,
   0.59925962, -1.01125478, -1.0689632 ,  4.14272452, -1.26504606,
   4.33687223, -5.44895981, -0.99362549,  1.60065401, -3.63851773,
   9.19277497,  0.07260958,  1.07811595,  0.55172856,  2.18499863,
   0.15490391,-15.36269603]

qfrc_actuator:
[-2.28468690e-05,-1.04099883e-04,-4.90350668e-06, 1.02223881e-04,
 -1.79507036e-05,-3.10180230e-04,-3.44883142e-04, 1.87498883e-05,
  4.49675704e-05,-9.45361833e-05,-8.35616612e-05, 5.30337781e-05,
  2.96134436e-02,-1.17194943e-03, 1.28102304e-02,-3.41635828e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002977330689573343
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.49586322e-14, -1.86446038e-13,  1.00000000e+00, -6.51789849e-27,
        1.00000000e+00,  1.86446038e-13, -1.00000000e+00,  0.00000000e+00,
       -3.49586322e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09163867, -0.08819824,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35471354e-05,-1.34927413e-05, 1.62323851e-05, 2.16071261e-06,
  2.40694157e-05, 3.66054641e-05,-2.13384446e-07,-4.58547102e-06,
  2.41420856e-05,-1.24001930e-05, 1.61921588e-05,-2.08686384e-06,
 -1.75368420e-04,-2.94898763e-05,-1.46165581e-04, 2.24777089e-06,
  2.81574277e-07, 1.79186364e-07,-1.21644082e+00,-4.58134287e-04,
  1.07883832e-05,-5.50562256e-04]


--- Step 676 ---
qpos:
[ 6.17239528e-03,-1.80700554e-03,-4.98047690e-03, 3.35823007e-02,
  4.50963642e-03,-3.73012764e-03,-1.85169833e-02, 2.85699649e-02,
  1.29687933e-02, 3.34256701e-03,-1.00159067e-02, 2.58690029e-02,
  1.03141348e+00,-2.74967169e-04, 8.10997459e-01, 6.48184691e-02,
  9.35832061e-02,-7.00958703e-02, 1.30957691e-01, 5.02913045e-01,
  4.92484126e-01, 4.97106967e-01, 5.07368227e-01]

qacc:
[  7.53133533, -2.32601682, 12.05702867,-29.23863449, -0.47893108,
  -0.68693104,  0.9999363 ,  3.6028226 ,  2.48375823, -2.23504529,
   8.68022506,-15.00591156, -1.31897922,  2.44591997, -4.59905569,
  12.95543553,  0.0784449 ,  1.05918506,  0.39309627,  2.0627205 ,
   0.19911945,-15.14016494]

qfrc_actuator:
[ 2.08284682e-05,-1.38631816e-04,-1.70785868e-05, 4.86829473e-05,
 -2.15571498e-05,-3.27463977e-04,-3.26755641e-04, 3.36659851e-05,
  5.86949462e-05,-1.33316323e-04,-7.35754430e-05, 3.36594128e-05,
  2.95530624e-02,-1.14346955e-03, 1.27515849e-02,-3.37117641e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54344526,  0.32667008,  4.53168638,  0.32667008, 35.96862232,
       -2.26530791,  4.53168638, -2.26530791,  4.70674171,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003009046679044586
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26830590e-13, -1.84480858e-13,  1.00000000e+00, -2.33978160e-26,
        1.00000000e+00,  1.84480858e-13, -1.00000000e+00,  0.00000000e+00,
       -1.26830590e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09163981, -0.08819771,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.40532447e-05,-3.86471627e-05,-1.29083060e-05,-5.35226015e-05,
 -2.90591360e-06, 2.94792570e-06, 2.55124074e-05, 1.63875874e-05,
  1.44066101e-05,-4.24282284e-05, 9.34799553e-06,-1.93885872e-05,
 -1.77133902e-04,-1.25870210e-05,-1.28221168e-04, 2.58938663e-05,
  1.41359352e-07, 3.48138685e-08,-1.21644027e+00,-4.57696944e-04,
  1.10654809e-05,-5.50655464e-04]


--- Step 677 ---
qpos:
[ 6.17395874e-03,-1.80710683e-03,-4.97973131e-03, 3.35818849e-02,
  4.50916743e-03,-3.72982313e-03,-1.85178341e-02, 2.85709440e-02,
  1.29693106e-02, 3.34131536e-03,-1.00156423e-02, 2.58698044e-02,
  1.03208355e+00,-2.74056828e-04, 8.11552351e-01, 6.48192745e-02,
  9.35819600e-02,-7.00934400e-02, 1.30958709e-01, 5.02916531e-01,
  4.92460565e-01, 4.97121749e-01, 5.07373158e-01]

qacc:
[  7.56692304, -0.36247783,  5.65955629,-22.05427408, -0.33057022,
  -1.63754126,  6.02358507, -9.05659875, -4.71121375,  1.73779946,
  -6.90483678, 10.1390007 , -0.08959921, -0.74511229,-10.86901172,
  34.59430363,  0.08297136,  1.04362071,  0.25995578,  1.96512561,
   0.23380366,-14.95552329]

qfrc_actuator:
[ 6.39923219e-05,-1.23621784e-04,-4.26426159e-05,-8.22233082e-07,
 -2.35153633e-05,-3.55748221e-04,-3.15648497e-04, 2.42298509e-05,
  3.08376499e-05,-1.38128056e-04,-1.03631135e-04, 3.97299359e-05,
  2.94874169e-02,-1.18052716e-03, 1.27017739e-02,-3.21946794e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54503869, -0.13460434, -4.54304505, -0.13460434, 47.12752394,
       -1.261662  , -4.54304505, -1.261662  ,  4.58242004,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003013859214904546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95697921e-13, -1.84186278e-13,  1.00000000e+00,  3.60448717e-26,
        1.00000000e+00,  1.84186278e-13, -1.00000000e+00,  0.00000000e+00,
        1.95697921e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09164067, -0.08819784,  0.06199138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.44048437e-05,-1.15579966e-05,-3.70056825e-05,-5.26553248e-05,
 -2.04190633e-06,-2.06728969e-05, 1.54311869e-05,-8.10902446e-06,
 -2.74650929e-05,-2.73983815e-05,-3.83362990e-05, 4.19727374e-06,
 -1.79650678e-04,-7.58086145e-05,-1.09410815e-04, 1.35837294e-04,
  1.84017580e-08,-1.70511570e-08,-1.21644002e+00,-4.57292583e-04,
  1.12367065e-05,-5.50658074e-04]


--- Step 678 ---
qpos:
[ 6.17533775e-03,-1.80707840e-03,-4.97912982e-03, 3.35811902e-02,
  4.50902350e-03,-3.72966807e-03,-1.85188008e-02, 2.85714795e-02,
  1.29687997e-02, 3.34049842e-03,-1.00162965e-02, 2.58706299e-02,
  1.03275278e+00,-2.74445828e-04, 8.12106137e-01, 6.48169063e-02,
  9.35810599e-02,-7.00868861e-02, 1.30960322e-01, 5.02932920e-01,
  4.92423919e-01, 4.97153288e-01, 5.07361578e-01]

qacc:
[-1.62885744e+00, 3.26991505e-03, 1.41982213e+00,-6.11684816e+00,
  2.84355405e+00,-7.91719171e-01, 4.40032090e+00,-1.17728678e+01,
 -9.08403707e+00, 3.20887277e+00,-1.06778566e+01, 1.22060425e+01,
  5.13313047e-01,-2.53149036e+00, 7.88143971e+00,-3.01000957e+01,
  8.64852429e-02, 1.03091354e+00, 1.48461783e-01, 1.88733377e+00,
  2.61012580e-01,-1.48035776e+01]

qfrc_actuator:
[ 5.32422745e-05,-9.68800993e-05,-4.01877957e-05,-1.20081542e-05,
 -6.72635030e-06,-3.72697153e-04,-3.26613492e-04, 5.15077262e-07,
 -2.12687772e-05,-8.72045986e-05,-1.39185732e-04, 4.29722687e-05,
  2.94292874e-02,-1.25608715e-03, 1.26093907e-02,-3.39674714e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002997239047546202
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.78773814e-14, -1.85207621e-13,  1.00000000e+00,  1.07193321e-26,
        1.00000000e+00,  1.85207621e-13, -1.00000000e+00,  0.00000000e+00,
        5.78773814e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0916413 , -0.0881985 ,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.48820363e-06, 1.03843686e-05,-6.32230660e-06,-1.39890455e-05,
  1.67231852e-05,-2.56733054e-05,-1.36104703e-05,-2.42254782e-05,
 -5.28984391e-05, 2.78956257e-05,-4.57794251e-05, 8.25061907e-07,
 -1.86914432e-04,-1.25619562e-04,-1.31223589e-04,-1.84649306e-04,
 -9.00906058e-08, 2.09048197e-08,-1.21644008e+00,-4.56914400e-04,
  1.13100001e-05,-5.50570232e-04]


--- Step 679 ---
qpos:
[ 6.17623258e-03,-1.80687852e-03,-4.97856748e-03, 3.35803532e-02,
  4.50942695e-03,-3.72978997e-03,-1.85201337e-02, 2.85721065e-02,
  1.29683575e-02, 3.34055854e-03,-1.00176807e-02, 2.58714163e-02,
  1.03342085e+00,-2.75135085e-04, 8.12659172e-01, 6.48093330e-02,
  9.35805167e-02,-7.00762497e-02, 1.30962156e-01, 5.02962124e-01,
  4.92374223e-01, 4.97201418e-01, 5.07333693e-01]

qacc:
[-4.26149195e+00, 5.13369111e-02, 7.60968695e-01,-3.30320591e+00,
  4.78405452e+00, 8.35916431e-01,-3.91443912e+00, 6.30469762e+00,
  5.66384131e-01, 3.11752372e+00,-9.27111502e+00, 9.11928233e+00,
 -7.53507536e-01, 6.54690069e-01, 1.46281115e+01,-5.27236790e+01,
  8.92178965e-02, 1.02063370e+00, 5.53300818e-02, 1.82545775e+00,
  2.82358553e-01,-1.46798984e+01]

qfrc_actuator:
[ 2.85986875e-05,-8.09242941e-05,-3.88690383e-05,-1.82745195e-05,
  2.09622280e-05,-4.00591487e-04,-3.50488958e-04, 4.09083482e-06,
 -1.62061319e-05,-3.32668209e-06,-1.59705582e-04, 4.45731606e-05,
  2.93756881e-02,-1.26498267e-03, 1.25713648e-02,-3.66003690e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029637581673640223
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52181142e-13, -5.61899603e-13,  1.00000000e+00,  8.55105235e-26,
        1.00000000e+00,  5.61899603e-13, -1.00000000e+00,  0.00000000e+00,
        1.52181142e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09164174, -0.08819957,  0.06199153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.49094762e-05, 1.98432154e-05, 2.19425704e-06,-6.31212270e-06,
  2.81588862e-05,-4.60898934e-05,-3.16855056e-05, 1.53303615e-06,
  3.56824860e-06, 9.00716286e-05,-2.03508553e-05, 1.23192594e-06,
 -1.98368348e-04,-6.85156881e-05,-1.22835584e-04,-2.91393241e-04,
 -1.86189108e-07, 1.46473003e-07,-1.21644042e+00,-4.56557338e-04,
  1.12912619e-05,-5.50392141e-04]


--- Step 680 ---
qpos:
[ 6.17751505e-03,-1.80661252e-03,-4.97825593e-03, 3.35798212e-02,
  4.51015930e-03,-3.73027236e-03,-1.85214007e-02, 2.85720619e-02,
  1.29690142e-02, 3.34078226e-03,-1.00182007e-02, 2.58715052e-02,
  1.03408759e+00,-2.75625141e-04, 8.13210842e-01, 6.48022268e-02,
  9.35761594e-02,-7.00728459e-02, 1.30962185e-01, 5.02980563e-01,
  4.92333245e-01, 4.97208891e-01, 5.07347857e-01]

qacc:
[  3.3995112 ,  1.40969455, -6.19807957, 11.83943575,  2.88630898,
  -2.04703664,  9.43468944,-20.88879096,  9.69388271, -3.65347271,
  16.2529215 ,-29.79150476, -1.06910169,  1.62103493, -3.36165917,
   8.97815021, -0.95350655, -1.80816637, -0.45123392,-15.924566  ,
   0.59234464, 25.48180206]

qfrc_actuator:
[ 4.92503643e-05,-8.92862685e-05,-5.60318604e-05,-3.86150975e-06,
  3.70855608e-05,-4.17113161e-04,-3.46308661e-04,-2.95746885e-05,
  4.02250095e-05,-6.80810821e-06,-1.17768049e-04, 9.73722271e-06,
  2.93142152e-02,-1.25211150e-03, 1.25499837e-02,-3.61657945e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029198589050816393
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.23218270e-07,  3.23218460e-07,  1.00000000e+00,  1.04470111e-13,
        1.00000000e+00, -3.23218460e-07, -1.00000000e+00,  0.00000000e+00,
       -3.23218270e-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([ 0.10935274, -0.03535945,  0.06199165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.99494806e-05, 2.89380113e-06,-1.30190092e-05, 1.52174163e-05,
  1.69128407e-05,-4.87455379e-05,-9.17520977e-06,-3.67065590e-05,
  5.65636496e-05, 4.27482891e-05, 5.80921244e-05,-3.16551988e-05,
 -2.01215473e-04,-3.96331040e-05,-1.15552610e-04, 1.01990112e-05,
 -2.71428662e-07, 3.57852487e-07,-1.21644104e+00,-4.56217639e-04,
  1.11848462e-05,-5.50124018e-04]


--- Step 681 ---
qpos:
[ 6.17937998e-03,-1.80656113e-03,-4.97807941e-03, 3.35805306e-02,
  4.51073440e-03,-3.73089376e-03,-1.85227254e-02, 2.85715939e-02,
  1.29703426e-02, 3.34055529e-03,-1.00172779e-02, 2.58705246e-02,
  1.03475286e+00,-2.75341398e-04, 8.13760713e-01, 6.47996535e-02,
  9.35679374e-02,-7.00768027e-02, 1.30959626e-01, 5.02987680e-01,
  4.92301300e-01, 4.97175291e-01, 5.07404724e-01]

qacc:
[  5.12177161,  2.63997088,-15.0818281 , 36.95667353, -1.37603466,
  -0.89035831,  4.70013247,-11.83545056,  5.9633592 , -6.8410183 ,
  28.02325137,-48.48503066, -1.52548746,  2.92933404,-16.23551395,
  53.17974524, -0.96617967, -1.84013725, -0.64704005,-15.97618339,
   0.70610436, 25.96840877]

qfrc_actuator:
[ 7.86484404e-05,-1.12202154e-04,-6.63037090e-05, 5.80740199e-05,
  2.85166503e-05,-4.08864280e-04,-3.43333196e-04,-4.93531055e-05,
  7.31617137e-05,-6.23425133e-05,-5.74107070e-05,-4.62866098e-05,
  2.92480742e-02,-1.20880703e-03, 1.24960655e-02,-3.37491113e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51713563, -0.28273663,  4.50827842, -0.28273663, 44.63797994,
        2.51617832,  4.50827842,  2.51617832,  4.67493772,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002927983407623458
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.79176679e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.79176679e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.109814  , -0.03397857,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.99651364e-05,-2.33440212e-05,-1.07587516e-05, 6.19040713e-05,
 -8.10089624e-06,-2.24393069e-05,-9.47342316e-06,-2.28959497e-05,
  3.45577726e-05,-2.09665826e-05, 7.52492355e-05,-5.27996604e-05,
 -2.00838133e-04,-5.27963700e-06,-1.10179286e-04, 2.26397809e-04,
 -2.16294503e-07,-1.02615508e-08,-1.21644028e+00,-4.56665927e-04,
  1.14047825e-05,-5.50257508e-04]


--- Step 682 ---
qpos:
[ 6.18123781e-03,-1.80648506e-03,-4.97836992e-03, 3.35816238e-02,
  4.51120218e-03,-3.73123535e-03,-1.85245678e-02, 2.85719059e-02,
  1.29713657e-02, 3.34033577e-03,-1.00163417e-02, 2.58699574e-02,
  1.03541679e+00,-2.74536722e-04, 8.14310611e-01, 6.47924921e-02,
  9.35599693e-02,-7.00764891e-02, 1.30958689e-01, 5.03007840e-01,
  4.92256421e-01, 4.97158948e-01, 5.07444292e-01]

qacc:
[ -0.07733307,  2.12827177, -9.16003536, 16.52672866, -0.95968639,
   3.42114286,-14.95270029, 29.06793382, -2.68488041,  0.82866021,
  -4.67702213, 11.79601946, -1.64575393,  3.02000914, 13.98594792,
 -48.63861778,  0.06347354,  1.0675872 ,  0.40556736,  2.21464734,
   0.12061028,-15.12334995]

qfrc_actuator:
[ 7.74391999e-05,-1.08090842e-04,-9.02090284e-05, 7.64540549e-05,
  2.32396235e-05,-3.68077721e-04,-3.58736138e-04,-7.52115814e-06,
  5.64841223e-05,-5.97966818e-05,-5.79363546e-05,-2.56090484e-05,
  2.91845196e-02,-1.18340212e-03, 1.24759711e-02,-3.62215850e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.52291775,   1.32842636,   4.32343247,   1.32842636,
        41.23887638, -11.28141763,   4.32343247, -11.28141763,
         7.98926831,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002946064128381831
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00201339e-13,  1.88424789e-13,  1.00000000e+00, -3.77228950e-26,
        1.00000000e+00, -1.88424789e-13, -1.00000000e+00,  0.00000000e+00,
        2.00201339e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09164471, -0.08820101,  0.06199158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.68026449e-07,-8.51350928e-06,-2.79179990e-05, 1.82085797e-05,
 -5.51492952e-06, 2.53369457e-05,-2.19728121e-05, 4.01026647e-05,
 -1.57039194e-05, 4.11811717e-06, 2.57910895e-06, 2.13546439e-05,
 -1.90176473e-04,-1.75634510e-05,-4.91695622e-05,-2.49627350e-04,
 -3.07419059e-08,-2.62682404e-07,-1.21644067e+00,-4.57170778e-04,
  1.08067746e-05,-5.50627200e-04]


--- Step 683 ---
qpos:
[ 6.18272187e-03,-1.80621812e-03,-4.97901011e-03, 3.35822085e-02,
  4.51125792e-03,-3.73125554e-03,-1.85261012e-02, 2.85726528e-02,
  1.29718362e-02, 3.34044530e-03,-1.00155746e-02, 2.58699587e-02,
  1.03607962e+00,-2.73996106e-04, 8.14860155e-01, 6.47833524e-02,
  9.35523565e-02,-7.00722796e-02, 1.30959000e-01, 5.03039581e-01,
  4.92199909e-01, 4.97158727e-01, 5.07467861e-01]

qacc:
[ -3.30121501,  0.18936814,  1.84833851,-10.24072707, -3.60171583,
   0.46282222, -2.85794238,  9.63972488, -4.87456649,  2.08713856,
  -9.19480125, 19.04434151, -0.62321961,  0.4566521 ,  5.47045884,
 -19.84366764,  0.08882937,  0.97399332,  0.31173389,  2.29188513,
   0.18953748,-13.82189875]

qfrc_actuator:
[ 5.82221500e-05,-8.79166587e-05,-1.04155807e-04, 5.13093395e-05,
  2.19804822e-06,-3.25884403e-04,-3.31425037e-04, 1.69852486e-05,
  2.84987595e-05,-2.26805856e-05,-5.86342787e-05, 4.52892202e-06,
  2.91225577e-02,-1.20429887e-03, 1.24813971e-02,-3.71163165e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52611881, -0.3941511 , -4.50892409, -0.3941511 , 33.63470843,
       -2.54454997, -4.50892409, -2.54454997,  4.74855263,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029560083782138516
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.71941099e-07, -4.71941087e-07,  1.00000000e+00, -2.22728395e-13,
        1.00000000e+00,  4.71941087e-07, -1.00000000e+00,  2.52435490e-29,
       -4.71941099e-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([ 0.0914054 , -0.0867503 ,  0.06199155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92302811e-05, 1.04189404e-05,-1.85157087e-05,-2.61233968e-05,
 -2.11910544e-05, 5.35731459e-05, 3.12506109e-05, 2.56168298e-05,
 -2.84309133e-05, 4.08628856e-05, 1.20385964e-06, 3.08198060e-05,
 -1.84833681e-04,-6.35333436e-05,-5.40443632e-05,-1.11812094e-04,
 -2.32028197e-07,-1.88066524e-07,-1.21644052e+00,-4.56543595e-04,
  1.14022136e-05,-5.50553152e-04]


--- Step 684 ---
qpos:
[ 6.18430908e-03,-1.80590743e-03,-4.97957426e-03, 3.35835123e-02,
  4.51106104e-03,-3.73110341e-03,-1.85269490e-02, 2.85736797e-02,
  1.29726573e-02, 3.34088178e-03,-1.00145067e-02, 2.58692521e-02,
  1.03674125e+00,-2.73640329e-04, 8.15408440e-01, 6.47788495e-02,
  9.35475501e-02,-7.00759055e-02, 1.30957221e-01, 5.03034890e-01,
  4.92183986e-01, 4.97137541e-01, 5.07508708e-01]

qacc:
[  0.90913727,  1.32425869, -7.67641959, 19.97055045, -2.19217351,
  -1.10693073,  3.10215797,  0.5152217 ,  3.08941507, -1.87144489,
  10.27829146,-23.24003413, -0.45333264,  0.13948312,-15.82938431,
  52.73057267,  0.70159598, -1.95887524, -0.52222324,  9.56040515,
  -2.26309098, 28.8387546 ]

qfrc_actuator:
[ 6.40751982e-05,-7.60334446e-05,-9.43053542e-05, 8.95515842e-05,
 -1.02019681e-05,-3.18505804e-04,-2.96857753e-04, 3.11294842e-05,
  4.73562530e-05,-6.52172619e-07,-4.15058272e-05,-3.09878375e-05,
  2.90562526e-02,-1.21689473e-03, 1.24648884e-02,-3.45867791e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53613283,  0.62428091, -4.49296944,  0.62428091, 38.79657806,
        4.76035775, -4.49296944,  4.76035775,  5.19756632,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002986822199856909
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.71707102e-13, -1.85853551e-13,  1.00000000e+00,  6.90830849e-26,
        1.00000000e+00,  1.85853551e-13, -1.00000000e+00,  0.00000000e+00,
        3.71707102e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08222502, -0.03139441,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.31143798e-06, 1.27505537e-05, 8.82061199e-06, 3.75396873e-05,
 -1.29889873e-05, 4.48989193e-05, 5.03862724e-05, 1.80226732e-05,
  1.80638330e-05, 4.64272306e-05, 2.67752743e-05,-3.31248324e-05,
 -1.95523225e-04,-6.19185405e-05,-6.16441235e-05, 2.37954773e-04,
 -3.99233326e-07,-4.11702335e-08,-1.21644064e+00,-4.55979151e-04,
  1.18541657e-05,-5.50398440e-04]


--- Step 685 ---
qpos:
[ 6.18560901e-03,-1.80557613e-03,-4.98025807e-03, 3.35849351e-02,
  4.51071678e-03,-3.73061462e-03,-1.85274132e-02, 2.85752131e-02,
  1.29740433e-02, 3.34116930e-03,-1.00129959e-02, 2.58678320e-02,
  1.03740172e+00,-2.73710957e-04, 8.15955360e-01, 6.47771469e-02,
  9.35454825e-02,-7.00872807e-02, 1.30952850e-01, 5.02994110e-01,
  4.92208042e-01, 4.97095902e-01, 5.07566580e-01]

qacc:
[ -2.53012537,  0.61142956, -2.63375194,  4.85767673, -1.28332833,
   0.41768366, -2.97871593, 10.88096286,  4.98589122, -2.91349602,
  13.0986835 ,-26.02871333, -0.26688964, -0.4060377 ,-10.46266373,
  33.68261761,  0.68468891, -1.93731781, -0.64812527,  9.51413984,
  -2.12928589, 28.41094051]

qfrc_actuator:
[ 4.91376160e-05,-8.68066796e-05,-1.05967673e-04, 9.37912640e-05,
 -1.74116575e-05,-2.96490263e-04,-2.76189643e-04, 5.67898553e-05,
  7.58845124e-05,-4.10637798e-05,-3.18362957e-05,-6.93431498e-05,
  2.89927159e-02,-1.24223629e-03, 1.23820549e-02,-3.32563920e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53822838, -2.95483483,  3.4444837 , -2.95483483, 14.68677071,
        8.70588133,  3.4444837 ,  8.70588133, 12.00652946,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002993214666038302
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.70913265e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.70913265e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08222377, -0.03139535,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47846995e-05,-2.23114737e-07,-6.64504620e-06, 5.81899094e-06,
 -7.56784582e-06, 5.83002576e-05, 3.67787942e-05, 2.96785038e-05,
  2.90602981e-05,-1.03558047e-05, 2.13955929e-05,-3.60862868e-05,
 -1.98517278e-04,-7.69835144e-05,-9.04561634e-05, 1.37037939e-04,
  5.28590516e-08,-1.05034853e-07,-1.21644025e+00,-4.56624121e-04,
  1.11601482e-05,-5.50316137e-04]


--- Step 686 ---
qpos:
[ 6.18603018e-03,-1.80549447e-03,-4.98117897e-03, 3.35857508e-02,
  4.50959896e-03,-3.72992832e-03,-1.85275038e-02, 2.85767156e-02,
  1.29750704e-02, 3.34157509e-03,-1.00117668e-02, 2.58666706e-02,
  1.03806103e+00,-2.74095315e-04, 8.16501025e-01, 6.47754241e-02,
  9.35437426e-02,-7.00943515e-02, 1.30950935e-01, 5.02966863e-01,
  4.92218407e-01, 4.97071846e-01, 5.07607087e-01]

qacc:
[ -7.73032077, -0.90191916,  5.32547238,-15.29487288, -6.76185847,
  -0.83321581,  3.50373007, -4.80773956, -3.16734436,  1.48252703,
  -6.14119825, 10.97165014, -0.5046608 ,  0.15058936, -1.77338618,
   3.55317481,  0.08192528,  1.07611306,  0.61418481,  2.00486152,
   0.25949321,-15.53175137]

qfrc_actuator:
[ 4.32220399e-06,-1.28920764e-04,-1.30372385e-04, 6.01893738e-05,
 -5.70165985e-05,-3.01431081e-04,-2.63833240e-04, 5.35160990e-05,
  5.66029921e-05,-2.98311120e-05,-4.46573232e-05,-5.58548579e-05,
  2.89362048e-02,-1.25715713e-03, 1.23020878e-02,-3.33557821e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003046075406528681
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.69494594e-14, -5.46714810e-13,  1.00000000e+00,  3.11351129e-26,
        1.00000000e+00,  5.46714810e-13, -1.00000000e+00,  0.00000000e+00,
        5.69494594e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09164903, -0.08819941,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.52364678e-05,-4.33785859e-05,-2.50676907e-05,-3.37301389e-05,
 -3.98034980e-05, 3.65107568e-05, 2.99524685e-05, 1.07172672e-06,
 -1.84567058e-05, 8.30435537e-06,-1.35910603e-05, 1.30807290e-05,
 -1.97022760e-04,-6.95566487e-05,-1.11011615e-04,-1.50342736e-05,
  2.79913868e-07, 2.78806582e-07,-1.21644105e+00,-4.57113620e-04,
  1.11278154e-05,-5.50438978e-04]


--- Step 687 ---
qpos:
[ 6.18591086e-03,-1.80576378e-03,-4.98178220e-03, 3.35861328e-02,
  4.50836002e-03,-3.72908300e-03,-1.85273417e-02, 2.85774904e-02,
  1.29758589e-02, 3.34199446e-03,-1.00104134e-02, 2.58660102e-02,
  1.03871899e+00,-2.74072014e-04, 8.17046109e-01, 6.47714729e-02,
  9.35423432e-02,-7.00971913e-02, 1.30950798e-01, 5.02952957e-01,
  4.92215219e-01, 4.97065056e-01, 5.07630606e-01]

qacc:
[ -4.73676669, -2.23581465,  9.14556575,-16.91795807, -1.05523301,
  -1.98947114, 10.47512516,-23.59179338, -2.09678311,  0.70590506,
  -4.59918098, 13.05352066, -1.42497889,  2.47560076,  5.95081858,
 -21.86794477,  0.08515858,  1.05775297,  0.44446518,  1.91300334,
   0.28557101,-15.27588018]

qfrc_actuator:
[-2.22082628e-05,-1.36319467e-04,-1.08999336e-04, 4.00661282e-05,
 -6.21156671e-05,-3.04788593e-04,-2.56607368e-04, 1.54642261e-05,
  4.48384247e-05,-2.33247950e-05,-3.49199173e-05,-2.96999825e-05,
  2.88786259e-02,-1.23026239e-03, 1.22824635e-02,-3.44735622e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56876125, -0.79549553,  4.49897391, -0.79549553, 25.17316287,
        3.64321058,  4.49897391,  3.64321058,  5.21294319,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030842667209908525
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12488551e-14, -3.59963364e-13,  1.00000000e+00,  4.04917573e-27,
        1.00000000e+00,  3.59963364e-13, -1.00000000e+00,  0.00000000e+00,
        1.12488551e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09164982, -0.0881985 ,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.78288698e-05,-3.82909501e-05, 8.16744276e-06,-2.35040230e-05,
 -6.22460057e-06, 2.32507463e-05, 1.84852122e-05,-3.54329872e-05,
 -1.22837019e-05, 8.87364797e-06, 1.02166197e-05, 2.62949728e-05,
 -1.95990097e-04,-2.59680769e-05,-7.67502224e-05,-1.27925038e-04,
  1.57138907e-07, 9.26368585e-08,-1.21644039e+00,-4.56742065e-04,
  1.13901640e-05,-5.50569890e-04]


--- Step 688 ---
qpos:
[ 6.18512897e-03,-1.80625162e-03,-4.98163333e-03, 3.35862224e-02,
  4.50775900e-03,-3.72799089e-03,-1.85271162e-02, 2.85778054e-02,
  1.29771903e-02, 3.34209484e-03,-1.00084891e-02, 2.58653347e-02,
  1.03937550e+00,-2.73127057e-04, 8.17590107e-01, 6.47678581e-02,
  9.35412945e-02,-7.00958607e-02, 1.30951870e-01, 5.02952228e-01,
  4.92198595e-01, 4.97075270e-01, 5.07637444e-01]

qacc:
[ -5.79859586, -2.9817775 , 11.46545381,-17.58486324,  5.58049977,
  -0.80760882,  5.27600582,-13.49687526,  4.80104118, -2.05777368,
   6.77289126, -7.69431663, -1.85095204,  3.68907284, -2.49671372,
   6.69193275,  0.08763004,  1.04256514,  0.30194634,  1.83938167,
   0.30586954,-15.06385592]

qfrc_actuator:
[-5.55071467e-05,-1.22687751e-04,-6.06195475e-05, 2.80996668e-05,
 -2.91016034e-05,-2.89484017e-04,-2.52488250e-04,-7.24028163e-06,
  7.31127959e-05,-5.51021568e-05,-1.19407788e-05,-3.17961220e-05,
  2.88151390e-02,-1.17887419e-03, 1.22457715e-02,-3.42274240e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030934132959985206
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90665109e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.90665109e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0916504 , -0.08819835,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.41014570e-05,-7.09432693e-06, 4.06735459e-05,-1.37798626e-05,
  3.28450960e-05, 3.05694675e-05, 9.95933987e-06,-2.17617972e-05,
  2.79295668e-05,-2.36092650e-05, 2.69623870e-05,-8.52433268e-07,
 -1.91725906e-04, 6.01706660e-06,-9.32034961e-05, 5.99389655e-06,
  4.91878942e-08, 3.33451515e-09,-1.21644006e+00,-4.56395353e-04,
  1.15520187e-05,-5.50607852e-04]


--- Step 689 ---
qpos:
[ 6.18395371e-03,-1.80669746e-03,-4.98130085e-03, 3.35865184e-02,
  4.50721371e-03,-3.72704848e-03,-1.85267232e-02, 2.85789259e-02,
  1.29781597e-02, 3.34267357e-03,-1.00071883e-02, 2.58649650e-02,
  1.04003066e+00,-2.71541713e-04, 8.18132712e-01, 6.47649117e-02,
  9.35406038e-02,-7.00904099e-02, 1.30953671e-01, 5.02964544e-01,
  4.92168633e-01, 4.97102272e-01, 5.07627851e-01]

qacc:
[ -3.45368302, -0.02619822, -0.68534733,  3.91877043,  0.49601394,
   0.98973951, -7.21925972, 21.00325576, -3.21320994,  3.01077239,
 -11.09813832, 17.0236343 , -1.48120945,  2.78157958, -3.97815868,
  11.15382214,  0.08952156,  1.03009346,  0.18253892,  1.78048393,
   0.32166177,-14.88938615]

qfrc_actuator:
[-7.47761817e-05,-1.14182468e-04,-4.98551098e-05, 3.88119610e-05,
 -2.71881370e-05,-3.16391448e-04,-2.50145061e-04, 3.25448004e-05,
  5.37138596e-05,-3.00680301e-06,-3.47708932e-05,-1.50219026e-05,
  2.87481655e-02,-1.14897225e-03, 1.21776021e-02,-3.38897731e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030793811701260165
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12667018e-14, -1.80267230e-13,  1.00000000e+00,  2.03101713e-27,
        1.00000000e+00,  1.80267230e-13, -1.00000000e+00,  0.00000000e+00,
        1.12667018e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09165081, -0.08819881,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.02408019e-05, 1.23556154e-05, 1.38377321e-05, 1.15495092e-05,
  2.86288393e-06,-8.72014030e-06, 9.11372931e-06, 4.10112049e-05,
 -1.86125888e-05, 4.44151614e-05,-2.44373436e-05, 1.66748826e-05,
 -1.85545475e-04,-9.20580515e-06,-1.15912027e-04, 2.08319876e-05,
 -4.61060135e-08, 7.09894425e-09,-1.21644002e+00,-4.56068635e-04,
  1.16200390e-05,-5.50553562e-04]


--- Step 690 ---
qpos:
[ 6.18255631e-03,-1.80704240e-03,-4.98083468e-03, 3.35865909e-02,
  4.50635154e-03,-3.72693134e-03,-1.85259596e-02, 2.85809335e-02,
  1.29785444e-02, 3.34365561e-03,-1.00064575e-02, 2.58644595e-02,
  1.04068449e+00,-2.69019742e-04, 8.18674260e-01, 6.47629547e-02,
  9.35402770e-02,-7.00808792e-02, 1.30955803e-01, 5.02989792e-01,
  4.92125412e-01, 4.97145885e-01, 5.07602027e-01]

qacc:
[ -1.95091386, -0.69671138,  3.62748858, -7.78972694, -2.74699179,
  -0.29573193, -4.26528038, 19.62461932, -5.1696279 ,  1.85650495,
  -5.2547006 ,  3.4977263 , -1.74761321,  3.55544515, -4.43000498,
  13.50597876,  0.09097399,  1.01994832,  0.08274975,  1.73350084,
   0.33394133,-14.74715315]

qfrc_actuator:
[-8.56314756e-05,-1.08926163e-04,-4.36396078e-05, 2.72445355e-05,
 -4.36080052e-05,-4.03833580e-04,-2.48996823e-04, 7.32370431e-05,
  2.41513072e-05, 9.97927287e-06,-6.63677498e-05,-2.27456371e-05,
  2.86951195e-02,-1.09654420e-03, 1.21491966e-02,-3.33243557e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003047075785817255
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48019982e-13, -1.82178440e-13,  1.00000000e+00,  2.69660494e-26,
        1.00000000e+00,  1.82178440e-13, -1.00000000e+00,  0.00000000e+00,
        1.48019982e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09165109, -0.08819974,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14265065e-05, 1.55272118e-05, 1.08743537e-05,-1.03337457e-05,
 -1.63432066e-05,-8.87187735e-05, 1.87045936e-06, 4.14264095e-05,
 -3.00724483e-05, 3.34512497e-05,-2.48747534e-05,-6.34379479e-06,
 -1.71205203e-04, 1.21511522e-05,-8.35278684e-05, 4.18372484e-05,
 -1.30361546e-07, 1.00891117e-07,-1.21644028e+00,-4.55758285e-04,
  1.15992115e-05,-5.50407644e-04]


--- Step 691 ---
qpos:
[ 6.18138459e-03,-1.80744941e-03,-4.98021352e-03, 3.35865439e-02,
  4.50529915e-03,-3.72729145e-03,-1.85257476e-02, 2.85823977e-02,
  1.29789170e-02, 3.34459609e-03,-1.00053684e-02, 2.58635130e-02,
  1.04133715e+00,-2.65630297e-04, 8.19214875e-01, 6.47606595e-02,
  9.35403897e-02,-7.00675972e-02, 1.30958125e-01, 5.03026569e-01,
  4.92070292e-01, 4.97205112e-01, 5.07561006e-01]

qacc:
[  1.99027815, -0.76499785,  3.10569425, -5.36611612, -1.67430212,
  -0.20383297,  2.11181634,-10.28922729, -0.09542737, -1.96396567,
   8.78494224,-16.95846847, -1.62671482,  3.33876742, -0.24883493,
  -0.87586746,  0.10987633,  0.93784013,  0.0473155 ,  1.91073514,
   0.34173334,-13.54826757]

qfrc_actuator:
[-7.36997753e-05,-1.23447574e-04,-4.01769925e-05, 2.04091920e-05,
 -5.29249359e-05,-4.38097922e-04,-2.84340961e-04, 4.30591762e-05,
  2.43632741e-05,-6.16519184e-07,-4.97708636e-05,-4.48487541e-05,
  2.86504774e-02,-1.04890550e-03, 1.21020631e-02,-3.35157917e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030003525432812896
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07943855e-06, -1.07943883e-06,  1.00000000e+00, -1.16518788e-12,
        1.00000000e+00,  1.07943883e-06, -1.00000000e+00, -2.01948392e-28,
       -1.07943855e-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([ 0.09141032, -0.0867506 ,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16128294e-05,-4.02771553e-06, 7.65210199e-06,-5.99454216e-06,
 -9.81654631e-06,-8.17373477e-05,-5.20196015e-05,-3.31147789e-05,
 -6.25688549e-07, 2.64801076e-06, 2.02060185e-05,-2.16551058e-05,
 -1.48904636e-04, 1.38957931e-05,-8.66065009e-05,-2.88833061e-05,
 -2.04788073e-07, 2.82292021e-07,-1.21644083e+00,-4.55461585e-04,
  1.14932441e-05,-5.50170630e-04]


--- Step 692 ---
qpos:
[ 6.18105483e-03,-1.80788499e-03,-4.97984548e-03, 3.35867853e-02,
  4.50379767e-03,-3.72741604e-03,-1.85265852e-02, 2.85830866e-02,
  1.29789444e-02, 3.34513806e-03,-1.00039374e-02, 2.58630471e-02,
  1.04198914e+00,-2.63129816e-04, 8.19754931e-01, 6.47524756e-02,
  9.35433393e-02,-7.00622745e-02, 1.30958716e-01, 5.03026674e-01,
  4.92055992e-01, 4.97243298e-01, 5.07537357e-01]

qacc:
[  7.39599743,  1.24885371, -5.74917624, 11.18944493, -3.96790072,
   1.65551957, -2.16383021, -9.76664799, -3.01988091, -0.48692406,
  -1.04714416,  9.10106017,  0.10082029, -1.27767312, 16.91699696,
 -60.45948183,  0.7092211 , -1.98983094, -0.43258592,  9.63088818,
  -2.26041117, 29.00104959]

qfrc_actuator:
[-3.07022132e-05,-1.31960379e-04,-5.61935142e-05, 3.41510240e-05,
 -7.57326374e-05,-3.87215602e-04,-3.23053857e-04, 6.94014744e-06,
  6.59609521e-06,-4.28305084e-05,-4.04634138e-05,-2.19622119e-05,
  2.85949336e-02,-1.11096169e-03, 1.20383938e-02,-3.66373912e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003042168662176492
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00,  1.824723e-13,  1.000000e+00,  0.000000e+00,
        1.000000e+00, -1.824723e-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([ 0.08221432, -0.03140091,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.33269506e-05,-9.42600970e-06,-1.61151097e-05, 1.37166993e-05,
 -2.31131620e-05,-6.98499723e-06,-6.31508145e-05,-4.20688558e-05,
 -1.77800338e-05,-3.75311200e-05, 1.15727386e-05, 2.32754084e-05,
 -1.45666105e-04,-9.06145710e-05,-1.12442509e-04,-3.26247850e-04,
 -2.63132192e-07, 5.25608561e-07,-1.21644158e+00,-4.55197202e-04,
  1.12965370e-05,-5.49847713e-04]


--- Step 693 ---
qpos:
[ 6.18089813e-03,-1.80837143e-03,-4.97964597e-03, 3.35868413e-02,
  4.50237920e-03,-3.72728033e-03,-1.85280313e-02, 2.85833023e-02,
  1.29794488e-02, 3.34515196e-03,-1.00022652e-02, 2.58625381e-02,
  1.04264015e+00,-2.61240584e-04, 8.20293812e-01, 6.47438530e-02,
  9.35490549e-02,-7.00647996e-02, 1.30957013e-01, 5.02990487e-01,
  4.92081862e-01, 4.97260984e-01, 5.07530812e-01]

qacc:
[ 1.51709528e+00, 1.94248745e-02, 6.10331739e-01,-3.50463307e+00,
  7.02769685e-01, 1.06905263e+00,-1.31659998e+00,-6.09102797e+00,
  4.21401839e+00,-1.46920009e+00, 4.39376493e+00,-5.12185446e+00,
 -1.12866078e-01,-7.71369016e-01,-4.22716501e-01,-1.07192944e+00,
  6.91514263e-01,-1.96195928e+00,-5.73618143e-01, 9.57776479e+00,
 -2.11916575e+00, 2.85423197e+01]

qfrc_actuator:
[-2.30295852e-05,-1.36876680e-04,-6.57987715e-05, 2.43740025e-05,
 -7.07945750e-05,-3.56777683e-04,-3.45316887e-04,-1.45416284e-05,
  3.16372244e-05,-8.58892193e-05,-3.56564677e-05,-2.60849182e-05,
  2.85275209e-02,-1.14866223e-03, 1.20233867e-02,-3.66670199e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56073884,  2.31879993, -3.92727713,  2.31879993, 26.27370788,
       12.82008615, -3.92727713, 12.82008615, 12.13016007,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030607120813330724
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.81366786e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.81366786e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08221324, -0.03140221,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.90228431e-06,-1.29013344e-05,-1.30637300e-05,-1.04736759e-05,
  4.27968359e-06, 1.16898347e-05,-3.29298157e-05,-2.47833701e-05,
  2.45245513e-05,-6.06998097e-05,-7.36101564e-07,-4.88028874e-06,
 -1.78829937e-04,-8.29254999e-05,-1.08329546e-04,-3.68569186e-05,
 -7.15334467e-08, 1.03298134e-07,-1.21644037e+00,-4.55935924e-04,
  1.10822743e-05,-5.49653165e-04]


--- Step 694 ---
qpos:
[ 6.18083492e-03,-1.80876775e-03,-4.97964294e-03, 3.35867635e-02,
  4.50137576e-03,-3.72715367e-03,-1.85294136e-02, 2.85832460e-02,
  1.29802489e-02, 3.34485322e-03,-1.00000548e-02, 2.58619353e-02,
  1.04328984e+00,-2.58887687e-04, 8.20830632e-01, 6.47425572e-02,
  9.35574796e-02,-7.00750798e-02, 1.30952541e-01, 5.02918321e-01,
  4.92147363e-01, 4.97258606e-01, 5.07541145e-01]

qacc:
[  0.81416058,  0.39114418, -0.65951821, -1.40608236,  3.63431726,
  -0.75635137,  3.81560265, -8.60343289,  2.62553254, -2.11522581,
   7.32915988, -9.57116789, -0.99655723,  1.68278295,-25.08606021,
  83.50425652,  0.67726573, -1.9387743 , -0.69219568,  9.53118467,
  -2.00448935, 28.1647046 ]

qfrc_actuator:
[-1.84671610e-05,-1.21848742e-04,-7.15406021e-05, 1.85965495e-05,
 -4.95615315e-05,-3.56478031e-04,-3.39978452e-04,-2.72330038e-05,
  4.61739753e-05,-7.59079007e-05, 1.91930989e-06,-2.83290348e-05,
  2.84690150e-02,-1.11841360e-03, 1.19790689e-02,-3.27420948e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55828836, -2.53917492,  3.78557572, -2.53917492, 22.67708498,
       12.15318283,  3.78557572, 12.15318283, 12.71003575,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003053465873761041
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.08985945e-14, -1.81797189e-13,  1.00000000e+00,  1.65251089e-26,
        1.00000000e+00,  1.81797189e-13, -1.00000000e+00,  0.00000000e+00,
        9.08985945e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08221203, -0.03140203,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.81332899e-06, 4.68485726e-06,-1.03751393e-05,-6.98595880e-06,
  2.13617362e-05,-1.01421673e-06, 2.85382020e-06,-1.38098669e-05,
  1.52141991e-05,-2.43323159e-05, 2.47588417e-05,-4.96936535e-06,
 -1.88358934e-04,-2.11511298e-05,-1.02582769e-04, 3.75498970e-04,
 -1.05519884e-07, 1.39919175e-07,-1.21644037e+00,-4.56512997e-04,
  1.15244292e-05,-5.49659707e-04]


--- Step 695 ---
qpos:
[ 6.18117191e-03,-1.80906296e-03,-4.97974380e-03, 3.35866089e-02,
  4.50063480e-03,-3.72720996e-03,-1.85306683e-02, 2.85834013e-02,
  1.29801823e-02, 3.34444023e-03,-9.99750961e-03, 2.58616433e-02,
  1.04393852e+00,-2.56830953e-04, 8.21366191e-01, 6.47446037e-02,
  9.35685677e-02,-7.00930384e-02, 1.30944901e-01, 5.02810429e-01,
  4.92252045e-01, 4.97236515e-01, 5.07568168e-01]

qacc:
[ 3.51394160e+00, 2.59047650e-01,-4.17230211e-01,-8.08016154e-01,
  2.30443296e+00,-1.67635746e-01,-6.54254582e-01, 4.25465217e+00,
 -7.61502035e+00,-4.31995774e-01, 3.49092062e-02, 4.86437995e+00,
 -2.62919600e-01,-2.29655323e-01,-1.19422325e+01, 3.90898046e+01,
  6.65857286e-01,-1.91958245e+00,-7.91850911e-01, 9.49160037e+00,
 -1.91073396e+00, 2.78561542e+01]

qfrc_actuator:
[ 1.99212272e-06,-1.12727522e-04,-7.48690390e-05, 1.52414936e-05,
 -3.66693476e-05,-3.74096112e-04,-3.36260743e-04,-1.69095462e-05,
  1.14056392e-06,-6.96120269e-05, 2.32577165e-05,-1.16255373e-05,
  2.84212459e-02,-1.13698904e-03, 1.19119607e-02,-3.11360234e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54899768, -2.76860729,  3.60945891, -2.76860729, 29.37484082,
       19.04246924,  3.60945891, 19.04246924, 19.15537511,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030257700137804877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83461238e-13, -1.83461238e-13,  1.00000000e+00,  3.36580258e-26,
        1.00000000e+00,  1.83461238e-13, -1.00000000e+00,  0.00000000e+00,
        1.83461238e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08221073, -0.03140067,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.05997532e-05, 9.31490296e-06,-3.87563343e-06,-3.64837895e-06,
  1.35025022e-05,-1.81683887e-05, 3.39592331e-06, 1.01120254e-05,
 -4.46092597e-05,-2.41542789e-06, 1.91690860e-05, 1.64173235e-05,
 -1.69410308e-04,-6.19456596e-05,-7.54348111e-05, 1.67663517e-04,
 -3.52878167e-07, 6.18340965e-07,-1.21644154e+00,-4.56958150e-04,
  1.26049947e-05,-5.49861309e-04]


--- Step 696 ---
qpos:
[ 6.18175169e-03,-1.80949788e-03,-4.97950930e-03, 3.35864156e-02,
  4.50039934e-03,-3.72758259e-03,-1.85317664e-02, 2.85833492e-02,
  1.29795765e-02, 3.34425450e-03,-9.99514140e-03, 2.58615447e-02,
  1.04458629e+00,-2.55566169e-04, 8.21900934e-01, 6.47468777e-02,
  9.35801046e-02,-7.01066049e-02, 1.30940739e-01, 5.02716555e-01,
  4.92342194e-01, 4.97232317e-01, 5.07577829e-01]

qacc:
[  2.14772478, -1.20584781,  4.18701802, -5.2798534 ,  4.43436447,
  -1.29023799,  4.85455072, -8.44361662, -4.75466053,  1.20241753,
  -4.65235869,  8.09908668,  0.10941479, -1.32689273, -1.91712166,
   4.89280389,  0.11218384,  1.09801503,  0.86936299,  1.75377238,
   0.42850171,-15.94033989]

qfrc_actuator:
[ 1.38927702e-05,-1.24950006e-04,-5.90107779e-05, 1.33364086e-05,
 -1.10425045e-05,-4.02287296e-04,-3.33604803e-04,-2.86571365e-05,
 -2.53327623e-05,-4.78481276e-05, 1.70892229e-05,-1.67305882e-06,
  2.83639604e-02,-1.18428457e-03, 1.18631355e-02,-3.10882519e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003133800300989392
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.32131593e-14, -1.77136850e-13,  1.00000000e+00, -5.88327440e-27,
        1.00000000e+00,  1.77136850e-13, -1.00000000e+00,  0.00000000e+00,
       -3.32131593e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09165211, -0.08819758,  0.06199104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24909848e-05,-7.95208992e-06, 1.71826175e-05,-1.71072582e-06,
  2.60056530e-05,-3.71949653e-05,-3.14089356e-07,-1.22098752e-05,
 -2.77417402e-05, 2.50464222e-05,-3.76083409e-06, 1.08294840e-05,
 -1.76052927e-04,-9.34547846e-05,-6.99203583e-05, 3.22095005e-06,
 -8.04723032e-07, 1.52640185e-06,-1.21644383e+00,-4.57293550e-04,
  1.43101427e-05,-5.50253242e-04]


--- Step 697 ---
qpos:
[ 6.18212482e-03,-1.80996928e-03,-4.97938339e-03, 3.35862188e-02,
  4.50012823e-03,-3.72842824e-03,-1.85327493e-02, 2.85835258e-02,
  1.29793476e-02, 3.34435358e-03,-9.99320270e-03, 2.58619216e-02,
  1.04523301e+00,-2.54842187e-04, 8.22435155e-01, 6.47474745e-02,
  9.35920832e-02,-7.01158688e-02, 1.30939204e-01, 5.02636402e-01,
  4.92418143e-01, 4.97245653e-01, 5.07570468e-01]

qacc:
[ -1.81976378,  0.25142848, -0.94489748,  1.07570617, -0.30020167,
  -0.47594873, -0.17475083,  4.29569305,  3.29924092,  2.54890924,
 -10.56049302, 19.27689116, -0.31561293, -0.35424308,  4.29399806,
 -16.13843155,  0.11042822,  1.07564107,  0.65668334,  1.73446468,
   0.40935478,-15.60720342]

qfrc_actuator:
[ 2.90294534e-06,-1.32025702e-04,-6.75434786e-05, 1.22938204e-05,
 -1.36281500e-05,-4.36615788e-04,-3.31665969e-04,-1.78078431e-05,
 -5.14560825e-06,-3.48518480e-05,-5.20562387e-06, 2.19743876e-05,
  2.83063187e-02,-1.21269262e-03, 1.18359368e-02,-3.19576816e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003207925229243569
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.32609454e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.32609454e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09165221, -0.08819562,  0.06199083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06368940e-05,-8.03058823e-06,-8.11653327e-06,-8.21888085e-07,
 -1.85523476e-06,-5.56803151e-05,-6.18872487e-06, 9.00912876e-06,
  1.94092651e-05, 2.66572692e-05,-1.72344969e-05, 2.47978111e-05,
 -1.87583368e-04,-8.12783267e-05,-6.50746538e-05,-9.71980341e-05,
 -7.26688954e-07, 1.01667553e-06,-1.21644275e+00,-4.57460030e-04,
  1.36763959e-05,-5.50571771e-04]


--- Step 698 ---
qpos:
[ 6.18236348e-03,-1.81046718e-03,-4.97932642e-03, 3.35853166e-02,
  4.50017350e-03,-3.72992214e-03,-1.85333186e-02, 2.85838333e-02,
  1.29793624e-02, 3.34457284e-03,-9.99176445e-03, 2.58626053e-02,
  1.04587858e+00,-2.54196332e-04, 8.22968184e-01, 6.47431652e-02,
  9.36044983e-02,-7.01209049e-02, 1.30939580e-01, 5.02569722e-01,
  4.92480172e-01, 4.97276221e-01, 5.07546368e-01]

qacc:
[ -1.18462841, -1.29234593,  7.53843037,-19.61885872,  2.79305138,
  -1.7476412 ,  4.42660183, -2.33546247,  2.12651748,  2.18488182,
  -8.86254569, 14.89182672, -0.92764521,  1.17776821, 13.09000615,
 -48.25328635,  0.10912392,  1.05696009,  0.47774318,  1.71973457,
   0.39235444,-15.32978036]

qfrc_actuator:
[-3.71622005e-06,-1.36060665e-04,-7.26483006e-05,-2.37560735e-05,
  2.70293144e-06,-4.74343440e-04,-3.12426053e-04,-1.15061280e-05,
  6.83204823e-06,-4.50172373e-05,-3.68529407e-05, 3.57268757e-05,
  2.82538345e-02,-1.21194994e-03, 1.17258527e-02,-3.46019790e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003244258467096778
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.71105822e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.71105822e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09165225, -0.08819467,  0.06199073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.92264238e-06,-1.02263953e-05,-7.78724245e-06,-3.66892573e-05,
  1.62585292e-05,-6.97148976e-05, 7.30952361e-06, 3.88049218e-06,
  1.25404116e-05, 2.22313452e-06,-2.74313682e-05, 1.47748994e-05,
 -1.87085182e-04,-5.25179122e-05,-1.57821794e-04,-2.79861533e-04,
 -6.42501262e-07, 6.17851339e-07,-1.21644201e+00,-4.57633787e-04,
  1.29672302e-05,-5.50793329e-04]


--- Step 699 ---
qpos:
[ 6.18252093e-03,-1.81110180e-03,-4.97903858e-03, 3.35843282e-02,
  4.50075859e-03,-3.73145919e-03,-1.85338972e-02, 2.85841650e-02,
  1.29795210e-02, 3.34463019e-03,-9.99059666e-03, 2.58634694e-02,
  1.04652292e+00,-2.53267454e-04, 8.23499113e-01, 6.47360973e-02,
  9.36173462e-02,-7.01217752e-02, 1.30941265e-01, 5.02516306e-01,
  4.92528513e-01, 4.97323771e-01, 5.07505756e-01]

qacc:
[-7.04426486e-01,-1.00209192e+00, 3.67664955e+00,-5.43796954e+00,
  4.72500174e+00, 9.37222157e-03,-2.34434166e-01, 7.17450983e-01,
  1.26039614e+00, 9.10961634e-01,-4.32489328e+00, 8.00459791e+00,
 -1.18382596e+00, 1.94393292e+00, 5.29539501e+00,-2.28711296e+01,
  1.08200607e-01, 1.04145320e+00, 3.27500351e-01, 1.70907467e+00,
  3.77080855e-01,-1.50998290e+01]

qfrc_actuator:
[-7.70249226e-06,-1.38266590e-04,-5.79399925e-05,-2.68492755e-05,
  3.00462794e-05,-4.42735628e-04,-3.00902472e-04,-7.92655872e-06,
  1.38665353e-05,-6.90289111e-05,-5.61163614e-05, 4.35207933e-05,
  2.81991658e-02,-1.19396316e-03, 1.16193745e-02,-3.59643571e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032501755402805643
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.26985793e-14,  8.53971586e-14,  1.00000000e+00, -3.64633735e-27,
        1.00000000e+00, -8.53971586e-14, -1.00000000e+00,  0.00000000e+00,
        4.26985793e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09165222, -0.08819454,  0.06199071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.18313522e-06,-1.10891497e-05, 1.03745583e-05,-4.51168011e-06,
  2.77829995e-05,-5.63448350e-06,-1.81867233e-06, 9.23612889e-07,
  7.39432788e-06,-2.78234897e-05,-2.16931485e-05, 7.22183298e-06,
 -1.83880045e-04,-2.97040645e-05,-2.13355819e-04,-1.72868928e-04,
 -5.52002021e-07, 3.22748354e-07,-1.21644160e+00,-4.57815798e-04,
  1.21830826e-05,-5.50919696e-04]


--- Step 700 ---
qpos:
[ 6.18262920e-03,-1.81153888e-03,-4.97931870e-03, 3.35840132e-02,
  4.50166661e-03,-3.73250798e-03,-1.85349121e-02, 2.85848424e-02,
  1.29797630e-02, 3.34433637e-03,-9.98900642e-03, 2.58640514e-02,
  1.04716624e+00,-2.52708942e-04, 8.24028052e-01, 6.47296138e-02,
  9.36306244e-02,-7.01185308e-02, 1.30943758e-01, 5.02475982e-01,
  4.92563361e-01, 4.97388096e-01, 5.07448819e-01]

qacc:
[ -0.45338924,  3.23617545,-14.00033407, 26.41282092,  2.80451115,
   2.56898104, -9.69367607, 16.02535927,  0.75201941, -2.22725303,
   8.4572    ,-13.75609785, -0.30177381, -0.2259222 , -4.69739549,
  12.17221717,  0.1075999 ,  1.02867483,  0.20165559,  1.70203361,
   0.36319338,-14.910428  ]

qfrc_actuator:
[-1.01085157e-05,-1.21501630e-04,-8.48739273e-05, 7.24711194e-06,
  4.58943562e-05,-3.87624972e-04,-3.11503987e-04, 1.18266155e-05,
  1.79374474e-05,-8.33617093e-05,-3.24739823e-05, 2.99905468e-05,
  2.81432341e-02,-1.21921772e-03, 1.15684421e-02,-3.54942771e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032318610543619064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.71762184e-13,  8.58810919e-14,  1.00000000e+00,  1.47511239e-26,
        1.00000000e+00, -8.58810919e-14, -1.00000000e+00,  0.00000000e+00,
       -1.71762184e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09165215, -0.08819506,  0.06199076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.52715465e-06, 1.25333714e-05,-2.80966094e-05, 3.38954702e-05,
  1.66397883e-05, 5.16954100e-05,-1.19344372e-05, 1.94695931e-05,
  4.27339437e-06,-3.40779496e-05, 1.54565742e-05,-1.53376012e-05,
 -1.78505185e-04,-6.82125692e-05,-1.68026641e-04, 1.00050529e-05,
 -4.55031020e-07, 1.25664725e-07,-1.21644149e+00,-4.58006919e-04,
  1.13240263e-05,-5.50952359e-04]


--- Step 701 ---
qpos:
[ 6.18305259e-03,-1.81164548e-03,-4.97999684e-03, 3.35837348e-02,
  4.50275784e-03,-3.73325168e-03,-1.85357033e-02, 2.85850376e-02,
  1.29797068e-02, 3.34375774e-03,-9.98683783e-03, 2.58637561e-02,
  1.04780842e+00,-2.52397624e-04, 8.24555059e-01, 6.47266290e-02,
  9.36443318e-02,-7.01112134e-02, 1.30946636e-01, 5.02448606e-01,
  4.92584876e-01, 4.97469028e-01, 5.07375704e-01]

qacc:
[ 2.75271677e+00, 1.61932953e+00,-5.30320337e+00, 6.33763814e+00,
  1.60487700e+00,-1.21633640e+00, 6.95344287e+00,-1.58759098e+01,
 -2.60026795e+00,-3.79321813e+00, 1.66910282e+01,-3.25955723e+01,
 -3.70892918e-01,-4.20133938e-02,-1.33954612e+01, 4.27532286e+01,
  1.07273149e-01, 1.01824175e+00, 9.65330866e-02, 1.69820950e+00,
  3.50414775e-01,-1.47557417e+01]

qfrc_actuator:
[ 6.18670884e-06,-9.36337098e-05,-1.00581466e-04, 9.67424922e-06,
  5.48462308e-05,-3.72184639e-04,-2.99444532e-04,-1.23051864e-05,
  2.48062605e-06,-9.16331614e-05,-1.42549412e-06,-1.36962683e-05,
  2.80812453e-02,-1.23437165e-03, 1.15136227e-02,-3.35920641e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003194486160536941
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.43036779e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.43036779e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09165203, -0.08819608,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.62291988e-05, 3.05439545e-05,-1.53972685e-05, 2.65416641e-06,
  9.44491563e-06, 4.27718562e-05, 2.19628692e-05,-2.19480035e-05,
 -1.53464823e-05,-2.47995545e-05, 2.53659690e-05,-4.49152069e-05,
 -1.88806666e-04,-6.39019786e-05,-1.31908317e-04, 1.68955738e-04,
 -3.51422147e-07, 2.20716468e-08,-1.21644169e+00,-4.58207934e-04,
  1.03898377e-05,-5.50892550e-04]


--- Step 702 ---
qpos:
[ 6.18366789e-03,-1.81138310e-03,-4.98064222e-03, 3.35834523e-02,
  4.50360301e-03,-3.73347431e-03,-1.85366794e-02, 2.85842520e-02,
  1.29791209e-02, 3.34305450e-03,-9.98468145e-03, 2.58636506e-02,
  1.04844903e+00,-2.51026068e-04, 8.25080865e-01, 6.47241960e-02,
  9.36584679e-02,-7.00998567e-02, 1.30949551e-01, 5.02434060e-01,
  4.92593188e-01, 4.97566428e-01, 5.07286523e-01]

qacc:
[ 1.68202766e+00, 3.84411976e-01,-6.51505585e-01, 2.62914045e-01,
 -2.16882244e+00,-8.07852248e-01, 8.02901128e+00,-2.50993323e+01,
 -4.66011514e+00, 2.69086369e-01,-1.98364784e+00, 5.36122479e+00,
 -2.04306138e+00, 4.08882196e+00,-3.30172270e+00, 9.29713559e+00,
  1.07179723e-01, 1.00982428e+00, 8.98486891e-03, 1.69724471e+00,
  3.38518864e-01,-1.46308360e+01]

qfrc_actuator:
[ 1.56054058e-05,-5.93159851e-05,-9.17432835e-05, 1.12199755e-05,
  4.19183100e-05,-3.45053385e-04,-3.09779194e-04,-6.20782390e-05,
 -2.43448154e-05,-9.61936856e-05,-1.76348486e-06,-3.75872462e-06,
  2.80103433e-02,-1.17242968e-03, 1.14565373e-02,-3.33474210e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031423601784869026
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.76022381e-13, -3.53308648e-13,  1.00000000e+00,  9.75210941e-26,
        1.00000000e+00,  3.53308648e-13, -1.00000000e+00,  0.00000000e+00,
        2.76022381e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09165189, -0.0881975 ,  0.06199102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.89239587e-06, 4.83480730e-05, 1.33516209e-05, 2.37510948e-06,
 -1.26431640e-05, 5.46842262e-05, 4.63184166e-07,-4.76046466e-05,
 -2.72689166e-05,-1.51229919e-05,-3.90778098e-06, 8.87608016e-06,
 -2.02565507e-04, 1.13671838e-05,-1.01062838e-04, 1.64243305e-05,
 -2.41001604e-07, 8.37151125e-09,-1.21644216e+00,-4.58419591e-04,
  9.38005055e-06,-5.50741290e-04]


--- Step 703 ---
qpos:
[ 6.18404643e-03,-1.81066429e-03,-4.98149371e-03, 3.35828500e-02,
  4.50394196e-03,-3.73338419e-03,-1.85374515e-02, 2.85832214e-02,
  1.29785629e-02, 3.34226540e-03,-9.98255881e-03, 2.58636613e-02,
  1.04908813e+00,-2.48354165e-04, 8.25605378e-01, 6.47223955e-02,
  9.36685804e-02,-7.00960814e-02, 1.30951086e-01, 5.02407197e-01,
  4.92610914e-01, 4.97621856e-01, 5.07241545e-01]

qacc:
[ -2.09624687,  0.52526621,  0.35931932, -5.90678109, -4.42954254,
  -0.65144577,  3.97233151, -8.78485895,  0.24560056,  0.21954968,
  -1.43896366,  3.56815155, -2.21568691,  4.64950876, -3.66612721,
  10.41015682, -1.00589097, -1.89534066, -0.3447761 ,-16.24472983,
   1.02010924, 26.90836879]

qfrc_actuator:
[ 3.14273565e-06,-3.90516789e-05,-1.03954515e-04,-5.48976304e-06,
  1.62184949e-05,-3.28998228e-04,-2.97726023e-04,-7.32867427e-05,
 -2.21352231e-05,-9.85739494e-05,-2.82150152e-06, 2.13218097e-06,
  2.79501505e-02,-1.10094401e-03, 1.13980961e-02,-3.30166879e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031175332842856007
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.90305671e-14, -3.56122268e-13,  1.00000000e+00,  3.17057675e-26,
        1.00000000e+00,  3.56122268e-13, -1.00000000e+00,  0.00000000e+00,
        8.90305671e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.109786  , -0.03397986,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.21652817e-05, 5.01608471e-05,-4.93512112e-07,-1.41288247e-05,
 -2.60399311e-05, 4.47068694e-05, 2.17745592e-05,-9.77046178e-06,
  1.42934572e-06,-1.12748423e-05,-4.37233524e-06, 5.27836326e-06,
 -1.84066523e-04, 3.07500066e-05,-1.08094375e-04, 1.98433898e-05,
 -1.23587290e-07, 8.17053991e-08,-1.21644292e+00,-4.58642626e-04,
  8.29399935e-06,-5.50499414e-04]


--- Step 704 ---
qpos:
[ 6.18358314e-03,-1.80990542e-03,-4.98228994e-03, 3.35817430e-02,
  4.50397044e-03,-3.73343160e-03,-1.85376011e-02, 2.85824387e-02,
  1.29787253e-02, 3.34136173e-03,-9.98015439e-03, 2.58633787e-02,
  1.04972607e+00,-2.45152214e-04, 8.26128859e-01, 6.47212515e-02,
  9.36747247e-02,-7.00997622e-02, 1.30950625e-01, 5.02368124e-01,
  4.92637902e-01, 4.97636105e-01, 5.07240055e-01]

qacc:
[ -7.4014004 , -1.12649652,  6.2491252 ,-15.12923702, -2.69509062,
  -1.40529415,  3.70926949, -0.32114748,  6.35073917, -1.55498956,
   6.54138917,-11.9593677 , -1.26853597,  2.33208949, -3.42449498,
   9.95709672, -0.99207624, -1.86403258, -0.49913453,-15.92963836,
   1.05506881, 26.46778852]

qfrc_actuator:
[-3.98494979e-05,-6.29597511e-05,-1.10816987e-04,-3.28354991e-05,
  9.66762562e-07,-3.55094090e-04,-2.72554961e-04,-6.16999609e-05,
  1.49023023e-05,-9.96349461e-05, 1.34675162e-05,-1.21599054e-05,
  2.78964345e-02,-1.07765420e-03, 1.13655218e-02,-3.26373142e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5902728 , -1.35352966,  4.3861785 , -1.35352966, 31.84393575,
        8.41020061,  4.3861785 ,  8.41020061,  7.18557438,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031461956613353104
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.64658450e-13, -1.76438967e-13,  1.00000000e+00,  4.66960636e-26,
        1.00000000e+00,  1.76438967e-13, -1.00000000e+00,  0.00000000e+00,
        2.64658450e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10978477, -0.03398115,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.33213020e-05, 3.41470169e-06, 2.95235737e-06,-2.54862654e-05,
 -1.59804581e-05, 2.98197198e-06, 3.67609203e-05, 1.40709059e-05,
  3.70738265e-05,-8.04045626e-06, 1.35878906e-05,-1.48269927e-05,
 -1.61925401e-04,-1.00963279e-05,-8.46255413e-05, 2.40952179e-05,
 -1.81592186e-07, 6.38005172e-08,-1.21644103e+00,-4.59020654e-04,
  9.99456176e-06,-5.50365545e-04]


--- Step 705 ---
qpos:
[ 6.18295308e-03,-1.80925546e-03,-4.98255942e-03, 3.35809944e-02,
  4.50381558e-03,-3.73346453e-03,-1.85374484e-02, 2.85818040e-02,
  1.29793303e-02, 3.34046756e-03,-9.97791485e-03, 2.58632874e-02,
  1.05036291e+00,-2.41902441e-04, 8.26651639e-01, 6.47194959e-02,
  9.36769469e-02,-7.01107954e-02, 1.30947648e-01, 5.02316931e-01,
  4.92674026e-01, 4.97609821e-01, 5.07281451e-01]

qacc:
[ -1.44773346, -0.87542223,  1.40383542,  4.03345828, -1.59529632,
  -0.51766556,  1.25419342,  0.80725766,  3.88946859,  0.85934482,
  -3.86626634,  7.44604017, -0.83372505,  1.12499261,  0.85668189,
  -4.39400703, -0.98049279, -1.83809586, -0.62895595,-15.67053895,
   1.08134758, 26.10362181]

qfrc_actuator:
[-4.72017903e-05,-5.98795404e-05,-7.91438773e-05,-1.29919687e-05,
 -8.00939600e-06,-3.52897502e-04,-2.57766039e-04,-5.45835812e-05,
  3.66275707e-05,-9.98413338e-05, 4.35744943e-06,-2.69355167e-06,
  2.78306511e-02,-1.08303176e-03, 1.13378394e-02,-3.29416323e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59022827, -1.65138532,  4.28288713, -1.65138532, 36.76120437,
       12.40440757,  4.28288713, 12.40440757,  9.3730899 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003146069266060786
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.82230277e-14, -1.76446055e-13,  1.00000000e+00,  1.55666052e-26,
        1.00000000e+00,  1.76446055e-13, -1.00000000e+00,  0.00000000e+00,
        8.82230277e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10978434, -0.03398099,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.58328046e-06, 4.47812128e-06, 3.18654154e-05, 1.96004237e-05,
 -9.43368496e-06, 1.20598321e-05, 2.04247320e-05, 8.79284901e-06,
  2.27753440e-05,-2.51260818e-06,-9.62856339e-06, 9.29915172e-06,
 -1.68851457e-04,-4.10761120e-05,-6.92809966e-05,-4.12248910e-05,
 -9.32847806e-08, 1.75411258e-07,-1.21644039e+00,-4.59498729e-04,
  1.08231103e-05,-5.50483241e-04]


--- Step 706 ---
qpos:
[ 6.18292913e-03,-1.80848992e-03,-4.98255748e-03, 3.35811682e-02,
  4.50355385e-03,-3.73302453e-03,-1.85373645e-02, 2.85822619e-02,
  1.29798467e-02, 3.33909151e-03,-9.97559428e-03, 2.58637022e-02,
  1.05099864e+00,-2.38675334e-04, 8.27173062e-01, 6.47181200e-02,
  9.36793576e-02,-7.01178139e-02, 1.30946992e-01, 5.02278348e-01,
  4.92697698e-01, 4.97599488e-01, 5.07306799e-01]

qacc:
[  5.33657975,  1.28284416, -8.26399758, 23.72637221, -0.94489012,
   3.06515654,-14.63358553, 33.30139617, -0.76836599,  0.18001695,
  -3.70043253, 12.68265261, -0.71882491,  0.83057839, -3.11132079,
   8.06071263,  0.0471152 ,  1.0036585 ,  0.58036705,  1.8042717 ,
   0.07412554,-14.25635554]

qfrc_actuator:
[-1.57558125e-05,-4.04734241e-05,-6.03482649e-05, 3.45037519e-05,
 -1.32231410e-05,-2.98317166e-04,-2.49135115e-04, 3.10925646e-06,
  3.14025492e-05,-1.52871092e-04,-1.90547208e-06, 2.06607171e-05,
  2.77683135e-02,-1.08758690e-03, 1.12651671e-02,-3.27584791e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031199898985519533
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.58945284e-07,  3.58944926e-07,  1.00000000e+00, -1.28841589e-13,
        1.00000000e+00, -3.58944926e-07, -1.00000000e+00,  0.00000000e+00,
        3.58945284e-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([ 0.09210423, -0.08685449,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.11997558e-05, 2.93127760e-05, 2.43217196e-05, 4.91729150e-05,
 -5.48020953e-06, 6.59172954e-05, 1.39425209e-05, 5.90890559e-05,
 -4.57940534e-06,-5.60089618e-05,-7.66197083e-06, 2.30907814e-05,
 -1.76386436e-04,-4.71155334e-05,-1.15514566e-04, 5.61277083e-06,
  1.36949057e-07, 4.10251361e-07,-1.21644093e+00,-4.60078919e-04,
  1.08269173e-05,-5.50849332e-04]


--- Step 707 ---
qpos:
[ 6.18293721e-03,-1.80763300e-03,-4.98258760e-03, 3.35822792e-02,
  4.50323159e-03,-3.73217938e-03,-1.85371214e-02, 2.85827090e-02,
  1.29799520e-02, 3.33690664e-03,-9.97316379e-03, 2.58644347e-02,
  1.05163339e+00,-2.35827961e-04, 8.27693005e-01, 6.47163144e-02,
  9.36821010e-02,-7.01205971e-02, 1.30947892e-01, 5.02252811e-01,
  4.92708362e-01, 4.97606379e-01, 5.07314967e-01]

qacc:
[  0.27970811,  2.13954098,-11.41012693, 27.61245338, -0.53167209,
   0.06979386,  0.57556522, -1.31696153, -3.60045086, -0.71497938,
  -0.33134043,  6.23773426, -0.320096  , -0.17161871, -0.8812278 ,
  -0.07943739,  0.08317101,  1.05884434,  0.38885911,  2.16319767,
   0.14654081,-15.10328868]

qfrc_actuator:
[-1.49949416e-05,-4.69579476e-05,-6.69871575e-05, 8.01308535e-05,
 -1.61825718e-05,-2.83781351e-04,-2.43948930e-04, 1.38095281e-06,
  1.03614858e-05,-2.19354667e-04,-6.64007979e-06, 3.42036917e-05,
  2.77187365e-02,-1.10934986e-03, 1.11868884e-02,-3.30004139e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58937094,  0.38689975,  4.57303337,  0.38689975, 24.77244425,
       -1.70758125,  4.57303337, -1.70758125,  4.7338402 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031436343176641235
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.93277825e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.93277825e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09165579, -0.08819878,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.65271032e-06, 1.70213692e-05, 4.10243690e-06, 4.86783467e-05,
 -3.09599858e-06, 5.67887962e-05, 2.25566501e-05, 2.72702833e-06,
 -2.11932684e-05,-9.83754416e-05,-1.64600335e-05, 1.13242775e-05,
 -1.69937129e-04,-6.68490476e-05,-1.34515045e-04,-3.96125955e-05,
  6.48053540e-08, 2.10680579e-07,-1.21644039e+00,-4.59832517e-04,
  1.08249678e-05,-5.50986691e-04]


--- Step 708 ---
qpos:
[ 6.18295471e-03,-1.80673036e-03,-4.98317730e-03, 3.35836264e-02,
  4.50253171e-03,-3.73123912e-03,-1.85369095e-02, 2.85828406e-02,
  1.29801491e-02, 3.33407963e-03,-9.97107698e-03, 2.58646441e-02,
  1.05226710e+00,-2.33237414e-04, 8.28211839e-01, 6.47170558e-02,
  9.36851969e-02,-7.01192089e-02, 1.30949810e-01, 5.02240196e-01,
  4.92706070e-01, 4.97630247e-01, 5.07306269e-01]

qacc:
[ 6.44851914e-02, 2.11078750e+00,-8.43506131e+00, 1.33817603e+01,
 -3.30778514e+00,-4.29668957e-01, 3.05812027e+00,-8.55116959e+00,
  8.07582494e-01,-9.66686492e-01, 4.42166718e+00,-1.24513541e+01,
 -3.68632574e-01,-9.38708188e-03,-9.30963086e+00, 3.02236087e+01,
  8.81061603e-02, 1.04284095e+00, 2.54589642e-01, 2.06560252e+00,
  1.80570495e-01,-1.49191267e+01]

qfrc_actuator:
[-1.45608769e-05,-6.89988885e-05,-1.06444472e-04, 8.87477613e-05,
 -3.55456424e-05,-3.11146279e-04,-2.58782514e-04,-1.75810183e-05,
  1.56940521e-05,-2.57885569e-04,-2.82716158e-05, 6.34053760e-06,
  2.76661917e-02,-1.12331874e-03, 1.11851927e-02,-3.15380368e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58831984, -0.31196362, -4.57770222, -0.31196362, 44.66969255,
       -2.73148617, -4.57770222, -2.73148617,  4.77446657,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003140645359878125
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.87797702e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.87797702e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09165665, -0.08819915,  0.06199102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.81902663e-07,-9.62171921e-06,-3.37640058e-05, 1.04312509e-05,
 -1.94327173e-05, 9.13154670e-06,-2.44416735e-07,-1.56980213e-05,
  4.69202906e-06,-9.64157531e-05,-4.35914133e-05,-3.24293937e-05,
 -1.73420646e-04,-6.09315419e-05,-7.07597437e-05, 1.26068449e-04,
  1.68245154e-09, 9.01919668e-08,-1.21644011e+00,-4.59602544e-04,
  1.07314551e-05,-5.51027387e-04]


--- Step 709 ---
qpos:
[ 6.18297720e-03,-1.80574932e-03,-4.98421909e-03, 3.35843650e-02,
  4.50160556e-03,-3.73057985e-03,-1.85372855e-02, 2.85838686e-02,
  1.29810977e-02, 3.33107661e-03,-9.96923008e-03, 2.58644505e-02,
  1.05289965e+00,-2.30524721e-04, 8.28730660e-01, 6.47170429e-02,
  9.36886607e-02,-7.01137016e-02, 1.30952297e-01, 5.02240398e-01,
  4.92690867e-01, 4.97670893e-01, 5.07280962e-01]

qacc:
[ 2.79035722e-02, 1.14083216e-01, 2.31292156e+00,-1.21810709e+01,
 -1.99321465e+00, 3.11777541e+00,-1.54352003e+01, 3.20889475e+01,
  6.60887976e+00,-4.04542720e-01, 2.78400342e+00,-9.22097165e+00,
 -9.85991487e-01, 1.44432251e+00, 2.31181092e+00,-7.98539515e+00,
  9.20005931e-02, 1.02978441e+00, 1.42248531e-01, 1.98844587e+00,
  2.06786628e-01,-1.47674790e+01]

qfrc_actuator:
[-1.43130848e-05,-6.48593108e-05,-1.29547235e-04, 5.77320619e-05,
 -4.66569523e-05,-3.63503665e-04,-3.03253987e-04, 2.44363770e-05,
  5.42649585e-05,-2.26230126e-04,-2.41264209e-05,-1.01472113e-05,
  2.76119077e-02,-1.11482956e-03, 1.11975118e-02,-3.19215428e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003116462010466642
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.33979391e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.33979391e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09165728, -0.08820004,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.56544285e-07,-7.79710453e-06,-2.88946114e-05,-3.23969245e-05,
 -1.16625742e-05,-4.80180193e-05,-4.31716386e-05, 4.20926973e-05,
  3.86668861e-05,-3.25751550e-05,-2.22538826e-05,-2.27579922e-05,
 -1.75147362e-04,-3.86701023e-05,-1.15568570e-05,-4.16856819e-05,
 -4.61207101e-08, 5.96693695e-08,-1.21644012e+00,-4.59402378e-04,
  1.05393201e-05,-5.50977199e-04]


--- Step 710 ---
qpos:
[ 6.18265753e-03,-1.80488713e-03,-4.98491305e-03, 3.35843504e-02,
  4.50055347e-03,-3.73047741e-03,-1.85380087e-02, 2.85847216e-02,
  1.29825006e-02, 3.32839616e-03,-9.96711687e-03, 2.58643047e-02,
  1.05353111e+00,-2.27747943e-04, 8.29249416e-01, 6.47158728e-02,
  9.36882449e-02,-7.01156019e-02, 1.30952444e-01, 5.02228794e-01,
  4.92684836e-01, 4.97670491e-01, 5.07298702e-01]

qacc:
[ -2.99600804, -2.67408423, 12.49515637,-26.00521365, -1.10381519,
  -0.12380199,  0.11685061, -2.18714859,  4.00031553, -0.22743814,
   1.21432   , -1.03617419, -0.89703181,  1.25763623,  3.44718775,
 -12.08070114, -0.9698957 , -1.85190903, -0.58504944,-15.91101789,
   0.9079406 , 26.19844035]

qfrc_actuator:
[-3.19290298e-05,-6.28150177e-05,-1.07215665e-04, 2.14397857e-05,
 -5.28175301e-05,-4.12765848e-04,-3.29433779e-04, 1.31924260e-05,
  7.65771188e-05,-1.52672154e-04, 1.32711368e-05,-1.96803074e-06,
  2.75619538e-02,-1.11089442e-03, 1.11968780e-02,-3.25021216e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003090786186845107
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.59204085e-13,  1.79602043e-13,  1.00000000e+00, -6.45137874e-26,
        1.00000000e+00, -1.79602043e-13, -1.00000000e+00,  0.00000000e+00,
        3.59204085e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10978198, -0.03397694,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.76110429e-05,-9.69773651e-06, 1.60402681e-05,-3.82581846e-05,
 -6.51049697e-06,-8.32529621e-05,-3.99647231e-05,-1.39788275e-05,
  2.33935079e-05, 4.98737267e-05, 2.71535874e-05, 5.57186507e-06,
 -1.66795612e-04,-3.99221360e-05,-2.00538453e-05,-6.40779167e-05,
 -8.06877910e-08, 1.16718084e-07,-1.21644042e+00,-4.59227114e-04,
  1.02540334e-05,-5.50836527e-04]


--- Step 711 ---
qpos:
[ 6.18212939e-03,-1.80439404e-03,-4.98522104e-03, 3.35839304e-02,
  4.49943539e-03,-3.73071510e-03,-1.85388720e-02, 2.85853912e-02,
  1.29834700e-02, 3.32633149e-03,-9.96502762e-03, 2.58642385e-02,
  1.05416143e+00,-2.24639446e-04, 8.29767043e-01, 6.47184103e-02,
  9.36880451e-02,-7.01136038e-02, 1.30953810e-01, 5.02229527e-01,
  4.92666543e-01, 4.97685593e-01, 5.07300927e-01]

qacc:
[ -1.81474782, -2.3981154 ,  9.55997569,-16.92715352, -0.57622668,
  -0.43383997,  1.67087279, -4.37173364, -3.82534731,  1.05210169,
  -2.8935558 ,  3.84194933, -0.93207872,  1.5179081 ,-12.79765218,
  42.4902294 ,  0.05397001,  0.97460747,  0.30473627,  1.67445581,
   0.11134207,-13.89572233]

qfrc_actuator:
[-4.21654343e-05,-9.73672709e-05,-9.37478265e-05, 1.22079653e-07,
 -5.60174673e-05,-4.06524765e-04,-3.26891394e-04, 6.20995422e-06,
  5.36254462e-05,-1.07658727e-04, 1.69519749e-05, 2.96915480e-06,
  2.75093076e-02,-1.09192986e-03, 1.11618486e-02,-3.05310034e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.5668694 ,   1.30778621,   4.37561325,   1.30778621,
        44.07934569, -11.80951528,   4.37561325, -11.80951528,
         8.0965052 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003078735053987967
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.02482041e-09,  7.02428443e-09,  1.00000000e+00, -4.93443366e-17,
        1.00000000e+00, -7.02428443e-09, -1.00000000e+00,  0.00000000e+00,
        7.02482041e-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([ 0.09210817, -0.08685706,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07415928e-05,-3.83295677e-05, 1.21156253e-05,-2.19224355e-05,
 -3.41277217e-06,-4.91670288e-05,-2.00547304e-05,-1.22054298e-05,
 -2.22773345e-05, 7.88360953e-05, 1.75277179e-05, 8.12336235e-06,
 -1.64678735e-04,-2.32460109e-05,-6.04394608e-05, 1.88846034e-04,
  2.08490371e-08, 3.75289435e-09,-1.21644001e+00,-4.59685105e-04,
  1.05404828e-05,-5.51023957e-04]


--- Step 712 ---
qpos:
[ 6.18182747e-03,-1.80425013e-03,-4.98533778e-03, 3.35832696e-02,
  4.49828747e-03,-3.73129508e-03,-1.85391859e-02, 2.85859231e-02,
  1.29838119e-02, 3.32522058e-03,-9.96391005e-03, 2.58642541e-02,
  1.05479082e+00,-2.21904076e-04, 8.30283065e-01, 6.47227607e-02,
  9.36839938e-02,-7.01189536e-02, 1.30952534e-01, 5.02218531e-01,
  4.92657347e-01, 4.97660005e-01, 5.07345844e-01]

qacc:
[  2.00093878, -1.49596364,  5.67396802, -9.88257096, -0.23813894,
  -2.26927212,  8.01727307,-11.02562145, -5.56969963,  4.15548209,
 -13.31433606, 15.5612325 , -0.18990154, -0.39394316, -7.84041841,
  23.98559085, -0.96285219, -1.836967  , -0.66056509,-15.77086953,
   0.91027668, 25.98268342]

qfrc_actuator:
[-3.02183125e-05,-1.18074400e-04,-8.57755173e-05,-1.22572704e-05,
 -5.74506032e-05,-4.02480962e-04,-2.89431287e-04, 1.86263431e-06,
  2.19740774e-05,-6.24416484e-05,-3.49187449e-05, 5.91020610e-06,
  2.74550904e-02,-1.11749883e-03, 1.10530221e-02,-2.97357802e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.56586886,  -1.3288759 ,  -4.36820871,  -1.3288759 ,
        43.9720467 , -11.98796204,  -4.36820871, -11.98796204,
         8.21279028,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003075803837687824
  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([ 0.10978049, -0.03397555,  0.06199121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16275908e-05,-4.05934517e-05, 7.88240583e-07,-1.40282222e-05,
 -1.54646431e-06,-2.80995964e-05, 2.44233757e-05,-7.38473450e-06,
 -3.22622119e-05, 9.33171488e-05,-3.31443291e-05, 7.08530145e-06,
 -1.61216122e-04,-6.44873701e-05,-1.21316826e-04, 8.09333683e-05,
 -6.24283384e-08, 2.46867770e-08,-1.21644005e+00,-4.59387950e-04,
  1.05612876e-05,-5.50951908e-04]


--- Step 713 ---
qpos:
[ 6.18201603e-03,-1.80456579e-03,-4.98531208e-03, 3.35828287e-02,
  4.49713123e-03,-3.73216440e-03,-1.85390412e-02, 2.85860523e-02,
  1.29837717e-02, 3.32479536e-03,-9.96338084e-03, 2.58646585e-02,
  1.05541917e+00,-2.19427264e-04, 8.30797766e-01, 6.47270090e-02,
  9.36802446e-02,-7.01200545e-02, 1.30952826e-01, 5.02220518e-01,
  4.92635310e-01, 4.97651666e-01, 5.07373454e-01]

qacc:
[  4.32531682, -0.56116372,  0.17626802,  3.75703695, -0.05376213,
  -2.49105787, 10.02895996,-17.52022856, -3.39230006,  3.3574466 ,
 -12.28631858, 19.43801897, -0.47476137,  0.19420315, -1.62333514,
   2.88668295,  0.07553473,  1.06221405,  0.3919712 ,  2.25981226,
   0.09489713,-15.08346563]

qfrc_actuator:
[-5.31236575e-06,-1.48099365e-04,-8.10601807e-05,-1.52340024e-06,
 -5.78334156e-05,-4.17369952e-04,-2.67159375e-04,-1.86285921e-05,
  3.22305695e-06,-3.54392902e-05,-6.59051930e-05, 2.53720844e-05,
  2.73946263e-02,-1.13371047e-03, 1.09852135e-02,-2.98195048e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.56957211,   1.32546244,   4.37311543,   1.32546244,
        45.27913945, -12.33880134,   4.37311543, -12.33880134,
         8.30938141,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00030866333156533143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01162073e-13, -1.79843686e-13,  1.00000000e+00,  1.81933601e-26,
        1.00000000e+00,  1.79843686e-13, -1.00000000e+00,  0.00000000e+00,
        1.01162073e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09166108, -0.08820213,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.52227308e-05,-5.31607929e-05,-4.05712536e-06, 8.74962356e-06,
 -4.37472518e-07,-2.58509304e-05, 1.92302336e-05,-2.09932080e-05,
 -1.96363515e-05, 7.26600168e-05,-1.55463022e-05, 2.24533461e-05,
 -1.75013797e-04,-6.11345773e-05,-1.17395089e-04,-2.01442960e-05,
  1.11583785e-07,-7.42258766e-08,-1.21644033e+00,-4.59875041e-04,
  1.02855134e-05,-5.51279896e-04]


--- Step 714 ---
qpos:
[ 6.18215658e-03,-1.80495305e-03,-4.98592365e-03, 3.35821790e-02,
  4.49632424e-03,-3.73311935e-03,-1.85392892e-02, 2.85866587e-02,
  1.29838520e-02, 3.32465644e-03,-9.96275713e-03, 2.58646065e-02,
  1.05604631e+00,-2.16825929e-04, 8.31311835e-01, 6.47319350e-02,
  9.36768219e-02,-7.01169725e-02, 1.30954149e-01, 5.02235382e-01,
  4.92600437e-01, 4.97660326e-01, 5.07384106e-01]

qacc:
[ -0.44116199,  1.25744663, -3.73700211,  1.19051433,  3.0460631 ,
   1.95923732, -9.17630086, 18.13825005,  1.05801774, -0.82731737,
   5.42251764,-13.67994158, -0.93043058,  1.31552881, -2.92391442,
   9.00042468,  0.08161641,  1.04570995,  0.25793886,  2.13664973,
   0.14345247,-14.90636668]

qfrc_actuator:
[-8.49114707e-06,-1.47959705e-04,-1.13831985e-04,-1.27913469e-05,
 -3.98429826e-05,-4.25782009e-04,-2.89634500e-04, 4.77199397e-06,
  9.97039700e-06,-3.72318245e-05,-6.66030965e-05, 1.14889621e-06,
  2.73357837e-02,-1.12652042e-03, 1.09953057e-02,-2.93535415e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56972699, -0.53728353, -4.53803164, -0.53728353, 36.36344509,
       -3.76424022, -4.53803164, -3.76424022,  5.01539693,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003087085064521766
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91055954e-13, -1.79817368e-13,  1.00000000e+00,  3.43551788e-26,
        1.00000000e+00,  1.79817368e-13, -1.00000000e+00,  0.00000000e+00,
        1.91055954e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09166218, -0.08820248,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.47932274e-06,-3.00310661e-05,-4.39467503e-05,-1.35154951e-05,
  1.79690132e-05,-1.97659764e-05,-2.61640359e-05, 2.25509164e-05,
  6.21379522e-06, 3.65916125e-05, 1.31716635e-05,-2.12106559e-05,
 -1.81348248e-04,-4.01197083e-05,-4.97773312e-05, 2.95050682e-05,
 -3.22113519e-08,-8.01816386e-08,-1.21644011e+00,-4.59415778e-04,
  1.06149880e-05,-5.51255104e-04]


--- Step 715 ---
qpos:
[ 6.18156830e-03,-1.80544916e-03,-4.98697848e-03, 3.35817361e-02,
  4.49573925e-03,-3.73432177e-03,-1.85397221e-02, 2.85872022e-02,
  1.29840123e-02, 3.32485402e-03,-9.96213752e-03, 2.58639201e-02,
  1.05667242e+00,-2.14465870e-04, 8.31825247e-01, 6.47357180e-02,
  9.36737446e-02,-7.01097615e-02, 1.30956055e-01, 5.02263035e-01,
  4.92552734e-01, 4.97685777e-01, 5.07378080e-01]

qacc:
[ -6.42053541,  1.53366965, -6.52828411, 10.87245142,  1.94134992,
   0.05595199, -0.41506109, -0.18901438,  0.69802299, -0.85116881,
   6.35666229,-17.57566068, -0.56342707,  0.37839662,  2.50306925,
 -10.11219806,  0.08632549,  1.03227131,  0.14574744,  2.03823995,
   0.18189645,-14.76049581]

qfrc_actuator:
[-4.59310914e-05,-1.47678053e-04,-1.32868084e-04,-1.41423189e-06,
 -2.89354767e-05,-4.48148519e-04,-3.02784696e-04, 5.30762078e-07,
  1.39143964e-05,-2.06709299e-05,-6.73280207e-05,-3.08429947e-05,
  2.72832913e-02,-1.14107427e-03, 1.09509339e-02,-2.99853643e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003066209093944283
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92356739e-13, -3.62083273e-13,  1.00000000e+00,  6.96491576e-26,
        1.00000000e+00,  3.62083273e-13, -1.00000000e+00,  0.00000000e+00,
        1.92356739e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09166299, -0.08820333,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.75166048e-05,-2.61476382e-05,-3.11067095e-05, 8.31042335e-06,
  1.14140269e-05,-3.78148764e-05,-1.96635327e-05,-5.55414992e-06,
  4.13384564e-06, 3.88352209e-05, 7.71630404e-06,-3.03820313e-05,
 -1.73629648e-04,-5.99934381e-05,-7.10859268e-05,-6.96106972e-05,
 -1.59603822e-07, 8.53697630e-10,-1.21644020e+00,-4.58990215e-04,
  1.08389249e-05,-5.51141980e-04]


--- Step 716 ---
qpos:
[ 6.18088102e-03,-1.80638023e-03,-4.98762637e-03, 3.35821062e-02,
  4.49528975e-03,-3.73587061e-03,-1.85400104e-02, 2.85880262e-02,
  1.29838740e-02, 3.32512868e-03,-9.96146118e-03, 2.58635757e-02,
  1.05729759e+00,-2.12612884e-04, 8.32337747e-01, 6.47334811e-02,
  9.36668208e-02,-7.01099582e-02, 1.30955566e-01, 5.02279144e-01,
  4.92514171e-01, 4.97670047e-01, 5.07414995e-01]

qacc:
[-8.49706742e-01,-3.68455720e-02,-4.13179690e+00, 1.78675494e+01,
  1.19637015e+00,-2.86720204e-01,-8.30274835e-01, 5.71236547e+00,
 -2.62744152e+00, 6.52553420e-01,-3.61424464e+00, 9.37705074e+00,
 -4.40589010e-01,-2.26274020e-02, 1.68277601e+01,-6.08171639e+01,
 -9.61593440e-01,-1.85192948e+00,-5.98866152e-01,-1.59947360e+01,
  7.86733934e-01, 2.61288436e+01]

qfrc_actuator:
[-4.99698126e-05,-1.64997929e-04,-1.08096587e-04, 4.09703332e-05,
 -2.22901800e-05,-4.60938979e-04,-2.92638199e-04, 1.55589778e-05,
 -1.58398873e-06,-2.87679569e-05,-6.80083650e-05,-1.38776328e-05,
  2.72346384e-02,-1.16835847e-03, 1.08526055e-02,-3.32131540e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003042695872090828
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82440683e-13,  3.64881366e-13,  1.00000000e+00, -6.65692054e-26,
        1.00000000e+00, -3.64881366e-13, -1.00000000e+00,  0.00000000e+00,
        1.82440683e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10977679, -0.03397237,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.11090315e-06,-3.79912118e-05, 1.58478294e-05, 4.03557027e-05,
  6.95917812e-06,-3.81844555e-05,-2.61132704e-07, 1.26211434e-05,
 -1.53653069e-05, 1.39008339e-05, 7.23273972e-06, 1.83048950e-05,
 -1.69685290e-04,-7.43105270e-05,-1.45078724e-04,-3.37292272e-04,
 -2.73075340e-07, 1.67238257e-07,-1.21644057e+00,-4.58591889e-04,
  1.09646385e-05,-5.50940285e-04]


--- Step 717 ---
qpos:
[ 6.18083993e-03,-1.80726089e-03,-4.98812373e-03, 3.35822452e-02,
  4.49492320e-03,-3.73743934e-03,-1.85400608e-02, 2.85893198e-02,
  1.29835513e-02, 3.32525103e-03,-9.96068792e-03, 2.58638097e-02,
  1.05792176e+00,-2.11094763e-04, 8.32848829e-01, 6.47250580e-02,
  9.36600867e-02,-7.01062446e-02, 1.30956322e-01, 5.02307574e-01,
  4.92463401e-01, 4.97669834e-01, 5.07436338e-01]

qacc:
[ 5.68570098e+00,-8.41105191e-01, 4.05173737e+00,-8.30731480e+00,
  7.34084518e-01, 2.73319401e-01,-2.99882907e+00, 1.07652433e+01,
 -1.61670727e+00, 7.21573465e-01,-5.30156116e+00, 1.52629867e+01,
 -6.36913273e-01, 4.64010467e-01, 1.65997982e+01,-6.10678139e+01,
  4.74059808e-02, 9.77567553e-01, 3.11324546e-01, 1.71185582e+00,
  9.40860405e-02,-1.38955718e+01]

qfrc_actuator:
[-1.65534682e-05,-1.39251197e-04,-9.32186980e-05, 3.02599731e-05,
 -1.82044916e-05,-4.32280601e-04,-2.68768976e-04, 4.18307015e-05,
 -1.06484985e-05,-5.15349230e-05,-6.87211466e-05, 1.39867462e-05,
  2.71829908e-02,-1.18516594e-03, 1.07698820e-02,-3.63474450e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.55214763,   1.31710554,   4.35743973,   1.31710554,
        40.22391227, -10.78235882,   4.35743973, -10.78235882,
         7.81128725,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003035199961684886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.03808729e-07, -5.03808834e-07,  1.00000000e+00, -2.53823288e-13,
        1.00000000e+00,  5.03808834e-07, -1.00000000e+00, -5.04870979e-29,
       -5.03808729e-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([ 0.09211386, -0.08686034,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.32589893e-05, 9.54551303e-06, 1.03969767e-05,-1.10015347e-05,
  4.27064396e-06, 7.85295320e-06, 1.64060984e-05, 2.48738908e-05,
 -9.49574775e-06,-1.27379666e-05, 3.67298446e-06, 2.90658528e-05,
 -1.74492543e-04,-6.48937845e-05,-1.90620594e-04,-3.51747961e-04,
 -1.65141889e-07,-1.60077837e-07,-1.21644040e+00,-4.59011627e-04,
  1.07169123e-05,-5.51183662e-04]


--- Step 718 ---
qpos:
[ 6.18119942e-03,-1.80773964e-03,-4.98887471e-03, 3.35818918e-02,
  4.49391829e-03,-3.73852002e-03,-1.85400267e-02, 2.85901716e-02,
  1.29831222e-02, 3.32543202e-03,-9.96026792e-03, 2.58643803e-02,
  1.05854469e+00,-2.09428637e-04, 8.33357691e-01, 6.47194678e-02,
  9.36495954e-02,-7.01096468e-02, 1.30954679e-01, 5.02325025e-01,
  4.92421277e-01, 4.97629910e-01, 5.07499092e-01]

qacc:
[  3.50703087,  0.21960876,  2.05434044,-10.45254724, -5.59278581,
  -0.48863389,  4.56347762,-12.72637057, -0.94782985,  1.75941941,
  -7.578716  , 13.921554  , -0.8234651 ,  1.10726496,-11.77732635,
  36.55411943, -0.9392991 , -1.77893281, -0.59986133,-15.50480449,
   0.76099513, 25.11532906]

qfrc_actuator:
[ 3.12505240e-06,-1.05728496e-04,-1.01935973e-04, 6.16418204e-06,
 -5.11614933e-05,-3.78940884e-04,-2.54570141e-04, 2.12891742e-05,
 -1.58474705e-05,-4.74000211e-05,-8.72688982e-05, 3.02647566e-05,
  2.71189346e-02,-1.17790412e-03, 1.07338803e-02,-3.46066834e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54962862, -1.34323035, -4.346821  , -1.34323035, 35.5139663 ,
       -9.56842673, -4.346821  , -9.56842673,  7.50641042,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003027662139948278
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02448993e-06,  1.02449011e-06,  1.00000000e+00,  1.04957980e-12,
        1.00000000e+00, -1.02449011e-06, -1.00000000e+00, -2.01948392e-28,
       -1.02448993e-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([ 0.10931249, -0.03535517,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.06308114e-05, 4.05859779e-05,-5.83110406e-06,-2.35397557e-05,
 -3.28339639e-05, 6.22419688e-05, 1.87184233e-05,-1.91526776e-05,
 -5.47332881e-06,-1.00227184e-06,-1.97317731e-05, 1.64227029e-05,
 -1.88257669e-04,-4.00360106e-05,-1.64176829e-04, 1.29644411e-04,
 -3.23336854e-07,-3.45374873e-08,-1.21644051e+00,-4.58500622e-04,
  1.11292681e-05,-5.51049387e-04]


--- Step 719 ---
qpos:
[ 6.18248217e-03,-1.80780578e-03,-4.98953433e-03, 3.35819173e-02,
  4.49321573e-03,-3.73862581e-03,-1.85406543e-02, 2.85911043e-02,
  1.29826338e-02, 3.32604744e-03,-9.96052413e-03, 2.58647701e-02,
  1.05916647e+00,-2.07949999e-04, 8.33865256e-01, 6.47181042e-02,
  9.36393772e-02,-7.01087941e-02, 1.30954568e-01, 5.02355438e-01,
  4.92366357e-01, 4.97607216e-01, 5.07544524e-01]

qacc:
[  8.11404885,  1.05425776, -4.59436644, 10.73028068,  2.60874192,
   3.29672569,-10.23627393, 11.98507961, -0.55086187,  2.09296855,
  -5.86435239,  3.49460285, -0.43325203,  0.11778497,-14.65232935,
  48.52330433,  0.06830322,  1.06369076,  0.38298648,  2.27674146,
   0.08455917,-15.06503831]

qfrc_actuator:
[ 5.00532854e-05,-6.79118969e-05,-8.89611386e-05, 2.76487336e-05,
 -3.46454546e-05,-3.11292344e-04,-2.81620326e-04, 2.66413485e-05,
 -1.87314101e-05,-9.52139999e-06,-1.16106228e-04, 2.18487659e-05,
  2.70581419e-02,-1.19205491e-03, 1.07260348e-02,-3.23141783e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.55606874,   1.3301206 ,   4.35758437,   1.3301206 ,
        41.39521986, -11.24488015,   4.35758437, -11.24488015,
         7.98848577,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003046881293422288
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.97081551e-14,  1.82190069e-13,  1.00000000e+00,  1.45220343e-26,
        1.00000000e+00, -1.82190069e-13, -1.00000000e+00,  0.00000000e+00,
       -7.97081551e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09166746, -0.08820534,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.75325604e-05, 5.83323466e-05, 1.98397853e-05, 2.25664186e-05,
  1.55998632e-05, 1.05525122e-04,-1.25391685e-05, 8.29631341e-06,
 -3.03856217e-06, 3.39300605e-05,-3.09150373e-05,-8.82454061e-06,
 -1.86986973e-04,-6.07038049e-05,-6.94533022e-05, 2.15253541e-04,
 -1.55692341e-07,-3.38690295e-07,-1.21644100e+00,-4.58913712e-04,
  1.03611638e-05,-5.51413709e-04]


--- Step 720 ---
qpos:
[ 6.18431771e-03,-1.80775489e-03,-4.98934969e-03, 3.35821850e-02,
  4.49306138e-03,-3.73806112e-03,-1.85415263e-02, 2.85921038e-02,
  1.29821145e-02, 3.32721477e-03,-9.96121171e-03, 2.58643327e-02,
  1.05978716e+00,-2.06927773e-04, 8.34371575e-01, 6.47201782e-02,
  9.36294587e-02,-7.01037531e-02, 1.30955460e-01, 5.02398720e-01,
  4.92298612e-01, 4.97601499e-01, 5.07573001e-01]

qacc:
[  4.88543705, -1.71613634,  5.30382039, -2.52862692,  4.77879071,
   1.69668544, -5.06253097,  6.13338969, -0.29575845,  0.23277879,
   3.7221841 ,-17.75683865, -0.17448892, -0.56839944,-12.21358872,
  40.05464877,  0.07489179,  1.04711821,  0.25082759,  2.1374215 ,
   0.1428891 ,-14.8953481 ]

qfrc_actuator:
[ 7.71431790e-05,-6.31956831e-05,-4.54619401e-05, 4.03019464e-05,
 -6.88358206e-06,-2.88998474e-04,-2.97202497e-04, 2.94310141e-05,
 -2.02308275e-05, 3.04515806e-05,-1.32900412e-04,-1.87535690e-05,
  2.69993447e-02,-1.21877698e-03, 1.06658447e-02,-3.06035283e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55643625, -0.63179074, -4.51242194, -0.63179074, 33.41211708,
       -4.04012572, -4.51242194, -4.04012572,  5.12210011,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030479729125487687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.39038824e-13, -3.64249636e-13,  1.00000000e+00,  8.70698046e-26,
        1.00000000e+00,  3.64249636e-13, -1.00000000e+00,  0.00000000e+00,
        2.39038824e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09166869, -0.08820572,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.84608754e-05, 4.24238832e-05, 5.87781586e-05, 1.62778076e-05,
  2.82444854e-05, 7.90833089e-05, 4.96266872e-06, 7.03846829e-06,
 -1.57052370e-06, 5.21600147e-05,-1.39041276e-05,-4.03913583e-05,
 -1.87665331e-04,-7.71244692e-05,-7.31435295e-05, 1.72975890e-04,
 -3.73229032e-07,-2.26468562e-07,-1.21644087e+00,-4.58244416e-04,
  1.10998169e-05,-5.51319045e-04]


--- Step 721 ---
qpos:
[ 6.18542934e-03,-1.80769747e-03,-4.98852414e-03, 3.35826307e-02,
  4.49324152e-03,-3.73745055e-03,-1.85417025e-02, 2.85924538e-02,
  1.29822716e-02, 3.32827170e-03,-9.96159464e-03, 2.58637917e-02,
  1.06040665e+00,-2.05940229e-04, 8.34876665e-01, 6.47210559e-02,
  9.36198598e-02,-7.00945774e-02, 1.30956912e-01, 5.02454794e-01,
  4.92218021e-01, 4.97612553e-01, 5.07584818e-01]

qacc:
[ -6.3450674 , -1.40397478,  4.28802173, -2.25881531,  2.94801297,
  -3.22389678, 14.31640221,-26.69104991,  5.96443433, -1.22235138,
   4.56411104, -6.7417894 , -0.84842772,  1.01822524,  1.8392693 ,
  -8.97061981,  0.07991338,  1.03365283,  0.14018829,  2.02522465,
   0.18980974,-14.7557191 ]

qfrc_actuator:
[ 3.90733252e-05,-7.82091562e-05,-1.99428397e-05, 4.76414621e-05,
  9.50635513e-06,-3.11755573e-04,-2.70551008e-04,-4.84036057e-06,
  1.46010709e-05, 3.79397246e-07,-1.24690439e-04,-2.46910718e-05,
  2.69417801e-02,-1.21719263e-03, 1.05636383e-02,-3.13813228e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54974447, -0.46293605, -4.52613135, -0.46293605, 47.87499888,
       -4.43133894, -4.52613135, -4.43133894,  5.00298509,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030280094011876646
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14578474e-14, -1.83325558e-13,  1.00000000e+00,  2.10051626e-27,
        1.00000000e+00,  1.83325558e-13, -1.00000000e+00,  0.00000000e+00,
        1.14578474e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09166961, -0.08820658,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.72492805e-05, 2.15488225e-05, 4.20786267e-05, 1.15052628e-05,
  1.72238779e-05, 2.27900663e-05, 4.38414378e-05,-3.05762688e-05,
  3.48106360e-05,-5.54248151e-06, 1.58690345e-05,-4.96952998e-06,
 -1.90524425e-04,-5.17854593e-05,-1.21502055e-04,-7.86985344e-05,
 -5.74921908e-07,-2.99303566e-08,-1.21644104e+00,-4.57608717e-04,
  1.17295643e-05,-5.51138763e-04]


--- Step 722 ---
qpos:
[ 6.18607622e-03,-1.80741020e-03,-4.98770649e-03, 3.35831778e-02,
  4.49361694e-03,-3.73669678e-03,-1.85415211e-02, 2.85920567e-02,
  1.29828453e-02, 3.32891574e-03,-9.96141761e-03, 2.58632053e-02,
  1.06102508e+00,-2.05270250e-04, 8.35380850e-01, 6.47176172e-02,
  9.36104849e-02,-7.00815903e-02, 1.30958729e-01, 5.02523073e-01,
  4.92125124e-01, 4.97638724e-01, 5.07581642e-01]

qacc:
[ -4.09058447,  0.54262964, -1.90802449,  3.49062302,  1.71741077,
  -2.34923934, 11.80108935,-25.40319733,  3.68986125, -2.21098628,
   7.27023417, -8.63101069, -0.63933873,  0.45019329, 11.71407182,
 -42.87146934,  0.05598857,  0.95284015,  0.09104655,  1.4719941 ,
   0.19402086,-13.64612253]

qfrc_actuator:
[ 1.62211074e-05,-6.94914954e-05,-2.30987732e-05, 5.17600763e-05,
  1.90675696e-05,-3.07928969e-04,-2.54907142e-04,-4.29061433e-05,
  3.50314583e-05,-3.57730712e-05,-1.02041444e-04,-2.79749629e-05,
  2.68903306e-02,-1.23436886e-03, 1.05055007e-02,-3.36195964e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002991536736638511
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.87580533e-08,  7.87578322e-08,  1.00000000e+00, -6.20281355e-15,
        1.00000000e+00, -7.87578322e-08, -1.00000000e+00,  0.00000000e+00,
        7.87580533e-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([ 0.09211892, -0.08686337,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.39070964e-05, 2.99236510e-05, 6.86503690e-06, 6.72019488e-06,
  1.00606915e-05, 2.43010533e-05, 2.46871512e-05,-3.61696797e-05,
  2.14198442e-05,-3.62068011e-05, 2.32788701e-05,-3.07075636e-06,
 -1.81534326e-04,-6.63420177e-05,-1.26552153e-04,-2.44724752e-04,
 -7.63355255e-07, 2.49950854e-07,-1.21644150e+00,-4.56999244e-04,
  1.22589507e-05,-5.50871989e-04]


--- Step 723 ---
qpos:
[ 6.18609901e-03,-1.80702377e-03,-4.98713793e-03, 3.35838042e-02,
  4.49341455e-03,-3.73592114e-03,-1.85413753e-02, 2.85915951e-02,
  1.29833143e-02, 3.32966784e-03,-9.96115654e-03, 2.58625501e-02,
  1.06164263e+00,-2.05687488e-04, 8.35883432e-01, 6.47154542e-02,
  9.35972590e-02,-7.00760750e-02, 1.30958430e-01, 5.02580118e-01,
  4.92041392e-01, 4.97623091e-01, 5.07621663e-01]

qacc:
[-5.49710756e+00, 1.00121189e+00,-3.69538586e+00, 5.37111181e+00,
 -5.05847104e+00, 5.67470418e-03, 3.10527023e-01,-1.40189961e+00,
 -9.19574421e-01,-2.32055144e-01, 1.32858187e+00,-2.73794443e+00,
  4.80370781e-01,-2.23635753e+00,-6.26875234e+00, 1.83642144e+01,
 -9.62728189e-01,-1.86794300e+00,-5.29154091e-01,-1.62909592e+01,
  5.94847962e-01, 2.62717333e+01]

qfrc_actuator:
[-1.52227620e-05,-8.22663473e-05,-4.30672816e-05, 5.39515835e-05,
 -1.09683065e-05,-3.23773056e-04,-2.63560547e-04,-4.73857773e-05,
  2.90577004e-05,-4.21654229e-06,-8.88588303e-05,-2.96836030e-05,
  2.68372551e-02,-1.29800995e-03, 1.04684939e-02,-3.27925905e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.54758108,  -1.35808522,  -4.3400574 ,  -1.35808522,
        45.02060956, -12.66476835,  -4.3400574 , -12.66476835,
         8.51062421,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003021515667891994
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.75579332e-13, -1.37789666e-13,  1.00000000e+00,  3.79719840e-26,
        1.00000000e+00,  1.37789666e-13, -1.00000000e+00,  0.00000000e+00,
        2.75579332e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10976735, -0.03396797,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.21155861e-05, 5.63314622e-06,-1.27231289e-05, 3.83927564e-06,
 -2.97394905e-05, 1.26899808e-06,-1.85494374e-06,-3.28954552e-06,
 -5.37655796e-06, 1.59716549e-05, 8.45609686e-06,-2.51585096e-06,
 -1.81096128e-04,-1.13225011e-04,-1.26623867e-04, 5.18101600e-05,
 -9.35715435e-07, 5.85675027e-07,-1.21644219e+00,-4.56435578e-04,
  1.26853567e-05,-5.50530891e-04]


--- Step 724 ---
qpos:
[ 6.18539980e-03,-1.80689563e-03,-4.98638419e-03, 3.35848137e-02,
  4.49319910e-03,-3.73555017e-03,-1.85411588e-02, 2.85918225e-02,
  1.29840533e-02, 3.33059629e-03,-9.96083001e-03, 2.58625620e-02,
  1.06225901e+00,-2.06263994e-04, 8.36385412e-01, 6.47104841e-02,
  9.35801959e-02,-7.00779223e-02, 1.30955519e-01, 5.02625862e-01,
  4.91966709e-01, 4.97566389e-01, 5.07704331e-01]

qacc:
[ -6.3379449 , -0.05753388, -1.88652444,  8.38958173, -0.1048258 ,
   0.6850094 , -6.12759962, 18.23545424,  2.37465144,  1.41867547,
  -7.54489654, 18.86451116, -0.81411827,  0.85898073,  7.6210844 ,
 -27.86569806, -0.95932709, -1.84063146, -0.65265941,-15.98051032,
   0.68685491, 25.93998428]

qfrc_actuator:
[-5.14763739e-05,-1.07897955e-04,-3.73737366e-05, 7.27210408e-05,
 -1.08095578e-05,-3.69108155e-04,-2.68789620e-04,-1.43450826e-05,
  4.31011991e-05, 1.43516954e-05,-8.11041170e-05, 5.09988682e-06,
  2.67832246e-02,-1.29987012e-03, 1.04389348e-02,-3.42481793e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54815171,  0.19130172,  4.54412672,  0.19130172, 21.48224121,
       -0.71290276,  4.54412672, -0.71290276,  4.57816397,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003023230384607972
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.18076762e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.18076762e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10976584, -0.03396757,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.71663597e-05,-2.49784628e-05, 5.41165035e-06, 1.86431594e-05,
 -6.90138870e-07,-4.51888459e-05,-5.31785783e-06, 3.29670827e-05,
  1.38986118e-05, 2.91093653e-05, 1.19986832e-05, 3.57110884e-05,
 -1.91460718e-04,-5.97857165e-05,-8.44339604e-05,-1.59526514e-04,
 -8.90558623e-07,-6.85508950e-08,-1.21644177e+00,-4.56769892e-04,
  1.21693862e-05,-5.50713740e-04]


--- Step 725 ---
qpos:
[ 6.18496127e-03,-1.80724369e-03,-4.98515476e-03, 3.35860485e-02,
  4.49333177e-03,-3.73557861e-03,-1.85403906e-02, 2.85920649e-02,
  1.29849551e-02, 3.33142542e-03,-9.96025665e-03, 2.58626681e-02,
  1.06287414e+00,-2.06598860e-04, 8.36886536e-01, 6.47014774e-02,
  9.35593070e-02,-7.00870419e-02, 1.30949583e-01, 5.02660262e-01,
  4.91900976e-01, 4.97469205e-01, 5.07829184e-01]

qacc:
[ 2.31544870e+00,-1.50013585e+00, 3.47701645e+00, 1.86252268e-02,
  3.07096299e+00,-2.04394025e+00, 6.44864060e+00,-6.76565570e+00,
  1.44205809e+00,-6.30075376e-01, 1.65354409e+00,-3.39664054e-01,
 -1.27424216e+00, 2.03675958e+00, 1.09903298e+01,-4.01179544e+01,
 -9.56417105e-01,-1.81810694e+00,-7.56539774e-01,-1.57314462e+01,
  7.53664813e-01, 2.56660766e+01]

qfrc_actuator:
[-3.70103951e-05,-1.40925841e-04,-1.66175705e-05, 8.33489432e-05,
  7.13234859e-06,-3.78462169e-04,-2.36550749e-04,-1.27776107e-05,
  5.10697589e-05,-1.04898176e-05,-7.66211731e-05, 7.81234841e-06,
  2.67286805e-02,-1.28290742e-03, 1.03818575e-02,-3.63274936e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54143937e+00, -2.04016173e-02,  4.54139354e+00, -2.04016173e-02,
        3.06695641e+01,  1.17377187e-01,  4.54139354e+00,  1.17377187e-01,
        4.54196667e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0003002973065512893
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84853976e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.84853976e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10976517, -0.03396614,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33981471e-05,-4.51057572e-05, 1.68977144e-05, 1.01050911e-05,
  1.79052639e-05,-3.43258596e-05, 2.33832540e-05, 8.66836501e-08,
  8.37488896e-06,-4.58480255e-06, 1.31949037e-05, 5.06682512e-06,
 -1.86701204e-04,-3.39511447e-05,-1.19716166e-04,-2.29080960e-04,
 -7.16069855e-07,-5.91650612e-07,-1.21644253e+00,-4.57140055e-04,
  1.08307313e-05,-5.51130233e-04]


--- Step 726 ---
qpos:
[ 6.18435416e-03,-1.80790074e-03,-4.98398797e-03, 3.35874170e-02,
  4.49333331e-03,-3.73568439e-03,-1.85393602e-02, 2.85923023e-02,
  1.29856010e-02, 3.33165497e-03,-9.95933580e-03, 2.58625191e-02,
  1.06348815e+00,-2.07035522e-04, 8.37385630e-01, 6.46937501e-02,
  9.35385875e-02,-7.00917432e-02, 1.30946396e-01, 5.02707898e-01,
  4.91822364e-01, 4.97389769e-01, 5.07935970e-01]

qacc:
[-1.47895671e+00, 4.51882953e-02,-1.31372263e+00, 3.95247504e+00,
 -1.13814777e+00,-8.42143570e-01, 2.87942719e+00,-3.33137381e+00,
 -2.23046013e+00,-2.28417137e+00, 8.07890752e+00,-1.26147716e+01,
 -5.78368161e-01, 4.88518784e-01,-6.82811730e+00, 1.95995581e+01,
  4.23171831e-02, 1.10459599e+00, 6.87479474e-01, 2.50773008e+00,
 -5.11960498e-03,-1.54703600e+01]

qfrc_actuator:
[-4.60644369e-05,-1.60317622e-04,-2.26936899e-05, 8.90967118e-05,
 -1.17090240e-07,-3.66070919e-04,-2.17845825e-04,-1.19430420e-05,
  3.76398843e-05,-7.89246705e-05,-7.43088521e-05,-8.41172818e-06,
  2.66738769e-02,-1.29049347e-03, 1.03029880e-02,-3.55620465e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.55991696,   1.35302785,   4.35455604,   1.35302785,
        42.81312339, -11.8858623 ,   4.35455604, -11.8858623 ,
         8.25303803,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003058284430448588
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.67221106e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.67221106e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09167653, -0.08820802,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.69033413e-06,-4.06902386e-05,-1.29756915e-05, 4.59105544e-06,
 -6.75088177e-06,-1.97235721e-06, 1.44882813e-05, 1.71354261e-07,
 -1.31910501e-05,-6.80871685e-05, 3.14977365e-06,-1.58689285e-05,
 -1.78810586e-04,-5.27423991e-05,-1.64041088e-04, 4.73281088e-05,
 -4.11393684e-07,-9.89157415e-07,-1.21644443e+00,-4.57560697e-04,
  8.70518007e-06,-5.51780245e-04]


--- Step 727 ---
qpos:
[ 6.18329823e-03,-1.80856149e-03,-4.98327556e-03, 3.35881413e-02,
  4.49290312e-03,-3.73564121e-03,-1.85388056e-02, 2.85932603e-02,
  1.29857359e-02, 3.33155307e-03,-9.95847461e-03, 2.58625168e-02,
  1.06410102e+00,-2.07274758e-04, 8.37882988e-01, 6.46885532e-02,
  9.35180774e-02,-7.00921215e-02, 1.30945230e-01, 5.02768655e-01,
  4.91730800e-01, 4.97327725e-01, 5.08025230e-01]

qacc:
[ -3.96103407, -0.05377466,  2.918295  ,-13.35521367, -3.79544215,
   3.01473924,-13.49462742, 26.6030958 , -4.49276279,  0.03948663,
  -1.38071983,  4.24296912, -0.84257869,  1.2163274 ,-10.14722631,
  31.89649195,  0.05236022,  1.08075042,  0.50511841,  2.29352204,
   0.08765437,-15.23527646]

qfrc_actuator:
[-6.89054952e-05,-1.53751846e-04,-4.45211330e-05, 5.64123441e-05,
 -2.21413206e-05,-3.58547452e-04,-2.42697540e-04, 2.39710018e-05,
  1.17244818e-05,-8.42123993e-05,-7.34982975e-05,-1.80926229e-07,
  2.66242757e-02,-1.27705673e-03, 1.02484600e-02,-3.41919141e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57662856,  0.88050733,  4.49112856,  0.88050733, 25.71174324,
       -4.14364076,  4.49112856, -4.14364076,  5.38900923,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031071204168516
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45159519e-13, -5.35973607e-13,  1.00000000e+00,  7.78016707e-26,
        1.00000000e+00,  5.35973607e-13, -1.00000000e+00,  0.00000000e+00,
        1.45159519e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09167851, -0.08820732,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.31013961e-05,-1.86661189e-05,-3.16799610e-05,-3.47913049e-05,
 -2.22183567e-05, 9.40933211e-06,-2.34795916e-05, 3.63318429e-05,
 -2.63117494e-05,-4.34131910e-05,-1.34268008e-05, 5.11156256e-06,
 -1.72726620e-04,-3.33195405e-05,-1.25395788e-04, 1.18409398e-04,
 -7.77636589e-07,-8.68538084e-07,-1.21644379e+00,-4.56499846e-04,
  1.03184086e-05,-5.51750057e-04]


--- Step 728 ---
qpos:
[ 6.18232166e-03,-1.80931120e-03,-4.98256468e-03, 3.35884475e-02,
  4.49221223e-03,-3.73546938e-03,-1.85385224e-02, 2.85939390e-02,
  1.29859037e-02, 3.33145328e-03,-9.95752004e-03, 2.58629041e-02,
  1.06471272e+00,-2.07329943e-04, 8.38379951e-01, 6.46831487e-02,
  9.34978831e-02,-7.00885630e-02, 1.30945641e-01, 5.02841057e-01,
  4.91627559e-01, 4.97281893e-01, 5.08098350e-01]

qacc:
[  0.69905212, -0.97521267,  5.06829334,-12.22990433, -2.29260256,
   0.35796946,  0.15754381, -4.66110839,  0.29271237,  0.5430998 ,
  -3.57822659, 10.1705047 , -1.00337674,  1.51241811,  0.10003754,
  -1.0615186 ,  0.07896572,  0.98418944,  0.39440371,  2.3332722 ,
   0.17742956,-13.90533294]

qfrc_actuator:
[-6.41658368e-05,-1.49545860e-04,-3.98772955e-05, 3.68986687e-05,
 -3.49247474e-05,-3.54140021e-04,-2.57544939e-04, 9.19855422e-06,
  1.41804976e-05,-5.16401410e-05,-5.55680078e-05, 2.24230610e-05,
  2.65671887e-02,-1.26901744e-03, 1.02565158e-02,-3.42518605e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58261831, -0.53052301, -4.55180578, -0.53052301, 25.78102416,
       -2.47072098, -4.55180578, -2.47072098,  4.87058629,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003124360504165371
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.56750604e-07, -2.56750639e-07,  1.00000000e+00, -6.59208815e-14,
        1.00000000e+00,  2.56750639e-07, -1.00000000e+00, -1.26217745e-29,
       -2.56750604e-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([ 0.09143754, -0.08675856,  0.06199107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.08025864e-06,-1.42578031e-05,-4.31775856e-06,-2.20873427e-05,
 -1.34153995e-05, 6.35836229e-06,-1.45472868e-05,-1.44771130e-05,
  1.69423140e-06, 5.72579209e-06, 7.47810571e-06, 2.03778745e-05,
 -1.71707860e-04,-3.42499517e-05,-3.88390146e-05,-1.60682590e-05,
 -1.12385861e-06,-6.65609305e-07,-1.21644348e+00,-4.55487386e-04,
  1.17965219e-05,-5.51641933e-04]


--- Step 729 ---
qpos:
[ 6.18175438e-03,-1.81036414e-03,-4.98148678e-03, 3.35892097e-02,
  4.49137304e-03,-3.73484107e-03,-1.85388732e-02, 2.85944184e-02,
  1.29860994e-02, 3.33144138e-03,-9.95667493e-03, 2.58632160e-02,
  1.06532325e+00,-2.07235144e-04, 8.38877160e-01, 6.46791747e-02,
  9.34805569e-02,-7.00929196e-02, 1.30944440e-01, 5.02876808e-01,
  4.91565478e-01, 4.97214517e-01, 5.08188962e-01]

qacc:
[ 3.61594035,-0.495127  ,-0.75303327, 8.29283683,-1.3255722 , 1.96638958,
 -5.28984628, 2.5111159 , 0.2401057 , 0.26649338,-0.46424541,-0.72893525,
 -0.94522865, 1.35905678,-3.89689639,14.29718154, 0.71701111,-1.97875508,
 -0.40314   , 9.53502482,-2.46040338,29.23923731]

qfrc_actuator:
[-4.32264001e-05,-1.64421645e-04,-1.96217951e-05, 6.08239810e-05,
 -4.21620170e-05,-3.16136224e-04,-2.84156483e-04, 2.31172965e-07,
  1.55672347e-05,-4.98107645e-05,-6.30003258e-05, 1.78441833e-05,
  2.65056516e-02,-1.26428223e-03, 1.03180410e-02,-3.33773331e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59989219,  0.62500038, -4.5572341 ,  0.62500038, 34.7405458 ,
        4.13363007, -4.5572341 ,  4.13363007,  5.16679753,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003173330158832699
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74930273e-13,  1.74930273e-13,  1.00000000e+00, -3.06006006e-26,
        1.00000000e+00, -1.74930273e-13, -1.00000000e+00,  0.00000000e+00,
        1.74930273e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08217516, -0.03142982,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10531597e-05,-2.46645549e-05, 1.60149407e-05, 2.27345013e-05,
 -7.61708573e-06, 3.79184002e-05,-2.75974212e-05,-9.48197552e-06,
  1.43645489e-06, 7.44196334e-06,-4.63414879e-06,-3.68097554e-06,
 -1.75155100e-04,-3.78073243e-05, 3.42448511e-05, 7.97989824e-05,
 -1.41871800e-06,-4.03810799e-07,-1.21644344e+00,-4.54548801e-04,
  1.30610542e-05,-5.51462642e-04]


--- Step 730 ---
qpos:
[ 6.18178730e-03,-1.81137876e-03,-4.98055647e-03, 3.35898987e-02,
  4.49045354e-03,-3.73390564e-03,-1.85392625e-02, 2.85947639e-02,
  1.29859654e-02, 3.33141616e-03,-9.95613896e-03, 2.58631527e-02,
  1.06593253e+00,-2.06763756e-04, 8.39374062e-01, 6.46789808e-02,
  9.34660142e-02,-7.01050906e-02, 1.30941036e-01, 5.02876321e-01,
  4.91543843e-01, 4.97126191e-01, 5.08296770e-01]

qacc:
[  5.27202551,  0.30223966, -0.71293387, -0.32693056, -0.70946473,
   0.2393511 ,  0.30331155, -2.78770301, -2.91122672,  0.07960117,
   1.2849374 , -7.28628723, -1.06691349,  1.74930701,-11.79206933,
  40.7617803 ,  0.6958835 , -1.95360884, -0.55074404,  9.4782302 ,
  -2.30896287, 28.73601135]

qfrc_actuator:
[-1.29287742e-05,-1.54991369e-04,-2.58725084e-05, 5.68481132e-05,
 -4.60797346e-05,-2.93859157e-04,-2.81850023e-04,-5.22139206e-06,
 -1.44833831e-06,-6.65137505e-05,-8.54847142e-05,-2.73532957e-06,
  2.64468144e-02,-1.24381638e-03, 1.03157401e-02,-3.14250934e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60610836,  2.81344848, -3.64701822,  2.81344848, 22.64601882,
       13.91667267, -3.64701822, 13.91667267, 15.34195867,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031906877535034517
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.73978639e-13,  1.73978639e-13,  1.00000000e+00,  3.02685668e-26,
        1.00000000e+00, -1.73978639e-13, -1.00000000e+00,  0.00000000e+00,
       -1.73978639e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08217378, -0.03143149,  0.06199088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.08881127e-05,-4.70386062e-08,-8.58871930e-06,-4.03871879e-06,
 -4.12056658e-06, 3.73517976e-05, 6.40698079e-06,-4.96837877e-06,
 -1.69709369e-05,-1.36654158e-05,-2.16556121e-05,-2.04951542e-05,
 -1.74498057e-04,-2.39045656e-05, 1.13134780e-05, 2.01523877e-04,
 -4.55413321e-07,-6.15323749e-07,-1.21644257e+00,-4.55072370e-04,
  1.10115844e-05,-5.51287906e-04]


--- Step 731 ---
qpos:
[ 6.18218298e-03,-1.81197447e-03,-4.97984280e-03, 3.35894542e-02,
  4.48983923e-03,-3.73299120e-03,-1.85389127e-02, 2.85946838e-02,
  1.29863185e-02, 3.33119271e-03,-9.95554520e-03, 2.58631874e-02,
  1.06654071e+00,-2.06075087e-04, 8.39870300e-01, 6.46773160e-02,
  9.34532763e-02,-7.01128785e-02, 1.30940230e-01, 5.02883414e-01,
  4.91513867e-01, 4.97061572e-01, 5.08381927e-01]

qacc:
[ 3.17507921e+00,-1.18079979e+00, 9.78749874e+00,-2.93530991e+01,
  2.69425317e+00,-2.97230858e+00, 1.23465210e+01,-2.08675847e+01,
  4.29239872e+00,-2.30133730e-01, 1.20737299e-02, 1.75342398e+00,
 -1.04454489e+00, 1.63840257e+00, 3.51866623e+00,-1.35927415e+01,
  4.51194833e-01, 1.09575764e+00, 6.49284543e-01, 7.69521842e+00,
  6.29603582e-01,-1.55218680e+01]

qfrc_actuator:
[ 4.87652314e-06,-1.13445077e-04,-2.99064960e-05, 9.73014976e-07,
 -3.02617432e-05,-2.98803988e-04,-2.44782044e-04,-2.63034281e-05,
  2.40990255e-05,-7.65174607e-05,-8.12516191e-05, 2.92006714e-06,
  2.63949706e-02,-1.23195137e-03, 1.02219266e-02,-3.24059701e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032247841979650416
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.60695597e-14,  1.72139119e-13,  1.00000000e+00, -1.48159382e-26,
        1.00000000e+00, -1.72139119e-13, -1.00000000e+00,  0.00000000e+00,
        8.60695597e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619847, -0.08832052,  0.06199078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.86861622e-05, 3.96077969e-05,-5.24310440e-06,-5.62555248e-05,
  1.57132659e-05, 1.70209972e-05, 4.53933899e-05,-1.93581432e-05,
  2.50626315e-05,-2.30086100e-05,-1.97147723e-06, 3.92128032e-06,
 -1.64037867e-04,-2.99407963e-05,-7.54512583e-05,-8.75524466e-05,
  2.66798210e-07,-3.71346845e-07,-1.21644292e+00,-4.55409297e-04,
  9.65768970e-06,-5.51332551e-04]


--- Step 732 ---
qpos:
[ 6.18278929e-03,-1.81217078e-03,-4.97923407e-03, 3.35883379e-02,
  4.48976403e-03,-3.73183271e-03,-1.85384736e-02, 2.85943626e-02,
  1.29869747e-02, 3.33105102e-03,-9.95475593e-03, 2.58632433e-02,
  1.06714786e+00,-2.05265329e-04, 8.40365043e-01, 6.46742782e-02,
  9.34423319e-02,-7.01163703e-02, 1.30941279e-01, 5.02898003e-01,
  4.91475556e-01, 4.97020215e-01, 5.08444964e-01]

qacc:
[  1.84139149, -0.56557501,  5.61203272,-17.35695753,  4.71674039,
  -0.43197141,  3.01057263, -7.4884152 ,  2.67123367, -0.39995416,
   1.48432803, -1.48042106, -0.85570236,  1.24093849,  1.98725319,
 -10.04555436,  0.44836647,  1.07404874,  0.46402544,  7.47186063,
   0.66830746,-15.25536492]

qfrc_actuator:
[ 1.51837661e-05,-8.85303717e-05,-3.24823754e-05,-3.16941277e-05,
 -2.95570612e-06,-2.84371443e-04,-2.40877285e-04,-3.86652290e-05,
  3.89938844e-05,-4.68061031e-05,-6.12313062e-05, 6.24062815e-06,
  2.63473557e-02,-1.22523821e-03, 1.01265067e-02,-3.31565384e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.63408466,  0.32371373,  4.62276433,  0.32371373, 20.05541599,
       -1.07989426,  4.62276433, -1.07989426,  4.70970534,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032671545011998815
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.39813444e-13,  3.39813444e-13,  1.00000000e+00, -1.15473177e-25,
        1.00000000e+00, -3.39813444e-13, -1.00000000e+00,  0.00000000e+00,
        3.39813444e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619981, -0.08831969,  0.06199066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08561663e-05, 4.35895108e-05, 3.01197432e-06,-3.22463132e-05,
  2.77598161e-05, 3.24654821e-05, 1.23270462e-05,-1.04417430e-05,
  1.55986836e-05, 1.66165581e-05, 1.51553708e-05, 2.34076271e-06,
 -1.55974337e-04,-3.32130688e-05,-1.45900620e-04,-9.10462708e-05,
  6.78673040e-08,-3.77583566e-07,-1.21644174e+00,-4.54729815e-04,
  1.09815471e-05,-5.51388852e-04]


--- Step 733 ---
qpos:
[ 6.18351452e-03,-1.81182596e-03,-4.97905440e-03, 3.35871880e-02,
  4.48967195e-03,-3.73038807e-03,-1.85382841e-02, 2.85939140e-02,
  1.29864247e-02, 3.33079161e-03,-9.95365041e-03, 2.58633552e-02,
  1.06775404e+00,-2.04626841e-04, 8.40858247e-01, 6.46729257e-02,
  9.34331701e-02,-7.01156375e-02, 1.30943562e-01, 5.02920018e-01,
  4.91428919e-01, 4.97001747e-01, 5.08486319e-01]

qacc:
[  1.02283456,  1.8435744 , -5.39710306,  5.10685177, -0.16053346,
   0.81363981, -1.81413856, -0.20247413,-10.60127763, -0.90316114,
   2.79337375, -2.27951833, -0.42355754,  0.19580488, -7.34116524,
  22.42147853,  0.44567406,  1.05613127,  0.30843267,  7.28910149,
   0.69879297,-15.0336046 ]

qfrc_actuator:
[ 2.09992172e-05,-5.59900293e-05,-5.19610644e-05,-3.26921667e-05,
 -4.61810280e-06,-2.76321744e-04,-2.56516285e-04,-4.58091547e-05,
 -2.35239909e-05,-6.44769355e-05,-4.96521399e-05, 8.19790319e-06,
  2.62916584e-02,-1.23935950e-03, 1.00888052e-02,-3.21662788e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.63797352,  0.11464021,  4.63655648,  0.11464021, 34.75178377,
       -0.74457275,  4.63655648, -0.74457275,  4.6563833 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032775770510885816
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.69366426e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.69366426e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620063, -0.08831966,  0.06199063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.14077384e-06, 5.61606495e-05,-1.12227554e-05, 3.47442086e-07,
 -8.58143051e-07, 2.82661459e-05,-7.79514141e-06,-5.53330620e-06,
 -6.20692529e-05,-5.14460488e-06, 1.69515885e-05, 3.23722181e-06,
 -1.60435810e-04,-5.25314787e-05,-1.17168267e-04, 7.46657528e-05,
 -1.04105531e-07,-3.20442210e-07,-1.21644098e+00,-4.54085179e-04,
  1.19840297e-05,-5.51355257e-04]


--- Step 734 ---
qpos:
[ 6.18395916e-03,-1.81131319e-03,-4.97873727e-03, 3.35867343e-02,
  4.48956112e-03,-3.72891945e-03,-1.85381748e-02, 2.85934057e-02,
  1.29851299e-02, 3.33062959e-03,-9.95277234e-03, 2.58638455e-02,
  1.06835922e+00,-2.04139944e-04, 8.41350583e-01, 6.46719707e-02,
  9.34257812e-02,-7.01107390e-02, 1.30946557e-01, 5.02949397e-01,
  4.91373965e-01, 4.97005860e-01, 5.08506348e-01]

qacc:
[ -2.46528718,  1.27609083, -7.15832839, 18.8537709 , -0.16704553,
   0.13296174, -0.17534067, -0.74864714, -6.56390119,  1.55577539,
  -6.935315  , 13.74941889, -0.53553085,  0.41833702, -2.45420755,
   6.78464066,  0.44319575,  1.04143644,  0.17806   ,  7.13988155,
   0.72286559,-14.8503346 ]

qfrc_actuator:
[ 6.37441119e-06,-5.46810589e-05,-4.57100769e-05, 2.69435044e-06,
 -5.56858036e-06,-2.89994100e-04,-2.65825686e-04,-4.98396722e-05,
 -6.00911094e-05,-5.71524009e-05,-6.10892185e-05, 2.70464397e-05,
  2.62417964e-02,-1.24798491e-03, 1.00644895e-02,-3.19318778e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003262507246057367
  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([ 0.08620105, -0.08832027,  0.06199067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44312204e-05, 3.03989201e-05, 1.64770074e-05, 3.74125336e-05,
 -9.64582071e-07, 2.32722572e-07,-4.64077567e-06,-3.19919245e-06,
 -3.83327968e-05, 8.06075662e-06,-1.03079983e-05, 1.92779525e-05,
 -1.61001210e-04,-5.17072368e-05,-7.27206826e-05, 1.18690383e-05,
 -2.51923424e-07,-2.00938086e-07,-1.21644059e+00,-4.53468807e-04,
  1.26851409e-05,-5.51230739e-04]


--- Step 735 ---
qpos:
[ 6.18388043e-03,-1.81093161e-03,-4.97847583e-03, 3.35871059e-02,
  4.48944011e-03,-3.72791122e-03,-1.85376868e-02, 2.85932294e-02,
  1.29844409e-02, 3.33094561e-03,-9.95194769e-03, 2.58644961e-02,
  1.06896345e+00,-2.04034350e-04, 8.41841814e-01, 6.46736062e-02,
  9.34201562e-02,-7.01017225e-02, 1.30949828e-01, 5.02986088e-01,
  4.91310701e-01, 4.97032302e-01, 5.08505340e-01]

qacc:
[ -4.60097229,  1.69040453, -9.74647735, 24.1952389 , -0.06923158,
  -0.98268209,  1.2189956 ,  4.2621437 ,  5.32116981,  1.10081245,
  -3.70334586,  6.23157175, -0.18606325, -0.41294779, -9.44957725,
  30.68858721,  0.44097892,  1.02948248,  0.06910698,  7.01845719,
   0.74192364,-14.70023536]

qfrc_actuator:
[-2.01626097e-05,-8.97068252e-05,-5.99214488e-05, 4.14426205e-05,
 -6.08328631e-06,-3.34304606e-04,-2.53654350e-04,-3.42661930e-05,
 -2.78085936e-05, 5.06588666e-07,-5.04135989e-05, 3.79325200e-05,
  2.61901465e-02,-1.27101659e-03, 1.00322228e-02,-3.05471182e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003227344101449231
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.60012900e-14, -1.72002580e-13,  1.00000000e+00, -1.47924438e-26,
        1.00000000e+00,  1.72002580e-13, -1.00000000e+00,  0.00000000e+00,
       -8.60012900e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620114, -0.08832139,  0.06199077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.69408180e-05,-1.30474253e-05,-4.61674875e-06, 4.13488181e-05,
 -5.41858376e-07,-4.53298955e-05, 1.15197063e-05, 1.53582584e-05,
  3.11963802e-05, 6.08405235e-05, 1.17288129e-05, 1.12486832e-05,
 -1.62643947e-04,-6.62663919e-05,-6.98812668e-05, 1.28500881e-04,
 -3.77730986e-07,-1.99878708e-08,-1.21644057e+00,-4.52875716e-04,
  1.31002966e-05,-5.51014626e-04]


--- Step 736 ---
qpos:
[ 6.18348428e-03,-1.81083746e-03,-4.97852485e-03, 3.35876327e-02,
  4.48931402e-03,-3.72758518e-03,-1.85366389e-02, 2.85936030e-02,
  1.29841434e-02, 3.33213900e-03,-9.95118600e-03, 2.58645292e-02,
  1.06956659e+00,-2.03891758e-04, 8.42332159e-01, 6.46765323e-02,
  9.34170597e-02,-7.00947307e-02, 1.30954425e-01, 5.03007443e-01,
  4.91263957e-01, 4.97059211e-01, 5.08503076e-01]

qacc:
[-2.79571412e+00, 8.12898326e-01,-4.09494371e+00, 7.47729788e+00,
 -1.48085877e-02,-1.33443830e+00, 1.12841350e+00, 7.99422371e+00,
  3.42845855e+00, 5.77947684e-02, 4.07189086e+00,-1.52908819e+01,
 -7.36944916e-01, 9.08916698e-01,-5.16261792e+00, 1.62556918e+01,
  6.32151759e-01,-5.06143803e-01, 3.31152989e-01, 8.35325825e+00,
 -5.79568547e-01, 7.57426077e+00]

qfrc_actuator:
[-3.57393046e-05,-1.28548827e-04,-8.62720632e-05, 4.62951759e-05,
 -6.33758933e-06,-3.78770606e-04,-2.29021295e-04,-7.29821960e-06,
 -8.52694271e-06, 7.01940055e-05,-4.43060317e-05, 8.60245263e-06,
  2.61374553e-02,-1.26689642e-03, 9.98991236e-03,-2.99158742e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6019316 ,  0.36049717, -4.58778991,  0.36049717, 41.54196419,
        2.90265625, -4.58778991,  2.90265625,  4.83001514,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031790400155707585
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.74616082e-13,  5.85959885e-07,  1.00000000e+00,  1.02318019e-19,
        1.00000000e+00, -5.85959885e-07, -1.00000000e+00,  1.20370622e-35,
       -1.74616082e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0842293 , -0.06055299,  0.06199091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63503394e-05,-4.53468859e-05,-2.81909135e-05, 4.93735013e-06,
 -2.86705103e-07,-6.68189020e-05, 1.72033397e-05, 2.57199061e-05,
  2.01902055e-05, 1.06600746e-04, 2.04921062e-05,-2.61034722e-05,
 -1.67635428e-04,-4.21676476e-05,-6.51303128e-05, 6.01258349e-05,
 -4.83175721e-07, 2.21597361e-07,-1.21644090e+00,-4.52302112e-04,
  1.32412966e-05,-5.50706471e-04]


--- Step 737 ---
qpos:
[ 6.18290421e-03,-1.81100524e-03,-4.97859558e-03, 3.35878456e-02,
  4.48953042e-03,-3.72740425e-03,-1.85357457e-02, 2.85939318e-02,
  1.29837349e-02, 3.33407590e-03,-9.95059517e-03, 2.58638897e-02,
  1.07016850e+00,-2.03117274e-04, 8.42821770e-01, 6.46768900e-02,
  9.34167649e-02,-7.00955355e-02, 1.30956450e-01, 5.02993466e-01,
  4.91257077e-01, 4.97065123e-01, 5.08517769e-01]

qacc:
[ -1.61360726, -0.92870845,  4.13944101, -9.34958866,  2.99505706,
   0.14257597, -0.60829893,  0.20053719, -0.99595903,  0.07735128,
   3.99391675,-15.91491068, -1.55622988,  2.88606253,  6.76869712,
 -25.01858029,  0.70039695, -1.94917178, -0.64272444,  9.15171373,
  -2.47040861, 28.31276844]

qfrc_actuator:
[-4.47364175e-05,-1.33966602e-04,-8.41239121e-05, 3.11502611e-05,
  1.13159364e-05,-3.69666046e-04,-2.32749203e-04,-9.34932548e-06,
 -1.48265478e-05, 9.32500591e-05,-5.86610279e-05,-2.63910167e-05,
  2.60841864e-02,-1.22899829e-03, 9.92561844e-03,-3.13318378e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60156986,  0.02484526, -4.60150278,  0.02484526, 10.26761914,
        0.03059316, -4.60150278,  0.03059316,  4.60173504,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031780283081805916
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.73358351e-14, -1.74671670e-13,  1.00000000e+00,  1.52550962e-26,
        1.00000000e+00,  1.74671670e-13, -1.00000000e+00,  0.00000000e+00,
        8.73358351e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08215947, -0.03143366,  0.06199092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.47724518e-06,-3.63962389e-05,-1.05208651e-05,-1.79678990e-05,
  1.76202524e-05,-2.36298265e-05,-1.45373919e-05,-3.82274362e-06,
 -5.68396706e-06, 8.57359742e-05, 9.26159044e-06,-3.02294697e-05,
 -1.66082310e-04,-5.22351552e-06,-9.33001956e-05,-1.47969844e-04,
 -2.92802061e-07, 1.32753695e-07,-1.21644048e+00,-4.52491147e-04,
  1.28331871e-05,-5.50422205e-04]


--- Step 738 ---
qpos:
[ 6.18256547e-03,-1.81122072e-03,-4.97877751e-03, 3.35881988e-02,
  4.48961161e-03,-3.72706386e-03,-1.85353657e-02, 2.85945643e-02,
  1.29839451e-02, 3.33574588e-03,-9.94971995e-03, 2.58629355e-02,
  1.07076929e+00,-2.01890782e-04, 8.43310239e-01, 6.46758749e-02,
  9.34191994e-02,-7.01040515e-02, 1.30955471e-01, 5.02944333e-01,
  4.91289569e-01, 4.97050550e-01, 5.08549219e-01]

qacc:
[  2.11933732,  0.53260203, -2.58995732,  5.23896944, -1.20204264,
   2.27055861, -9.06829376, 15.01975678,  5.45814823, -1.80583941,
   7.23682399,-12.91965353, -1.24892932,  2.20237555,  2.53620718,
 -11.13864773,  0.68233404, -1.92780813, -0.7511169 ,  9.16442147,
  -2.30924574, 27.96968326]

qfrc_actuator:
[-3.20396711e-05,-1.19240363e-04,-8.27937001e-05, 3.99191365e-05,
  3.86336620e-06,-3.46435982e-04,-2.53003080e-04, 7.06787505e-06,
  1.71290045e-05, 1.70996543e-05,-6.74078362e-05,-4.67276388e-05,
  2.60306226e-02,-1.20694834e-03, 9.87478147e-03,-3.19899109e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59231062, -1.6642652 ,  4.28013297, -1.6642652 , 20.96587759,
        6.36661475,  4.28013297,  6.36661475,  7.06787282,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003151972129117053
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.80578079e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.80578079e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08215727, -0.03143244,  0.06199099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24163153e-05,-8.56504342e-06,-8.10215944e-06, 6.49609699e-06,
 -6.95673392e-06, 6.83812723e-06,-2.70717566e-05, 1.48232522e-05,
  3.18314942e-05,-2.76676192e-05, 9.02957070e-06,-1.69343753e-05,
 -1.57949157e-04,-1.39242108e-05,-1.15695205e-04,-8.73301358e-05,
  5.93813290e-09, 2.44325966e-08,-1.21644000e+00,-4.53295350e-04,
  1.25728659e-05,-5.50312267e-04]


--- Step 739 ---
qpos:
[ 6.18272624e-03,-1.81134116e-03,-4.97877640e-03, 3.35889599e-02,
  4.48925815e-03,-3.72669106e-03,-1.85351812e-02, 2.85946918e-02,
  1.29845372e-02, 3.33648369e-03,-9.94854588e-03, 2.58614866e-02,
  1.07136912e+00,-2.00687210e-04, 8.43797741e-01, 6.46756077e-02,
  9.34234365e-02,-7.01083455e-02, 1.30955964e-01, 5.02902762e-01,
  4.91313481e-01, 4.97059065e-01, 5.08558906e-01]

qacc:
[  4.39653967,  0.44530651, -3.14235367,  9.85506561, -3.81099275,
  -0.44207841,  3.78374325,-12.24825564,  3.38666243, -3.09219406,
  11.31524315,-19.65652846, -0.60572511,  0.67347654, -3.65166378,
  10.77737384,  0.45065933,  1.05552554,  0.36804075,  7.26372601,
   0.76233626,-15.19916747]

qfrc_actuator:
[-6.67828838e-06,-9.25371843e-05,-6.41034613e-05, 6.27075958e-05,
 -1.83121511e-05,-3.50482410e-04,-2.64999449e-04,-1.90221822e-05,
  3.58470186e-05,-8.23563206e-05,-7.31766465e-05,-7.61118119e-05,
  2.59822427e-02,-1.21223281e-03, 9.86403660e-03,-3.14848254e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031287146764436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.54849559e-13,  1.77424780e-13,  1.00000000e+00, -6.29591049e-26,
        1.00000000e+00, -1.77424780e-13, -1.00000000e+00,  0.00000000e+00,
        3.54849559e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620218, -0.08832432,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.57122826e-05, 2.05328352e-05, 1.61515641e-05, 2.22671853e-05,
 -2.23713801e-05,-5.19973298e-06,-1.34153855e-05,-2.64479791e-05,
  1.96190341e-05,-1.13845201e-04,-1.09863882e-05,-3.05918242e-05,
 -1.49735713e-04,-4.09705563e-05,-7.75318194e-05, 2.98627394e-05,
  8.57041927e-08, 3.46810074e-07,-1.21644067e+00,-4.53917486e-04,
  1.29322299e-05,-5.50405346e-04]


--- Step 740 ---
qpos:
[ 6.18318960e-03,-1.81115545e-03,-4.97833699e-03, 3.35892515e-02,
  4.48933130e-03,-3.72622912e-03,-1.85348731e-02, 2.85937854e-02,
  1.29853490e-02, 3.33707360e-03,-9.94806251e-03, 2.58603561e-02,
  1.07196809e+00,-2.00084533e-04, 8.44283964e-01, 6.46766296e-02,
  9.34294655e-02,-7.01084740e-02, 1.30957377e-01, 5.02868662e-01,
  4.91328887e-01, 4.97090330e-01, 5.08547183e-01]

qacc:
[  2.66895295, -1.79244385,  8.95059135,-17.9905916 ,  3.73542926,
  -2.36048751, 12.9411181 ,-31.08277205,  1.91316752,  2.38664282,
 -10.14440801, 16.87569194,  0.03235903, -0.95887251, -5.79669532,
  17.49188749,  0.44796647,  1.04134671,  0.23004055,  7.13121987,
   0.76738292,-14.986085  ]

qfrc_actuator:
[ 8.17452646e-06,-5.87714810e-05,-3.52469478e-05, 4.03261967e-05,
  4.28997137e-06,-3.35326196e-04,-2.54401141e-04,-6.99295131e-05,
  4.66117540e-05,-5.30025627e-05,-9.50395003e-05,-5.73606480e-05,
  2.59263469e-02,-1.25137642e-03, 9.80281125e-03,-3.08301404e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003131149819731449
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.86433969e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.86433969e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620264, -0.08832427,  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:
[ 1.55897080e-05, 4.95494567e-05, 3.58561093e-05,-2.05118635e-05,
  2.19628954e-05, 8.32031176e-06, 6.95069539e-06,-5.21096794e-05,
  1.12873538e-05,-3.79179912e-05,-4.78101270e-05, 1.28951614e-05,
 -1.57530237e-04,-7.80983293e-05,-9.86128098e-05, 5.59766500e-05,
 -2.64841994e-08, 2.24626152e-07,-1.21644035e+00,-4.53718517e-04,
  1.29052191e-05,-5.50420533e-04]


--- Step 741 ---
qpos:
[ 6.18313772e-03,-1.81060454e-03,-4.97811126e-03, 3.35889650e-02,
  4.48967448e-03,-3.72559026e-03,-1.85342496e-02, 2.85925962e-02,
  1.29866283e-02, 3.33794671e-03,-9.94814904e-03, 2.58597391e-02,
  1.07256610e+00,-1.99910355e-04, 8.44768302e-01, 6.46785397e-02,
  9.34372775e-02,-7.01044839e-02, 1.30959248e-01, 5.02841957e-01,
  4.91335848e-01, 4.97144066e-01, 5.08514335e-01]

qacc:
[ -4.54383763, -0.10159756,  3.51871511,-13.46846646,  2.36986444,
  -1.23362809,  5.92491675,-11.44704074,  4.09136574,  3.01590547,
 -12.39189639, 21.99480944, -0.2030327 , -0.42686639, -5.46461208,
  15.06845238,  0.44573444,  1.02967431,  0.11445815,  7.02480337,
   0.76968344,-14.81091051]

qfrc_actuator:
[-1.87859505e-05,-5.65226706e-05,-5.38770476e-05, 9.30978572e-06,
  1.75660139e-05,-3.08718103e-04,-2.30486919e-04,-8.17384447e-05,
  7.03667796e-05,-3.22707443e-08,-1.07936149e-04,-2.80962327e-05,
  2.58712921e-02,-1.27474313e-03, 9.69005742e-03,-3.04491518e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003111320705587728
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.92083403e-14,  1.78416681e-13,  1.00000000e+00,  1.59162559e-26,
        1.00000000e+00, -1.78416681e-13, -1.00000000e+00,  0.00000000e+00,
       -8.92083403e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620279, -0.08832483,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.65016114e-05, 3.64763498e-05,-4.69746631e-06,-2.80545551e-05,
  1.39082221e-05, 3.04525844e-05, 2.46780553e-05,-1.22266094e-05,
  2.40660032e-05, 2.24251523e-05,-2.61814414e-05, 2.62359607e-05,
 -1.69769002e-04,-7.05343842e-05,-1.55548283e-04, 2.76650304e-05,
 -1.16061294e-07, 1.70062156e-07,-1.21644039e+00,-4.53538902e-04,
  1.25977809e-05,-5.50340187e-04]


--- Step 742 ---
qpos:
[ 6.18276324e-03,-1.80963431e-03,-4.97843997e-03, 3.35886716e-02,
  4.48982933e-03,-3.72456720e-03,-1.85339993e-02, 2.85912952e-02,
  1.29881824e-02, 3.33895874e-03,-9.94810294e-03, 2.58591008e-02,
  1.07316283e+00,-1.99121929e-04, 8.45251417e-01, 6.46791204e-02,
  9.34468652e-02,-7.00964131e-02, 1.30961191e-01, 5.02822581e-01,
  4.91334417e-01, 4.97220045e-01, 5.08460588e-01]

qacc:
[ -2.86124413,  2.09580657, -6.62995017,  7.07912682, -1.66651905,
   1.32337178, -3.5045316 ,  1.87794316,  2.42100749, -0.23575903,
   1.1889601 , -1.86382133, -1.50696789,  2.74242639,  2.30630704,
 -10.46117863,  0.44394825,  1.02015762,  0.01789686,  6.94023024,
   0.76982237,-14.66818958]

qfrc_actuator:
[-3.46323384e-05,-3.78602419e-05,-8.27698227e-05, 8.91412449e-06,
  7.47972965e-06,-2.93114933e-04,-2.52082320e-04,-8.81783285e-05,
  8.38275998e-05, 1.34781033e-05,-9.75449449e-05,-2.83514686e-05,
  2.58167831e-02,-1.23531783e-03, 9.63702554e-03,-3.11211599e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030740054630738756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.80582474e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.80582474e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620269, -0.08832585,  0.06199121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.65877367e-05, 3.68567412e-05,-2.29146026e-05, 4.58872764e-07,
 -9.67884539e-06, 3.71824863e-05,-1.27012073e-05,-4.51963164e-06,
  1.41548895e-05, 2.17500709e-05, 1.26989105e-05, 3.09336785e-07,
 -1.75678714e-04,-8.81815223e-06,-1.22429545e-04,-8.58965437e-05,
 -1.84704473e-07, 1.80809683e-07,-1.21644079e+00,-4.53376789e-04,
  1.20203199e-05,-5.50164938e-04]


--- Step 743 ---
qpos:
[ 6.18254652e-03,-1.80845528e-03,-4.97877865e-03, 3.35883651e-02,
  4.48986218e-03,-3.72313745e-03,-1.85340640e-02, 2.85902657e-02,
  1.29891962e-02, 3.34002816e-03,-9.94763751e-03, 2.58587999e-02,
  1.07375825e+00,-1.97558430e-04, 8.45733992e-01, 6.46777140e-02,
  9.34592626e-02,-7.00961675e-02, 1.30960638e-01, 5.02767701e-01,
  4.91372916e-01, 4.97275104e-01, 5.08423807e-01]

qacc:
[  1.38317805,  0.27387282, -0.52485441,  0.16290764, -1.08435044,
   1.97724751, -7.41330345, 12.31157254, -4.7428641 , -0.39214451,
   0.09937043,  5.01148127, -1.72175926,  3.27037921,  5.31076631,
 -19.47487246,  0.70241967, -1.95628848, -0.62368892,  9.22431079,
  -2.4162372 , 28.3572717 ]

qfrc_actuator:
[-2.60441897e-05,-2.73024640e-05,-8.18887041e-05, 8.79810475e-06,
  1.47901125e-06,-2.66640154e-04,-2.64915755e-04,-7.37021947e-05,
  5.56122136e-05, 2.10961622e-05,-7.36556136e-05,-1.04838250e-05,
  2.57573393e-02,-1.19459394e-03, 9.63581231e-03,-3.20512897e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5538359 ,  0.39612511, -4.53657429,  0.39612511, 42.08187925,
        3.27687795, -4.53657429,  3.27687795,  4.8399667 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030402372171502157
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82588223e-13,  1.82588223e-13,  1.00000000e+00, -3.33384593e-26,
        1.00000000e+00, -1.82588223e-13, -1.00000000e+00,  0.00000000e+00,
        1.82588223e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08214645, -0.03142721,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.12760152e-06, 2.64194248e-05, 5.68222067e-06, 6.79426313e-07,
 -6.26352489e-06, 4.44093697e-05,-6.88588162e-06, 1.55426281e-05,
 -2.78030446e-05, 2.23913092e-05, 2.99470181e-05, 1.92439213e-05,
 -1.70601136e-04, 2.02124162e-06,-7.06945828e-05,-1.14384265e-04,
 -2.33707733e-07, 2.54928757e-07,-1.21644153e+00,-4.53230915e-04,
  1.11804899e-05,-5.49895366e-04]


--- Step 744 ---
qpos:
[ 6.18174441e-03,-1.80725568e-03,-4.97900228e-03, 3.35877297e-02,
  4.48947820e-03,-3.72186798e-03,-1.85335290e-02, 2.85901176e-02,
  1.29891744e-02, 3.34102861e-03,-9.94681664e-03, 2.58590813e-02,
  1.07435272e+00,-1.96366462e-04, 8.46215347e-01, 6.46798224e-02,
  9.34741544e-02,-7.00979611e-02, 1.30961281e-01, 5.02697365e-01,
  4.91427935e-01, 4.97330888e-01, 5.08385613e-01]

qacc:
[ -5.14408982, -0.96129375,  4.87208176,-10.77905375, -3.62606068,
  -0.06664327, -3.77992606, 18.18246687, -9.10077943,  0.13204309,
  -3.03130029, 12.56000816, -0.15251203, -0.46806247,-12.40729334,
  40.79099258,  0.62359203, -0.5098071 ,  0.29873499,  8.48562527,
  -0.52139404,  7.50363365]

qfrc_actuator:
[-5.64045240e-05,-3.93173164e-05,-8.12185846e-05,-8.89356594e-06,
 -1.98139973e-05,-2.87076461e-04,-2.36895704e-04,-2.92623507e-05,
  3.09643085e-06, 7.45217148e-06,-5.97597794e-05, 1.79072858e-05,
  2.57003083e-02,-1.22450794e-03, 9.61774095e-03,-3.01064507e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030198512803072296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.10401529e-06,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.10401529e-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([ 0.08422166, -0.06055172,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.01236078e-05, 3.92742518e-06, 6.84155089e-06,-1.63512272e-05,
 -2.14568020e-05, 3.58997913e-06, 3.68690375e-05, 4.64067547e-05,
 -5.32960557e-05, 5.83800726e-06, 2.28604270e-05, 3.07599943e-05,
 -1.62230998e-04,-6.58242821e-05,-6.98012648e-05, 1.77516731e-04,
 -4.16903827e-07, 2.76137479e-07,-1.21644148e+00,-4.54230823e-04,
  1.22329110e-05,-5.49857489e-04]


--- Step 745 ---
qpos:
[ 6.18092996e-03,-1.80635118e-03,-4.97934952e-03, 3.35872907e-02,
  4.48884229e-03,-3.72110919e-03,-1.85326830e-02, 2.85902237e-02,
  1.29888681e-02, 3.34205509e-03,-9.94608473e-03, 2.58593745e-02,
  1.07494605e+00,-1.95176292e-04, 8.46696283e-01, 6.46818265e-02,
  9.34908369e-02,-7.00956451e-02, 1.30962316e-01, 5.02634390e-01,
  4.91474555e-01, 4.97409153e-01, 5.08326240e-01]

qacc:
[ -0.10729149,  0.35993929, -2.67770708,  6.48982706, -2.18628136,
  -1.01654944,  1.57959537,  2.68990758, -2.50622376,  0.31210687,
  -1.1040106 ,  1.42110347, -0.81517432,  0.99954487, -0.26095359,
   0.11630212,  0.44768216,  1.02740435,  0.09798329,  7.06147327,
   0.75100615,-14.80674843]

qfrc_actuator:
[-5.61960244e-05,-8.25236842e-05,-9.85487173e-05,-1.30452449e-06,
 -3.21861107e-05,-3.53007756e-04,-2.38410027e-04,-2.08207394e-05,
 -1.00302870e-05,-1.09302171e-06,-6.97165263e-05, 1.67273240e-05,
  2.56394144e-02,-1.22495758e-03, 9.59496093e-03,-3.02117545e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53987934, -0.50481448,  4.51172547, -0.50481448, 48.42165181,
        4.90990739,  4.51172547,  4.90990739,  5.08924618,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029982375688998586
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.85145940e-13,  9.25729699e-14,  1.00000000e+00, -1.71395095e-26,
        1.00000000e+00, -9.25729699e-14, -1.00000000e+00,  0.00000000e+00,
        1.85145940e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620277, -0.08832789,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.49670673e-07,-4.03449493e-05,-1.62499255e-05, 7.67646327e-06,
 -1.29872090e-05,-5.43791936e-05, 5.35456129e-06, 1.07715095e-05,
 -1.46369655e-05, 6.94650840e-07,-4.89053950e-06, 4.57379594e-07,
 -1.75270939e-04,-4.68181274e-05,-3.97455324e-05,-1.07009202e-05,
 -6.29821125e-07, 3.98961059e-07,-1.21644207e+00,-4.54727199e-04,
  1.25782741e-05,-5.49829823e-04]


--- Step 746 ---
qpos:
[ 6.18046901e-03,-1.80573266e-03,-4.98013909e-03, 3.35866227e-02,
  4.48875231e-03,-3.72031982e-03,-1.85322551e-02, 2.85893762e-02,
  1.29884068e-02, 3.34268419e-03,-9.94497333e-03, 2.58593287e-02,
  1.07553813e+00,-1.93420841e-04, 8.47177327e-01, 6.46812668e-02,
  9.35078702e-02,-7.00892669e-02, 1.30963844e-01, 5.02584524e-01,
  4.91507655e-01, 4.97504114e-01, 5.08250606e-01]

qacc:
[  3.09918421,  0.38074531, -0.94922703, -2.08659269,  4.7637502 ,
  -0.7620571 ,  6.78671991,-22.62718387, -1.3459111 , -2.28102655,
   8.80702807,-14.99321826, -1.54920581,  2.7899584 ,  7.99652237,
 -27.50963149,  0.08771789,  1.01556976,  0.12337057,  1.6686704 ,
   0.37619572,-14.88372018]

qfrc_actuator:
[-3.79851020e-05,-1.08632232e-04,-1.26486370e-04,-1.44459525e-05,
 -3.69859224e-06,-3.39305752e-04,-2.57596300e-04,-6.92085835e-05,
 -1.76131476e-05,-4.21516186e-05,-5.81773297e-05,-1.85761227e-06,
  2.55869051e-02,-1.19019709e-03, 9.60128245e-03,-3.15250116e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002976348837389481
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04910494e-13, -3.73015088e-13,  1.00000000e+00,  3.91331970e-26,
        1.00000000e+00,  3.73015088e-13, -1.00000000e+00,  0.00000000e+00,
        1.04910494e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09169002, -0.08820995,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.81762837e-05,-5.17228243e-05,-3.80119981e-05,-1.52831717e-05,
  2.80968896e-05,-1.51813430e-05,-2.94046941e-05,-5.03266664e-05,
 -7.99422063e-06,-4.17132128e-05, 1.10751946e-05,-1.87195129e-05,
 -1.70792330e-04,-1.11083133e-05,-2.05176150e-05,-1.38754226e-04,
 -6.71631050e-07, 2.90869502e-07,-1.21644263e+00,-4.54816190e-04,
  1.14684093e-05,-5.49701203e-04]


--- Step 747 ---
qpos:
[ 6.17988481e-03,-1.80528419e-03,-4.98133695e-03, 3.35857854e-02,
  4.48900449e-03,-3.71970203e-03,-1.85320826e-02, 2.85890064e-02,
  1.29875131e-02, 3.34292102e-03,-9.94369019e-03, 2.58590748e-02,
  1.07612927e+00,-1.91882616e-04, 8.47657012e-01, 6.46819484e-02,
  9.35275841e-02,-7.00900611e-02, 1.30963119e-01, 5.02501438e-01,
  4.91577680e-01, 4.97580503e-01, 5.08190252e-01]

qacc:
[-1.09380055, 0.57025297,-1.64110579,-0.51397775, 2.98986166, 1.46280397,
 -7.57206431,16.38298286,-3.79216583,-1.41923646, 5.19948551,-8.80001029,
 -0.37906927, 0.09276644,-5.73701036,17.18951887, 0.67012518,-1.79312076,
 -0.56329425, 8.92192756,-2.03181333,26.03125891]

qfrc_actuator:
[-4.48389061e-05,-1.06620554e-04,-1.42667733e-04,-2.19261454e-05,
  1.31023566e-05,-3.49171272e-04,-2.69028379e-04,-4.40722716e-05,
 -3.96379268e-05,-6.67999776e-05,-5.19260727e-05,-1.27868305e-05,
  2.55394784e-02,-1.20588740e-03, 9.52916821e-03,-3.08751339e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002945160179956204
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.10108446e-07,  6.10108634e-07,  1.00000000e+00,  3.72232430e-13,
        1.00000000e+00, -6.10108634e-07, -1.00000000e+00,  5.04870979e-29,
       -6.10108446e-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([ 0.08270759, -0.03480756,  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:
[-6.35390150e-06,-3.54228298e-05,-3.20727892e-05,-1.13080188e-05,
  1.76015374e-05,-2.66072717e-05,-1.99448496e-05, 2.24868343e-05,
 -2.22630026e-05,-4.65290353e-05,-1.66912643e-06,-1.27014482e-05,
 -1.55147677e-04,-5.42319561e-05,-1.06170943e-04, 5.24852567e-05,
 -5.80348834e-07, 2.20490812e-07,-1.21644307e+00,-4.54904836e-04,
  1.02307644e-05,-5.49568476e-04]


--- Step 748 ---
qpos:
[ 6.17922328e-03,-1.80521695e-03,-4.98241294e-03, 3.35852004e-02,
  4.48876692e-03,-3.71988203e-03,-1.85312343e-02, 2.85893018e-02,
  1.29860172e-02, 3.34314132e-03,-9.94250117e-03, 2.58586618e-02,
  1.07671969e+00,-1.91404254e-04, 8.48135087e-01, 6.46808262e-02,
  9.35476664e-02,-7.00867375e-02, 1.30963349e-01, 5.02431582e-01,
  4.91634067e-01, 4.97673785e-01, 5.08113426e-01]

qacc:
[ -0.66946261, -0.32399233, -0.63837415,  5.08660342, -4.25107536,
  -1.56506127,  1.25571605,  9.75005815, -5.30293793, -0.07611478,
   0.92962519, -3.54097722,  0.41860461, -1.99246261,  3.01398169,
 -14.12733674,  0.09210081,  1.02944192,  0.23881719,  1.71243739,
   0.36942602,-15.04628702]

qfrc_actuator:
[-4.86435572e-05,-1.23243544e-04,-1.33899802e-04,-8.22519432e-06,
 -1.26285074e-05,-4.08492650e-04,-2.40298137e-04,-1.13764722e-05,
 -6.99885944e-05,-4.59431089e-05,-4.87916061e-05,-1.91179626e-05,
  2.54897920e-02,-1.26904445e-03, 9.41544647e-03,-3.19155917e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002944734707718555
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.89093296e-14, -3.77019710e-13,  1.00000000e+00,  2.22099784e-26,
        1.00000000e+00,  3.77019710e-13, -1.00000000e+00,  0.00000000e+00,
        5.89093296e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09169041, -0.0882105 ,  0.06199158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.99593841e-06,-4.35421051e-05,-2.87919215e-06, 1.08571750e-05,
 -2.52374833e-05,-7.73735765e-05, 2.15465004e-05, 3.13013769e-05,
 -3.09967946e-05,-6.08514087e-06,-7.13902167e-06,-8.63211998e-06,
 -1.57684450e-04,-1.05682722e-04,-1.60028612e-04,-1.15558093e-04,
 -1.04135003e-06, 4.05921807e-07,-1.21644352e+00,-4.55898030e-04,
  1.19364160e-05,-5.49589797e-04]


--- Step 749 ---
qpos:
[ 6.17852106e-03,-1.80534498e-03,-4.98316034e-03, 3.35843998e-02,
  4.48856767e-03,-3.72054674e-03,-1.85300726e-02, 2.85892809e-02,
  1.29845138e-02, 3.34357366e-03,-9.94144175e-03, 2.58584935e-02,
  1.07730910e+00,-1.91337315e-04, 8.48612339e-01, 6.46733507e-02,
  9.35681241e-02,-7.00793343e-02, 1.30964105e-01, 5.02374806e-01,
  4.91676972e-01, 4.97783770e-01, 5.08020303e-01]

qacc:
[ -0.34417604, -1.61959495,  6.31069231,-10.42142497,  0.35322096,
  -2.16632938,  8.12903695,-13.74325585, -0.07370483,  1.14655406,
  -4.71493735,  9.00282198, -0.62527205,  0.36168351, 17.98223256,
 -64.62809452,  0.09386452,  1.01991738,  0.13140133,  1.69647973,
   0.36056405,-14.87711566]

qfrc_actuator:
[-5.06153324e-05,-1.15262853e-04,-1.10529145e-04,-1.76745706e-05,
 -9.92551802e-06,-4.25782170e-04,-2.23804802e-04,-2.77815418e-05,
 -6.94866158e-05,-1.57545520e-05,-4.73300727e-05,-4.90330016e-06,
  2.54334378e-02,-1.28874146e-03, 9.36204450e-03,-3.51874492e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002928586628382218
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.96170764e-13, -5.68647866e-13,  1.00000000e+00,  1.68416873e-25,
        1.00000000e+00,  5.68647866e-13, -1.00000000e+00,  0.00000000e+00,
        2.96170764e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09169057, -0.08821083,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.09991983e-06,-1.64857264e-05, 1.44113696e-05,-1.11996681e-05,
  1.95289337e-06,-5.47775590e-05, 4.24134348e-06,-1.83673326e-05,
 -3.78290752e-07, 2.49046099e-05,-9.89279165e-07, 1.35376506e-05,
 -1.78012195e-04,-7.15379527e-05,-1.40920874e-04,-3.54472272e-04,
 -9.09783149e-07, 2.32463588e-07,-1.21644376e+00,-4.56101736e-04,
  1.05260809e-05,-5.49533969e-04]


--- Step 750 ---
qpos:
[ 6.17814561e-03,-1.80561694e-03,-4.98392205e-03, 3.35835093e-02,
  4.48840189e-03,-3.72133305e-03,-1.85291711e-02, 2.85894021e-02,
  1.29837179e-02, 3.34408910e-03,-9.94089226e-03, 2.58585398e-02,
  1.07789724e+00,-1.91159209e-04, 8.49088213e-01, 6.46645711e-02,
  9.35890349e-02,-7.00681814e-02, 1.30965195e-01, 5.02329661e-01,
  4.91707838e-01, 4.97909442e-01, 5.07911903e-01]

qacc:
[  2.8753082 , -0.34121122,  1.31083225, -2.7291896 ,  0.28704256,
   0.85745994, -3.89118848,  6.85444703,  6.20913521,  1.96423846,
  -7.77056995, 12.2580516 , -1.02676251,  1.4268444 ,  1.95853919,
  -9.67543673,  0.11326429,  0.9374087 ,  0.0834851 ,  1.90349357,
   0.34765837,-13.64461699]

qfrc_actuator:
[-3.37404648e-05,-1.28058704e-04,-1.14157573e-04,-2.28946982e-05,
 -8.24700971e-06,-4.17846536e-04,-2.32314142e-04,-1.96739185e-05,
 -3.30742798e-05,-3.34468433e-05,-8.23044219e-05, 3.54589304e-06,
  2.53678101e-02,-1.28258697e-03, 9.33416972e-03,-3.56623322e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002896110242288292
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.08812840e-07, -2.08813176e-07,  1.00000000e+00, -4.36028723e-14,
        1.00000000e+00,  2.08813176e-07, -1.00000000e+00,  0.00000000e+00,
       -2.08812840e-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([ 0.09144692, -0.08676338,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.68106211e-05,-1.95011791e-05,-5.63349196e-06,-5.64194824e-06,
  1.71577155e-06,-2.25956349e-05,-1.99427289e-05, 5.54826420e-06,
  3.64121725e-05,-3.42225805e-06,-2.95019976e-05, 9.74246654e-06,
 -1.92535370e-04,-4.39933225e-05,-1.35739636e-04,-8.61960396e-05,
 -7.71640916e-07, 1.51161523e-07,-1.21644430e+00,-4.56317382e-04,
  9.04497488e-06,-5.49385794e-04]


--- Step 751 ---
qpos:
[ 6.17797549e-03,-1.80620367e-03,-4.98465704e-03, 3.35829281e-02,
  4.48825712e-03,-3.72179059e-03,-1.85283606e-02, 2.85898940e-02,
  1.29830196e-02, 3.34456623e-03,-9.94014454e-03, 2.58583084e-02,
  1.07848402e+00,-1.90334283e-04, 8.49561945e-01, 6.46612390e-02,
  9.36059328e-02,-7.00647438e-02, 1.30965365e-01, 5.02272690e-01,
  4.91748196e-01, 4.97992173e-01, 5.07848060e-01]

qacc:
[  1.81176598,  0.14258885, -2.42382837,  7.97209393,  0.17559429,
   1.45048913, -6.10795217, 12.428638  ,  0.8659996 , -1.17772766,
   5.2948146 ,-10.38414215, -1.25107401,  2.23456474,-19.51622144,
  63.88636045, -1.00322535, -1.92882386, -0.23001084,-16.70625736,
   0.70280536, 27.11457666]

qfrc_actuator:
[-2.36614354e-05,-1.53293707e-04,-1.16021360e-04,-7.86391498e-06,
 -7.19368390e-06,-3.59439786e-04,-2.19871578e-04, 2.80963701e-06,
 -2.90856955e-05,-2.65656283e-05,-6.76975980e-05,-9.28437032e-06,
  2.53126542e-02,-1.24352695e-03, 9.27908471e-03,-3.27088446e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002974317341279814
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.33174656e-14,  1.39976198e-13,  1.00000000e+00, -1.30622241e-26,
        1.00000000e+00, -1.39976198e-13, -1.00000000e+00,  0.00000000e+00,
        9.33174656e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10972291, -0.03394469,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05524757e-05,-3.75178569e-05,-6.76731955e-06, 1.38940775e-05,
  1.09502631e-06, 4.19082136e-05, 5.50906816e-06, 2.09325478e-05,
  5.02484853e-06,-7.24060511e-07, 1.05883559e-05,-1.38122702e-05,
 -1.84393310e-04,-9.66706284e-06,-1.29867035e-04, 2.72475217e-04,
 -6.45657365e-07, 1.55369645e-07,-1.21644508e+00,-4.56563847e-04,
  7.57674803e-06,-5.49147097e-04]


--- Step 752 ---
qpos:
[ 6.17792758e-03,-1.80701351e-03,-4.98517741e-03, 3.35828520e-02,
  4.48847090e-03,-3.72174123e-03,-1.85278318e-02, 2.85909859e-02,
  1.29820298e-02, 3.34529741e-03,-9.93909030e-03, 2.58578790e-02,
  1.07906954e+00,-1.88800988e-04, 8.50033988e-01, 6.46617691e-02,
  9.36188686e-02,-7.00688740e-02, 1.30963929e-01, 5.02203897e-01,
  4.91797889e-01, 4.98032926e-01, 5.07828009e-01]

qacc:
[  1.08556656,  0.14306021, -3.07385686, 11.64009611,  3.12089456,
   2.68387293,-11.14174142, 21.61179693, -2.56112171, -0.9234148 ,
   4.62428059, -8.7369898 , -1.31546219,  2.4567956 ,-14.0576262 ,
  45.77320692, -0.99053497, -1.89194224, -0.40145862,-16.31181667,
   0.79834572, 26.64543534]

qfrc_actuator:
[-1.76691576e-05,-1.50258521e-04,-9.91090322e-05, 1.89540856e-05,
  1.12362488e-05,-3.24409974e-04,-2.30428265e-04, 3.36331648e-05,
 -4.42244689e-05, 1.29005092e-05,-4.15989021e-05,-1.67234419e-05,
  2.52638362e-02,-1.20305636e-03, 9.20246608e-03,-3.07785829e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55060665, -0.20809335, -4.54584624, -0.20809335, 17.93812127,
       -0.61283481, -4.54584624, -0.61283481,  4.57866013,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030305918915790597
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83169339e-13, -9.15846693e-14,  1.00000000e+00,  1.67755033e-26,
        1.00000000e+00,  9.15846693e-14, -1.00000000e+00,  0.00000000e+00,
        1.83169339e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10972041, -0.03394708,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.28163954e-06,-1.87122337e-05, 8.82619262e-06, 2.52504228e-05,
  1.84747434e-05, 6.05061420e-05,-5.02810710e-07, 3.32155804e-05,
 -1.49938928e-05, 4.06305256e-05, 2.67606747e-05,-7.37510467e-06,
 -1.64774992e-04,-7.04574207e-07,-1.07369860e-04, 1.91221675e-04,
 -6.15869242e-07, 2.49411671e-07,-1.21644264e+00,-4.57397877e-04,
  9.97781330e-06,-5.49079118e-04]


--- Step 753 ---
qpos:
[ 6.17795191e-03,-1.80784425e-03,-4.98585218e-03, 3.35830970e-02,
  4.48890389e-03,-3.72112830e-03,-1.85276965e-02, 2.85914029e-02,
  1.29812113e-02, 3.34634625e-03,-9.93834354e-03, 2.58577431e-02,
  1.07965423e+00,-1.87941238e-04, 8.50505396e-01, 6.46628130e-02,
  9.36278858e-02,-7.00804498e-02, 1.30960310e-01, 5.02123287e-01,
  4.91856785e-01, 4.98032489e-01, 5.07851108e-01]

qacc:
[  0.63079095,  1.06401501, -5.19153087, 11.01337346,  1.89617914,
   0.45181668,  2.31310356,-13.77196612,  1.49312496,  1.88021447,
  -7.33874512, 12.67970547,  0.04269867, -1.02482286, -2.50849288,
   7.36467988, -0.97963819, -1.86140828, -0.54581878,-15.98744101,
   0.87352763, 26.25586784]

qfrc_actuator:
[-1.41279604e-05,-1.47979605e-04,-1.06634889e-04, 3.47722618e-05,
  2.19935713e-05,-3.03715973e-04,-2.54557360e-04,-1.92727431e-06,
 -3.49841804e-05, 1.83826464e-05,-6.20505626e-05,-3.14372293e-06,
  2.52082085e-02,-1.25082288e-03, 9.18219885e-03,-3.05333508e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55834265e+00, -3.32339113e-02,  4.55822150e+00, -3.32339113e-02,
        4.90021638e+01,  3.24039104e-01,  4.55822150e+00,  3.24039104e-01,
        4.56070521e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0003053626668408499
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.72681424e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.72681424e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10971896, -0.03394786,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.71497641e-06,-5.24198915e-06,-9.41489452e-06, 1.58160394e-05,
  1.13048152e-05, 5.58444627e-05,-1.05540044e-05,-3.23429093e-05,
  8.83102692e-06, 3.33684588e-05,-9.03823983e-06, 1.61007339e-05,
 -1.57465268e-04,-8.30694240e-05,-5.11824339e-05, 2.07246788e-05,
 -4.49806354e-07, 4.78459069e-07,-1.21644150e+00,-4.58288222e-04,
  1.14606865e-05,-5.49246495e-04]


--- Step 754 ---
qpos:
[ 6.17836352e-03,-1.80866508e-03,-4.98661299e-03, 3.35831758e-02,
  4.48946273e-03,-3.72011386e-03,-1.85277893e-02, 2.85910551e-02,
  1.29805100e-02, 3.34751603e-03,-9.93748156e-03, 2.58577672e-02,
  1.08023796e+00,-1.87608281e-04, 8.50976490e-01, 6.46607908e-02,
  9.36330216e-02,-7.00993706e-02, 1.30954021e-01, 5.02030864e-01,
  4.91924771e-01, 4.97991500e-01, 5.07916821e-01]

qacc:
[  3.40243833, -0.09537447,  1.04946836, -3.78423118,  1.08701114,
  -0.40705915,  5.44739359,-18.61031308,  1.0325536 ,  0.16526738,
  -1.03666234,  3.53736573, -0.34618727, -0.2264419 ,  8.79438844,
 -31.43236955, -0.97035586, -1.83622171, -0.66730785,-15.72167472,
   0.93247576, 25.93450902]

qfrc_actuator:
[ 5.69632300e-06,-1.46267421e-04,-1.10787863e-04, 2.62198051e-05,
  2.81432423e-05,-2.91882886e-04,-2.68852930e-04,-4.07780774e-05,
 -2.92154384e-05, 2.10618033e-05,-5.66831370e-05, 4.88243640e-06,
  2.51538285e-02,-1.27942257e-03, 9.14777638e-03,-3.21687327e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55711472, -0.3100637 ,  4.54655419, -0.3100637 , 35.41805221,
        2.10463929,  4.54655419,  2.10463929,  4.70064589,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000304998671003906
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.10022838e-14,  4.55011419e-14,  1.00000000e+00, -4.14070783e-27,
        1.00000000e+00, -4.55011419e-14, -1.00000000e+00,  0.00000000e+00,
        9.10022838e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10971833, -0.03394735,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.99310766e-05,-2.44757778e-06,-5.83126169e-06,-8.79235683e-06,
  6.49386014e-06, 3.94742652e-05,-5.19009063e-06,-3.74552817e-05,
  6.03502989e-06, 2.01160862e-05, 1.16820822e-05, 9.45252438e-06,
 -1.69605387e-04,-7.71293684e-05,-6.17962924e-05,-1.70409363e-04,
 -1.49208639e-07, 8.34544668e-07,-1.21644160e+00,-4.59248928e-04,
  1.20833812e-05,-5.49650488e-04]


--- Step 755 ---
qpos:
[ 6.17935472e-03,-1.80970987e-03,-4.98704281e-03, 3.35831528e-02,
  4.49009157e-03,-3.71941727e-03,-1.85275053e-02, 2.85909863e-02,
  1.29795386e-02, 3.34854778e-03,-9.93614888e-03, 2.58578960e-02,
  1.08082039e+00,-1.86470203e-04, 8.51445958e-01, 6.46596065e-02,
  9.36382389e-02,-7.01141545e-02, 1.30950991e-01, 5.01951196e-01,
  4.91980373e-01, 4.97966872e-01, 5.07965849e-01]

qacc:
[  5.11043423, -1.44087779,  5.12016542, -7.22661012,  0.63005614,
  -0.89976207,  1.41857927,  3.04399778, -2.3590249 , -1.27779543,
   3.85726829, -2.70454612, -1.57971888,  3.0029519 , -4.82040956,
  13.62983272,  0.02039054,  1.03418818,  0.81460955,  2.06443491,
  -0.02790164,-14.53524293]

qfrc_actuator:
[ 3.49465029e-05,-1.62670357e-04,-9.51710594e-05, 2.11565807e-05,
  3.15339935e-05,-3.38687608e-04,-2.59503624e-04,-2.79853325e-05,
 -4.32965790e-05, 4.37619494e-06,-3.61239752e-05, 9.59245520e-06,
  2.51055632e-02,-1.22538896e-03, 9.06757414e-03,-3.17032663e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003029291976948196
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.8637360e-07, -4.8637387e-07,  1.0000000e+00, -2.3655941e-13,
        1.0000000e+00,  4.8637387e-07, -1.0000000e+00,  0.0000000e+00,
       -4.8637360e-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([ 0.09214334, -0.08686606,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.98199871e-05,-1.93088387e-05, 1.41058966e-05,-5.53854324e-06,
  3.59179656e-06,-2.74407512e-05, 1.55571962e-05, 1.35743448e-05,
 -1.38989391e-05,-2.67101655e-06, 2.64556026e-05, 6.15527745e-06,
 -1.70083026e-04, 4.08868629e-06,-1.34265949e-04, 2.75441820e-05,
  2.84643482e-07, 1.31247229e-06,-1.21644286e+00,-4.60289911e-04,
  1.18901432e-05,-5.50291598e-04]


--- Step 756 ---
qpos:
[ 6.17999923e-03,-1.81108973e-03,-4.98720394e-03, 3.35830881e-02,
  4.49041143e-03,-3.71917385e-03,-1.85267284e-02, 2.85914265e-02,
  1.29784061e-02, 3.34959403e-03,-9.93517543e-03, 2.58584640e-02,
  1.08140178e+00,-1.85038133e-04, 8.51914060e-01, 6.46598945e-02,
  9.36437008e-02,-7.01245936e-02, 1.30950330e-01, 5.01884729e-01,
  4.92022998e-01, 4.97959834e-01, 5.07997137e-01]

qacc:
[ -3.03425701, -1.27378245,  4.08492234, -4.99871202, -2.68078225,
  -0.92346671,  0.28350234,  8.06170617, -1.42860007,  1.92989757,
  -8.70271662, 16.86124062, -0.90366654,  1.44423384, -6.4036055 ,
  19.60541049,  0.0611374 ,  1.08621714,  0.59237372,  2.37957284,
   0.05994929,-15.36307137]

qfrc_actuator:
[ 1.62471168e-05,-1.89712457e-04,-8.58276496e-05, 1.81889337e-05,
  1.55222755e-05,-3.66858368e-04,-2.36481072e-04,-2.69690868e-06,
 -5.11946920e-05,-5.96505830e-06,-6.01092379e-05, 3.00567724e-05,
  2.50610331e-02,-1.21165973e-03, 9.02394284e-03,-3.08916973e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57289633,  0.63111099,  4.52913676,  0.63111099, 17.82605238,
       -1.84675644,  4.52913676, -1.84675644,  4.83023196,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030963086382886085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.80127674e-13, -1.79281712e-13,  1.00000000e+00,  5.02217689e-26,
        1.00000000e+00,  1.79281712e-13, -1.00000000e+00,  0.00000000e+00,
        2.80127674e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09169907, -0.08820842,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.78548447e-05,-3.51131237e-05, 6.91568954e-06,-3.41288879e-06,
 -1.59198861e-05,-3.97476786e-05, 1.97291519e-05, 2.49127275e-05,
 -8.29058560e-06,-6.16752642e-06,-2.10938046e-05, 2.13798610e-05,
 -1.49074490e-04,-2.16420357e-05,-1.04584309e-04, 6.49097745e-05,
  1.65735686e-07, 9.20474057e-07,-1.21644183e+00,-4.59886455e-04,
  1.18500927e-05,-5.50593642e-04]


--- Step 757 ---
qpos:
[ 6.18041480e-03,-1.81244221e-03,-4.98792450e-03, 3.35826544e-02,
  4.49053686e-03,-3.71927498e-03,-1.85256764e-02, 2.85921674e-02,
  1.29775329e-02, 3.35058950e-03,-9.93500144e-03, 2.58589672e-02,
  1.08198234e+00,-1.84014870e-04, 8.52381691e-01, 6.46599849e-02,
  9.36494423e-02,-7.01307719e-02, 1.30951372e-01, 5.01831325e-01,
  4.92052670e-01, 4.97970070e-01, 5.08011123e-01]

qacc:
[ -2.03129733,  0.84393735, -1.39124018, -4.13054796, -1.68689756,
  -0.60167664,  0.21998182,  4.79444175,  2.25654596,  2.02947878,
  -7.06784505,  7.27056062, -0.22659802, -0.29658167, -0.09741538,
  -0.66687692,  0.0698969 ,  1.06520015,  0.42555284,  2.23160023,
   0.11559867,-15.13398475]

qfrc_actuator:
[ 4.97770101e-06,-1.87432096e-04,-1.15823629e-04,-1.29344382e-06,
  5.97269589e-06,-3.83586298e-04,-2.23274058e-04, 1.19947074e-05,
 -3.76313212e-05,-3.03496483e-05,-1.10179498e-04, 2.40920607e-05,
  2.50134412e-02,-1.23967667e-03, 9.02359250e-03,-3.09473210e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58393813,  0.61953002,  4.54187971,  0.61953002, 31.43800101,
       -3.66299842,  4.54187971, -3.66299842,  5.08358533,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031281410428621315
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.32732467e-14, -3.54914631e-13,  1.00000000e+00, -1.18091621e-26,
        1.00000000e+00,  3.54914631e-13, -1.00000000e+00,  0.00000000e+00,
       -3.32732467e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09170056, -0.08820801,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17849263e-05,-1.60291514e-05,-3.64971967e-05,-2.08099643e-05,
 -1.00200431e-05,-3.38364700e-05, 8.27699903e-06, 1.41531045e-05,
  1.33300596e-05,-3.13315112e-05,-5.32283513e-05,-6.54844892e-06,
 -1.44524363e-04,-6.35436791e-05,-4.45373835e-05,-1.61684375e-05,
  5.72440785e-08, 6.00350575e-07,-1.21644104e+00,-4.59504144e-04,
  1.17088568e-05,-5.50795842e-04]


--- Step 758 ---
qpos:
[ 6.18069190e-03,-1.81359761e-03,-4.98942250e-03, 3.35823294e-02,
  4.49054660e-03,-3.71957725e-03,-1.85244512e-02, 2.85920314e-02,
  1.29768294e-02, 3.35092208e-03,-9.93462453e-03, 2.58594051e-02,
  1.08256180e+00,-1.82693579e-04, 8.52849013e-01, 6.46569950e-02,
  9.36554911e-02,-7.01327586e-02, 1.30953556e-01, 5.01790862e-01,
  4.92069420e-01, 4.97997316e-01, 5.08008159e-01]

qacc:
[ -1.24538919,  2.66016067, -9.56136573, 12.53550341, -1.00422256,
  -2.55076084, 12.41677574,-27.72760733,  1.51113791, -1.58051988,
   4.63473972, -5.59520486, -1.197805  ,  1.97093877,  8.91163231,
 -31.67183573,  0.0768291 ,  1.04790758,  0.28557399,  2.11484237,
   0.15843079,-14.94299753]

qfrc_actuator:
[-1.81281832e-06,-1.67786688e-04,-1.50949969e-04, 5.16473777e-06,
  3.09427899e-07,-3.93375870e-04,-2.15935739e-04,-3.29250996e-05,
 -2.92995236e-05,-8.08533740e-05,-1.04306308e-04, 2.03507748e-05,
  2.49587047e-02,-1.22114560e-03, 8.99059565e-03,-3.25776080e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58520464, -0.47445742, -4.56059117, -0.47445742, 34.29954258,
       -3.09130715, -4.56059117, -3.09130715,  4.90680629,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003131762722338449
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.32347683e-14, -1.77252098e-13,  1.00000000e+00, -5.89093241e-27,
        1.00000000e+00,  1.77252098e-13, -1.00000000e+00,  0.00000000e+00,
       -3.32347683e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09170169, -0.08820826,  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:
[-7.12374878e-06, 2.30395697e-06,-4.36273324e-05, 4.10951947e-06,
 -5.96222635e-06,-2.64084807e-05, 1.84618454e-06,-4.58114145e-05,
  8.70541733e-06,-7.93374571e-05,-7.39779685e-06,-7.05763675e-06,
 -1.57667745e-04,-2.37265280e-05,-6.19015254e-05,-1.71211264e-04,
 -2.99457342e-08, 3.74325659e-07,-1.21644056e+00,-4.59166689e-04,
  1.14586330e-05,-5.50907145e-04]


--- Step 759 ---
qpos:
[ 6.18019543e-03,-1.81452872e-03,-4.99113728e-03, 3.35820413e-02,
  4.49048828e-03,-3.71997847e-03,-1.85234920e-02, 2.85917210e-02,
  1.29755413e-02, 3.35071499e-03,-9.93395348e-03, 2.58601178e-02,
  1.08314028e+00,-1.81436398e-04, 8.53315374e-01, 6.46514537e-02,
  9.36618692e-02,-7.01306102e-02, 1.30956413e-01, 5.01763239e-01,
  4.92073278e-01, 4.98041359e-01, 5.07988529e-01]

qacc:
[ -6.8125711 ,  0.99173108, -3.23847879,  4.0330732 , -0.60250822,
   0.2550451 , -0.3612644 , -2.15911457, -5.12546969, -0.95974192,
   1.24435431,  3.41914213, -0.73875174,  0.86949938,  6.32122444,
 -24.0872433 ,  0.08233926,  1.03376492,  0.16839837,  2.02309132,
   0.19117886,-14.78497863]

qfrc_actuator:
[-4.14201506e-05,-1.37902898e-04,-1.53207471e-04, 9.10435368e-06,
 -3.02301552e-06,-3.99008022e-04,-2.29879361e-04,-4.15436973e-05,
 -5.96261191e-05,-9.31382832e-05,-8.33022815e-05, 3.57226240e-05,
  2.49050612e-02,-1.22848692e-03, 8.93268754e-03,-3.38803915e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57864182, -0.28696292, -4.56964038, -0.28696292, 50.02444094,
       -2.85389177, -4.56964038, -2.85389177,  4.75785966,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003112930355935045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.894697e-13,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
        1.894697e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09170253, -0.08820905,  0.0619911 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.98022324e-05, 2.23931293e-05,-6.98101030e-06, 2.61573711e-06,
 -3.51013948e-06,-2.19867913e-05,-2.07663640e-05,-1.05795407e-05,
 -3.01048502e-05,-5.84980489e-05, 3.45007207e-06, 1.15755099e-05,
 -1.56313376e-04,-4.51657329e-05,-1.12239293e-04,-1.49359245e-04,
 -9.95981997e-08, 2.39460295e-07,-1.21644038e+00,-4.58865126e-04,
  1.11082410e-05,-5.50927783e-04]


--- Step 760 ---
qpos:
[ 6.17922798e-03,-1.81504535e-03,-4.99297808e-03, 3.35814258e-02,
  4.49073543e-03,-3.72058404e-03,-1.85229766e-02, 2.85916812e-02,
  1.29735544e-02, 3.35078111e-03,-9.93449207e-03, 2.58606630e-02,
  1.08371767e+00,-1.79944090e-04, 8.53780426e-01, 6.46476415e-02,
  9.36685943e-02,-7.01243726e-02, 1.30959553e-01, 5.01748367e-01,
  4.92064276e-01, 4.98102023e-01, 5.07952458e-01]

qacc:
[ -4.15253472,  0.23396491,  1.35703793, -7.14288276,  2.6633843 ,
   1.52048078, -6.96501971, 12.51607046, -6.19224772,  3.40899567,
 -10.90271214,  9.71279233, -0.8833751 ,  1.32797284, -7.09625497,
  22.14644233,  0.08674497,  1.02228915,  0.07057482,  1.95140671,
   0.21599012,-14.65553094]

qfrc_actuator:
[-6.45218197e-05,-1.01982123e-04,-1.53745992e-04,-6.19142443e-06,
  1.27943228e-05,-4.19920079e-04,-2.56222227e-04,-2.87335363e-05,
 -9.47087256e-05,-6.45973218e-05,-1.42155296e-04, 2.67431928e-05,
  2.48521028e-02,-1.21560349e-03, 8.90783444e-03,-3.28493244e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003076454958425706
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.36825785e-13,  1.80438693e-13,  1.00000000e+00, -4.27325351e-26,
        1.00000000e+00, -1.80438693e-13, -1.00000000e+00,  0.00000000e+00,
        2.36825785e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09170314, -0.08821026,  0.06199121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.42206126e-05, 4.71553350e-05, 3.35149364e-06,-1.45185301e-05,
  1.57106757e-05,-3.79469468e-05,-3.38141216e-05, 1.09430654e-05,
 -3.59587617e-05,-2.97928830e-06,-7.01182075e-05,-1.11432949e-05,
 -1.59939415e-04,-2.82783955e-05,-9.69933235e-05, 7.94490889e-05,
 -1.54483928e-07, 1.93270941e-07,-1.21644049e+00,-4.58592890e-04,
  1.06640359e-05,-5.50858072e-04]


--- Step 761 ---
qpos:
[ 6.17833600e-03,-1.81547828e-03,-4.99413801e-03, 3.35806180e-02,
  4.49082517e-03,-3.72124553e-03,-1.85228285e-02, 2.85910803e-02,
  1.29718521e-02, 3.35111192e-03,-9.93610913e-03, 2.58610884e-02,
  1.08429379e+00,-1.77683066e-04, 8.54244877e-01, 6.46442894e-02,
  9.36756806e-02,-7.01140828e-02, 1.30962649e-01, 5.01746174e-01,
  4.92042438e-01, 4.98179164e-01, 5.07900124e-01]

qacc:
[ 6.83488235e-01,-2.18985872e+00, 8.77735848e+00,-1.32509620e+01,
 -1.38866309e+00,-1.99145414e-01, 2.97743889e+00,-1.20668837e+01,
  2.46600876e+00, 3.11242313e+00,-1.00923326e+01, 9.55637209e+00,
 -1.57266328e+00, 2.97031576e+00,-2.16993911e+00, 6.55317300e+00,
  9.02949123e-02, 1.01307352e+00,-1.08500195e-02, 1.89585305e+00,
  2.34550983e-01,-1.45508790e+01]

qfrc_actuator:
[-5.99606237e-05,-9.82243261e-05,-1.17751917e-04,-1.49261936e-05,
  4.24994024e-06,-4.14349848e-04,-2.71967844e-04,-5.66991112e-05,
 -7.90389972e-05,-4.76631214e-05,-1.94278514e-04, 2.12379448e-05,
  2.47942753e-02,-1.17310617e-03, 8.89755454e-03,-3.25808631e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030263437808368543
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.86603836e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.86603836e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09170357, -0.08821179,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.89310386e-06, 3.02338016e-05, 4.56760691e-05,-6.87287847e-06,
 -8.10793447e-06,-2.21434838e-05,-2.73698047e-05,-3.05492051e-05,
  1.46501485e-05, 2.90620650e-07,-6.17570588e-05,-8.27500665e-06,
 -1.62738093e-04, 3.27115280e-06,-4.96946356e-05, 1.79639005e-05,
 -1.96631545e-07, 2.33678987e-07,-1.21644088e+00,-4.58345205e-04,
  1.01305245e-05,-5.50698353e-04]


--- Step 762 ---
qpos:
[ 6.17750535e-03,-1.81571300e-03,-4.99459203e-03, 3.35796949e-02,
  4.49115672e-03,-3.72181253e-03,-1.85230089e-02, 2.85904718e-02,
  1.29706957e-02, 3.35127328e-03,-9.93767646e-03, 2.58614218e-02,
  1.08486900e+00,-1.75781676e-04, 8.54708626e-01, 6.46425790e-02,
  9.36830316e-02,-7.01000436e-02, 1.30965629e-01, 5.01756097e-01,
  4.92008334e-01, 4.98271213e-01, 5.07833060e-01]

qacc:
[  0.55801117, -1.94958826,  7.81537865,-11.08017828,  2.10443481,
   1.02259313, -3.4405931 ,  3.77354855,  4.80784368, -0.56178416,
   2.05051911, -3.58067118, -0.24022066, -0.27013944, -5.98620286,
  19.44690165,  0.06615499,  0.93732198, -0.02915156,  1.39667356,
   0.2133852 ,-13.49514416]

qfrc_actuator:
[-5.69123954e-05,-7.80940628e-05,-7.83473836e-05,-1.97285431e-05,
  1.69344991e-05,-3.92956937e-04,-2.81254020e-04,-5.51487282e-05,
 -5.13743927e-05,-5.55463682e-05,-1.88753276e-04, 1.78364967e-05,
  2.47389067e-02,-1.20223131e-03, 8.88002464e-03,-3.16990333e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029659624694774143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88812114e-07,  1.88811652e-07,  1.00000000e+00, -3.56499270e-14,
        1.00000000e+00, -1.88811652e-07, -1.00000000e+00, -6.31088724e-30,
        1.88812114e-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([ 0.09214957, -0.08686997,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.17063515e-06, 4.62130174e-05, 5.10588621e-05,-2.05482349e-06,
  1.24476019e-05, 2.06866099e-06,-1.82807877e-05,-9.37314684e-07,
  2.80832252e-05,-2.08263896e-05,-2.29602221e-06,-5.68592005e-06,
 -1.54693335e-04,-6.34998756e-05,-4.50262637e-05, 8.12669103e-05,
 -2.27515779e-07, 3.58957707e-07,-1.21644155e+00,-4.58118624e-04,
  9.51082383e-06,-5.50448954e-04]


--- Step 763 ---
qpos:
[ 6.17740764e-03,-1.81562633e-03,-4.99488335e-03, 3.35790886e-02,
  4.49198277e-03,-3.72258748e-03,-1.85232236e-02, 2.85902501e-02,
  1.29691898e-02, 3.35144195e-03,-9.93872253e-03, 2.58620007e-02,
  1.08544340e+00,-1.74775143e-04, 8.55171451e-01, 6.46423028e-02,
  9.36865288e-02,-7.00936204e-02, 1.30967108e-01, 5.01754659e-01,
  4.91983611e-01, 4.98320709e-01, 5.07809866e-01]

qacc:
[  6.44447966,  0.60962378, -2.91617415,  7.92441756,  4.33066316,
   0.60783909, -4.21419034, 11.13176244, -3.05914395, -0.93565127,
   2.3235398 ,  1.0770645 ,  0.31001904, -1.68681117, -5.73312568,
  17.97844315, -0.96343749, -1.90396689, -0.37516983,-16.58564819,
   0.56473762, 26.69602746]

qfrc_actuator:
[-1.92827297e-05,-6.60409392e-05,-7.26992314e-05,-4.41895559e-06,
  4.20201604e-05,-4.15456335e-04,-2.86556481e-04,-3.62179851e-05,
 -7.01458324e-05,-2.47339353e-05,-1.49335777e-04, 3.34701359e-05,
  2.46850271e-02,-1.25575643e-03, 8.83154647e-03,-3.09954174e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030303036167152186
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.15933818e-14, -4.57966909e-14,  1.00000000e+00,  4.19467380e-27,
        1.00000000e+00,  4.57966909e-14, -1.00000000e+00,  0.00000000e+00,
        9.15933818e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10970448, -0.03394144,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.77353620e-05, 4.83743096e-05, 2.14225486e-05, 1.90201144e-05,
  2.54427309e-05,-2.51302896e-05,-7.14984176e-06, 1.83711360e-05,
 -1.79815636e-05, 1.84661372e-05, 3.46493682e-05, 1.45520343e-05,
 -1.62811816e-04,-9.82163245e-05,-6.62804338e-05, 6.76707268e-05,
 -2.46614636e-07, 5.51187783e-07,-1.21644240e+00,-4.57936484e-04,
  8.86671832e-06,-5.50122423e-04]


--- Step 764 ---
qpos:
[ 6.17810672e-03,-1.81527303e-03,-4.99505280e-03, 3.35786807e-02,
  4.49310318e-03,-3.72355057e-03,-1.85234552e-02, 2.85895629e-02,
  1.29678157e-02, 3.35184732e-03,-9.93968356e-03, 2.58631075e-02,
  1.08601675e+00,-1.74097875e-04, 8.55633241e-01, 6.46432205e-02,
  9.36861945e-02,-7.00946818e-02, 1.30966494e-01, 5.01741765e-01,
  4.91968136e-01, 4.98328568e-01, 5.07829885e-01]

qacc:
[  7.00540635,  0.40659626, -1.79963949,  4.86763697,  2.57858064,
  -1.16384497,  5.74660008,-13.62941706,  1.15895019,  1.15950523,
  -5.91321274, 14.7434268 , -0.37273717, -0.06055268, -5.11929348,
  15.71568847, -0.95785735, -1.8711818 , -0.52324867,-16.20085739,
   0.69103927, 26.29667841]

qfrc_actuator:
[ 2.06470185e-05,-5.90365689e-05,-6.92914316e-05, 4.81927524e-06,
  5.64444339e-05,-4.28521232e-04,-2.89631530e-04,-6.05081979e-05,
 -6.28439924e-05,-6.31832519e-06,-1.43332236e-04, 6.02240453e-05,
  2.46320650e-02,-1.26998457e-03, 8.78052199e-03,-3.04032226e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55999305, -0.36702838, -4.54519821, -0.36702838, 36.84276668,
       -2.60685971, -4.54519821, -2.60685971,  4.77049905,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000305850931040505
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.81497408e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.81497408e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10970209, -0.0339423 ,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.10180455e-05, 3.93109330e-05, 1.66991462e-05, 1.24227779e-05,
  1.51418094e-05,-2.77671378e-05,-8.49976438e-06,-2.52553852e-05,
  6.79499508e-06, 3.65166716e-05, 1.45974620e-05, 2.90284958e-05,
 -1.74746378e-04,-6.68581057e-05,-7.89453110e-05, 5.33010134e-05,
 -1.95602639e-07, 2.12305557e-07,-1.21644057e+00,-4.58691443e-04,
  1.00826323e-05,-5.50174044e-04]


--- Step 765 ---
qpos:
[ 6.17927927e-03,-1.81462718e-03,-4.99542854e-03, 3.35780612e-02,
  4.49473250e-03,-3.72412953e-03,-1.85242532e-02, 2.85882090e-02,
  1.29672296e-02, 3.35242231e-03,-9.94077848e-03, 2.58642051e-02,
  1.08658903e+00,-1.73610865e-04, 8.56094059e-01, 6.46435135e-02,
  9.36820487e-02,-7.01031197e-02, 1.30963289e-01, 5.01717345e-01,
  4.91961794e-01, 4.98295532e-01, 5.07892570e-01]

qacc:
[  4.15157329,  0.51970152, -0.41298913, -3.11838621,  4.42935004,
   0.71017597,  1.00449328,-11.90335716,  6.92770376,  0.56572037,
  -1.67592918,  1.62924829, -0.60694052,  0.47413698,  0.47936559,
  -3.69593852, -0.95288936, -1.84410521, -0.64782811,-15.88830988,
   0.78791948, 25.96541276]

qfrc_actuator:
[ 4.38471659e-05,-5.51352516e-05,-8.50047340e-05,-7.34629905e-06,
  8.22268574e-05,-3.82604154e-04,-3.09126464e-04,-9.22807008e-05,
 -2.24870745e-05,-1.33257524e-05,-1.57149361e-04, 5.77643100e-05,
  2.45797035e-02,-1.27859480e-03, 8.72268722e-03,-3.07688438e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56014989,  0.16823023,  4.55704571,  0.16823023, 22.226502  ,
       -0.65218009,  4.55704571, -0.65218009,  4.5842261 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030589727354285445
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.72204868e-13, -2.26837390e-13,  1.00000000e+00,  6.17462416e-26,
        1.00000000e+00,  2.26837390e-13, -1.00000000e+00,  0.00000000e+00,
        2.72204868e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10970072, -0.03394185,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.43780724e-05, 2.98682759e-05,-5.11008642e-06,-9.66283512e-06,
  2.62066604e-05, 2.75963479e-05,-2.71362489e-05,-3.37444999e-05,
  4.05614237e-05, 1.76643083e-05,-3.46936036e-06, 1.73410384e-07,
 -1.74685969e-04,-5.81769975e-05,-9.28484680e-05,-4.48258839e-05,
 -1.76512442e-08, 1.02453051e-08,-1.21643999e+00,-4.59477780e-04,
  1.04213626e-05,-5.50454893e-04]


--- Step 766 ---
qpos:
[ 6.18106627e-03,-1.81389226e-03,-4.99617814e-03, 3.35773395e-02,
  4.49631364e-03,-3.72466306e-03,-1.85252250e-02, 2.85868463e-02,
  1.29667870e-02, 3.35294171e-03,-9.94132413e-03, 2.58645559e-02,
  1.08716022e+00,-1.73240262e-04, 8.56554369e-01, 6.46409454e-02,
  9.36741086e-02,-7.01188449e-02, 1.30957074e-01, 5.01681346e-01,
  4.91964487e-01, 4.98222191e-01, 5.07997459e-01]

qacc:
[  5.38935334,  0.94167248, -2.77293233,  1.55396085, -0.4279529 ,
   0.52798531, -1.75673244,  1.84613112,  1.27990753, -3.14794275,
  14.26567492,-28.01959271, -0.79832756,  0.88824664,  7.92417329,
 -28.72121322, -0.94857649, -1.82182726, -0.75258436,-15.63579097,
   0.86135443, 25.69271886]

qfrc_actuator:
[ 7.47667775e-05,-7.09809522e-05,-1.11911268e-04,-1.42709429e-05,
  7.89865996e-05,-3.90558067e-04,-3.20164311e-04,-9.26500564e-05,
 -1.62639688e-05,-1.78619816e-05,-1.29416059e-04, 2.03497868e-05,
  2.45277428e-02,-1.28384159e-03, 8.69807829e-03,-3.22283259e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55287159, -0.04632307,  4.55263593, -0.04632307, 31.82703066,
        0.27751459,  4.55263593,  0.27751459,  4.5556953 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030373614796150306
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82761096e-13, -1.82761096e-13,  1.00000000e+00,  3.34016181e-26,
        1.00000000e+00,  1.82761096e-13, -1.00000000e+00,  0.00000000e+00,
        1.82761096e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10970016, -0.03394037,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.16222413e-05,-6.25579194e-07,-2.17044741e-05,-6.01008415e-06,
 -2.47952089e-06, 4.69274143e-07,-9.82991816e-06,-7.77350746e-07,
  7.38267084e-06, 4.63437559e-06, 3.09621677e-05,-3.67772930e-05,
 -1.72629330e-04,-5.30970190e-05,-7.67357852e-05,-1.61420170e-04,
  2.88568448e-07,-6.29356105e-08,-1.21644061e+00,-4.60316574e-04,
  9.93282112e-06,-5.50967974e-04]


--- Step 767 ---
qpos:
[ 6.18286517e-03,-1.81305169e-03,-4.99726278e-03, 3.35765361e-02,
  4.49749920e-03,-3.72554091e-03,-1.85256140e-02, 2.85858328e-02,
  1.29664228e-02, 3.35336321e-03,-9.94121093e-03, 2.58644535e-02,
  1.08773046e+00,-1.73259093e-04, 8.57014204e-01, 6.46339321e-02,
  9.36663195e-02,-7.01301099e-02, 1.30953911e-01, 5.01658516e-01,
  4.91954619e-01, 4.98166794e-01, 5.08083882e-01]

qacc:
[ 9.21892465e-02, 9.07846328e-01,-2.68970417e+00, 1.73396828e+00,
 -3.43765696e+00,-1.35759533e+00, 2.71727332e+00, 2.63726203e+00,
  7.12446393e-01,-2.90527213e+00, 1.20828939e+01,-2.09071426e+01,
 -5.31542827e-01, 2.31133521e-01, 1.27330319e+01,-4.55257823e+01,
  3.77536544e-02, 1.11505765e+00, 7.63165145e-01, 2.76831319e+00,
 -1.31278586e-01,-1.55199068e+01]

qfrc_actuator:
[ 7.44824465e-05,-6.30831606e-05,-1.27531034e-04,-1.80756700e-05,
  5.86862699e-05,-4.12896892e-04,-2.90788759e-04,-7.45686420e-05,
 -1.24391059e-05,-2.07581286e-05,-9.51347549e-05,-1.79130499e-06,
  2.44813876e-02,-1.30482069e-03, 8.66676924e-03,-3.44967866e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.55043144,   1.35232633,   4.34484059,   1.35232633,
        40.85568858, -11.299967  ,   4.34484059, -11.299967  ,
         8.06753238,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00030300673304668735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14500655e-14,  1.83201049e-13,  1.00000000e+00, -2.09766401e-27,
        1.00000000e+00, -1.83201049e-13, -1.00000000e+00,  0.00000000e+00,
        1.14500655e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09171221, -0.08821449,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.14264213e-07, 2.79618356e-06,-1.86314924e-05,-4.69948974e-06,
 -2.03705657e-05,-2.41071327e-05, 2.82555332e-05, 1.77527980e-05,
  4.03765954e-06, 4.50296758e-06, 3.77785015e-05,-2.15880295e-05,
 -1.64686745e-04,-6.74490315e-05,-9.04373846e-05,-2.47071238e-04,
  7.24021474e-07,-1.24460325e-08,-1.21644237e+00,-4.61222320e-04,
  8.65436372e-06,-5.51714864e-04]


--- Step 768 ---
qpos:
[ 6.18361210e-03,-1.81216379e-03,-4.99855170e-03, 3.35760370e-02,
  4.49877687e-03,-3.72644614e-03,-1.85254867e-02, 2.85853525e-02,
  1.29661074e-02, 3.35372776e-03,-9.94070752e-03, 2.58647903e-02,
  1.08829975e+00,-1.73802810e-04, 8.57472417e-01, 6.46269652e-02,
  9.36587339e-02,-7.01370196e-02, 1.30953025e-01, 5.01648737e-01,
  4.91932106e-01, 4.98128961e-01, 5.08152425e-01]

qacc:
[ -9.25687907,  1.27825311, -5.71996509, 11.24343038,  0.82304032,
  -0.38335245, -0.94026116,  9.36762768,  0.44275651, -0.26232299,
  -1.03048456,  8.05425491, -0.15933966, -0.57304739, -2.54079705,
   5.39205854,  0.05087779,  1.08881365,  0.56924673,  2.53295136,
  -0.0308644 ,-15.27008976]

qfrc_actuator:
[ 2.03272554e-05,-5.87441022e-05,-1.36268018e-04,-2.23551996e-06,
  6.40218167e-05,-3.90237183e-04,-2.55604854e-04,-4.57713113e-05,
 -1.00455764e-05,-2.26056775e-05,-7.50065583e-05, 2.07423093e-05,
  2.44277714e-02,-1.33491959e-03, 8.59950062e-03,-3.43829273e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57153978,  0.93936888,  4.47398727,  0.93936888, 22.78571705,
       -3.82429145,  4.47398727, -3.82429145,  5.374497  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030923655449557885
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.60969734e-14, -3.59020630e-13,  1.00000000e+00,  2.01399707e-26,
        1.00000000e+00,  3.59020630e-13, -1.00000000e+00,  0.00000000e+00,
        5.60969734e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09171456, -0.08821355,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.41372050e-05, 1.83127138e-06,-1.06139616e-05, 1.52258287e-05,
  4.74335807e-06, 1.58077656e-05, 3.43173239e-05, 2.90933443e-05,
  2.51061611e-06, 7.53294458e-06, 2.49580621e-05, 2.36124198e-05,
 -1.70517188e-04,-7.72693883e-05,-1.41778044e-04,-1.52644773e-05,
  4.38887695e-07,-1.79150480e-07,-1.21644139e+00,-4.60349408e-04,
  9.50639647e-06,-5.51856823e-04]


--- Step 769 ---
qpos:
[ 6.18370429e-03,-1.81140499e-03,-4.99986844e-03, 3.35757421e-02,
  4.50010834e-03,-3.72728209e-03,-1.85252143e-02, 2.85848888e-02,
  1.29658232e-02, 3.35403694e-03,-9.94016601e-03, 2.58647283e-02,
  1.08886792e+00,-1.74396926e-04, 8.57928949e-01, 6.46230979e-02,
  9.36513925e-02,-7.01396604e-02, 1.30953764e-01, 5.01651905e-01,
  4.91896889e-01, 4.98108374e-01, 5.08203567e-01]

qacc:
[ -5.75556884,  0.33877927, -2.29777827,  5.9491181 ,  0.47423975,
  -0.28059522,  1.0623396 , -1.05857599,  0.2770254 , -1.00128011,
   5.14722337,-12.06987935, -0.56753656,  0.49057348,-11.8051975 ,
  37.76617372,  0.06105106,  1.06721817,  0.40622294,  2.34479311,
   0.04874927,-15.06032485]

qfrc_actuator:
[-1.18334507e-05,-7.42768503e-05,-1.40872076e-04, 7.28560630e-06,
  6.66568184e-05,-3.94015473e-04,-2.52607899e-04,-4.63734011e-05,
 -8.51255590e-06,-4.15784858e-05,-8.11177708e-05,-1.64112653e-06,
  2.43751587e-02,-1.33469388e-03, 8.55338301e-03,-3.26892856e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58129796,  0.85468748,  4.50086662,  0.85468748, 38.62978009,
       -6.46560181,  4.50086662, -6.46560181,  5.80907683,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003120571904962621
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22297828e-13, -3.55775498e-13,  1.00000000e+00, -4.35105705e-26,
        1.00000000e+00,  3.55775498e-13, -1.00000000e+00,  0.00000000e+00,
       -1.22297828e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09171637, -0.08821337,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.37009530e-05,-1.60859366e-05,-4.99902456e-06, 9.53281505e-06,
  2.77341857e-06, 1.34306436e-05, 1.15060576e-05, 1.83160337e-06,
  1.60672035e-06,-8.61299159e-06,-6.75364487e-07,-2.07403600e-05,
 -1.75305222e-04,-4.99793051e-05,-1.14534563e-04, 1.49942803e-04,
  1.81279037e-07,-2.58703699e-07,-1.21644075e+00,-4.59543289e-04,
  1.02189654e-05,-5.51917452e-04]


--- Step 770 ---
qpos:
[ 6.18409984e-03,-1.81093703e-03,-5.00112582e-03, 3.35752335e-02,
  4.50111603e-03,-3.72773853e-03,-1.85255442e-02, 2.85837433e-02,
  1.29655600e-02, 3.35386093e-03,-9.93918685e-03, 2.58640818e-02,
  1.08943497e+00,-1.74994884e-04, 8.58384751e-01, 6.46201416e-02,
  9.36443268e-02,-7.01381031e-02, 1.30955581e-01, 5.01667931e-01,
  4.91848928e-01, 4.98104771e-01, 5.08237697e-01]

qacc:
[  2.67420741, -0.99566978,  3.88530734, -7.45424284, -2.85953073,
   0.78720686,  0.80923975,-11.93505688,  0.20609049, -3.06787108,
  12.47540535,-22.93246632, -0.74086044,  0.85530353, -3.78506512,
  11.77310023,  0.06891936,  1.04953028,  0.26945531,  2.19425134,
   0.11201447,-14.88541042]

qfrc_actuator:
[ 4.73135617e-06,-1.01575195e-04,-1.43091110e-04,-4.75888438e-06,
  4.99203194e-05,-3.78237007e-04,-2.86510950e-04,-8.20642728e-05,
 -7.49784076e-06,-8.85578780e-05,-6.72713263e-05,-3.25596778e-05,
  2.43231977e-02,-1.33429057e-03, 8.53599697e-03,-3.22088090e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58158252, -0.73797924, -4.52175685, -0.73797924, 28.93340964,
       -3.97437176, -4.52175685, -3.97437176,  5.23022506,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031213889764421243
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.89205922e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.89205922e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09171774, -0.0882138 ,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55997801e-05,-3.69413268e-05,-5.81924925e-06,-1.27179342e-05,
 -1.66531281e-05, 2.57731377e-05,-2.96406564e-05,-3.46793419e-05,
  1.05976754e-06,-5.28418751e-05, 1.12563269e-05,-3.17165474e-05,
 -1.70985723e-04,-4.62273878e-05,-5.56595034e-05, 4.11601014e-05,
 -5.43146800e-08,-2.52228529e-07,-1.21644041e+00,-4.58788678e-04,
  1.08082326e-05,-5.51894593e-04]


--- Step 771 ---
qpos:
[ 6.18434550e-03,-1.81075370e-03,-5.00183654e-03, 3.35745500e-02,
  4.50191529e-03,-3.72781230e-03,-1.85263518e-02, 2.85825157e-02,
  1.29646213e-02, 3.35311929e-03,-9.93826305e-03, 2.58634605e-02,
  1.09000074e+00,-1.74983030e-04, 8.58839667e-01, 6.46200857e-02,
  9.36375611e-02,-7.01324053e-02, 1.30958017e-01, 5.01696736e-01,
  4.91788196e-01, 4.98117938e-01, 5.08255128e-01]

qacc:
[ -1.29605303, -2.26185856,  8.26102621,-11.95518432, -1.8457437 ,
   1.67422502, -4.8828394 ,  3.93545141, -5.93681675, -0.52919228,
   0.7154342 ,  0.20547783, -1.32409505,  2.35096592, -9.9737157 ,
  33.20266951,  0.07498958,  1.03513195,  0.15498898,  2.07372011,
   0.16243112,-14.74085623]

qfrc_actuator:
[-3.42263503e-06,-1.00214254e-04,-1.08449946e-04,-1.16539070e-05,
  3.96696135e-05,-3.51062421e-04,-3.06359453e-04,-8.48589692e-05,
 -4.23015590e-05,-1.34136640e-04,-7.73703459e-05,-3.27488804e-05,
  2.42663413e-02,-1.29830183e-03, 8.51452165e-03,-3.06714783e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57431775, -0.58738454, -4.5364482 , -0.58738454, 41.69619491,
       -4.80658345, -4.5364482 , -4.80658345,  5.19667972,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031004326514860736
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.13325673e-13,  8.95216208e-14,  1.00000000e+00, -2.80494221e-26,
        1.00000000e+00, -8.95216208e-14, -1.00000000e+00,  0.00000000e+00,
        3.13325673e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09171878, -0.08821473,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.72267041e-06,-2.10408757e-05, 2.58629606e-05,-8.92470353e-06,
 -1.07147780e-05, 3.39955150e-05,-1.93636764e-05,-3.38568001e-06,
 -3.47908694e-05,-7.41663847e-05,-2.07334375e-05,-2.68192586e-06,
 -1.72029950e-04,-9.21305763e-06,-4.84111205e-05, 1.47504985e-04,
 -2.72003472e-07,-1.60843272e-07,-1.21644038e+00,-4.58074148e-04,
  1.12863463e-05,-5.51786776e-04]


--- Step 772 ---
qpos:
[ 6.18449149e-03,-1.81064583e-03,-5.00196870e-03, 3.35744498e-02,
  4.50258552e-03,-3.72784486e-03,-1.85270457e-02, 2.85819574e-02,
  1.29632722e-02, 3.35248309e-03,-9.93774509e-03, 2.58624343e-02,
  1.09056530e+00,-1.74278006e-04, 8.59293870e-01, 6.46221847e-02,
  9.36311140e-02,-7.01226134e-02, 1.30960692e-01, 5.01738256e-01,
  4.91714670e-01, 4.98147698e-01, 5.08256113e-01]

qacc:
[ -0.8565101 , -0.51432518, -0.77048864,  9.99284218, -1.12598089,
   1.11527303, -6.72037011, 18.08756218, -3.62595429,  0.44697067,
   0.33084026, -6.78252861, -1.38175479,  2.56120331, -7.45870555,
  24.7927929 ,  0.07965919,  1.0235065 ,  0.05944418,  1.97716052,
   0.20275005,-14.62277659]

qfrc_actuator:
[-8.32335138e-06,-8.15476043e-05,-6.99563135e-05, 2.00926805e-05,
  3.33245447e-05,-3.52710400e-04,-2.99906287e-04,-5.04901945e-05,
 -6.24029563e-05,-8.98373237e-05,-8.37660575e-05,-5.03817194e-05,
  2.42172553e-02,-1.25932659e-03, 8.48530741e-03,-2.95887336e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000306239461255825
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01962766e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.01962766e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09171956, -0.08821604,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.12803122e-06, 1.18600966e-05, 3.70317118e-05, 3.15690785e-05,
 -6.63835708e-06, 1.32286689e-05, 1.09861460e-05, 3.50949352e-05,
 -2.11162757e-05,-1.57032434e-06,-2.43626374e-05,-2.15785375e-05,
 -1.56441355e-04, 9.09684565e-08,-4.10292915e-05, 1.08896285e-04,
 -4.74853810e-07, 1.44144875e-08,-1.21644063e+00,-4.57391124e-04,
  1.16624353e-05,-5.51592993e-04]


--- Step 773 ---
qpos:
[ 6.18457739e-03,-1.81037384e-03,-5.00199568e-03, 3.35747321e-02,
  4.50317448e-03,-3.72795624e-03,-1.85275220e-02, 2.85807875e-02,
  1.29623820e-02, 3.35213264e-03,-9.93721402e-03, 2.58614965e-02,
  1.09112890e+00,-1.73427650e-04, 8.59747622e-01, 6.46242174e-02,
  9.36249998e-02,-7.01087647e-02, 1.30963286e-01, 5.01792435e-01,
  4.91628333e-01, 4.98193906e-01, 5.08240854e-01]

qacc:
[-5.27540466e-01, 7.11564703e-01,-3.83527462e+00, 1.01637994e+01,
 -7.03472384e-01,-1.96770568e+00, 9.44995641e+00,-2.03250763e+01,
  4.03406268e+00, 5.14996227e-01,-1.67486016e+00, 2.98702991e+00,
 -8.13041242e-01, 1.18322873e+00,-4.18359053e-01, 6.09135911e-01,
  8.32395438e-02, 1.01422132e+00,-2.00712898e-02, 1.89977436e+00,
  2.35132747e-01,-1.45278050e+01]

qfrc_actuator:
[-1.12623726e-05,-7.03454932e-05,-6.49070429e-05, 3.88307368e-05,
  2.93268290e-05,-3.71463519e-04,-2.95825071e-04,-8.33050738e-05,
 -3.81726738e-05,-4.53138901e-05,-6.98145373e-05,-4.25553180e-05,
  2.41728709e-02,-1.25439198e-03, 8.45679176e-03,-2.96705166e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003011181123864365
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03696926e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.03696926e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09172012, -0.08821765,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.08368369e-06, 2.68321991e-05, 1.31530029e-05, 2.11424309e-05,
 -4.18463315e-06,-7.57420411e-06, 9.39130325e-06,-3.11816669e-05,
  2.36300106e-05, 3.76957656e-05, 9.88286351e-06, 6.49935007e-06,
 -1.40117961e-04,-2.88270464e-05,-4.17304608e-05,-8.88536953e-06,
 -6.65155052e-07, 2.72625487e-07,-1.21644117e+00,-4.56733146e-04,
  1.19433505e-05,-5.51312546e-04]


--- Step 774 ---
qpos:
[ 6.18462744e-03,-1.81006234e-03,-5.00184692e-03, 3.35745576e-02,
  4.50336599e-03,-3.72808160e-03,-1.85281925e-02, 2.85785641e-02,
  1.29610991e-02, 3.35186079e-03,-9.93679161e-03, 2.58617300e-02,
  1.09169167e+00,-1.72797275e-04, 8.60200892e-01, 6.46231706e-02,
  9.36192295e-02,-7.00908883e-02, 1.30965536e-01, 5.01859231e-01,
  4.91529166e-01, 4.98256448e-01, 5.08209507e-01]

qacc:
[ -0.310736  , -1.37904172,  6.92202039,-15.13810915, -3.48503148,
  -1.63597279, 10.26785483,-28.19494038, -3.45924956,  2.82566141,
 -14.85893216, 35.23656275, -0.53833841,  0.43263524,  8.60510648,
 -31.0876079 ,  0.08597434,  1.00691375, -0.08603395,  1.83774656,
   0.26127711,-14.45302448]

qfrc_actuator:
[-1.30241003e-05,-8.15841194e-05,-6.19297932e-05, 1.42258716e-05,
  8.98874345e-06,-3.82623551e-04,-3.11068982e-04,-1.37664431e-04,
 -5.90590468e-05,-5.41363709e-05,-7.94165436e-05, 1.57205717e-05,
  2.41260019e-02,-1.26961119e-03, 8.40739432e-03,-3.13250571e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002950031763145483
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.46974920e-13, -3.76342736e-13,  1.00000000e+00,  9.29472172e-26,
        1.00000000e+00,  3.76342736e-13, -1.00000000e+00,  0.00000000e+00,
        2.46974920e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09172052, -0.08821948,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.84234181e-06, 7.37755852e-06, 1.08678840e-05,-2.25895629e-05,
 -2.04593462e-05,-1.47812058e-05,-1.67207767e-05,-5.49617368e-05,
 -2.02033081e-05, 1.45911682e-05,-3.75153253e-07, 6.03602940e-05,
 -1.39205520e-04,-5.05065468e-05,-7.63024128e-05,-1.72890038e-04,
 -8.44618346e-07, 6.13001854e-07,-1.21644199e+00,-4.56095324e-04,
  1.21342186e-05,-5.50944939e-04]


--- Step 775 ---
qpos:
[ 6.18500095e-03,-1.80976734e-03,-5.00161730e-03, 3.35741040e-02,
  4.50262247e-03,-3.72832586e-03,-1.85290553e-02, 2.85764112e-02,
  1.29595762e-02, 3.35169799e-03,-9.93672978e-03, 2.58623288e-02,
  1.09225370e+00,-1.72899543e-04, 8.60652907e-01, 6.46215165e-02,
  9.36096681e-02,-7.00806203e-02, 1.30966145e-01, 5.01915232e-01,
  4.91439301e-01, 4.98276149e-01, 5.08221795e-01]

qacc:
[  2.84688601, -0.82803283,  4.08905708, -9.02492718, -8.18729485,
   0.54121384, -2.42798119,  4.01336949, -2.12602132,  1.90769452,
  -8.12748591, 14.93549842,  0.13866968, -1.19035303, -0.04688757,
  -2.59557589, -0.9478108 , -1.90209034, -0.41026553,-16.76960385,
   0.29936343, 26.53855717]

qfrc_actuator:
[ 3.67299326e-06,-8.84756031e-05,-6.03083887e-05,-1.93128842e-07,
 -3.85575019e-05,-3.89261033e-04,-3.19830662e-04,-1.33253234e-04,
 -7.08421568e-05,-5.93682733e-05,-1.03034159e-04, 3.21371762e-05,
  2.40776661e-02,-1.31436814e-03, 8.35081262e-03,-3.15850116e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.52224537,  -1.36036837,  -4.31278345,  -1.36036837,
        41.69468758, -11.7251921 ,  -4.31278345, -11.7251921 ,
         8.2206876 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002943969457655238
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.42794279e-14,  4.71397139e-14,  1.00000000e+00, -4.44430526e-27,
        1.00000000e+00, -4.71397139e-14, -1.00000000e+00,  0.00000000e+00,
        9.42794279e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10968332, -0.03392932,  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:
[ 1.66466826e-05,-1.50239926e-06, 3.69733900e-06,-1.41670636e-05,
 -4.81328753e-05,-2.07019437e-05,-1.57610781e-05, 2.13715484e-06,
 -1.23548821e-05, 5.43003662e-06,-1.85640729e-05, 1.82033622e-05,
 -1.45525407e-04,-8.34712812e-05,-1.16511222e-04,-4.67550714e-05,
 -1.01452501e-06, 1.03488503e-06,-1.21644308e+00,-4.55473935e-04,
  1.22388578e-05,-5.50489801e-04]


--- Step 776 ---
qpos:
[ 6.18591663e-03,-1.80958406e-03,-5.00104162e-03, 3.35734750e-02,
  4.50131504e-03,-3.72923296e-03,-1.85295032e-02, 2.85743559e-02,
  1.29589584e-02, 3.35182904e-03,-9.93672664e-03, 2.58623844e-02,
  1.09281468e+00,-1.73155905e-04, 8.61103266e-01, 6.46235140e-02,
  9.35963185e-02,-7.00778294e-02, 1.30964547e-01, 5.01960259e-01,
  4.91358613e-01, 4.98253950e-01, 5.08277102e-01]

qacc:
[  4.77993453, -1.48543793,  5.80588515, -9.29312309, -4.91097315,
  -1.82415476,  4.83746533, -3.33975939,  7.95775222, -0.5811794 ,
   4.90219523,-14.3959286 , -0.39903654,  0.12514924,-13.44511643,
  43.5301929 , -0.94702043, -1.86929036, -0.55190533,-16.36563544,
   0.45783405, 26.16596921]

qfrc_actuator:
[ 3.11003940e-05,-9.27185985e-05,-4.17232795e-05,-8.49563235e-06,
 -6.62268271e-05,-4.46332377e-04,-3.06874469e-04,-1.29787661e-04,
 -2.39008813e-05,-2.70024584e-05,-9.92604736e-05, 6.02328245e-06,
  2.40178197e-02,-1.32298919e-03, 8.30598461e-03,-2.96004081e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53095236,  0.56994489,  4.49496297,  0.56994489, 13.33736902,
       -1.11662148,  4.49496297, -1.11662148,  4.67253589,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029709368892175125
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.86847292e-13,  1.40135469e-13,  1.00000000e+00, -2.61839329e-26,
        1.00000000e+00, -1.40135469e-13, -1.00000000e+00,  0.00000000e+00,
        1.86847292e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10968042, -0.03392995,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.78995492e-05,-4.93421478e-06, 1.82338020e-05,-8.51561088e-06,
 -2.90509518e-05,-7.18046837e-05, 6.83237288e-06, 2.08393307e-06,
  4.65918174e-05, 3.23424583e-05, 3.23740210e-06,-2.61701562e-05,
 -1.68336131e-04,-5.46477827e-05,-1.06313123e-04, 1.80233091e-04,
 -9.72834108e-07, 2.72442665e-07,-1.21644172e+00,-4.56126940e-04,
  1.24138363e-05,-5.50603501e-04]


--- Step 777 ---
qpos:
[ 6.18680905e-03,-1.80938863e-03,-5.00056228e-03, 3.35727661e-02,
  4.50037514e-03,-3.73029600e-03,-1.85299941e-02, 2.85726703e-02,
  1.29592526e-02, 3.35247646e-03,-9.93711414e-03, 2.58624658e-02,
  1.09337452e+00,-1.73225269e-04, 8.61552553e-01, 6.46274651e-02,
  9.35791848e-02,-7.00824074e-02, 1.30960264e-01, 5.01994182e-01,
  4.91286992e-01, 4.98190609e-01, 5.08374911e-01]

qacc:
[ -0.20787921,  0.12128875, -0.07122994, -1.16689477,  3.21818297,
   0.66792027, -4.25241395, 10.84439776,  8.00515848,  1.81169862,
  -5.6056421 ,  6.32618339, -0.86596036,  1.22702418, -7.42688465,
  23.80591695, -0.94602361, -1.84220238, -0.67113846,-16.04034179,
   0.5774082 , 25.85609243]

qfrc_actuator:
[ 2.91126292e-05,-9.52706726e-05,-4.87627540e-05,-1.31203249e-05,
 -4.64618383e-05,-4.26556742e-04,-2.99170594e-04,-1.09192177e-04,
  2.17205750e-05, 9.94092610e-06,-1.14714931e-04, 8.41122252e-06,
  2.39670992e-02,-1.31021419e-03, 8.26296424e-03,-2.86170718e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53107983,  0.42112554,  4.51146736,  0.42112554, 19.41432751,
       -1.38928538,  4.51146736, -1.38928538,  4.66076348,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029713291892456695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.34113114e-14,  9.34113114e-14,  1.00000000e+00, -8.72567310e-27,
        1.00000000e+00, -9.34113114e-14, -1.00000000e+00,  0.00000000e+00,
        9.34113114e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10967863, -0.03392937,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.19765205e-06,-1.91489834e-06,-6.11710790e-06,-4.37261940e-06,
  1.89097081e-05,-1.88440855e-05,-6.19216160e-06, 1.78040889e-05,
  4.69578088e-05, 5.45860934e-05,-9.28465625e-06, 3.37417294e-06,
 -1.66270853e-04,-3.33495409e-05,-7.42833239e-05, 9.41402692e-05,
 -8.11191827e-07,-3.51143619e-07,-1.21644161e+00,-4.56768629e-04,
  1.17194546e-05,-5.50941635e-04]


--- Step 778 ---
qpos:
[ 6.18698080e-03,-1.80889073e-03,-5.00030989e-03, 3.35719789e-02,
  4.50002367e-03,-3.73097451e-03,-1.85309426e-02, 2.85712028e-02,
  1.29600920e-02, 3.35346056e-03,-9.93793841e-03, 2.58629468e-02,
  1.09393341e+00,-1.73467314e-04, 8.62001117e-01, 6.46308690e-02,
  9.35618476e-02,-7.00946118e-02, 1.30954186e-01, 5.02002379e-01,
  4.91242027e-01, 4.98096637e-01, 5.08502333e-01]

qacc:
[-6.34912551, 0.88535297,-2.2244222 , 0.98543016, 5.12915865, 2.22458604,
 -8.13369903,12.3765125 , 4.77745524, 2.47874655,-9.8955329 ,17.27781307,
 -0.54331371, 0.42261673, 0.61053268,-3.62673707,-0.05087287,-1.9066137 ,
 -0.44867698,-2.15189978,-0.78105477,28.1364421 ]

qfrc_actuator:
[-7.92829902e-06,-6.13821112e-05,-5.31203725e-05,-1.55636715e-05,
 -1.66947728e-05,-3.78667315e-04,-3.12078709e-04,-9.63823857e-05,
  4.84284895e-05, 1.37855410e-05,-1.41350863e-04, 2.75485303e-05,
  2.39218995e-02,-1.32038627e-03, 8.22103565e-03,-2.89422274e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52569254,  4.43678967,  0.89263118,  4.43678967,  5.70921984,
       -5.8826779 ,  0.89263118, -5.8826779 , 33.76532163,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029546868105283664
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.87874908e-13, -9.44297050e-07,  1.00000000e+00,  1.77409721e-19,
        1.00000000e+00,  9.44297050e-07, -1.00000000e+00,  0.00000000e+00,
        1.87874908e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09458377, -0.0325724 ,  0.06199155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.70761946e-05, 3.13524391e-05,-5.66504758e-06,-2.82220146e-06,
  3.03001679e-05, 3.68906386e-05,-1.69258809e-05, 1.21409329e-05,
  2.80629476e-05, 3.25944250e-05,-1.63921210e-05, 2.12183056e-05,
 -1.54611698e-04,-5.20633124e-05,-7.02572973e-05,-3.79059851e-05,
 -5.26015725e-07,-8.43902835e-07,-1.21644268e+00,-4.57427942e-04,
  1.02038232e-05,-5.51507687e-04]


--- Step 779 ---
qpos:
[ 6.18705245e-03,-1.80848834e-03,-4.99970688e-03, 3.35715247e-02,
  4.49968723e-03,-3.73153913e-03,-1.85324872e-02, 2.85692542e-02,
  1.29605557e-02, 3.35435641e-03,-9.93829713e-03, 2.58629551e-02,
  1.09449109e+00,-1.73199299e-04, 8.62448991e-01, 6.46338133e-02,
  9.35446203e-02,-7.01023955e-02, 1.30950987e-01, 5.02023835e-01,
  4.91184313e-01, 4.98020549e-01, 5.08611416e-01]

qacc:
[ -0.86726342, -0.41911494, -0.09153485,  5.36046943,  0.11059828,
   0.82548808, -0.69333148, -6.7661979 , -3.28990262, -2.38434302,
  10.33923036,-19.21122546, -1.33555449,  2.32073482,  0.45453072,
  -2.8670423 ,  0.02745492,  1.10516556,  0.71965513,  2.65662343,
  -0.07592208,-15.5423454 ]

qfrc_actuator:
[-1.20365241e-05,-7.69348880e-05,-3.79470990e-05, 1.08482109e-06,
 -1.67996373e-05,-4.03150871e-04,-3.54674884e-04,-1.23745724e-04,
  2.82851783e-05,-2.25597564e-06,-1.21235382e-04, 3.09353471e-06,
  2.38640597e-02,-1.29078383e-03, 8.19574654e-03,-2.91476537e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003016255775549481
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.75124792e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.75124792e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09172961, -0.08822038,  0.06199138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.15280357e-06, 6.55902353e-07, 2.08485009e-05, 1.77426441e-05,
  7.73734756e-07,-6.78054828e-06,-3.66200337e-05,-2.61260828e-05,
 -1.93325154e-05,-3.05859434e-07, 2.55602055e-05,-2.32148605e-05,
 -1.64449577e-04,-1.30182264e-05,-6.71320851e-05,-3.29394878e-05,
  1.89996664e-07,-8.73523400e-07,-1.21644376e+00,-4.58190251e-04,
  8.27819328e-06,-5.51856292e-04]


--- Step 780 ---
qpos:
[ 6.18741913e-03,-1.80834675e-03,-4.99936112e-03, 3.35713377e-02,
  4.49900760e-03,-3.73220223e-03,-1.85339214e-02, 2.85673173e-02,
  1.29597400e-02, 3.35492995e-03,-9.93852522e-03, 2.58623790e-02,
  1.09504757e+00,-1.72278039e-04, 8.62895790e-01, 6.46374991e-02,
  9.35275541e-02,-7.01058541e-02, 1.30949919e-01, 5.02058437e-01,
  4.91113749e-01, 4.97961959e-01, 5.08702761e-01]

qacc:
[  2.59068503,  0.91943524, -4.91470062, 10.15009362, -2.99845044,
  -0.40813259,  1.22675439, -1.13720521,-11.24884736, -1.97189407,
   8.91812346,-19.04383016, -1.39237523,  2.5394343 , -3.73016401,
  10.96612094,  0.04028452,  1.08130101,  0.53278901,  2.41383174,
   0.02969672,-15.29257725]

qfrc_actuator:
[ 3.28257196e-06,-1.21875461e-04,-6.47999777e-05, 1.10558365e-05,
 -3.44896294e-05,-3.99930858e-04,-3.43751834e-04,-1.21342919e-04,
 -3.70187838e-05,-4.76915304e-05,-1.27054568e-04,-2.90517848e-05,
  2.38093445e-02,-1.25568297e-03, 8.14850956e-03,-2.87473500e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56475985,  0.60217786,  4.52486622,  0.60217786, 26.71969323,
       -2.94842096,  4.52486622, -2.94842096,  4.95714136,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000307255017747296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01625753e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.01625753e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09173196, -0.08821941,  0.06199122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.51694320e-05,-3.95295621e-05,-2.35463069e-05, 1.10647557e-05,
 -1.76676899e-05,-9.21197096e-06, 4.13666376e-06, 3.45725982e-07,
 -6.58508974e-05,-4.13551921e-05,-3.54237261e-06,-3.17261371e-05,
 -1.58646798e-04,-2.63673902e-06,-8.75159335e-05, 2.82267173e-05,
 -1.83334493e-07,-8.55659025e-07,-1.21644292e+00,-4.57078975e-04,
  9.72316701e-06,-5.51888392e-04]


--- Step 781 ---
qpos:
[ 6.18796622e-03,-1.80811381e-03,-4.99949941e-03, 3.35715880e-02,
  4.49812124e-03,-3.73308515e-03,-1.85346506e-02, 2.85660887e-02,
  1.29584930e-02, 3.35514220e-03,-9.93910743e-03, 2.58624980e-02,
  1.09560315e+00,-1.71532765e-04, 8.63341627e-01, 6.46406117e-02,
  9.35106883e-02,-7.01050660e-02, 1.30950353e-01, 5.02106083e-01,
  4.91030267e-01, 4.97920548e-01, 5.08776853e-01]

qacc:
[  1.56982603,  2.37139565,-10.13137108, 18.4118459 , -1.7829599 ,
  -0.79967231, -0.554746  , 11.84041921, -3.80057311,  1.95034432,
 -10.56887178, 23.41650522, -0.48619432,  0.34271347,  0.33181737,
  -3.17460268,  0.0501035 ,  1.06165959,  0.37571812,  2.21845733,
   0.11448533,-15.08384751]

qfrc_actuator:
[ 1.21503410e-05,-9.54820654e-05,-8.08956501e-05, 3.47055969e-05,
 -4.46258572e-05,-3.97674528e-04,-3.01185246e-04,-8.36283140e-05,
 -5.73546644e-05,-7.49889040e-05,-1.48285853e-04, 5.49993907e-06,
  2.37618733e-02,-1.27088817e-03, 8.09881486e-03,-2.90589390e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5728469 ,  0.51374747,  4.54389616,  0.51374747, 49.239064  ,
       -5.05010577,  4.54389616, -5.05010577,  5.14382806,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030961650850669376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45673144e-13, -3.58580048e-13,  1.00000000e+00,  5.22354831e-26,
        1.00000000e+00,  3.58580048e-13, -1.00000000e+00,  0.00000000e+00,
        1.45673144e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09173377, -0.08821922,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.28500580e-06,-1.06153383e-07,-2.67846073e-05, 2.13551556e-05,
 -1.06443165e-05,-1.98661320e-06, 4.12150244e-05, 3.74794592e-05,
 -2.22182116e-05,-5.25571426e-05,-3.13087600e-05, 3.20425611e-05,
 -1.45620483e-04,-4.97358752e-05,-9.11490452e-05,-4.18524483e-05,
 -5.32933845e-07,-7.54779343e-07,-1.21644243e+00,-4.56027461e-04,
  1.10263719e-05,-5.51843995e-04]


--- Step 782 ---
qpos:
[ 6.18861539e-03,-1.80774615e-03,-4.99990100e-03, 3.35720982e-02,
  4.49746492e-03,-3.73402309e-03,-1.85348914e-02, 2.85653148e-02,
  1.29577012e-02, 3.35508202e-03,-9.93970823e-03, 2.58629953e-02,
  1.09615773e+00,-1.70652527e-04, 8.63786591e-01, 6.46429408e-02,
  9.34940528e-02,-7.01000955e-02, 1.30951764e-01, 5.02166687e-01,
  4.90933810e-01, 4.97896054e-01, 5.08834091e-01]

qacc:
[  0.8870943 ,  1.44732287, -6.00163769, 10.8221615 ,  2.02978024,
  -0.50560914, -0.22997937,  7.36835455,  4.00982282,  0.46264843,
  -3.78251036, 10.57319038, -0.85741361,  1.2275347 ,  1.12770122,
  -5.69858198,  0.05756892,  1.04558187,  0.24396692,  2.06079901,
   0.18293356,-14.91067292]

qfrc_actuator:
[ 1.71439139e-05,-7.97940158e-05,-9.02073101e-05, 4.85328521e-05,
 -3.24763830e-05,-3.95835666e-04,-2.75776616e-04,-6.09329859e-05,
 -3.32932980e-05,-7.34828139e-05,-1.42826643e-04, 2.57663209e-05,
  2.37134379e-02,-1.26245118e-03, 8.06365144e-03,-2.94324299e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57195051, -0.39329098, -4.55500314, -0.39329098, 30.51379324,
       -2.23988711, -4.55500314, -2.23988711,  4.76534827,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030935601560393156
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.60753109e-14, -1.79440995e-13,  1.00000000e+00,  1.00622096e-26,
        1.00000000e+00,  1.79440995e-13, -1.00000000e+00,  0.00000000e+00,
        5.60753109e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09173515, -0.08821963,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.25707964e-06, 1.10051599e-05,-1.18962454e-05, 1.33103399e-05,
  1.18414920e-05, 1.08869077e-05, 3.13941906e-05, 2.47725013e-05,
  2.34118253e-05,-3.29910894e-05,-8.14113536e-06, 1.75556070e-05,
 -1.49199164e-04,-3.17176225e-05,-8.58704320e-05,-5.23793873e-05,
 -8.63869958e-07,-5.71156735e-07,-1.21644225e+00,-4.55020375e-04,
  1.22052015e-05,-5.51719926e-04]


--- Step 783 ---
qpos:
[ 6.18931950e-03,-1.80730328e-03,-5.00064741e-03, 3.35720928e-02,
  4.49695916e-03,-3.73497458e-03,-1.85344835e-02, 2.85641118e-02,
  1.29572035e-02, 3.35495550e-03,-9.94060426e-03, 2.58633784e-02,
  1.09671109e+00,-1.68800269e-04, 8.64230406e-01, 6.46431754e-02,
  9.34803487e-02,-7.01029928e-02, 1.30951339e-01, 5.02191241e-01,
  4.90878294e-01, 4.97849812e-01, 5.08908658e-01]

qacc:
[ 4.70556368e-01, 6.31215603e-04, 2.31726402e+00,-1.07436746e+01,
  1.33797225e+00,-2.71451376e+00, 1.14607931e+01,-1.99079719e+01,
  2.58039498e+00, 4.97464340e-01,-1.42790514e+00,-1.67719630e-02,
 -1.80935776e+00, 3.55858844e+00, 4.74946545e+00,-1.87886685e+01,
  7.32862444e-01,-1.96692257e+00,-4.58849436e-01, 9.28215818e+00,
 -2.64782761e+00, 2.90527054e+01]

qfrc_actuator:
[ 1.98191426e-05,-8.83617167e-05,-1.13228329e-04, 2.09639644e-05,
 -2.50621901e-05,-3.94324155e-04,-2.42975546e-04,-8.27843449e-05,
 -1.88128422e-05,-7.23916356e-05,-1.57052265e-04, 1.97477011e-05,
  2.36644660e-02,-1.20456416e-03, 7.98930124e-03,-3.05487709e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5740831 ,  0.69497364, -4.52097864,  0.69497364, 32.25642847,
        4.25538404, -4.52097864,  4.25538404,  5.22822902,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003099752398827704
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79082533e-13, -1.79082533e-13,  1.00000000e+00,  3.20705537e-26,
        1.00000000e+00,  1.79082533e-13, -1.00000000e+00,  0.00000000e+00,
        1.79082533e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08207474, -0.0314632 ,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.82761362e-06,-4.31048883e-06,-2.17540337e-05,-2.72512592e-05,
  7.75395651e-06, 1.51884087e-05, 3.97892477e-05,-1.98125247e-05,
  1.51329591e-05,-1.82731940e-05,-2.14308207e-05,-7.37322647e-06,
 -1.47888303e-04, 2.01922162e-05,-1.24247747e-04,-1.26668631e-04,
 -1.17994198e-06,-3.05182278e-07,-1.21644237e+00,-4.54046137e-04,
  1.32729391e-05,-5.51513900e-04]


--- Step 784 ---
qpos:
[ 6.18936044e-03,-1.80705181e-03,-5.00102815e-03, 3.35720876e-02,
  4.49585643e-03,-3.73578596e-03,-1.85339737e-02, 2.85623295e-02,
  1.29568834e-02, 3.35476890e-03,-9.94169498e-03, 2.58636787e-02,
  1.09726343e+00,-1.66286178e-04, 8.64672794e-01, 6.46430310e-02,
  9.34694827e-02,-7.01136644e-02, 1.30948529e-01, 5.02180030e-01,
  4.90863050e-01, 4.97782482e-01, 5.09000279e-01]

qacc:
[ -5.81636696, -1.26307768,  4.15442428, -4.61256451, -5.2241174 ,
  -1.28040817,  7.2983808 ,-17.60924103,  1.55752966,  0.29111221,
  -0.8085525 , -0.26454507, -1.29972572,  2.45654166, -0.87504877,
   0.20639709,  0.70952441, -1.94358175, -0.5964142 ,  9.27807233,
  -2.45398381, 28.58371806]

qfrc_actuator:
[-1.43955869e-05,-9.37246095e-05,-9.10302167e-05, 2.24868522e-05,
 -5.60069676e-05,-3.93028527e-04,-2.41599949e-04,-1.12909142e-04,
 -1.01019940e-05,-7.16465136e-05,-1.65052099e-04, 1.60517269e-05,
  2.36205530e-02,-1.17115607e-03, 7.93410162e-03,-3.06743681e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57794102, -2.27987214,  3.96985226, -2.27987214, 12.18695061,
        4.36982734,  3.96985226,  4.36982734,  7.08751743,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031109097171727607
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.67660377e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.67660377e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08207274, -0.03146454,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.41344645e-05,-1.34432586e-05, 1.76882277e-05, 5.55551252e-08,
 -3.07187589e-05, 1.71936419e-05, 8.73735913e-06,-2.84791313e-05,
  9.13432634e-06,-1.41982378e-05,-1.46592162e-05,-5.36338435e-06,
 -1.31014669e-04, 5.71806391e-06,-1.29614422e-04,-3.63296599e-05,
 -3.00431959e-07,-5.09103577e-07,-1.21644150e+00,-4.54845898e-04,
  1.15886988e-05,-5.51293283e-04]


--- Step 785 ---
qpos:
[ 6.18899113e-03,-1.80716079e-03,-5.00078596e-03, 3.35724496e-02,
  4.49473632e-03,-3.73637546e-03,-1.85335229e-02, 2.85608916e-02,
  1.29566704e-02, 3.35437298e-03,-9.94282664e-03, 2.58639409e-02,
  1.09781505e+00,-1.63957041e-04, 8.65114130e-01, 6.46422863e-02,
  9.34603836e-02,-7.01199890e-02, 1.30947973e-01, 5.02176362e-01,
  4.90839537e-01, 4.97738685e-01, 5.09069398e-01]

qacc:
[ -3.58121248, -1.45496758,  2.95866736,  2.65122837, -0.15762082,
   1.1666165 , -5.18857212, 11.08079713,  0.94472295, -0.2424967 ,
   0.62092295, -1.05741038, -0.35384831,  0.16781497,  0.27438091,
  -3.1837446 ,  0.44170463,  1.08674769,  0.56350546,  7.66319347,
   0.61360542,-15.40367116]

qfrc_actuator:
[-3.45428970e-05,-1.14680727e-04,-6.00258187e-05, 4.11550626e-05,
 -5.60219350e-05,-3.74258032e-04,-2.41039642e-04,-9.44182520e-05,
 -4.85399091e-06,-8.88413880e-05,-1.69298893e-04, 1.37637452e-05,
  2.35797018e-02,-1.18801921e-03, 7.90111036e-03,-3.09244019e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003158013864745096
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.78893406e-14, -1.75778681e-13,  1.00000000e+00, -1.54490724e-26,
        1.00000000e+00,  1.75778681e-13, -1.00000000e+00,  0.00000000e+00,
       -8.78893406e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625334, -0.08834849,  0.06199097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.11236666e-05,-2.48342307e-05, 3.04108508e-05, 1.87069457e-05,
 -8.85646427e-07, 2.89861511e-05, 4.21134649e-06, 1.89817488e-05,
  5.50171995e-06,-2.83714939e-05,-9.15723886e-06,-3.50630480e-06,
 -1.20716668e-04,-4.35163900e-05,-9.88296468e-05,-4.42048994e-05,
  3.38087696e-07,-2.66290556e-07,-1.21644182e+00,-4.55433389e-04,
  1.05736336e-05,-5.51294169e-04]


--- Step 786 ---
qpos:
[ 6.18838295e-03,-1.80752955e-03,-5.00071678e-03, 3.35730751e-02,
  4.49396962e-03,-3.73715028e-03,-1.85326275e-02, 2.85600493e-02,
  1.29568669e-02, 3.35377132e-03,-9.94400157e-03, 2.58641735e-02,
  1.09836604e+00,-1.62372827e-04, 8.65554219e-01, 6.46418873e-02,
  9.34530460e-02,-7.01220457e-02, 1.30948989e-01, 5.02180161e-01,
  4.90807745e-01, 4.97718007e-01, 5.09116518e-01]

qacc:
[ -2.10114744,  0.68697235, -4.05270854,  9.07267559,  3.1105667 ,
  -0.2683659 , -1.92360045, 11.66662335,  3.60620264, -0.21898088,
   0.49901203, -0.77743193,  0.271295  , -1.38702602, -2.9194371 ,
   7.45339008,  0.44040393,  1.06695869,  0.39320227,  7.44780819,
   0.65382935,-15.15851548]

qfrc_actuator:
[-4.62374099e-05,-1.44747162e-04,-7.73990869e-05, 5.19909607e-05,
 -3.78198033e-05,-3.98398331e-04,-2.23095723e-04,-6.52026522e-05,
  1.60683885e-05,-9.88743519e-05,-1.71369736e-04, 1.23089464e-05,
  2.35353721e-02,-1.23446304e-03, 7.84950691e-03,-3.07127879e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60595118,  0.15839906,  4.6032267 ,  0.15839906, 27.25864   ,
       -0.77948902,  4.6032267 , -0.77948902,  4.63277374,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003190250539392564
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.70012410e-14,  1.74002482e-13,  1.00000000e+00, -1.51384319e-26,
        1.00000000e+00, -1.74002482e-13, -1.00000000e+00,  0.00000000e+00,
        8.70012410e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625464, -0.0883479 ,  0.06199088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23057661e-05,-3.68763961e-05,-1.81114714e-05, 1.11878485e-05,
  1.81859869e-05,-6.22894841e-06, 2.51115261e-05, 3.09765121e-05,
  2.10669353e-05,-2.79120430e-05,-9.16374900e-06,-3.05317529e-06,
 -1.28524335e-04,-7.99644247e-05,-1.05450387e-04, 5.16784603e-06,
  1.34257079e-07,-2.70310242e-07,-1.21644090e+00,-4.54756139e-04,
  1.15766925e-05,-5.51299085e-04]


--- Step 787 ---
qpos:
[ 6.18729425e-03,-1.80826001e-03,-5.00051456e-03, 3.35738181e-02,
  4.49342706e-03,-3.73803392e-03,-1.85317948e-02, 2.85599348e-02,
  1.29576577e-02, 3.35278397e-03,-9.94481725e-03, 2.58640367e-02,
  1.09891629e+00,-1.61574110e-04, 8.65993566e-01, 6.46380235e-02,
  9.34474645e-02,-7.01198999e-02, 1.30951007e-01, 5.02191366e-01,
  4.90767672e-01, 4.97720100e-01, 5.09142049e-01]

qacc:
[-4.21469726e+00,-5.99755296e-01, 9.62791986e-01, 1.10976541e+00,
  1.96194707e+00, 1.52436084e+00,-8.72459557e+00, 2.15091842e+01,
  5.24724817e+00,-2.28415111e+00, 8.94616995e+00,-1.56085442e+01,
  2.45730707e-02,-1.01725399e+00, 9.33776144e+00,-3.43187044e+01,
  4.39005312e-01, 1.05065360e+00, 2.50249792e-01, 7.27251743e+00,
  6.85206814e-01,-1.49550021e+01]

qfrc_actuator:
[-7.06201595e-05,-1.62483654e-04,-6.99942747e-05, 5.80841903e-05,
 -2.68038972e-05,-4.12461382e-04,-2.30706991e-04,-2.99409838e-05,
  4.60500980e-05,-1.22282653e-04,-1.54363685e-04,-6.39184302e-06,
  2.34836467e-02,-1.28026871e-03, 7.79744319e-03,-3.25390877e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60710698e+00,  3.96459068e-02, -4.60693639e+00,  3.96459068e-02,
        4.16516196e+01,  3.18793916e-01, -4.60693639e+00,  3.18793916e-01,
        4.60985042e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0003193463459890966
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73827419e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.73827419e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625545, -0.08834804,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.47442665e-05,-4.16110501e-05,-2.05293514e-06, 4.10403161e-06,
  1.15309307e-05,-1.10060137e-05,-4.73301527e-06, 3.64673284e-05,
  3.05679158e-05,-4.09976262e-05, 1.00256965e-05,-2.02708299e-05,
 -1.48735391e-04,-8.77528251e-05,-1.02719152e-04,-1.96555404e-04,
 -4.27186630e-08,-2.11523645e-07,-1.21644037e+00,-4.54114948e-04,
  1.22675130e-05,-5.51214587e-04]


--- Step 788 ---
qpos:
[ 6.18695639e-03,-1.80909857e-03,-5.00031293e-03, 3.35742594e-02,
  4.49302055e-03,-3.73844259e-03,-1.85319009e-02, 2.85609203e-02,
  1.29588018e-02, 3.35147300e-03,-9.94544935e-03, 2.58640266e-02,
  1.09946551e+00,-1.60980405e-04, 8.66431859e-01, 6.46316373e-02,
  9.34436335e-02,-7.01136048e-02, 1.30953546e-01, 5.02209922e-01,
  4.90719317e-01, 4.97744679e-01, 5.09146325e-01]

qacc:
[  6.60370276, -0.77541248,  3.80874704, -8.92543217,  1.15387643,
   5.50891114,-23.38168475, 43.57272225,  3.12012758, -0.68622516,
   1.280955  ,  0.86681165, -0.64347998,  0.54795723,  6.08689273,
 -23.48863238,  0.43762777,  1.03731184,  0.13053645,  7.13028857,
   0.70965582,-14.78732756]

qfrc_actuator:
[-3.12681209e-05,-1.54863714e-04,-6.57121040e-05, 4.36197594e-05,
 -2.01118090e-05,-3.67222574e-04,-2.71074439e-04, 2.63303568e-05,
  6.33662387e-05,-1.35701280e-04,-1.44049326e-04, 4.16581464e-07,
  2.34275168e-02,-1.28984766e-03, 7.75042858e-03,-3.37761500e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003173581153157051
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.74582192e-14,  3.49832877e-13,  1.00000000e+00, -3.05957604e-26,
        1.00000000e+00, -3.49832877e-13, -1.00000000e+00,  0.00000000e+00,
        8.74582192e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625586, -0.08834876,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.86358420e-05,-1.58802356e-05,-4.41742591e-06,-1.62379097e-05,
  7.01631319e-06, 3.96961052e-05,-4.19615897e-05, 5.63455113e-05,
  1.81667221e-05,-3.50837129e-05, 2.40021145e-06, 5.00710518e-06,
 -1.67550406e-04,-5.72931478e-05,-1.20149504e-04,-1.48809252e-04,
 -1.95645689e-07,-9.08043805e-08,-1.21644022e+00,-4.53503108e-04,
  1.26640998e-05,-5.51039564e-04]


--- Step 789 ---
qpos:
[ 6.18743760e-03,-1.81005262e-03,-5.00035301e-03, 3.35745415e-02,
  4.49235244e-03,-3.73825273e-03,-1.85325959e-02, 2.85621863e-02,
  1.29591096e-02, 3.35014562e-03,-9.94637959e-03, 2.58644373e-02,
  1.10001349e+00,-1.59907107e-04, 8.66868648e-01, 6.46300239e-02,
  9.34415479e-02,-7.01032037e-02, 1.30956208e-01, 5.02235784e-01,
  4.90662679e-01, 4.97791511e-01, 5.09129614e-01]

qacc:
[ 7.19621976e+00, 1.81286096e-01,-2.20305096e-01,-2.03617022e+00,
 -2.31800874e+00, 3.01664565e+00,-1.07853833e+01, 1.61309127e+01,
 -7.36794473e+00, 1.69198420e+00,-7.81585179e+00, 1.55590702e+01,
 -1.05768980e+00, 1.75524775e+00,-1.65513969e+01, 5.48510862e+01,
  4.36352230e-01, 1.02649214e+00, 3.05468029e-02, 7.01540972e+00,
  7.28665576e-01,-1.46505527e+01]

qfrc_actuator:
[ 9.78037355e-06,-1.67644096e-04,-8.09757288e-05, 3.49456296e-05,
 -3.37682167e-05,-3.22448167e-04,-2.94689161e-04, 4.12863283e-05,
  1.98284398e-05,-1.25281257e-04,-1.55470651e-04, 2.21823369e-05,
  2.33741222e-02,-1.26020424e-03, 7.74377867e-03,-3.11047079e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003135557314690868
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.77037591e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.77037591e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625597, -0.08834994,  0.06199104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.21447014e-05,-2.32274527e-05,-1.96445655e-05,-9.82459795e-06,
 -1.34427790e-05, 6.07361154e-05,-1.86311363e-05, 1.63004665e-05,
 -4.30390292e-05,-8.42376407e-06,-1.81762590e-05, 2.04465885e-05,
 -1.69615653e-04,-1.66502362e-05,-8.16348236e-05, 2.42680752e-04,
 -3.26667499e-07, 9.10220041e-08,-1.21644042e+00,-4.52915579e-04,
  1.27801947e-05,-5.50773280e-04]


--- Step 790 ---
qpos:
[ 6.18771771e-03,-1.81140964e-03,-5.00021647e-03, 3.35754164e-02,
  4.49152629e-03,-3.73801033e-03,-1.85333501e-02, 2.85633099e-02,
  1.29585483e-02, 3.34884103e-03,-9.94748249e-03, 2.58650916e-02,
  1.10056020e+00,-1.57927673e-04, 8.67304624e-01, 6.46276118e-02,
  9.34423991e-02,-7.01007159e-02, 1.30956901e-01, 5.02226063e-01,
  4.90646617e-01, 4.97816674e-01, 5.09130080e-01]

qacc:
[-1.75538807, 0.1975546 ,-3.97341419,14.2390646 ,-1.38596566,-0.05532804,
  0.90376236,-3.316283  ,-7.65397848, 1.02917922,-4.62880356, 9.07691986,
 -1.7524073 , 3.35687996, 1.33035357,-6.11509724, 0.73419551,-1.97830878,
 -0.49212754, 9.1275878 ,-2.70005089,28.78627234]

qfrc_actuator:
[-1.77971603e-06,-1.92614047e-04,-7.22202146e-05, 6.52290333e-05,
 -4.15378570e-05,-3.49276491e-04,-3.08226625e-04, 3.18325884e-05,
 -2.36682368e-05,-1.18488455e-04,-1.61772472e-04, 3.48250936e-05,
  2.33224251e-02,-1.20763000e-03, 7.67621338e-03,-3.16543420e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57989802,  0.35568023, -4.56606587,  0.35568023, 35.81063169,
        2.43276267, -4.56606587,  2.43276267,  4.76940155,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003116547715521639
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.78117444e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.78117444e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08205831, -0.03146754,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03656910e-05,-4.23902183e-05, 1.20689258e-06, 2.84169144e-05,
 -8.13238001e-06, 3.97910925e-06,-2.71963260e-06,-7.17944721e-06,
 -4.47275528e-05,-7.52157167e-07,-9.54565443e-06, 1.20567432e-05,
 -1.59051409e-04, 1.27109360e-05,-8.15421569e-05,-5.27151015e-05,
 -4.37427652e-07, 3.33194901e-07,-1.21644097e+00,-4.52348559e-04,
  1.26261877e-05,-5.50415243e-04]


--- Step 791 ---
qpos:
[ 6.18785742e-03,-1.81302302e-03,-4.99975930e-03, 3.35769635e-02,
  4.49095834e-03,-3.73784757e-03,-1.85341587e-02, 2.85639838e-02,
  1.29581592e-02, 3.34782649e-03,-9.94849700e-03, 2.58654939e-02,
  1.10110595e+00,-1.55920489e-04, 8.67739092e-01, 6.46253095e-02,
  9.34460943e-02,-7.01060357e-02, 1.30955097e-01, 5.02180948e-01,
  4.90670525e-01, 4.97820827e-01, 5.09147479e-01]

qacc:
[ -1.21959851,  0.15117457, -3.86379376, 15.16689299,  2.25911005,
  -0.88282359,  4.88708946,-12.5180402 ,  1.51327697, -0.38538482,
   2.98919307, -7.6996907 , -0.65300116,  0.7861376 , -2.5207507 ,
   5.66798753,  0.71100547, -1.95190396, -0.62446523,  9.15735078,
  -2.48696171, 28.36523948]

qfrc_actuator:
[-8.70715398e-06,-1.89058793e-04,-4.93748613e-05, 1.00446083e-04,
 -2.80217282e-05,-3.65501958e-04,-3.16011916e-04, 8.04364515e-06,
 -1.35149741e-05,-7.83993448e-05,-1.47256169e-04, 2.42502056e-05,
  2.32717947e-02,-1.21292618e-03, 7.59339407e-03,-3.16146291e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58105102, -1.40926494,  4.35889904, -1.40926494, 14.5071947 ,
        3.20919712,  4.35889904,  3.20919712,  5.61860866,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031198625991391005
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.89640961e-14, -1.77928192e-13,  1.00000000e+00,  1.58292208e-26,
        1.00000000e+00,  1.77928192e-13, -1.00000000e+00,  0.00000000e+00,
        8.89640961e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08205599, -0.031468  ,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.23420477e-06,-1.86415899e-05, 1.52333363e-05, 3.39965477e-05,
  1.32856156e-05,-1.48750998e-05,-7.54300646e-06,-2.38532760e-05,
  8.87703430e-06, 3.82546913e-05, 1.36302800e-05,-1.06971006e-05,
 -1.45548179e-04,-3.71737154e-05,-1.31185844e-04,-1.05947540e-05,
 -9.20428436e-08, 8.07647284e-08,-1.21644009e+00,-4.53430640e-04,
  1.23631159e-05,-5.50215294e-04]


--- Step 792 ---
qpos:
[ 6.18791287e-03,-1.81465747e-03,-4.99939593e-03, 3.35789185e-02,
  4.49055680e-03,-3.73788905e-03,-1.85347200e-02, 2.85643628e-02,
  1.29578942e-02, 3.34719446e-03,-9.94936166e-03, 2.58650588e-02,
  1.10165103e+00,-1.54834415e-04, 8.68172825e-01, 6.46235421e-02,
  9.34522971e-02,-7.01134049e-02, 1.30954909e-01, 5.02120189e-01,
  4.90711159e-01, 4.97825744e-01, 5.09163435e-01]

qacc:
[ -0.74323625,  1.07584862, -5.59597689, 12.81874102,  1.46736691,
  -1.56943971,  6.44491962,-11.78768016,  1.08985167, -1.63910201,
  10.1099501 ,-25.11997242,  0.37456367, -1.7383326 , -2.7446172 ,
   7.91703281,  0.6268822 , -0.51236052,  0.40408816,  8.59087682,
  -0.5264603 ,  7.59656786]

qfrc_actuator:
[-1.28352606e-05,-1.86126473e-04,-5.37955219e-05, 1.20554220e-04,
 -1.98397919e-05,-3.75254568e-04,-3.02574464e-04,-6.22938570e-06,
 -7.37072081e-06,-5.41140873e-05,-1.38193623e-04,-1.76097171e-05,
  2.32271462e-02,-1.27018131e-03, 7.59737832e-03,-3.12271985e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030990970567741573
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79120403e-13,  1.78729920e-07,  1.00000000e+00, -3.20141752e-20,
        1.00000000e+00, -1.78729920e-07, -1.00000000e+00,  0.00000000e+00,
        1.79120403e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08420516, -0.06058177,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.33799247e-06,-2.84207496e-06,-5.20866127e-06, 2.04974480e-05,
  8.55756151e-06,-2.06442891e-05, 8.61597570e-06,-1.56363451e-05,
  6.40552361e-06, 4.80841671e-05, 1.82953705e-05,-3.99539194e-05,
 -1.42782395e-04,-9.50902814e-05,-5.92856481e-05, 2.08779473e-05,
  2.02760291e-08, 2.71745952e-07,-1.21644039e+00,-4.54291001e-04,
  1.27263607e-05,-5.50223423e-04]


--- Step 793 ---
qpos:
[ 6.18757326e-03,-1.81594822e-03,-4.99977153e-03, 3.35804066e-02,
  4.48956674e-03,-3.73817124e-03,-1.85348319e-02, 2.85649034e-02,
  1.29583951e-02, 3.34674098e-03,-9.95002782e-03, 2.58641485e-02,
  1.10219510e+00,-1.53821684e-04, 8.68606498e-01, 6.46233966e-02,
  9.34602713e-02,-7.01165816e-02, 1.30955882e-01, 5.02066926e-01,
  4.90743342e-01, 4.97853597e-01, 5.09157706e-01]

qacc:
[ -3.50316776,  1.56539714, -2.93894225, -4.22742459, -5.13225303,
  -1.23040685,  3.2601721 , -1.02069251,  6.74204471, -1.31007425,
   6.99700211,-15.6446495 , -0.5962529 ,  0.57260209, -4.9507567 ,
  17.26946429,  0.44286777,  1.0481368 ,  0.290426  ,  7.27625327,
   0.72344695,-15.08426715]

qfrc_actuator:
[-3.30363797e-05,-1.65948023e-04,-9.20422589e-05, 9.60870139e-05,
 -5.03751151e-05,-3.80966989e-04,-2.76683155e-04, 2.98478416e-06,
  3.18526129e-05,-5.72722672e-05,-1.32500137e-04,-4.20491967e-05,
  2.31807711e-02,-1.26891088e-03, 7.63745210e-03,-3.02807743e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5790293 , -0.5229857 ,  4.54906533, -0.5229857 , 47.04227354,
        4.88180928,  4.54906533,  4.88180928,  5.14026908,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003114046796540981
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.67390737e-13, -1.78260491e-13,  1.00000000e+00,  4.76652042e-26,
        1.00000000e+00,  1.78260491e-13, -1.00000000e+00,  0.00000000e+00,
        2.67390737e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625796, -0.08835073,  0.0619911 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.03216723e-05, 1.84404407e-05,-3.87555171e-05,-2.43716310e-05,
 -3.02977678e-05,-1.61368598e-05, 2.21533560e-05, 8.32341237e-06,
  3.94200515e-05, 2.58330789e-05, 1.65148809e-05,-2.25194011e-05,
 -1.54920105e-04,-4.69834218e-05, 1.00887017e-05, 8.70009166e-05,
 -6.93741423e-08, 4.71701024e-07,-1.21644083e+00,-4.54607067e-04,
  1.31133101e-05,-5.50283583e-04]


--- Step 794 ---
qpos:
[ 6.18699404e-03,-1.81676477e-03,-5.00045152e-03, 3.35815428e-02,
  4.48787337e-03,-3.73842732e-03,-1.85347280e-02, 2.85655316e-02,
  1.29593624e-02, 3.34622317e-03,-9.95104519e-03, 2.58630229e-02,
  1.10273817e+00,-1.52822720e-04, 8.69040278e-01, 6.46214029e-02,
  9.34700124e-02,-7.01156165e-02, 1.30957516e-01, 5.02021081e-01,
  4.90767128e-01, 4.97904077e-01, 5.09130623e-01]

qacc:
[ -2.12479765,  0.75720355, -0.29758082, -5.66317229, -6.1489737 ,
  -0.37637746,  1.04324814,  0.08532877,  4.09503497,  0.44508199,
  -0.81449799, -2.29047852, -0.80797112,  1.01521195,  5.77921572,
 -19.88618251,  0.44172254,  1.03543533,  0.1652056 ,  7.14746556,
   0.73167893,-14.89067126]

qfrc_actuator:
[-4.47841730e-05,-1.18025615e-04,-9.66440414e-05, 8.10916189e-05,
 -8.56998140e-05,-3.66384513e-04,-2.61373208e-04, 8.19999800e-06,
  5.47267846e-05,-9.45981690e-05,-1.64441950e-04,-5.60636876e-05,
  2.31334137e-02,-1.26850971e-03, 7.61925838e-03,-3.13198064e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031049367714539033
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.93917579e-14,  1.78783516e-13,  1.00000000e+00, -1.59817728e-26,
        1.00000000e+00, -1.78783516e-13, -1.00000000e+00,  0.00000000e+00,
        8.93917579e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862584 , -0.08835099,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23123992e-05, 4.92263583e-05,-6.39188000e-06,-1.60191398e-05,
 -3.61970604e-05, 1.04911150e-05, 1.49983751e-05, 5.45311825e-06,
  2.40010928e-05,-2.03919942e-05,-2.53366277e-05,-1.27712774e-05,
 -1.51823481e-04,-4.21296125e-05,-1.26107589e-05,-9.97848033e-05,
 -1.84656504e-07, 3.44219116e-07,-1.21644073e+00,-4.54425916e-04,
  1.27922207e-05,-5.50258770e-04]


--- Step 795 ---
qpos:
[ 6.18627841e-03,-1.81715301e-03,-5.00126068e-03, 3.35831739e-02,
  4.48611443e-03,-3.73870846e-03,-1.85343715e-02, 2.85655306e-02,
  1.29599069e-02, 3.34538767e-03,-9.95205567e-03, 2.58620923e-02,
  1.10328045e+00,-1.52413872e-04, 8.69473157e-01, 6.46170058e-02,
  9.34815166e-02,-7.01105514e-02, 1.30959392e-01, 5.01982584e-01,
  4.90782564e-01, 4.97976925e-01, 5.09082451e-01]

qacc:
[ -1.21057735,  1.94862402, -8.21126608, 16.66166314, -0.56591612,
  -2.03107046,  9.85315563,-21.12916379, -3.71515043, -0.03030929,
  -1.31229361,  4.8978322 , -0.14356034, -0.57861157,  5.91575382,
 -22.65050408,  0.4407949 ,  1.02501388,  0.06044814,  7.04514516,
   0.73613907,-14.7320981 ]

qfrc_actuator:
[-5.14573969e-05,-8.92300654e-05,-9.89504840e-05, 1.07356328e-04,
 -8.80426619e-05,-3.75300894e-04,-2.52358333e-04,-2.44799417e-05,
  3.22791897e-05,-1.16747994e-04,-1.65236728e-04,-4.61402260e-05,
  2.30855021e-02,-1.30416560e-03, 7.53946247e-03,-3.26342664e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003076206932079717
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.80453241e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.80453241e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625854, -0.08835177,  0.06199121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.00213302e-06, 5.43490485e-05, 6.53653177e-06, 2.78426229e-05,
 -3.37402918e-06, 2.75916002e-07, 1.32199011e-05,-3.16048102e-05,
 -2.17741824e-05,-3.92894634e-05,-8.54918705e-06, 7.92947995e-06,
 -1.49963335e-04,-7.63345134e-05,-1.05189733e-04,-1.40597174e-04,
 -2.77212754e-07, 2.82971331e-07,-1.21644098e+00,-4.54267333e-04,
  1.21951873e-05,-5.50139550e-04]


--- Step 796 ---
qpos:
[ 6.18548831e-03,-1.81716429e-03,-5.00207849e-03, 3.35851048e-02,
  4.48468581e-03,-3.73920092e-03,-1.85338253e-02, 2.85655123e-02,
  1.29601784e-02, 3.34400132e-03,-9.95217975e-03, 2.58622925e-02,
  1.10382173e+00,-1.52122608e-04, 8.69904445e-01, 6.46134163e-02,
  9.34947814e-02,-7.01014201e-02, 1.30961161e-01, 5.01951380e-01,
  4.90789691e-01, 4.98071934e-01, 5.09013399e-01]

qacc:
[ -0.66135465,  1.14114006, -4.60932273,  9.53200642,  2.9005576 ,
  -0.85053914,  2.69119702, -3.12902281, -2.36467501, -0.87283023,
  -2.71115812, 21.26349401, -0.51941064,  0.40341936, -4.76038098,
  13.29877644,  0.44011462,  1.0165554 , -0.02696022,  6.96489906,
   0.73760995,-14.60352632]

qfrc_actuator:
[-5.50932325e-05,-7.20544300e-05,-9.99331789e-05, 1.22165774e-04,
 -7.09528192e-05,-3.98275856e-04,-2.47243534e-04,-2.59573727e-05,
  1.88465334e-05,-1.29513069e-04,-1.12055637e-04, 1.33269411e-05,
  2.30372769e-02,-1.30761597e-03, 7.47604990e-03,-3.21482500e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030321842365513274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.28841435e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.28841435e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625844, -0.08835297,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.81564001e-06, 5.01310505e-05, 1.20236888e-05, 1.79058882e-05,
  1.69943385e-05,-2.14396380e-05, 5.70593731e-06,-1.62328943e-06,
 -1.40688215e-05,-3.61238277e-05, 4.43117796e-05, 5.76491633e-05,
 -1.57698299e-04,-4.95244705e-05,-1.31033161e-04, 2.64048710e-05,
 -3.48805983e-07, 2.85860845e-07,-1.21644157e+00,-4.54129088e-04,
  1.13313672e-05,-5.49926422e-04]


--- Step 797 ---
qpos:
[ 6.18500575e-03,-1.81700211e-03,-5.00222576e-03, 3.35868318e-02,
  4.48347339e-03,-3.74023041e-03,-1.85330614e-02, 2.85658622e-02,
  1.29602862e-02, 3.34247588e-03,-9.95178762e-03, 2.58631755e-02,
  1.10436193e+00,-1.51589188e-04, 8.70334392e-01, 6.46103644e-02,
  9.35083839e-02,-7.00882798e-02, 1.30962950e-01, 5.01933168e-01,
  4.90783412e-01, 4.98183428e-01, 5.08928294e-01]

qacc:
[ 2.72217546e+00,-2.07030944e+00, 8.56553307e+00,-1.32828729e+01,
  1.90825346e+00,-5.63619295e-01,-5.82143118e-01, 7.01179758e+00,
 -1.42129106e+00,-2.18254615e-01,-2.36672742e+00, 1.34560145e+01,
 -9.30943205e-01, 1.40116517e+00,-3.54285420e+00, 9.65524765e+00,
  8.44577092e-02, 1.00222576e+00, 5.18127563e-03, 1.64078990e+00,
  3.74034161e-01,-1.47200114e+01]

qfrc_actuator:
[-3.91613821e-05,-6.19707090e-05,-6.46852227e-05, 1.12346515e-04,
 -6.03256668e-05,-4.47242326e-04,-2.44507012e-04,-9.07341536e-06,
  1.08421844e-05,-1.18534441e-04,-8.06291969e-05, 4.82486523e-05,
  2.29889089e-02,-1.29197952e-03, 7.42256193e-03,-3.18471270e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029870303677216603
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50995487e-13, -3.71681198e-13,  1.00000000e+00,  5.61221833e-26,
        1.00000000e+00,  3.71681198e-13, -1.00000000e+00,  0.00000000e+00,
        1.50995487e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09174502, -0.08822077,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58401242e-05, 4.13751804e-05, 4.77100439e-05,-6.90871648e-06,
  1.11049708e-05,-5.98289808e-05,-1.04646578e-06, 1.61302091e-05,
 -8.42532187e-06, 2.44883753e-06, 3.14353305e-05, 3.60323932e-05,
 -1.56526572e-04,-2.72589153e-05,-1.12393111e-04, 1.43774732e-05,
 -4.00789408e-07, 3.51087040e-07,-1.21644251e+00,-4.54009690e-04,
  1.02073379e-05,-5.49619878e-04]


--- Step 798 ---
qpos:
[ 6.18471796e-03,-1.81678301e-03,-5.00183105e-03, 3.35881064e-02,
  4.48239778e-03,-3.74159338e-03,-1.85322973e-02, 2.85660558e-02,
  1.29602965e-02, 3.34148514e-03,-9.95179105e-03, 2.58634103e-02,
  1.10490126e+00,-1.51451676e-04, 8.70762497e-01, 6.46120162e-02,
  9.35248982e-02,-7.00830267e-02, 1.30962624e-01, 5.01879188e-01,
  4.90817533e-01, 4.98273690e-01, 5.08860256e-01]

qacc:
[ 1.72835921e+00,-2.37475526e+00, 1.04799498e+01,-1.92101789e+01,
  1.20303128e+00,-7.65108774e-01, 2.74506988e+00,-5.20225815e+00,
 -8.79390754e-01, 4.79656183e-01, 2.05497514e+00,-1.30377450e+01,
  2.51790067e-03,-7.23938337e-01,-1.69257982e+01, 5.52375317e+01,
  7.27916277e-01,-1.97177081e+00,-5.28790582e-01, 9.26160371e+00,
 -2.51096093e+00, 2.86585771e+01]

qfrc_actuator:
[-2.95937715e-05,-7.38420587e-05,-4.38798629e-05, 8.81338957e-05,
 -5.35941153e-05,-4.58135558e-04,-2.43301250e-04,-1.70566632e-05,
  6.09467266e-06,-7.57483600e-05,-9.77451742e-05, 1.51809288e-05,
  2.29404993e-02,-1.31846157e-03, 7.36441181e-03,-2.93496297e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54142809,  0.91291986, -4.44872413,  0.91291986, 45.79762412,
        8.46615789, -4.44872413,  8.46615789,  6.27876299,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003002938849212683
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84856083e-13,  9.24280414e-14,  1.00000000e+00, -1.70858857e-26,
        1.00000000e+00, -9.24280414e-14, -1.00000000e+00,  0.00000000e+00,
        1.84856083e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08203901, -0.03146313,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00300973e-05, 2.08241824e-05, 3.49850197e-05,-2.09278173e-05,
  7.02727028e-06,-4.38427588e-05,-1.07209682e-05,-1.02701758e-05,
 -4.99304902e-06, 5.22390976e-05,-1.14796986e-05,-3.11729045e-05,
 -1.50732926e-04,-6.51085866e-05,-1.10958397e-04, 2.35480294e-04,
 -3.67037532e-07, 4.67863688e-07,-1.21644339e+00,-4.53910143e-04,
  9.10076706e-06,-5.49323264e-04]


--- Step 799 ---
qpos:
[ 6.18454722e-03,-1.81645181e-03,-5.00142205e-03, 3.35887657e-02,
  4.48175590e-03,-3.74282682e-03,-1.85320432e-02, 2.85664731e-02,
  1.29605948e-02, 3.34088608e-03,-9.95226184e-03, 2.58632708e-02,
  1.10543970e+00,-1.51635836e-04, 8.71189898e-01, 6.46128872e-02,
  9.35442454e-02,-7.00855584e-02, 1.30959681e-01, 5.01789624e-01,
  4.90891479e-01, 4.98343331e-01, 5.08809055e-01]

qacc:
[ 1.02744709e+00,-1.16048791e+00, 6.94600593e+00,-1.76932477e+01,
  3.77790998e+00, 2.04813125e+00,-8.01223738e+00, 1.26170101e+01,
  2.51247398e+00, 1.04836370e+00,-1.41486129e+00,-4.59585815e+00,
 -3.75584571e-01, 2.32020663e-02, 1.32891452e+00,-6.13321468e+00,
  7.08258754e-01,-1.94622817e+00,-6.54154609e-01, 9.28546098e+00,
 -2.31006148e+00, 2.82613008e+01]

qfrc_actuator:
[-2.38549454e-05,-8.10866562e-05,-4.96323512e-05, 5.56153498e-05,
 -3.14544008e-05,-4.28420958e-04,-2.60636206e-04,-4.07756387e-06,
  2.10531104e-05,-6.77538772e-05,-1.25528685e-04,-4.36474416e-06,
  2.28974109e-02,-1.33416826e-03, 7.31953526e-03,-2.98387503e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54242132, -1.47255883,  4.29711088, -1.47255883, 17.10869602,
        4.30628376,  4.29711088,  4.30628376,  6.01812357,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000300594844777069
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84671002e-13, -2.30838753e-13,  1.00000000e+00,  4.26292238e-26,
        1.00000000e+00,  2.30838753e-13, -1.00000000e+00,  0.00000000e+00,
        1.84671002e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08203702, -0.03146351,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.02939414e-06, 1.07193483e-05, 2.12376913e-06,-3.08276298e-05,
  2.23260175e-05, 2.58587540e-06,-2.80604777e-05, 1.05299874e-05,
  1.48334835e-05, 3.35333865e-05,-1.94741082e-05,-1.83089819e-05,
 -1.49857849e-04,-6.02430076e-05,-7.11046356e-05,-5.03883942e-05,
 -6.08446223e-07, 2.95608272e-07,-1.21644283e+00,-4.55213647e-04,
  1.03900995e-05,-5.49187873e-04]


--- Step 800 ---
qpos:
[ 6.18479171e-03,-1.81616337e-03,-5.00072951e-03, 3.35890319e-02,
  4.48138436e-03,-3.74394478e-03,-1.85317532e-02, 2.85666604e-02,
  1.29610701e-02, 3.34062362e-03,-9.95312836e-03, 2.58639365e-02,
  1.10597700e+00,-1.51410841e-04, 8.71617140e-01, 6.46107331e-02,
  9.35663635e-02,-7.00957903e-02, 1.30953700e-01, 5.01664625e-01,
  4.91004773e-01, 4.98392846e-01, 5.08774497e-01]

qacc:
[  3.66036956, -1.66570912,  7.5039746 ,-14.71476369,  2.36494581,
  -0.42523736,  2.70089408, -6.81458507,  1.53890299,  3.20523727,
 -14.18781893, 28.51310703, -1.3285854 ,  2.23894592,  8.9811884 ,
 -31.56079038,  0.69270349, -1.92504413, -0.75949108,  9.30256634,
  -2.14567417, 27.93513294]

qfrc_actuator:
[-2.66096028e-06,-8.56331574e-05,-3.55033927e-05, 3.62096094e-05,
 -1.81740619e-05,-4.10176545e-04,-2.53080166e-04,-1.43438837e-05,
  2.97360555e-05,-4.51999300e-05,-1.41730059e-04, 3.74461193e-05,
  2.28468962e-02,-1.30782034e-03, 7.31454149e-03,-3.13737055e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53615769, -1.64023306,  4.22922713, -1.64023306, 23.51632105,
        7.36113014,  4.22922713,  7.36113014,  7.3910455 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002986898147392808
  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([ 0.0820351 , -0.03146263,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.13687627e-05, 5.49928927e-07, 1.55279595e-05,-1.94762495e-05,
  1.39197043e-05, 1.43944323e-05, 5.00761329e-06,-1.09211682e-05,
  9.11521270e-06, 3.65323844e-05,-1.22942489e-05, 4.22199062e-05,
 -1.55803625e-04,-1.70452070e-05,-4.82683157e-05,-1.66608438e-04,
 -1.07501027e-06, 5.70288999e-07,-1.21644346e+00,-4.56320601e-04,
  1.22851869e-05,-5.49243036e-04]


--- Step 801 ---
qpos:
[ 6.18494338e-03,-1.81592042e-03,-4.99987649e-03, 3.35894176e-02,
  4.48083043e-03,-3.74531481e-03,-1.85309626e-02, 2.85670834e-02,
  1.29613009e-02, 3.34048125e-03,-9.95410536e-03, 2.58651059e-02,
  1.10651326e+00,-1.51122490e-04, 8.72043639e-01, 6.46061207e-02,
  9.35888549e-02,-7.01017404e-02, 1.30950301e-01, 5.01553378e-01,
  4.91103915e-01, 4.98459959e-01, 5.08722737e-01]

qacc:
[ -0.81012961, -0.26114307,  0.34218344,  1.49960205, -1.57615092,
  -1.24321919,  2.95967502,  0.4994935 , -2.15549471,  1.50846657,
  -7.26762031, 16.06503159, -0.91494113,  1.2410378 ,  6.37310899,
 -23.77184102,  0.09333434,  1.07047575,  0.64546197,  1.837375  ,
   0.36461425,-15.6606408 ]

qfrc_actuator:
[-8.04412333e-06,-8.84507783e-05,-2.74731518e-05, 4.24482041e-05,
 -2.79720761e-05,-4.34357266e-04,-2.30931466e-04,-2.68799451e-06,
  1.68969637e-05,-4.95171735e-05,-1.50866833e-04, 6.17832570e-05,
  2.27866536e-02,-1.31009972e-03, 7.26954404e-03,-3.26229649e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003030383725852459
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94630791e-13, -1.83181921e-13,  1.00000000e+00,  3.56528422e-26,
        1.00000000e+00,  1.83181921e-13, -1.00000000e+00,  0.00000000e+00,
        1.94630791e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09174626, -0.08821889,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.77688367e-06,-1.49604916e-07, 9.36929723e-06, 6.41663694e-06,
 -9.39510525e-06,-1.55234219e-05, 2.53696072e-05, 1.22343479e-05,
 -1.25702259e-05, 1.54044773e-05,-1.63214080e-06, 2.62997300e-05,
 -1.59528340e-04,-3.90437814e-05,-9.27742816e-05,-1.42042201e-04,
 -1.75508153e-06, 1.27868590e-06,-1.21644523e+00,-4.57272570e-04,
  1.47806675e-05,-5.49483896e-04]


--- Step 802 ---
qpos:
[ 6.18502935e-03,-1.81538300e-03,-4.99961116e-03, 3.35895378e-02,
  4.48016335e-03,-3.74666200e-03,-1.85302644e-02, 2.85676487e-02,
  1.29613764e-02, 3.34032285e-03,-9.95536622e-03, 2.58662427e-02,
  1.10704851e+00,-1.50848942e-04, 8.72469086e-01, 6.45993682e-02,
  9.36117266e-02,-7.01034760e-02, 1.30948784e-01, 5.01455637e-01,
  4.91189164e-01, 4.98544359e-01, 5.08654079e-01]

qacc:
[ -0.60148713,  1.48665844, -3.61308509, -0.26106103, -0.99338473,
   0.5824614 , -2.63052774,  5.21967861, -1.37671469,  0.7077809 ,
  -2.41220436,  2.30895305, -0.7873026 ,  0.96405787,  4.94886129,
 -19.47157531,  0.09506266,  1.05359242,  0.47039066,  1.80741691,
   0.35336517,-15.3802789 ]

qfrc_actuator:
[-1.12790065e-05,-7.24586032e-05,-5.85977665e-05, 2.82127749e-05,
 -3.35198734e-05,-4.30413804e-04,-2.36011426e-04, 3.99494414e-06,
  9.24776775e-06,-6.98752612e-05,-1.73644448e-04, 5.78629549e-05,
  2.27365854e-02,-1.31162070e-03, 7.21658023e-03,-3.36943732e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030744784855447904
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01562014e-13, -1.80554691e-13,  1.00000000e+00,  1.83374980e-26,
        1.00000000e+00,  1.80554691e-13, -1.00000000e+00,  0.00000000e+00,
        1.01562014e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09174661, -0.08821759,  0.06199121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.37312005e-06, 1.80970607e-05,-2.97931746e-05,-1.37959209e-05,
 -5.82313081e-06, 1.06356931e-06,-4.73172141e-06, 7.13434000e-06,
 -8.00319162e-06,-1.09435847e-05,-1.88754265e-05,-2.80433458e-06,
 -1.56887831e-04,-4.30003617e-05,-1.15900235e-04,-1.28008832e-04,
 -1.60423692e-06, 8.45682566e-07,-1.21644482e+00,-4.57523989e-04,
  1.32905004e-05,-5.49646412e-04]


--- Step 803 ---
qpos:
[ 6.18542103e-03,-1.81500540e-03,-4.99923943e-03, 3.35888066e-02,
  4.47908966e-03,-3.74755633e-03,-1.85300732e-02, 2.85675723e-02,
  1.29613595e-02, 3.33995598e-03,-9.95654302e-03, 2.58676690e-02,
  1.10758282e+00,-1.50626290e-04, 8.72893822e-01, 6.45935228e-02,
  9.36349850e-02,-7.01010535e-02, 1.30948559e-01, 5.01371197e-01,
  4.91260737e-01, 4.98645785e-01, 5.08568768e-01]

qacc:
[  2.69371466, -2.26716739, 11.36200931,-26.13849686, -3.58267017,
   0.70209466,  1.08663462,-11.72766585, -0.80577965,  0.08694497,
  -1.9291741 ,  6.9548006 , -0.5722882 ,  0.57546442, -3.75668243,
  11.68900753,  0.09668261,  1.03953844,  0.32326802,  1.78654547,
   0.34143262,-15.14858619]

qfrc_actuator:
[ 4.53773191e-06,-9.87602134e-05,-5.92734167e-05,-1.57225708e-05,
 -5.42664687e-05,-3.92017299e-04,-2.57035944e-04,-2.78120196e-05,
  4.72135748e-06,-8.20171287e-05,-1.68883721e-04, 7.28282168e-05,
  2.26979816e-02,-1.31263382e-03, 7.23345212e-03,-3.30546837e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003088346069286402
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.37019901e-14, -1.79743947e-13,  1.00000000e+00, -6.05772872e-27,
        1.00000000e+00,  1.79743947e-13, -1.00000000e+00,  0.00000000e+00,
       -3.37019901e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09174683, -0.08821714,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57269259e-05,-2.29512697e-05,-1.09385713e-06,-4.44611289e-05,
 -2.09126753e-05, 3.83571179e-05,-2.11342570e-05,-3.17858315e-05,
 -4.75829231e-06,-2.22653409e-05, 9.26905456e-08, 1.37895737e-05,
 -1.44878904e-04,-4.25463218e-05,-5.37813155e-05, 4.12290732e-05,
 -1.44690681e-06, 5.16885165e-07,-1.21644472e+00,-4.57790779e-04,
  1.17333400e-05,-5.49713552e-04]


--- Step 804 ---
qpos:
[ 6.18599937e-03,-1.81506155e-03,-4.99844790e-03, 3.35872232e-02,
  4.47812075e-03,-3.74835638e-03,-1.85300140e-02, 2.85667903e-02,
  1.29612885e-02, 3.33911684e-03,-9.95696562e-03, 2.58692507e-02,
  1.10811610e+00,-1.50116300e-04, 8.73317701e-01, 6.45904469e-02,
  9.36542989e-02,-7.01062836e-02, 1.30947022e-01, 5.01274858e-01,
  4.91341776e-01, 4.98704814e-01, 5.08527565e-01]

qacc:
[  1.66133335, -3.50459135, 15.25484664,-30.3452814 ,  0.91084634,
  -0.95973555,  6.57993414,-18.64810414, -0.4441378 , -2.41101064,
   7.03584651, -5.20393788, -0.85407517,  1.31129743, -9.56689573,
  31.76495226, -0.98613844, -1.91315342, -0.32820585,-16.48232443,
   0.76562592, 26.85645927]

qfrc_actuator:
[ 1.36876702e-05,-1.32348958e-04,-4.21387198e-05,-5.90330249e-05,
 -4.82883469e-05,-4.04398640e-04,-2.69422858e-04,-6.42333195e-05,
  2.06763925e-06,-1.06783062e-04,-1.30101740e-04, 8.10632101e-05,
  2.26503089e-02,-1.29554759e-03, 7.21234582e-03,-3.15877726e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003091446347861654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.7956369e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.7956369e-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([ 0.10962377, -0.033911  ,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.58955224e-06,-4.85665795e-05, 1.07125562e-05,-4.51978951e-05,
  5.39628606e-06, 3.36345223e-06,-8.15807705e-06,-3.61247534e-05,
 -2.79933885e-06,-3.65845995e-05, 3.46863735e-05, 7.55285868e-06,
 -1.45603874e-04,-2.21570668e-05,-4.66592120e-05, 1.40833365e-04,
 -1.28328646e-06, 2.86359090e-07,-1.21644493e+00,-4.58072552e-04,
  1.01079556e-05,-5.49686958e-04]


--- Step 805 ---
qpos:
[ 6.18668277e-03,-1.81520626e-03,-4.99761319e-03, 3.35854600e-02,
  4.47792088e-03,-3.74934755e-03,-1.85300000e-02, 2.85659546e-02,
  1.29611859e-02, 3.33819722e-03,-9.95730081e-03, 2.58705691e-02,
  1.10864840e+00,-1.49651682e-04, 8.73740569e-01, 6.45856077e-02,
  9.36697146e-02,-7.01190320e-02, 1.30943543e-01, 5.01166603e-01,
  4.91432137e-01, 4.98722327e-01, 5.08529775e-01]

qacc:
[  0.92661106, -0.60967978,  2.75952158, -5.87024451,  6.73232183,
  -0.24979192,  0.72820694, -1.42010277, -0.27394419, -0.89208232,
   4.13901757, -8.7770773 , -0.71635265,  0.8263112 ,  3.86706749,
 -15.61046851, -0.97452627, -1.8795596 , -0.48550743,-16.11758869,
   0.86122953, 26.43488957]

qfrc_actuator:
[ 1.88343110e-05,-1.16714238e-04,-3.24263871e-05,-6.61220194e-05,
 -8.87151568e-06,-4.29316622e-04,-2.76799512e-04,-6.75972582e-05,
  5.36265651e-07,-1.03270967e-04,-1.24868656e-04, 6.75256064e-05,
  2.25919118e-02,-1.30342487e-03, 7.11523338e-03,-3.26647292e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58259162, -0.22680535, -4.57697556, -0.22680535, 22.84472672,
       -0.90495346, -4.57697556, -0.90495346,  4.62743526,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003124283980491388
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.77676394e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.77676394e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10962191, -0.03391222,  0.06199107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.40347523e-06,-1.12502072e-05,-5.70257551e-07,-9.67777775e-06,
  3.95739907e-05,-2.62383392e-05,-8.92658641e-06,-4.20193683e-06,
 -1.62816847e-06,-9.42701960e-06, 2.22103570e-06,-1.37588474e-05,
 -1.51963866e-04,-4.36462415e-05,-1.08290846e-04,-1.07084278e-04,
 -1.12003460e-06, 7.21016766e-07,-1.21644345e+00,-4.59038446e-04,
  1.22059479e-05,-5.49801661e-04]


--- Step 806 ---
qpos:
[ 6.18742255e-03,-1.81535045e-03,-4.99675099e-03, 3.35839599e-02,
  4.47819499e-03,-3.75042325e-03,-1.85301350e-02, 2.85654240e-02,
  1.29614104e-02, 3.33765728e-03,-9.95804467e-03, 2.58713448e-02,
  1.10917981e+00,-1.49549293e-04, 8.74162471e-01, 6.45797788e-02,
  9.36854267e-02,-7.01274625e-02, 1.30942438e-01, 5.01071682e-01,
  4.91509210e-01, 4.98757410e-01, 5.08514417e-01]

qacc:
[  0.49674329,  0.4643986 , -2.76665701,  7.27530561,  4.145064  ,
   0.92361775, -4.75829164, 10.35519339,  2.85784371,  0.52096472,
   1.15282897,-10.16320709, -0.34043258, -0.07361125,  1.57166466,
  -7.5495909 ,  0.07410125,  1.07945267,  0.59352957,  2.24232486,
   0.13911903,-15.42312821]

qfrc_actuator:
[ 2.15858953e-05,-1.07222380e-04,-2.69587778e-05,-5.18096786e-05,
  1.43971046e-05,-4.26003642e-04,-2.81203974e-04,-5.14964765e-05,
  1.74300489e-05,-6.52423109e-05,-1.39399809e-04, 4.12810052e-05,
  2.25430889e-02,-1.32606251e-03, 7.08440360e-03,-3.31034407e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031653646419849135
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.86458942e-14,  1.75370479e-13,  1.00000000e+00, -1.72995777e-26,
        1.00000000e+00, -1.75370479e-13, -1.00000000e+00,  0.00000000e+00,
        9.86458942e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09174919, -0.08821549,  0.06199095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.90166709e-06, 2.66729043e-06, 2.73358111e-06, 1.36242057e-05,
  2.43904837e-05,-1.33317606e-05,-1.10573071e-05, 1.45880961e-05,
  1.68417209e-05, 3.26595565e-05,-1.66692387e-05,-2.68396035e-05,
 -1.52093146e-04,-6.32916611e-05,-9.58760045e-05,-6.45242572e-05,
 -8.22908855e-07, 1.28476402e-06,-1.21644323e+00,-4.60075356e-04,
  1.34179757e-05,-5.50150811e-04]


--- Step 807 ---
qpos:
[ 6.18784472e-03,-1.81566099e-03,-4.99545817e-03, 3.35822908e-02,
  4.47840097e-03,-3.75118095e-03,-1.85304656e-02, 2.85640054e-02,
  1.29618353e-02, 3.33768514e-03,-9.95940274e-03, 2.58721348e-02,
  1.10971020e+00,-1.49166089e-04, 8.74583177e-01, 6.45770492e-02,
  9.37014618e-02,-7.01316536e-02, 1.30943035e-01, 5.00989921e-01,
  4.91573104e-01, 4.98809753e-01, 5.08481871e-01]

qacc:
[ -2.77631154, -1.766088  ,  6.70028295,-10.19925025, -0.60828501,
  -0.85817006,  7.42218584,-22.71537924,  1.73547284,  2.49319331,
  -7.86719444,  8.68552689, -0.81315144,  1.23270106,-11.06754071,
  36.27800876,  0.08072256,  1.05987301,  0.42536215,  2.13858433,
   0.16958221,-15.18104399]

qfrc_actuator:
[ 5.15447577e-06,-1.19222538e-04,-6.28695671e-06,-6.05326545e-05,
  1.02116210e-05,-3.88029593e-04,-2.83703340e-04,-9.50647948e-05,
  2.72803439e-05,-2.46843120e-05,-1.65328397e-04, 4.33022888e-05,
  2.25053638e-02,-1.30396344e-03, 7.06674671e-03,-3.13846235e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60723658,  0.11429324,  4.60581871,  0.11429324, 27.26964361,
       -0.56236689,  4.60581871, -0.56236689,  4.6211917 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003193823439438387
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.60409244e-14,  3.47615654e-13,  1.00000000e+00,  2.64330157e-26,
        1.00000000e+00, -3.47615654e-13, -1.00000000e+00,  0.00000000e+00,
       -7.60409244e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09175027, -0.08821499,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63487985e-05,-9.36295654e-06, 2.20249373e-05,-8.24745580e-06,
 -3.49354953e-06, 2.89106111e-05,-6.09596280e-06,-4.42354579e-05,
  1.03396405e-05, 5.42610714e-05,-2.21513497e-05, 2.32224768e-06,
 -1.45237259e-04,-2.23407573e-05,-7.25729055e-05, 1.55123591e-04,
 -7.95313610e-07, 8.86445103e-07,-1.21644266e+00,-4.60041934e-04,
  1.25121382e-05,-5.50349904e-04]


--- Step 808 ---
qpos:
[ 6.18772162e-03,-1.81593194e-03,-4.99399019e-03, 3.35805214e-02,
  4.47821045e-03,-3.75158004e-03,-1.85308599e-02, 2.85613703e-02,
  1.29623755e-02, 3.33783210e-03,-9.96095291e-03, 2.58736619e-02,
  1.11023972e+00,-1.48844823e-04, 8.75003101e-01, 6.45740490e-02,
  9.37178413e-02,-7.01316697e-02, 1.30944768e-01, 5.00921173e-01,
  4.91623914e-01, 4.98879102e-01, 5.08432442e-01]

qacc:
[ -4.78975232, -0.63452908,  2.77788906, -4.84030965, -3.47904554,
  -1.84310987, 12.40877288,-33.63733235,  1.00610793,  2.2095284 ,
 -10.76538725, 23.74497439, -0.56315719,  0.58107921, -0.30767833,
  -0.53248585,  0.08610952,  1.0437281 ,  0.28424722,  2.05837588,
   0.19138667,-14.9800029 ]

qfrc_actuator:
[-2.24353164e-05,-1.08445974e-04, 5.34063587e-06,-6.49974161e-05,
 -1.00938238e-05,-3.65132883e-04,-2.84953268e-04,-1.55610777e-04,
  3.29002237e-05,-3.62066082e-05,-1.79973785e-04, 7.96956901e-05,
  2.24636906e-02,-1.30877840e-03, 7.01444286e-03,-3.16036956e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60730794,  0.08985748, -4.6064316 ,  0.08985748, 45.83902703,
        0.80430553, -4.6064316 ,  0.80430553,  4.6229975 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003194021619078169
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.43115759e-14,  1.73797043e-13,  1.00000000e+00, -9.43919129e-27,
        1.00000000e+00, -1.73797043e-13, -1.00000000e+00,  0.00000000e+00,
        5.43115759e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09175107, -0.08821521,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.80584647e-05, 9.72969599e-06, 1.21133515e-05,-4.26231350e-06,
 -2.03930657e-05, 3.59419562e-05, 2.45621128e-06,-6.03730705e-05,
  5.93222034e-06, 1.43627301e-05,-6.07130253e-06, 3.79983157e-05,
 -1.35242370e-04,-4.04509505e-05,-7.23265959e-05,-2.34877178e-05,
 -7.50967771e-07, 5.86447434e-07,-1.21644239e+00,-4.60044232e-04,
  1.15139186e-05,-5.50454691e-04]


--- Step 809 ---
qpos:
[ 6.18761348e-03,-1.81591623e-03,-4.99282084e-03, 3.35794037e-02,
  4.47743329e-03,-3.75193620e-03,-1.85308999e-02, 2.85583871e-02,
  1.29633243e-02, 3.33730132e-03,-9.96144894e-03, 2.58756298e-02,
  1.11076835e+00,-1.48804500e-04, 8.75422681e-01, 6.45713459e-02,
  9.37344710e-02,-7.01278465e-02, 1.30947337e-01, 5.00864776e-01,
  4.91662303e-01, 4.98963751e-01, 5.08367811e-01]

qacc:
[  0.11758257,  2.55547575,-11.31317226, 22.8578157 , -5.12391378,
  -1.63856643,  7.41238001,-14.05295888,  3.64167365, -2.94153722,
   7.31497084, -0.85840613, -0.37754318,  0.05869918, -1.38998703,
   4.15878824,  0.0625759 ,  0.95985331,  0.20899922,  1.53449314,
   0.17173603,-13.80704112]

qfrc_actuator:
[-2.08601548e-05,-8.41427684e-05,-6.12772741e-06,-3.14030356e-05,
 -3.97156071e-05,-3.69203017e-04,-2.67754695e-04,-1.72401809e-04,
  5.37395998e-05,-9.65081204e-05,-1.34767796e-04, 1.00478649e-04,
  2.24090192e-02,-1.32951135e-03, 7.02656922e-03,-3.13664607e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003171515508146203
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13519254e-06, -1.13519256e-06,  1.00000000e+00, -1.28866212e-12,
        1.00000000e+00,  1.13519256e-06, -1.00000000e+00,  0.00000000e+00,
       -1.13519254e-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([ 0.09219314, -0.08687399,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.80163042e-07, 3.20508611e-05,-8.12287237e-06, 3.43499394e-05,
 -3.01893830e-05, 1.39664522e-05, 2.28520976e-05,-1.63321714e-05,
  2.10107657e-05,-5.18823277e-05, 4.87530855e-05, 2.19274820e-05,
 -1.46513342e-04,-5.73480482e-05,-2.83821252e-05, 1.20422741e-05,
 -6.92468392e-07, 3.80514478e-07,-1.21644242e+00,-4.60076626e-04,
  1.04279011e-05,-5.50466399e-04]


--- Step 810 ---
qpos:
[ 6.18752476e-03,-1.81561953e-03,-4.99179359e-03, 3.35783416e-02,
  4.47630688e-03,-3.75213885e-03,-1.85308040e-02, 2.85559174e-02,
  1.29641705e-02, 3.33625044e-03,-9.96074663e-03, 2.58767652e-02,
  1.11129594e+00,-1.48924330e-04, 8.75841636e-01, 6.45699501e-02,
  9.37472582e-02,-7.01315641e-02, 1.30948046e-01, 5.00796567e-01,
  4.91710072e-01, 4.99006665e-01, 5.08346684e-01]

qacc:
[  0.161457  ,  0.88262251, -2.84290348,  3.82403318, -3.05458775,
   0.88525176, -5.0201313 , 13.56506082, -0.85771561, -5.74807025,
  23.01495008,-38.955532  , -0.53676221,  0.37489492, -4.84219435,
  15.66109137, -0.96064842, -1.88523921, -0.46521976,-16.20844895,
   0.80585415, 26.49758381]

qfrc_actuator:
[-1.98807760e-05,-6.97391313e-05,-1.32973082e-05,-2.89430451e-05,
 -5.68258351e-05,-3.53775764e-04,-2.57632161e-04,-1.45569035e-04,
  4.78658333e-05,-1.14317438e-04,-7.25730134e-05, 5.86389295e-05,
  2.23465820e-02,-1.34179869e-03, 7.00278132e-03,-3.06825116e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003195667522182394
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.68537651e-14, -2.60561295e-13,  1.00000000e+00,  2.26307295e-26,
        1.00000000e+00,  2.60561295e-13, -1.00000000e+00,  0.00000000e+00,
        8.68537651e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10961407, -0.03391358,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01061692e-06, 3.21096283e-05,-3.72258274e-07, 4.22074366e-06,
 -1.79680008e-05, 2.72670549e-05, 1.52697533e-05, 2.79129981e-05,
 -5.29963926e-06,-3.57809555e-05, 5.82492577e-05,-4.19522396e-05,
 -1.64397740e-04,-5.48289380e-05,-4.22749658e-05, 6.38483092e-05,
 -6.20072678e-07, 2.68242376e-07,-1.21644268e+00,-4.60155224e-04,
  9.33578197e-06,-5.50397374e-04]


--- Step 811 ---
qpos:
[ 6.18744843e-03,-1.81499786e-03,-4.99112774e-03, 3.35766363e-02,
  4.47532888e-03,-3.75226156e-03,-1.85308375e-02, 2.85541617e-02,
  1.29649394e-02, 3.33530611e-03,-9.95978341e-03, 2.58770294e-02,
  1.11182247e+00,-1.49172514e-04, 8.76260036e-01, 6.45638102e-02,
  9.37562348e-02,-7.01427072e-02, 1.30946350e-01, 5.00716499e-01,
  4.91767098e-01, 4.99008635e-01, 5.08368461e-01]

qacc:
[  0.09163554,  0.11543037,  2.92618426,-13.71682076,  1.29384254,
   1.93261617, -9.75772652, 22.26802458, -0.67368409, -2.38077405,
  12.3746554 ,-27.95372502, -0.86618712,  0.99202908, 13.54244778,
 -48.46856226, -0.95266179, -1.85633242, -0.60101271,-15.87876434,
   0.90142856, 26.13282068]

qfrc_actuator:
[-1.92693088e-05,-6.13842206e-05,-3.56773262e-05,-6.25807635e-05,
 -4.86792284e-05,-3.62283090e-04,-2.69431092e-04,-1.11036908e-04,
  4.40647510e-05,-8.87653612e-05,-5.40087047e-05, 1.58276853e-05,
  2.22901825e-02,-1.34902706e-03, 6.92020207e-03,-3.32923507e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60913321, -0.07015801, -4.60859922, -0.07015801, 46.46223949,
       -0.63714165, -4.60859922, -0.63714165,  4.6188326 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003199084725919732
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.30141484e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.30141484e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10961279, -0.03391333,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.49464934e-07, 2.63950751e-05,-1.56601783e-05,-3.21931213e-05,
  7.64106026e-06, 1.10960600e-05,-3.31254860e-06, 3.67787693e-05,
 -3.96712286e-06, 1.58056236e-05, 1.68989739e-05,-4.31469565e-05,
 -1.68703142e-04,-5.32934020e-05,-1.00867488e-04,-2.64233800e-04,
 -4.49782208e-07, 4.79504143e-07,-1.21644150e+00,-4.61075375e-04,
  1.08336706e-05,-5.50565889e-04]


--- Step 812 ---
qpos:
[ 6.18772519e-03,-1.81437156e-03,-4.99065482e-03, 3.35752621e-02,
  4.47445589e-03,-3.75215513e-03,-1.85313587e-02, 2.85531851e-02,
  1.29660015e-02, 3.33475320e-03,-9.95906683e-03, 2.58774671e-02,
  1.11234803e+00,-1.49552427e-04, 8.76677201e-01, 6.45542818e-02,
  9.37625472e-02,-7.01492153e-02, 1.30946476e-01, 5.00662608e-01,
  4.91799686e-01, 4.99017850e-01, 5.08380966e-01]

qacc:
[  3.09873601,  1.22095334, -5.75205114, 11.79610354,  0.90026012,
   3.26453523,-14.49391409, 28.58954265,  2.56550691,  1.5591173 ,
  -5.55044454,  8.67154809, -0.71415853,  0.74754299,  8.44031098,
 -32.09587985, -0.66601539,  1.15871707,  0.45537438, -8.39934279,
  -0.78503085,-16.85382616]

qfrc_actuator:
[-1.12670290e-06,-7.45675629e-05,-4.91548404e-05,-4.61901577e-05,
 -4.34891081e-05,-3.49633726e-04,-2.94172045e-04,-7.22911536e-05,
  5.92755000e-05,-5.53676688e-05,-6.11645842e-05, 2.60633941e-05,
  2.22480963e-02,-1.35318780e-03, 6.85562211e-03,-3.49827557e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60958092,  0.53390448,  4.57855679,  0.53390448, 44.90999158,
       -4.69942184,  4.57855679, -4.69942184,  5.15757945,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032003248455142463
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.42046061e-15,  1.73454739e-13,  1.00000000e+00, -9.40204583e-28,
        1.00000000e+00, -1.73454739e-13, -1.00000000e+00,  0.00000000e+00,
        5.42046061e-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([ 0.10244128, -0.08998314,  0.06199085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.81699400e-05,-3.06339742e-06,-1.10790732e-05, 1.63541940e-05,
  5.41087289e-06, 1.97576504e-05,-2.15790305e-05, 3.98264019e-05,
  1.51027231e-05, 4.39013537e-05,-3.30233457e-06, 1.06577442e-05,
 -1.57834599e-04,-5.03228643e-05,-1.44930436e-04,-1.97776421e-04,
 -1.48421613e-07, 8.19135512e-07,-1.21644153e+00,-4.62068005e-04,
  1.14825287e-05,-5.50968712e-04]


--- Step 813 ---
qpos:
[ 6.18821729e-03,-1.81384590e-03,-4.99033433e-03, 3.35747965e-02,
  4.47399665e-03,-3.75164358e-03,-1.85319990e-02, 2.85526318e-02,
  1.29672376e-02, 3.33449234e-03,-9.95814705e-03, 2.58780051e-02,
  1.11287252e+00,-1.49705261e-04, 8.77092735e-01, 6.45476724e-02,
  9.37662760e-02,-7.01511643e-02, 1.30947764e-01, 5.00634515e-01,
  4.91808076e-01, 4.99034146e-01, 5.08384520e-01]

qacc:
[ 1.89088295e+00, 2.16029447e+00,-1.17373252e+01, 2.77855071e+01,
  3.61075082e+00, 1.73165606e+00,-7.19808614e+00, 1.44314503e+01,
  1.53260535e+00, 2.12771995e-02, 5.60417639e-02, 1.14344597e+00,
 -7.77941228e-01, 1.10852061e+00,-1.11690741e+01, 3.56904080e+01,
 -6.45920821e-01, 1.13977499e+00, 2.90382959e-01,-8.36785595e+00,
 -7.14797568e-01,-1.65770571e+01]

qfrc_actuator:
[ 9.43629973e-06,-8.27308602e-05,-5.73147530e-05,-4.99451582e-07,
 -2.23362082e-05,-3.06718913e-04,-2.90762979e-04,-4.91204543e-05,
  6.78012107e-05,-3.53427500e-05,-4.78441251e-05, 3.19255002e-05,
  2.22039775e-02,-1.33770061e-03, 6.83387755e-03,-3.32756594e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61820158, -0.87439862,  4.53466789, -0.87439862, 25.90409825,
        4.10445907,  4.53466789,  4.10445907,  5.40964507,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032240679849654397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.14692222e-14, -1.72177359e-13,  1.00000000e+00,  1.57489291e-26,
        1.00000000e+00,  1.72177359e-13, -1.00000000e+00,  0.00000000e+00,
        9.14692222e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10244238, -0.08998246,  0.06199078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10761238e-05,-1.14837977e-05,-9.60221849e-06, 4.54942052e-05,
  2.13135770e-05, 5.12191214e-05, 6.21678563e-06, 2.40487371e-05,
  8.96886340e-06, 4.43686945e-05, 2.23484675e-05, 7.83485803e-06,
 -1.52886375e-04,-2.75410269e-05,-1.12192363e-04, 1.40662409e-04,
 -5.33206889e-08, 3.73407646e-07,-1.21644061e+00,-4.61646298e-04,
  1.07303660e-05,-5.51288644e-04]


--- Step 814 ---
qpos:
[ 6.18848733e-03,-1.81348972e-03,-4.98979509e-03, 3.35748650e-02,
  4.47379478e-03,-3.75113991e-03,-1.85318342e-02, 2.85516583e-02,
  1.29678764e-02, 3.33451290e-03,-9.95705864e-03, 2.58786126e-02,
  1.11339593e+00,-1.49396365e-04, 8.77507437e-01, 6.45423557e-02,
  9.37674861e-02,-7.01486169e-02, 1.30949660e-01, 5.00631902e-01,
  4.91792471e-01, 4.99057386e-01, 5.08379377e-01]

qacc:
[ -1.9423612 ,  0.26805737, -3.52889604, 12.53993796,  2.27746766,
  -3.12738789, 12.90337861,-21.44810763, -5.25483062,  0.05414493,
   0.0706207 ,  0.63762356, -1.10887865,  1.88665091, -5.05447565,
  16.07454202, -0.6296766 ,  1.12411441,  0.15200236, -8.33724144,
  -0.65882031,-16.34839908]

qfrc_actuator:
[-2.30457026e-06,-8.77787207e-05,-4.44948142e-05, 2.65559950e-05,
 -9.70903204e-06,-3.16922973e-04,-2.52884631e-04,-7.07560636e-05,
  3.68125424e-05,-2.33986803e-05,-4.03416823e-05, 3.51674893e-05,
  2.21586817e-02,-1.31073078e-03, 6.81128553e-03,-3.25975309e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.616749  , -1.06186046,  4.49297493, -1.06186046, 47.28509307,
       10.08414878,  4.49297493, 10.08414878,  7.000016  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003220085164960945
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.3871975e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        5.3871975e-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([ 0.10244354, -0.08998259,  0.0619908 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14333629e-05,-1.15231186e-05, 1.08293957e-05, 2.71151505e-05,
  1.32526526e-05, 2.07498291e-05, 5.00575987e-05,-1.87568225e-05,
 -3.07193802e-05, 4.17119611e-05, 1.96831781e-05, 6.06633617e-06,
 -1.45008572e-04,-1.11941760e-05,-6.03910885e-05, 6.08224755e-05,
 -2.69491157e-08, 1.22183259e-07,-1.21644014e+00,-4.61273194e-04,
  1.02840448e-05,-5.51470115e-04]


--- Step 815 ---
qpos:
[ 6.18826966e-03,-1.81331986e-03,-4.98881602e-03, 3.35755892e-02,
  4.47374617e-03,-3.75071238e-03,-1.85314009e-02, 2.85504798e-02,
  1.29681391e-02, 3.33493423e-03,-9.95645995e-03, 2.58789396e-02,
  1.11391840e+00,-1.48792608e-04, 8.77921034e-01, 6.45395702e-02,
  9.37662298e-02,-7.01416245e-02, 1.30951700e-01, 5.00654505e-01,
  4.91753039e-01, 4.99087456e-01, 5.08365741e-01]

qacc:
[ -4.27099099, -0.11751261, -2.69147451, 13.45559367,  1.35090056,
  -1.27487979,  5.26125125, -9.17793601, -3.33342039,  1.32729129,
  -2.76809725, -1.61211495, -0.79232703,  1.24014112, -9.21659359,
  29.99979841, -0.61659704,  1.11126432,  0.03620108, -8.30905161,
  -0.61400954,-16.16087137]

qfrc_actuator:
[-2.70765094e-05,-9.08482172e-05,-1.93971617e-05, 6.01939997e-05,
 -2.20639420e-06,-3.40994784e-04,-2.48459226e-04,-8.30958862e-05,
  1.83221110e-05,-1.64093200e-05,-7.18820211e-05, 1.90753054e-05,
  2.21180455e-02,-1.29494948e-03, 6.76686860e-03,-3.12895111e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003194111077975126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.23270931e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.23270931e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10244476, -0.08998337,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51043062e-05,-6.13862435e-06, 2.49789155e-05, 3.40449187e-05,
  7.88722194e-06,-2.94630268e-06, 1.42223403e-05,-1.00834353e-05,
 -1.93483606e-05, 3.46171891e-05,-2.03022962e-05,-1.35079526e-05,
 -1.31545723e-04,-1.77742560e-05,-7.04254242e-05, 1.25287854e-04,
 -7.00643344e-08, 5.65169756e-08,-1.21644011e+00,-4.60937076e-04,
  1.01341935e-05,-5.51517403e-04]


--- Step 816 ---
qpos:
[ 6.18810141e-03,-1.81307109e-03,-4.98762557e-03, 3.35766921e-02,
  4.47413297e-03,-3.75035503e-03,-1.85311753e-02, 2.85495411e-02,
  1.29685234e-02, 3.33497494e-03,-9.95588284e-03, 2.58787952e-02,
  1.11444002e+00,-1.48259885e-04, 8.78333740e-01, 6.45376964e-02,
  9.37611514e-02,-7.01418198e-02, 1.30951757e-01, 5.00665825e-01,
  4.91722199e-01, 4.99077407e-01, 5.08394288e-01]

qacc:
[  0.44017723,  0.29235038, -2.4913024 ,  8.65092981,  3.80543144,
   0.9733549 , -4.63111416,  9.17965775,  1.07636539, -1.41501522,
   6.30184076,-14.14039432, -0.48365778,  0.4342131 , -4.04355651,
  12.29043781, -0.95553086, -1.79695207, -0.49587452,-15.7992275 ,
   0.9600604 , 25.43587192]

qfrc_actuator:
[-2.38073398e-05,-7.48934393e-05,-4.99409504e-06, 7.96937786e-05,
  1.99753074e-05,-3.55563199e-04,-2.63891091e-04,-7.21527011e-05,
  2.51011745e-05,-8.36352248e-05,-9.07518745e-05,-8.29510373e-06,
  2.20695802e-02,-1.30365175e-03, 6.72006275e-03,-3.08637977e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031582712566506106
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.86798843e-07,  8.86799195e-07,  1.00000000e+00,  7.86412500e-13,
        1.00000000e+00, -8.86799195e-07, -1.00000000e+00,  0.00000000e+00,
       -8.86798843e-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([ 0.10942637, -0.0353349 ,  0.06199097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.54913121e-06, 1.91133552e-05, 1.73756935e-05, 2.07604972e-05,
  2.24058298e-05,-1.37256779e-05,-1.46451716e-05, 1.11131739e-05,
  6.24485102e-06,-5.26692690e-05,-1.46988822e-05,-2.68544294e-05,
 -1.32626729e-04,-4.04932130e-05,-6.92348641e-05, 3.95838472e-05,
 -1.82992107e-07, 1.69386176e-07,-1.21644050e+00,-4.60629312e-04,
  1.02733007e-05,-5.51433852e-04]


--- Step 817 ---
qpos:
[ 6.18831837e-03,-1.81273086e-03,-4.98649890e-03, 3.35773469e-02,
  4.47478260e-03,-3.74988544e-03,-1.85314962e-02, 2.85487413e-02,
  1.29686411e-02, 3.33432947e-03,-9.95535557e-03, 2.58783668e-02,
  1.11496063e+00,-1.47481016e-04, 8.78745500e-01, 6.45366760e-02,
  9.37522780e-02,-7.01491104e-02, 1.30949352e-01, 5.00665890e-01,
  4.91699844e-01, 4.99027863e-01, 5.08464474e-01]

qacc:
[  3.3831542 , -0.63001015,  4.3016869 ,-12.00863622,  2.28125888,
   1.9553047 , -7.35083087, 10.55176717, -2.33596924, -1.34773159,
   4.69680098, -9.03653469, -0.87977353,  1.33174608, -3.91436746,
  11.79908477, -0.94873278, -1.77381102, -0.61535616,-15.5388376 ,
   1.00302011, 25.11274301]

qfrc_actuator:
[-4.05556724e-06,-8.32200555e-05,-1.47078997e-05, 5.52199925e-05,
  3.28683638e-05,-3.46652441e-04,-2.90868386e-04,-6.53552314e-05,
  1.11892435e-05,-1.41511304e-04,-1.02291676e-04,-2.43768222e-05,
  2.20164427e-02,-1.29129095e-03, 6.67717006e-03,-3.04288176e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59025477, -0.98311196,  4.4837406 , -0.98311196, 31.64998816,
        5.93315936,  4.4837406 ,  5.93315936,  5.89116855,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003146144485306748
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.21377336e-07,  4.21377513e-07,  1.00000000e+00,  1.77558934e-13,
        1.00000000e+00, -4.21377513e-07, -1.00000000e+00,  0.00000000e+00,
       -4.21377336e-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([ 0.10942581, -0.0353342 ,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.98271360e-05, 6.81656843e-06,-2.92650134e-06,-2.26552588e-05,
  1.35284512e-05,-1.31905471e-06,-3.12375094e-05, 5.91865552e-06,
 -1.37504930e-05,-9.15206147e-05,-2.51657803e-05,-1.93712945e-05,
 -1.43164140e-04,-2.38540292e-05,-7.46876538e-05, 3.57912821e-05,
 -1.04070913e-07,-1.00452694e-07,-1.21644022e+00,-4.60979284e-04,
  1.02073027e-05,-5.51629247e-04]


--- Step 818 ---
qpos:
[ 6.18877024e-03,-1.81211906e-03,-4.98581487e-03, 3.35770163e-02,
  4.47523716e-03,-3.74952549e-03,-1.85320952e-02, 2.85483846e-02,
  1.29682459e-02, 3.33349990e-03,-9.95517124e-03, 2.58773596e-02,
  1.11548018e+00,-1.45998890e-04, 8.79156170e-01, 6.45381602e-02,
  9.37407728e-02,-7.01518096e-02, 1.30948212e-01, 5.00691721e-01,
  4.91653415e-01, 4.98985426e-01, 5.08525580e-01]

qacc:
[  2.04637159, -0.43656677,  6.2299622 ,-22.76666116, -1.71375319,
   1.54635493, -7.58970956, 15.77740662, -4.52207782, -0.46764716,
   3.77391541,-13.12562079, -1.24347761,  2.32363479, -9.08015883,
  29.63664577, -0.65796072,  1.14783388,  0.3161442 , -8.28860713,
  -0.76245311,-16.57793916]

qfrc_actuator:
[ 7.47759484e-06,-7.06543624e-05,-3.87012066e-05, 5.03739023e-06,
  2.24340178e-05,-3.59313803e-04,-3.06598555e-04,-4.32874740e-05,
 -1.47976805e-05,-1.22309167e-04,-1.09396569e-04,-5.14367070e-05,
  2.19765241e-02,-1.24882844e-03, 6.64198788e-03,-2.91037110e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6000892 ,  0.48313235,  4.57464794,  0.48313235, 45.16178363,
       -4.28375411,  4.57464794, -4.28375411,  5.05250001,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003173882378303544
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.46561992e-15, -3.49799675e-13,  1.00000000e+00,  1.91187207e-27,
        1.00000000e+00,  3.49799675e-13, -1.00000000e+00,  0.00000000e+00,
        5.46561992e-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([ 0.10244872, -0.08998423,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20979876e-05, 1.47815260e-05,-2.37491831e-05,-5.04382929e-05,
 -1.00473316e-05,-1.96043083e-05,-1.96462393e-05, 2.10464546e-05,
 -2.64092864e-05,-3.79914436e-05,-2.97766601e-05,-3.22278836e-05,
 -1.32680962e-04, 7.01261098e-06,-6.98160057e-05, 1.23917850e-04,
  1.03489673e-07,-2.55773243e-07,-1.21644106e+00,-4.61408707e-04,
  9.36756645e-06,-5.52060985e-04]


--- Step 819 ---
qpos:
[ 6.18901198e-03,-1.81134694e-03,-4.98488822e-03, 3.35763988e-02,
  4.47487358e-03,-3.74947847e-03,-1.85328104e-02, 2.85486556e-02,
  1.29678868e-02, 3.33276405e-03,-9.95527163e-03, 2.58759951e-02,
  1.11599899e+00,-1.44624991e-04, 8.79566138e-01, 6.45405043e-02,
  9.37281251e-02,-7.01501121e-02, 1.30948297e-01, 5.00736833e-01,
  4.91588512e-01, 4.98955088e-01, 5.08573671e-01]

qacc:
[ -1.84291802, -1.05352277,  5.28108996,-10.758679  , -7.15803964,
   1.21591384, -7.56248508, 18.81641847,  0.30739443,  0.18358814,
   1.03262781, -6.82875703, -0.37750442,  0.26361172, -3.61128617,
  11.17349897, -0.2856257 ,  1.09919212,  0.30613052, -3.04114111,
  -0.28344069,-15.74436848]

qfrc_actuator:
[-3.67683756e-06,-4.57699758e-05,-1.75999564e-05,-6.59610178e-06,
 -1.93966365e-05,-3.84741447e-04,-3.15630196e-04,-1.24173744e-05,
 -1.21713278e-05,-9.25929608e-05,-1.13527468e-04,-6.69224169e-05,
  2.19392525e-02,-1.25987100e-03, 6.61147914e-03,-2.86846638e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031759154378364587
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07947288e-07,  5.00381501e-13,  1.00000000e+00, -5.40148259e-20,
        1.00000000e+00, -5.00381501e-13, -1.00000000e+00, -6.01853108e-36,
        1.07947288e-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([ 0.09707863, -0.08909768,  0.06199092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08048077e-05, 2.60566136e-05, 1.94690187e-05,-1.28061995e-05,
 -4.21245962e-05,-3.95551057e-05,-1.47687889e-05, 2.97615190e-05,
  1.86270882e-06, 9.58969649e-07,-1.67508458e-05,-1.87666080e-05,
 -1.16549671e-04,-3.84939784e-05,-5.29715243e-05, 3.88756073e-05,
 -2.56955167e-07,-3.11581092e-07,-1.21644117e+00,-4.60675892e-04,
  1.00535807e-05,-5.52142076e-04]


--- Step 820 ---
qpos:
[ 6.18911846e-03,-1.81072276e-03,-4.98364132e-03, 3.35767163e-02,
  4.47401120e-03,-3.74948612e-03,-1.85339940e-02, 2.85489405e-02,
  1.29679065e-02, 3.33230862e-03,-9.95560641e-03, 2.58751177e-02,
  1.11651702e+00,-1.43101674e-04, 8.79974699e-01, 6.45424806e-02,
  9.37158000e-02,-7.01442156e-02, 1.30949446e-01, 5.00794813e-01,
  4.91510788e-01, 4.98941686e-01, 5.08604851e-01]

qacc:
[ -1.1761328 ,  0.836759  , -7.21016995, 22.98337735, -4.37915982,
   1.27305868, -4.68810142,  5.70077221,  3.32115972,  2.02188863,
  -8.73948595, 17.35060997, -0.66946278,  0.9734434 , -0.92817067,
   0.32018025,  0.0806569 ,  1.04974898,  0.26610489,  2.1522739 ,
   0.13377777,-14.86735869]

qfrc_actuator:
[-1.03401166e-05,-6.67496566e-05,-5.45544523e-06, 4.01008737e-05,
 -4.38587167e-05,-3.82076456e-04,-3.38446001e-04,-1.21329911e-05,
  7.27905177e-06,-5.67725038e-05,-1.15795014e-04,-3.99484228e-05,
  2.19035779e-02,-1.24922853e-03, 6.50921761e-03,-2.89803500e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031728301365117895
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.85892707e-13, -3.49915683e-13,  1.00000000e+00,  6.50467734e-26,
        1.00000000e+00,  3.49915683e-13, -1.00000000e+00,  0.00000000e+00,
        1.85892707e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.091764  , -0.08822082,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.96492373e-06,-2.97772989e-06, 1.94634086e-05, 4.82358982e-05,
 -2.56798784e-05,-2.12378239e-05,-3.17665511e-05,-1.33992820e-06,
  1.95023902e-05, 3.21227562e-05,-4.76965207e-06, 2.60750284e-05,
 -1.15303899e-04,-2.17251871e-05,-1.27360519e-04,-3.54047607e-05,
 -5.67389959e-07,-1.82548395e-07,-1.21644139e+00,-4.60020875e-04,
  1.09305017e-05,-5.52067420e-04]


--- Step 821 ---
qpos:
[ 6.18948907e-03,-1.81018042e-03,-4.98252759e-03, 3.35779595e-02,
  4.47320692e-03,-3.74975225e-03,-1.85350704e-02, 2.85485223e-02,
  1.29678143e-02, 3.33184993e-03,-9.95586765e-03, 2.58745850e-02,
  1.11703410e+00,-1.41107002e-04, 8.80382002e-01, 6.45437043e-02,
  9.37038126e-02,-7.01341775e-02, 1.30951199e-01, 5.00865578e-01,
  4.91420234e-01, 4.98945017e-01, 5.08619403e-01]

qacc:
[  2.32019066,  2.1654794 ,-11.7929378 , 28.09211644,  0.51585156,
  -2.08781988,  9.91635569,-22.06371921, -0.98160741,  0.50165607,
  -3.24708242,  9.09424274, -1.0997246 ,  1.93070563,  0.48889294,
  -4.23642293,  0.08440476,  1.03538734,  0.15121098,  2.04937779,
   0.17628247,-14.72743575]

qfrc_actuator:
[ 3.45311206e-06,-7.94983655e-05,-1.66122742e-05, 8.51836753e-05,
 -4.01390980e-05,-3.98194227e-04,-3.33628342e-04,-4.75899167e-05,
  9.61519546e-07,-7.07715660e-05,-1.16881003e-04,-2.37053597e-05,
  2.18529149e-02,-1.22578939e-03, 6.45453172e-03,-2.93409870e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003148536806730218
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.50961790e-14, -5.28923319e-13,  1.00000000e+00,  2.91416539e-26,
        1.00000000e+00,  5.28923319e-13, -1.00000000e+00,  0.00000000e+00,
        5.50961790e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09176476, -0.08822185,  0.061991  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35880460e-05,-8.36711474e-06,-7.72819382e-06, 4.65628061e-05,
  2.97996204e-06,-3.46082182e-05,-3.51413236e-06,-3.74892179e-05,
 -5.75510584e-06, 4.12559269e-06, 5.87456214e-06, 1.79650032e-05,
 -1.26646319e-04,-5.07629912e-06,-1.18779990e-04,-5.47942909e-05,
 -7.66412172e-07, 5.82031935e-08,-1.21644160e+00,-4.59420696e-04,
  1.17064256e-05,-5.51864922e-04]


--- Step 822 ---
qpos:
[ 6.18967690e-03,-1.80963540e-03,-4.98127463e-03, 3.35793582e-02,
  4.47210847e-03,-3.75049437e-03,-1.85357284e-02, 2.85480343e-02,
  1.29673027e-02, 3.33101847e-03,-9.95649431e-03, 2.58743304e-02,
  1.11755011e+00,-1.38712144e-04, 8.80789314e-01, 6.45441896e-02,
  9.36921738e-02,-7.01200441e-02, 1.30953174e-01, 5.00949057e-01,
  4.91316844e-01, 4.98964914e-01, 5.08617553e-01]

qacc:
[ -1.60264476, -0.06221126, -0.42436773,  2.88620684, -2.55337411,
  -1.93560895,  6.29236433, -7.82690379, -3.69586269,  1.10813113,
  -5.82740088, 11.48427413, -1.17329998,  1.95511435,  2.31997442,
  -7.91339144,  0.0871694 ,  1.02383469,  0.05531441,  1.96571326,
   0.21105511,-14.61369236]

qfrc_actuator:
[-6.33029990e-06,-6.95627939e-05,-5.91932872e-06, 9.34280593e-05,
 -5.53731102e-05,-4.25355981e-04,-3.12618952e-04,-5.05223043e-05,
 -2.04776625e-05,-1.32243469e-04,-1.52977489e-04,-1.39532749e-05,
  2.17879763e-02,-1.21280659e-03, 6.50831521e-03,-2.95577478e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003107297774249118
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.89813151e-13,  1.78647672e-13,  1.00000000e+00, -3.39096775e-26,
        1.00000000e+00, -1.78647672e-13, -1.00000000e+00,  0.00000000e+00,
        1.89813151e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09176531, -0.08822326,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.40471397e-06, 5.62365249e-06, 9.60072485e-06, 8.51757787e-06,
 -1.51592592e-05,-4.88227483e-05, 1.21474909e-05,-5.26290770e-06,
 -2.16040553e-05,-5.71629480e-05,-3.38893551e-05, 1.04847960e-05,
 -1.44028907e-04,-1.49978686e-05,-9.24649799e-06,-4.05418842e-05,
 -9.52768690e-07, 3.81534735e-07,-1.21644209e+00,-4.58846617e-04,
  1.23803137e-05,-5.51576056e-04]


--- Step 823 ---
qpos:
[ 6.18940103e-03,-1.80885362e-03,-4.98052138e-03, 3.35801684e-02,
  4.47083585e-03,-3.75155567e-03,-1.85359347e-02, 2.85481827e-02,
  1.29665379e-02, 3.33006384e-03,-9.95791669e-03, 2.58741937e-02,
  1.11806522e+00,-1.36182387e-04, 8.81195879e-01, 6.45444974e-02,
  9.36766962e-02,-7.01133989e-02, 1.30953102e-01, 5.01020745e-01,
  4.91222784e-01, 4.98943248e-01, 5.08659045e-01]

qacc:
[ -4.0975322 ,  0.50583506,  1.14920525,-10.72622986, -1.50424338,
  -0.37128612, -1.97076941, 12.49367891, -2.25125284,  2.30823995,
  -8.95664868, 12.35180764, -0.76308578,  1.07584542, -0.52248888,
   0.33108937, -0.9597038 , -1.87203759, -0.51174422,-16.14904221,
   0.80631325, 26.39244453]

qfrc_actuator:
[-2.99184507e-05,-6.38210671e-05,-3.55935465e-05, 6.22165928e-05,
 -6.38976287e-05,-4.23317959e-04,-2.82248491e-04,-1.65394120e-05,
 -3.28848821e-05,-1.33065099e-04,-1.91918097e-04,-8.16699894e-06,
  2.17464713e-02,-1.20621497e-03, 6.45668624e-03,-2.96853154e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030945519396409493
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79383485e-13, -8.96917426e-14,  1.00000000e+00,  1.60892174e-26,
        1.00000000e+00,  8.96917426e-14, -1.00000000e+00,  0.00000000e+00,
        1.79383485e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10960252, -0.03390495,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.38576159e-05, 1.11932884e-05,-2.70593519e-05,-3.04793114e-05,
 -8.97487382e-06,-2.29494608e-05, 2.16183832e-05, 3.22133340e-05,
 -1.30433403e-05,-3.93096088e-05,-5.45418338e-05, 2.37266236e-06,
 -1.32252551e-04,-2.77320088e-05,-6.85005453e-05,-1.80823605e-05,
 -1.12816907e-06, 7.86569647e-07,-1.21644287e+00,-4.58293645e-04,
  1.29584941e-05,-5.51200300e-04]


--- Step 824 ---
qpos:
[ 6.18918949e-03,-1.80796760e-03,-4.98012525e-03, 3.35809511e-02,
  4.47016022e-03,-3.75236391e-03,-1.85362924e-02, 2.85487046e-02,
  1.29659747e-02, 3.32936626e-03,-9.95976048e-03, 2.58740519e-02,
  1.11857958e+00,-1.33891154e-04, 8.81601429e-01, 6.45453229e-02,
  9.36574013e-02,-7.01141337e-02, 1.30950475e-01, 5.01080652e-01,
  4.91137927e-01, 4.98880726e-01, 5.08743294e-01]

qacc:
[  0.55266352,  1.0785523 , -3.53159364,  3.55267252,  5.21589406,
   1.51440025, -6.50904335, 13.04522767,  1.755793  ,  1.50340148,
  -4.85169701,  5.25317752, -0.27762393, -0.02727108, -3.05076684,
   8.51722527, -0.95432424, -1.84501399, -0.63898897,-15.85841644,
   0.86473427, 26.03795882]

qfrc_actuator:
[-2.59301326e-05,-6.08307961e-05,-5.33995579e-05, 6.12714607e-05,
 -3.28935287e-05,-3.85973856e-04,-2.81967259e-04, 3.40908491e-06,
 -2.21187243e-05,-7.98444327e-05,-1.96483436e-04,-4.71133731e-06,
  2.17083990e-02,-1.22110547e-03, 6.41111295e-03,-2.94069694e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57257082, -0.35770687,  4.55855785, -0.35770687, 24.56416447,
        1.56872646,  4.55855785,  1.56872646,  4.6956677 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030953631282437666
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.96682375e-14,  1.79336475e-13,  1.00000000e+00, -1.60807856e-26,
        1.00000000e+00, -1.79336475e-13, -1.00000000e+00,  0.00000000e+00,
        8.96682375e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10960137, -0.03390467,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.31284054e-06, 2.30767821e-06,-1.98997234e-05,-1.99911544e-06,
  3.07374965e-05, 3.03942124e-05,-6.66508446e-07, 2.03428197e-05,
  1.03794683e-05, 2.01183807e-05,-1.92933345e-05,-6.39505876e-08,
 -1.25045578e-04,-4.86943603e-05,-8.37723255e-05, 1.69294723e-05,
 -1.13939219e-06, 6.02267865e-08,-1.21644246e+00,-4.58397194e-04,
  1.22807486e-05,-5.51331393e-04]


--- Step 825 ---
qpos:
[ 6.18902707e-03,-1.80698895e-03,-4.97973070e-03, 3.35823833e-02,
  4.46986152e-03,-3.75309776e-03,-1.85368623e-02, 2.85494886e-02,
  1.29655446e-02, 3.32876841e-03,-9.96139514e-03, 2.58742732e-02,
  1.11909318e+00,-1.32035503e-04, 8.82006745e-01, 6.45449939e-02,
  9.36382334e-02,-7.01108834e-02, 1.30949632e-01, 5.01152992e-01,
  4.91040835e-01, 4.98833908e-01, 5.08811664e-01]

qacc:
[  0.43057523,  1.46344968, -7.78354109, 18.95945419,  3.29103968,
   1.22358899, -5.33866271, 10.17229468,  1.17755486,  0.29232944,
  -2.38794746,  8.26776864, -0.22417834, -0.28343477,  3.14089119,
 -11.48748972,  0.03175173,  0.99627315,  0.44635151,  1.83677414,
   0.04613031,-14.0493924 ]

qfrc_actuator:
[-2.34911306e-05,-4.17009586e-05,-4.62747120e-05, 9.59130036e-05,
 -1.43790135e-05,-3.98901198e-04,-2.99317296e-04, 1.49454286e-05,
 -1.55546415e-05,-6.55398634e-05,-1.80479652e-04, 1.51744976e-05,
  2.16617534e-02,-1.24856578e-03, 6.41715606e-03,-2.99564757e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.564677  ,   1.29874677,   4.37601793,   1.29874677,
        42.10892645, -11.14265837,   4.37601793, -11.14265837,
         7.87167707,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00030723069203889865
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52076269e-07,  1.52075972e-07,  1.00000000e+00, -2.31271464e-14,
        1.00000000e+00, -1.52075972e-07, -1.00000000e+00, -3.15544362e-30,
        1.52076269e-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([ 0.092209  , -0.08688358,  0.06199122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.53152300e-06, 1.61874257e-05, 5.06475050e-06, 3.40082992e-05,
  1.94023657e-05, 4.84627228e-06,-1.04389723e-05, 1.32119021e-05,
  6.86264178e-06, 2.16158239e-05, 1.78099362e-05, 2.00846264e-05,
 -1.34005748e-04,-6.35461036e-05,-3.41079139e-05,-6.56035636e-05,
 -1.01495498e-06,-5.32747325e-07,-1.21644324e+00,-4.58565117e-04,
  1.07879597e-05,-5.51703890e-04]


--- Step 826 ---
qpos:
[ 6.18855006e-03,-1.80585271e-03,-4.97926970e-03, 3.35838604e-02,
  4.46944276e-03,-3.75422352e-03,-1.85371133e-02, 2.85500834e-02,
  1.29655418e-02, 3.32801284e-03,-9.96267821e-03, 2.58744087e-02,
  1.11960618e+00,-1.31361977e-04, 8.82411393e-01, 6.45414204e-02,
  9.36193319e-02,-7.01034241e-02, 1.30949886e-01, 5.01238248e-01,
  4.90930874e-01, 4.98804069e-01, 5.08863044e-01]

qacc:
[ -2.76661271,  0.12010692, -0.30560889,  0.84777366, -1.03422227,
  -1.79526872,  6.45228168, -9.95080844,  3.77311122, -1.37465901,
   4.94772493, -6.86153956,  0.47353409, -2.05545281,  8.74586429,
 -32.1742424 ,  0.06658611,  1.05223933,  0.27410064,  2.16136408,
   0.13544899,-14.92108258]

qfrc_actuator:
[-3.97448570e-05,-3.06700838e-05,-4.21566702e-05, 9.79826584e-05,
 -2.11296160e-05,-4.41913961e-04,-2.91619401e-04, 3.64369113e-06,
  6.22851580e-06,-9.22830776e-05,-1.70348997e-04, 9.04706131e-06,
  2.16153176e-02,-1.31878077e-03, 6.35294524e-03,-3.16981470e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56611295,  0.66452366,  4.51749884,  0.66452366, 39.62304088,
       -5.15687083,  4.51749884, -5.15687083,  5.32468816,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030765192790863094
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01494643e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.01494643e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09176983, -0.08822577,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61815023e-05, 2.25446544e-05, 9.24306870e-06, 3.59410031e-06,
 -6.19478087e-06,-4.18543630e-05, 7.88291762e-06,-1.11977687e-05,
  2.19805903e-05,-1.00746256e-05, 1.75092194e-05,-4.18986321e-06,
 -1.42211455e-04,-1.11285031e-04,-9.37375452e-05,-1.83734750e-04,
 -1.29542368e-06,-2.81975036e-07,-1.21644324e+00,-4.57736488e-04,
  1.20211915e-05,-5.51533032e-04]


--- Step 827 ---
qpos:
[ 6.18753709e-03,-1.80472577e-03,-4.97867937e-03, 3.35853679e-02,
  4.46894631e-03,-3.75543164e-03,-1.85373712e-02, 2.85505213e-02,
  1.29658002e-02, 3.32686256e-03,-9.96337724e-03, 2.58741397e-02,
  1.12011829e+00,-1.31453600e-04, 8.82814552e-01, 6.45388003e-02,
  9.36006055e-02,-7.00920969e-02, 1.30950931e-01, 5.01335805e-01,
  4.90808575e-01, 4.98789493e-01, 5.08899200e-01]

qacc:
[ -4.70852589, -0.30174825,  0.94500462, -0.63344606, -0.67878776,
  -0.41098756,  1.97246746, -4.61893914,  2.32391022, -2.99125124,
  11.60899826,-19.24556768,  0.12079095, -1.22530407, -5.1014407 ,
  14.58804809,  0.04378956,  0.96699379,  0.19778489,  1.56842125,
   0.15981092,-13.76952583]

qfrc_actuator:
[-6.68701789e-05,-4.23532446e-05,-3.99101172e-05, 9.86067915e-05,
 -2.49404316e-05,-4.31530901e-04,-2.87091590e-04,-3.26177055e-06,
  1.90432229e-05,-1.25684782e-04,-1.46215699e-04,-1.23848902e-05,
  2.15583689e-02,-1.36046990e-03, 6.29988757e-03,-3.11116519e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55998184, -0.75530056, -4.49699404, -0.75530056, 41.65194902,
       -6.22984668, -4.49699404, -6.22984668,  5.60632671,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000305847617191493
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08359540e-06, -1.08359573e-06,  1.00000000e+00, -1.17417935e-12,
        1.00000000e+00,  1.08359573e-06, -1.00000000e+00,  2.01948392e-28,
       -1.08359540e-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([ 0.09221119, -0.08688479,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75824209e-05, 2.93331608e-06, 8.14542735e-06, 1.97386183e-06,
 -4.00223726e-06,-1.18330503e-05,-3.51866316e-06,-8.64230092e-06,
  1.34314497e-05,-3.55485584e-05, 2.40865675e-05,-2.13360657e-05,
 -1.69174887e-04,-9.31643511e-05,-1.20405475e-04, 3.54684844e-05,
 -1.57385001e-06, 6.73342387e-08,-1.21644350e+00,-4.56911876e-04,
  1.32246002e-05,-5.51270947e-04]


--- Step 828 ---
qpos:
[ 6.18620642e-03,-1.80330274e-03,-4.97814715e-03, 3.35861542e-02,
  4.46840766e-03,-3.75638715e-03,-1.85374508e-02, 2.85504709e-02,
  1.29658652e-02, 3.32551733e-03,-9.96384408e-03, 2.58739604e-02,
  1.12062929e+00,-1.31753402e-04, 8.83216048e-01, 6.45375715e-02,
  9.35780761e-02,-7.00881745e-02, 1.30949483e-01, 5.01421980e-01,
  4.90695442e-01, 4.98733652e-01, 5.08978119e-01]

qacc:
[ -2.80074529, -0.92580722,  6.92281055,-19.53948397, -0.36833922,
  -1.167383  ,  6.71026253,-15.63274826, -1.69112522, -0.71871151,
   1.81583454, -0.49764069, -0.4924918 ,  0.22662975, -6.63150974,
  19.68334603, -0.95076007, -1.85120808, -0.62322877,-16.07374013,
   0.65671907, 26.02810699]

qfrc_actuator:
[-8.24185959e-05,-1.43030824e-05,-3.88759225e-05, 6.28546637e-05,
 -2.69817299e-05,-3.89263146e-04,-2.66515022e-04,-2.52387004e-05,
  8.71930297e-06,-1.27276238e-04,-1.31806524e-04,-7.14105947e-06,
  2.15058120e-02,-1.36723501e-03, 6.22166487e-03,-3.03999417e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.55915268,  -1.34354874,  -4.35669025,  -1.34354874,
        39.3834087 , -10.73936465,  -4.35669025, -10.73936465,
         7.87103831,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00030560244867176845
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.08224909e-14, -1.81644982e-13,  1.00000000e+00,  1.64974497e-26,
        1.00000000e+00,  1.81644982e-13, -1.00000000e+00,  0.00000000e+00,
        9.08224909e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10959723, -0.03390111,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63365165e-05, 3.14001406e-05, 2.69034431e-06,-3.53120385e-05,
 -2.15925614e-06, 3.45981513e-05, 1.74163341e-05,-2.27715123e-05,
 -9.95923243e-06,-1.73534187e-05, 9.31663289e-06, 4.14282575e-06,
 -1.76918938e-04,-6.09595886e-05,-1.31249419e-04, 5.73025439e-05,
 -1.83346419e-06, 4.65884781e-07,-1.21644404e+00,-4.56136343e-04,
  1.42725984e-05,-5.50938650e-04]


--- Step 829 ---
qpos:
[ 6.18504419e-03,-1.80139722e-03,-4.97766645e-03, 3.35854450e-02,
  4.46750383e-03,-3.75715568e-03,-1.85372814e-02, 2.85501604e-02,
  1.29658056e-02, 3.32467496e-03,-9.96502279e-03, 2.58741658e-02,
  1.12113937e+00,-1.32742443e-04, 8.83616432e-01, 6.45351326e-02,
  9.35584356e-02,-7.00922230e-02, 1.30946791e-01, 5.01470565e-01,
  4.90623942e-01, 4.98656650e-01, 5.09074616e-01]

qacc:
[  1.47018972, -2.3002808 , 15.43442491,-41.58018884, -3.1915633 ,
  -0.97713844,  4.95231274,-10.00210205, -1.12785834,  3.44838457,
 -12.9519771 , 20.3749825 , -0.09232266, -0.7964975 ,  1.99573342,
  -9.40370387,  0.72223461, -1.99271213, -0.31098198,  9.89222078,
  -2.21406947, 29.54747803]

qfrc_actuator:
[-7.32721365e-05, 1.95327858e-05,-3.84334191e-05,-1.17362496e-05,
 -4.57183630e-05,-3.81424483e-04,-2.54244188e-04,-3.81117489e-05,
  2.61498060e-06,-7.43181500e-05,-1.58618867e-04, 1.37758154e-05,
  2.14559410e-02,-1.40655451e-03, 6.16569297e-03,-3.10415061e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56333448,  4.53971136,  0.46372663,  4.53971136,  4.99652422,
       -4.24076647,  0.46372663, -4.24076647, 46.0788616 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030683612002928295
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.80914656e-13,  3.61829313e-13,  1.00000000e+00, -6.54602258e-26,
        1.00000000e+00, -3.61829313e-13, -1.00000000e+00,  0.00000000e+00,
        1.80914656e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08199982, -0.03148712,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.68908539e-06, 5.03766339e-05, 6.01564778e-06,-7.38447360e-05,
 -1.87859970e-05, 2.98423794e-05, 2.07869855e-05,-1.12283576e-05,
 -6.39864437e-06, 4.54072733e-05,-2.90839694e-05, 2.05810693e-05,
 -1.71775367e-04,-8.91697145e-05,-1.11102986e-04,-7.80906803e-05,
 -1.77013801e-06,-3.32940979e-07,-1.21644449e+00,-4.56239064e-04,
  1.27600186e-05,-5.51221397e-04]


--- Step 830 ---
qpos:
[ 6.18365581e-03,-1.79950175e-03,-4.97729548e-03, 3.35842606e-02,
  4.46638235e-03,-3.75750165e-03,-1.85376743e-02, 2.85507601e-02,
  1.29656730e-02, 3.32438955e-03,-9.96688933e-03, 2.58746112e-02,
  1.12164823e+00,-1.33600555e-04, 8.84016178e-01, 6.45347392e-02,
  9.35416074e-02,-7.01041316e-02, 1.30942210e-01, 5.01482124e-01,
  4.90593298e-01, 4.98559026e-01, 5.09188366e-01]

qacc:
[ -1.99210101, -0.68118263,  4.42226073,-12.47050394, -1.9290284 ,
   4.00397504,-17.30422666, 33.63735259, -0.67281009,  3.15359746,
 -11.18702755, 16.02620455, -0.89355932,  1.15981924, -7.05927996,
  23.45895887,  0.70305416, -1.96504851, -0.47243283,  9.77563932,
  -2.10605447, 28.99546909]

qfrc_actuator:
[-8.51730594e-05,-1.44752873e-05,-5.60819156e-05,-3.75571959e-05,
 -5.63796963e-05,-3.58773425e-04,-2.82604110e-04, 7.70263726e-06,
 -9.48958996e-07,-4.25080680e-05,-1.91560300e-04, 2.60128679e-05,
  2.14023800e-02,-1.39383179e-03, 6.19231717e-03,-2.98116926e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57690443, -3.61358267,  2.80892762, -3.61358267, 19.7019996 ,
       19.45788186,  2.80892762, 19.45788186, 29.60875791,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031079174538056753
  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([ 0.08199937, -0.03149002,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16398379e-05,-7.82512410e-06,-9.08200762e-06,-2.48951959e-05,
 -1.11879450e-05, 4.31713255e-05,-2.00153394e-05, 4.75968431e-05,
 -3.73339546e-06, 5.21178010e-05,-2.64087822e-05, 1.35814631e-05,
 -1.78703712e-04,-4.12710028e-05,-3.58371899e-05, 1.03730215e-04,
 -7.19735638e-07,-6.34004830e-07,-1.21644339e+00,-4.56582962e-04,
  1.03689744e-05,-5.51064373e-04]


--- Step 831 ---
qpos:
[ 6.18213596e-03,-1.79811348e-03,-4.97691180e-03, 3.35831778e-02,
  4.46583146e-03,-3.75743590e-03,-1.85386805e-02, 2.85515639e-02,
  1.29654990e-02, 3.32406142e-03,-9.96835671e-03, 2.58752016e-02,
  1.12215558e+00,-1.32923611e-04, 8.84415097e-01, 6.45384703e-02,
  9.35250411e-02,-7.01116969e-02, 1.30940344e-01, 5.01507291e-01,
  4.90548987e-01, 4.98479056e-01, 5.09284557e-01]

qacc:
[ -1.1467569 , -0.49428865,  0.36429609,  1.74466183,  4.96750671,
   2.66655445, -9.59727759, 13.82344744, -0.35133541, -0.872815  ,
   2.41900629, -0.51688189, -2.23216167,  4.54308076,-13.50118262,
  45.85681425,  0.06551365,  1.08584305,  0.6789795 ,  2.10747781,
   0.20689582,-15.60481399]

qfrc_actuator:
[-9.16225693e-05,-7.11375538e-05,-6.67535691e-05,-3.45382177e-05,
 -2.66920539e-05,-3.45297945e-04,-3.16878166e-04, 1.66526015e-05,
 -2.99054481e-06,-5.91472872e-05,-1.74660579e-04, 3.30329698e-05,
  2.13573164e-02,-1.29717031e-03, 6.17263207e-03,-2.76642928e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003155644329062013
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.29832509e-14, -1.75910671e-13,  1.00000000e+00, -5.80210580e-27,
        1.00000000e+00,  1.75910671e-13, -1.00000000e+00,  0.00000000e+00,
       -3.29832509e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0917759 , -0.08822532,  0.06199098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.78793952e-06,-6.40509465e-05,-1.42899649e-05, 1.88324491e-06,
  2.93819301e-05, 3.55342490e-05,-2.61677519e-05, 1.10346188e-05,
 -2.13168865e-06, 7.66173660e-06, 2.49066464e-05, 8.60805949e-06,
 -1.62590176e-04, 4.95708182e-05,-3.06666382e-05, 2.14529842e-04,
  8.27624335e-08,-4.65034490e-07,-1.21644354e+00,-4.56771062e-04,
  8.70885154e-06,-5.51121419e-04]


--- Step 832 ---
qpos:
[ 6.18089547e-03,-1.79735236e-03,-4.97629170e-03, 3.35821403e-02,
  4.46564104e-03,-3.75763899e-03,-1.85395092e-02, 2.85521569e-02,
  1.29653019e-02, 3.32357637e-03,-9.96925764e-03, 2.58762202e-02,
  1.12266180e+00,-1.31192935e-04, 8.84813170e-01, 6.45421842e-02,
  9.35087533e-02,-7.01149996e-02, 1.30940467e-01, 5.01545876e-01,
  4.90491102e-01, 4.98416392e-01, 5.09363636e-01]

qacc:
[  2.47456653, -1.40174154,  3.59604957, -2.72119779,  3.16473298,
  -1.29044235,  4.9653295 , -8.68742052, -0.18262766, -0.90880069,
   1.13236127,  5.48689786, -1.72218611,  3.41913051, -1.07228382,
   2.23038141,  0.0695941 ,  1.06563033,  0.49699751,  1.97633248,
   0.25418052,-15.33529923]

qfrc_actuator:
[-7.70528286e-05,-1.05385907e-04,-5.55650245e-05,-3.23547641e-05,
 -9.00146838e-06,-3.90743875e-04,-3.18919518e-04, 3.82598867e-06,
 -4.12102184e-06,-6.89739383e-05,-1.46420664e-04, 5.46744943e-05,
  2.13174208e-02,-1.24036523e-03, 6.09324669e-03,-2.78357347e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60885508, -0.29424394,  4.59945275, -0.29424394, 21.31630967,
        1.06883743,  4.59945275,  1.06883743,  4.67723255,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003198313967582578
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08477372e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.08477372e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09177696, -0.08822436,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.43503099e-05,-7.29871299e-05,-3.75346605e-06,-1.01994127e-06,
  1.85429292e-05,-3.04895385e-05, 2.46479922e-06,-1.19953846e-05,
 -1.19215393e-06,-2.04388565e-09, 3.32077813e-05, 2.30019308e-05,
 -1.27047438e-04, 3.03081702e-05,-7.57248000e-05,-1.05260890e-05,
 -1.97829596e-07,-4.94260833e-07,-1.21644272e+00,-4.56028580e-04,
  1.00453109e-05,-5.51219313e-04]


--- Step 833 ---
qpos:
[ 6.17983882e-03,-1.79687501e-03,-4.97542390e-03, 3.35814368e-02,
  4.46531953e-03,-3.75821253e-03,-1.85397545e-02, 2.85532676e-02,
  1.29650923e-02, 3.32341058e-03,-9.97023985e-03, 2.58771283e-02,
  1.12316747e+00,-1.29966312e-04, 8.85210719e-01, 6.45416601e-02,
  9.34927556e-02,-7.01141067e-02, 1.30941966e-01, 5.01597723e-01,
  4.90419723e-01, 4.98370742e-01, 5.09425974e-01]

qacc:
[  1.62936462, -0.38271743, -0.59552275,  6.19642565, -1.1223054 ,
  -1.05179199,  0.85726958,  7.4404902 , -0.11713887,  0.42200182,
  -0.42583765, -1.59074056, -0.14691748, -0.38070914, 12.01134563,
 -43.16255376,  0.07252633,  1.04891345,  0.34414787,  1.86919223,
   0.29287589,-15.11150176]

qfrc_actuator:
[-6.79823979e-05,-9.03578029e-05,-3.14891628e-05,-1.29041278e-05,
 -1.62798628e-05,-4.00016270e-04,-2.84414085e-04, 3.15245656e-05,
 -4.70658313e-06,-3.90764987e-05,-1.47208836e-04, 4.92425066e-05,
  2.12806459e-02,-1.27861722e-03, 6.04198210e-03,-3.00836682e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61299181, -0.49923246,  4.58589799, -0.49923246, 36.79932802,
        3.50388602,  4.58589799,  3.50388602,  4.99443371,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032097498215319376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.40454419e-14, -5.18836243e-13,  1.00000000e+00,  2.80407340e-26,
        1.00000000e+00,  5.18836243e-13, -1.00000000e+00,  0.00000000e+00,
        5.40454419e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09177775, -0.0882242 ,  0.06199082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.45033191e-06,-2.66294522e-05, 8.48856251e-06, 1.61722029e-05,
 -6.75892263e-06,-2.63047588e-05, 2.81063351e-05, 2.62439850e-05,
 -6.23989457e-07, 3.77663238e-05, 4.11134108e-06,-3.83456437e-06,
 -1.07557754e-04,-5.99792572e-05,-9.16977711e-05,-2.36146482e-04,
 -4.61652315e-07,-4.31274650e-07,-1.21644223e+00,-4.55316515e-04,
  1.12603769e-05,-5.51228978e-04]


--- Step 834 ---
qpos:
[ 6.17924385e-03,-1.79633819e-03,-4.97445907e-03, 3.35812823e-02,
  4.46491326e-03,-3.75892560e-03,-1.85393920e-02, 2.85550147e-02,
  1.29648771e-02, 3.32390553e-03,-9.97136360e-03, 2.58772334e-02,
  1.12367260e+00,-1.29455468e-04, 8.85607424e-01, 6.45380718e-02,
  9.34770562e-02,-7.01090731e-02, 1.30944329e-01, 5.01662701e-01,
  4.90334915e-01, 4.98341867e-01, 5.09471873e-01]

qacc:
[  4.06194842,  0.92968381, -5.53167715, 14.84691742, -0.72002557,
  -0.57179689, -0.91349491, 11.05586471, -0.06663556, -0.38398559,
   6.02700725,-20.18516048,  0.11700892, -1.01618372,  7.97485857,
 -29.77737429,  0.07457501,  1.03518206,  0.21606431,  1.78128451,
   0.32488634,-14.92691236]

qfrc_actuator:
[-4.44751492e-05,-6.36089974e-05,-1.75393797e-05, 1.65998086e-05,
 -2.04396433e-05,-3.87375382e-04,-2.46210099e-04, 6.51413922e-05,
 -4.96667807e-06, 1.42419970e-05,-1.47240095e-04, 1.01810568e-05,
  2.12457325e-02,-1.31950926e-03, 6.00759145e-03,-3.15824301e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000319624587364703
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.42737807e-14, -3.47352196e-13,  1.00000000e+00,  1.88521169e-26,
        1.00000000e+00,  3.47352196e-13, -1.00000000e+00,  0.00000000e+00,
        5.42737807e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09177833, -0.08822468,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.37633786e-05, 1.42846322e-05, 1.00406602e-05, 2.89696632e-05,
 -4.36426809e-06, 4.88035643e-06, 3.71483421e-05, 3.39724214e-05,
 -2.66000619e-07, 7.51371441e-05, 8.15480774e-06,-3.73748488e-05,
 -1.14681250e-04,-7.49999447e-05,-1.06884907e-04,-1.75785825e-04,
 -7.11730374e-07,-2.78881388e-07,-1.21644206e+00,-4.54627313e-04,
  1.23656891e-05,-5.51150117e-04]


--- Step 835 ---
qpos:
[ 6.17928028e-03,-1.79587827e-03,-4.97301713e-03, 3.35818183e-02,
  4.46446016e-03,-3.75964009e-03,-1.85388157e-02, 2.85561243e-02,
  1.29650054e-02, 3.32497006e-03,-9.97252524e-03, 2.58775643e-02,
  1.12417687e+00,-1.28828074e-04, 8.86003004e-01, 6.45352855e-02,
  9.34638676e-02,-7.01060522e-02, 1.30948367e-01, 5.01711886e-01,
  4.90266996e-01, 4.98313738e-01, 5.09516314e-01]

qacc:
[  5.56862136, -0.02434484, -2.9945565 , 14.25902277, -0.403458  ,
  -1.90922407,  9.49875311,-20.87433657,  3.01264293,  1.31770982,
  -4.5699349 ,  8.13109932, -0.6532511 ,  0.8767263 , -4.04094303,
  11.81743337,  0.62772759, -0.50318654,  0.41873171,  8.66150853,
  -0.5372837 ,  7.68253357]

qfrc_actuator:
[-1.26571934e-05,-6.55627450e-05, 8.13896490e-06, 5.17872419e-05,
 -2.27221409e-05,-3.97174539e-04,-2.41549987e-04, 3.09729630e-05,
  1.27194233e-05, 4.56386663e-05,-1.46724427e-04, 2.26892009e-05,
  2.12066291e-02,-1.30831409e-03, 5.98869867e-03,-3.10287380e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003174952585265508
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74840883e-13,  6.94932888e-07,  1.00000000e+00, -1.21502679e-19,
        1.00000000e+00, -6.94932888e-07, -1.00000000e+00,  2.40741243e-35,
        1.74840883e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08419467, -0.06060261,  0.06199092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.24943331e-05, 9.32956277e-06, 3.08504716e-05, 3.67068944e-05,
 -2.40838189e-06, 2.07513720e-06, 1.14200471e-05,-3.20156889e-05,
  1.77064353e-05, 7.34908047e-05, 1.57543848e-05, 1.52840237e-05,
 -1.26577893e-04,-2.73337907e-05,-9.05071146e-05, 3.11468774e-05,
 -9.50381488e-07,-3.93092969e-08,-1.21644219e+00,-4.53955142e-04,
  1.33703646e-05,-5.50982582e-04]


--- Step 836 ---
qpos:
[ 6.17900808e-03,-1.79556355e-03,-4.97117682e-03, 3.35824407e-02,
  4.46432798e-03,-3.76013520e-03,-1.85385278e-02, 2.85564775e-02,
  1.29656902e-02, 3.32603495e-03,-9.97341162e-03, 2.58780944e-02,
  1.12468026e+00,-1.28301401e-04, 8.86397871e-01, 6.45356890e-02,
  9.34534511e-02,-7.01108026e-02, 1.30949852e-01, 5.01725118e-01,
  4.90239055e-01, 4.98265169e-01, 5.09577665e-01]

qacc:
[ -2.69869573, -1.12241207,  3.36772698, -2.41185712,  2.79531988,
  -0.46546831,  5.26496468,-18.04523427,  4.90521077, -0.36863781,
   0.45801341,  2.56480651, -0.3762726 ,  0.20152229,-10.66007206,
  35.81067267,  0.69300717, -1.94280019, -0.6383399 ,  9.42142703,
  -2.20968923, 28.37297306]

qfrc_actuator:
[-2.94650956e-05,-8.46254606e-05, 2.26829400e-05, 5.45183445e-05,
 -6.12967398e-06,-3.85014750e-04,-2.56865384e-04,-7.34202152e-06,
  4.08262314e-05, 1.04512143e-05,-1.45927633e-04, 2.99261867e-05,
  2.11544084e-02,-1.31967051e-03, 6.00046338e-03,-2.92699795e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60097641,  0.23363402,  4.59504071,  0.23363402, 10.85460158,
       -0.31796444,  4.59504071, -0.31796444,  4.61714326,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003176367579381806
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74762995e-13, -1.74762995e-13,  1.00000000e+00,  3.05421045e-26,
        1.00000000e+00,  1.74762995e-13, -1.00000000e+00,  0.00000000e+00,
        1.74762995e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08199278, -0.03149664,  0.06199092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.58865528e-05,-5.92348361e-06, 2.15160883e-05, 4.90590456e-06,
  1.65252635e-05, 1.43228794e-05,-1.45885728e-05,-3.84560601e-05,
  2.86364767e-05, 9.79917046e-06, 1.84464490e-05, 1.12277213e-05,
 -1.35659799e-04,-4.38369570e-05,-2.94594427e-05, 1.65269980e-04,
 -6.14855737e-07,-1.25614146e-07,-1.21644146e+00,-4.53827118e-04,
  1.28694084e-05,-5.50802256e-04]


--- Step 837 ---
qpos:
[ 6.17784690e-03,-1.79537835e-03,-4.96913236e-03, 3.35831029e-02,
  4.46439558e-03,-3.76024754e-03,-1.85388158e-02, 2.85563678e-02,
  1.29667068e-02, 3.32699963e-03,-9.97413460e-03, 2.58780381e-02,
  1.12518279e+00,-1.27899243e-04, 8.86792366e-01, 6.45355394e-02,
  9.34454997e-02,-7.01175741e-02, 1.30952746e-01, 5.01722636e-01,
  4.90227878e-01, 4.98217462e-01, 5.09637504e-01]

qacc:
[ -7.80803226, -0.64452042,  1.90769078, -1.47710624,  1.72351726,
   1.15873524, -1.44848537, -5.91949219,  2.92680153, -1.80156278,
   8.69678835,-19.01944793, -0.5393995 ,  0.48222557,  1.14842128,
  -4.75044412,  0.6162521 , -0.50529799,  0.35223731,  8.65381603,
  -0.51038278,  7.58912648]

qfrc_actuator:
[-7.47610390e-05,-9.61018556e-05, 3.04341669e-05, 5.58562173e-05,
  3.68612565e-06,-3.59899830e-04,-2.83749404e-04,-3.00185093e-05,
  5.70825659e-05,-1.10874267e-05,-1.45260158e-04,-1.56831667e-06,
  2.11103269e-02,-1.32663460e-03, 5.96139078e-03,-2.96556873e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003148934552168681
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.76285503e-13,  6.65305368e-07,  1.00000000e+00,  1.17283692e-19,
        1.00000000e+00, -6.65305368e-07, -1.00000000e+00,  0.00000000e+00,
       -1.76285503e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08419361, -0.06060274,  0.061991  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.57537826e-05,-1.01731524e-05, 9.32174766e-06, 1.91848511e-06,
  1.02950627e-05, 2.84824691e-05,-2.70523005e-05,-2.33168930e-05,
  1.70746801e-05,-1.17845883e-05, 5.34847272e-06,-3.02204305e-05,
 -1.35852538e-04,-4.50551216e-05,-3.98250161e-05,-3.44450359e-05,
 -5.18308279e-08,-2.17528006e-07,-1.21644103e+00,-4.54102686e-04,
  1.16818218e-05,-5.50760909e-04]


--- Step 838 ---
qpos:
[ 6.17684133e-03,-1.79491231e-03,-4.96745330e-03, 3.35837627e-02,
  4.46389069e-03,-3.76007697e-03,-1.85394387e-02, 2.85559831e-02,
  1.29679105e-02, 3.32811118e-03,-9.97495941e-03, 2.58779373e-02,
  1.12568437e+00,-1.27050672e-04, 8.87186362e-01, 6.45329623e-02,
  9.34393146e-02,-7.01201689e-02, 1.30956475e-01, 5.01727626e-01,
  4.90208235e-01, 4.98192421e-01, 5.09675963e-01]

qacc:
[  1.35194247,  1.38485562, -4.39297105,  4.73147896, -5.02577149,
   0.75356715, -0.96622785, -3.48461641,  1.64038356,  0.38365464,
  -0.90340444,  0.19168937, -1.18966501,  2.05693909,  6.66687719,
 -24.21260132,  0.44160468,  1.04417392,  0.20888567,  7.14598573,
   0.74108179,-14.93209001]

qfrc_actuator:
[-6.54354829e-05,-6.74787961e-05, 1.63920076e-05, 5.63701291e-05,
 -2.60765660e-05,-3.45015605e-04,-2.99419074e-04,-4.33027456e-05,
  6.62306114e-05, 1.11689029e-05,-1.44668525e-04,-2.33815921e-06,
  2.10764850e-02,-1.29539395e-03, 5.91843963e-03,-3.09483533e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031437503611772555
  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([ 0.08629491, -0.08836815,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.01783896e-06, 2.48975253e-05,-1.49535985e-05, 4.33523092e-07,
 -2.94565916e-05, 2.42358612e-05,-1.39211707e-05,-1.34527262e-05,
  9.63237766e-06, 1.54588702e-05,-2.23185815e-06,-1.67886607e-06,
 -1.26471963e-04,-6.89560723e-06,-7.11549425e-05,-1.37713290e-04,
  1.01717350e-07,-1.13941198e-07,-1.21644086e+00,-4.54024249e-04,
  1.17162510e-05,-5.50826411e-04]


--- Step 839 ---
qpos:
[ 6.17595487e-03,-1.79412904e-03,-4.96648698e-03, 3.35830616e-02,
  4.46303318e-03,-3.75987098e-03,-1.85396311e-02, 2.85557658e-02,
  1.29692145e-02, 3.32938663e-03,-9.97527049e-03, 2.58781275e-02,
  1.12618511e+00,-1.26352632e-04, 8.87579894e-01, 6.45300782e-02,
  9.34348857e-02,-7.01186352e-02, 1.30960591e-01, 5.01740027e-01,
  4.90180161e-01, 4.98189774e-01, 5.09693343e-01]

qacc:
[  1.0185955 , -0.39238273,  7.74875822,-30.38986549, -3.072958  ,
  -0.80513766,  2.24194939, -0.06817203,  0.89685734, -0.62178681,
   1.299336  ,  2.79947673, -0.48257403,  0.37069863,  0.26671819,
  -1.87193556,  0.43903365,  1.03212723,  0.09678756,  7.02657486,
   0.75449416,-14.76527303]

qfrc_actuator:
[-5.95312892e-05,-6.84125148e-05,-2.79909440e-05,-1.45944696e-05,
 -4.33887274e-05,-3.36323044e-04,-2.72865460e-04,-3.32017846e-05,
  7.11257322e-05, 4.17425839e-05,-1.08417256e-04, 1.50196762e-05,
  2.10221970e-02,-1.31276209e-03, 5.92644421e-03,-3.09889744e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031199562284288385
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.89614263e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.89614263e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08629507, -0.08836889,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.13811853e-06, 9.88685787e-06,-4.10926177e-05,-7.04130526e-05,
 -1.81440640e-05, 1.87848998e-05, 2.93866324e-05, 1.03991957e-05,
  5.17699509e-06, 3.86621967e-05, 3.91092254e-05, 1.79098357e-05,
 -1.33180233e-04,-4.59258563e-05,-4.50839882e-05,-2.20473776e-05,
 -7.47414893e-09,-1.09252828e-07,-1.21644033e+00,-4.53654950e-04,
  1.23381464e-05,-5.50822342e-04]


--- Step 840 ---
qpos:
[ 6.17514646e-03,-1.79347779e-03,-4.96618798e-03, 3.35815715e-02,
  4.46231930e-03,-3.75934463e-03,-1.85398911e-02, 2.85556687e-02,
  1.29702222e-02, 3.33093069e-03,-9.97517651e-03, 2.58785173e-02,
  1.12668492e+00,-1.25782900e-04, 8.87972557e-01, 6.45278533e-02,
  9.34322041e-02,-7.01130122e-02, 1.30964721e-01, 5.01759783e-01,
  4.90143685e-01, 4.98209300e-01, 5.09689888e-01]

qacc:
[ 6.66959989e-01, 6.49962534e-02, 2.84375619e+00,-1.53321658e+01,
  1.24950172e+00, 8.56329209e-01,-2.95041788e+00, 4.90515633e+00,
 -2.59956436e+00,-3.60985929e-01, 9.68016827e-01, 1.63279150e+00,
 -5.10023009e-01, 3.93476774e-01,-3.24809069e+00, 9.55693948e+00,
  4.36831184e-01, 1.02232893e+00, 3.28452894e-03, 6.92972131e+00,
  7.64836129e-01,-1.46291243e+01]

qfrc_actuator:
[-5.57056567e-05,-1.04981656e-04,-7.23322284e-05,-5.60762511e-05,
 -3.54688215e-05,-3.13458529e-04,-2.74867269e-04,-2.71548103e-05,
  5.57283293e-05, 5.94782851e-05,-8.68502979e-05, 2.51836854e-05,
  2.09663169e-02,-1.32337188e-03, 5.88515006e-03,-3.06449154e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003079418965551556
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.01325085e-14,  3.60530034e-13,  1.00000000e+00, -3.24954764e-26,
        1.00000000e+00, -3.60530034e-13, -1.00000000e+00,  0.00000000e+00,
        9.01325085e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08629498, -0.08837006,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.00486799e-06,-4.25790593e-05,-4.98146733e-05,-4.38527415e-05,
  7.40652286e-06, 3.98734481e-05, 5.85906093e-06, 8.07241765e-06,
 -1.52353900e-05, 4.81648292e-05, 3.49794254e-05, 1.35200893e-05,
 -1.47095570e-04,-4.83238124e-05,-7.01454583e-05, 2.60720353e-05,
 -9.59135524e-08,-4.11538136e-08,-1.21644015e+00,-4.53303835e-04,
  1.26809421e-05,-5.50724638e-04]


--- Step 841 ---
qpos:
[ 6.17508027e-03,-1.79316870e-03,-4.96640409e-03, 3.35803036e-02,
  4.46136072e-03,-3.75831463e-03,-1.85405620e-02, 2.85559903e-02,
  1.29710378e-02, 3.33273660e-03,-9.97534241e-03, 2.58790733e-02,
  1.12718377e+00,-1.25077799e-04, 8.88364161e-01, 6.45241170e-02,
  9.34319860e-02,-7.01093908e-02, 1.30969665e-01, 5.01764240e-01,
  4.90123596e-01, 4.98229534e-01, 5.09685039e-01]

qacc:
[  6.5161268 ,  1.43257335, -6.72409697, 11.66914156, -2.16287561,
   2.67830634,-10.34533479, 17.86998341, -1.70312235,  1.41768486,
  -5.24846573,  8.34028658, -0.85484517,  1.2072701 ,  3.05044953,
 -12.82400761,  0.61587997, -0.50040544,  0.20375272,  8.38818941,
  -0.52913637,  7.45818247]

qfrc_actuator:
[-1.76284712e-05,-1.27104433e-04,-9.86561980e-05,-4.43905905e-05,
 -4.82701390e-05,-2.82389938e-04,-2.93676465e-04,-5.80718768e-06,
  4.62646168e-05, 5.15882722e-05,-1.09696022e-04, 3.10063772e-05,
  2.09254977e-02,-1.31213602e-03, 5.80900415e-03,-3.14986941e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030241811075821276
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.83557629e-13, -4.36468102e-07,  1.00000000e+00, -8.01170497e-20,
        1.00000000e+00,  4.36468102e-07, -1.00000000e+00,  0.00000000e+00,
       -1.83557629e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0841902 , -0.06060167,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.81779556e-05,-5.81222067e-05,-4.27791351e-05, 7.28524313e-06,
 -1.25763946e-05, 5.49085764e-05,-9.57538871e-06, 2.34155564e-05,
 -9.87664790e-06, 2.67888832e-05,-8.13873011e-06, 9.35651722e-06,
 -1.41137000e-04,-2.99914713e-05,-1.09708070e-04,-9.39095458e-05,
 -1.64909479e-07, 8.91685322e-08,-1.21644032e+00,-4.52968593e-04,
  1.27545204e-05,-5.50533406e-04]


--- Step 842 ---
qpos:
[ 6.17547083e-03,-1.79312365e-03,-4.96672926e-03, 3.35791470e-02,
  4.45991135e-03,-3.75699444e-03,-1.85407894e-02, 2.85558424e-02,
  1.29717340e-02, 3.33436281e-03,-9.97552479e-03, 2.58790452e-02,
  1.12768183e+00,-1.24810489e-04, 8.88754564e-01, 6.45187043e-02,
  9.34344842e-02,-7.01134233e-02, 1.30971373e-01, 5.01733502e-01,
  4.90142673e-01, 4.98229730e-01, 5.09696762e-01]

qacc:
[  4.01740587,  0.17693477, -1.61996236,  3.92696744, -4.28644847,
  -1.81256825,  9.01698258,-18.08075835, -1.04886685, -1.39167081,
   7.08721269,-17.0411464 , -0.23414169, -0.28006577,  3.28796181,
 -14.07891588,  0.67907133, -1.91347942, -0.80919286,  9.21626595,
  -2.1796367 , 27.79415622]

qfrc_actuator:
[ 4.79898042e-06,-1.22543796e-04,-9.63024492e-05,-3.70054555e-05,
 -7.31732974e-05,-2.64462974e-04,-2.68941768e-04,-2.88837729e-05,
  4.03754167e-05, 1.04695335e-05,-1.23181170e-04,-1.32735369e-06,
  2.08777734e-02,-1.34126304e-03, 5.74927603e-03,-3.23419996e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53789304,  0.02488598,  4.5378248 ,  0.02488598, 13.48611573,
       -0.04907314,  4.5378248 , -0.04907314,  4.53816216,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002992192991824044
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.2759978e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        9.2759978e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08198207, -0.03148785,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.34935824e-05,-3.64585226e-05,-1.46688166e-05, 3.55722726e-06,
 -2.52438541e-05, 4.76226610e-05, 3.57024704e-05,-2.06000786e-05,
 -6.15484532e-06,-2.74839982e-05,-8.64945223e-06,-3.12895572e-05,
 -1.40931844e-04,-6.52336214e-05,-1.23388729e-04,-1.04296465e-04,
 -7.23221707e-08, 4.75055903e-08,-1.21644012e+00,-4.53121338e-04,
  1.25430863e-05,-5.50374564e-04]


--- Step 843 ---
qpos:
[ 6.17578231e-03,-1.79305750e-03,-4.96716658e-03, 3.35777052e-02,
  4.45817493e-03,-3.75577241e-03,-1.85402231e-02, 2.85550995e-02,
  1.29720096e-02, 3.33528534e-03,-9.97534399e-03, 2.58790175e-02,
  1.12817889e+00,-1.24554387e-04, 8.89143604e-01, 6.45122891e-02,
  9.34387567e-02,-7.01133207e-02, 1.30973600e-01, 5.01710239e-01,
  4.90153187e-01, 4.98252407e-01, 5.09687383e-01]

qacc:
[ -0.69952217, -0.24440315,  2.11799245, -6.89159564, -2.48603852,
  -3.56438718, 15.04232068,-26.5429714 , -3.67727174, -1.93694419,
   5.56742699, -5.63564061, -0.71589828,  0.82649007,  1.05311311,
  -6.51797821,  0.44357884,  1.03378362,  0.12972023,  7.00615007,
   0.78816946,-14.84134228]

qfrc_actuator:
[ 7.25381728e-08,-1.01914390e-04,-9.46946941e-05,-4.99310544e-05,
 -8.72409818e-05,-2.89914247e-04,-2.36523539e-04,-6.01414715e-05,
  1.88824690e-05,-5.02496346e-05,-1.13436778e-04,-2.61327605e-06,
  2.08259260e-02,-1.34083086e-03, 5.68879789e-03,-3.28162747e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029586693209948667
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.87622019e-13, -1.87622019e-13,  1.00000000e+00,  3.52020221e-26,
        1.00000000e+00,  1.87622019e-13, -1.00000000e+00,  0.00000000e+00,
        1.87622019e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08629465, -0.08837343,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.07032203e-06,-2.62439129e-06,-7.60239052e-06,-1.49240406e-05,
 -1.47727870e-05, 7.61699783e-06, 4.59284656e-05,-2.83834436e-05,
 -2.16707858e-05,-7.92725626e-05, 1.90332459e-06,-3.37472424e-06,
 -1.52979880e-04,-4.22470641e-05,-1.30697697e-04,-6.95281541e-05,
  2.34216091e-09, 1.25077379e-07,-1.21644021e+00,-4.53628902e-04,
  1.27143976e-05,-5.50398779e-04]


--- Step 844 ---
qpos:
[ 6.17568976e-03,-1.79271809e-03,-4.96769687e-03, 3.35753946e-02,
  4.45697330e-03,-3.75492273e-03,-1.85393709e-02, 2.85544048e-02,
  1.29723702e-02, 3.33582854e-03,-9.97518684e-03, 2.58796506e-02,
  1.12867491e+00,-1.24263976e-04, 8.89531777e-01, 6.45038948e-02,
  9.34447938e-02,-7.01091220e-02, 1.30975959e-01, 5.01694383e-01,
  4.90155202e-01, 4.98297335e-01, 5.09657130e-01]

qacc:
[ -3.56067901, -1.1608351 ,  8.34232683,-23.44210798,  4.6956492 ,
  -1.20098083,  3.34929028, -2.68227306,  0.7544478 ,  0.92335172,
  -6.81197061, 18.56673877, -0.85855981,  1.09606387,  4.74249735,
 -18.33732836,  0.44113711,  1.02404302,  0.03298526,  6.92320507,
   0.78711874,-14.69477343]

qfrc_actuator:
[-2.05930938e-05,-7.18232280e-05,-9.34878190e-05,-9.24438546e-05,
 -5.93095279e-05,-3.41120199e-04,-2.35527880e-04,-6.04893465e-05,
  2.38814221e-05,-5.11226767e-05,-1.07880381e-04, 3.21312459e-05,
  2.07716511e-02,-1.34066727e-03, 5.65988235e-03,-3.37792684e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029318442889911256
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.84008012e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.84008012e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08629459, -0.08837417,  0.06199162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.07808316e-05, 2.64172118e-05,-7.80540019e-07,-4.31746030e-05,
  2.75114280e-05,-3.87308397e-05, 7.22571658e-06, 1.01361981e-06,
  4.35878233e-06,-4.49963221e-05,-1.07124204e-05, 3.13460842e-05,
 -1.57529983e-04,-4.08693500e-05,-9.82802926e-05,-1.17307846e-04,
 -5.89567996e-08, 7.94413216e-08,-1.21644020e+00,-4.53518529e-04,
  1.25220559e-05,-5.50341263e-04]


--- Step 845 ---
qpos:
[ 6.17569519e-03,-1.79218282e-03,-4.96794005e-03, 3.35725756e-02,
  4.45646085e-03,-3.75471720e-03,-1.85385822e-02, 2.85534266e-02,
  1.29727873e-02, 3.33656428e-03,-9.97547584e-03, 2.58799592e-02,
  1.12916998e+00,-1.24244236e-04, 8.89918839e-01, 6.44979746e-02,
  9.34535722e-02,-7.01126358e-02, 1.30975335e-01, 5.01643072e-01,
  4.90196652e-01, 4.98322102e-01, 5.09643555e-01]

qacc:
[  0.86680373, -1.59204565,  8.19468495,-17.59073492,  6.04037006,
  -1.26762752,  4.46099352, -8.76718583,  0.4797576 ,  0.83254957,
  -1.23093746, -3.81134415, -0.30474285, -0.09623712, -9.09720037,
  29.46621479,  0.68535476, -1.92815483, -0.74556088,  9.28871901,
  -2.18588269, 27.98513854]

qfrc_actuator:
[-1.49604107e-05,-5.40682513e-05,-7.47431671e-05,-1.16506008e-04,
 -2.46382435e-05,-4.07465485e-04,-2.53195646e-04,-7.82016551e-05,
  2.66855231e-05,-1.61309263e-05,-1.22347841e-04, 1.68230602e-05,
  2.07212855e-02,-1.35845850e-03, 5.64990876e-03,-3.23588238e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029053006879344034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91068523e-13, -1.91068523e-13,  1.00000000e+00,  3.65071806e-26,
        1.00000000e+00,  1.91068523e-13, -1.00000000e+00,  0.00000000e+00,
        1.91068523e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08197687, -0.03148349,  0.06199169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.05279608e-06, 3.05084713e-05, 2.26198891e-05,-2.37909726e-05,
  3.54433483e-05,-8.64972528e-05,-2.47620986e-05,-1.91057863e-05,
  2.91336227e-06, 8.93981842e-06,-2.40063181e-05,-1.70001754e-05,
 -1.55819462e-04,-5.97222177e-05,-7.17282572e-05, 1.22089106e-04,
 -1.01048510e-07, 9.83901683e-08,-1.21644054e+00,-4.53421990e-04,
  1.20641276e-05,-5.50188722e-04]


--- Step 846 ---
qpos:
[ 6.17576777e-03,-1.79126041e-03,-4.96838416e-03, 3.35705351e-02,
  4.45602324e-03,-3.75505044e-03,-1.85380507e-02, 2.85525901e-02,
  1.29732350e-02, 3.33722185e-03,-9.97531951e-03, 2.58800543e-02,
  1.12966386e+00,-1.23588716e-04, 8.90305109e-01, 6.44966868e-02,
  9.34641592e-02,-7.01119898e-02, 1.30975471e-01, 5.01599295e-01,
  4.90229422e-01, 4.98369471e-01, 5.09608802e-01]

qacc:
[  0.57806236,  2.67505678,-12.08311   , 25.59118654,  0.65617624,
   0.29598171, -2.68873308,  5.94867158,  0.28393257, -1.78790439,
   7.12535997,-11.47318146, -1.17734829,  2.06833625,-15.06480598,
  51.20722153,  0.45212323,  1.03995572,  0.18991385,  7.01236716,
   0.81313174,-14.93427171]

qfrc_actuator:
[-1.16417508e-05,-2.59942599e-05,-8.13239981e-05,-7.62528049e-05,
 -2.17966366e-05,-4.29215751e-04,-2.64073553e-04,-7.05151257e-05,
  2.81672154e-05,-1.32983290e-05,-9.51397588e-05, 7.70936884e-06,
  2.06786212e-02,-1.31572084e-03, 5.65135357e-03,-2.98999838e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028974359166561436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.87380737e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.87380737e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08629451, -0.08837513,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.47215449e-06, 4.87790566e-05, 1.68664028e-06, 4.18855566e-05,
  3.82571849e-06,-7.60548958e-05,-3.24663885e-05, 2.74952384e-06,
  1.57135502e-06, 2.12282641e-06, 2.55039899e-05,-9.89380224e-06,
 -1.50587319e-04,-2.76363431e-06,-2.15123670e-05, 2.42665243e-04,
 -2.59821658e-07, 2.43037969e-07,-1.21644084e+00,-4.54044982e-04,
  1.28789128e-05,-5.50240112e-04]


--- Step 847 ---
qpos:
[ 6.17553477e-03,-1.79016416e-03,-4.96883307e-03, 3.35693519e-02,
  4.45527832e-03,-3.75575181e-03,-1.85374984e-02, 2.85521556e-02,
  1.29743871e-02, 3.33765509e-03,-9.97445686e-03, 2.58796943e-02,
  1.13015678e+00,-1.22504545e-04, 8.90691176e-01, 6.44920872e-02,
  9.34765412e-02,-7.01072267e-02, 1.30975943e-01, 5.01562969e-01,
  4.90253608e-01, 4.98439198e-01, 5.09553092e-01]

qacc:
[ -2.68965164,  2.0136443 ,-10.45590714, 25.16079886, -2.682293  ,
   0.28774682, -3.42107323, 10.60843258,  6.22424251, -3.21938346,
  12.94916657,-21.76622493, -1.24175586,  2.1203077 ,  9.77620171,
 -34.44816851,  0.44873989,  1.02929534,  0.08390341,  6.94014855,
   0.80154092,-14.77392242]

qfrc_actuator:
[-2.74725201e-05,-2.75037452e-05,-8.49742994e-05,-3.39991028e-05,
 -3.77141610e-05,-4.24056723e-04,-2.52906056e-04,-4.79008975e-05,
  6.43641037e-05,-2.95675199e-05,-6.13920066e-05,-1.54214252e-05,
  2.06406326e-02,-1.29072191e-03, 5.58509958e-03,-3.18203232e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028833597517458065
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.626123e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
       -9.626123e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08629445, -0.08837552,  0.06199176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.57189042e-05, 2.78887122e-05, 8.08142661e-06, 4.52208352e-05,
 -1.58335809e-05,-4.39497459e-05,-8.44660032e-06, 1.82862776e-05,
  3.62439178e-05,-1.02617845e-05, 3.69759517e-05,-2.23519130e-05,
 -1.29225527e-04,-8.87255401e-06,-5.50064562e-05,-1.82611587e-04,
 -2.94537744e-07, 1.45899691e-07,-1.21644107e+00,-4.54100706e-04,
  1.22324354e-05,-5.50173057e-04]


--- Step 848 ---
qpos:
[ 6.17545946e-03,-1.78986034e-03,-4.96824975e-03, 3.35680469e-02,
  4.45434838e-03,-3.75671193e-03,-1.85371421e-02, 2.85516505e-02,
  1.29756189e-02, 3.33816390e-03,-9.97356272e-03, 2.58790682e-02,
  1.13064904e+00,-1.21740787e-04, 8.91076328e-01, 6.44826665e-02,
  9.34914079e-02,-7.01044792e-02, 1.30977353e-01, 5.01511251e-01,
  4.90294236e-01, 4.98509709e-01, 5.09495924e-01]

qacc:
[  1.43266905, -4.18628964, 13.91490529,-17.08062671, -1.62101746,
   0.06367073, -0.41940421, -0.30561391,  0.70168319, -0.53723005,
   3.18147734, -7.88973976, -0.39845135,  0.16873385, 13.21362685,
 -48.16245487,  0.62121284, -0.50391467,  0.23476116,  8.45915764,
  -0.51450049,  7.46103537]

qfrc_actuator:
[-1.89417948e-05,-1.17715390e-04,-5.14767738e-05,-4.41932415e-05,
 -4.67823208e-05,-4.38212510e-04,-2.64191582e-04,-5.21524763e-05,
  6.74461660e-05,-2.16151084e-05,-5.96648400e-05,-2.88828436e-05,
  2.06054725e-02,-1.31191868e-03, 5.50483085e-03,-3.43544679e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028557814550872484
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94381650e-13,  6.53528020e-07,  1.00000000e+00, -1.27033855e-19,
        1.00000000e+00, -6.53528020e-07, -1.00000000e+00,  0.00000000e+00,
        1.94381650e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08418426, -0.06059997,  0.06199184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.08853604e-06,-7.10455105e-05, 4.18142561e-05,-7.83744628e-06,
 -9.53623042e-06,-3.96788992e-05,-2.07678451e-05,-6.06947290e-06,
  4.10980142e-06, 8.88528681e-06, 3.37381946e-06,-1.30601517e-05,
 -1.15985944e-04,-5.08634141e-05,-1.31904235e-04,-2.72044759e-04,
 -3.10792713e-07, 1.14763917e-07,-1.21644165e+00,-4.54168919e-04,
  1.13230476e-05,-5.50010371e-04]


--- Step 849 ---
qpos:
[ 6.17583171e-03,-1.79011082e-03,-4.96752843e-03, 3.35666629e-02,
  4.45366158e-03,-3.75768563e-03,-1.85373475e-02, 2.85514377e-02,
  1.29765335e-02, 3.33881189e-03,-9.97298386e-03, 2.58786470e-02,
  1.13114056e+00,-1.21198270e-04, 8.91459732e-01, 6.44765284e-02,
  9.35089892e-02,-7.01093801e-02, 1.30975468e-01, 5.01424205e-01,
  4.90373950e-01, 4.98560411e-01, 5.09455270e-01]

qacc:
[  3.94915698, -1.28884264,  3.85240076, -5.01724564,  2.11073198,
   2.1475572 , -8.92512732, 14.89830751, -2.8037583 ,  1.49231023,
  -5.90952735,  9.84636517, -0.12091132, -0.28833391,-12.48580731,
  39.93303577,  0.67861484, -1.91210432, -0.82414469,  9.29907732,
  -2.06991787, 27.73983859]

qfrc_actuator:
[ 3.86477902e-06,-1.53735829e-04,-4.99835512e-05,-4.97146977e-05,
 -3.39875950e-05,-4.28414052e-04,-2.88740376e-04,-3.67063559e-05,
  5.10021624e-05,-1.70925178e-05,-7.67577304e-05,-1.87969990e-05,
  2.05666905e-02,-1.32475000e-03, 5.48013403e-03,-3.24353460e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028336412341253836
  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([ 0.08197073, -0.03148003,  0.0619919 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.30090915e-05,-6.74599733e-05,-8.31109455e-06,-7.27102846e-06,
  1.25095517e-05,-1.69111065e-05,-3.55042152e-05, 1.29118363e-05,
 -1.63213260e-05, 9.60636918e-06,-1.53077670e-05, 1.03275189e-05,
 -1.21959340e-04,-4.70428531e-05,-1.17665669e-04, 1.59331808e-04,
 -4.99886886e-07, 1.43294250e-07,-1.21644209e+00,-4.54638560e-04,
  1.14793106e-05,-5.49907008e-04]


--- Step 850 ---
qpos:
[ 6.17647394e-03,-1.79022181e-03,-4.96711450e-03, 3.35655104e-02,
  4.45347815e-03,-3.75859568e-03,-1.85376723e-02, 2.85517157e-02,
  1.29772443e-02, 3.33924158e-03,-9.97244374e-03, 2.58780318e-02,
  1.13163120e+00,-1.20503374e-04, 8.91841334e-01, 6.44760302e-02,
  9.35269352e-02,-7.01101206e-02, 1.30974902e-01, 5.01350578e-01,
  4.90439751e-01, 4.98628070e-01, 5.09398170e-01]

qacc:
[  2.3620382 ,  1.51545539, -6.12040155, 10.52132027,  4.40083553,
   1.41796539, -7.0217581 , 15.67637668, -1.79127144, -0.57610935,
   2.46072394, -5.60230646, -0.43326952,  0.49837653,-19.65320978,
  64.9586085 ,  0.09118584,  1.04009956,  0.33004589,  1.64083039,
   0.41800107,-15.16736554]

qfrc_actuator:
[ 1.71312910e-05,-1.03904786e-04,-4.94589423e-05,-3.46739509e-05,
 -8.42929456e-06,-4.04384724e-04,-2.85297838e-04,-9.77629419e-06,
  4.09602490e-05,-5.02269396e-05,-8.70558316e-05,-3.04525768e-05,
  2.05257664e-02,-1.31478042e-03, 5.41965303e-03,-2.95037519e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028490193852515056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09599193e-13, -1.94843010e-13,  1.00000000e+00,  2.13546367e-26,
        1.00000000e+00,  1.94843010e-13, -1.00000000e+00,  0.00000000e+00,
        1.09599193e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09178197, -0.0882327 ,  0.06199185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38981406e-05, 1.00891353e-05,-1.46891801e-05, 1.17219346e-05,
  2.59106514e-05, 7.83518281e-06,-3.96341277e-06, 2.52307246e-05,
 -1.04994974e-05,-3.05140227e-05,-9.85373370e-06,-1.15735175e-05,
 -1.25882929e-04,-2.53449968e-05,-9.75154985e-05, 2.86774360e-04,
 -1.00373228e-06, 4.92147981e-07,-1.21644297e+00,-4.55383014e-04,
  1.32561976e-05,-5.50034367e-04]


--- Step 851 ---
qpos:
[ 6.17727012e-03,-1.78995612e-03,-4.96657535e-03, 3.35641395e-02,
  4.45394718e-03,-3.75905341e-03,-1.85381602e-02, 2.85522662e-02,
  1.29774841e-02, 3.33944196e-03,-9.97177174e-03, 2.58779624e-02,
  1.13212080e+00,-1.19092399e-04, 8.92222181e-01, 6.44743527e-02,
  9.35452481e-02,-7.01067462e-02, 1.30975173e-01, 5.01290195e-01,
  4.90491835e-01, 4.98712479e-01, 5.09324811e-01]

qacc:
[  1.35091485, -0.30419872,  2.72376222, -6.97344977,  5.69740622,
   1.60235262, -6.01590207, 10.67920697, -4.13604858,  0.45986948,
  -4.36986756, 13.75845354, -1.42755849,  2.63464854,  2.54511897,
 -10.28845015,  0.09172363,  1.02871978,  0.20921108,  1.63358337,
   0.4033145 ,-14.97664752]

qfrc_actuator:
[ 2.46723123e-05,-5.62928224e-05,-3.13726900e-05,-4.30799544e-05,
  2.44296646e-05,-3.54136028e-04,-2.83030831e-04, 5.97602929e-06,
  1.70204525e-05,-5.23958515e-05,-7.56748642e-05,-1.57818444e-06,
  2.04782702e-02,-1.27366280e-03, 5.35374672e-03,-3.02620105e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028523161670690467
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.64908385e-14, -1.94617805e-13,  1.00000000e+00, -7.10176690e-27,
        1.00000000e+00,  1.94617805e-13, -1.00000000e+00,  0.00000000e+00,
       -3.64908385e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09178203, -0.08823253,  0.06199185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.93995972e-06, 5.07264853e-05, 1.87644988e-05,-8.25257585e-06,
  3.36009857e-05, 5.49380318e-05, 4.28300071e-06, 1.64430594e-05,
 -2.42460626e-05,-2.17858370e-05, 3.45491513e-06, 2.70003298e-05,
 -1.29499300e-04, 8.82292934e-06,-8.00567458e-05,-7.26557603e-05,
 -8.66849584e-07, 2.42969534e-07,-1.21644289e+00,-4.55634516e-04,
  1.20417134e-05,-5.50071241e-04]


--- Step 852 ---
qpos:
[ 6.17780568e-03,-1.78933735e-03,-4.96611700e-03, 3.35626953e-02,
  4.45480657e-03,-3.75894104e-03,-1.85389659e-02, 2.85526507e-02,
  1.29774346e-02, 3.33998177e-03,-9.97122510e-03, 2.58781831e-02,
  1.13260961e+00,-1.17753236e-04, 8.92602748e-01, 6.44700105e-02,
  9.35639304e-02,-7.00992944e-02, 1.30975876e-01, 5.01242912e-01,
  4.90530364e-01, 4.98813468e-01, 5.09235338e-01]

qacc:
[ -2.30021495,  0.54603529, -0.95238936, -0.45618696,  3.39644478,
   1.29249649, -2.82616319,  0.05444878, -2.55539218,  1.4012226 ,
  -5.56170581, 10.52457446, -0.63831639,  0.72949339,  7.66243264,
 -27.32955651,  0.09236963,  1.0193771 ,  0.10801197,  1.63053595,
   0.38927936,-14.82088473]

qfrc_actuator:
[ 1.10334612e-05,-4.58105704e-05,-3.85643621e-05,-4.74442416e-05,
  4.35659547e-05,-3.24075105e-04,-2.99130164e-04,-2.70885375e-06,
  2.84322800e-06,-3.81871107e-07,-6.91942167e-05, 1.54467667e-05,
  2.04322036e-02,-1.28549152e-03, 5.34846528e-03,-3.15908119e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002836174080967646
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10095578e-13, -1.95725473e-13,  1.00000000e+00,  2.15485091e-26,
        1.00000000e+00,  1.95725473e-13, -1.00000000e+00,  0.00000000e+00,
        1.10095578e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09178203, -0.08823291,  0.06199189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.33969337e-05, 4.23587207e-05, 5.30474274e-06,-1.70119182e-06,
  2.01144766e-05, 6.24042993e-05,-3.64668700e-06,-5.86280574e-06,
 -1.48736159e-05, 4.16792941e-05, 3.33145859e-06, 1.67356126e-05,
 -1.23074657e-04,-3.81877554e-05,-5.43583547e-05,-1.48177448e-04,
 -7.25187084e-07, 8.89865968e-08,-1.21644312e+00,-4.55893384e-04,
  1.07581651e-05,-5.50015200e-04]


--- Step 853 ---
qpos:
[ 6.17782879e-03,-1.78842669e-03,-4.96603492e-03, 3.35619296e-02,
  4.45554449e-03,-3.75885403e-03,-1.85397082e-02, 2.85529790e-02,
  1.29772155e-02, 3.34075113e-03,-9.97081005e-03, 2.58775842e-02,
  1.13309760e+00,-1.16274925e-04, 8.92982752e-01, 6.44644030e-02,
  9.35829853e-02,-7.00877953e-02, 1.30976673e-01, 5.01208607e-01,
  4.90555474e-01, 4.98930900e-01, 5.09129862e-01]

qacc:
[-4.52238410e+00, 2.84336022e+00,-1.24263290e+01, 2.45352571e+01,
 -1.06056721e+00,-3.23828852e-01, 1.34702456e+00,-2.40615516e+00,
 -1.50118609e+00,-1.01322201e+00, 7.51898194e+00,-2.16696139e+01,
 -7.62670933e-01, 1.10288068e+00, 3.03471984e+00,-1.17154928e+01,
  9.31147206e-02, 1.01180061e+00, 2.34583745e-02, 1.63110930e+00,
  3.75766740e-01,-1.46949966e+01]

qfrc_actuator:
[-1.49603370e-05,-3.99805622e-05,-6.07668558e-05,-1.39358641e-05,
  3.67171311e-05,-3.59683462e-04,-3.08276915e-04,-7.97404562e-06,
 -5.46973827e-06,-5.09833533e-06,-8.32019020e-05,-2.78585449e-05,
  2.03976608e-02,-1.27532870e-03, 5.33161115e-03,-3.21772098e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002804745757641752
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.10288573e-13, -3.95837313e-13,  1.00000000e+00,  8.32400635e-26,
        1.00000000e+00,  3.95837313e-13, -1.00000000e+00,  0.00000000e+00,
        2.10288573e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.091782  , -0.08823372,  0.06199198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.63622175e-05, 3.05092860e-05,-1.28675565e-05, 3.54752073e-05,
 -6.25204782e-06,-1.70501658e-06, 3.09741749e-06,-2.83126364e-06,
 -8.71949906e-06, 1.99644024e-05,-4.42151072e-06,-4.10805064e-05,
 -1.18114313e-04,-2.37969505e-05,-6.39209883e-05,-7.51738960e-05,
 -5.78509154e-07, 2.64128597e-08,-1.21644362e+00,-4.56160397e-04,
  9.40430861e-06,-5.49867312e-04]


--- Step 854 ---
qpos:
[ 6.17754012e-03,-1.78742713e-03,-4.96587270e-03, 3.35619112e-02,
  4.45585004e-03,-3.75896496e-03,-1.85404754e-02, 2.85539617e-02,
  1.29768988e-02, 3.34128591e-03,-9.97037575e-03, 2.58768666e-02,
  1.13358472e+00,-1.14393048e-04, 8.93362518e-01, 6.44576831e-02,
  9.35980358e-02,-7.00839736e-02, 1.30976366e-01, 5.01162119e-01,
  4.90590149e-01, 4.99005805e-01, 5.09068800e-01]

qacc:
[ -2.74004309,  1.437809  , -8.10176403, 20.83212769, -3.78097697,
   1.16114353, -7.27059057, 18.76742135, -0.8545653 , -0.60628961,
   2.2155961 , -4.12950072, -1.04582667,  1.78486466,  3.0767315 ,
 -11.1088081 , -1.00106938, -1.91935461, -0.27606305,-16.52005206,
   0.84132548, 27.04909389]

qfrc_actuator:
[-3.02583925e-05,-3.70219676e-05,-5.61427930e-05, 2.38210425e-05,
  1.46329086e-05,-3.81068069e-04,-3.13506035e-04, 2.42744989e-05,
 -1.02681141e-05,-4.38789451e-05,-9.16935759e-05,-3.53577134e-05,
  2.03594113e-02,-1.25215319e-03, 5.33980367e-03,-3.26765527e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002779547480951522
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.99425817e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.99425817e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10957374, -0.03387354,  0.06199205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.60407343e-05, 1.88402930e-05, 1.05599292e-05, 3.93100876e-05,
 -2.22634258e-05,-2.18169697e-05,-5.29050650e-06, 3.22285418e-05,
 -5.03449561e-06,-3.03253165e-05,-6.34618265e-06,-7.59707615e-06,
 -1.15538565e-04,-6.94549319e-06,-3.42949529e-05,-6.34249607e-05,
 -4.26560750e-07, 5.22190764e-08,-1.21644442e+00,-4.56436387e-04,
  7.97876429e-06,-5.49628455e-04]


--- Step 855 ---
qpos:
[ 6.17741522e-03,-1.78663068e-03,-4.96545935e-03, 3.35616808e-02,
  4.45588834e-03,-3.75910794e-03,-1.85413348e-02, 2.85549613e-02,
  1.29768720e-02, 3.34141373e-03,-9.96914896e-03, 2.58767241e-02,
  1.13407091e+00,-1.12170724e-04, 8.93742162e-01, 6.44545808e-02,
  9.36091360e-02,-7.00876941e-02, 1.30974308e-01, 5.01103509e-01,
  4.90634234e-01, 4.99039054e-01, 5.09051416e-01]

qacc:
[  1.4513526 , -1.40995695,  5.52779108, -9.44363691, -2.34128507,
   0.25429989, -1.03152254,  1.48562989,  2.58355622, -1.57405087,
   2.39523387,  6.59934311, -0.80253415,  1.27937808,-11.04367398,
  38.50670628, -0.98758518, -1.88551889, -0.43778475,-16.16925522,
   0.90413126, 26.59573244]

qfrc_actuator:
[-2.13820555e-05,-7.12052305e-05,-5.34813249e-05, 1.05287963e-05,
  1.51957814e-06,-3.75983056e-04,-3.16321618e-04, 2.50852950e-05,
  4.79075752e-06,-4.94678419e-05,-4.37159493e-05,-3.99376594e-06,
  2.03083213e-02,-1.23924278e-03, 5.39496992e-03,-3.06347619e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48909814, -0.51741635,  4.45917957, -0.51741635, 40.8769368 ,
        4.22222573,  4.45917957,  4.22222573,  4.9790198 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002838056785695875
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.77978163e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.77978163e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10957156, -0.03387623,  0.06199189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.42143965e-06,-1.98245662e-05, 9.20132596e-06,-1.13562979e-05,
 -1.37580682e-05,-6.82350882e-06,-6.84948093e-06, 3.20679169e-07,
  1.49078265e-05,-2.42090444e-05, 4.06591399e-05, 2.96965266e-05,
 -1.22709985e-04,-1.35845535e-05, 2.60460701e-05, 1.94795984e-04,
 -4.52427809e-07, 1.25986416e-07,-1.21644212e+00,-4.57049491e-04,
  1.01982185e-05,-5.49499920e-04]


--- Step 856 ---
qpos:
[ 6.17705245e-03,-1.78591459e-03,-4.96501217e-03, 3.35609476e-02,
  4.45576889e-03,-3.75922384e-03,-1.85422226e-02, 2.85552600e-02,
  1.29770256e-02, 3.34166199e-03,-9.96808451e-03, 2.58766107e-02,
  1.13455633e+00,-1.10309345e-04, 8.94121520e-01, 6.44546594e-02,
  9.36163317e-02,-7.00988443e-02, 1.30969953e-01, 5.01032833e-01,
  4.90687599e-01, 4.99031357e-01, 5.09077091e-01]

qacc:
[ -2.08952764, -1.23190741,  6.36747558,-15.06986103, -1.38229459,
  -1.32354882,  7.73559578,-19.8442788 ,  1.58001999,  0.6698953 ,
  -2.28621668,  2.96812504, -0.092039  , -0.46306039,-10.0254165 ,
  34.4542479 , -0.9761365 , -1.85746358, -0.57399371,-15.88029575,
   0.9532425 , 26.21989044]

qfrc_actuator:
[-3.38571929e-05,-7.41592691e-05,-5.22004588e-05,-1.49797745e-05,
 -6.20338278e-06,-3.72855633e-04,-3.17611900e-04,-1.03434345e-05,
  1.36628560e-05,-3.48755046e-05,-5.14008517e-05,-3.21600411e-06,
  2.02548885e-02,-1.26809499e-03, 5.37712860e-03,-2.90639315e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49735464, -0.79772204,  4.42604092, -0.79772204, 36.90597083,
        5.84112709,  4.42604092,  5.84112709,  5.55012299,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028649381240830607
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.93760384e-13,  4.84400961e-14,  1.00000000e+00, -9.38577164e-27,
        1.00000000e+00, -4.84400961e-14, -1.00000000e+00,  0.00000000e+00,
        1.93760384e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10957031, -0.03387736,  0.06199181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.22454113e-05,-1.26558750e-05,-2.08767336e-06,-2.62632546e-05,
 -8.11810356e-06,-2.08105638e-06,-3.52225468e-06,-3.59513332e-05,
  9.28593581e-06, 1.07122735e-05,-6.66616218e-06, 1.72176011e-06,
 -1.29773266e-04,-5.88021242e-05, 7.61556721e-06, 1.69403343e-04,
 -3.36741555e-07, 3.32447165e-07,-1.21644111e+00,-4.57738741e-04,
  1.15159228e-05,-5.49615186e-04]


--- Step 857 ---
qpos:
[ 6.17654291e-03,-1.78513962e-03,-4.96466433e-03, 3.35605964e-02,
  4.45590286e-03,-3.75965235e-03,-1.85429983e-02, 2.85555116e-02,
  1.29772842e-02, 3.34243263e-03,-9.96813179e-03, 2.58761767e-02,
  1.13504107e+00,-1.09334884e-04, 8.94500726e-01, 6.44507533e-02,
  9.36196614e-02,-7.01173318e-02, 1.30962844e-01, 5.00950132e-01,
  4.90750133e-01, 4.98983293e-01, 5.09145308e-01]

qacc:
[ -1.29442072,  1.14436621, -5.57480678, 12.29350249,  2.22661094,
  -0.82703855,  2.54119515, -3.29814775,  0.88069753,  3.13551262,
  -8.82694139,  4.67191546,  0.08601259, -1.14367783, 11.77350263,
 -41.585688  , -0.96648041, -1.8342869 , -0.68868461,-15.64328932,
   0.99134966, 25.91034739]

qfrc_actuator:
[-4.10544373e-05,-5.84172852e-05,-5.16311159e-05, 5.81527138e-06,
  7.05789689e-06,-4.06454328e-04,-3.18014000e-04,-1.35470456e-05,
  1.88164743e-05,-8.53903703e-06,-1.09598064e-04,-2.04741604e-05,
  2.02053955e-02,-1.32143957e-03, 5.30485024e-03,-3.13363072e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4978018 , -1.10403611,  4.36019785, -1.10403611, 45.62346886,
       10.41333972,  4.36019785, 10.41333972,  7.13454065,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002866384247833115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.87325260e-13, -1.93662630e-13,  1.00000000e+00,  7.50104286e-26,
        1.00000000e+00,  1.93662630e-13, -1.00000000e+00,  0.00000000e+00,
        3.87325260e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10956979, -0.03387722,  0.0619918 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.55123488e-06, 7.07541898e-06,-3.22183788e-06, 1.96689620e-05,
  1.30302841e-05,-3.70195220e-05,-2.49835052e-06,-4.11242475e-06,
  5.42322257e-06, 3.10061747e-05,-5.67612748e-05,-1.69992706e-05,
 -1.40487335e-04,-9.34312468e-05,-5.71044512e-05,-2.18482962e-04,
 -8.28106260e-08, 6.64582196e-07,-1.21644131e+00,-4.58511775e-04,
  1.19847224e-05,-5.49973081e-04]


--- Step 858 ---
qpos:
[ 6.17664086e-03,-1.78433578e-03,-4.96457067e-03, 3.35601659e-02,
  4.45653961e-03,-3.76048070e-03,-1.85434318e-02, 2.85557183e-02,
  1.29776030e-02, 3.34323244e-03,-9.96817935e-03, 2.58755258e-02,
  1.13552485e+00,-1.08666749e-04, 8.94879222e-01, 6.44441756e-02,
  9.36231999e-02,-7.01313734e-02, 1.30958989e-01, 5.00880946e-01,
  4.90799401e-01, 4.98953160e-01, 5.09195415e-01]

qacc:
[  5.33316727,  0.57532558, -1.67984171,  0.71464755,  4.41770171,
  -1.5848751 ,  5.0589189 , -6.07103933,  0.52852073, -0.40810198,
   2.42500227, -6.19758854, -0.54272069,  0.29935461,  7.03756736,
 -26.09280972,  0.05219174,  1.11144764,  0.81336269,  2.44450419,
   0.05263196,-15.68626284]

qfrc_actuator:
[-9.57564403e-06,-6.70700459e-05,-6.91216681e-05, 4.51052598e-07,
  3.25616617e-05,-4.26254573e-04,-3.00259511e-04,-1.55415304e-05,
  2.17421162e-05,-1.11114672e-05,-1.08325184e-04,-3.04630538e-05,
  2.01529597e-02,-1.33555131e-03, 5.26914317e-03,-3.26601991e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002965574251161951
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.50972189e-14, -1.87185167e-13,  1.00000000e+00, -6.56967878e-27,
        1.00000000e+00,  1.87185167e-13, -1.00000000e+00,  0.00000000e+00,
       -3.50972189e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09178745, -0.08823087,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.12631310e-05,-4.55117833e-06,-1.57568254e-05,-4.79099951e-06,
  2.58633523e-05,-4.11650673e-05, 9.67100456e-06,-3.74585591e-06,
  3.09584578e-06, 2.28943911e-06, 9.05899132e-08,-1.09557993e-05,
 -1.59056421e-04,-6.25521279e-05,-9.19170044e-05,-1.53215020e-04,
  3.06966008e-07, 1.11789118e-06,-1.21644267e+00,-4.59373847e-04,
  1.16449471e-05,-5.50572342e-04]


--- Step 859 ---
qpos:
[ 6.17677027e-03,-1.78348646e-03,-4.96496130e-03, 3.35593437e-02,
  4.45713202e-03,-3.76132333e-03,-1.85438446e-02, 2.85565625e-02,
  1.29776097e-02, 3.34394097e-03,-9.96844105e-03, 2.58747907e-02,
  1.13600766e+00,-1.08195414e-04, 8.95256625e-01, 6.44409482e-02,
  9.36269844e-02,-7.01410697e-02, 1.30957582e-01, 5.00825094e-01,
  4.90835458e-01, 4.98940577e-01, 5.09227924e-01]

qacc:
[ 2.60247696e-01, 6.06504032e-01,-4.21778836e-01,-5.61844367e+00,
 -3.86732428e-01, 1.23483325e+00,-7.12116348e+00, 1.81294546e+01,
 -2.75206932e+00, 3.09720069e-01,-9.14176824e-01,-1.45178254e-01,
 -3.41741841e-01, 1.89496614e-02,-1.17101589e+01, 3.86573727e+01,
  6.15006104e-02, 1.08633463e+00, 6.12169559e-01, 2.27763687e+00,
  1.13939447e-01,-1.54048918e+01]

qfrc_actuator:
[-8.84468320e-06,-7.26005536e-05,-9.72535860e-05,-2.03004705e-05,
  2.95549199e-05,-4.02058216e-04,-2.89638780e-04, 1.87112646e-05,
  5.58127150e-06,-3.07449889e-05,-1.25294892e-04,-3.60659110e-05,
  2.01094596e-02,-1.34410182e-03, 5.27141191e-03,-3.07493001e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5535542 ,  0.64053502,  4.50827802,  0.64053502, 18.15324825,
       -1.93224116,  4.50827802, -1.93224116,  4.82808654,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030393975225714853
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.42447501e-14, -1.82638667e-13,  1.00000000e+00, -6.25441551e-27,
        1.00000000e+00,  1.82638667e-13, -1.00000000e+00,  0.00000000e+00,
       -3.42447501e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09178915, -0.08822937,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.61654327e-06,-1.15543081e-05,-3.11893864e-05,-2.15873325e-05,
 -2.28250674e-06, 3.05777447e-06, 3.19296617e-06, 3.27516691e-05,
 -1.60692805e-05,-1.88289085e-05,-1.68718619e-05,-5.71512099e-06,
 -1.54586066e-04,-5.51551626e-05,-6.08473437e-05, 1.69875997e-04,
  1.85983829e-07, 7.28332257e-07,-1.21644157e+00,-4.58989045e-04,
  1.17204299e-05,-5.50853154e-04]


--- Step 860 ---
qpos:
[ 6.17725260e-03,-1.78261533e-03,-4.96545471e-03, 3.35586011e-02,
  4.45768389e-03,-3.76203983e-03,-1.85441841e-02, 2.85574426e-02,
  1.29777675e-02, 3.34477067e-03,-9.96904488e-03, 2.58746665e-02,
  1.13648933e+00,-1.07026197e-04, 8.95633152e-01, 6.44387078e-02,
  9.36310442e-02,-7.01465038e-02, 1.30957947e-01, 5.00782422e-01,
  4.90858361e-01, 4.98945230e-01, 5.09243254e-01]

qacc:
[  3.09964436,  0.47415576, -1.99550202,  3.5336614 , -0.35456534,
   0.03658242, -0.03937664,  0.45119335,  1.31749349,  2.37133182,
 -10.80683719, 21.84297568, -1.37399796,  2.47028994, -4.17499612,
  12.95580682,  0.06882328,  1.06554924,  0.44293358,  2.14523866,
   0.16138484,-15.16916711]

qfrc_actuator:
[ 9.27589260e-06,-5.85332421e-05,-9.59332826e-05,-1.44347301e-05,
  2.75405130e-05,-3.87194775e-04,-2.83113639e-04, 2.07901705e-05,
  1.38220202e-05,-7.24848245e-06,-1.35243548e-04,-3.57772956e-06,
  2.00713567e-02,-1.29604468e-03, 5.21663937e-03,-3.03200572e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56639211,  0.51686059,  4.53704662,  0.51686059, 28.46074847,
       -2.72204634,  4.53704662, -2.72204634,  4.87648777,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003077337262069185
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.35290220e-13,  9.01934798e-14,  1.00000000e+00, -1.22022957e-26,
        1.00000000e+00, -9.01934798e-14, -1.00000000e+00,  0.00000000e+00,
        1.35290220e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09179046, -0.08822874,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.81625326e-05, 2.14184274e-07,-5.65849193e-06, 3.87206263e-06,
 -2.08003671e-06, 1.86692221e-05, 8.69623261e-06, 2.95884615e-06,
  7.78039931e-06, 9.21070599e-06,-1.61168338e-05, 3.09875854e-05,
 -1.43891965e-04, 3.40512995e-06,-6.76359476e-05, 4.37108307e-05,
  8.81789106e-08, 4.37703793e-07,-1.21644080e+00,-4.58653522e-04,
  1.16784569e-05,-5.51042115e-04]


--- Step 861 ---
qpos:
[ 6.17829326e-03,-1.78183312e-03,-4.96534836e-03, 3.35578992e-02,
  4.45855205e-03,-3.76241890e-03,-1.85445040e-02, 2.85576265e-02,
  1.29776777e-02, 3.34567736e-03,-9.96950001e-03, 2.58749034e-02,
  1.13697009e+00,-1.05628007e-04, 8.96008682e-01, 6.44370181e-02,
  9.36354024e-02,-7.01477442e-02, 1.30959515e-01, 5.00752798e-01,
  4.90868163e-01, 4.98966858e-01, 5.09241746e-01]

qacc:
[  4.92989185, -1.71997547,  5.77330093, -5.94361183,  2.76236686,
  -1.04618486,  7.30879868,-19.62969949, -2.17511163,  0.43373882,
  -2.91626909,  8.8637522 , -0.79630757,  1.19090092, -3.08176434,
   8.76340819,  0.07460014,  1.048426  ,  0.30085656,  2.04045116,
   0.1979397 ,-14.97278454]

qfrc_actuator:
[ 3.74961872e-05,-5.04544019e-05,-5.93768048e-05,-1.06660592e-05,
  4.38880694e-05,-3.60313167e-04,-2.79106764e-04,-1.38414210e-05,
  8.60040389e-07, 6.44483852e-06,-1.23013305e-04, 1.55982891e-05,
  2.00312172e-02,-1.28584945e-03, 5.16494237e-03,-3.00594727e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56947882, -0.34993797, -4.55605971, -0.34993797, 38.79441291,
       -2.6287197 , -4.55605971, -2.6287197 ,  4.77138329,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030863611715387096
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79859544e-13,  1.79859544e-13,  1.00000000e+00, -3.23494555e-26,
        1.00000000e+00, -1.79859544e-13, -1.00000000e+00,  0.00000000e+00,
        1.79859544e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09179144, -0.08822882,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.87347337e-05, 7.17638469e-06, 3.60337757e-05, 3.65739279e-06,
  1.62941772e-05, 3.92717424e-05, 9.04715996e-06,-3.34725518e-05,
 -1.27363768e-05, 1.68233156e-05, 1.32173839e-05, 1.96156266e-05,
 -1.26598135e-04,-2.06697328e-05,-8.22254368e-05, 1.88273162e-05,
  9.13953241e-09, 2.42180721e-07,-1.21644035e+00,-4.58356785e-04,
  1.15301572e-05,-5.51139506e-04]


--- Step 862 ---
qpos:
[ 6.17862920e-03,-1.78087879e-03,-4.96545095e-03, 3.35572700e-02,
  4.45926450e-03,-3.76250115e-03,-1.85447961e-02, 2.85577438e-02,
  1.29774339e-02, 3.34608094e-03,-9.97006174e-03, 2.58751159e-02,
  1.13745025e+00,-1.04965371e-04, 8.96383411e-01, 6.44346161e-02,
  9.36400773e-02,-7.01448470e-02, 1.30961810e-01, 5.00736110e-01,
  4.90864916e-01, 4.99005245e-01, 5.09223672e-01]

qacc:
[ -6.2061362 ,  0.97362394, -3.42755313,  4.87157704, -1.36694472,
   0.18057826,  0.21100037, -1.63063171, -1.34977506, -0.41444033,
   0.62021057, -0.50548518,  0.19277282, -1.1816476 ,  0.93554694,
  -5.0672466 ,  0.07917641,  1.03440559,  0.1818513 ,  1.95781766,
   0.22593722,-14.81037746]

qfrc_actuator:
[ 4.19200953e-07,-4.58666174e-05,-7.33505761e-05,-8.14848409e-06,
  3.54069410e-05,-3.44235028e-04,-2.76586449e-04,-1.65234834e-05,
 -6.73268213e-06,-7.45111934e-05,-1.51087592e-04, 9.03985066e-06,
  1.99898744e-02,-1.33368686e-03, 5.12578469e-03,-3.04322459e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003072311850043363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.03410102e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.03410102e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09179217, -0.08822944,  0.06199122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.62615369e-05, 1.61796348e-05,-7.93778044e-06, 4.14120434e-06,
 -8.00091948e-06, 3.84958245e-05, 1.05953894e-05,-1.33697337e-06,
 -7.94759014e-06,-6.80102666e-05,-2.22978648e-05,-4.99942240e-06,
 -1.22975427e-04,-7.93320867e-05,-7.82143426e-05,-4.75651523e-05,
 -5.43897868e-08, 1.38556908e-07,-1.21644020e+00,-4.58091122e-04,
  1.12836843e-05,-5.51145719e-04]


--- Step 863 ---
qpos:
[ 6.17817345e-03,-1.77974264e-03,-4.96600722e-03, 3.35566922e-02,
  4.45952517e-03,-3.76255056e-03,-1.85446388e-02, 2.85574873e-02,
  1.29774462e-02, 3.34565300e-03,-9.97076771e-03, 2.58756406e-02,
  1.13792968e+00,-1.04844338e-04, 8.96756995e-01, 6.44314841e-02,
  9.36450835e-02,-7.01378577e-02, 1.30964436e-01, 5.00732263e-01,
  4.90848662e-01, 4.99060215e-01, 5.09189251e-01]

qacc:
[ -6.97867363,  1.62777001, -5.64784783,  7.1006542 , -3.94054021,
  -1.97292261,  8.68978963,-15.91539514,  2.26326271, -0.05787707,
  -2.71352968,  8.96555079, -0.05772497, -0.64356265,  0.50199899,
  -4.24154393,  0.08282237,  1.02301682,  0.08242732,  1.89299163,
   0.24720865,-14.6773616 ]

qfrc_actuator:
[-3.92911618e-05,-4.35989619e-05,-9.93210701e-05,-6.42997709e-06,
  1.23740776e-05,-3.52485962e-04,-2.57221375e-04,-3.58923368e-05,
  6.65421623e-06,-1.40697007e-04,-1.67643508e-04, 2.27869900e-05,
  1.99478156e-02,-1.36221303e-03, 5.06221420e-03,-3.08195545e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003040074979666768
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36948476e-13,  9.12989837e-14,  1.00000000e+00,  1.25032566e-26,
        1.00000000e+00, -9.12989837e-14, -1.00000000e+00,  0.00000000e+00,
       -1.36948476e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0917927 , -0.08823051,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.07383759e-05, 9.80754644e-06,-2.34701644e-05, 2.21872989e-06,
 -2.32483631e-05, 1.54103892e-05, 2.85798474e-05,-1.73776007e-05,
  1.31392215e-05,-1.09049772e-04,-3.35223465e-05, 9.96394006e-06,
 -1.34791600e-04,-7.04322818e-05,-1.08344823e-04,-5.22570786e-05,
 -1.04803324e-07, 1.24167864e-07,-1.21644033e+00,-4.57850883e-04,
  1.09449586e-05,-5.51061175e-04]


--- Step 864 ---
qpos:
[ 6.17759009e-03,-1.77875839e-03,-4.96646403e-03, 3.35561444e-02,
  4.45985251e-03,-3.76244424e-03,-1.85442916e-02, 2.85573483e-02,
  1.29772735e-02, 3.34459889e-03,-9.97118823e-03, 2.58762697e-02,
  1.13840836e+00,-1.05107712e-04, 8.97129708e-01, 6.44278147e-02,
  9.36504327e-02,-7.01268129e-02, 1.30967059e-01, 5.00741179e-01,
  4.90819441e-01, 4.99131625e-01, 5.09138655e-01]

qacc:
[-1.11631417e+00,-4.14855928e-01, 1.06500754e+00,-5.97065916e-01,
  5.86918622e-01,-8.36991902e-02, 9.85615541e-02, 1.52077930e+00,
 -1.60795588e+00,-1.40712745e+00, 3.38065085e+00,-1.57338324e+00,
 -2.09185164e-01,-2.60159105e-01, 3.37881884e-01,-3.04827184e+00,
  8.57493723e-02, 1.01386218e+00,-4.01038686e-04, 1.84250703e+00,
  2.63190694e-01,-1.45698121e+01]

qfrc_actuator:
[-4.47074355e-05,-6.05545419e-05,-9.66560229e-05,-5.19853869e-06,
  1.64737953e-05,-3.39683839e-04,-2.45934992e-04,-2.94341392e-05,
 -3.22482774e-06,-1.44233149e-04,-1.41702862e-04, 3.06381728e-05,
  1.99160120e-02,-1.37905219e-03, 5.03731365e-03,-3.10350311e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002993722892655065
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.79453589e-14, -1.85425149e-13,  1.00000000e+00,  1.07445268e-26,
        1.00000000e+00,  1.85425149e-13, -1.00000000e+00,  0.00000000e+00,
        5.79453589e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09179308, -0.08823192,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.57321119e-06,-1.62702798e-05, 1.87361732e-06, 8.84615211e-07,
  3.44052991e-06, 2.65704987e-05, 1.73889319e-05, 7.77061648e-06,
 -9.54485702e-06,-7.09876736e-05,-3.57706395e-07, 2.21274806e-06,
 -1.29954782e-04,-5.95486805e-05,-8.26312232e-05,-3.88706292e-05,
 -1.43853655e-07, 1.96815375e-07,-1.21644075e+00,-4.57631949e-04,
  1.05182199e-05,-5.50886289e-04]


--- Step 865 ---
qpos:
[ 6.17694581e-03,-1.77770792e-03,-4.96725072e-03, 3.35556174e-02,
  4.46022598e-03,-3.76179921e-03,-1.85442747e-02, 2.85576197e-02,
  1.29769837e-02, 3.34308022e-03,-9.97167415e-03, 2.58773361e-02,
  1.13888625e+00,-1.05593671e-04, 8.97501581e-01, 6.44251698e-02,
  9.36561344e-02,-7.01117418e-02, 1.30969406e-01, 5.00762793e-01,
  4.90777280e-01, 4.99219359e-01, 5.09072016e-01]

qacc:
[ -0.54722612,  1.05363612, -3.71563842,  4.55211167,  0.38437202,
   2.4766993 , -9.5318979 , 16.76381606, -1.02421495,  0.47098003,
  -4.41312643, 12.4242676 , -0.3075302 ,  0.02013731, -4.31984518,
  13.33845502,  0.08812249,  1.00660602, -0.06918973,  1.80359702,
   0.27500996,-14.48436442]

qfrc_actuator:
[-4.76472894e-05,-5.32778264e-05,-1.12686577e-04,-4.25854382e-06,
  1.87626799e-05,-2.96633267e-04,-2.57168536e-04,-7.82157059e-06,
 -8.97219192e-06,-1.63310119e-04,-1.43894175e-04, 5.27871825e-05,
  1.98797377e-02,-1.38881968e-03, 5.01965426e-03,-3.04363101e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002936637322679264
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00843998e-13, -1.89029646e-13,  1.00000000e+00,  3.79654698e-26,
        1.00000000e+00,  1.89029646e-13, -1.00000000e+00,  0.00000000e+00,
        2.00843998e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09179333, -0.08823359,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.13508040e-06,-1.42634163e-06,-1.91341318e-05, 3.25268398e-07,
  2.39541727e-06, 6.18270296e-05,-3.33960490e-06, 2.35033145e-05,
 -6.04703616e-06,-5.87149364e-05,-1.68062058e-05, 1.91398178e-05,
 -1.28768524e-04,-4.94437799e-05,-6.33638532e-05, 4.63050766e-05,
 -1.72815124e-07, 3.54696795e-07,-1.21644145e+00,-4.57431341e-04,
  1.00064392e-05,-5.50621434e-04]


--- Step 866 ---
qpos:
[ 6.17661630e-03,-1.77680356e-03,-4.96819113e-03, 3.35558118e-02,
  4.46062426e-03,-3.76084646e-03,-1.85448892e-02, 2.85585440e-02,
  1.29766268e-02, 3.34159433e-03,-9.97269088e-03, 2.58786276e-02,
  1.13936321e+00,-1.05898438e-04, 8.97872807e-01, 6.44205969e-02,
  9.36579711e-02,-7.01042966e-02, 1.30970271e-01, 5.00772749e-01,
  4.90744602e-01, 4.99264662e-01, 5.09049297e-01]

qacc:
[  2.76592563,  1.7162535 , -9.45329211, 22.29762484,  0.19246409,
   3.51213209,-14.69153995, 26.77538091, -0.60829061,  1.99126391,
  -7.98532815, 12.70243295, -0.91227756,  1.34392912,  4.91966986,
 -18.4686995 , -0.96624907, -1.90651078, -0.37059105,-16.52796142,
   0.64957226, 26.74300162]

qfrc_actuator:
[-3.13643018e-05,-6.71243480e-05,-1.21792301e-04, 3.20090035e-05,
  1.99589475e-05,-3.06889422e-04,-2.99222550e-04, 2.25439318e-05,
 -1.22344417e-05,-1.38364839e-04,-1.62727983e-04, 6.53876465e-05,
  1.98354860e-02,-1.37659962e-03, 4.96908758e-03,-3.14928554e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002902875254710835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91228166e-13, -1.91228166e-13,  1.00000000e+00,  3.65682116e-26,
        1.00000000e+00,  1.91228166e-13, -1.00000000e+00,  0.00000000e+00,
        1.91228166e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10955729, -0.03387525,  0.0619917 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.61916919e-05,-1.86093579e-05,-1.17468846e-05, 3.55515721e-05,
  1.28542970e-06, 2.46113560e-05,-2.88900876e-05, 3.33547858e-05,
 -3.45975981e-06,-1.04844977e-05,-3.23489403e-05, 9.87754318e-06,
 -1.33391069e-04,-2.54320091e-05,-7.85516908e-05,-1.12140259e-04,
 -1.92605668e-07, 5.96340425e-07,-1.21644241e+00,-4.57246934e-04,
  9.41162649e-06,-5.50266933e-04]


--- Step 867 ---
qpos:
[ 6.17613963e-03,-1.77635818e-03,-4.96852647e-03, 3.35564267e-02,
  4.46137899e-03,-3.75995346e-03,-1.85458377e-02, 2.85598527e-02,
  1.29758882e-02, 3.34022713e-03,-9.97345110e-03, 2.58796480e-02,
  1.13983915e+00,-1.05744107e-04, 8.98243156e-01, 6.44137954e-02,
  9.36559707e-02,-7.01043489e-02, 1.30969063e-01, 5.00771005e-01,
  4.90721267e-01, 4.99268407e-01, 5.09069834e-01]

qacc:
[ -1.26678636, -1.42946838,  2.44490986,  4.20132006,  3.1103137 ,
   1.63845821, -7.59076708, 14.83242581, -3.35267376, -1.11141433,
   5.3462436 ,-10.5470078 , -1.22619967,  2.07409054,  5.5137784 ,
 -20.9797653 , -0.95927543, -1.87434716, -0.51806835,-16.16529264,
   0.75101025, 26.33836142]

qfrc_actuator:
[-3.94042038e-05,-9.34589724e-05,-9.12820849e-05, 5.32590382e-05,
  3.82551448e-05,-3.31361482e-04,-3.23830347e-04, 4.00016939e-05,
 -3.17613361e-05,-1.05070343e-04,-1.37797823e-04, 5.45436529e-05,
  1.97864887e-02,-1.35150175e-03, 4.92009264e-03,-3.26295020e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52053493, -0.12818113, -4.51871725, -0.12818113, 35.56676105,
       -0.88067923, -4.51871725, -0.88067923,  4.5455169 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029386315931294316
  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([ 0.10955501, -0.03387661,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.58897160e-06,-3.76596698e-05, 2.64491045e-05, 2.07371286e-05,
  1.83412840e-05,-1.52763991e-05,-2.19349809e-05, 1.81591130e-05,
 -1.96334484e-05, 2.12331737e-05, 1.91479022e-05,-1.22175967e-05,
 -1.35956319e-04,-8.75940340e-06,-1.01764366e-04,-1.30962673e-04,
 -1.91446539e-07, 2.09576970e-07,-1.21644060e+00,-4.57827405e-04,
  1.05189239e-05,-5.50263537e-04]


--- Step 868 ---
qpos:
[ 6.17522529e-03,-1.77615171e-03,-4.96824387e-03, 3.35569166e-02,
  4.46200245e-03,-3.75938496e-03,-1.85469466e-02, 2.85613833e-02,
  1.29749213e-02, 3.33877866e-03,-9.97383262e-03, 2.58805471e-02,
  1.14031409e+00,-1.05240452e-04, 8.98612216e-01, 6.44105889e-02,
  9.36501573e-02,-7.01117921e-02, 1.30965287e-01, 5.00757535e-01,
  4.90707158e-01, 4.99231301e-01, 5.09133071e-01]

qacc:
[ -3.82493607, -2.29304791,  8.25787975,-11.24555641, -1.14810823,
   0.47738568, -3.25744609,  7.58732195, -1.99540781, -1.41153177,
   5.39585593, -8.04746593, -0.82115126,  1.27511983,-12.69591266,
  41.78470102, -0.95322785, -1.84773647, -0.64220214,-15.87034436,
   0.82793007, 26.0027169 ]

qfrc_actuator:
[-6.17018113e-05,-9.14098700e-05,-5.54522196e-05, 4.77580668e-05,
  3.09644699e-05,-3.64118695e-04,-3.38015137e-04, 4.97222165e-05,
 -4.29530337e-05,-1.20123244e-04,-1.22689541e-04, 4.77917243e-05,
  1.97346856e-02,-1.33678023e-03, 4.90936518e-03,-3.06080181e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52301922, -0.09342003,  4.52205435, -0.09342003, 25.59444373,
        0.43530949,  4.52205435,  0.43530949,  4.53201217,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029463800632359427
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.82606877e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.82606877e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10955369, -0.03387661,  0.06199158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25296430e-05,-1.26731236e-05, 3.20239420e-05,-5.79722438e-06,
 -6.77192207e-06,-4.50701009e-05,-1.94168655e-05, 8.65670580e-06,
 -1.17472505e-05, 2.99415740e-07, 2.14526544e-05,-5.41408744e-06,
 -1.36806801e-04,-1.63805394e-05,-7.52353174e-05, 1.81067027e-04,
 -5.91140317e-08,-4.02647890e-08,-1.21644004e+00,-4.58451286e-04,
  1.07522287e-05,-5.50494816e-04]


--- Step 869 ---
qpos:
[ 6.17508538e-03,-1.77587304e-03,-4.96764664e-03, 3.35573174e-02,
  4.46184432e-03,-3.75949463e-03,-1.85480621e-02, 2.85633994e-02,
  1.29738273e-02, 3.33743216e-03,-9.97350475e-03, 2.58809663e-02,
  1.14078811e+00,-1.04557763e-04, 8.98980159e-01, 6.44101486e-02,
  9.36405517e-02,-7.01265385e-02, 1.30958524e-01, 5.00732319e-01,
  4.90702173e-01, 4.99153911e-01, 5.09238545e-01]

qacc:
[  6.81819389, -0.98110344,  3.98994296, -6.06446722, -6.82851783,
   0.13427071, -3.80663435, 12.69454126, -1.09812901, -2.83368356,
  12.32948607,-21.84919636, -0.647324  ,  0.87941569, -9.95522589,
  32.53182815, -0.9480808 , -1.82579955, -0.74665274,-15.6318356 ,
   0.88525797, 25.72631719]

qfrc_actuator:
[-2.11941404e-05,-7.23670267e-05,-3.44381060e-05, 4.43365114e-05,
 -9.08582660e-06,-4.19310985e-04,-3.45986275e-04, 7.25618430e-05,
 -4.91443475e-05,-9.30215751e-05,-7.81939234e-05, 2.57010519e-05,
  1.96918862e-02,-1.32835837e-03, 4.85775741e-03,-2.92263446e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51834096, -0.33479406,  4.50592032, -0.33479406, 36.38790119,
        2.36793791,  4.50592032,  2.36793791,  4.69428094,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002931765150261112
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.89343786e-13,  5.68031357e-13,  1.00000000e+00, -1.07553208e-25,
        1.00000000e+00, -5.68031357e-13, -1.00000000e+00,  0.00000000e+00,
        1.89343786e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10955314, -0.03387555,  0.06199162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.98605850e-05, 1.83056929e-05, 2.21349808e-05,-2.97050401e-06,
 -4.02590551e-05,-8.40484148e-05,-1.93695823e-05, 2.04028244e-05,
 -6.53039647e-06, 3.15161603e-05, 4.70313739e-05,-2.14385454e-05,
 -1.29159170e-04,-2.47887468e-05,-6.89615950e-05, 1.37935090e-04,
  2.04362424e-07,-1.60837422e-07,-1.21644067e+00,-4.59134919e-04,
  1.01596645e-05,-5.50961939e-04]


--- Step 870 ---
qpos:
[ 6.17577669e-03,-1.77544205e-03,-4.96683040e-03, 3.35576698e-02,
  4.46120707e-03,-3.76004823e-03,-1.85487508e-02, 2.85649225e-02,
  1.29723224e-02, 3.33631988e-03,-9.97268669e-03, 2.58811150e-02,
  1.14126128e+00,-1.03771130e-04, 8.99346762e-01, 6.44117692e-02,
  9.36310894e-02,-7.01368268e-02, 1.30954869e-01, 5.00720411e-01,
  4.90684377e-01, 4.99094421e-01, 5.09325702e-01]

qacc:
[  7.31317423, -0.52444828,  2.34070027, -3.61029617, -4.17253554,
  -2.78389462, 11.17117612,-20.07259656, -3.60491015, -1.61002672,
   7.34391703,-12.99359421, -0.57319567,  0.71008618, -8.16359807,
  25.76635624,  0.03583423,  1.11454089,  0.77705045,  2.65669486,
  -0.07178763,-15.56356843]

qfrc_actuator:
[ 2.04543983e-05,-6.10961117e-05,-2.22573130e-05, 4.21768284e-05,
 -3.25837987e-05,-4.16470327e-04,-3.14813529e-04, 4.96626077e-05,
 -7.00979213e-05,-7.62831514e-05,-5.20533428e-05, 1.25669838e-05,
  1.96491908e-02,-1.32368575e-03, 4.78165234e-03,-2.82346511e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.54697065,   1.32557579,   4.34945869,   1.32557579,
        43.71135287, -11.93605012,   4.34945869, -11.93605012,
         8.18469667,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003019679814948717
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49362890e-13, -5.51493747e-13,  1.00000000e+00,  8.23726999e-26,
        1.00000000e+00,  5.51493747e-13, -1.00000000e+00,  0.00000000e+00,
        1.49362890e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09180096, -0.08823374,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.27859265e-05, 2.59490001e-05, 1.85729832e-05,-6.71699925e-07,
 -2.46774481e-05,-4.72869211e-05, 1.21437835e-05,-2.67743884e-05,
 -2.11329596e-05, 4.31969035e-05, 3.77119269e-05,-1.05719614e-05,
 -1.26355366e-04,-2.84337798e-05,-9.57988761e-05, 9.72273697e-05,
  5.98957041e-07,-1.57168026e-07,-1.21644244e+00,-4.59889297e-04,
  8.77728060e-06,-5.51665135e-04]


--- Step 871 ---
qpos:
[ 6.17627255e-03,-1.77524851e-03,-4.96595464e-03, 3.35580554e-02,
  4.46063719e-03,-3.76047038e-03,-1.85492763e-02, 2.85650665e-02,
  1.29705777e-02, 3.33589333e-03,-9.97233641e-03, 2.58818040e-02,
  1.14173355e+00,-1.02895565e-04, 8.99712528e-01, 6.44125266e-02,
  9.36218180e-02,-7.01427604e-02, 1.30953538e-01, 5.00721680e-01,
  4.90653714e-01, 4.99052450e-01, 5.09395116e-01]

qacc:
[-1.71265372e+00,-4.08765140e-01, 8.68177228e-01,-2.21988760e-01,
  5.91718953e-01,-3.11890515e+00, 1.71954974e+01,-4.14192958e+01,
 -2.13623481e+00, 3.32997247e+00,-1.28323774e+01, 2.24186085e+01,
 -7.42970564e-01, 9.87746510e-01, 1.41497452e+00,-6.64086799e+00,
  4.77437692e-02, 1.08866117e+00, 5.80979490e-01, 2.43523990e+00,
  2.12578704e-02,-1.53070104e+01]

qfrc_actuator:
[ 9.16300011e-06,-1.07855237e-04,-3.31593677e-05, 4.07689613e-05,
 -2.83875671e-05,-3.78772871e-04,-2.96090496e-04,-1.76483013e-05,
 -8.18215462e-05,-3.04304623e-05,-7.24955879e-05, 4.02946103e-05,
  1.96012605e-02,-1.32125919e-03, 4.73351560e-03,-2.87236400e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56892179,  0.87654869,  4.48405048,  0.87654869, 21.25424708,
       -3.26167157,  4.48405048, -3.26167157,  5.20651808,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030847354959476214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.49885827e-14,  3.59908662e-13,  1.00000000e+00, -1.61917806e-26,
        1.00000000e+00, -3.59908662e-13, -1.00000000e+00,  0.00000000e+00,
        4.49885827e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09180314, -0.08823266,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00688197e-05,-2.84537026e-05,-3.29540707e-06, 3.28134268e-07,
  3.47539610e-06, 1.26318388e-05, 9.53743085e-06,-6.94378889e-05,
 -1.23126814e-05, 7.73637221e-05,-7.23768353e-06, 3.06788374e-05,
 -1.31060623e-04,-3.05815696e-05,-8.34368731e-05,-5.62755045e-05,
  3.18414706e-07,-2.89282609e-07,-1.21644151e+00,-4.59048981e-04,
  9.72412840e-06,-5.51789710e-04]


--- Step 872 ---
qpos:
[ 6.17697453e-03,-1.77523505e-03,-4.96519807e-03, 3.35584271e-02,
  4.46046650e-03,-3.76050061e-03,-1.85497430e-02, 2.85643754e-02,
  1.29693957e-02, 3.33620980e-03,-9.97229316e-03, 2.58828010e-02,
  1.14220478e+00,-1.01396355e-04, 9.00077688e-01, 6.44119533e-02,
  9.36127744e-02,-7.01444246e-02, 1.30953872e-01, 5.00736011e-01,
  4.90610148e-01, 4.99027682e-01, 5.09447252e-01]

qacc:
[  1.81181219,  0.06297173, -0.51722597,  0.60611196,  3.48813601,
  -1.37042403,  9.15252839,-23.97326708,  4.92944113,  2.46445086,
  -8.67942426, 13.971736  , -1.35897879,  2.41800718,  3.21602313,
 -12.33027758,  0.05693907,  1.06734761,  0.41610956,  2.25777966,
   0.0952416 ,-15.0918647 ]

qfrc_actuator:
[ 2.00597227e-05,-1.18093034e-04,-4.00866211e-05, 3.97501543e-05,
 -7.92967665e-06,-3.38311780e-04,-2.84744329e-04,-5.72649411e-05,
 -5.25087191e-05, 1.45929701e-05,-8.46203830e-05, 5.63313859e-05,
  1.95555484e-02,-1.28470158e-03, 4.71281430e-03,-2.93699371e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57943335,  0.78430274,  4.51177116,  0.78430274, 35.01659644,
       -5.29103754,  4.51177116, -5.29103754,  5.49919969,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031152103291835764
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.67290867e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.67290867e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09180481, -0.08823236,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05990421e-05,-2.68391737e-05,-1.32127779e-05,-2.34864198e-06,
  2.05640867e-05, 4.65413804e-05, 1.27381728e-05,-4.00950118e-05,
  2.89881745e-05, 8.81053326e-05, 4.02381576e-06, 1.96975798e-05,
 -1.32318433e-04, 2.14036600e-06,-6.88476922e-05,-7.93068371e-05,
  6.29153128e-08,-3.33143132e-07,-1.21644091e+00,-4.58268667e-04,
  1.05345006e-05,-5.51831844e-04]


--- Step 873 ---
qpos:
[ 6.17814624e-03,-1.77506914e-03,-4.96469213e-03, 3.35587497e-02,
  4.46054251e-03,-3.76037726e-03,-1.85497393e-02, 2.85635618e-02,
  1.29689195e-02, 3.33678035e-03,-9.97243051e-03, 2.58833464e-02,
  1.14267499e+00,-9.91833365e-05, 9.00441902e-01, 6.44096368e-02,
  9.36039869e-02,-7.01418893e-02, 1.30955316e-01, 5.00763304e-01,
  4.90553658e-01, 4.99019853e-01, 5.09482491e-01]

qacc:
[  4.11966824,  0.79298758, -2.34158156,  1.79500677,  2.17105492,
  -1.36707789,  5.67977793, -8.65865248,  6.20037133, -0.10133838,
   2.73477722,-10.42784842, -1.41658567,  2.60406575,  3.96484111,
 -15.66693702,  0.06401507,  1.04987861,  0.27775694,  2.11539009,
   0.15425847,-14.91267369]

qfrc_actuator:
[ 4.39459167e-05,-8.86277805e-05,-4.44740846e-05, 3.89985438e-05,
  4.17382303e-06,-3.32010811e-04,-2.60032655e-04,-6.25048974e-05,
 -1.70332164e-05,-1.22232640e-05,-1.09480974e-04, 2.98645727e-05,
  1.95112136e-02,-1.24598826e-03, 4.65532574e-03,-3.02800165e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58036192, -0.65797322, -4.53285633, -0.65797322, 30.83034172,
       -3.8103532 , -4.53285633, -3.8103532 ,  5.13345916,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031178820180058353
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.90206090e-14,  2.67061827e-13,  1.00000000e+00,  2.37740065e-26,
        1.00000000e+00, -2.67061827e-13, -1.00000000e+00,  0.00000000e+00,
       -8.90206090e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09180608, -0.08823271,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.41779240e-05, 1.16179574e-05,-1.16510872e-05,-2.40769502e-06,
  1.27083502e-05, 3.32548898e-05, 3.45132504e-05,-3.58316572e-06,
  3.63300652e-05, 2.41202484e-05,-5.49289863e-06,-2.21730089e-05,
 -1.24206051e-04, 1.02623558e-05,-1.02556297e-04,-1.05328890e-04,
 -1.72625274e-07,-2.90179608e-07,-1.21644063e+00,-4.57534275e-04,
  1.12239640e-05,-5.51789654e-04]


--- Step 874 ---
qpos:
[ 6.17890517e-03,-1.77455893e-03,-4.96492913e-03, 3.35590697e-02,
  4.46007339e-03,-3.76010152e-03,-1.85494083e-02, 2.85627016e-02,
  1.29688726e-02, 3.33739062e-03,-9.97217142e-03, 2.58832135e-02,
  1.14314455e+00,-9.71229427e-05, 9.00804901e-01, 6.44065605e-02,
  9.35954772e-02,-7.01352114e-02, 1.30957408e-01, 5.00803474e-01,
  4.90484228e-01, 4.99028748e-01, 5.09501140e-01]

qacc:
[ -3.65879972,  2.53377421, -8.35027588,  9.22537108, -4.76307404,
  -0.79915457,  3.35449825, -4.81236272,  3.78890435, -2.45882188,
  11.69384232,-24.07983582, -0.33535816,  0.18583387,  0.51254663,
  -4.36964816,  0.06943856,  1.03565123,  0.16192896,  2.00098984,
   0.20152593,-14.76474206]

qfrc_actuator:
[ 2.20218580e-05,-7.11064628e-05,-8.26638212e-05, 3.84479992e-05,
 -2.42477636e-05,-3.28371719e-04,-2.45489329e-04,-6.52498201e-05,
  4.01911097e-06,-1.09410443e-05,-8.87287659e-05,-3.71528430e-06,
  1.94783914e-02,-1.25957902e-03, 4.60244619e-03,-3.06288122e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57362736, -0.49457426, -4.54680806, -0.49457426, 44.69650508,
       -4.36432378, -4.54680806, -4.36432378,  5.04835209,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030984305884104724
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.47897328e-14,  1.79158931e-13,  1.00000000e+00,  8.02448065e-27,
        1.00000000e+00, -1.79158931e-13, -1.00000000e+00,  0.00000000e+00,
       -4.47897328e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09180705, -0.08823356,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.12331029e-05, 2.15003733e-05,-3.73189411e-05,-5.06135629e-07,
 -2.80481862e-05, 2.92121024e-05, 2.55394716e-05,-1.94299076e-07,
  2.20958036e-05, 1.26764586e-05, 2.42825496e-05,-3.31715732e-05,
 -1.06356436e-04,-3.84525189e-05,-1.14649766e-04,-5.45885694e-05,
 -3.92000685e-07,-1.61718461e-07,-1.21644065e+00,-4.56835263e-04,
  1.18042801e-05,-5.51661864e-04]


--- Step 875 ---
qpos:
[ 6.17905063e-03,-1.77372957e-03,-4.96537013e-03, 3.35590010e-02,
  4.45926718e-03,-3.75932010e-03,-1.85493375e-02, 2.85621558e-02,
  1.29694238e-02, 3.33794857e-03,-9.97190517e-03, 2.58830637e-02,
  1.14361363e+00,-9.57996928e-05, 9.01167172e-01, 6.44026168e-02,
  9.35872617e-02,-7.01244368e-02, 1.30959761e-01, 5.00856451e-01,
  4.90401845e-01, 4.99054189e-01, 5.09503447e-01]

qacc:
[ -5.40646483,  0.20210917,  1.55093674, -8.20783168, -2.96678257,
   2.04701452, -7.6473163 , 13.12194298,  5.26484287, -0.13450501,
   0.4333925 , -0.68194237,  0.26854456, -1.25759259,  1.51052973,
  -6.92758753,  0.07357538,  1.02416048,  0.06521395,  1.90895526,
   0.23957124,-14.64401929]

qfrc_actuator:
[-8.94112189e-06,-4.32517057e-05,-8.72844638e-05, 2.02385534e-05,
 -4.07859968e-05,-2.90884734e-04,-2.54844739e-04,-4.87721323e-05,
  3.41643605e-05,-2.81922784e-05,-9.43715692e-05,-5.65053629e-06,
  1.94471547e-02,-1.30397132e-03, 4.58967092e-03,-3.09987525e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030616024647038553
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.71971060e-13, -1.81314040e-13,  1.00000000e+00, -4.93121718e-26,
        1.00000000e+00,  1.81314040e-13, -1.00000000e+00,  0.00000000e+00,
       -2.71971060e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09180776, -0.08823482,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.15590997e-05, 3.21212307e-05,-4.79716035e-06,-1.85897773e-05,
 -1.73303141e-05, 5.90674556e-05,-1.86345555e-07, 1.86112326e-05,
  3.07799921e-05,-6.58541843e-06,-1.19196775e-06,-1.19995533e-06,
 -1.05035955e-04,-7.46284795e-05,-7.31027610e-05,-5.51301183e-05,
 -5.98045326e-07, 5.10650771e-08,-1.21644096e+00,-4.56163695e-04,
  1.22843433e-05,-5.51447602e-04]


--- Step 876 ---
qpos:
[ 6.17882391e-03,-1.77307844e-03,-4.96511730e-03, 3.35587158e-02,
  4.45861357e-03,-3.75794823e-03,-1.85494625e-02, 2.85621414e-02,
  1.29699872e-02, 3.33857222e-03,-9.97172759e-03, 2.58825382e-02,
  1.14408191e+00,-9.46498090e-05, 9.01528412e-01, 6.44012095e-02,
  9.35793531e-02,-7.01096023e-02, 1.30962053e-01, 5.00922175e-01,
  4.90306500e-01, 4.99096031e-01, 5.09489610e-01]

qacc:
[-3.24765165e+00,-2.61423032e+00, 9.90309265e+00,-1.46356119e+01,
  1.31962168e+00, 2.41659078e+00,-9.73259892e+00, 1.88096710e+01,
  1.03097035e-01,-4.38830423e-01, 3.27650159e+00,-9.68435510e+00,
 -2.73147586e-01,-5.69491635e-03,-9.16766020e+00, 2.98842940e+01,
  7.67120364e-02, 1.01498279e+00,-1.53074015e-02, 1.83481693e+00,
  2.70378862e-01,-1.45470059e+01]

qfrc_actuator:
[-2.72090042e-05,-6.25673460e-05,-5.42527933e-05, 9.57366607e-06,
 -3.24315578e-05,-2.51255889e-04,-2.60330205e-04,-2.11032735e-05,
  3.39195040e-05,-2.09821748e-05,-9.78680444e-05,-2.44941539e-05,
  1.94009005e-02,-1.31294108e-03, 4.56900319e-03,-2.96020008e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003011350616282521
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.60849286e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.60849286e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09180829, -0.08823638,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.91551733e-05,-3.17692087e-06, 3.84294826e-05,-9.81566275e-06,
  7.87920914e-06, 7.33842288e-05, 7.32801085e-06, 3.05560041e-05,
  6.29418011e-07, 3.21936619e-06,-5.05509944e-06,-1.91931074e-05,
 -1.26998375e-04,-4.61250495e-05,-6.39120684e-05, 1.26389764e-04,
 -7.92881009e-07, 3.47164209e-07,-1.21644155e+00,-4.55513569e-04,
  1.26708801e-05,-5.51146266e-04]


--- Step 877 ---
qpos:
[ 6.17872468e-03,-1.77252836e-03,-4.96476799e-03, 3.35590274e-02,
  4.45772021e-03,-3.75611622e-03,-1.85498453e-02, 2.85617889e-02,
  1.29705435e-02, 3.33926154e-03,-9.97105736e-03, 2.58817501e-02,
  1.14454918e+00,-9.30208653e-05, 9.01888778e-01, 6.44024520e-02,
  9.35717607e-02,-7.00907368e-02, 1.30964016e-01, 5.01000599e-01,
  4.90198178e-01, 4.99154160e-01, 5.09459783e-01]

qacc:
[  1.12605152,  0.82325797, -5.65189401, 15.9027524 , -2.1142464 ,
   0.63705941,  0.04518663, -5.82895088, -0.04807419, -1.83031394,
   7.76049034,-13.13940546, -1.00138236,  1.68538385, -9.21639053,
  30.53618896,  0.07907265,  1.00776245, -0.08213482,  1.77502024,
   0.29550642,-14.47067722]

qfrc_actuator:
[-2.01031180e-05,-7.43102483e-05,-5.27038524e-05, 3.89238791e-05,
 -4.50016417e-05,-2.46134226e-04,-2.81206651e-04,-4.03201908e-05,
  3.35399201e-05, 8.07628997e-07,-6.44784975e-05,-3.53647295e-05,
  1.93563329e-02,-1.28317361e-03, 4.53832791e-03,-2.82409592e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002950954438185188
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05813299e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.05813299e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09180866, -0.08823818,  0.06199156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.55673958e-06,-6.03376505e-06, 5.27733120e-06, 3.03521363e-05,
 -1.23209585e-05, 4.89353948e-05,-3.77370238e-06,-1.52268757e-05,
 -3.57518131e-07, 2.17019028e-05, 3.27601559e-05,-1.12815843e-05,
 -1.31640099e-04,-7.06894124e-06,-4.94158410e-05, 1.34146682e-04,
 -9.78100484e-07, 7.25739067e-07,-1.21644242e+00,-4.54880310e-04,
  1.29689727e-05,-5.50757424e-04]


--- Step 878 ---
qpos:
[ 6.17940094e-03,-1.77189919e-03,-4.96443740e-03, 3.35593279e-02,
  4.45702853e-03,-3.75433002e-03,-1.85502449e-02, 2.85612585e-02,
  1.29714363e-02, 3.33952647e-03,-9.96953468e-03, 2.58819116e-02,
  1.14501548e+00,-9.10279502e-05, 9.02248609e-01, 6.44036415e-02,
  9.35672184e-02,-7.00799450e-02, 1.30965031e-01, 5.01041996e-01,
  4.90131706e-01, 4.99190352e-01, 5.09447565e-01]

qacc:
[ 6.81693592, 0.12053053,-0.25392264, 0.05700586, 1.76505894,-0.38308079,
  2.02384237,-5.03743585, 2.99609008,-0.99450141,-1.2873696 ,16.68245553,
 -1.0119098 , 1.63676031,-0.56123197, 0.97619913, 0.76248891,-2.01843583,
 -0.23725631, 9.57690336,-2.59871355,29.66415277]

qfrc_actuator:
[ 1.96288837e-05,-6.37627577e-05,-5.19720969e-05, 3.82986770e-05,
 -3.42898778e-05,-2.79575383e-04,-2.93424723e-04,-5.15065994e-05,
  5.08465264e-05,-3.96914999e-05,-2.72558202e-05, 1.18435365e-05,
  1.93074997e-02,-1.26625214e-03, 4.50167094e-03,-2.83328349e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002951678762685428
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88066371e-13, -3.76132741e-13,  1.00000000e+00,  7.07379196e-26,
        1.00000000e+00,  3.76132741e-13, -1.00000000e+00,  0.00000000e+00,
        1.88066371e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0819308 , -0.03150668,  0.06199156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.99126829e-05, 9.54200527e-06, 1.17416462e-06,-1.13388336e-07,
  1.03776548e-05,-7.57425723e-06,-3.11778017e-06,-9.51812711e-06,
  1.73058892e-05,-2.21091248e-05, 4.53367101e-05, 4.90511125e-05,
 -1.29712289e-04,-1.34973736e-05,-4.88530368e-05,-9.07414618e-06,
 -1.15490398e-06, 1.18610417e-06,-1.21644356e+00,-4.54260402e-04,
  1.31824512e-05,-5.50280753e-04]


--- Step 879 ---
qpos:
[ 6.18054824e-03,-1.77133448e-03,-4.96403893e-03, 3.35596310e-02,
  4.45681544e-03,-3.75266102e-03,-1.85504719e-02, 2.85609401e-02,
  1.29725298e-02, 3.33921667e-03,-9.96712477e-03, 2.58826549e-02,
  1.14548074e+00,-8.85046105e-05, 9.02608000e-01, 6.44056511e-02,
  9.35656242e-02,-7.00770950e-02, 1.30964409e-01, 5.01046782e-01,
  4.90106277e-01, 4.99205351e-01, 5.09452625e-01]

qacc:
[ 4.14513314,-0.27743137, 0.8399717 ,-0.83844895, 4.19605852,-0.20895165,
 -0.38933371, 3.88513768, 1.80391513,-2.04514161, 3.72739358, 5.35293865,
 -1.17083179, 2.01234661,-3.04352826, 9.89590085, 0.73703874,-1.98544115,
 -0.40894162, 9.54232285,-2.39144582,29.09225494]

qfrc_actuator:
[ 4.27322862e-05,-7.54860156e-05,-5.16540478e-05, 3.78100900e-05,
 -9.95451365e-06,-2.82574439e-04,-2.82833030e-04,-4.01468428e-05,
  6.06714494e-05,-8.15949620e-05, 1.17098676e-05, 3.95341848e-05,
  1.92561393e-02,-1.23936218e-03, 4.49870644e-03,-2.78598213e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54348948,  1.9868947 , -4.08601836,  1.9868947 , 17.400139  ,
        6.25176065, -4.08601836,  6.25176065,  7.58351256,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030091803728231337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84472662e-13, -2.76708992e-13,  1.00000000e+00,  5.10452443e-26,
        1.00000000e+00,  2.76708992e-13, -1.00000000e+00,  0.00000000e+00,
        1.84472662e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08192954, -0.03151035,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.42391177e-05,-6.16514562e-06, 2.41558722e-06,-4.58883117e-08,
  2.46297007e-05,-8.34186976e-06, 8.29831094e-06, 1.07396920e-05,
  1.03074272e-05,-4.28189509e-05, 4.16591298e-05, 2.92615926e-05,
 -1.32790371e-04,-4.21837250e-06,-3.15359876e-05, 3.93388276e-05,
 -5.01169848e-07, 3.64491716e-07,-1.21644118e+00,-4.55312648e-04,
  1.18989576e-05,-5.49863140e-04]


--- Step 880 ---
qpos:
[ 6.18127394e-03,-1.77078149e-03,-4.96392682e-03, 3.35599441e-02,
  4.45620603e-03,-3.75119219e-03,-1.85504803e-02, 2.85600770e-02,
  1.29733874e-02, 3.33902043e-03,-9.96529830e-03, 2.58833928e-02,
  1.14594519e+00,-8.59670345e-05, 9.02966985e-01, 6.44052470e-02,
  9.35668957e-02,-7.00820762e-02, 1.30961574e-01, 5.01015311e-01,
  4.90121215e-01, 4.99199752e-01, 5.09474690e-01]

qacc:
[ -3.71600423,  0.81264097, -2.94894679,  3.57239928, -3.4585655 ,
  -1.98821929,  9.01750532,-18.65861496, -2.09613245,  1.77379042,
  -6.07724963,  6.82653   , -0.71992386,  0.91779678,  6.72707621,
 -24.30917345,  0.71645384, -1.95782328, -0.55344801,  9.5073365 ,
  -2.22570711, 28.61914524]

qfrc_actuator:
[ 2.03475169e-05,-8.27071771e-05,-6.94159686e-05, 3.73940311e-05,
 -3.10604812e-05,-3.02723785e-04,-2.76490755e-04,-6.88361235e-05,
  4.82559919e-05,-7.07630078e-05,-1.96649036e-05, 3.77496213e-05,
  1.92139552e-02,-1.24230842e-03, 4.45205870e-03,-2.91867092e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55156349,  2.1455395 , -4.01414878,  2.1455395 , 27.81483821,
       12.43408693, -4.01414878, 12.43408693, 11.19751165,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003033454344381903
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.74494742e-13, -2.28745619e-13,  1.00000000e+00,  6.27894696e-26,
        1.00000000e+00,  2.28745619e-13, -1.00000000e+00,  0.00000000e+00,
        2.74494742e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08192821, -0.03151208,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.17000964e-05,-1.01927097e-05,-1.87535863e-05,-6.01618464e-07,
 -2.04060676e-05,-2.26884944e-05, 5.99584722e-06,-2.85541729e-05,
 -1.21388347e-05,-3.26497447e-06,-3.41013961e-05,-1.61517466e-06,
 -1.23091890e-04,-3.31040113e-05,-6.26124113e-05,-1.35897177e-04,
 -1.01580219e-07, 2.12666805e-08,-1.21644009e+00,-4.56137091e-04,
  1.13000543e-05,-5.49661792e-04]


--- Step 881 ---
qpos:
[ 6.18172593e-03,-1.77034839e-03,-4.96369413e-03, 3.35598902e-02,
  4.45534878e-03,-3.75009738e-03,-1.85503331e-02, 2.85592496e-02,
  1.29737447e-02, 3.33892014e-03,-9.96387117e-03, 2.58837481e-02,
  1.14640908e+00,-8.43178287e-05, 9.03325079e-01, 6.44032796e-02,
  9.35709667e-02,-7.00947967e-02, 1.30956039e-01, 5.00947874e-01,
  4.90175961e-01, 4.99174036e-01, 5.09513529e-01]

qacc:
[ -2.4010061 , -1.24640079,  5.77102684,-12.23365915, -2.15775177,
  -0.8510664 ,  2.17435537, -1.53900012, -4.417284  ,  0.46377359,
   0.16114568, -6.23282422,  0.31008264, -1.48037443,  3.36109414,
 -13.7714456 ,  0.69984518, -1.93480765, -0.67501397,  9.47412396,
  -2.09275378, 28.22984883]

qfrc_actuator:
[ 6.87934095e-06,-8.72540434e-05,-6.21935099e-05, 1.92606005e-05,
 -4.32425031e-05,-3.33033449e-04,-2.72813205e-04,-6.76250174e-05,
  2.28525806e-05,-6.42534809e-05,-3.88703021e-05, 1.86342511e-05,
  1.91719687e-02,-1.29835763e-03, 4.40584273e-03,-2.99667436e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5507596 , -2.33377817,  3.90677519, -2.33377817, 19.75708962,
        9.08375818,  3.90677519,  9.08375818,  9.97709604,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030310497146361637
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.15708359e-14,  1.83141672e-13,  1.00000000e+00,  1.67704360e-26,
        1.00000000e+00, -1.83141672e-13, -1.00000000e+00,  0.00000000e+00,
       -9.15708359e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0819268 , -0.03151225,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.40898711e-05,-1.41782241e-05, 2.77805547e-06,-1.92321936e-05,
 -1.27719287e-05,-4.30407179e-05,-1.27262856e-06,-1.09951853e-07,
 -2.57465789e-05,-2.44699893e-06,-2.41553847e-05,-2.04712791e-05,
 -1.24226612e-04,-8.92948812e-05,-9.49583180e-05,-9.47454268e-05,
  6.26457943e-08, 1.33866766e-07,-1.21644021e+00,-4.56781200e-04,
  1.13627693e-05,-5.49667333e-04]


--- Step 882 ---
qpos:
[ 6.18235782e-03,-1.77014778e-03,-4.96330632e-03, 3.35592862e-02,
  4.45469679e-03,-3.74928214e-03,-1.85499058e-02, 2.85587675e-02,
  1.29744846e-02, 3.33873580e-03,-9.96206799e-03, 2.58834951e-02,
  1.14687229e+00,-8.35896342e-05, 9.03682567e-01, 6.44032152e-02,
  9.35777837e-02,-7.01151801e-02, 1.30947394e-01, 5.00844709e-01,
  4.90270050e-01, 4.99128582e-01, 5.09568949e-01]

qacc:
[  1.59033486, -1.87670969,  8.56207651,-18.15188076,  1.81024552,
  -0.44490821, -0.41450115,  6.15750397,  3.38022329, -2.42063238,
  11.02632381,-22.07934976,  0.42350264, -1.74811071, -6.68552598,
  21.97614683,  0.68649068, -1.91572399, -0.77724423,  9.44415992,
  -1.98564419, 27.91183509]

qfrc_actuator:
[ 1.65344889e-05,-1.07836103e-04,-5.80254657e-05,-9.13037472e-06,
 -3.23074776e-05,-3.33680136e-04,-2.53006239e-04,-4.88360968e-05,
  4.32730832e-05,-6.03652152e-05,-1.52195207e-05,-1.05001101e-05,
  1.91301077e-02,-1.34986645e-03, 4.42917937e-03,-2.88197779e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54291254, -2.53072076,  3.772732  , -2.53072076, 26.29541186,
       14.5914159 ,  3.772732  , 14.5914159 , 14.33072656,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003007435322291696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84579701e-13, -1.84579701e-13,  1.00000000e+00,  3.40696660e-26,
        1.00000000e+00,  1.84579701e-13, -1.00000000e+00,  0.00000000e+00,
        1.84579701e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08192534, -0.0315112 ,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.24867625e-06,-2.87855411e-05, 9.08501289e-07,-2.92775876e-05,
  1.05552092e-05,-2.50266284e-05, 1.07440140e-05, 1.68978271e-05,
  1.96912262e-05,-3.36871350e-06, 1.94468255e-05,-3.04760439e-05,
 -1.37710446e-04,-9.57911934e-05,-3.34636865e-05, 9.66014230e-05,
  5.44272318e-09, 6.85624745e-07,-1.21644150e+00,-4.57279704e-04,
  1.20686754e-05,-5.49872518e-04]


--- Step 883 ---
qpos:
[ 6.18275540e-03,-1.77015697e-03,-4.96285258e-03, 3.35580049e-02,
  4.45383618e-03,-3.74902423e-03,-1.85493966e-02, 2.85589092e-02,
  1.29751179e-02, 3.33900726e-03,-9.96024332e-03, 2.58828491e-02,
  1.14733478e+00,-8.35277301e-05, 9.04039903e-01, 6.44057391e-02,
  9.35849653e-02,-7.01311413e-02, 1.30942565e-01, 5.00755693e-01,
  4.90349626e-01, 4.99101193e-01, 5.09606691e-01]

qacc:
[ -2.05499151, -1.85221837,  9.06763894,-20.74650534, -1.8133755 ,
   0.32108791, -4.84181701, 15.91024981, -0.94556868, -0.26489297,
   3.48145611,-10.65772027,  0.16787036, -1.13105906, -8.06349171,
  27.82156855,  0.09117208,  1.10555112,  0.9537894 ,  1.91225236,
   0.3573382 ,-16.08241843]

qfrc_actuator:
[ 4.21425591e-06,-1.20126086e-04,-5.57728373e-05,-4.33459347e-05,
 -4.33614637e-05,-3.87484393e-04,-2.59213670e-04,-1.98245285e-05,
  3.72471957e-05,-4.65018865e-06,-1.97595701e-06,-2.75146208e-05,
  1.90990026e-02,-1.38051042e-03, 4.45164762e-03,-2.74326534e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000311319153567316
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.57217073e-14, -5.34928390e-13,  1.00000000e+00,  2.98071232e-26,
        1.00000000e+00,  5.34928390e-13, -1.00000000e+00,  0.00000000e+00,
        5.57217073e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09181187, -0.08823394,  0.0619911 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20670500e-05,-2.94632205e-05,-4.60109286e-06,-3.59879169e-05,
 -1.07623292e-05,-6.48855893e-05,-9.48251658e-06, 2.86375176e-05,
 -5.46593484e-06, 5.65375618e-05, 1.38701043e-05,-1.70828319e-05,
 -1.35528874e-04,-7.97490785e-05, 1.28841866e-05, 1.38644195e-04,
 -2.63004050e-07, 1.66474379e-06,-1.21644391e+00,-4.57658078e-04,
  1.34033223e-05,-5.50271736e-04]


--- Step 884 ---
qpos:
[ 6.18265727e-03,-1.77035595e-03,-4.96185719e-03, 3.35566330e-02,
  4.45285002e-03,-3.74942875e-03,-1.85491826e-02, 2.85601289e-02,
  1.29749845e-02, 3.33968299e-03,-9.95913881e-03, 2.58824073e-02,
  1.14779646e+00,-8.36316252e-05, 9.04395965e-01, 6.44101471e-02,
  9.35925141e-02,-7.01427743e-02, 1.30940647e-01, 5.00680521e-01,
  4.90414994e-01, 4.99091465e-01, 5.09627177e-01]

qacc:
[ -4.33853498, -1.94310283,  6.96113162, -9.27060383, -1.09601621,
   2.1679969 ,-13.54957773, 33.16139262, -6.77630643,  2.98044428,
 -10.69080967, 15.05286647, -0.30906668,  0.05875715, -7.55338165,
  23.72258935,  0.0917861 ,  1.08204528,  0.72772568,  1.85407087,
   0.35657247,-15.72325149]

qfrc_actuator:
[-2.09489635e-05,-1.09617880e-04,-1.91370490e-05,-4.52037204e-05,
 -4.95244336e-05,-4.37288342e-04,-2.80943601e-04, 3.26567317e-05,
 -2.06295720e-06,-7.10850496e-06,-4.80304669e-05,-1.94764490e-05,
  1.90690552e-02,-1.38076915e-03, 4.34575692e-03,-2.66260046e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61015892, -3.00793924,  3.49368957, -3.00793924,  8.88382467,
        3.67947026,  3.49368957,  3.67947026,  7.77804856,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003201924822411606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.33420164e-14,  8.66840327e-14,  1.00000000e+00,  3.75706077e-27,
        1.00000000e+00, -8.66840327e-14, -1.00000000e+00,  0.00000000e+00,
       -4.33420164e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09181235, -0.08823154,  0.06199085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.55151012e-05,-8.46798816e-06, 2.87356129e-05,-3.97764483e-06,
 -6.49386651e-06,-8.68385684e-05,-3.53182923e-05, 4.99282084e-05,
 -3.94429526e-05, 3.12611611e-05,-3.32808064e-05, 1.06056267e-05,
 -1.28882051e-04,-4.60372826e-05,-9.17898287e-05, 8.83598394e-05,
 -2.68892107e-07, 1.14165242e-06,-1.21644261e+00,-4.57599674e-04,
  1.31468493e-05,-5.50634543e-04]


--- Step 885 ---
qpos:
[ 6.18260305e-03,-1.77052521e-03,-4.96081482e-03, 3.35556000e-02,
  4.45248687e-03,-3.74991221e-03,-1.85492257e-02, 2.85622353e-02,
  1.29754162e-02, 3.34052674e-03,-9.95906178e-03, 2.58821181e-02,
  1.14825731e+00,-8.37684327e-05, 9.04750432e-01, 6.44142709e-02,
  9.36004320e-02,-7.01501579e-02, 1.30940878e-01, 5.00618938e-01,
  4.90466410e-01, 4.99099058e-01, 5.09630757e-01]

qacc:
[  0.38734186,  0.60520626, -3.53318834,  9.30408013,  5.44622628,
   2.42641471,-12.56636656, 28.40105785,  4.9375241 ,  3.39821029,
 -12.45552497, 16.63394466, -0.53302257,  0.54514849, -1.46778072,
   1.77955663,  0.0922905 ,  1.06236277,  0.53741793,  1.80783929,
   0.35452722,-15.42380611]

qfrc_actuator:
[-1.79575817e-05,-1.03119496e-04,-1.56313476e-05,-2.79625834e-05,
 -1.72471593e-05,-3.95600925e-04,-2.76137434e-04, 8.07634416e-05,
  2.81222072e-05,-2.68489829e-05,-1.11178151e-04,-1.45993294e-05,
  1.90291840e-02,-1.38078335e-03, 4.23751833e-03,-2.68810560e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 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: -0.0003249938101045624
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.54033977e-14, -8.54033977e-14,  1.00000000e+00, -7.29374034e-27,
        1.00000000e+00,  8.54033977e-14, -1.00000000e+00,  0.00000000e+00,
       -8.54033977e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09181269, -0.08823025,  0.06199071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.26185363e-06, 7.51836982e-06, 5.15299633e-06, 1.77974579e-05,
  3.20608093e-05,-1.20206560e-05,-1.57538163e-05, 4.41328115e-05,
  2.90795824e-05,-8.72974391e-06,-6.04409453e-05, 5.27027745e-06,
 -1.28339939e-04,-3.71405165e-05,-1.42727851e-04,-3.28804532e-05,
 -2.64078136e-07, 7.31169421e-07,-1.21644166e+00,-4.57559083e-04,
  1.28010374e-05,-5.50899791e-04]


--- Step 886 ---
qpos:
[ 6.18292980e-03,-1.77057669e-03,-4.96006704e-03, 3.35551395e-02,
  4.45285775e-03,-3.74985161e-03,-1.85497893e-02, 2.85641475e-02,
  1.29768957e-02, 3.34169783e-03,-9.95958552e-03, 2.58818399e-02,
  1.14871725e+00,-8.36155938e-05, 9.05104563e-01, 6.44145215e-02,
  9.36087209e-02,-7.01533576e-02, 1.30942620e-01, 5.00570732e-01,
  4.90504092e-01, 4.99123692e-01, 5.09617718e-01]

qacc:
[  3.33884356,  2.15123106, -9.87155982, 20.17233672,  6.39831249,
   1.76052879, -4.43572473,  1.52862118,  9.19619056,  2.11606436,
  -6.99428772,  7.93555447, -1.11020139,  1.76736575, 11.26423226,
 -39.96397949,  0.09273239,  1.04597184,  0.37752564,  1.77149388,
   0.35152118,-15.17515421]

qfrc_actuator:
[ 1.58521535e-06,-9.91705977e-05,-3.17257043e-05, 3.44501062e-07,
  1.96432941e-05,-3.34842460e-04,-2.90834856e-04, 7.27476134e-05,
  8.12268348e-05, 1.41263157e-05,-1.30728449e-04,-1.16490146e-05,
  1.89887155e-02,-1.36296477e-03, 4.23446154e-03,-2.88241410e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032650855038353355
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27510791e-13,  8.50071938e-14,  1.00000000e+00, -1.08393345e-26,
        1.00000000e+00, -8.50071938e-14, -1.00000000e+00,  0.00000000e+00,
        1.27510791e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09181291, -0.08822985,  0.06199067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.96084536e-05, 9.97750494e-06,-1.32988170e-05, 2.91542052e-05,
  3.78009263e-05, 5.26984303e-05,-1.75936958e-05,-8.22205543e-06,
  5.39326504e-05, 2.38152591e-05,-2.86266608e-05, 5.84918288e-07,
 -1.27338239e-04,-1.70800923e-05,-7.24160316e-05,-2.14515183e-04,
 -2.49731227e-07, 4.25914588e-07,-1.21644104e+00,-4.57534225e-04,
  1.23698883e-05,-5.51069256e-04]


--- Step 887 ---
qpos:
[ 6.18314340e-03,-1.77069334e-03,-4.95941862e-03, 3.35546867e-02,
  4.45332349e-03,-3.74967446e-03,-1.85498081e-02, 2.85652385e-02,
  1.29779660e-02, 3.34262592e-03,-9.95989206e-03, 2.58819606e-02,
  1.14917622e+00,-8.31975931e-05, 9.05458487e-01, 6.44129586e-02,
  9.36173823e-02,-7.01524276e-02, 1.30945335e-01, 5.00535724e-01,
  4.90528218e-01, 4.99165135e-01, 5.09588290e-01]

qacc:
[ -0.99687432,  0.20955029, -0.90152461,  1.23904408,  0.84477254,
  -3.05788395, 14.59238233,-29.75810949, -3.59026418, -0.09999969,
  -1.78166551,  8.50440494, -1.0223555 ,  1.57605646,  5.23513465,
 -18.60250974,  0.09314617,  1.03241499,  0.24349999,  1.74335561,
   0.34779479,-14.96981692]

qfrc_actuator:
[-4.80101441e-06,-1.14603967e-04,-4.15046731e-05,-5.83104854e-07,
  2.34361626e-05,-3.34243317e-04,-2.63610301e-04, 3.17844906e-05,
  5.86112127e-05,-1.52112398e-05,-1.24136045e-04, 7.97854718e-06,
  1.89372748e-02,-1.35250855e-03, 4.25717748e-03,-2.96127027e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003253958465744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.98542577e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.98542577e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09181304, -0.08823015,  0.0619907 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.82642036e-06,-1.13516882e-05,-8.35544327e-06,-3.94176834e-07,
  4.89215744e-06, 2.60948835e-05, 3.56579231e-05,-3.94782259e-05,
 -2.10708224e-05,-2.19202284e-05, 7.99839110e-06, 1.96662379e-05,
 -1.32805244e-04,-2.05187806e-05,-3.92344370e-05,-1.01225990e-04,
 -2.26697637e-07, 2.20019629e-07,-1.21644074e+00,-4.57523622e-04,
  1.18562421e-05,-5.51144433e-04]


--- Step 888 ---
qpos:
[ 6.18327903e-03,-1.77092214e-03,-4.95886394e-03, 3.35542325e-02,
  4.45383167e-03,-3.74974688e-03,-1.85488081e-02, 2.85668802e-02,
  1.29784128e-02, 3.34305695e-03,-9.96023795e-03, 2.58823667e-02,
  1.14963427e+00,-8.26221542e-05, 9.05811599e-01, 6.44134433e-02,
  9.36264180e-02,-7.01474124e-02, 1.30948577e-01, 5.00513766e-01,
  4.90538939e-01, 4.99223194e-01, 5.09542659e-01]

qacc:
[ -0.68669114,  0.11212996, -0.60626908,  0.81056164,  0.40796034,
  -2.04314656,  4.47958762,  3.61023088, -5.4793318 ,  0.05131161,
  -2.32278623,  7.67151371, -0.69063368,  0.92308429, -7.3341129 ,
  24.02049211,  0.09355649,  1.0212979 ,  0.13145439,  1.72205387,
   0.34352796,-14.80150249]

qfrc_actuator:
[-8.65030781e-06,-1.23778220e-04,-4.75718049e-05,-9.63226546e-07,
  2.54686698e-05,-3.51777254e-04,-2.12089698e-04, 6.05208653e-05,
  2.71066643e-05,-6.85444739e-05,-1.37940937e-04, 1.94674688e-05,
  1.88899391e-02,-1.34656111e-03, 4.24209953e-03,-2.84709702e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003222073727799646
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58425889e-13,  1.72283926e-13,  1.00000000e+00, -4.45226268e-26,
        1.00000000e+00, -1.72283926e-13, -1.00000000e+00,  0.00000000e+00,
        2.58425889e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09181309, -0.08823101,  0.06199079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.01876787e-06,-1.72700933e-05,-9.45992036e-06,-1.16329634e-06,
  2.18157122e-06, 2.72467564e-06, 5.99325008e-05, 3.03171726e-05,
 -3.21093116e-05,-6.31304490e-05,-1.66727499e-05, 1.12084649e-05,
 -1.32196166e-04,-2.72322512e-05,-5.03567606e-05, 1.02115904e-04,
 -1.95580391e-07, 1.08820886e-07,-1.21644073e+00,-4.57526255e-04,
  1.12620441e-05,-5.51126577e-04]


--- Step 889 ---
qpos:
[ 6.18336734e-03,-1.77121168e-03,-4.95817531e-03, 3.35544453e-02,
  4.45470500e-03,-3.74956187e-03,-1.85481544e-02, 2.85685376e-02,
  1.29784780e-02, 3.34337767e-03,-9.96113017e-03, 2.58822028e-02,
  1.15009146e+00,-8.17485293e-05, 9.06164005e-01, 6.44152765e-02,
  9.36358296e-02,-7.01383481e-02, 1.30951970e-01, 5.00504736e-01,
  4.90536377e-01, 4.99297716e-01, 5.09480974e-01]

qacc:
[ -0.41038464,  0.91946543, -6.20913239, 17.5810776 ,  3.18043529,
   1.33325769, -4.33714452,  4.98281095, -3.37254458,  0.21432213,
   1.44235093,-10.36510484, -0.79214345,  1.24400424, -5.0582551 ,
  16.30849931,  0.09398057,  1.01228053,  0.03806139,  1.70646638,
   0.33885397,-14.66490055]

qfrc_actuator:
[-1.09673471e-05,-1.11371335e-04,-3.36250736e-05, 3.44965407e-05,
  4.42120695e-05,-3.44366280e-04,-2.35446489e-04, 5.90229345e-05,
  8.39933614e-06,-6.49133332e-05,-1.63814532e-04,-9.47814026e-06,
  1.88610756e-02,-1.32556465e-03, 4.20973300e-03,-2.78001544e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031740338424846026
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.18614364e-13,  1.74891491e-13,  1.00000000e+00, -3.82337922e-26,
        1.00000000e+00, -1.74891491e-13, -1.00000000e+00,  0.00000000e+00,
        2.18614364e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09181308, -0.08823231,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.43665488e-06, 7.46362732e-07, 9.17118262e-06, 3.43702007e-05,
  1.88029894e-05, 2.26010508e-05,-1.43770162e-05, 1.27674993e-06,
 -1.96402929e-05,-3.46576727e-05,-4.05799651e-05,-3.20094537e-05,
 -1.14586713e-04,-1.35005445e-05,-4.84637502e-05, 6.53100353e-05,
 -1.56798584e-07, 8.86155117e-08,-1.21644102e+00,-4.57541457e-04,
  1.05885479e-05,-5.51016726e-04]


--- Step 890 ---
qpos:
[ 6.18308208e-03,-1.77143231e-03,-4.95734045e-03, 3.35543724e-02,
  4.45579624e-03,-3.74910342e-03,-1.85480397e-02, 2.85694855e-02,
  1.29779737e-02, 3.34313966e-03,-9.96215700e-03, 2.58813777e-02,
  1.15054788e+00,-8.08863376e-05, 9.06515888e-01, 6.44191722e-02,
  9.36456189e-02,-7.01252635e-02, 1.30955206e-01, 5.00508535e-01,
  4.90520632e-01, 4.99388574e-01, 5.09403346e-01]

qacc:
[ -3.28147457, -0.89938591,  4.55563658, -9.79470054,  1.88499441,
   0.40379354,  2.07414753,-13.68597698, -5.00792636, -1.71380273,
   7.84857972,-18.68645185, -0.44582278,  0.4289366 , -6.97244779,
  23.33047658,  0.0944301 ,  1.00506971, -0.03953076,  1.69567175,
   0.33387052,-14.55551852]

qfrc_actuator:
[-3.01171359e-05,-1.03774937e-04,-2.56128669e-05, 1.97817951e-05,
  5.48896880e-05,-3.40148148e-04,-2.67266840e-04, 2.19465981e-05,
 -2.03749311e-05,-1.16054639e-04,-1.78654013e-04,-4.41906209e-05,
  1.88166927e-02,-1.33124777e-03, 4.20429352e-03,-2.67029837e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031136644833090754
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.57132435e-14, -3.56564759e-13,  1.00000000e+00,  1.98653792e-26,
        1.00000000e+00,  3.56564759e-13, -1.00000000e+00,  0.00000000e+00,
        5.57132435e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09181303, -0.08823394,  0.0619911 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92204395e-05, 1.13818475e-05, 1.04800030e-05,-1.36977926e-05,
  1.12231714e-05, 1.39301290e-05,-2.88931760e-05,-3.65867514e-05,
 -2.93413040e-05,-8.02836103e-05,-2.80964442e-05,-3.82223059e-05,
 -1.16475810e-04,-3.34945178e-05,-2.49548257e-05, 1.06084078e-04,
 -1.10631771e-07, 1.56466526e-07,-1.21644159e+00,-4.57568839e-04,
  9.83646790e-06,-5.50815736e-04]


--- Step 891 ---
qpos:
[ 6.18291459e-03,-1.77172322e-03,-4.95634612e-03, 3.35541411e-02,
  4.45666222e-03,-3.74843458e-03,-1.85480451e-02, 2.85699609e-02,
  1.29774730e-02, 3.34260080e-03,-9.96351836e-03, 2.58808145e-02,
  1.15100351e+00,-8.00686537e-05, 9.06867172e-01, 6.44211121e-02,
  9.36557879e-02,-7.01081813e-02, 1.30958026e-01, 5.00525081e-01,
  4.90491781e-01, 4.99495667e-01, 5.09309861e-01]

qacc:
[  1.04160474, -0.86708714,  3.62229154, -6.56433566, -1.97895342,
  -0.35419329,  3.6684858 ,-11.81611901,  0.026738  ,  1.07664202,
  -5.52217525, 10.81322693, -0.61431965,  0.69809374,  5.05439429,
 -18.88718264,  0.0949126 ,  0.99941297, -0.10376689,  1.68891168,
   0.32864817,-14.4695497 ]

qfrc_actuator:
[-2.35161393e-05,-1.16922829e-04,-2.12272233e-05, 1.11534743e-05,
  4.29763948e-05,-3.20212087e-04,-2.68328976e-04,-2.52709486e-07,
 -1.93433279e-05,-1.10803714e-04,-1.87066201e-04,-2.87859648e-05,
  1.87736740e-02,-1.33499566e-03, 4.13513245e-03,-2.78479027e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000304413204050058
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.93751774e-13, -1.82354610e-13,  1.00000000e+00,  3.53315292e-26,
        1.00000000e+00,  1.82354610e-13, -1.00000000e+00,  0.00000000e+00,
        1.93751774e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09181294, -0.08823582,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.05849099e-06,-5.21266163e-06, 7.54761580e-06,-8.04493934e-06,
 -1.15851337e-05, 2.01736324e-05,-3.01921152e-06,-2.33179810e-05,
  1.70751187e-07,-4.70751795e-05,-2.97617550e-05, 1.02539088e-05,
 -1.20442379e-04,-3.60595368e-05,-7.42646869e-05,-1.13055972e-04,
 -5.72533410e-08, 3.10046077e-07,-1.21644243e+00,-4.57608226e-04,
  9.00609704e-06,-5.50524300e-04]


--- Step 892 ---
qpos:
[ 6.18317233e-03,-1.77205716e-03,-4.95561528e-03, 3.35545250e-02,
  4.45737888e-03,-3.74757234e-03,-1.85486238e-02, 2.85698547e-02,
  1.29773327e-02, 3.34212646e-03,-9.96435634e-03, 2.58803321e-02,
  1.15145831e+00,-7.90190870e-05, 9.07217725e-01, 6.44203311e-02,
  9.36619984e-02,-7.00987949e-02, 1.30959797e-01, 5.00529407e-01,
  4.90472564e-01, 4.99560181e-01, 5.09260839e-01]

qacc:
[  3.73190719,  1.93925817, -9.60651788, 20.71958011, -1.32851704,
   0.66308749,  0.46714989, -9.76482794,  3.18722446, -1.21745262,
   4.1128749 , -3.58758274, -0.92811606,  1.43417014,  7.19037246,
 -26.58856244, -0.98960613, -1.92396284, -0.26251164,-16.53977118,
   0.84757201, 27.08818507]

qfrc_actuator:
[-1.80656881e-06,-1.24653030e-04,-3.68418809e-05, 4.16694018e-05,
  3.56171731e-05,-3.26396854e-04,-3.04397262e-04,-3.12315947e-05,
 -7.73622581e-07,-5.39992114e-05,-1.38110352e-04,-1.94751247e-05,
  1.87368281e-02,-1.31979213e-03, 4.09167344e-03,-2.92409835e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030501726233241044
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.09967370e-14, -2.27491843e-13,  1.00000000e+00,  2.07010154e-26,
        1.00000000e+00,  2.27491843e-13, -1.00000000e+00,  0.00000000e+00,
        9.09967370e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10951664, -0.03386944,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.18799901e-05,-9.42875832e-06,-1.60479386e-05, 3.03958522e-05,
 -7.68203678e-06, 3.44398777e-06,-3.30884969e-05,-3.06746821e-05,
  1.85556880e-05, 2.48066973e-05, 3.59437914e-05, 6.46862731e-06,
 -1.18141876e-04,-1.80473836e-05,-9.41497232e-05,-1.56080654e-04,
  3.24428760e-09, 5.47508813e-07,-1.21644354e+00,-4.57659618e-04,
  8.09739594e-06,-5.50142971e-04]


--- Step 893 ---
qpos:
[ 6.18334322e-03,-1.77221340e-03,-4.95543746e-03, 3.35549180e-02,
  4.45800191e-03,-3.74692473e-03,-1.85492204e-02, 2.85697380e-02,
  1.29774161e-02, 3.34150594e-03,-9.96452345e-03, 2.58799805e-02,
  1.15191220e+00,-7.77376730e-05, 9.07567144e-01, 6.44218029e-02,
  9.36642996e-02,-7.00969635e-02, 1.30959850e-01, 5.00521578e-01,
  4.90462818e-01, 4.99583019e-01, 5.09255516e-01]

qacc:
[ -0.78424141,  1.80104223, -6.11628884,  7.02314211, -0.81621813,
  -0.25327533,  0.53842632, -0.53563407,  1.9926945 , -1.80261556,
   5.58769098, -4.28010712, -0.70886749,  1.02296785, -8.42475157,
  27.15336837, -0.97735882, -1.88873719, -0.4293174 ,-16.17600192,
   0.91035847, 26.61706373]

qfrc_actuator:
[-6.89169727e-06,-1.11379128e-04,-6.40975481e-05, 4.17035830e-05,
  3.10045744e-05,-3.48321282e-04,-3.07710179e-04,-3.16748455e-05,
  1.02080592e-05,-7.30233870e-05,-1.08715684e-04,-1.37440908e-05,
  1.86877417e-02,-1.31122897e-03, 4.07964662e-03,-2.79270674e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57309658, -0.40880499,  4.55478768, -0.40880499, 43.81596919,
        3.52215805,  4.55478768,  3.52215805,  4.88922016,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030968901115852043
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.7924805e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.7924805e-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([ 0.1095146 , -0.03387151,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.46669997e-06, 5.99834074e-06,-3.01348318e-05,-3.36223020e-07,
 -4.82823372e-06,-2.81746395e-05,-7.74163274e-06,-2.03761773e-06,
  1.15133344e-05, 2.58383135e-06, 3.91854357e-05, 8.16689692e-06,
 -1.25202159e-04,-2.05132109e-05,-7.58803141e-05, 1.09853442e-04,
 -9.65220251e-08, 2.32884036e-07,-1.21644117e+00,-4.58056821e-04,
  9.76611181e-06,-5.49969586e-04]


--- Step 894 ---
qpos:
[ 6.18345217e-03,-1.77246230e-03,-4.95520865e-03, 3.35549561e-02,
  4.45821981e-03,-3.74660501e-03,-1.85490033e-02, 2.85702640e-02,
  1.29769409e-02, 3.34073592e-03,-9.96486069e-03, 2.58804506e-02,
  1.15236530e+00,-7.66134371e-05, 9.07915372e-01, 6.44248523e-02,
  9.36627327e-02,-7.01025701e-02, 1.30957624e-01, 5.00501656e-01,
  4.90462406e-01, 4.99564918e-01, 5.09293249e-01]

qacc:
[ -0.54155069, -0.99493542,  4.87006022,-11.02845074, -3.51416088,
  -1.37746238,  1.58098048,  8.46963216, -4.91884243,  1.97896666,
 -10.79580645, 25.3815399 , -0.32385863,  0.09782793, -6.50517428,
  20.2361573 , -0.96699906, -1.85951339, -0.56969768,-15.87777678,
   0.95742975, 26.22591121]

qfrc_actuator:
[-9.95901125e-06,-1.21211540e-04,-6.24376347e-05, 2.38087750e-05,
  1.02913384e-05,-3.43853575e-04,-2.56190603e-04, 3.61740490e-06,
 -1.88758230e-05,-1.01854604e-04,-1.26919817e-04, 2.52619271e-05,
  1.86419983e-02,-1.32449538e-03, 4.01730632e-03,-2.71581214e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57819791, -0.68162845,  4.52717116, -0.68162845, 39.51855994,
        5.26075647,  4.52717116,  5.26075647,  5.37027781,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003111650640322816
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78397763e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.78397763e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10951351, -0.033872  ,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.19075430e-06,-1.27166940e-05,-8.25361500e-07,-1.86877340e-05,
 -2.08605973e-05,-1.29918042e-05, 4.46757515e-05, 3.37776409e-05,
 -2.87600119e-05,-1.89125722e-05,-1.25516671e-05, 4.06336241e-05,
 -1.25943958e-04,-4.47899565e-05,-8.78527034e-05, 7.26079476e-05,
 -5.45623286e-08, 5.66741392e-08,-1.21644009e+00,-4.58527441e-04,
  1.05385961e-05,-5.50042036e-04]


--- Step 895 ---
qpos:
[ 6.18317856e-03,-1.77288610e-03,-4.95464734e-03, 3.35547703e-02,
  4.45818766e-03,-3.74645988e-03,-1.85484508e-02, 2.85708761e-02,
  1.29761211e-02, 3.33931369e-03,-9.96457293e-03, 2.58810497e-02,
  1.15281779e+00,-7.62269854e-05, 9.08262941e-01, 6.44244558e-02,
  9.36573325e-02,-7.01155181e-02, 1.30952647e-01, 5.00469692e-01,
  4.90471211e-01, 4.99506472e-01, 5.09373501e-01]

qacc:
[ -3.35056426, -1.61481277,  6.37791286,-10.66453566, -2.17490607,
  -0.98581362,  2.82379111, -1.74735092, -3.00056695, -2.33744134,
   6.5493198 , -4.84761756,  0.0404027 , -0.9040791 ,  9.40471203,
 -34.37240333, -0.95832019, -1.83535856, -0.68776493,-15.63456207,
   0.99189275, 25.90317311]

qfrc_actuator:
[-2.95584565e-05,-1.26955829e-04,-4.38111747e-05, 1.32696877e-05,
 -1.98068001e-06,-3.58856728e-04,-2.43606563e-04, 6.44417952e-06,
 -3.58008299e-05,-1.54260886e-04,-1.02100064e-04, 3.02318136e-05,
  1.86036091e-02,-1.36831588e-03, 3.95677867e-03,-2.90262596e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57445952, -0.9886    ,  4.46635757, -0.9886    , 39.82075314,
        7.80154418,  4.46635757,  7.80154418,  6.30128199,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003100843551404331
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79019516e-13,  8.95097581e-14,  1.00000000e+00, -1.60239936e-26,
        1.00000000e+00, -8.95097581e-14, -1.00000000e+00,  0.00000000e+00,
        1.79019516e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10951317, -0.03387122,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.96932465e-05,-1.38220523e-05, 1.52515670e-05,-1.14762119e-05,
 -1.28756777e-05,-1.16153124e-05, 1.65659239e-05, 4.47169961e-06,
 -1.77525629e-05,-6.38144518e-05, 2.07856386e-05, 4.51842379e-06,
 -1.24711804e-04,-8.01674100e-05,-9.51070498e-05,-1.94590815e-04,
  1.25860343e-07, 1.05197033e-08,-1.21644022e+00,-4.59079621e-04,
  1.04682778e-05,-5.50358540e-04]


--- Step 896 ---
qpos:
[ 6.18198195e-03,-1.77308723e-03,-4.95401755e-03, 3.35540810e-02,
  4.45800856e-03,-3.74659040e-03,-1.85476436e-02, 2.85711912e-02,
  1.29751044e-02, 3.33742953e-03,-9.96371151e-03, 2.58813376e-02,
  1.15326942e+00,-7.60408578e-05, 9.08609958e-01, 6.44217162e-02,
  9.36481278e-02,-7.01357281e-02, 1.30944522e-01, 5.00425726e-01,
  4.90489133e-01, 4.99408155e-01, 5.09495827e-01]

qacc:
[ -8.11789345, -0.91816328,  5.85373724,-14.87081975, -1.27343225,
  -1.68383122,  6.73389065,-12.08203435, -1.70744361, -2.85065311,
  10.59738196,-16.56349196, -0.56096966,  0.44891232,  6.28377644,
 -23.10603932, -0.9511307 , -1.81548096, -0.78702271,-15.43765829,
   1.01615936, 25.63907555]

qfrc_actuator:
[-7.64844022e-05,-9.46226892e-05,-3.30593142e-05,-1.05978255e-05,
 -9.18099189e-06,-3.85564558e-04,-2.36478361e-04,-9.90894158e-06,
 -4.54212351e-05,-1.66991813e-04,-6.99456869e-05, 1.51441530e-05,
  1.85589931e-02,-1.37656745e-03, 3.95059152e-03,-3.01248804e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000306979901476212
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.04149603e-14,  1.35622441e-13,  1.00000000e+00, -1.22622976e-26,
        1.00000000e+00, -1.35622441e-13, -1.00000000e+00,  0.00000000e+00,
        9.04149603e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10951343, -0.03386944,  0.06199122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.74900306e-05, 2.72655985e-05, 9.37798580e-06,-2.41544872e-05,
 -7.57303395e-06,-2.96073305e-05, 6.91534500e-06,-1.61930686e-05,
 -1.01521541e-05,-4.38911403e-05, 2.17010098e-05,-1.70134710e-05,
 -1.38787442e-04,-5.09459322e-05,-7.45798719e-05,-1.33639198e-04,
  4.42311804e-07, 8.87750877e-08,-1.21644152e+00,-4.59718538e-04,
  9.59563184e-06,-5.50917207e-04]


--- Step 897 ---
qpos:
[ 6.18092205e-03,-1.77311309e-03,-4.95356345e-03, 3.35534791e-02,
  4.45774448e-03,-3.74701233e-03,-1.85467581e-02, 2.85720134e-02,
  1.29739797e-02, 3.33556299e-03,-9.96268487e-03, 2.58817540e-02,
  1.15371992e+00,-7.53459085e-05, 9.08956804e-01, 6.44145826e-02,
  9.36390773e-02,-7.01514122e-02, 1.30940227e-01, 5.00395323e-01,
  4.90493965e-01, 4.99328026e-01, 5.09599563e-01]

qacc:
[ 1.19363386e+00, 9.00584629e-01,-3.24801760e+00, 4.91732489e+00,
 -7.36041248e-01, 4.40628267e-01,-4.26859460e+00, 1.31301639e+01,
 -9.45502456e-01,-1.72404580e-01, 1.09749852e-01, 1.83125440e+00,
 -1.49128847e+00, 2.50007188e+00, 1.31097398e+01,-4.59973909e+01,
  3.85333183e-02, 1.13146506e+00, 9.57261909e-01, 2.67318289e+00,
 -6.03492415e-02,-1.58350009e+01]

qfrc_actuator:
[-6.81022628e-05,-9.30285793e-05,-4.46538439e-05,-6.58781562e-06,
 -1.33413801e-05,-4.01371654e-04,-2.32677211e-04, 1.58365737e-05,
 -5.06686133e-05,-1.38094277e-04,-5.13418185e-05, 2.39156256e-05,
  1.85053598e-02,-1.34596739e-03, 3.93974221e-03,-3.23567736e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031735553852986487
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09323662e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.09323662e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09182125, -0.08823484,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.04215275e-06, 1.77320229e-05,-5.64344073e-06, 5.03553220e-06,
 -4.38666053e-06,-3.16370812e-05,-2.03111641e-06, 2.43989135e-05,
 -5.55632292e-06, 8.15764115e-06, 1.16325268e-05, 7.31217938e-06,
 -1.49293636e-04,-9.74605525e-06,-6.40741262e-05,-2.41153771e-04,
  8.93146503e-07, 2.88045100e-07,-1.21644394e+00,-4.60447230e-04,
  7.95088287e-06,-5.51716168e-04]


--- Step 898 ---
qpos:
[ 6.18031582e-03,-1.77353910e-03,-4.95302504e-03, 3.35536773e-02,
  4.45743230e-03,-3.74740005e-03,-1.85462054e-02, 2.85724334e-02,
  1.29734904e-02, 3.33387235e-03,-9.96150888e-03, 2.58819067e-02,
  1.15416939e+00,-7.42936802e-05, 9.09303071e-01, 6.44047874e-02,
  9.36302260e-02,-7.01626873e-02, 1.30938850e-01, 5.00378302e-01,
  4.90485708e-01, 4.99265644e-01, 5.09685336e-01]

qacc:
[  3.99910132,  0.87494313, -7.27775586, 21.29738147, -0.43222112,
   0.14846972,  1.23585497, -7.69080651,  5.59350974, -0.73844561,
   4.06437278, -8.97428989, -1.18411241,  1.88908309,  7.25485879,
 -26.44342057,  0.04982796,  1.10225984,  0.72977033,  2.45029529,
   0.02912371,-15.52464813]

qfrc_actuator:
[-4.49784175e-05,-1.45424829e-04,-5.16867777e-05, 3.15117248e-05,
 -1.56809878e-05,-3.92759666e-04,-2.48550244e-04,-4.85444042e-06,
 -1.77970799e-05,-1.20019721e-04,-4.06892924e-05, 1.11823308e-05,
  1.84570230e-02,-1.32819063e-03, 3.92075535e-03,-3.36410105e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.63111724,  0.84598535,  4.55319181,  0.84598535, 14.09028811,
       -1.75751875,  4.55319181, -1.75751875,  4.95766512,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032591683171488695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.55484586e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.55484586e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09182342, -0.08823318,  0.06199068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.33300169e-05,-4.34275387e-05,-3.89383695e-06, 3.87624268e-05,
 -2.47689385e-06,-8.45171112e-06,-2.18208253e-05,-2.16449639e-05,
  3.27109658e-05, 2.54017195e-05, 1.40313702e-05,-1.18379428e-05,
 -1.41057075e-04,-1.68556462e-05,-8.07601361e-05,-1.51332647e-04,
  6.14634585e-07, 1.70820580e-08,-1.21644258e+00,-4.59650868e-04,
  8.98552181e-06,-5.51969698e-04]


--- Step 899 ---
qpos:
[ 6.17999144e-03,-1.77429752e-03,-4.95223464e-03, 3.35536201e-02,
  4.45709430e-03,-3.74764420e-03,-1.85456189e-02, 2.85718718e-02,
  1.29737437e-02, 3.33252965e-03,-9.96084970e-03, 2.58819298e-02,
  1.15461798e+00,-7.30730526e-05, 9.09648169e-01, 6.43974714e-02,
  9.36216089e-02,-7.01696500e-02, 1.30939626e-01, 5.00374508e-01,
  4.90464376e-01, 4.99220647e-01, 5.09753659e-01]

qacc:
[  2.49179324, -1.67459864,  6.40293844,-10.97161991, -0.22791359,
  -1.9230059 , 11.27858303,-28.42843372,  6.51196046,  1.62461516,
  -4.60003335,  2.94992213, -0.62188563,  0.83121836, -9.16714692,
  29.65889499,  0.05852733,  1.07808626,  0.53832024,  2.27147164,
   0.10013597,-15.2638025 ]

qfrc_actuator:
[-3.11338178e-05,-1.58699455e-04,-3.84198663e-05, 1.83068424e-05,
 -1.69310203e-05,-3.69705272e-04,-2.40342843e-04,-5.27010405e-05,
  1.94929052e-05,-1.08604263e-04,-7.03630374e-05, 3.63942317e-06,
  1.84225476e-02,-1.31815983e-03, 3.90225473e-03,-3.22260868e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.64794552,  0.75422925,  4.58634231,  0.75422925, 19.95830211,
       -2.5178057 ,  4.58634231, -2.5178057 ,  5.06200155,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003304080924677044
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.40039220e-14,  2.52011766e-13,  1.00000000e+00,  2.11699767e-26,
        1.00000000e+00, -2.52011766e-13, -1.00000000e+00,  0.00000000e+00,
       -8.40039220e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09182508, -0.08823248,  0.06199056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.44920789e-05,-3.66841955e-05, 5.15580534e-06,-1.44476607e-05,
 -1.32195595e-06, 1.28992732e-05, 3.02201730e-06,-4.93862821e-05,
  3.82239752e-05, 2.80682965e-05,-2.31041613e-05,-6.19986971e-06,
 -1.23852651e-04,-2.41360159e-05,-7.64780891e-05, 1.21790496e-04,
  3.64034742e-07,-1.60063083e-07,-1.21644158e+00,-4.58919587e-04,
  9.87470228e-06,-5.52138918e-04]


--- Step 900 ---
qpos:
[ 6.17983527e-03,-1.77471735e-03,-4.95182999e-03, 3.35526720e-02,
  4.45708897e-03,-3.74790349e-03,-1.85449397e-02, 2.85714478e-02,
  1.29744421e-02, 3.33162474e-03,-9.96092176e-03, 2.58822114e-02,
  1.15506589e+00,-7.20695303e-05, 9.09992288e-01, 6.43892626e-02,
  9.36132526e-02,-7.01723801e-02, 1.30941913e-01, 5.00383806e-01,
  4.90429989e-01, 4.99192732e-01, 5.09804952e-01]

qacc:
[ 1.46057221e+00,-3.11301836e-01, 5.51500230e+00,-2.05590255e+01,
  2.91456473e+00,-1.26865710e-03,-6.15541360e-01, 2.87124876e+00,
  3.88663354e+00, 3.14653684e+00,-1.14837799e+01, 1.68164503e+01,
 -3.16164680e-01, 9.04300529e-02, 1.26194448e+00,-6.48828333e+00,
  6.52044085e-02, 1.05816017e+00, 3.77528627e-01, 2.12781642e+00,
  1.56667602e-01,-1.50457106e+01]

qfrc_actuator:
[-2.28664149e-05,-1.12903511e-04,-4.86796960e-05,-2.49451922e-05,
  2.22277157e-07,-3.73613752e-04,-2.35673358e-04,-4.50900927e-05,
  4.13200629e-05,-8.36740427e-05,-1.05873506e-04, 1.69348373e-05,
  1.83910861e-02,-1.33048327e-03, 3.83086183e-03,-3.27829542e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.65253654,  0.62832313,  4.60991391,  0.62832313, 32.52498148,
       -3.79896505,  4.60991391, -3.79896505,  5.17032877,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003316177336584597
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51092503e-13,  2.51092503e-13,  1.00000000e+00,  6.30474452e-26,
        1.00000000e+00, -2.51092503e-13, -1.00000000e+00,  0.00000000e+00,
       -2.51092503e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09182635, -0.08823256,  0.06199052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.66864629e-06, 2.57522031e-05,-1.77028544e-05,-4.49272857e-05,
  1.71219699e-05, 1.81528358e-06, 5.99459033e-06, 7.30772305e-06,
  2.29205181e-05, 3.56430127e-05,-3.27662342e-05, 1.35781054e-05,
 -1.11596805e-04,-4.43055725e-05,-9.56301402e-05,-5.93075092e-05,
  1.35650871e-07,-2.46066419e-07,-1.21644091e+00,-4.58238344e-04,
  1.06358899e-05,-5.52222351e-04]


--- Step 901 ---
qpos:
[ 6.17908973e-03,-1.77489036e-03,-4.95189910e-03, 3.35519212e-02,
  4.45728951e-03,-3.74849306e-03,-1.85440516e-02, 2.85711509e-02,
  1.29750519e-02, 3.33113574e-03,-9.96116719e-03, 2.58822684e-02,
  1.15551306e+00,-7.11917005e-05, 9.10335149e-01, 6.43817736e-02,
  9.36051775e-02,-7.01709429e-02, 1.30945171e-01, 5.00406083e-01,
  4.90382567e-01, 4.99181648e-01, 5.09839555e-01]

qacc:
[ -5.20144767,  2.06695541, -7.71129904, 11.68092657,  1.81408905,
  -0.76218898,  1.5414141 ,  0.57471688, -0.79223457,  0.57367538,
  -0.29737107, -3.61979696, -0.35632669,  0.19865054, -4.01278929,
  11.37827468,  0.07030826,  1.04182427,  0.24280951,  2.01226611,
   0.20184359,-14.86460481]

qfrc_actuator:
[-5.34496962e-05,-1.03213812e-04,-7.25186402e-05,-1.44773878e-05,
  1.03167978e-05,-4.11351301e-04,-2.33198872e-04,-4.04364907e-05,
  3.61172939e-05,-5.08639918e-05,-1.08959591e-04, 6.89178647e-06,
  1.83507948e-02,-1.33814848e-03, 3.78101645e-03,-3.23687767e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.64718587, -0.45911507, -4.62445131, -0.45911507, 39.42078741,
       -3.4523197 , -4.62445131, -3.4523197 ,  4.98993183,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033020730309443747
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26082503e-13,  2.52165007e-13,  1.00000000e+00, -3.17935953e-26,
        1.00000000e+00, -2.52165007e-13, -1.00000000e+00,  0.00000000e+00,
        1.26082503e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0918273 , -0.08823327,  0.06199056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.03241341e-05, 1.85246564e-05,-2.22521756e-05, 1.00862279e-05,
  1.05837231e-05,-3.51626954e-05, 3.83605225e-06, 5.08033344e-06,
 -4.54128076e-06, 4.65986000e-05, 7.20978594e-07,-9.38435392e-06,
 -1.18188394e-04,-4.05491166e-05,-1.02705998e-04, 2.53090512e-05,
 -7.47772651e-08,-2.43248557e-07,-1.21644056e+00,-4.57595876e-04,
  1.12823316e-05,-5.52219059e-04]


--- Step 902 ---
qpos:
[ 6.17867366e-03,-1.77509913e-03,-4.95219343e-03, 3.35520115e-02,
  4.45726475e-03,-3.74940557e-03,-1.85430819e-02, 2.85705753e-02,
  1.29752503e-02, 3.33033497e-03,-9.96084475e-03, 2.58819017e-02,
  1.15595957e+00,-7.06974982e-05, 9.10677055e-01, 6.43763934e-02,
  9.35973991e-02,-7.01653916e-02, 1.30948950e-01, 5.00441243e-01,
  4.90322130e-01, 4.99187190e-01, 5.09857745e-01]

qacc:
[ 2.89113092e+00, 2.30846539e+00,-1.18593212e+01, 2.68103368e+01,
 -1.96386416e+00,-1.22340433e+00, 4.92653818e+00,-9.64915464e+00,
 -3.59703125e+00,-2.86438002e+00, 1.14166567e+01,-1.94419515e+01,
 -1.92807630e-02,-5.51956722e-01,-7.78340145e+00, 2.51594853e+01,
  7.41903817e-02, 1.02852608e+00, 1.30243761e-01, 1.91920623e+00,
  2.38116705e-01,-1.47155399e+01]

qfrc_actuator:
[-3.56425560e-05,-1.15231503e-04,-8.65101026e-05, 2.74905024e-05,
 -1.58286662e-06,-4.33559841e-04,-2.32194861e-04,-5.53544774e-05,
  1.50522204e-05,-1.02242430e-04,-9.28564110e-05,-1.67748141e-05,
  1.83158879e-02,-1.36077596e-03, 3.76546311e-03,-3.12070022e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003267303529515819
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.69898972e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.69898972e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.091828  , -0.08823446,  0.06199066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.69526591e-05,-5.82234263e-06,-1.25501450e-05, 4.21917136e-05,
 -1.16099615e-05,-4.08459841e-05,-5.61388277e-06,-1.61937349e-05,
 -2.11792525e-05,-2.55526724e-05, 2.55021041e-05,-2.18255168e-05,
 -1.15801295e-04,-5.63232965e-05,-6.15165395e-05, 1.04048681e-04,
 -2.70441734e-07,-1.53576309e-07,-1.21644050e+00,-4.56983710e-04,
  1.18240905e-05,-5.52128453e-04]


--- Step 903 ---
qpos:
[ 6.17881906e-03,-1.77545645e-03,-4.95284990e-03, 3.35522831e-02,
  4.45709751e-03,-3.75038489e-03,-1.85425140e-02, 2.85701716e-02,
  1.29755395e-02, 3.32953671e-03,-9.96070569e-03, 2.58816121e-02,
  1.15640537e+00,-7.04794650e-05, 9.11017734e-01, 6.43702208e-02,
  9.35899293e-02,-7.01557691e-02, 1.30952875e-01, 5.00489206e-01,
  4.90248691e-01, 4.99209189e-01, 5.09859747e-01]

qacc:
[  4.92821849,  1.17968937, -5.27294331,  9.11653897, -1.25829092,
   1.3896147 , -5.80465548,  9.46525278,  0.79268086,  0.67292025,
  -2.72264723,  4.35078515, -0.2746395 , -0.04189767,  0.58887926,
  -4.67520576,  0.07712555,  1.01780039,  0.03647561,  1.84416986,
   0.26741123,-14.59426465]

qfrc_actuator:
[-7.23689994e-06,-1.40089786e-04,-1.12404750e-04, 3.43778262e-05,
 -8.57758300e-06,-4.28573558e-04,-2.49781839e-04,-4.61551938e-05,
  2.03332513e-05,-9.70568572e-05,-1.01416832e-04,-1.28211866e-05,
  1.82789056e-02,-1.37431995e-03, 3.66931301e-03,-3.17437536e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032164855783153867
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.15729054e-13,  1.72583243e-13,  1.00000000e+00, -3.72312197e-26,
        1.00000000e+00, -1.72583243e-13, -1.00000000e+00,  0.00000000e+00,
        2.15729054e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09182851, -0.08823602,  0.06199081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.88853266e-05,-2.88805940e-05,-2.71778490e-05, 7.02505978e-06,
 -7.33972591e-06,-1.96891936e-05,-2.72745908e-05, 6.94105807e-06,
  4.66801002e-06,-4.75186426e-06,-1.14452405e-05, 3.31903141e-06,
 -1.19442582e-04,-5.00925352e-05,-1.16060545e-04,-5.65116816e-05,
 -4.53739517e-07, 2.13156418e-08,-1.21644073e+00,-4.56395441e-04,
  1.22688177e-05,-5.51950170e-04]


--- Step 904 ---
qpos:
[ 6.17826924e-03,-1.77617518e-03,-4.95369579e-03, 3.35523062e-02,
  4.45684746e-03,-3.75130965e-03,-1.85419560e-02, 2.85694926e-02,
  1.29758891e-02, 3.32937084e-03,-9.96153363e-03, 2.58813451e-02,
  1.15685028e+00,-7.01089710e-05, 9.11357232e-01, 6.43650465e-02,
  9.35827768e-02,-7.01421096e-02, 1.30956634e-01, 5.00549907e-01,
  4.90162262e-01, 4.99247507e-01, 5.09845736e-01]

qacc:
[ -6.11295181, -0.44807313,  1.97451262, -5.7295253 , -0.72619059,
  -0.46493843,  2.92757217, -7.71928486,  0.48994827,  3.58395249,
 -11.66323888, 13.1365133 , -0.69306874,  0.93447613, -4.71339943,
  14.0568655 ,  0.07932834,  1.00925499, -0.04137126,  1.78360003,
   0.29123611,-14.49711989]

qfrc_actuator:
[-4.38464409e-05,-1.72525330e-04,-1.27461673e-04, 2.05401210e-05,
 -1.26220301e-05,-4.07397345e-04,-2.42567485e-04,-5.83298877e-05,
  2.33317565e-05,-4.03698226e-05,-1.42003952e-04,-1.03794077e-05,
  1.82353798e-02,-1.36461522e-03, 3.63670527e-03,-3.11487279e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003153455099627611
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.52065588e-13,  1.76032794e-13,  1.00000000e+00, -6.19750892e-26,
        1.00000000e+00, -1.76032794e-13, -1.00000000e+00,  0.00000000e+00,
        3.52065588e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09182886, -0.08823788,  0.06199099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.57957831e-05,-5.38691134e-05,-2.41170037e-05,-1.58784619e-05,
 -4.26017675e-06, 4.85717083e-06, 3.39488271e-08,-1.38249981e-05,
  3.12734679e-06, 5.18383054e-05,-4.28551063e-05, 1.90869685e-06,
 -1.27611664e-04,-2.60093655e-05,-9.34609312e-05, 4.11724571e-05,
 -6.26475505e-07, 2.80092229e-07,-1.21644124e+00,-4.55826192e-04,
  1.26223293e-05,-5.51683979e-04]


--- Step 905 ---
qpos:
[ 6.17728506e-03,-1.77710399e-03,-4.95423865e-03, 3.35521096e-02,
  4.45689539e-03,-3.75178554e-03,-1.85415090e-02, 2.85682829e-02,
  1.29759273e-02, 3.32928313e-03,-9.96268049e-03, 2.58811358e-02,
  1.15729422e+00,-6.93238185e-05, 9.11696698e-01, 6.43610374e-02,
  9.35759482e-02,-7.01244398e-02, 1.30959970e-01, 5.00623294e-01,
  4.90062845e-01, 4.99302034e-01, 5.09815853e-01]

qacc:
[ -3.80629335, -1.56971907,  6.13413558,-10.27941727,  2.59636769,
  -0.19344773,  3.78264317,-13.10985607, -2.75132804,  1.11860042,
  -4.07256512,  5.51209151, -1.0166841 ,  1.66522704, -3.49237458,
  12.31876318,  0.08096611,  1.00255901, -0.10576287,  1.73466203,
   0.31077399,-14.42095435]

qfrc_actuator:
[-6.51751076e-05,-1.55977054e-04,-1.00538553e-04, 1.23774020e-05,
  2.85364331e-06,-3.58849186e-04,-2.38456121e-04,-8.29505408e-05,
  7.20217995e-06,-5.99285821e-05,-1.65444842e-04,-8.82114702e-06,
  1.81932957e-02,-1.34127943e-03, 3.68486939e-03,-3.04219520e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000308138538544403
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.05337453e-13,  1.80149979e-13,  1.00000000e+00, -7.30215336e-26,
        1.00000000e+00, -1.80149979e-13, -1.00000000e+00,  0.00000000e+00,
        4.05337453e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0918291 , -0.08823995,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.23604592e-05,-1.92127633e-05, 1.22961518e-05,-1.16095114e-05,
  1.53562442e-05, 5.07059110e-05, 4.64644392e-06,-2.46778600e-05,
 -1.60224088e-05, 6.77502521e-07,-1.79330491e-05, 2.33682296e-06,
 -1.25175222e-04,-9.72699216e-06, 7.67963740e-06, 6.24981231e-05,
 -7.90013509e-07, 6.21680583e-07,-1.21644203e+00,-4.55272223e-04,
  1.28890401e-05,-5.51329728e-04]


--- Step 906 ---
qpos:
[ 6.17674230e-03,-1.77791153e-03,-4.95462428e-03, 3.35517829e-02,
  4.45747328e-03,-3.75175477e-03,-1.85414061e-02, 2.85674865e-02,
  1.29757720e-02, 3.32898011e-03,-9.96341304e-03, 2.58809340e-02,
  1.15773721e+00,-6.79811555e-05, 9.12036538e-01, 6.43555474e-02,
  9.35694482e-02,-7.01027803e-02, 1.30962671e-01, 5.00709327e-01,
  4.89950438e-01, 4.99372683e-01, 5.09770205e-01]

qacc:
[  3.88416526, -0.5545186 ,  2.74515726, -5.32082883,  4.61892369,
   2.47128195, -9.60086285, 16.94544701, -1.68566005, -1.42355092,
   4.63654964, -5.01521944, -1.28079857,  2.2387186 ,  5.11142256,
 -16.86886267,  0.08216926,  0.9974333 , -0.15881277,  1.69509506,
   0.32695116,-14.36305504]

qfrc_actuator:
[-4.18127570e-05,-1.27797895e-04,-8.43493492e-05, 7.69026999e-06,
  2.96937193e-05,-3.29799262e-04,-2.53854228e-04,-6.14154446e-05,
 -2.30402723e-06,-7.16756574e-05,-1.43354023e-04,-7.83704386e-06,
  1.81521155e-02,-1.31008817e-03, 3.69622296e-03,-3.12195267e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030028883900486136
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15536993e-14, -3.69718378e-13,  1.00000000e+00,  4.27161497e-27,
        1.00000000e+00,  3.69718378e-13, -1.00000000e+00,  0.00000000e+00,
        1.15536993e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09182925, -0.08824217,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.27234072e-05, 1.95134393e-05, 1.33528594e-05,-5.30608936e-06,
  2.72972865e-05, 5.73267942e-05,-5.20376311e-06, 2.33907483e-05,
 -9.96203455e-06,-1.49607950e-05, 2.01183669e-05, 4.42010457e-07,
 -1.18043800e-04, 1.31387905e-06, 1.44595672e-05,-7.69719960e-05,
 -9.45388678e-07, 1.04523146e-06,-1.21644309e+00,-4.54730641e-04,
  1.30722901e-05,-5.50887303e-04]


--- Step 907 ---
qpos:
[ 6.17717365e-03,-1.77867752e-03,-4.95534350e-03, 3.35514469e-02,
  4.45836857e-03,-3.75130156e-03,-1.85414533e-02, 2.85666061e-02,
  1.29755035e-02, 3.32892341e-03,-9.96378650e-03, 2.58806893e-02,
  1.15817929e+00,-6.62373407e-05, 9.12376480e-01, 6.43514286e-02,
  9.35658838e-02,-7.00885958e-02, 1.30965023e-01, 5.00760571e-01,
  4.89877035e-01, 4.99423576e-01, 5.09740554e-01]

qacc:
[ 8.55419064, 0.95144596,-3.30179844, 3.67281507, 2.76576799, 0.79899417,
 -1.69395525, 0.18057456,-0.98990399,-0.7644774 , 3.38277619,-4.88473129,
 -0.95485562, 1.57273692,-3.92211192,14.09804329, 0.73389509,-1.86874482,
 -0.08728803, 9.25735509,-2.28258666,27.45072383]

qfrc_actuator:
[ 7.66217185e-06,-1.46145394e-04,-1.10081184e-04, 5.08665155e-06,
  4.52486284e-05,-3.12685609e-04,-2.62927684e-04,-6.61763624e-05,
 -7.82957048e-06,-2.52156096e-05,-1.12302458e-04,-7.17040972e-06,
  1.81061855e-02,-1.29224500e-03, 3.72806120e-03,-3.04245406e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029222403103210223
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.62382407e-07,  2.62382407e-07,  1.00000000e+00,  6.88445274e-14,
        1.00000000e+00, -2.62382407e-07, -1.00000000e+00,  0.00000000e+00,
       -2.62382407e-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([ 0.08248393, -0.03491059,  0.06199164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.01305249e-05,-4.86044605e-06,-2.02257046e-05,-1.40616091e-06,
  1.63539417e-05, 4.91071753e-05, 2.93499621e-06,-2.02864756e-06,
 -5.81636692e-06, 4.22845655e-05, 3.04673281e-05, 7.33364516e-07,
 -1.16214757e-04,-8.15579924e-06, 2.14792290e-05, 7.51377023e-05,
 -1.09339124e-06, 1.55008183e-06,-1.21644441e+00,-4.54199180e-04,
  1.31745919e-05,-5.50356602e-04]


--- Step 908 ---
qpos:
[ 6.17854005e-03,-1.77973553e-03,-4.95591534e-03, 3.35507474e-02,
  4.45909863e-03,-3.75030597e-03,-1.85419517e-02, 2.85656813e-02,
  1.29751705e-02, 3.32939099e-03,-9.96447836e-03, 2.58804649e-02,
  1.15862055e+00,-6.42658955e-05, 9.12716032e-01, 6.43467479e-02,
  9.35652619e-02,-7.00823705e-02, 1.30965783e-01, 5.00775053e-01,
  4.89844707e-01, 4.99453398e-01, 5.09728176e-01]

qacc:
[  8.23122524, -1.56247773,  6.51728149,-12.79707954, -1.46949004,
   1.88816259, -5.49963299,  5.04534102, -0.58556777,  1.62578696,
  -4.87543594,  5.34858861, -0.82441069,  1.24583573,  1.17528864,
  -4.82059202,  0.7356245 , -1.98980408, -0.39783228,  9.60540206,
  -2.33355322, 29.11216994]

qfrc_actuator:
[ 5.43427456e-05,-1.74625070e-04,-1.07279804e-04,-1.40881186e-05,
  3.62803912e-05,-2.85099525e-04,-2.86015547e-04,-6.86304464e-05,
 -1.09694985e-05, 2.53530746e-06,-1.29242851e-04,-6.64677228e-06,
  1.80627613e-02,-1.28247730e-03, 3.67633706e-03,-3.08269337e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53512566,  2.07366058, -4.03327368,  2.07366058,  9.27588331,
        2.4374052 , -4.03327368,  2.4374052 ,  5.7882891 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002983743037329595
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.30226741e-14,  1.86045348e-13,  1.00000000e+00, -1.73064358e-26,
        1.00000000e+00, -1.86045348e-13, -1.00000000e+00,  0.00000000e+00,
        9.30226741e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.081889  , -0.03152479,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.81083185e-05,-3.53828197e-05,-7.26718377e-07,-2.01083188e-05,
 -8.48395673e-06, 5.55577214e-05,-1.26567540e-05,-2.87126837e-07,
 -3.29228331e-06, 5.77256309e-05,-4.42232728e-06, 3.40588467e-06,
 -1.14386664e-04,-1.78752845e-05,-4.14604378e-05,-3.51157800e-05,
 -5.17542971e-07, 6.40069457e-07,-1.21644186e+00,-4.55108640e-04,
  1.19334230e-05,-5.49900223e-04]


--- Step 909 ---
qpos:
[ 6.18045572e-03,-1.78098664e-03,-4.95618384e-03, 3.35494548e-02,
  4.45937111e-03,-3.74923481e-03,-1.85425601e-02, 2.85651165e-02,
  1.29748025e-02, 3.33035739e-03,-9.96563641e-03, 2.58799172e-02,
  1.15906121e+00,-6.27625968e-05, 9.13054693e-01, 6.43397282e-02,
  9.35675035e-02,-7.00839901e-02, 1.30964369e-01, 5.00753153e-01,
  4.89852777e-01, 4.99462727e-01, 5.09732794e-01]

qacc:
[  4.84226216, -2.33377927, 10.43763528,-21.02486379, -4.0090641 ,
   1.15501141, -5.48014501, 11.81537011, -0.33182013,  1.29698706,
  -2.30103419, -2.9203921 , -0.11169763, -0.41860109,  5.73747914,
 -22.00246388,  0.71586287, -1.96121713, -0.54374244,  9.55858067,
  -2.17903356, 28.63574819]

qfrc_actuator:
[ 8.12435074e-05,-1.73361821e-04,-8.77060409e-05,-4.28477310e-05,
  1.29539325e-05,-3.04776811e-04,-2.99398137e-04,-5.19536349e-05,
 -1.26816541e-05, 1.86842614e-05,-1.56691942e-04,-2.40077076e-05,
  1.80261922e-02,-1.31304711e-03, 3.60114499e-03,-3.21114327e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54421325,  2.18354784, -3.98522181,  2.18354784, 25.094591  ,
       11.25978307, -3.98522181, 11.25978307, 10.71357501,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030113675316797983
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84338679e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.84338679e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188788, -0.03152664,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.82611916e-05,-1.94758521e-05, 1.14969605e-05,-3.06893892e-05,
 -2.35489052e-05, 8.73260872e-06,-3.47943895e-06, 1.86155377e-05,
 -1.78477673e-06, 4.76513764e-05,-1.59490383e-05,-1.49728016e-05,
 -1.09487741e-04,-5.92801704e-05,-1.03306297e-04,-1.36909583e-04,
 -1.45035540e-07, 1.24568783e-07,-1.21644036e+00,-4.55898276e-04,
  1.12924232e-05,-5.49649284e-04]


--- Step 910 ---
qpos:
[ 6.18164426e-03,-1.78203196e-03,-4.95642396e-03, 3.35481401e-02,
  4.45936192e-03,-3.74827207e-03,-1.85429219e-02, 2.85644099e-02,
  1.29744171e-02, 3.33157195e-03,-9.96675463e-03, 2.58791631e-02,
  1.15950120e+00,-6.13595124e-05, 9.13392298e-01, 6.43344550e-02,
  9.35725447e-02,-7.00933593e-02, 1.30960289e-01, 5.00695188e-01,
  4.89900683e-01, 4.99452028e-01, 5.09754177e-01]

qacc:
[-6.39631901, 0.15960958,-0.05943179,-0.54374899,-2.45563565,-1.11837902,
  4.38643996,-7.16098642,-0.15729113,-0.20767372, 2.087928  ,-5.90519634,
 -0.29265634, 0.13196332,-6.81635509,21.6140561 , 0.69991606,-1.93740749,
 -0.66645475, 9.51610514,-2.05455134,28.24310817]

qfrc_actuator:
[ 4.30302373e-05,-1.36482313e-04,-7.60363864e-05,-4.14779858e-05,
 -8.76393268e-07,-3.17056990e-04,-2.89365701e-04,-5.96902169e-05,
 -1.35407340e-05, 2.76877789e-05,-1.54665831e-04,-3.40110965e-05,
  1.79990698e-02,-1.31395679e-03, 3.59181818e-03,-3.10647554e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54438146, -2.3906414 ,  3.86474276, -2.3906414 , 20.76166943,
       10.0316431 ,  3.86474276, 10.0316431 , 10.74972625,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003011875552252491
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84307586e-13, -4.60768965e-14,  1.00000000e+00,  8.49232156e-27,
        1.00000000e+00,  4.60768965e-14, -1.00000000e+00,  0.00000000e+00,
        1.84307586e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188664, -0.03152691,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.74112305e-05, 2.71033739e-05, 8.01837741e-06, 3.40395877e-07,
 -1.45006254e-05,-7.35658855e-06, 1.20484791e-05,-7.11923794e-06,
 -8.90118207e-07, 3.16922840e-05, 9.38974844e-06,-8.80291694e-06,
 -1.07319215e-04,-3.62392732e-05,-7.41645716e-05, 8.32825732e-05,
 -7.80648664e-09, 6.89883526e-08,-1.21644008e+00,-4.56512772e-04,
  1.13156933e-05,-5.49603491e-04]


--- Step 911 ---
qpos:
[ 6.18133085e-03,-1.78270632e-03,-4.95635017e-03, 3.35468099e-02,
  4.45987652e-03,-3.74724287e-03,-1.85432014e-02, 2.85632599e-02,
  1.29743696e-02, 3.33265129e-03,-9.96766409e-03, 2.58783329e-02,
  1.15994037e+00,-5.94494194e-05, 9.13728978e-01, 6.43301190e-02,
  9.35803343e-02,-7.01103991e-02, 1.30953130e-01, 5.00601414e-01,
  4.89987958e-01, 4.99421673e-01, 5.09792132e-01]

qacc:
[-13.20303137, -0.39330291,  2.22366451, -3.31482625,  4.5851603 ,
  -1.06306311,  5.77572406,-13.61591044,  2.98330381, -0.92456447,
   3.34842521, -4.88830642, -0.94948957,  1.68433866, -4.12596617,
  12.60971022,  0.68709725, -1.91767163, -0.76961465,  9.47892466,
  -1.95374131, 27.92175655]

qfrc_actuator:
[-3.31947553e-05,-9.63073167e-05,-5.12029403e-05,-4.01169748e-05,
  2.65033538e-05,-3.06992504e-04,-2.83349470e-04,-8.17171957e-05,
  3.86115715e-06,-3.05008956e-06,-1.53026771e-04,-3.95877244e-05,
  1.79723199e-02,-1.27949844e-03, 3.54749641e-03,-3.06036627e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53743646, -2.60903988,  3.71230932, -2.60903988, 27.47828123,
       16.12300426,  3.71230932, 16.12300426, 15.86880935,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002990801150353495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.85606292e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.85606292e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188531, -0.03152595,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.72757591e-05, 5.70290825e-05, 3.14496708e-05, 2.81361074e-06,
  2.69627566e-05, 8.10002717e-06, 5.72964912e-06,-2.20630670e-05,
  1.73902071e-05,-1.14837826e-05, 9.03768220e-06,-4.06347026e-06,
 -9.96920027e-05, 3.78935105e-06,-7.17717136e-05, 4.06267409e-05,
 -9.20893534e-08, 4.55490610e-07,-1.21644097e+00,-4.56985217e-04,
  1.19839614e-05,-5.49756003e-04]


--- Step 912 ---
qpos:
[ 6.18045120e-03,-1.78325589e-03,-4.95584580e-03, 3.35451842e-02,
  4.46105999e-03,-3.74603026e-03,-1.85437091e-02, 2.85611706e-02,
  1.29741862e-02, 3.33342285e-03,-9.96819044e-03, 2.58781438e-02,
  1.16037903e+00,-5.79856182e-05, 9.14064579e-01, 6.43270427e-02,
  9.35885047e-02,-7.01230694e-02, 1.30949223e-01, 5.00521651e-01,
  4.90060788e-01, 4.99409107e-01, 5.09812754e-01]

qacc:
[ -4.96779543, -1.63716575,  7.33996699,-13.24888602,  5.84306257,
  -1.06280628,  8.08772756,-24.09059448, -1.17795006, -0.1555852 ,
  -2.73822761, 13.44295858,  0.11009224, -0.75607787, -5.41224086,
  16.57691758,  0.09519339,  1.09240619,  0.81290514,  1.81438646,
   0.38977   ,-15.87481881]

qfrc_actuator:
[-6.01505913e-05,-1.07660414e-04,-3.65207341e-05,-5.65115903e-05,
  6.01637288e-05,-3.01405371e-04,-2.97429944e-04,-1.29712480e-04,
 -3.63415027e-06,-2.18434175e-05,-1.34052173e-04,-7.05072320e-06,
  1.79351775e-02,-1.31314957e-03, 3.49818129e-03,-2.99602326e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030334707814336226
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14372190e-14, -1.82995503e-13,  1.00000000e+00,  2.09295964e-27,
        1.00000000e+00,  1.82995503e-13, -1.00000000e+00,  0.00000000e+00,
        1.14372190e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09183104, -0.08824138,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.91321476e-05, 2.71555080e-05, 3.04466902e-05,-1.28003567e-05,
  3.44341225e-05, 1.03324564e-05,-1.24723198e-05,-4.78795124e-05,
 -7.00312702e-06,-2.35430854e-05, 1.75741734e-05, 3.22792429e-05,
 -9.64930635e-05,-5.46741237e-05,-8.08991947e-05, 5.66802519e-05,
 -3.87787197e-07, 1.27127273e-06,-1.21644300e+00,-4.57340045e-04,
  1.32821770e-05,-5.50101501e-04]


--- Step 913 ---
qpos:
[ 6.17994477e-03,-1.78391684e-03,-4.95503155e-03, 3.35437598e-02,
  4.46229314e-03,-3.74473646e-03,-1.85443865e-02, 2.85588773e-02,
  1.29732243e-02, 3.33441934e-03,-9.96871018e-03, 2.58786484e-02,
  1.16081710e+00,-5.68922842e-05, 9.14399367e-01, 6.43266687e-02,
  9.35970543e-02,-7.01314539e-02, 1.30947759e-01, 5.00455621e-01,
  4.90119466e-01, 4.99413977e-01, 5.09816398e-01]

qacc:
[  3.29363918, -0.60559262,  1.08500425,  1.99606491,  0.42784848,
   0.16021952,  0.44508781, -3.76574315, -6.85430015,  1.72017399,
  -8.6080249 , 20.41320678,  0.04736022, -0.62319878, -9.36800521,
  31.00106775,  0.09480164,  1.07143603,  0.61084208,  1.77736865,
   0.38133634,-15.55572681]

qfrc_actuator:
[-4.01272145e-05,-1.32079948e-04,-2.81715070e-05,-4.77682427e-05,
  6.17325980e-05,-2.98648185e-04,-3.05538184e-04,-1.39357839e-04,
 -4.34817265e-05, 2.00145191e-05,-1.22686739e-04, 2.99151410e-05,
  1.79024537e-02,-1.33365800e-03, 3.48852354e-03,-2.85042703e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003103998945259562
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.58867289e-14, -3.57675065e-13,  1.00000000e+00,  1.99892894e-26,
        1.00000000e+00,  3.57675065e-13, -1.00000000e+00,  0.00000000e+00,
        5.58867289e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0918313 , -0.08823948,  0.06199113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.92054015e-05,-3.48301652e-06, 1.72719191e-05, 1.07164184e-05,
  2.55863586e-06, 3.88556474e-06,-9.17208576e-06,-1.05642623e-05,
 -4.00549386e-05, 3.36816067e-05, 9.78148567e-06, 3.71933635e-05,
 -1.03480603e-04,-5.23087979e-05,-4.27148704e-05, 1.37853911e-04,
 -3.60794875e-07, 8.22950849e-07,-1.21644196e+00,-4.57366560e-04,
  1.28996216e-05,-5.50394318e-04]


--- Step 914 ---
qpos:
[ 6.18002704e-03,-1.78467416e-03,-4.95439701e-03, 3.35431747e-02,
  4.46353615e-03,-3.74376777e-03,-1.85450451e-02, 2.85575616e-02,
  1.29714475e-02, 3.33544387e-03,-9.96899298e-03, 2.58792555e-02,
  1.16125442e+00,-5.57531733e-05, 9.14733537e-01, 6.43280278e-02,
  9.36059821e-02,-7.01356227e-02, 1.30948059e-01, 5.00403092e-01,
  4.90164238e-01, 4.99435987e-01, 5.09803354e-01]

qacc:
[  5.1728943 ,  2.09303729,-11.20771396, 26.10839693,  0.09310224,
   1.52831899,-10.20212505, 27.33235788, -7.16427609, -0.4000333 ,
   1.07127249,  0.27826483, -0.48340401,  0.54738534, -6.11407863,
  20.13287786,  0.09453906,  1.05392936,  0.44086567,  1.74823777,
   0.37319194,-15.29029806]

qfrc_actuator:
[-1.03819275e-05,-1.46400460e-04,-4.14262322e-05,-6.56792582e-06,
  6.21508603e-05,-3.33065364e-04,-3.10030445e-04,-9.08473129e-05,
 -8.42910232e-05, 9.09046582e-06,-1.15663552e-04, 3.37239584e-05,
  1.78670809e-02,-1.32842547e-03, 3.46006881e-03,-2.76454105e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003138611835285937
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.42163241e-14,  1.76865296e-13,  1.00000000e+00,  7.82033326e-27,
        1.00000000e+00, -1.76865296e-13, -1.00000000e+00,  0.00000000e+00,
       -4.42163241e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09183147, -0.08823855,  0.06199103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.02905287e-05,-1.22153607e-05,-1.14749830e-05, 4.18593680e-05,
  4.93519648e-07,-3.46246823e-05,-5.18726351e-06, 4.81577294e-05,
 -4.19347293e-05, 1.14771243e-05, 1.64662337e-05, 6.31380408e-06,
 -1.09217947e-04,-2.79762680e-05,-3.65973784e-05, 8.71852084e-05,
 -3.25789486e-07, 4.82981132e-07,-1.21644126e+00,-4.57405234e-04,
  1.24339573e-05,-5.50590386e-04]


--- Step 915 ---
qpos:
[ 6.18046512e-03,-1.78520290e-03,-4.95402257e-03, 3.35423611e-02,
  4.46442954e-03,-3.74299245e-03,-1.85457971e-02, 2.85571737e-02,
  1.29695406e-02, 3.33569884e-03,-9.96820811e-03, 2.58796042e-02,
  1.16169112e+00,-5.51015506e-05, 9.15066937e-01, 6.43314265e-02,
  9.36152874e-02,-7.01356339e-02, 1.30949551e-01, 5.00363869e-01,
  4.90195309e-01, 4.99474894e-01, 5.09773859e-01]

qacc:
[  3.1162619 ,  0.55250953, -0.57716891, -3.11976884, -3.05887079,
   1.91932092,-11.12280079, 27.46194242, -1.09773498, -4.53084484,
  15.77430091,-21.39159927,  0.08527998, -0.79358269, -7.30971181,
  23.87992269,  0.09440019,  1.03940384,  0.2981691 ,  1.72575287,
   0.36531524,-15.07057453]

qfrc_actuator:
[ 7.07911766e-06,-1.19126754e-04,-4.95250581e-05,-1.76225592e-05,
  4.41460611e-05,-3.36155455e-04,-3.12473614e-04,-4.40486902e-05,
 -8.98242812e-05,-6.89011258e-05,-7.59734243e-05, 1.79522279e-05,
  1.78248283e-02,-1.36127433e-03, 3.42567347e-03,-2.66133504e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031443180276220783
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.41360819e-14,  8.82721639e-14,  1.00000000e+00,  3.89598746e-27,
        1.00000000e+00, -8.82721639e-14, -1.00000000e+00,  0.00000000e+00,
       -4.41360819e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09183155, -0.08823841,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.83186042e-05, 1.98978046e-05,-1.05856646e-05,-1.11601094e-05,
 -1.80045808e-05,-2.14840985e-05,-8.56836305e-06, 4.60747473e-05,
 -6.71848062e-06,-6.79570388e-05, 4.42973659e-05,-1.45888704e-05,
 -1.14035106e-04,-6.25486393e-05,-4.61354927e-05, 1.02290836e-04,
 -2.83256767e-07, 2.44860833e-07,-1.21644088e+00,-4.57455497e-04,
  1.18874268e-05,-5.50691358e-04]


--- Step 916 ---
qpos:
[ 6.18110922e-03,-1.78535561e-03,-4.95387525e-03, 3.35417450e-02,
  4.46544494e-03,-3.74233249e-03,-1.85460491e-02, 2.85572980e-02,
  1.29682715e-02, 3.33577965e-03,-9.96739186e-03, 2.58797571e-02,
  1.16212704e+00,-5.45494810e-05, 9.15399672e-01, 6.43360342e-02,
  9.36249703e-02,-7.01315353e-02, 1.30951758e-01, 5.00337792e-01,
  4.90212848e-01, 4.99530497e-01, 5.09728104e-01]

qacc:
[  1.79814518,  1.53517269, -5.59239321,  9.1033265 ,  1.08575524,
  -0.49763551, -0.61309698,  8.76656893,  5.61595665, -0.73175445,
   3.08254626, -6.37137233, -0.39616679,  0.277284  , -4.61113978,
  14.75212043,  0.09437821,  1.02744452,  0.17865466,  1.70888784,
   0.35767943,-14.88987826]

qfrc_actuator:
[ 1.71670372e-05,-8.49355560e-05,-5.43780666e-05,-6.04009985e-06,
  5.09482319e-05,-3.20450980e-04,-2.78077411e-04,-1.63711248e-05,
 -5.67981873e-05,-6.20784413e-05,-7.08665237e-05, 8.50484576e-06,
  1.77891155e-02,-1.36319917e-03, 3.39307542e-03,-2.60199470e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003126993045954457
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.98563863e-14, -3.55044929e-13,  1.00000000e+00,  3.54535036e-26,
        1.00000000e+00,  3.55044929e-13, -1.00000000e+00,  0.00000000e+00,
        9.98563863e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09183158, -0.08823888,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06180517e-05, 4.26749413e-05,-2.43030920e-06, 1.18529553e-05,
  6.27877326e-06, 3.87059128e-06, 3.04986991e-05, 2.73586392e-05,
  3.28119947e-05,-2.26818394e-05,-3.99374918e-06,-1.11140146e-05,
 -1.18282909e-04,-3.95195299e-05,-4.63100804e-05, 5.81990532e-05,
 -2.33529463e-07, 1.03427941e-07,-1.21644081e+00,-4.57517014e-04,
  1.12615352e-05,-5.50698610e-04]


--- Step 917 ---
qpos:
[ 6.18186953e-03,-1.78526498e-03,-4.95407262e-03, 3.35419881e-02,
  4.46687858e-03,-3.74161390e-03,-1.85459244e-02, 2.85573931e-02,
  1.29670627e-02, 3.33614750e-03,-9.96706287e-03, 2.58804624e-02,
  1.16256205e+00,-5.34735597e-05, 9.15731150e-01, 6.43407839e-02,
  9.36350310e-02,-7.01233659e-02, 1.30954281e-01, 5.00324727e-01,
  4.90216996e-01, 4.99602630e-01, 5.09666241e-01]

qacc:
[  1.00725927,  3.05234848,-14.04642631, 29.28927025,  3.67118842,
  -1.04210188,  3.9392057 , -5.07605986,  0.51102757,  2.87719526,
 -12.04240373, 22.17173999, -1.07461775,  1.86002338, -2.20760304,
   5.2043355 ,  0.09446545,  1.01769396,  0.07882027,  1.69679103,
   0.35025463,-14.74258456]

qfrc_actuator:
[ 2.28385274e-05,-8.23379983e-05,-7.49651627e-05, 3.65425423e-05,
  7.23028019e-05,-3.11223060e-04,-2.57638811e-04,-1.78741973e-05,
 -5.46101521e-05,-2.24073912e-05,-8.59003479e-05, 3.83979507e-05,
  1.77520357e-02,-1.32900991e-03, 3.30299040e-03,-2.60446431e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003091548608798317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01001234e-13,  1.79557750e-13,  1.00000000e+00, -1.81355544e-26,
        1.00000000e+00, -1.79557750e-13, -1.00000000e+00,  0.00000000e+00,
        1.01001234e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09183155, -0.08823985,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.98833928e-06, 2.64744560e-05,-1.16608319e-05, 4.45587403e-05,
  2.15329128e-05, 1.88452748e-05, 2.59363060e-05, 2.49085958e-07,
  3.11405098e-06, 2.56806104e-05,-2.06089875e-05, 2.85626470e-05,
 -1.17041127e-04, 2.17581431e-07,-1.09166916e-04,-6.17671452e-06,
 -1.76823148e-07, 5.45858667e-08,-1.21644103e+00,-4.57589638e-04,
  1.05572096e-05,-5.50613288e-04]


--- Step 918 ---
qpos:
[ 6.18269217e-03,-1.78517336e-03,-4.95438136e-03, 3.35424097e-02,
  4.46786736e-03,-3.74081365e-03,-1.85461145e-02, 2.85578602e-02,
  1.29655449e-02, 3.33661300e-03,-9.96658303e-03, 2.58811543e-02,
  1.16299622e+00,-5.22427934e-05, 9.16061643e-01, 6.43440932e-02,
  9.36454704e-02,-7.01111572e-02, 1.30956786e-01, 5.00324565e-01,
  4.90207865e-01, 4.99691159e-01, 5.09588387e-01]

qacc:
[ 5.44677418e-01, 6.79081038e-01,-3.17450903e+00, 6.44215060e+00,
 -3.90440518e+00, 1.75973073e+00,-7.67593876e+00, 1.45426331e+01,
 -2.71570063e+00,-3.14721894e-01, 1.37504934e+00,-1.92924356e+00,
 -7.82531583e-01, 1.11158134e+00, 2.94349158e+00,-1.22956965e+01,
  9.46539394e-02, 1.00984428e+00,-4.33169670e-03, 1.68875329e+00,
  3.43009588e-01,-1.46239427e+01]

qfrc_actuator:
[ 2.58675755e-05,-9.87143500e-05,-8.70316537e-05, 4.37267211e-05,
  4.87858756e-05,-3.23761556e-04,-2.81156908e-04,-1.04392728e-06,
 -7.06026465e-05,-1.66767522e-05,-7.70072441e-05, 3.79676293e-05,
  1.77035260e-02,-1.32699366e-03, 3.25305143e-03,-2.67894162e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003042077165972268
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14048618e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.14048618e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09183149, -0.08824119,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.20703153e-06,-2.07278589e-06,-6.49261981e-06, 8.78171407e-06,
 -2.28962882e-05, 3.34733004e-06,-1.64330215e-05, 1.85371664e-05,
 -1.58937835e-05, 1.70368711e-05, 1.26365406e-05, 5.09491946e-07,
 -1.19465808e-04,-2.34279606e-05,-1.02302601e-04,-8.92004888e-05,
 -1.13263321e-07, 9.50849965e-08,-1.21644154e+00,-4.57673374e-04,
  9.77492137e-06,-5.50436331e-04]


--- Step 919 ---
qpos:
[ 6.18320005e-03,-1.78541798e-03,-4.95442301e-03, 3.35436226e-02,
  4.46822208e-03,-3.74019415e-03,-1.85464572e-02, 2.85585487e-02,
  1.29641924e-02, 3.33702979e-03,-9.96590359e-03, 2.58815059e-02,
  1.16342965e+00,-5.12350759e-05, 9.16391250e-01, 6.43447763e-02,
  9.36519750e-02,-7.01065572e-02, 1.30957830e-01, 5.00312140e-01,
  4.90208291e-01, 4.99737688e-01, 5.09554548e-01]

qacc:
[ -2.7530028 ,  0.44358277, -5.55743105, 19.06154975, -5.55069659,
   0.65354785, -3.59313036,  7.78099087,  1.46145976, -1.32571948,
   6.06570607,-12.23429723, -0.45608911,  0.29706782,  6.63879265,
 -25.08095167, -0.983676  , -1.90218947, -0.36521273,-16.30226268,
   0.91017651, 26.81714776]

qfrc_actuator:
[ 9.56591551e-06,-1.26330045e-04,-7.63285971e-05, 8.32667584e-05,
  1.67944964e-05,-3.49406389e-04,-2.95002815e-04, 8.64418547e-06,
 -6.16530381e-05,-3.12358026e-05,-7.19538281e-05, 1.96880543e-05,
  1.76588349e-02,-1.34412176e-03, 3.20591766e-03,-2.81285063e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030391416160184537
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.1327023e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.1327023e-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([ 0.10948332, -0.03385724,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.62113625e-05,-2.97417863e-05, 9.77969605e-06, 3.93967398e-05,
 -3.26443845e-05,-2.64087758e-05,-1.45446398e-05, 9.62226473e-06,
  8.50557504e-06,-2.43422444e-06, 1.01331916e-05,-1.71056065e-05,
 -1.22546739e-04,-4.77705612e-05,-1.06230931e-04,-1.52529324e-04,
 -4.29059973e-08, 2.22348190e-07,-1.21644232e+00,-4.57768352e-04,
  8.91478081e-06,-5.50168508e-04]


--- Step 920 ---
qpos:
[ 6.18350854e-03,-1.78594061e-03,-4.95376298e-03, 3.35452619e-02,
  4.46853508e-03,-3.73953616e-03,-1.85467405e-02, 2.85586144e-02,
  1.29636477e-02, 3.33732013e-03,-9.96516788e-03, 2.58826920e-02,
  1.16386233e+00,-5.04307401e-05, 9.16719855e-01, 6.43441189e-02,
  9.36545918e-02,-7.01094413e-02, 1.30956813e-01, 5.00287527e-01,
  4.90218125e-01, 4.99743011e-01, 5.09564033e-01]

qacc:
[ -1.7261042 , -1.44748506,  2.83326678,  3.62398914, -0.36431673,
  -1.39525228,  7.68036764,-18.58420296,  7.11205368,  1.37962186,
  -8.70946899, 23.1824879 , -0.40923247,  0.22723926,  2.58297419,
 -11.14882803, -0.97196304, -1.87102998, -0.51530744,-15.98278593,
   0.95913164, 26.3937335 ]

qfrc_actuator:
[-2.29377017e-07,-1.24847229e-04,-3.45451025e-05, 1.06030832e-04,
  1.55908461e-05,-3.29427371e-04,-2.85329038e-04,-2.14564257e-05,
 -2.03361978e-05,-4.01087150e-05,-6.93133157e-05, 6.20418062e-05,
  1.76217827e-02,-1.35466787e-03, 3.17114514e-03,-2.87414098e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56335243, -0.79048387,  4.49436543, -0.79048387, 38.11641337,
        5.90142345,  4.49436543,  5.90142345,  5.60131432,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003068413987525609
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.80911544e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.80911544e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10948189, -0.03385849,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02680616e-05,-1.14413041e-05, 3.82082866e-05, 2.25932430e-05,
 -2.14521199e-06, 2.58801236e-06, 2.75680124e-06,-3.15491671e-05,
  4.15600179e-05,-8.89918723e-06, 2.77861141e-06, 4.22633014e-05,
 -1.22430833e-04,-4.66343289e-05,-1.02705668e-04,-8.39386324e-05,
 -8.80393457e-08, 8.67917291e-08,-1.21644059e+00,-4.58143469e-04,
  1.03031921e-05,-5.50081194e-04]


--- Step 921 ---
qpos:
[ 6.18369685e-03,-1.78639944e-03,-4.95271907e-03, 3.35471386e-02,
  4.46917563e-03,-3.73860559e-03,-1.85470240e-02, 2.85579468e-02,
  1.29636028e-02, 3.33695563e-03,-9.96387631e-03, 2.58847552e-02,
  1.16429429e+00,-5.02710422e-05, 9.17048677e-01, 6.43417774e-02,
  9.36533602e-02,-7.01197063e-02, 1.30953229e-01, 5.00250789e-01,
  4.90237243e-01, 4.99707773e-01, 5.09616264e-01]

qacc:
[ -1.04556128, -0.49788661,  0.89881461,  2.54540474,  2.86151155,
  -1.15249085,  7.71895902,-20.59849631,  4.42838423, -0.62193637,
  -2.75696412, 17.54830837, -0.07641727, -0.66922409,  5.39362939,
 -18.42911197, -0.962111  , -1.84522788, -0.64157581,-15.72106671,
   0.99575987, 26.04355696]

qfrc_actuator:
[-6.11031252e-06,-1.05829051e-04,-1.01600205e-05, 1.18777684e-04,
  3.25211200e-05,-2.99973613e-04,-2.79447156e-04,-5.69219845e-05,
  4.18720645e-06,-9.87306260e-05,-5.03044310e-05, 1.04231512e-04,
  1.75733640e-02,-1.39670051e-03, 3.22904450e-03,-2.94535311e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56376042, -1.08829006,  4.43210266, -1.08829006, 35.85991668,
        7.68468114,  4.43210266,  7.68468114,  6.45071177,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003069613839499358
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.80840829e-13, -2.71261244e-13,  1.00000000e+00,  4.90551083e-26,
        1.00000000e+00,  2.71261244e-13, -1.00000000e+00,  0.00000000e+00,
        1.80840829e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10948128, -0.03385834,  0.06199122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.17870049e-06, 2.14837347e-05, 2.75041899e-05, 1.40146867e-05,
  1.68710987e-05, 3.00968562e-05, 5.65993389e-06,-3.58741560e-05,
  2.57010516e-05,-6.12222469e-05, 1.89583603e-05, 4.27202179e-05,
 -1.33291556e-04,-7.79613879e-05,-6.01713636e-07,-8.95373626e-05,
  7.97702177e-09, 8.33613773e-08,-1.21644010e+00,-4.58602580e-04,
  1.08246321e-05,-5.50240173e-04]


--- Step 922 ---
qpos:
[ 6.18346818e-03,-1.78668926e-03,-4.95195092e-03, 3.35488404e-02,
  4.47001423e-03,-3.73757231e-03,-1.85472082e-02, 2.85572193e-02,
  1.29641976e-02, 3.33575028e-03,-9.96157699e-03, 2.58862651e-02,
  1.16472552e+00,-5.08793643e-05, 9.17377186e-01, 6.43376498e-02,
  9.36483129e-02,-7.01372672e-02, 1.30946655e-01, 5.00201976e-01,
  4.90265538e-01, 4.99632492e-01, 5.09710759e-01]

qacc:
[ -3.67826046,  0.64118144, -1.21094306, -1.51403969,  1.73462661,
  -0.26807111,  1.39977988, -2.66365233,  5.67530557, -5.07778588,
  18.80977728,-29.3569851 ,  0.03561353, -0.96343808,  4.90347393,
 -17.8840172 , -0.953901  , -1.82395108, -0.74774699,-15.50796113,
   1.02243367, 25.75606673]

qfrc_actuator:
[-2.73947247e-05,-1.12025527e-04,-3.16821205e-05, 1.07780040e-04,
  4.22265365e-05,-3.00589768e-04,-2.75804482e-04,-5.97417281e-05,
  3.63718962e-05,-1.51117696e-04,-4.24397108e-06, 7.49358449e-05,
  1.75288009e-02,-1.43934982e-03, 3.19867677e-03,-3.03939124e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003048467781475578
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82095253e-13,  3.64190506e-13,  1.00000000e+00, -6.63173624e-26,
        1.00000000e+00, -3.64190506e-13, -1.00000000e+00,  0.00000000e+00,
        1.82095253e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10948131, -0.03385708,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.14542659e-05, 1.20968025e-05,-1.32228322e-05,-8.85792135e-06,
  1.01991308e-05, 1.58224804e-05, 9.30839306e-06,-2.03292038e-06,
  3.28915154e-05,-8.08737309e-05, 3.72109631e-05,-3.04396746e-05,
 -1.41996525e-04,-8.78040051e-05,-4.78693712e-05,-1.00781226e-04,
  2.41938700e-07, 2.05557762e-07,-1.21644079e+00,-4.59150821e-04,
  1.05249746e-05,-5.50643317e-04]


--- Step 923 ---
qpos:
[ 6.18333115e-03,-1.78689131e-03,-4.95137211e-03, 3.35497117e-02,
  4.47096312e-03,-3.73682270e-03,-1.85471960e-02, 2.85571978e-02,
  1.29651735e-02, 3.33415877e-03,-9.95911077e-03, 2.58867218e-02,
  1.16515587e+00,-5.15084895e-05, 9.17704689e-01, 6.43344629e-02,
  9.36434734e-02,-7.01503755e-02, 1.30943416e-01, 5.00166710e-01,
  4.90280561e-01, 4.99575153e-01, 5.09787112e-01]

qacc:
[  0.79783301, -1.06635831,  7.47356319,-21.60485651,  0.97667285,
   0.52604379, -5.40385327, 17.51851109,  3.36449443, -3.15154676,
  14.93247626,-33.13207114, -0.54266148,  0.54291322, -4.2914007 ,
  12.92949066,  0.05193018,  1.11313267,  0.83381093,  2.46492763,
   0.03823372,-15.70330892]

qfrc_actuator:
[-2.20710774e-05,-1.15728893e-04,-4.47371937e-05, 6.51004447e-05,
  4.75955161e-05,-3.36939662e-04,-2.73604763e-04,-2.56014202e-05,
  5.50609524e-05,-1.63810662e-04, 4.11529205e-06, 2.15812293e-05,
  1.75025557e-02,-1.42873000e-03, 3.15799527e-03,-2.98657570e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003148749426999248
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.87314359e-13, -3.52591735e-13,  1.00000000e+00,  6.60454950e-26,
        1.00000000e+00,  3.52591735e-13, -1.00000000e+00,  0.00000000e+00,
        1.87314359e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09183679, -0.08823991,  0.061991  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.71857124e-06,-5.87360632e-08,-1.24996641e-05,-4.27950589e-05,
  5.66556212e-06,-2.56966646e-05, 6.53543534e-06, 3.51002055e-05,
  1.95938774e-05,-5.15093150e-05,-4.83306451e-06,-5.61323380e-05,
 -1.31610614e-04,-3.82072100e-05,-7.87557525e-05, 3.99350906e-05,
  6.11561201e-07, 4.49266545e-07,-1.21644262e+00,-4.59791301e-04,
  9.43883933e-06,-5.51288584e-04]


--- Step 924 ---
qpos:
[ 6.18360378e-03,-1.78706853e-03,-4.95092778e-03, 3.35497239e-02,
  4.47093426e-03,-3.73627787e-03,-1.85468458e-02, 2.85572204e-02,
  1.29653309e-02, 3.33252259e-03,-9.95700659e-03, 2.58865281e-02,
  1.16558528e+00,-5.17683831e-05, 9.18031495e-01, 6.43334953e-02,
  9.36388758e-02,-7.01591341e-02, 1.30942684e-01, 5.00144808e-01,
  4.90282362e-01, 4.99535365e-01, 5.09845855e-01]

qacc:
[  3.59703332, -1.36696779,  8.53531035,-23.19008464, -8.54292308,
  -1.10667878,  3.39546901, -3.04995485, -7.2134626 , -0.37165275,
   4.00952031,-14.67857102, -0.87924663,  1.38959103, -7.66586302,
  25.46822424,  0.06050725,  1.08743318,  0.62685299,  2.28977573,
   0.10453847,-15.41521839]

qfrc_actuator:
[-1.12442999e-06,-1.17922751e-04,-5.26881569e-05, 2.18898825e-05,
 -2.88671940e-06,-3.41126612e-04,-2.54655090e-04,-2.32847427e-05,
  1.23975062e-05,-1.52805511e-04,-9.70841393e-06,-9.98221407e-06,
  1.74660372e-02,-1.40434135e-03, 3.15380526e-03,-2.86541283e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61531267,  0.68103319,  4.56478968,  0.68103319, 16.49925456,
       -1.7729971 ,  4.56478968, -1.7729971 ,  4.87983086,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032161398227673055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.72601797e-13,  1.72601797e-13,  1.00000000e+00,  2.97913803e-26,
        1.00000000e+00, -1.72601797e-13, -1.00000000e+00,  0.00000000e+00,
       -1.72601797e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09183846, -0.08823859,  0.06199081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10829537e-05,-6.64183372e-06,-1.09897030e-05,-4.44814191e-05,
 -5.03310846e-05,-1.57276719e-05, 1.56523984e-05, 2.12278719e-06,
 -4.21246532e-05,-2.11652961e-05,-2.70122151e-05,-3.50340938e-05,
 -1.24446703e-04,-1.22117177e-05,-3.86383281e-05, 1.12664165e-04,
  4.14317930e-07, 1.78017344e-07,-1.21644150e+00,-4.59222431e-04,
  1.00941433e-05,-5.51519818e-04]


--- Step 925 ---
qpos:
[ 6.18378047e-03,-1.78720736e-03,-4.95091087e-03, 3.35495823e-02,
  4.46995577e-03,-3.73600225e-03,-1.85462182e-02, 2.85572832e-02,
  1.29649758e-02, 3.33103240e-03,-9.95522602e-03, 2.58859299e-02,
  1.16601377e+00,-5.17148513e-05, 9.18357741e-01, 6.43320119e-02,
  9.36345469e-02,-7.01636279e-02, 1.30943763e-01, 5.00136111e-01,
  4.90270992e-01, 4.99512802e-01, 5.09887424e-01]

qacc:
[ -0.85796166,  0.93033311, -2.5907018 ,  0.57868619, -8.29774257,
  -1.03134199,  3.01974342, -2.59983523, -4.52365015,  0.27320978,
   1.02966361, -7.63971871, -0.9610535 ,  1.49643709,  0.79463418,
  -3.83011826,  0.06713377,  1.06617577,  0.45281561,  2.14945112,
   0.1568712 ,-15.17396875]

qfrc_actuator:
[-6.66393102e-06,-1.19183069e-04,-7.53084055e-05, 1.42266797e-05,
 -5.03305054e-05,-3.61486474e-04,-2.43628137e-04,-2.19303384e-05,
 -1.27724531e-05,-1.27768511e-04,-1.86270756e-05,-2.84526807e-05,
  1.74180668e-02,-1.38982574e-03, 3.10760915e-03,-2.90017543e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.62663667,  0.55562846,  4.59315185,  0.55562846, 24.89165639,
       -2.45143684,  4.59315185, -2.45143684,  4.92318426,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003247054835748553
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.13698082e-13,  1.70958466e-13,  1.00000000e+00, -3.65334962e-26,
        1.00000000e+00, -1.70958466e-13, -1.00000000e+00,  0.00000000e+00,
        2.13698082e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09183974, -0.08823815,  0.06199072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.93997513e-06,-9.14296456e-06,-2.68890765e-05,-9.19533121e-06,
 -4.88877663e-05,-2.58722393e-05, 9.77138704e-06, 1.26333588e-06,
 -2.63746306e-05, 6.14102184e-06,-1.78331748e-05,-2.09927900e-05,
 -1.25152619e-04,-1.55897654e-05,-5.59237664e-05,-3.44742607e-05,
  2.39998792e-07, 2.53610761e-09,-1.21644073e+00,-4.58703799e-04,
  1.06220156e-05,-5.51662255e-04]


--- Step 926 ---
qpos:
[ 6.18388952e-03,-1.78724103e-03,-4.95126946e-03, 3.35500282e-02,
  4.46910581e-03,-3.73619183e-03,-1.85456170e-02, 2.85574087e-02,
  1.29646661e-02, 3.32992464e-03,-9.95402600e-03, 2.58854469e-02,
  1.16644137e+00,-5.14631629e-05, 9.18683712e-01, 6.43290576e-02,
  9.36305069e-02,-7.01639271e-02, 1.30946070e-01, 5.00140488e-01,
  4.90246498e-01, 4.99507196e-01, 5.09912174e-01]

qacc:
[ -0.60790735,  2.39956545,-10.83165103, 21.51823685,  1.13197286,
  -0.41431478,  0.31658791,  1.15721675,  0.37521736,  2.36448589,
  -8.18523571, 10.82769604, -0.88837771,  1.30309468,  4.09156896,
 -14.7691869 ,  0.07224452,  1.04867818,  0.30677422,  2.0369996 ,
   0.19824536,-14.97311176]

qfrc_actuator:
[-1.00007310e-05,-1.02154135e-04,-8.86308708e-05, 4.52830135e-05,
 -4.23303364e-05,-4.09156387e-04,-2.55182001e-04,-2.11669038e-05,
 -9.67218377e-06,-9.44851953e-05,-4.22489768e-05,-2.13002486e-05,
  1.73739092e-02,-1.38132584e-03, 3.10013159e-03,-2.97338809e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.62722865,  0.38738533,  4.61098445,  0.38738533, 46.54577806,
       -3.52172757,  4.61098445, -3.52172757,  4.9231016 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003248659088466721
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70874043e-13,  1.70874043e-13,  1.00000000e+00, -2.91979385e-26,
        1.00000000e+00, -1.70874043e-13, -1.00000000e+00,  0.00000000e+00,
        1.70874043e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0918407 , -0.08823842,  0.06199071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.47853000e-06, 5.97061260e-06,-1.88392710e-05, 2.95559948e-05,
  6.59415327e-06,-6.00997301e-05,-1.56592352e-05, 1.72328360e-08,
  2.35168373e-06, 3.21582428e-05,-2.52776686e-05, 6.39171733e-06,
 -1.22984042e-04,-2.22130108e-05,-4.13427329e-05,-8.33059623e-05,
  8.42207168e-08,-8.04565043e-08,-1.21644027e+00,-4.58224388e-04,
  1.10355068e-05,-5.51715534e-04]


--- Step 927 ---
qpos:
[ 6.18430261e-03,-1.78714756e-03,-4.95180815e-03, 3.35504804e-02,
  4.46870244e-03,-3.73639467e-03,-1.85453422e-02, 2.85575053e-02,
  1.29643955e-02, 3.32939431e-03,-9.95352429e-03, 2.58846906e-02,
  1.16686813e+00,-5.10960841e-05, 9.19008821e-01, 6.43266119e-02,
  9.36267716e-02,-7.01600888e-02, 1.30949115e-01, 5.00157824e-01,
  4.90208922e-01, 4.99518324e-01, 5.09920393e-01]

qacc:
[  2.66547294,  0.67944323, -2.21458319,  2.52875604,  3.89859666,
   0.82687662, -2.8651525 ,  2.91084141,  0.31212936,  2.15141342,
  -5.41044765,  1.3712547 , -0.66240682,  0.86663072, -2.76779843,
   7.92809548,  0.07617974,  1.03436645,  0.18452846,  1.94688976,
   0.23102571,-14.80714883]

qfrc_actuator:
[ 5.74677266e-06,-9.19864042e-05,-9.62556147e-05, 4.56333086e-05,
 -1.95147297e-05,-3.84145476e-04,-2.62338993e-04,-2.07966545e-05,
 -7.71541572e-06,-5.65489345e-05,-7.43064208e-05,-3.46373971e-05,
  1.73320684e-02,-1.37644547e-03, 3.06262174e-03,-2.94424089e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032269576881359396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.29017382e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.29017382e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09184141, -0.08823925,  0.06199078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56505989e-05, 1.08843845e-05,-7.68552902e-06, 5.29557960e-07,
  2.29836355e-05,-1.18285401e-05,-2.15044732e-05,-2.74831313e-06,
  2.03318062e-06, 5.09988047e-05,-2.83074806e-05,-1.27085556e-05,
 -1.20815335e-04,-2.66950331e-05,-7.10519323e-05, 1.79883985e-05,
 -5.62820180e-08,-7.37003124e-08,-1.21644011e+00,-4.57775986e-04,
  1.13444509e-05,-5.51679532e-04]


--- Step 928 ---
qpos:
[ 6.18490131e-03,-1.78709085e-03,-4.95235615e-03, 3.35505974e-02,
  4.46892044e-03,-3.73644011e-03,-1.85450096e-02, 2.85575560e-02,
  1.29641507e-02, 3.32900253e-03,-9.95327387e-03, 2.58838059e-02,
  1.16729417e+00,-5.09503830e-05, 9.19332406e-01, 6.43252973e-02,
  9.36233531e-02,-7.01521595e-02, 1.30952489e-01, 5.00188027e-01,
  4.90158300e-01, 4.99546004e-01, 5.09912315e-01]

qacc:
[  1.63214959, -0.71609591,  3.89247708, -9.64645617,  5.43709043,
  -0.05849852,  0.68637106, -1.67092964,  0.21714875,  0.62084826,
  -1.406923  , -0.51339816, -0.22892078, -0.08801328, -5.65514792,
  16.53146374,  0.07920537,  1.02275666,  0.08248659,  1.87471698,
   0.25706714,-14.67137526]

qfrc_actuator:
[ 1.48476214e-05,-1.03752073e-04,-1.00506927e-04, 2.79061115e-05,
  1.18206485e-05,-3.51297213e-04,-2.48794707e-04,-2.05958437e-05,
 -6.45659264e-06,-6.94267631e-05,-9.33225846e-05,-4.21731511e-05,
  1.72916459e-02,-1.39148595e-03, 2.97520066e-03,-2.89057417e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031869690878420787
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.70908216e-14,  1.74181643e-13,  1.00000000e+00, -1.51696224e-26,
        1.00000000e+00, -1.74181643e-13, -1.00000000e+00,  0.00000000e+00,
        8.70908216e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09184192, -0.08824053,  0.06199089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.55008887e-06,-7.23784619e-06,-2.92810631e-06,-1.75171434e-05,
  3.19887884e-05, 2.16861441e-05, 8.35501360e-06,-1.10500770e-06,
  1.33474234e-06, 9.26396672e-06,-1.24064324e-05,-6.57541783e-06,
 -1.19220275e-04,-4.69611995e-05,-1.21214899e-04, 4.48278739e-05,
 -1.83943964e-07, 2.05437707e-08,-1.21644024e+00,-4.57352449e-04,
  1.15562504e-05,-5.51554263e-04]


--- Step 929 ---
qpos:
[ 6.18525967e-03,-1.78718783e-03,-4.95261749e-03, 3.35504958e-02,
  4.46916775e-03,-3.73647174e-03,-1.85447330e-02, 2.85572891e-02,
  1.29642681e-02, 3.32865667e-03,-9.95353084e-03, 2.58835589e-02,
  1.16771939e+00,-5.09377711e-05, 9.19655194e-01, 6.43248219e-02,
  9.36202608e-02,-7.01401764e-02, 1.30955854e-01, 5.00231018e-01,
  4.90094661e-01, 4.99590086e-01, 5.09888122e-01]

qacc:
[-2.10168074e+00,-1.45050519e+00, 5.80673564e+00,-9.94186903e+00,
  2.54482086e-01,-4.78531041e-01, 3.07249334e+00,-8.48615156e+00,
  3.16984434e+00, 2.78490906e+00,-1.25443459e+01, 2.43671571e+01,
 -4.20655103e-01, 2.69461888e-01,-3.68786920e+00, 1.12418629e+01,
  8.15289888e-02, 1.01344020e+00,-2.42730726e-03, 1.81697025e+00,
  2.77823866e-01,-1.45617569e+01]

qfrc_actuator:
[ 2.20465892e-06,-1.10812100e-04,-8.50802887e-05, 1.74241709e-05,
  1.24092345e-05,-3.67169780e-04,-2.58588434e-04,-3.82206298e-05,
  1.21337104e-05,-7.70798784e-05,-1.22434311e-04,-1.07585085e-05,
  1.72467685e-02,-1.40043569e-03, 2.96443909e-03,-2.84077431e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000313287283036881
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.42973225e-14,  1.77189290e-13,  1.00000000e+00, -7.84901112e-27,
        1.00000000e+00, -1.77189290e-13, -1.00000000e+00,  0.00000000e+00,
        4.42973225e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09184228, -0.08824214,  0.06199104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23727504e-05,-1.24574305e-05, 1.29693174e-05,-1.12340114e-05,
  1.50966126e-06,-2.05854757e-06,-4.32821531e-06,-1.64299205e-05,
  1.86310726e-05,-5.30422763e-06,-2.89504470e-05, 3.12565861e-05,
 -1.27785448e-04,-4.43002499e-05,-6.17065583e-05, 3.66784813e-05,
 -3.00580930e-07, 2.00431131e-07,-1.21644066e+00,-4.56949170e-04,
  1.16764627e-05,-5.51339807e-04]


--- Step 930 ---
qpos:
[ 6.18511874e-03,-1.78732173e-03,-4.95247477e-03, 3.35505911e-02,
  4.46942057e-03,-3.73643990e-03,-1.85451644e-02, 2.85571982e-02,
  1.29649521e-02, 3.32864524e-03,-9.95458249e-03, 2.58840184e-02,
  1.16814360e+00,-5.04529212e-05, 9.19977389e-01, 6.43245670e-02,
  9.36175017e-02,-7.01241690e-02, 1.30958928e-01, 5.00286735e-01,
  4.90018025e-01, 4.99650451e-01, 5.09847962e-01]

qacc:
[-4.37670193e+00,-7.64284759e-01, 1.83757173e+00, 9.36064470e-01,
  2.49250482e-02, 2.42263257e+00,-9.25971299e+00, 1.33881311e+01,
  4.95596385e+00, 4.10760620e+00,-1.70045820e+01, 3.02747216e+01,
 -1.11362565e+00, 1.84488115e+00,-1.46327602e+00, 4.02926468e+00,
  8.33123925e-02, 1.00607176e+00,-7.28492682e-02, 1.77084808e+00,
  2.94435314e-01,-1.44748306e+01]

qfrc_actuator:
[-2.31328963e-05,-9.71644788e-05,-5.81391400e-05, 2.90594597e-05,
  1.26458616e-05,-3.76688948e-04,-3.00046942e-04,-3.07456754e-05,
  4.07763401e-05,-4.60556923e-05,-1.57246754e-04, 2.55591970e-05,
  1.72045785e-02,-1.37022546e-03, 2.94107900e-03,-2.82896043e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003068136018704454
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.52319836e-14,  2.71391902e-13,  1.00000000e+00, -1.22755940e-26,
        1.00000000e+00, -2.71391902e-13, -1.00000000e+00,  0.00000000e+00,
        4.52319836e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09184252, -0.08824401,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.56931554e-05, 8.88028364e-06, 2.55811117e-05, 1.13330305e-05,
  2.79892907e-07,-1.22693857e-05,-4.29876993e-05, 6.91720597e-06,
  2.91685489e-05, 2.34403676e-05,-3.83855000e-05, 3.56981281e-05,
 -1.28998726e-04,-6.88261297e-06,-5.11123200e-05, 5.13404422e-06,
 -4.07547848e-07, 4.64472558e-07,-1.21644136e+00,-4.56562680e-04,
  1.17092391e-05,-5.51036266e-04]


--- Step 931 ---
qpos:
[ 6.18467505e-03,-1.78730963e-03,-4.95235507e-03, 3.35508307e-02,
  4.47036408e-03,-3.73647114e-03,-1.85455317e-02, 2.85575057e-02,
  1.29656292e-02, 3.32878257e-03,-9.95544473e-03, 2.58845192e-02,
  1.16856710e+00,-4.99659839e-05, 9.20298969e-01, 6.43214952e-02,
  9.36150813e-02,-7.01041602e-02, 1.30961477e-01, 5.00355127e-01,
  4.89928404e-01, 4.99727004e-01, 5.09791945e-01]

qacc:
[ -2.66540245,  0.55968167, -2.31558052,  4.73202787,  6.04818896,
   0.54498438, -3.7671069 , 10.62804759, -0.05690289, -0.24753932,
   0.99358677, -0.69079929, -0.65384344,  0.81743383,  7.63102373,
 -27.93057311,  0.08468155,  1.00035946, -0.13103834,  1.73411308,
   0.30779372,-14.40762241]

qfrc_actuator:
[-3.79794895e-05,-8.89001856e-05,-6.00266056e-05, 3.58843694e-05,
  4.81886791e-05,-3.64698648e-04,-2.88819458e-04,-8.57725895e-06,
  3.95957148e-05,-2.76372650e-05,-1.41731498e-04, 2.89894484e-05,
  1.71746984e-02,-1.37032923e-03, 2.88354121e-03,-2.98167610e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029956216519684553
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96889344e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.96889344e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09184267, -0.08824606,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.55752626e-05, 1.89944528e-05, 3.49057240e-06, 8.31196788e-06,
  3.55479782e-05,-3.44928123e-06, 3.64210928e-06, 2.02908882e-05,
 -3.44720573e-07, 2.51512323e-05, 1.68752855e-05, 3.80160332e-06,
 -1.08845901e-04,-3.00641397e-05,-8.48654311e-05,-1.60000541e-04,
 -5.05856229e-07, 8.11477231e-07,-1.21644233e+00,-4.56190358e-04,
  1.16576553e-05,-5.50643737e-04]


--- Step 932 ---
qpos:
[ 6.18405664e-03,-1.78711199e-03,-4.95256995e-03, 3.35515123e-02,
  4.47138140e-03,-3.73663911e-03,-1.85457358e-02, 2.85580784e-02,
  1.29659425e-02, 3.32871833e-03,-9.95620942e-03, 2.58847635e-02,
  1.16898997e+00,-4.97676630e-05, 9.20620171e-01, 6.43161661e-02,
  9.36087884e-02,-7.00918138e-02, 1.30962702e-01, 5.00411840e-01,
  4.89848330e-01, 4.99760892e-01, 5.09780006e-01]

qacc:
[ -1.54970811,  2.09369567, -8.9697319 , 17.01097364,  0.65363232,
  -0.09215011, -1.05600271,  5.48917296, -3.19501083, -1.06076879,
   4.4895072 , -8.94786687, -0.31605742,  0.05635461,  6.26672237,
 -22.70979625, -0.96815781, -1.91561631, -0.33128105,-16.63899931,
   0.60835179, 26.84090969]

qfrc_actuator:
[-4.65283051e-05,-8.40340632e-05,-7.89457820e-05, 5.75495358e-05,
  5.09699181e-05,-3.75206745e-04,-2.81974517e-04, 4.36176754e-06,
  2.08679732e-05,-6.99882896e-05,-1.49943718e-04, 1.30698493e-05,
  1.71415633e-02,-1.38834016e-03, 2.88540703e-03,-3.08813927e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002967932123644629
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.67591145e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.67591145e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10946997, -0.03384872,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.98572526e-06, 1.65587695e-05,-1.42790797e-05, 2.27615544e-05,
  3.79451436e-06,-1.07979036e-05, 7.28576919e-06, 1.33108457e-05,
 -1.87299428e-05,-2.46315655e-05,-7.98732671e-07,-1.41832250e-05,
 -1.06017057e-04,-4.76560923e-05,-5.80731063e-05,-1.27001534e-04,
 -5.96261621e-07, 1.24050071e-06,-1.21644357e+00,-4.55830212e-04,
  1.15239607e-05,-5.50162293e-04]


--- Step 933 ---
qpos:
[ 6.18368556e-03,-1.78695837e-03,-4.95291299e-03, 3.35524638e-02,
  4.47207956e-03,-3.73691577e-03,-1.85458468e-02, 2.85588032e-02,
  1.29656842e-02, 3.32825704e-03,-9.95723389e-03, 2.58852119e-02,
  1.16941196e+00,-4.94145236e-05, 9.20941289e-01, 6.43075049e-02,
  9.35986507e-02,-7.00869942e-02, 1.30961982e-01, 5.00456855e-01,
  4.89777654e-01, 4.99753016e-01, 5.09811444e-01]

qacc:
[  2.17155895,  0.85151425, -4.2669007 ,  9.1818905 , -2.78836523,
  -0.08561761, -0.53558223,  3.08724836, -5.03160453,  0.63113968,
  -3.85636594,  8.0771409 , -0.95751352,  1.38403516,  9.9919659 ,
 -34.9983197 , -0.9611671 , -1.88167376, -0.4860857 ,-16.26742997,
   0.70197967, 26.41207025]

qfrc_actuator:
[-3.35527721e-05,-9.90573913e-05,-9.00105919e-05, 7.00107494e-05,
  3.44348117e-05,-3.81362377e-04,-2.77883803e-04, 1.17369392e-05,
 -8.02835549e-06,-1.13004904e-04,-1.72376336e-04, 2.13268893e-05,
  1.70905152e-02,-1.38130024e-03, 2.88563519e-03,-3.25504694e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54284883, -0.11007741, -4.541515  , -0.11007741, 27.89398606,
       -0.56598574, -4.541515  , -0.56598574,  4.55656722,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030072425575299044
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.22957663e-14, -1.84591533e-13,  1.00000000e+00,  1.70370169e-26,
        1.00000000e+00,  1.84591533e-13, -1.00000000e+00,  0.00000000e+00,
        9.22957663e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10946759, -0.03385026,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.27249152e-05,-7.74507244e-06,-8.61582670e-06, 1.31187431e-05,
 -1.64313281e-05,-1.01099102e-05, 3.22135882e-06, 7.42296455e-06,
 -2.94373595e-05,-5.75583488e-05,-2.80995065e-05, 6.89995112e-06,
 -1.25898456e-04,-2.56456271e-05,-4.48191759e-05,-1.82415232e-04,
 -6.77750537e-07, 5.22285354e-07,-1.21644173e+00,-4.56167015e-04,
  1.21299668e-05,-5.50094511e-04]


--- Step 934 ---
qpos:
[ 6.18381779e-03,-1.78703504e-03,-4.95271669e-03, 3.35531897e-02,
  4.47326383e-03,-3.73711574e-03,-1.85459823e-02, 2.85595948e-02,
  1.29650810e-02, 3.32776576e-03,-9.95838600e-03, 2.58853541e-02,
  1.16983303e+00,-4.86944330e-05, 9.21262230e-01, 6.42945414e-02,
  9.35846923e-02,-7.00895887e-02, 1.30958796e-01, 5.00490168e-01,
  4.89716250e-01, 4.99704105e-01, 5.09885668e-01]

qacc:
[  4.44648928, -2.28523565,  8.64330609,-13.22255288,  4.25225997,
   0.29892137, -1.21588408,  2.37257829, -3.03842706, -0.30723168,
   2.34097039, -7.42498188, -1.20605918,  1.95926356, 12.80474921,
 -44.98850287, -0.95517547, -1.85353674, -0.61639685,-15.9658993 ,
   0.77090522, 26.05555848]

qfrc_actuator:
[-8.01477785e-06,-1.08106425e-04,-6.09300996e-05, 5.91923126e-05,
  5.99312421e-05,-3.67127250e-04,-2.75440833e-04, 1.57809569e-05,
 -2.49198469e-05,-8.51342338e-05,-1.67517620e-04, 8.22668505e-06,
  1.70500683e-02,-1.35955781e-03, 2.86889065e-03,-3.47399619e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54610188, -0.11618789,  4.54461689, -0.11618789, 23.7903809 ,
        0.49200014,  4.54461689,  0.49200014,  4.55868038,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030170643569925326
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.75985915e-13, -4.59976526e-14,  1.00000000e+00,  1.26947043e-26,
        1.00000000e+00,  4.59976526e-14, -1.00000000e+00,  0.00000000e+00,
        2.75985915e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1094662 , -0.03385037,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.58965751e-05,-1.45957662e-05, 2.68733214e-05,-1.11952586e-05,
  2.50230821e-05, 9.56919024e-06, 1.01199007e-06, 3.86660994e-06,
 -1.77494758e-05,-9.80832737e-06,-1.02357492e-05,-1.64013261e-05,
 -1.22105274e-04,-1.11184885e-05,-6.31495236e-05,-2.36116464e-04,
 -6.26538466e-07,-5.44288547e-08,-1.21644115e+00,-4.56538161e-04,
  1.18591785e-05,-5.50263587e-04]


--- Step 935 ---
qpos:
[ 6.18425502e-03,-1.78716660e-03,-4.95194615e-03, 3.35537548e-02,
  4.47439948e-03,-3.73721710e-03,-1.85466619e-02, 2.85604622e-02,
  1.29646247e-02, 3.32721860e-03,-9.95948886e-03, 2.58849833e-02,
  1.17025326e+00,-4.74818270e-05, 9.21582504e-01, 6.42809912e-02,
  9.35735756e-02,-7.00999823e-02, 1.30953748e-01, 5.00486260e-01,
  4.89695932e-01, 4.99634565e-01, 5.09977156e-01]

qacc:
[  2.70078218, -2.01405153,  7.7448599 ,-11.39313418, -0.44415046,
   1.80621457, -6.56938026,  8.67335765,  1.29472883, -1.27025176,
   6.58413662,-15.49736819, -1.04908356,  1.81476789,  0.8610577 ,
  -4.26903879,  0.7104104 , -1.94978885, -0.46564626,  9.82280452,
  -2.11034491, 29.12549134]

qfrc_actuator:
[ 6.95313379e-06,-9.56143792e-05,-2.61312924e-05, 5.25462575e-05,
  5.67111006e-05,-3.76304836e-04,-3.09411468e-04, 1.78505318e-05,
 -1.68539281e-05,-8.59499477e-05,-1.64064959e-04,-1.72592582e-05,
  1.70213426e-02,-1.32926792e-03, 2.86327692e-03,-3.49108326e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55094861,  4.54542063,  0.22424213,  4.54542063,  4.62738979,
       -1.54947396,  0.22424213, -1.54947396, 35.95901146,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003031615323521586
  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([ 0.08185867, -0.03154099,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56984074e-05, 9.40881186e-06, 3.47021468e-05,-6.56258321e-06,
 -2.50218880e-06,-3.43597336e-06,-3.17344925e-05, 2.58786770e-06,
  7.55661792e-06,-9.09494384e-06,-3.82638018e-07,-2.65756649e-05,
 -1.05101423e-04, 1.33094841e-06,-6.57591659e-05,-3.94360175e-05,
 -4.43198060e-07,-4.98163515e-07,-1.21644177e+00,-4.56959460e-04,
  1.07607430e-05,-5.50669216e-04]


--- Step 936 ---
qpos:
[ 6.18452327e-03,-1.78691179e-03,-4.95147941e-03, 3.35538943e-02,
  4.47479820e-03,-3.73739799e-03,-1.85473865e-02, 2.85609910e-02,
  1.29642688e-02, 3.32614423e-03,-9.96035220e-03, 2.58847031e-02,
  1.17067267e+00,-4.56420310e-05, 9.21901874e-01, 6.42689671e-02,
  9.35652402e-02,-7.01180935e-02, 1.30946294e-01, 5.00445620e-01,
  4.89716015e-01, 4.99544857e-01, 5.10085622e-01]

qacc:
[-1.50234365, 0.48634089, 0.80907725,-7.98047866,-6.44975836,-0.66263726,
  3.66164091,-9.41328567, 0.89990927,-1.18116044, 2.81438876,-1.23567143,
 -1.02903994, 1.89150955,-5.86516881,18.75850694, 0.69534209,-1.92939316,
 -0.60147206, 9.72008358,-2.01571738,28.64640305]

qfrc_actuator:
[-2.17664223e-06,-7.02809509e-05,-4.14100343e-05, 3.06763930e-05,
  1.88486594e-05,-3.81830006e-04,-3.11442930e-04, 9.47322525e-07,
 -1.19199891e-05,-1.39444883e-04,-1.61581778e-04,-1.43419788e-05,
  1.69890243e-02,-1.29412191e-03, 2.83776325e-03,-3.40680015e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55588978, -4.09566275,  1.99541432, -4.09566275,  7.6750522 ,
        6.40219792,  1.99541432,  6.40219792, 17.69664122,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003046349527439651
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.82221872e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.82221872e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818581 , -0.0315427 ,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.68175520e-06, 3.74805184e-05,-9.29799103e-06,-2.03971639e-05,
 -3.79339454e-05,-1.38816520e-05,-6.55343412e-06,-1.80982367e-05,
  5.14363571e-06,-5.97640697e-05,-3.42824328e-07, 2.00118262e-06,
 -9.53597804e-05, 1.23610054e-05,-6.37281304e-05, 7.28500109e-05,
  2.39408953e-07,-3.20454584e-07,-1.21644191e+00,-4.57479206e-04,
  9.57595822e-06,-5.50677505e-04]


--- Step 937 ---
qpos:
[ 6.18433526e-03,-1.78638753e-03,-4.95123526e-03, 3.35548161e-02,
  4.47474023e-03,-3.73801886e-03,-1.85476577e-02, 2.85606344e-02,
  1.29636295e-02, 3.32501346e-03,-9.96135372e-03, 2.58844259e-02,
  1.17109154e+00,-4.37109359e-05, 9.22220369e-01, 6.42583608e-02,
  9.35571095e-02,-7.01317674e-02, 1.30942369e-01, 5.00418781e-01,
  4.89722414e-01, 4.99473188e-01, 5.10175985e-01]

qacc:
[ -4.02302601,  2.59714596,-12.03193515, 25.71211826, -3.97575588,
  -3.6601849 , 15.95990695,-31.69743835, -2.49750822,  0.32264162,
  -1.26271163,  1.56761095, -0.37795941,  0.48157221, -5.54551371,
  17.58146757,  0.05115691,  1.10933431,  0.88227402,  2.31884272,
   0.12426841,-15.88512367]

qfrc_actuator:
[-2.54130477e-05,-5.54146438e-05,-5.05817037e-05, 7.10120120e-05,
 -3.58613638e-06,-4.20530295e-04,-2.94592268e-04,-4.47082778e-05,
 -2.66301109e-05,-1.17537875e-04,-1.59890236e-04,-1.25339686e-05,
  1.69652302e-02,-1.29189916e-03, 2.80035502e-03,-3.33458375e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031155383359550426
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22495416e-13, -3.56350301e-13,  1.00000000e+00, -4.36512784e-26,
        1.00000000e+00,  3.56350301e-13, -1.00000000e+00,  0.00000000e+00,
       -1.22495416e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185114, -0.08824504,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.34702574e-05, 3.30121401e-05,-3.28910755e-06, 4.12214083e-05,
 -2.35222522e-05,-4.85914439e-05, 1.25608562e-05,-4.68270572e-05,
 -1.45892621e-05,-1.14481610e-05,-1.06037901e-05,-7.21388698e-07,
 -7.82714013e-05,-1.62709152e-05,-6.16894802e-05, 6.74154112e-05,
  6.87786465e-07, 3.09294931e-07,-1.21644325e+00,-4.57862260e-04,
  9.08480346e-06,-5.50891972e-04]


--- Step 938 ---
qpos:
[ 6.18387041e-03,-1.78604890e-03,-4.95063753e-03, 3.35565778e-02,
  4.47406851e-03,-3.73888630e-03,-1.85483182e-02, 2.85594225e-02,
  1.29631634e-02, 3.32419076e-03,-9.96223749e-03, 2.58837615e-02,
  1.17150981e+00,-4.17126659e-05, 9.22538243e-01, 6.42479997e-02,
  9.35492122e-02,-7.01411016e-02, 1.30941115e-01, 5.00405526e-01,
  4.89715228e-01, 4.99419141e-01, 5.10248788e-01]

qacc:
[ -2.41938705,  0.50040137, -5.67767838, 19.77570677, -5.37989844,
  -0.98712906,  6.67736276,-20.6974328 ,  1.52263091, -0.72200223,
   4.79502723,-11.90647978, -0.45897591,  0.58461446, -1.62683299,
   4.42790385,  0.0583649 ,  1.08492069,  0.6678219 ,  2.15534918,
   0.18268064,-15.56583843]

qfrc_actuator:
[-3.90059321e-05,-8.23715013e-05,-3.82961662e-05, 1.12127892e-04,
 -3.45024387e-05,-4.43238137e-04,-3.20150669e-04,-8.91804137e-05,
 -1.72777593e-05,-6.84022614e-05,-1.40639171e-04,-2.90927172e-05,
  1.69305785e-02,-1.29139274e-03, 2.77181729e-03,-3.32336725e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6068175 , -0.04877984,  4.60655923, -0.04877984, 15.10127554,
        0.11112807,  4.60655923,  0.11112807,  4.60799425,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031926591886677347
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84738159e-13,  1.73871209e-13,  1.00000000e+00, -3.21206471e-26,
        1.00000000e+00, -1.73871209e-13, -1.00000000e+00,  0.00000000e+00,
        1.84738159e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185266, -0.08824322,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.42523585e-05,-7.44073278e-06, 2.01159093e-05, 4.32162108e-05,
 -3.16037589e-05,-4.92739995e-05,-3.56558713e-05,-4.70274698e-05,
  8.92966823e-06, 4.05586294e-05, 1.55807361e-05,-1.74244331e-05,
 -8.54491835e-05,-1.98170811e-05,-5.22824295e-05, 6.40363891e-06,
  4.58441402e-07, 4.70478868e-08,-1.21644204e+00,-4.57228606e-04,
  9.97148519e-06,-5.51136338e-04]


--- Step 939 ---
qpos:
[ 6.18359082e-03,-1.78569470e-03,-4.94987012e-03, 3.35577696e-02,
  4.47303102e-03,-3.73961168e-03,-1.85500890e-02, 2.85583782e-02,
  1.29631580e-02, 3.32329907e-03,-9.96274464e-03, 2.58829339e-02,
  1.17192758e+00,-4.02211537e-05, 9.22854917e-01, 6.42382708e-02,
  9.35415704e-02,-7.01461773e-02, 1.30941811e-01, 5.00405669e-01,
  4.89694550e-01, 4.99382370e-01, 5.10304480e-01]

qacc:
[  1.63377901, -1.63033609,  8.24277497,-18.38090538, -3.23835276,
   3.63952915,-13.40214717, 17.96005368,  4.06748821, -1.48761257,
   5.84715145, -9.20771803,  0.14453957, -0.84710737, -3.70365092,
  10.32628029,  0.06386573,  1.06462114,  0.4873891 ,  2.02372721,
   0.22908416,-15.29917698]

qfrc_actuator:
[-2.90569882e-05,-8.08170506e-05,-3.13760903e-05, 8.23308610e-05,
 -5.24152874e-05,-4.20862654e-04,-3.70493270e-04,-7.93604393e-05,
  6.16878694e-06,-9.20345454e-05,-1.28805664e-04,-3.85298511e-05,
  1.68894358e-02,-1.32743376e-03, 2.70067832e-03,-3.29488741e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.62093792, -0.19316588,  4.61689877, -0.19316588, 22.21258261,
        0.73601473,  4.61689877,  0.73601473,  4.65173196,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003231551213544459
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.58893262e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.58893262e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185381, -0.08824237,  0.06199076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.53647604e-06, 3.37395888e-06, 9.34208620e-06,-2.85841135e-05,
 -1.88294473e-05,-1.45276130e-05,-6.65177362e-05, 5.56680775e-06,
  2.37108506e-05, 1.56327697e-06, 2.15482354e-05,-7.49419033e-06,
 -9.70406590e-05,-5.87092282e-05,-9.81943814e-05, 2.12801588e-05,
  2.50608053e-07,-1.16437583e-07,-1.21644117e+00,-4.56639088e-04,
  1.07302095e-05,-5.51290961e-04]


--- Step 940 ---
qpos:
[ 6.18343237e-03,-1.78523124e-03,-4.94878563e-03, 3.35585728e-02,
  4.47282155e-03,-3.74063230e-03,-1.85520692e-02, 2.85574531e-02,
  1.29634340e-02, 3.32196548e-03,-9.96290609e-03, 2.58823961e-02,
  1.17234488e+00,-3.96707651e-05, 9.23170446e-01, 6.42302428e-02,
  9.35342008e-02,-7.01470617e-02, 1.30943850e-01, 5.00419055e-01,
  4.89660458e-01, 4.99362588e-01, 5.10343425e-01]

qacc:
[  1.07295115, -1.54423772,  7.35207182,-14.65979078,  7.24531534,
   0.42593268, -2.61310091,  5.25540163,  2.49484064, -0.95846805,
   1.33789659,  3.45994056,  0.58048329, -1.91608253, -6.88308408,
  21.48262025,  0.06804268,  1.04783037,  0.33588956,  1.91762118,
   0.26609983,-15.07756889]

qfrc_actuator:
[-2.30869490e-05,-6.22827784e-05,-9.88018346e-06, 6.43178522e-05,
 -9.27063566e-06,-4.42737721e-04,-3.81571686e-04,-7.31513176e-05,
  1.99624141e-05,-1.41321116e-04,-1.21728679e-04,-2.60105317e-05,
  1.68497373e-02,-1.38485618e-03, 2.66263691e-03,-3.20327684e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.62391149, -0.38150516,  4.60814619, -0.38150516, 39.12942096,
        2.85668666,  4.60814619,  2.85668666,  4.86041456,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003239654496145772
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57023479e-13,  8.56744929e-14,  1.00000000e+00, -2.20203562e-26,
        1.00000000e+00, -8.56744929e-14, -1.00000000e+00,  0.00000000e+00,
        2.57023479e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185467, -0.08824231,  0.06199074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.24103880e-06, 2.11056485e-05, 2.23386001e-05,-1.81070278e-05,
  4.26041481e-05,-4.34567972e-05,-2.20479305e-05, 3.40199559e-06,
  1.44637381e-05,-4.42341351e-05, 9.81197264e-06, 1.31900355e-05,
 -1.11794948e-04,-9.02806684e-05,-8.19332894e-05, 7.99390518e-05,
  6.00986963e-08,-1.85146111e-07,-1.21644063e+00,-4.56083421e-04,
  1.13744282e-05,-5.51355669e-04]


--- Step 941 ---
qpos:
[ 6.18300198e-03,-1.78491644e-03,-4.94732863e-03, 3.35591830e-02,
  4.47313041e-03,-3.74176445e-03,-1.85536949e-02, 2.85562011e-02,
  1.29638732e-02, 3.32047451e-03,-9.96309176e-03, 2.58826927e-02,
  1.17276121e+00,-3.88960771e-05, 9.23485119e-01, 6.42252855e-02,
  9.35271160e-02,-7.01438100e-02, 1.30946725e-01, 5.00445552e-01,
  4.89613020e-01, 4.99359556e-01, 5.10365922e-01]

qacc:
[ -2.37688905, -1.63058637,  6.35141064,-10.18581917,  4.54910266,
  -1.81867453,  7.63667174,-13.76367244,  1.43784639,  1.5746354 ,
  -9.44461611, 24.04703879, -0.71402269,  0.98183122,-10.48177911,
  34.95025467,  0.07119527,  1.0340343 ,  0.20898805,  1.83197478,
   0.29578077,-14.89462086]

qfrc_actuator:
[-3.72668516e-05,-8.69184122e-05, 2.39331037e-06, 5.34219473e-05,
  1.62031233e-05,-4.19772099e-04,-3.51795720e-04,-8.68800130e-05,
  2.79593525e-05,-1.34589215e-04,-1.17625324e-04, 1.70475711e-05,
  1.68055957e-02,-1.36570722e-03, 2.64981805e-03,-3.03960392e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032232087607700355
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.30558144e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.30558144e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185531, -0.08824289,  0.06199079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39979684e-05,-9.02331411e-06, 1.87380388e-05,-9.57648573e-06,
  2.66763858e-05,-5.66627504e-06, 1.82372195e-05,-1.62807053e-05,
  8.38697645e-06,-1.53547322e-05,-3.35046262e-06, 4.17626711e-05,
 -1.31926609e-04,-2.35354030e-05,-4.32151867e-05, 1.57238250e-04,
 -1.16226437e-07,-1.62322480e-07,-1.21644040e+00,-4.55553875e-04,
  1.19143925e-05,-5.51330471e-04]


--- Step 942 ---
qpos:
[ 6.18275012e-03,-1.78485159e-03,-4.94592054e-03, 3.35597008e-02,
  4.47339749e-03,-3.74286283e-03,-1.85545191e-02, 2.85554339e-02,
  1.29640594e-02, 3.31938089e-03,-9.96405782e-03, 2.58838290e-02,
  1.17317656e+00,-3.76396349e-05, 9.23798760e-01, 6.42230471e-02,
  9.35203253e-02,-7.01364671e-02, 1.30950013e-01, 5.00485052e-01,
  4.89552292e-01, 4.99373079e-01, 5.10372211e-01]

qacc:
[  1.57245385, -0.38692481,  1.28474652, -2.61483188, -0.34088884,
  -1.1959735 ,  2.282682  ,  4.80340341, -2.25611268,  4.43880526,
 -18.60217314, 34.07928313, -0.96233413,  1.59126736, -9.66229284,
  31.74971048,  0.07355724,  1.02279544,  0.102979  ,  1.76276072,
   0.31973424,-14.74491247]

qfrc_actuator:
[-2.76868501e-05,-1.19489151e-04,-8.80152030e-06, 4.67561717e-05,
  1.33002055e-05,-3.87720319e-04,-2.97987297e-04,-5.89149306e-05,
  1.47313630e-05,-9.43539981e-05,-1.50579779e-04, 6.00157088e-05,
  1.67641744e-02,-1.33690967e-03, 2.59356411e-03,-2.90575443e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031874322811768774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.70781656e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.70781656e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185577, -0.08824395,  0.06199089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.17589027e-06,-3.41897140e-05,-1.11032717e-05,-6.59514416e-06,
 -2.14290590e-06, 3.20247921e-05, 5.43553052e-05, 2.80443058e-05,
 -1.30015321e-05, 3.28062106e-05,-3.50747728e-05, 4.30097774e-05,
 -1.25433382e-04,-5.42402537e-06,-6.24698378e-05, 1.36201660e-04,
 -2.80728774e-07,-5.05852471e-08,-1.21644046e+00,-4.55044610e-04,
  1.23579263e-05,-5.51215474e-04]


--- Step 943 ---
qpos:
[ 6.18261493e-03,-1.78503541e-03,-4.94495348e-03, 3.35608532e-02,
  4.47397283e-03,-3.74388619e-03,-1.85546766e-02, 2.85550109e-02,
  1.29644306e-02, 3.31874445e-03,-9.96575721e-03, 2.58851148e-02,
  1.17359112e+00,-3.63406727e-05, 9.24111802e-01, 6.42220513e-02,
  9.35138359e-02,-7.01250692e-02, 1.30953359e-01, 5.00537466e-01,
  4.89478317e-01, 4.99403000e-01, 5.10362485e-01]

qacc:
[ 1.01662991e+00, 2.20872446e+00,-1.10336977e+01, 2.29051771e+01,
  2.71776695e+00,-1.06052325e+00, 2.46272946e+00, 2.38394864e+00,
  1.59635032e+00, 2.95831618e+00,-1.03079756e+01, 1.37367479e+01,
 -5.41650894e-01, 6.18268260e-01,-4.60083762e+00, 1.48896723e+01,
  7.53106734e-02, 1.01374099e+00, 1.46896029e-02, 1.70676781e+00,
  3.39217502e-01,-1.46238353e+01]

qfrc_actuator:
[-2.19452195e-05,-1.38907563e-04,-3.38049519e-05, 7.81102526e-05,
  2.92293318e-05,-3.85822790e-04,-2.65853447e-04,-4.21199614e-05,
  2.46244130e-05,-7.00138276e-05,-1.87250421e-04, 6.70856955e-05,
  1.67244221e-02,-1.33817540e-03, 2.56987964e-03,-2.84393337e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031366746989658356
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88035432e-13, -3.53949048e-13,  1.00000000e+00,  6.65549622e-26,
        1.00000000e+00,  3.53949048e-13, -1.00000000e+00,  0.00000000e+00,
        1.88035432e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0918561 , -0.0882454 ,  0.06199103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.98956885e-06,-4.11296856e-05,-3.36800394e-05, 2.93717065e-05,
  1.58757254e-05, 3.22853432e-05, 4.64390074e-05, 2.06000652e-05,
  9.53051885e-06, 3.73279997e-05,-3.27038573e-05, 8.10193020e-06,
 -1.16003822e-04,-3.02669200e-05,-4.02236795e-05, 6.07203519e-05,
 -4.35190668e-07, 1.47971944e-07,-1.21644082e+00,-4.54551178e-04,
  1.27110051e-05,-5.51010822e-04]


--- Step 944 ---
qpos:
[ 6.18220471e-03,-1.78547573e-03,-4.94430079e-03, 3.35623646e-02,
  4.47473458e-03,-3.74464174e-03,-1.85550281e-02, 2.85548280e-02,
  1.29649175e-02, 3.31823119e-03,-9.96746680e-03, 2.58857776e-02,
  1.17400483e+00,-3.47696624e-05, 9.24424542e-01, 6.42197878e-02,
  9.35076529e-02,-7.01096451e-02, 1.30956470e-01, 5.00602721e-01,
  4.89391127e-01, 4.99449187e-01, 5.10336899e-01]

qacc:
[ -2.42365411,  1.28368432, -6.57592466, 13.47050067,  1.62081738,
   1.38595153, -5.4476045 ,  9.72075128,  1.01501069, -1.09297576,
   6.76015535,-17.61222444, -0.91789537,  1.4138112 ,  3.44186761,
 -12.5452758 ,  0.07659725,  1.00655319, -0.05859912,  1.66143295,
   0.3552132 ,-14.52746423]

qfrc_actuator:
[-3.62687987e-05,-1.50335884e-04,-4.89292118e-05, 9.60810161e-05,
  3.83717052e-05,-3.84319940e-04,-2.82415466e-04,-3.20803045e-05,
  3.03008212e-05,-7.31820859e-05,-1.90380425e-04, 3.52183876e-05,
  1.66856897e-02,-1.32172730e-03, 2.54443178e-03,-2.91370377e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030745477855372016
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91835035e-13, -3.61101242e-13,  1.00000000e+00,  6.92718694e-26,
        1.00000000e+00,  3.61101242e-13, -1.00000000e+00,  0.00000000e+00,
        1.91835035e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185631, -0.08824715,  0.06199121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.41681311e-05,-4.01315543e-05,-2.67640045e-05, 1.56101032e-05,
  9.60442180e-06, 3.00771702e-05,-3.44597679e-06, 1.34339447e-05,
  5.95767960e-06, 1.13421097e-05, 8.57173532e-07,-3.12395336e-05,
 -1.14940753e-04,-1.54284792e-05,-4.14730046e-05,-7.25378839e-05,
 -5.80963017e-07, 4.31691101e-07,-1.21644145e+00,-4.54070167e-04,
  1.29781891e-05,-5.50716664e-04]


--- Step 945 ---
qpos:
[ 6.18162618e-03,-1.78644047e-03,-4.94317185e-03, 3.35640590e-02,
  4.47525530e-03,-3.74523284e-03,-1.85555179e-02, 2.85547771e-02,
  1.29647787e-02, 3.31764786e-03,-9.96852666e-03, 2.58853419e-02,
  1.17441763e+00,-3.24747694e-05, 9.24736305e-01, 6.42161382e-02,
  9.35044191e-02,-7.01022110e-02, 1.30958156e-01, 5.00631130e-01,
  4.89345213e-01, 4.99474117e-01, 5.10328659e-01]

qacc:
[ -1.45577205, -1.64486678,  4.09127312, -1.30425911, -2.11642984,
   0.87919485, -3.369831  ,  5.7461952 , -5.48419083, -4.15902035,
  19.35183575,-39.37135469, -1.31793194,  2.41769849,  2.83807901,
 -11.79985717,  0.73728957, -1.99750472, -0.35652521,  9.5914459 ,
  -2.407219  , 29.25300025]

qfrc_actuator:
[-4.45338357e-05,-1.74615480e-04,-2.25709575e-05, 1.06043498e-04,
  2.56879596e-05,-3.83276701e-04,-2.92095721e-04,-2.61273860e-05,
 -2.06273430e-06,-7.49516464e-05,-1.56063206e-04,-1.92986376e-05,
  1.66529285e-02,-1.27714481e-03, 2.47531439e-03,-2.98940530e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030823101412889853
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.8009593e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.8009593e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184527, -0.03154966,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.68101752e-06,-5.15797596e-05, 1.53073302e-05, 7.61741243e-06,
 -1.23993047e-05, 1.77615891e-05,-3.41437482e-06, 7.38658559e-06,
 -3.21923155e-05, 3.45204372e-06, 3.57095139e-05,-5.46059513e-05,
 -1.05222391e-04, 1.60495776e-05,-1.01224223e-04,-8.62092941e-05,
 -7.19074825e-07, 7.99271991e-07,-1.21644236e+00,-4.53598928e-04,
  1.31629501e-05,-5.50333125e-04]


--- Step 946 ---
qpos:
[ 6.18095288e-03,-1.78776587e-03,-4.94175602e-03, 3.35655059e-02,
  4.47561995e-03,-3.74561458e-03,-1.85558261e-02, 2.85540793e-02,
  1.29645980e-02, 3.31711562e-03,-9.96894607e-03, 2.58845863e-02,
  1.17482998e+00,-3.08018835e-05, 9.25047080e-01, 6.42122110e-02,
  9.35040519e-02,-7.01026465e-02, 1.30957800e-01, 5.00623110e-01,
  4.89339863e-01, 4.99478390e-01, 5.10337475e-01]

qacc:
[ -0.81820436, -1.78653772,  6.72528051,-11.20238263, -1.36415695,
  -1.55805272,  8.69348238,-20.33793987, -0.34984042, -2.38021362,
   9.93662153,-16.53551799,  0.22291282, -1.0452159 , -0.6512775 ,
   0.08531802,  0.71666104, -1.96739431, -0.5102495 ,  9.53674029,
  -2.25030101, 28.7494513 ]

qfrc_actuator:
[-4.91604628e-05,-1.88482683e-04,-7.49333347e-06, 9.34808075e-05,
  1.80140366e-05,-3.64760355e-04,-2.79872296e-04,-5.81197217e-05,
 -3.29737884e-06,-5.79853807e-05,-1.17686131e-04,-3.34228002e-05,
  1.66184596e-02,-1.32275813e-03, 2.44397638e-03,-2.99702941e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57832243,  2.22489196, -4.00136128,  2.22489196, 20.32099737,
        8.75345873, -4.00136128,  8.75345873,  9.44554101,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031120096981621104
  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([ 0.08184415, -0.03155163,  0.0619911 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.89081601e-06,-3.92058731e-05, 6.56719315e-06,-1.40987440e-05,
 -8.02209976e-06, 2.80828994e-05, 1.57404233e-05,-3.12024922e-05,
 -2.15021074e-06, 2.39556557e-05, 4.16204690e-05,-1.37974078e-05,
 -9.46083947e-05,-6.52937610e-05,-8.94307532e-05,-2.58704424e-05,
 -2.39991742e-07, 1.71704844e-07,-1.21644056e+00,-4.54339364e-04,
  1.21869584e-05,-5.50043412e-04]


--- Step 947 ---
qpos:
[ 6.17988398e-03,-1.78877469e-03,-4.94126169e-03, 3.35660970e-02,
  4.47623447e-03,-3.74568739e-03,-1.85557450e-02, 2.85526306e-02,
  1.29647485e-02, 3.31671931e-03,-9.96893655e-03, 2.58840158e-02,
  1.17524217e+00,-3.10470611e-05, 9.25356561e-01, 6.42092222e-02,
  9.35064846e-02,-7.01108512e-02, 1.30954887e-01, 5.00579006e-01,
  4.89374484e-01, 4.99462489e-01, 5.10363102e-01]

qacc:
[ -3.51351509,  1.23907676, -0.18588991,-13.39827438,  2.1931699 ,
  -2.22733451, 11.69823222,-25.53509192,  2.92574096, -0.64365078,
   1.76385388,  0.66613024,  1.61178904, -4.28121647, -4.88879821,
  13.98148572,  0.69997343, -1.94230536, -0.63950432,  9.48730424,
  -2.12429643, 28.33400145]

qfrc_actuator:
[-6.93628911e-05,-1.60551196e-04,-5.24431214e-05, 5.00076097e-05,
  3.11100936e-05,-3.35870833e-04,-2.54771289e-04,-9.44005126e-05,
  1.38118936e-05,-4.76233764e-05,-9.48763982e-05,-2.36504685e-05,
  1.65829578e-02,-1.43918524e-03, 2.38741012e-03,-2.94660850e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57869674, -2.43142912,  3.87977013, -2.43142912, 18.96742979,
        9.01733435,  3.87977013,  9.01733435, 10.22980712,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031130886278002423
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.91576789e-14,  4.45788394e-14,  1.00000000e+00, -3.97454585e-27,
        1.00000000e+00, -4.45788394e-14, -1.00000000e+00,  0.00000000e+00,
        8.91576789e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818429 , -0.03155196,  0.0619911 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.03523780e-05, 6.78829901e-06,-5.27306977e-05,-4.52034937e-05,
  1.28773574e-05, 4.65236857e-05, 3.17708859e-05,-3.51364609e-05,
  1.70531780e-05, 3.17886662e-05, 3.24198728e-05, 1.19743922e-05,
 -1.07617017e-04,-1.50119325e-04,-1.02246123e-04, 3.70957976e-05,
 -7.84516795e-10, 8.29710523e-09,-1.21644000e+00,-4.54892085e-04,
  1.18829480e-05,-5.49962734e-04]


--- Step 948 ---
qpos:
[ 6.17823621e-03,-1.78939496e-03,-4.94143745e-03, 3.35661357e-02,
  4.47631143e-03,-3.74561775e-03,-1.85553265e-02, 2.85514739e-02,
  1.29647583e-02, 3.31602121e-03,-9.96841438e-03, 2.58836179e-02,
  1.17565372e+00,-3.20988043e-05, 9.25664565e-01, 6.42065658e-02,
  9.35116634e-02,-7.01267419e-02, 1.30948981e-01, 5.00499100e-01,
  4.89448583e-01, 4.99426799e-01, 5.10405338e-01]

qacc:
[-5.11814565, 1.25921024,-1.39494759,-7.39981684,-4.69621494,-0.14452028,
 -0.42857747, 4.82063901,-1.21730595,-1.4739996 , 3.95249961,-1.56793203,
  0.29545085,-1.38678794,-3.221248  , 8.00778615, 0.68651944,-1.9215014 ,
 -0.74811812, 9.44396189,-2.02268866,27.99348589]

qfrc_actuator:
[-9.85720590e-05,-1.25826089e-04,-7.90578241e-05, 2.42007302e-05,
  3.06674069e-06,-3.36445989e-04,-2.39976682e-04,-7.96337013e-05,
  6.06590780e-06,-9.45871010e-05,-8.14517287e-05,-1.76699807e-05,
  1.65521529e-02,-1.47228732e-03, 2.30511841e-03,-2.93347620e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57120409, -2.64937601,  3.72514612, -2.64937601, 25.55571393,
       14.92447687,  3.72514612, 14.92447687, 15.18570077,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003091388678885254
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79567039e-13,  1.34675279e-13,  1.00000000e+00, -2.41832412e-26,
        1.00000000e+00, -1.34675279e-13, -1.00000000e+00,  0.00000000e+00,
        1.79567039e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184155, -0.03155097,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.97788810e-05, 2.57175587e-05,-3.32644676e-05,-2.82193348e-05,
 -2.76590737e-05, 3.05067600e-05, 2.71046731e-05, 1.71787863e-05,
 -7.25357153e-06,-2.19554709e-05, 2.44038442e-05, 8.69902842e-06,
 -1.29999074e-04,-8.67665235e-05,-1.25484977e-04, 1.97115934e-06,
  1.34100450e-08, 2.89641316e-07,-1.21644062e+00,-4.55291369e-04,
  1.22291672e-05,-5.50083739e-04]


--- Step 949 ---
qpos:
[ 6.17625118e-03,-1.78992895e-03,-4.94159726e-03, 3.35658555e-02,
  4.47605195e-03,-3.74545843e-03,-1.85552439e-02, 2.85509025e-02,
  1.29646753e-02, 3.31509294e-03,-9.96792804e-03, 2.58826341e-02,
  1.17606415e+00,-3.24314097e-05, 9.25971707e-01, 6.42055900e-02,
  9.35172070e-02,-7.01382827e-02, 1.30946125e-01, 5.00433198e-01,
  4.89508163e-01, 4.99408723e-01, 5.10430505e-01]

qacc:
[ -2.96661729, -0.58144344,  3.59491665, -9.21386264, -2.95614654,
   2.26554221,-10.36822813, 20.95777412, -0.81376216, -1.40843039,
   7.05678387,-16.97216022, -1.33321315,  2.33846951, -6.24830437,
  20.23872788,  0.09120488,  1.08748944,  0.76259338,  1.69703607,
   0.4393309 ,-15.78099001]

qfrc_actuator:
[-1.15091126e-04,-1.22728668e-04,-7.68016533e-05, 9.03259885e-06,
 -1.34675219e-05,-3.54657038e-04,-2.66974992e-04,-5.27334647e-05,
  1.49888157e-06,-1.22305030e-04,-9.16660069e-05,-4.95312851e-05,
  1.65135624e-02,-1.42023341e-03, 2.30331862e-03,-2.83597045e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003123282739446315
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.55416727e-14,  1.77733353e-13,  1.00000000e+00, -9.87160769e-27,
        1.00000000e+00, -1.77733353e-13, -1.00000000e+00,  0.00000000e+00,
        5.55416727e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185738, -0.08824593,  0.06199107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.73521228e-05, 9.41763113e-06, 2.50722551e-06,-1.57630008e-05,
 -1.73155523e-05, 5.16847881e-06,-1.67658546e-05, 2.94824451e-05,
 -4.78386610e-06,-3.45642632e-05,-1.14393623e-05,-3.17869105e-05,
 -1.36960235e-04, 6.15242899e-06,-5.91069300e-05, 8.15340184e-05,
 -1.86439917e-07, 1.00165839e-06,-1.21644238e+00,-4.55562404e-04,
  1.32085237e-05,-5.50400726e-04]


--- Step 950 ---
qpos:
[ 6.17477368e-03,-1.79087513e-03,-4.94150575e-03, 3.35654437e-02,
  4.47559615e-03,-3.74539632e-03,-1.85550868e-02, 2.85503090e-02,
  1.29648829e-02, 3.31414826e-03,-9.96791747e-03, 2.58809347e-02,
  1.17647355e+00,-3.21707175e-05, 9.26279145e-01, 6.42042535e-02,
  9.35231113e-02,-7.01455549e-02, 1.30945540e-01, 5.00381030e-01,
  4.89553515e-01, 4.99407926e-01, 5.10438933e-01]

qacc:
[  4.47757362, -1.526859  ,  5.19325012, -7.54990311, -1.71414288,
  -0.37841725,  1.2620788 , -1.69827718,  2.54247646, -0.17012161,
   3.58828552,-15.19251704, -1.29457368,  2.22683725,  1.61849667,
  -4.80826847,  0.09017317,  1.06714582,  0.56764857,  1.66791881,
   0.42842421,-15.4756432 ]

qfrc_actuator:
[-8.85009417e-05,-1.73966297e-04,-7.53936008e-05, 2.35191688e-07,
 -2.30824205e-05,-3.65701201e-04,-2.65252949e-04,-5.44685911e-05,
  1.66001546e-05,-1.20673740e-04,-1.15720251e-04,-8.56556931e-05,
  1.64703682e-02,-1.38929951e-03, 2.34448611e-03,-2.84909563e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031809668787601
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41789626e-13, -1.74510309e-13,  1.00000000e+00,  2.47437514e-26,
        1.00000000e+00,  1.74510309e-13, -1.00000000e+00,  0.00000000e+00,
        1.41789626e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185752, -0.08824439,  0.06199091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.61025769e-05,-4.61067147e-05, 3.12828613e-06,-8.61060643e-06,
 -1.01082930e-05,-1.03650417e-05, 1.74361619e-06,-1.51851300e-06,
  1.49524492e-05,-2.13942108e-05,-3.36953478e-05,-3.86167106e-05,
 -1.23666964e-04, 1.64853736e-06, 1.95486527e-05,-1.69620785e-05,
 -1.77329117e-07, 6.10593978e-07,-1.21644141e+00,-4.55556004e-04,
  1.29881560e-05,-5.50663413e-04]


--- Step 951 ---
qpos:
[ 6.17362628e-03,-1.79218053e-03,-4.94163253e-03, 3.35646112e-02,
  4.47433880e-03,-3.74559173e-03,-1.85548240e-02, 2.85497181e-02,
  1.29656148e-02, 3.31312335e-03,-9.96825771e-03, 2.58795059e-02,
  1.17688225e+00,-3.21079460e-05, 9.26587143e-01, 6.42007176e-02,
  9.35293731e-02,-7.01486263e-02, 1.30946570e-01, 5.00342371e-01,
  4.89584880e-01, 4.99424129e-01, 5.10430893e-01]

qacc:
[  2.90153513, -0.73663173,  3.70392958,-10.36117182, -7.00720041,
  -0.61598417,  1.71487796, -1.67281882,  4.60391911,  1.42234016,
  -6.38333404, 11.7028385 , -0.50471533,  0.40647642,  7.48972938,
 -24.94255201,  0.08937754,  1.05019787,  0.40376848,  1.64473919,
   0.41862515,-15.22189163]

qfrc_actuator:
[-7.22603463e-05,-2.04083085e-04,-9.24887977e-05,-2.25522909e-05,
 -6.40565122e-05,-3.90046848e-04,-2.64327232e-04,-5.52589941e-05,
  4.31561121e-05,-1.19307246e-04,-1.29871556e-04,-7.07159288e-05,
  1.64297677e-02,-1.40670468e-03, 2.36875441e-03,-2.96273549e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003204549311472127
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.66130395e-14,  8.66130395e-14,  1.00000000e+00, -7.50181861e-27,
        1.00000000e+00, -8.66130395e-14, -1.00000000e+00,  0.00000000e+00,
        8.66130395e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185758, -0.08824378,  0.06199084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.69698909e-05,-5.55748931e-05,-2.65204719e-05,-2.48205354e-05,
 -4.12664757e-05,-2.98529741e-05,-1.05380396e-06,-1.20256196e-06,
  2.69729464e-05,-1.91686305e-05,-2.40427333e-05, 1.21107861e-05,
 -1.13565207e-04,-4.48993294e-05, 2.33673423e-05,-1.13902243e-04,
 -1.61515304e-07, 3.26214542e-07,-1.21644077e+00,-4.55556603e-04,
  1.26861991e-05,-5.50829603e-04]


--- Step 952 ---
qpos:
[ 6.17199244e-03,-1.79329113e-03,-4.94248997e-03, 3.35631313e-02,
  4.47259988e-03,-3.74579233e-03,-1.85549074e-02, 2.85487763e-02,
  1.29659693e-02, 3.31209818e-03,-9.96857713e-03, 2.58785758e-02,
  1.17729012e+00,-3.19490163e-05, 9.26895180e-01, 6.41949004e-02,
  9.35359901e-02,-7.01475530e-02, 1.30948665e-01, 5.00317035e-01,
  4.89602458e-01, 4.99457100e-01, 5.10406606e-01]

qacc:
[ -4.30389196,  0.97519827, -0.35557021, -9.84076869, -4.2255689 ,
   0.24622601,  0.60867872, -6.14247083, -3.32033269,  0.97460692,
  -5.57006153, 14.15631539, -0.80891344,  1.10610983,  6.99294136,
 -24.26397307,  0.08878853,  1.03617054,  0.26630326,  1.62663178,
   0.40975215,-15.0121375 ]

qfrc_actuator:
[-9.77603465e-05,-1.68157568e-04,-1.20316856e-04,-5.33919578e-05,
 -8.76571007e-05,-3.86668934e-04,-2.81692922e-04,-7.32511602e-05,
  2.29771133e-05,-1.00276615e-04,-1.20263137e-04,-4.35902662e-05,
  1.63907332e-02,-1.39930151e-03, 2.35621988e-03,-3.08144330e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032007840302089585
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.67149278e-14,  1.73429856e-13,  1.00000000e+00,  1.50389574e-26,
        1.00000000e+00, -1.73429856e-13, -1.00000000e+00,  0.00000000e+00,
       -8.67149278e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0918576 , -0.0882439 ,  0.06199085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.50303617e-05,-1.63400388e-06,-4.34139511e-05,-3.46172159e-05,
 -2.47897572e-05,-1.35940407e-05,-2.37011221e-05,-1.93284995e-05,
 -1.94227906e-05, 3.92009248e-06, 3.12535630e-06, 2.57132503e-05,
 -1.16751675e-04,-2.70677175e-05,-2.27947015e-05,-1.23968559e-04,
 -1.39295951e-07, 1.42410798e-07,-1.21644046e+00,-4.55564177e-04,
  1.23048286e-05,-5.50900873e-04]


--- Step 953 ---
qpos:
[ 6.17041092e-03,-1.79444805e-03,-4.94286728e-03, 3.35619299e-02,
  4.47093592e-03,-3.74580386e-03,-1.85550866e-02, 2.85482741e-02,
  1.29660791e-02, 3.31130606e-03,-9.96891934e-03, 2.58782955e-02,
  1.17769714e+00,-3.11899724e-05, 9.27202923e-01, 6.41870461e-02,
  9.35429605e-02,-7.01423810e-02, 1.30951366e-01, 5.00304864e-01,
  4.89606414e-01, 4.99506650e-01, 5.10366249e-01]

qacc:
[  0.47601552, -0.83056478,  1.69456827,  2.39611952,  0.65003036,
   1.42021869, -6.56038874, 14.1855373 , -2.1569125 ,  1.71346749,
  -8.39892176, 19.501968  , -1.24709666,  2.21307216,  5.80491663,
 -20.72777437,  0.08838041,  1.02465532,  0.15128403,  1.61287022,
   0.40165112,-14.83999233]

qfrc_actuator:
[-9.43623263e-05,-1.46274891e-04,-8.29744303e-05,-3.54100443e-05,
 -8.30803110e-05,-3.49053564e-04,-2.74118689e-04,-4.79538552e-05,
  1.09543818e-05,-7.06953837e-05,-1.14382797e-04,-9.48942753e-06,
  1.63633245e-02,-1.35947561e-03, 2.33760776e-03,-3.18447754e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003175328085193857
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31115155e-13, -8.74101034e-14,  1.00000000e+00, -1.14607893e-26,
        1.00000000e+00,  8.74101034e-14, -1.00000000e+00,  0.00000000e+00,
       -1.31115155e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185756, -0.0882446 ,  0.06199092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.69365431e-06, 1.05677329e-05, 3.04890757e-05, 1.57451133e-05,
  3.86564826e-06, 2.42914938e-05, 1.18444032e-06, 2.35222542e-05,
 -1.25781187e-05, 3.35581551e-05, 7.98369560e-06, 3.48833492e-05,
 -1.03444083e-04, 8.46457710e-06,-4.89668848e-05,-1.14256317e-04,
 -1.10879264e-07, 5.43500342e-08,-1.21644044e+00,-4.55578764e-04,
  1.18455824e-05,-5.50878534e-04]


--- Step 954 ---
qpos:
[ 6.16922713e-03,-1.79553136e-03,-4.94288321e-03, 3.35616357e-02,
  4.46968448e-03,-3.74573191e-03,-1.85551958e-02, 2.85487708e-02,
  1.29667339e-02, 3.31055323e-03,-9.96938175e-03, 2.58784577e-02,
  1.17810345e+00,-3.00081769e-05, 9.27510136e-01, 6.41792995e-02,
  9.35502835e-02,-7.01331479e-02, 1.30954288e-01, 5.00305733e-01,
  4.89596883e-01, 4.99572622e-01, 5.10309966e-01]

qacc:
[  3.50800105,  0.94792135, -7.07948187, 22.15718611,  3.61170849,
   1.96154815,-11.06454144, 28.19085659,  4.79118164,  1.2893558 ,
  -6.40655794, 14.24576887, -0.85290938,  1.47582545, -1.04574383,
   2.66573311,  0.08813072,  1.01530056,  0.05531562,  1.60284262,
   0.39419081,-14.70006601]

qfrc_actuator:
[-7.39696548e-05,-1.32654732e-04,-6.07061261e-05, 1.11977278e-05,
 -6.19609931e-05,-3.44345807e-04,-2.69444951e-04, 2.66687147e-06,
  3.93488348e-05,-8.82748934e-05,-1.28456672e-04, 1.06933240e-05,
  1.63375993e-02,-1.33624376e-03, 2.33135492e-03,-3.17092366e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003132905415011017
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.21484309e-13,  8.85937235e-14,  1.00000000e+00,  1.96221196e-26,
        1.00000000e+00, -8.85937235e-14, -1.00000000e+00,  0.00000000e+00,
       -2.21484309e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185749, -0.08824576,  0.06199104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.04753528e-05, 2.65573194e-05, 2.87733223e-05, 4.84282590e-05,
  2.12371957e-05, 1.95491857e-05, 1.06542186e-05, 5.21619018e-05,
  2.80441310e-05, 4.35971093e-06,-4.93711484e-06, 2.25796979e-05,
 -8.59888035e-05, 2.18234224e-06,-4.61968554e-05,-1.66248830e-07,
 -7.64029318e-08, 5.82131314e-08,-1.21644071e+00,-4.55600453e-04,
  1.13094888e-05,-5.50763662e-04]


--- Step 955 ---
qpos:
[ 6.16829696e-03,-1.79631539e-03,-4.94325443e-03, 3.35619229e-02,
  4.46869602e-03,-3.74563667e-03,-1.85554529e-02, 2.85495479e-02,
  1.29677242e-02, 3.30922236e-03,-9.96940110e-03, 2.58785567e-02,
  1.17850904e+00,-2.87250698e-05, 9.27816741e-01, 6.41743724e-02,
  9.35579586e-02,-7.01198836e-02, 1.30957111e-01, 5.00319535e-01,
  4.89573974e-01, 4.99654889e-01, 5.10237865e-01]

qacc:
[ 2.21402263e+00, 2.58172384e+00,-1.10929575e+01, 2.15102449e+01,
  2.29667549e+00, 1.01594610e+00,-4.77006761e+00, 9.85122923e+00,
  2.97609973e+00,-2.13799687e+00, 6.77128353e+00,-8.13606947e+00,
 -4.59367338e-01, 5.48548295e-01,-9.37829690e+00, 3.15749940e+01,
  8.80198852e-02, 1.00780359e+00,-2.45100462e-02, 1.59603208e+00,
  3.87259214e-01,-1.45877992e+01]

qfrc_actuator:
[-6.14991829e-05,-1.24093478e-04,-8.30608607e-05, 3.87358636e-05,
 -4.90363428e-05,-3.59352650e-04,-2.84391652e-04, 1.44887233e-05,
  5.57966339e-05,-1.51802931e-04,-1.18891287e-04, 4.71995797e-06,
  1.62862714e-02,-1.34078365e-03, 2.33254952e-03,-3.01773624e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030774468949311407
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.81844583e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.81844583e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0918574 , -0.08824726,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30622416e-05, 3.14820453e-05,-1.16355722e-05, 3.06167197e-05,
  1.35355449e-05, 3.66038176e-07,-7.79301857e-06, 1.40415301e-05,
  1.72424922e-05,-6.10980819e-05, 1.06524965e-05,-5.51661535e-06,
 -1.02389278e-04,-2.29992658e-05,-2.41297017e-05, 1.46325535e-04,
 -3.59487200e-08, 1.50985759e-07,-1.21644127e+00,-4.55629386e-04,
  1.06971665e-05,-5.50557138e-04]


--- Step 956 ---
qpos:
[ 6.16752390e-03,-1.79710826e-03,-4.94345219e-03, 3.35621962e-02,
  4.46821532e-03,-3.74558107e-03,-1.85558224e-02, 2.85501217e-02,
  1.29689037e-02, 3.30770582e-03,-9.96914366e-03, 2.58785449e-02,
  1.17891385e+00,-2.76564851e-05, 9.28122634e-01, 6.41739772e-02,
  9.35659858e-02,-7.01026117e-02, 1.30959572e-01, 5.00346186e-01,
  4.89537772e-01, 4.99753351e-01, 5.10150029e-01]

qacc:
[  1.3870982 , -0.52792694,  1.91932629, -2.42554479,  4.44073947,
  -0.16494279,  1.35554223, -4.64858152,  1.67762338, -1.2503017 ,
   4.56408639, -6.78113241, -0.13524117, -0.26370469,-14.72757195,
  50.00314534,  0.08803082,  1.00190405, -0.09068507,  1.59200102,
   0.38076059,-14.49932885]

qfrc_actuator:
[-5.37969991e-05,-1.36575314e-04,-7.83594096e-05, 3.70423236e-05,
 -2.32913262e-05,-3.68408827e-04,-2.93168106e-04, 3.35008880e-06,
  6.50679170e-05,-1.35782690e-04,-9.56575154e-05, 1.13423435e-06,
  1.62302613e-02,-1.36183424e-03, 2.31693558e-03,-2.78352354e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003012210211991856
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49733276e-13,  1.84287109e-13,  1.00000000e+00, -2.75939126e-26,
        1.00000000e+00, -1.84287109e-13, -1.00000000e+00,  0.00000000e+00,
        1.49733276e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185728, -0.08824903,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.08657135e-06, 4.07122786e-06, 1.08440468e-05,-1.49620704e-07,
  2.61315392e-05,-9.85686545e-06,-9.17534357e-06,-1.11212665e-05,
  9.73540602e-06,-1.61247956e-05, 1.17502453e-05,-5.94054837e-06,
 -1.22040202e-04,-4.86047544e-05,-1.49230329e-05, 2.38247290e-04,
  1.04460882e-08, 3.30291527e-07,-1.21644210e+00,-4.55665751e-04,
  1.00089031e-05,-5.50259671e-04]


--- Step 957 ---
qpos:
[ 6.16684935e-03,-1.79785579e-03,-4.94385045e-03, 3.35621213e-02,
  4.46770229e-03,-3.74575711e-03,-1.85562092e-02, 2.85505761e-02,
  1.29698399e-02, 3.30660408e-03,-9.96948966e-03, 2.58791639e-02,
  1.17931792e+00,-2.68435638e-05, 9.28427962e-01, 6.41738150e-02,
  9.35768744e-02,-7.00933055e-02, 1.30960378e-01, 5.00335587e-01,
  4.89542527e-01, 4.99831403e-01, 5.10079389e-01]

qacc:
[ 8.58853075e-01,-9.82501831e-02, 1.90428600e+00,-7.63995704e+00,
 -2.79530758e-01,-5.03036100e-01, 1.85460461e+00,-3.72386827e+00,
 -2.16712950e+00, 3.53730825e+00,-1.44728926e+01, 2.60403959e+01,
 -3.01086481e-01, 3.43624431e-03,-1.52399887e+00, 4.14810929e+00,
  7.15354787e-01,-1.99145652e+00,-4.13704847e-01, 9.86094030e+00,
 -2.03591668e+00, 2.90333439e+01]

qfrc_actuator:
[-4.89607333e-05,-1.43741967e-04,-9.33161422e-05, 1.81725976e-05,
 -2.57093182e-05,-3.91593616e-04,-2.98218674e-04,-3.44065530e-06,
  5.22926550e-05,-8.99472612e-05,-1.17491569e-04, 3.45592559e-05,
  1.61927754e-02,-1.37476332e-03, 2.25398726e-03,-2.78757810e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002984757175190922
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.85982135e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.85982135e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08183169, -0.03154678,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.06984201e-06,-2.62071960e-06,-1.27738884e-05,-1.83215684e-05,
 -1.67410819e-06,-3.10583640e-05,-8.60023516e-06,-7.74874967e-06,
 -1.25090718e-05, 3.90500100e-05,-2.39075296e-05, 3.30276235e-05,
 -1.20752599e-04,-5.02833541e-05,-4.78637749e-05, 6.26135323e-06,
  6.27796816e-08, 5.94257966e-07,-1.21644321e+00,-4.55709779e-04,
  9.24471690e-06,-5.49871820e-04]


--- Step 958 ---
qpos:
[ 6.16658325e-03,-1.79876556e-03,-4.94431851e-03, 3.35614938e-02,
  4.46716456e-03,-3.74620707e-03,-1.85566652e-02, 2.85516457e-02,
  1.29702709e-02, 3.30579059e-03,-9.97005330e-03, 2.58794770e-02,
  1.17972119e+00,-2.59447432e-05, 9.28732268e-01, 6.41746718e-02,
  9.35905678e-02,-7.00918475e-02, 1.30958955e-01, 5.00288204e-01,
  4.89587584e-01, 4.99889508e-01, 5.10025676e-01]

qacc:
[  3.59174104, -1.16407771,  6.15959388,-15.47697116, -0.21329521,
   1.09700709, -7.03382105, 17.99087214, -4.45852193,  0.3681331 ,
   0.54696051, -5.72238354, -0.57308423,  0.69993689, -4.54996533,
  13.80626754,  0.70117977, -1.96201955, -0.55722846,  9.76849366,
  -1.93303193, 28.57090987]

qfrc_actuator:
[-2.80956251e-05,-1.65522779e-04,-1.02010575e-04,-1.06629821e-05,
 -2.69355094e-05,-4.05295097e-04,-3.01084038e-04, 2.78800208e-05,
  2.66463801e-05,-8.00068273e-05,-1.30091530e-04, 1.84829542e-05,
  1.61611032e-02,-1.36493991e-03, 2.19993106e-03,-2.73682786e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54370112,  3.07370268, -3.3462773 ,  3.07370268, 17.52631076,
       11.9250972 , -3.3462773 , 11.9250972 , 15.49742669,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030098201735741237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.76650172e-13, -9.22167240e-14,  1.00000000e+00,  2.55117725e-26,
        1.00000000e+00,  9.22167240e-14, -1.00000000e+00,  0.00000000e+00,
        2.76650172e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08183131, -0.0315483 ,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10124142e-05,-2.66342763e-05,-1.14289427e-05,-2.97437907e-05,
 -1.28418338e-06,-3.31683651e-05,-1.06024104e-05, 2.95415911e-05,
 -2.59921604e-05, 2.82955397e-05,-6.31859548e-06,-1.45847403e-05,
 -1.15348889e-04,-2.71705396e-05,-7.93504392e-05, 4.40312250e-05,
 -7.85750226e-08, 6.90081431e-08,-1.21644185e+00,-4.56378608e-04,
  9.70689957e-06,-5.49670320e-04]


--- Step 959 ---
qpos:
[ 6.16656931e-03,-1.79978165e-03,-4.94462120e-03, 3.35601570e-02,
  4.46730585e-03,-3.74665252e-03,-1.85570188e-02, 2.85533791e-02,
  1.29707357e-02, 3.30542706e-03,-9.97056268e-03, 2.58792098e-02,
  1.18012361e+00,-2.46724411e-05, 9.29035638e-01, 6.41790520e-02,
  9.36037152e-02,-7.00981191e-02, 1.30955962e-01, 5.00215677e-01,
  4.89657943e-01, 4.99916576e-01, 5.10002737e-01]

qacc:
[  2.22387203, -2.06764938, 10.15482441,-22.60699259,  5.9461306 ,
   1.07340093, -6.64278232, 17.98834313,  0.29190855, -0.7518929 ,
   5.9927945 ,-16.45196705, -0.72975975,  1.16192293,-11.96282775,
  39.96922126, -0.13647303, -1.93241516, -0.392536  , -3.12228139,
  -0.39785339, 28.03120256]

qfrc_actuator:
[-1.57151908e-05,-1.60377380e-04,-8.92455056e-05,-4.51344547e-05,
  8.06395255e-06,-3.77666380e-04,-2.84826587e-04, 6.36281860e-05,
  2.91420475e-05,-3.83848459e-05,-1.19542842e-04,-8.85713354e-06,
  1.61276252e-02,-1.34170429e-03, 2.18855234e-03,-2.54755810e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030108743156322587
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.26909211e-07, -1.38276657e-13,  1.00000000e+00,  8.66869098e-20,
        1.00000000e+00,  1.38276657e-13, -1.00000000e+00,  1.20370622e-35,
        6.26909211e-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([ 0.09561374, -0.03269257,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29737632e-05,-1.33360721e-05, 4.84354011e-06,-3.65834605e-05,
  3.49504002e-05, 8.17598739e-06, 9.13087289e-06, 3.45344841e-05,
  1.76487484e-06, 5.55424421e-05, 1.51274826e-05,-2.66264325e-05,
 -1.08914045e-04,-7.73536744e-06,-4.51673125e-05, 1.81021505e-04,
 -4.42171511e-07, 7.70237631e-09,-1.21644172e+00,-4.56918123e-04,
  1.08262182e-05,-5.49662810e-04]


--- Step 960 ---
qpos:
[ 6.16635889e-03,-1.80048051e-03,-4.94529884e-03, 3.35590907e-02,
  4.46786539e-03,-3.74694077e-03,-1.85572344e-02, 2.85551591e-02,
  1.29719164e-02, 3.30569147e-03,-9.97139152e-03, 2.58796555e-02,
  1.18052549e+00,-2.37363385e-05, 9.29338787e-01, 6.41822967e-02,
  9.36129525e-02,-7.01118514e-02, 1.30950853e-01, 5.00130827e-01,
  4.89737709e-01, 4.99902562e-01, 5.10023098e-01]

qacc:
[ -1.74479897,  2.02758513, -7.75625551, 12.79408654,  3.66200478,
  -0.08925801,  0.41098071,  0.07105695,  6.27904081,  3.17778728,
 -13.15751377, 25.56602048, -0.17389206, -0.19126252,  3.10382729,
 -11.32756264, -0.97753996, -1.86517355, -0.52897441,-15.92936996,
   1.00751112, 26.38157379]

qfrc_actuator:
[-2.61852860e-05,-1.21314651e-04,-9.93172343e-05,-2.93517544e-05,
  2.85997025e-05,-3.60913682e-04,-2.74992167e-04, 6.62326895e-05,
  6.59384416e-05, 4.21640457e-06,-1.30795058e-04, 2.84517196e-05,
  1.60984227e-02,-1.36400120e-03, 2.16020276e-03,-2.61538865e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003041158879173306
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.12664439e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.12664439e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10943813, -0.03384166,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01007521e-05, 3.10858422e-05,-1.34778034e-05, 1.46721943e-05,
  2.15352121e-05, 2.47193312e-05, 1.38469748e-05, 3.93937645e-06,
  3.68646959e-05, 7.56664288e-05, 1.17399891e-06, 3.96968823e-05,
 -9.57476659e-05,-4.82066082e-05,-3.23266997e-05,-6.43221981e-05,
 -6.65177337e-07, 3.80942344e-07,-1.21644186e+00,-4.57348656e-04,
  1.22755632e-05,-5.49773111e-04]


--- Step 961 ---
qpos:
[ 6.16602478e-03,-1.80093421e-03,-4.94584976e-03, 3.35585407e-02,
  4.46832258e-03,-3.74771558e-03,-1.85567083e-02, 2.85563072e-02,
  1.29735291e-02, 3.30626998e-03,-9.97194847e-03, 2.58805437e-02,
  1.18092706e+00,-2.39362188e-05, 9.29641366e-01, 6.41830991e-02,
  9.36183908e-02,-7.01327202e-02, 1.30943476e-01, 5.00034259e-01,
  4.89826345e-01, 4.99849145e-01, 5.10085016e-01]

qacc:
[ -1.08746467,  1.0352215 , -5.39694682, 13.94561512, -0.86443532,
  -4.01173521, 16.04338498,-27.80973082,  3.80508045,  0.55889938,
  -3.27206399, 10.28012437,  0.63622984, -2.06828697,  6.46054381,
 -23.98982229, -0.9497529 , -1.78411991, -0.56701676,-15.34830532,
   0.98960761, 25.246284  ]

qfrc_actuator:
[-3.22652817e-05,-9.77878027e-05,-8.71116197e-05,-1.86519569e-06,
  2.26937624e-05,-4.21851609e-04,-2.51335446e-04, 3.15502317e-05,
  8.71144932e-05, 1.15419988e-05,-1.19270550e-04, 5.02310479e-05,
  1.60717892e-02,-1.43080996e-03, 2.11098832e-03,-2.74546683e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003041268591378661
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.72492605e-07,  2.72492788e-07,  1.00000000e+00,  7.42522696e-14,
        1.00000000e+00, -2.72492788e-07, -1.00000000e+00,  0.00000000e+00,
       -2.72492605e-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([ 0.10897953, -0.03525965,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.35328914e-06, 3.87877245e-05, 1.74936059e-05, 2.86437767e-05,
 -5.28284746e-06,-4.40694653e-05, 3.06056300e-05,-3.30710701e-05,
  2.22481712e-05, 5.15981087e-05, 2.86778975e-05, 2.58341104e-05,
 -9.49430930e-05,-9.77020844e-05,-7.61419625e-05,-1.38969271e-04,
 -4.63856584e-07, 9.24192967e-07,-1.21644228e+00,-4.57862024e-04,
  1.28510856e-05,-5.50054462e-04]


--- Step 962 ---
qpos:
[ 6.16596526e-03,-1.80109221e-03,-4.94623071e-03, 3.35576237e-02,
  4.46870588e-03,-3.74917822e-03,-1.85557642e-02, 2.85577709e-02,
  1.29750386e-02, 3.30695365e-03,-9.97220882e-03, 2.58813664e-02,
  1.18132801e+00,-2.46161911e-05, 9.29942607e-01, 6.41811135e-02,
  9.36241526e-02,-7.01491466e-02, 1.30939741e-01, 4.99951635e-01,
  4.89900848e-01, 4.99813688e-01, 5.10129198e-01]

qacc:
[  2.41446598, -0.84450504,  5.11865443,-11.94828638, -0.62174601,
  -1.42583261,  2.43375166,  2.86745853, -0.90034138, -0.82326795,
   3.41718795, -5.10769407, -0.13955028, -0.38786468,  6.4346343 ,
 -25.3970815 ,  0.0808791 ,  1.11061183,  0.91037497,  2.06476679,
   0.26607852,-15.92199837]

qfrc_actuator:
[-1.79527923e-05,-8.36373190e-05,-7.96439066e-05,-2.09683450e-05,
  1.90287194e-05,-4.75565128e-04,-2.37796824e-04, 4.61659873e-05,
  8.11632127e-05,-2.23514909e-06,-1.12296196e-04, 4.49251652e-05,
  1.60360432e-02,-1.45238104e-03, 2.01733979e-03,-2.89337975e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031660878637590484
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.47907560e-14, -1.75330419e-13,  1.00000000e+00,  9.60648622e-27,
        1.00000000e+00,  1.75330419e-13, -1.00000000e+00,  0.00000000e+00,
        5.47907560e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185825, -0.08824543,  0.06199095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.41455961e-05, 4.07048001e-05, 1.86391242e-05,-1.62744948e-05,
 -3.83119375e-06,-7.34350542e-05, 7.06229352e-06, 1.31407266e-05,
 -5.30198963e-06, 2.21041663e-05, 2.20573415e-05,-1.60226305e-06,
 -1.15476187e-04,-6.19550538e-05,-1.46791108e-04,-1.66084399e-04,
 -1.33405405e-07, 1.56245300e-06,-1.21644379e+00,-4.58456400e-04,
  1.26195228e-05,-5.50576074e-04]


--- Step 963 ---
qpos:
[ 6.16676778e-03,-1.80109954e-03,-4.94674011e-03, 3.35568703e-02,
  4.46938672e-03,-3.75071089e-03,-1.85551884e-02, 2.85597189e-02,
  1.29768106e-02, 3.30735145e-03,-9.97215648e-03, 2.58821693e-02,
  1.18172803e+00,-2.49665621e-05, 9.30242437e-01, 6.41779642e-02,
  9.36302486e-02,-7.01612302e-02, 1.30938768e-01, 4.99882691e-01,
  4.89961452e-01, 4.99795802e-01, 5.10156081e-01]

qacc:
[  7.57334886,  0.88015521, -3.5650952 ,  6.5168945 ,  2.5939889 ,
   1.92701259, -9.05914372, 18.08873312,  2.32469344, -1.29675716,
   4.15060393, -4.77171417, -0.96940722,  1.50245537,  1.4957719 ,
  -8.10787044,  0.08353743,  1.08568708,  0.69068833,  1.97966064,
   0.28150673,-15.59087787]

qfrc_actuator:
[ 2.59990233e-05,-9.30138757e-05,-9.28655183e-05,-1.40906735e-05,
  3.44733519e-05,-4.53537597e-04,-2.48054819e-04, 7.19131114e-05,
  9.48031657e-05,-4.63432617e-05,-1.08185401e-04, 4.14519683e-05,
  1.59948691e-02,-1.42925838e-03, 1.96635561e-03,-2.94415527e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.62584863, -0.29072315,  4.61670397, -0.29072315, 12.76520029,
        0.51255136,  4.61670397,  0.51255136,  4.65812502,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003244917413671583
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.71071076e-13,  8.55355378e-14,  1.00000000e+00,  1.46326565e-26,
        1.00000000e+00, -8.55355378e-14, -1.00000000e+00,  0.00000000e+00,
       -1.71071076e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185901, -0.08824354,  0.06199072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.43692159e-05, 1.65560294e-05,-3.07299131e-06, 8.95275371e-06,
  1.53087286e-05,-1.69777794e-05,-2.40986023e-05, 2.30981899e-05,
  1.34982799e-05,-2.72803817e-05, 1.13330796e-05,-1.79617800e-06,
 -1.25713700e-04,-1.43318356e-05,-1.36426909e-04,-7.87728422e-05,
 -1.57282788e-07, 1.05991615e-06,-1.21644247e+00,-4.58370123e-04,
  1.25132672e-05,-5.50942794e-04]


--- Step 964 ---
qpos:
[ 6.16809107e-03,-1.80115303e-03,-4.94704301e-03, 3.35565531e-02,
  4.47024697e-03,-3.75188921e-03,-1.85549779e-02, 2.85619044e-02,
  1.29783870e-02, 3.30788226e-03,-9.97219490e-03, 2.58828989e-02,
  1.18212722e+00,-2.50685849e-05, 9.30541535e-01, 6.41753460e-02,
  9.36366871e-02,-7.01690540e-02, 1.30939819e-01, 4.99827203e-01,
  4.90008357e-01, 4.99795162e-01, 5.10166025e-01]

qacc:
[  4.58673848,  0.25091762, -2.83994394, 10.10887399,  1.55282114,
   1.97328365, -7.36488256, 11.80313261, -1.72631048,  0.28186241,
  -0.43440029, -0.7941388 , -0.77506311,  1.1493071 , -2.63187543,
   7.7593851 ,  0.08563849,  1.06492655,  0.50584945,  1.91193725,
   0.29245271,-15.31412733]

qfrc_actuator:
[ 5.15318792e-05,-9.87272777e-05,-8.27650269e-05, 7.99179005e-06,
  4.32892680e-05,-4.04160731e-04,-2.54218847e-04, 8.62916608e-05,
  8.43682021e-05,-1.95378264e-05,-1.05927481e-04, 3.90586760e-05,
  1.59611395e-02,-1.41544240e-03, 1.97830529e-03,-2.90165201e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.64060451, -0.60062199,  4.60157185, -0.60062199, 18.11521958,
        1.75877947,  4.60157185,  1.75877947,  4.8701699 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003284600652647546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26753197e-13, -1.69004263e-13,  1.00000000e+00, -2.14218307e-26,
        1.00000000e+00,  1.69004263e-13, -1.00000000e+00,  0.00000000e+00,
       -1.26753197e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185956, -0.08824266,  0.06199061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.68006129e-05, 3.31456840e-06, 1.34567701e-05, 2.28606610e-05,
  9.24732164e-06, 3.59451219e-05,-1.18338804e-05, 1.32637914e-05,
 -1.00599035e-05, 1.38076311e-05,-2.04922702e-06,-3.20820794e-06,
 -1.13180982e-04,-1.65130976e-05,-5.94626892e-05, 2.06211641e-05,
 -1.67222337e-07, 6.65754859e-07,-1.21644150e+00,-4.58309690e-04,
  1.23083091e-05,-5.51213270e-04]


--- Step 965 ---
qpos:
[ 6.16936542e-03,-1.80112323e-03,-4.94694122e-03, 3.35557817e-02,
  4.47189607e-03,-3.75264768e-03,-1.85549099e-02, 2.85638750e-02,
  1.29791360e-02, 3.30901722e-03,-9.97269215e-03, 2.58828676e-02,
  1.18252553e+00,-2.47082064e-05, 9.30840082e-01, 6.41718872e-02,
  9.36434748e-02,-7.01726870e-02, 1.30942272e-01, 4.99784981e-01,
  4.90041735e-01, 4.99811499e-01, 5.10159324e-01]

qacc:
[ -0.41942428, -1.95559794,  9.05088524,-17.62004344,  6.89194341,
   0.49721103, -0.08337652, -3.69290076, -7.30671979,  0.52873056,
   2.51094501,-15.41846628, -1.07002369,  1.79164124,  1.79975241,
  -7.30188241,  0.08732316,  1.04772085,  0.35065397,  1.85838056,
   0.29990816,-15.08386945]

qfrc_actuator:
[ 4.82571744e-05,-8.43536016e-05,-5.89548382e-05,-1.43988242e-05,
  8.36323320e-05,-3.74275893e-04,-2.57782371e-04, 7.61494609e-05,
  4.20887357e-05, 3.17585681e-05,-1.22255532e-04, 1.86959823e-06,
  1.59212503e-02,-1.38950838e-03, 1.94811815e-03,-2.94643210e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003292758668376611
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.95024703e-13,  1.68585544e-13,  1.00000000e+00, -4.97369000e-26,
        1.00000000e+00, -1.68585544e-13, -1.00000000e+00,  0.00000000e+00,
        2.95024703e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185995, -0.08824259,  0.06199059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51249140e-06, 1.99978595e-05, 2.69456725e-05,-2.13379277e-05,
  4.06196992e-05, 4.81480346e-05, 2.86834227e-06,-8.75620614e-06,
 -4.25584435e-05, 5.84380016e-05,-1.38446839e-05,-3.67327038e-05,
 -1.11394613e-04,-2.49400280e-06,-5.85494040e-05,-5.20217322e-05,
 -1.65244853e-07, 3.73660838e-07,-1.21644085e+00,-4.58270964e-04,
  1.20107472e-05,-5.51388979e-04]


--- Step 966 ---
qpos:
[ 6.17093577e-03,-1.80088090e-03,-4.94688034e-03, 3.35547622e-02,
  4.47401586e-03,-3.75286509e-03,-1.85549473e-02, 2.85653447e-02,
  1.29797177e-02, 3.31029718e-03,-9.97296154e-03, 2.58824021e-02,
  1.18292285e+00,-2.34481121e-05, 9.31137415e-01, 6.41673554e-02,
  9.36506174e-02,-7.01721858e-02, 1.30945608e-01, 4.99755870e-01,
  4.90061728e-01, 4.99844588e-01, 5.10136218e-01]

qacc:
[  2.59770107, -0.12051292,  1.87545768, -6.24917632,  4.10654408,
  -0.02853841,  3.24044352,-12.12292806, -1.4678742 , -1.33613365,
   6.88048072,-14.87181447, -1.50613006,  2.81360729,  1.5586708 ,
  -7.79468807,  0.08869992,  1.03355167,  0.22066547,  1.81640267,
   0.30464462,-14.89346039]

qfrc_actuator:
[ 6.35646209e-05,-7.57912842e-05,-6.27048816e-05,-2.72520713e-05,
  1.06705224e-04,-3.38540879e-04,-2.59862194e-04, 5.16522473e-05,
  3.46705505e-05, 2.62146592e-05,-1.13825537e-04,-1.99747936e-05,
  1.58776994e-02,-1.33886430e-03, 1.86603003e-03,-3.00691740e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032757836606477075
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.47295746e-14,  8.47295746e-14,  1.00000000e+00,  7.17910082e-27,
        1.00000000e+00, -8.47295746e-14, -1.00000000e+00,  0.00000000e+00,
       -8.47295746e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09186021, -0.08824316,  0.06199064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.52427383e-05, 2.43914795e-05, 2.96028057e-06,-1.14780180e-05,
  2.42503173e-05, 6.29129925e-05, 7.91768154e-06,-2.25095373e-05,
 -8.60170664e-06, 2.26532981e-05, 1.75199706e-05,-2.05334236e-05,
 -1.10919604e-04, 2.55158106e-05,-1.18583383e-04,-7.17630356e-05,
 -1.52826181e-07, 1.78566438e-07,-1.21644052e+00,-4.58250958e-04,
  1.16250195e-05,-5.51471195e-04]


--- Step 967 ---
qpos:
[ 6.17267761e-03,-1.80077791e-03,-4.94668501e-03, 3.35532849e-02,
  4.47536145e-03,-3.75269142e-03,-1.85546897e-02, 2.85665006e-02,
  1.29802058e-02, 3.31155324e-03,-9.97277574e-03, 2.58820297e-02,
  1.18331927e+00,-2.13099210e-05, 9.31433876e-01, 6.41620238e-02,
  9.36581194e-02,-7.01675967e-02, 1.30949393e-01, 4.99739737e-01,
  4.90068456e-01, 4.99894248e-01, 5.10096898e-01]

qacc:
[  1.51426245, -1.50554347,  7.02794499,-15.05617481, -6.77328349,
  -0.93918651,  5.44718993,-11.66268065, -0.80913035, -1.1103642 ,
   3.52263195, -2.62317466, -1.41483377,  2.68343808,  1.23223621,
  -5.93429474,  0.08985194,  1.02197723,  0.11209125,  1.78391615,
   0.30726128,-14.73727391]

qfrc_actuator:
[ 7.19433428e-05,-1.06383609e-04,-6.49547219e-05,-5.21600413e-05,
  6.61607245e-05,-3.17337542e-04,-2.43279219e-04, 3.66665076e-05,
  3.00873476e-05, 2.22893391e-05,-9.10438646e-05,-1.48820571e-05,
  1.58426449e-02,-1.29176908e-03, 1.84341924e-03,-3.04075218e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032390218767755496
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.56912262e-14,  2.57073678e-13,  1.00000000e+00, -2.20289587e-26,
        1.00000000e+00, -2.57073678e-13, -1.00000000e+00,  0.00000000e+00,
        8.56912262e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09186037, -0.08824425,  0.06199074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.82035039e-06,-1.68396484e-05, 2.75255838e-06,-2.39830753e-05,
 -3.98291713e-05, 5.70683675e-05, 2.97729993e-05,-1.24574281e-05,
 -4.81583293e-06, 1.14382491e-05, 2.88986634e-05, 6.26937944e-06,
 -9.63968751e-05, 2.80733941e-05,-8.59811716e-05,-5.32429276e-05,
 -1.31035300e-07, 7.64083447e-08,-1.21644048e+00,-4.58247544e-04,
  1.11542970e-05,-5.51461001e-04]


--- Step 968 ---
qpos:
[ 6.17416172e-03,-1.80104424e-03,-4.94638548e-03, 3.35515533e-02,
  4.47586599e-03,-3.75223228e-03,-1.85538778e-02, 2.85671178e-02,
  1.29802903e-02, 3.31266965e-03,-9.97220688e-03, 2.58813959e-02,
  1.18371504e+00,-1.91270000e-05, 9.31729879e-01, 6.41607693e-02,
  9.36659848e-02,-7.01589571e-02, 1.30953264e-01, 4.99736474e-01,
  4.90062017e-01, 4.99960327e-01, 5.10041515e-01]

qacc:
[-2.25676810e+00,-1.29874941e+00, 5.00358489e+00,-9.30747291e+00,
 -7.34837276e+00,-2.26458075e+00, 1.09220076e+01,-2.13670635e+01,
 -3.53709004e+00,-1.78635578e+00, 7.21729320e+00,-1.22640187e+01,
 -2.95955433e-01, 2.58253848e-01,-1.29611822e+01, 4.44101668e+01,
  9.08426979e-02, 1.01262059e+00, 2.16831223e-02, 1.75923345e+00,
  3.08222548e-01,-1.46105317e+01]

qfrc_actuator:
[ 5.84183128e-05,-1.42449232e-04,-6.64634236e-05,-6.62392412e-05,
  2.40076861e-05,-3.04919656e-04,-2.15856781e-04, 9.64838388e-06,
  9.44574934e-06, 1.69342289e-06,-7.77222911e-05,-2.94859827e-05,
  1.58020635e-02,-1.30039935e-03, 1.89378838e-03,-2.80990361e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003186929907464664
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.61275677e-13,  1.74183785e-13,  1.00000000e+00,  4.55099862e-26,
        1.00000000e+00, -1.74183785e-13, -1.00000000e+00,  0.00000000e+00,
       -2.61275677e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09186045, -0.08824573,  0.06199089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.32794765e-05,-4.59467642e-05,-5.48028929e-06,-1.51704140e-05,
 -4.32715973e-05, 4.99203486e-05, 4.24404830e-05,-2.37865987e-05,
 -2.07717535e-05,-8.00847092e-06, 1.94453870e-05,-1.29939014e-05,
 -9.23379463e-05,-2.40203226e-05, 2.57521768e-06, 2.16319125e-04,
 -1.00636715e-07, 6.39356453e-08,-1.21644073e+00,-4.58259239e-04,
  1.06007797e-05,-5.51359310e-04]


--- Step 969 ---
qpos:
[ 6.17512713e-03,-1.80132729e-03,-4.94656655e-03, 3.35503527e-02,
  4.47586127e-03,-3.75167758e-03,-1.85531744e-02, 2.85674776e-02,
  1.29801268e-02, 3.31362418e-03,-9.97145066e-03, 2.58809544e-02,
  1.18411026e+00,-1.72959199e-05, 9.32025838e-01, 6.41651880e-02,
  9.36742171e-02,-7.01462969e-02, 1.30956921e-01, 4.99745993e-01,
  4.90042492e-01, 5.00042706e-01, 5.09970186e-01]

qacc:
[-4.57541922e+00, 2.42349477e+00,-1.08983932e+01, 2.08489301e+01,
 -4.46208213e+00,-9.11778415e-02, 1.61099377e+00,-5.98103951e+00,
 -2.17315029e+00,-3.37597780e-01, 8.89118066e-02, 3.05008180e+00,
  1.75790293e-01,-7.99770116e-01,-1.72074403e+01, 6.00634588e+01,
  9.17204013e-02, 1.00515998e+00,-5.33432324e-02, 1.74098757e+00,
  3.07887694e-01,-1.45091678e+01]

qfrc_actuator:
[ 3.21116606e-05,-1.28255215e-04,-8.53036085e-05,-3.83362459e-05,
 -9.81327943e-07,-3.33329122e-04,-2.35566048e-04,-6.48618226e-06,
 -2.73086155e-06,-1.10268989e-05,-7.01867306e-05,-2.00853267e-05,
  1.57688279e-02,-1.32423015e-03, 1.92935580e-03,-2.51356522e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003123208465526661
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33303184e-13, -1.77737579e-13,  1.00000000e+00,  2.36929853e-26,
        1.00000000e+00,  1.77737579e-13, -1.00000000e+00,  0.00000000e+00,
        1.33303184e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09186046, -0.08824751,  0.06199107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.66985375e-05,-1.32812010e-05,-2.95285407e-05, 2.54533002e-05,
 -2.62084468e-05, 7.20995365e-06,-5.00776860e-06,-1.29920769e-05,
 -1.27657820e-05,-1.37914939e-05, 7.80945648e-06, 9.47594176e-06,
 -9.30270939e-05,-4.95991143e-05, 5.55334224e-05, 3.07510554e-04,
 -6.21666546e-08, 1.38553072e-07,-1.21644125e+00,-4.58285049e-04,
  9.96592008e-06,-5.51166876e-04]


--- Step 970 ---
qpos:
[ 6.17576960e-03,-1.80166266e-03,-4.94671979e-03, 3.35494644e-02,
  4.47555679e-03,-3.75103598e-03,-1.85532170e-02, 2.85673425e-02,
  1.29798187e-02, 3.31425622e-03,-9.97054876e-03, 2.58813433e-02,
  1.18450487e+00,-1.55094299e-05, 9.32322138e-01, 6.41698701e-02,
  9.36828194e-02,-7.01296394e-02, 1.30960118e-01, 4.99768221e-01,
  4.90009942e-01, 5.00141289e-01, 5.09882999e-01]

qacc:
[ -2.83755698,  0.50187948, -3.19896781,  8.5889774 , -2.64865324,
   1.18588518, -1.9637272 , -5.48086612, -1.26211724,  0.87875749,
  -7.25434412, 21.62885779, -0.41324831,  0.41270829, -0.26717425,
   1.72362587,  0.09252146,  0.99932082, -0.11537488,  1.72806895,
   0.30653399,-14.42971837]

qfrc_actuator:
[ 1.62527248e-05,-1.19615552e-04,-7.84942999e-05,-2.14327555e-05,
 -1.56672930e-05,-3.50654025e-04,-2.83113033e-04,-3.39089249e-05,
 -9.82267144e-06,-3.66964085e-05,-6.60802981e-05, 2.11216158e-05,
  1.57453401e-02,-1.32129732e-03, 1.90808936e-03,-2.51846001e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000305091699580054
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02346352e-13, -3.63898141e-13,  1.00000000e+00,  3.72436474e-26,
        1.00000000e+00,  3.63898141e-13, -1.00000000e+00,  0.00000000e+00,
        1.02346352e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09186042, -0.0882495 ,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.66212398e-05,-3.79346363e-06, 1.31785652e-06, 1.58127320e-05,
 -1.54313974e-05,-1.49226342e-05,-4.71386733e-05,-2.75424129e-05,
 -7.45629994e-06,-3.14099557e-05, 2.52872620e-06, 4.10682172e-05,
 -8.87978360e-05,-2.85567184e-05, 3.09934667e-05, 1.76356746e-05,
 -1.59899078e-08, 2.98192436e-07,-1.21644205e+00,-4.58324348e-04,
  9.25059195e-06,-5.50884317e-04]


--- Step 971 ---
qpos:
[ 6.17690676e-03,-1.80212839e-03,-4.94674069e-03, 3.35484429e-02,
  4.47507857e-03,-3.75058970e-03,-1.85535007e-02, 2.85675726e-02,
  1.29794279e-02, 3.31469663e-03,-9.96988345e-03, 2.58818877e-02,
  1.18489895e+00,-1.39854458e-05, 9.32617689e-01, 6.41743445e-02,
  9.36874870e-02,-7.01206392e-02, 1.30962061e-01, 4.99778015e-01,
  4.89987049e-01, 5.00197689e-01, 5.09840073e-01]

qacc:
[  4.35607452, -0.82525735,  3.24034582, -5.64651484, -1.52447532,
   1.16902755, -6.07967441, 12.92166268, -0.73187894,  0.72922403,
  -3.62109851,  6.82665674, -0.16219298, -0.15321926, -0.47797851,
   0.06789707, -0.98367247, -1.91432221, -0.313219  ,-16.36302036,
   0.95097678, 26.97954799]

qfrc_actuator:
[ 4.21793957e-05,-1.32018842e-04,-7.43641139e-05,-2.88754535e-05,
 -2.41772166e-05,-3.61357737e-04,-2.93423986e-04,-1.45064609e-05,
 -1.38677379e-05,-5.21574263e-05,-8.18172404e-05, 2.74392321e-05,
  1.57117478e-02,-1.33797810e-03, 1.83138637e-03,-2.54118029e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003020965719434665
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.18764997e-14, -9.18764997e-14,  1.00000000e+00, -8.44129121e-27,
        1.00000000e+00,  9.18764997e-14, -1.00000000e+00,  0.00000000e+00,
       -9.18764997e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10943107, -0.03383846,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.54534379e-05,-1.35667226e-05, 4.06372476e-06,-7.24825878e-06,
 -8.95290678e-06,-2.99932617e-05,-2.01590214e-05, 1.65954764e-05,
 -4.26667682e-06,-3.07812305e-05,-2.05114349e-05, 5.85427358e-06,
 -9.24099575e-05,-4.25174236e-05,-6.82555117e-05,-1.95662890e-05,
  3.76576549e-08, 5.41206902e-07,-1.21644312e+00,-4.58376794e-04,
  8.45521869e-06,-5.50512126e-04]


--- Step 972 ---
qpos:
[ 6.17834542e-03,-1.80237159e-03,-4.94682427e-03, 3.35466176e-02,
  4.47450219e-03,-3.75074608e-03,-1.85534934e-02, 2.85687394e-02,
  1.29793363e-02, 3.31532795e-03,-9.96987120e-03, 2.58824834e-02,
  1.18529241e+00,-1.26440463e-05, 9.32912610e-01, 6.41768401e-02,
  9.36882693e-02,-7.01191645e-02, 1.30962119e-01, 4.99775472e-01,
  4.89973654e-01, 5.00212739e-01, 5.09840673e-01]

qacc:
[  2.64471261, -1.19076905,  8.05634032,-22.01936606, -0.83901636,
   0.3188151 , -6.24537691, 22.43233656,  2.60938927,  2.17795148,
  -7.62491028,  9.42537257, -0.37668745,  0.24233726,  5.06115025,
 -19.01759932, -0.97134532, -1.88138093, -0.47140562,-16.03071487,
   0.99500539, 26.52784957]

qfrc_actuator:
[ 5.69837210e-05,-1.03691046e-04,-7.19570538e-05,-6.83577340e-05,
 -2.89876401e-05,-4.03346559e-04,-2.81599784e-04, 3.23291889e-05,
  1.66379925e-06,-2.59899722e-05,-1.09136209e-04, 3.09188314e-05,
  1.56774350e-02,-1.34843866e-03, 1.79074263e-03,-2.64524084e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5606007 , -0.89336463,  4.47224534, -0.89336463, 37.03424505,
        6.48685459,  4.47224534,  6.48685459,  5.85639867,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030603042286546367
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.72086435e-13, -2.26738696e-13,  1.00000000e+00,  6.16925236e-26,
        1.00000000e+00,  2.26738696e-13, -1.00000000e+00,  0.00000000e+00,
        2.72086435e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10942941, -0.03384024,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55251318e-05, 2.12946764e-05,-1.39842121e-07,-4.00620165e-05,
 -5.07652307e-06,-6.22301901e-05, 3.71794057e-06, 4.51752214e-05,
  1.54023414e-05, 4.94071697e-06,-3.60154807e-05, 1.56112519e-06,
 -9.95667402e-05,-3.93792228e-05,-7.68796158e-05,-1.14560749e-04,
 -7.47193266e-08, 2.15138188e-07,-1.21644095e+00,-4.58664451e-04,
  9.92544036e-06,-5.50335913e-04]


--- Step 973 ---
qpos:
[ 6.17960536e-03,-1.80201907e-03,-4.94740789e-03, 3.35450058e-02,
  4.47421727e-03,-3.75123775e-03,-1.85533985e-02, 2.85700926e-02,
  1.29794316e-02, 3.31611771e-03,-9.97025580e-03, 2.58834473e-02,
  1.18568513e+00,-1.11324905e-05, 9.33207367e-01, 6.41772645e-02,
  9.36852076e-02,-7.01251060e-02, 1.30959758e-01, 4.99760675e-01,
  4.89969624e-01, 5.00187117e-01, 5.09884185e-01]

qacc:
[ -1.59727377,  2.6279952 , -9.12333651, 13.17234334,  2.55931393,
  -0.30920015, -0.33647738,  3.67956246,  1.62914008,  2.07338019,
  -8.64943726, 15.54686846, -0.8032598 ,  1.1721057 ,  6.06144563,
 -21.4353345 , -0.96099541, -1.85405288, -0.60449778,-15.75834665,
   1.027075  , 26.15341168]

qfrc_actuator:
[ 4.73573272e-05,-5.12253460e-05,-8.81943998e-05,-5.53294348e-05,
 -1.38318184e-05,-4.10363067e-04,-2.74682792e-04, 4.16492335e-05,
  1.08398102e-05,-1.06565675e-05,-1.25140648e-04, 5.04901635e-05,
  1.56427157e-02,-1.33738937e-03, 1.80370532e-03,-2.74299330e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56375534, -1.18852742,  4.40627568, -1.18852742, 33.40039045,
        7.77825401,  4.40627568,  7.77825401,  6.66182382,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003069598879664598
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.04208553e-14,  4.52104277e-14,  1.00000000e+00, -4.08796554e-27,
        1.00000000e+00, -4.52104277e-14, -1.00000000e+00,  0.00000000e+00,
        9.04208553e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10942861, -0.03384051,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.17465744e-06, 6.26429680e-05,-1.32361641e-05, 1.31601283e-05,
  1.49870545e-05,-3.91102821e-05,-3.91637402e-06, 7.65891308e-06,
  9.61883420e-06, 1.07044593e-05,-1.93755152e-05, 1.85638463e-05,
 -1.03771036e-04,-1.87354820e-05,-3.79108214e-05,-1.14670913e-04,
 -4.31730226e-08, 2.58133984e-08,-1.21644004e+00,-4.59040428e-04,
  1.05172897e-05,-5.50409307e-04]


--- Step 974 ---
qpos:
[ 6.18074042e-03,-1.80129535e-03,-4.94815673e-03, 3.35439131e-02,
  4.47411606e-03,-3.75200341e-03,-1.85529485e-02, 2.85711749e-02,
  1.29796366e-02, 3.31663951e-03,-9.97094066e-03, 2.58846867e-02,
  1.18607702e+00,-9.19841386e-06, 9.33501117e-01, 6.41749730e-02,
  9.36783363e-02,-7.01383734e-02, 1.30954533e-01, 4.99733693e-01,
  4.89974846e-01, 5.00121371e-01, 5.09970097e-01]

qacc:
[ -1.10938098,  2.02345754, -8.68991589, 17.65839007,  1.62352019,
  -1.91374204,  7.43692359,-12.48435183,  0.96129306,  1.04993735,
  -5.42328692, 10.86935741, -1.06986686,  1.78013277,  6.78503157,
 -25.7260916 , -0.95238687, -1.83146974, -0.71641324,-15.53643251,
   1.04948723, 25.84502963]

qfrc_actuator:
[ 4.11847417e-05,-3.79969981e-05,-9.74033437e-05,-2.92432364e-05,
 -4.79922898e-06,-4.14175130e-04,-2.52870489e-04, 2.88354824e-05,
  1.61952088e-05,-5.51253841e-05,-1.52104000e-04, 6.16264006e-05,
  1.56024610e-02,-1.31371388e-03, 1.72099368e-03,-2.88933507e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030549017391534594
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81711741e-13, -2.72567611e-13,  1.00000000e+00,  4.95287350e-26,
        1.00000000e+00,  2.72567611e-13, -1.00000000e+00,  0.00000000e+00,
        1.81711741e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1094285 , -0.03383959,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.41180590e-06, 4.60790400e-05, 2.56136296e-06, 2.85729473e-05,
  9.44691122e-06,-2.61441716e-05, 1.35175716e-05,-1.44790565e-05,
  5.63471232e-06,-4.17121440e-05,-2.65035727e-05, 1.12824012e-05,
 -1.06665767e-04,-3.10418544e-06,-1.17882445e-04,-1.58754048e-04,
  1.28396125e-07,-3.44576039e-08,-1.21644033e+00,-4.59509057e-04,
  1.02796941e-05,-5.50729472e-04]


--- Step 975 ---
qpos:
[ 6.18179289e-03,-1.80067414e-03,-4.94849239e-03, 3.35428173e-02,
  4.47377898e-03,-3.75292723e-03,-1.85517482e-02, 2.85723975e-02,
  1.29802493e-02, 3.31682546e-03,-9.97130387e-03, 2.58853252e-02,
  1.18646811e+00,-6.71972260e-06, 9.33793812e-01, 6.41689208e-02,
  9.36716597e-02,-7.01472426e-02, 1.30952050e-01, 4.99720043e-01,
  4.89967069e-01, 5.00073337e-01, 5.10038045e-01]

qacc:
[-7.11412068e-01,-1.29539076e+00, 4.43712892e+00,-5.07670067e+00,
 -2.03808450e+00,-2.01202411e+00, 6.28560932e+00,-4.94741193e+00,
  3.60270032e+00,-2.58641601e+00, 1.11022673e+01,-2.17528933e+01,
 -1.20509955e+00, 2.11151145e+00, 9.87856244e+00,-3.66255217e+01,
  4.86647458e-02, 1.09952876e+00, 6.85865728e-01, 2.49420994e+00,
  5.49228851e-03,-1.54780120e+01]

qfrc_actuator:
[ 3.71020993e-05,-6.60774628e-05,-8.47774064e-05,-3.12185033e-05,
 -1.72020603e-05,-3.98239081e-04,-2.04670886e-04, 3.86294662e-05,
  3.70132020e-05,-6.41019987e-05,-1.32322648e-04, 3.21419395e-05,
  1.55695704e-02,-1.28278310e-03, 1.66084607e-03,-3.08110971e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003049690902859614
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.41291665e-14, -1.82022221e-13,  1.00000000e+00, -6.21226669e-27,
        1.00000000e+00,  1.82022221e-13, -1.00000000e+00,  0.00000000e+00,
       -3.41291665e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09186587, -0.08825127,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.25147595e-06,-5.80084170e-07, 2.34501495e-05, 6.46546081e-07,
 -1.21420302e-05, 3.51131285e-06, 4.39644872e-05, 8.85739520e-06,
  2.09653116e-05,-3.73044829e-05, 8.29016744e-06,-3.19720817e-05,
 -9.83570942e-05, 7.13144762e-06,-1.33103259e-04,-2.16010043e-04,
  4.37123747e-07, 2.91890110e-08,-1.21644177e+00,-4.60072723e-04,
  9.24965720e-06,-5.51293770e-04]


--- Step 976 ---
qpos:
[ 6.18244343e-03,-1.80039240e-03,-4.94854788e-03, 3.35424377e-02,
  4.47364084e-03,-3.75390866e-03,-1.85502879e-02, 2.85740936e-02,
  1.29804163e-02, 3.31727900e-03,-9.97113489e-03, 2.58851667e-02,
  1.18685855e+00,-4.14539543e-06, 9.34085960e-01, 6.41630265e-02,
  9.36652144e-02,-7.01518060e-02, 1.30951585e-01, 4.99719583e-01,
  4.89946289e-01, 5.00042667e-01, 5.10088525e-01]

qacc:
[ -3.51899372,  0.24968671, -4.55265465, 16.73587067,  1.75056351,
   0.16825906, -2.71611051, 10.54520989, -3.9104013 , -2.7669197 ,
  13.75766004,-28.61525067, -0.53536699,  0.70228296, -1.25080742,
   3.28055632,  0.05782169,  1.07648548,  0.50432782,  2.31575829,
   0.07723481,-15.23382726]

qfrc_actuator:
[ 1.65284478e-05,-1.00865345e-04,-7.73154915e-05, 3.54174133e-06,
 -6.61476188e-06,-4.05965651e-04,-1.94434084e-04, 6.16853045e-05,
  1.35090852e-05, 1.64970065e-06,-8.49962688e-05,-3.19635340e-06,
  1.55358000e-02,-1.28329551e-03, 1.69949006e-03,-3.04947623e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57374943,  0.71859079,  4.51694711,  0.71859079, 24.48965258,
       -3.16837549,  4.51694711, -3.16837549,  5.07779904,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030987847119080814
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11961536e-14, -1.79138457e-13,  1.00000000e+00,  2.00566168e-27,
        1.00000000e+00,  1.79138457e-13, -1.00000000e+00,  0.00000000e+00,
        1.11961536e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09186757, -0.08825045,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.06971227e-05,-3.02615321e-05, 1.02509040e-05, 3.55611112e-05,
  1.02395221e-05, 3.71002800e-06, 1.66787053e-05, 2.48970689e-05,
 -2.29201688e-05, 4.52384705e-05, 3.95359193e-05,-3.72741153e-05,
 -9.22354594e-05,-2.02001095e-05,-4.71168584e-05, 2.39053746e-06,
  2.31080653e-07,-1.14447684e-07,-1.21644096e+00,-4.59465000e-04,
  9.95910167e-06,-5.51419688e-04]


--- Step 977 ---
qpos:
[ 6.18318714e-03,-1.80033255e-03,-4.94821635e-03, 3.35421100e-02,
  4.47432033e-03,-3.75469881e-03,-1.85496221e-02, 2.85760945e-02,
  1.29799559e-02, 3.31762155e-03,-9.97057132e-03, 2.58853338e-02,
  1.18724839e+00,-1.81665437e-06, 9.34377750e-01, 6.41564946e-02,
  9.36590287e-02,-7.01521392e-02, 1.30952527e-01, 4.99732192e-01,
  4.89912511e-01, 5.00029075e-01, 5.10121939e-01]

qacc:
[ 8.35208757e-01,-1.27003435e+00, 3.88083612e+00,-3.43503233e+00,
  7.12763247e+00, 3.08410998e+00,-1.19415739e+01, 1.83704643e+01,
 -5.50641175e+00,-5.68168404e-01, 4.56294696e-01, 4.61203838e+00,
 -2.59648826e-01, 4.88729407e-04, 1.40590759e+00,-5.66504634e+00,
  6.48935149e-02, 1.05751502e+00, 3.51806111e-01, 2.17273896e+00,
  1.34166446e-01,-1.50298703e+01]

qfrc_actuator:
[ 2.19178253e-05,-1.03894461e-04,-5.52316095e-05, 6.36736065e-06,
  3.51787665e-05,-4.10174458e-04,-2.42289962e-04, 7.45562402e-05,
 -1.81453902e-05,-3.02517760e-05,-7.47399934e-05, 1.16476302e-05,
  1.54961912e-02,-1.30244270e-03, 1.68555978e-03,-3.08149100e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57985809,  0.59581846,  4.54093608,  0.59581846, 44.34865122,
       -5.21808294,  4.54093608, -5.21808294,  5.26452533,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003116432822108939
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11327506e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.11327506e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09186887, -0.08825039,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.78768041e-06,-1.63282717e-05, 1.83242343e-05, 2.57673845e-06,
  4.20856230e-05, 2.39613886e-06,-4.41834038e-05, 1.40862730e-05,
 -3.22883135e-05,-6.00729763e-08, 2.31750389e-05, 1.74251695e-05,
 -9.93593095e-05,-4.36816921e-05,-3.90372105e-05,-3.87754647e-05,
  4.63711637e-08,-1.67699788e-07,-1.21644047e+00,-4.58905985e-04,
  1.05434945e-05,-5.51458952e-04]


--- Step 978 ---
qpos:
[ 6.18364441e-03,-1.80031102e-03,-4.94796080e-03, 3.35418272e-02,
  4.47515034e-03,-3.75482495e-03,-1.85503418e-02, 2.85782147e-02,
  1.29791199e-02, 3.31741064e-03,-9.96933972e-03, 2.58857164e-02,
  1.18763768e+00,-2.28234156e-07, 9.34668659e-01, 6.41529597e-02,
  9.36531243e-02,-7.01483046e-02, 1.30954365e-01, 4.99757765e-01,
  4.89865743e-01, 5.00032320e-01, 5.10138618e-01]

qacc:
[ -2.5203258 ,  0.25913858, -1.17847717,  2.09607127,  1.26256395,
   4.98935889,-17.02549058, 20.81865261, -3.27472059, -2.14861428,
   5.70104344, -2.64457186,  0.40445322, -1.47490456,-10.38963234,
  34.35598917,  0.07034108,  1.04198451,  0.22394129,  2.05803329,
   0.17946843,-14.86075453]

qfrc_actuator:
[ 7.04544025e-06,-1.05602736e-04,-6.00987381e-05, 8.16270973e-06,
  4.17398798e-05,-3.59240555e-04,-3.06298428e-04, 8.12955567e-05,
 -3.65774795e-05,-8.49683586e-05,-5.12957661e-05, 2.02917325e-05,
  1.54530984e-02,-1.35022042e-03, 1.66671647e-03,-2.92017816e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57724644, -0.43145354, -4.55686656, -0.43145354, 41.49959277,
       -3.495884  , -4.55686656, -3.495884  ,  4.90824396,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031089051795318845
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.57985328e-14, -1.78555305e-13,  1.00000000e+00,  9.96312404e-27,
        1.00000000e+00,  1.78555305e-13, -1.00000000e+00,  0.00000000e+00,
        5.57985328e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09186985, -0.08825091,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47432713e-05,-6.94960930e-06,-5.89871167e-06, 1.77933197e-06,
  7.76539609e-06, 4.37823978e-05,-6.84734720e-05, 5.58138906e-06,
 -1.93493930e-05,-4.92484162e-05, 2.68791218e-05, 9.78139072e-06,
 -1.12426924e-04,-7.87264006e-05,-4.53771074e-05, 1.53165252e-04,
 -1.21058472e-07,-1.32674035e-07,-1.21644030e+00,-4.58384964e-04,
  1.10151993e-05,-5.51410746e-04]


--- Step 979 ---
qpos:
[ 6.18323003e-03,-1.80041067e-03,-4.94747082e-03, 3.35419026e-02,
  4.47605298e-03,-3.75451637e-03,-1.85515603e-02, 2.85803666e-02,
  1.29780690e-02, 3.31708474e-03,-9.96876638e-03, 2.58858909e-02,
  1.18802622e+00, 1.07761007e-06, 9.34958984e-01, 6.41536457e-02,
  9.36475180e-02,-7.01403525e-02, 1.30956671e-01, 4.99796214e-01,
  4.89805995e-01, 5.00052209e-01, 5.10138824e-01]

qacc:
[ -7.65468315, -0.06301802, -1.49386832,  7.3789528 ,  0.61265793,
   2.03127001, -6.54506405,  7.57158063, -1.90959389,  1.26299122,
  -3.83849223,  1.36593846, -0.07309616, -0.40324132,-13.60540054,
  46.33844884,  0.07452549,  1.02936298,  0.1170128 ,  1.96598407,
   0.21563939,-14.7218603 ]

qfrc_actuator:
[-3.73943006e-05,-1.06613321e-04,-4.53230188e-05, 2.70787185e-05,
  4.52542368e-05,-3.29028172e-04,-3.25831708e-04, 8.44194607e-05,
 -4.70769492e-05,-9.96292365e-05,-9.13805916e-05, 7.44328518e-06,
  1.54185840e-02,-1.36132560e-03, 1.66628847e-03,-2.69950636e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030814499872947043
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91405340e-13, -3.60292404e-13,  1.00000000e+00,  6.89618901e-26,
        1.00000000e+00,  3.60292404e-13, -1.00000000e+00,  0.00000000e+00,
        1.91405340e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09187058, -0.08825191,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.48614702e-05,-6.04881047e-06, 1.26727406e-05, 1.84492854e-05,
  3.75399971e-06, 4.08021748e-05,-1.87266475e-05, 2.73638954e-06,
 -1.10672056e-05,-3.62464781e-05,-4.66214074e-05,-1.38410366e-05,
 -1.19287312e-04,-5.23336079e-05,-7.13188695e-06, 2.22719784e-04,
 -2.74224713e-07,-1.11759652e-08,-1.21644042e+00,-4.57893938e-04,
  1.13835375e-05,-5.51274576e-04]


--- Step 980 ---
qpos:
[ 6.18297586e-03,-1.80039205e-03,-4.94688177e-03, 3.35418368e-02,
  4.47733627e-03,-3.75469664e-03,-1.85517754e-02, 2.85822082e-02,
  1.29775904e-02, 3.31647062e-03,-9.96948274e-03, 2.58863228e-02,
  1.18841408e+00, 2.17550523e-06, 9.35249374e-01, 6.41510211e-02,
  9.36422226e-02,-7.01283235e-02, 1.30959088e-01, 4.99847467e-01,
  4.89733275e-01, 5.00088580e-01, 5.10122771e-01]

qacc:
[ 1.40972873e+00,-4.13994781e-01, 2.29384463e+00,-4.97639589e+00,
  3.37096155e+00,-4.09272825e+00, 1.49552755e+01,-2.15561502e+01,
  5.00089013e+00, 3.74364824e+00,-1.50047624e+01, 2.17519534e+01,
 -5.17005277e-01, 4.25674660e-01, 1.01138147e+01,-3.51845626e+01,
  7.77293726e-02, 1.01920410e+00, 2.78391435e-02, 1.89209144e+00,
  2.44641124e-01,-1.46092158e+01]

qfrc_actuator:
[-2.78641385e-05,-8.93544742e-05,-3.67942327e-05, 2.04306297e-05,
  6.47108434e-05,-3.82295519e-04,-2.83507069e-04, 6.76614246e-05,
 -1.73221035e-05,-1.43731665e-04,-1.68523758e-04, 1.75419332e-05,
  1.53892535e-02,-1.36834150e-03, 1.61833103e-03,-2.88945755e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030384466794985965
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48440355e-13, -1.82695822e-13,  1.00000000e+00,  2.71194326e-26,
        1.00000000e+00,  1.82695822e-13, -1.00000000e+00,  0.00000000e+00,
        1.48440355e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09187112, -0.08825327,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.25103752e-06, 1.72679887e-05, 9.47599118e-06,-6.10883727e-06,
  1.95787274e-05,-3.42020898e-05, 4.85460330e-05,-1.56070961e-05,
  2.94298164e-05,-7.45975673e-05,-9.08556274e-05, 6.66212449e-06,
 -1.11585215e-04,-4.47292925e-05,-3.12253345e-05,-1.79549958e-04,
 -4.15373392e-07, 1.95277932e-07,-1.21644083e+00,-4.57426913e-04,
  1.16555311e-05,-5.51050154e-04]


--- Step 981 ---
qpos:
[ 6.18318236e-03,-1.80014568e-03,-4.94652758e-03, 3.35417009e-02,
  4.47849808e-03,-3.75546959e-03,-1.85513188e-02, 2.85835263e-02,
  1.29774718e-02, 3.31577352e-03,-9.97101892e-03, 2.58871590e-02,
  1.18880150e+00, 2.29310173e-06, 9.35539520e-01, 6.41415514e-02,
  9.36372480e-02,-7.01122501e-02, 1.30961320e-01, 4.99911463e-01,
  4.89647586e-01, 5.00141304e-01, 5.10090625e-01]

qacc:
[ 4.03933734e+00, 8.05214287e-01,-2.15157885e+00, 1.15952418e+00,
 -1.03242830e+00,-3.73283708e+00, 1.43874968e+01,-2.40856223e+01,
  3.14308498e+00, 3.00750412e+00,-1.26000044e+01, 2.09790352e+01,
  1.61831823e-01,-1.18954846e+00, 2.02650563e+01,-7.15066765e+01,
  8.01737362e-02, 1.01113225e+00,-4.63031779e-02, 1.83277307e+00,
  2.68013339e-01,-1.45194018e+01]

qfrc_actuator:
[-4.38786781e-06,-7.90775685e-05,-4.97246560e-05, 1.65527715e-05,
  5.78904651e-05,-4.31643155e-04,-2.58628307e-04, 3.93035476e-05,
  3.78829397e-07,-1.16516653e-04,-1.95996662e-04, 4.10264860e-05,
  1.53577299e-02,-1.42612332e-03, 1.56312165e-03,-3.24892892e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029835366788173723
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.81431926e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.81431926e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0918715 , -0.08825492,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.37161214e-05, 2.16252000e-05,-8.41474730e-06,-2.93043664e-06,
 -6.27432216e-06,-5.91030940e-05, 2.32539433e-05,-2.84516602e-05,
  1.85117933e-05,-3.29438983e-05,-5.38294401e-05, 1.72743648e-05,
 -1.08520674e-04,-9.16503770e-05,-9.50551286e-05,-3.74756667e-04,
 -5.46177931e-07, 4.85435449e-07,-1.21644151e+00,-4.56979381e-04,
  1.18364582e-05,-5.50737307e-04]


--- Step 982 ---
qpos:
[ 6.18366885e-03,-1.79996709e-03,-4.94593214e-03, 3.35415247e-02,
  4.47956890e-03,-3.75628764e-03,-1.85507572e-02, 2.85844635e-02,
  1.29772208e-02, 3.31577659e-03,-9.97361153e-03, 2.58881840e-02,
  1.18918822e+00, 2.02044805e-06, 9.35828613e-01, 6.41334046e-02,
  9.36284502e-02,-7.01037646e-02, 1.30961837e-01, 4.99963798e-01,
  4.89571384e-01, 5.00151882e-01, 5.10102102e-01]

qacc:
[  2.4706484 , -0.85170899,  3.06823675, -4.09120802, -0.7923538 ,
  -1.13505414,  5.57257552,-12.30440849, -1.20989077,  4.26858807,
 -14.66982701, 19.10410596, -0.07701695, -0.45739754, -5.55365573,
  17.15400702, -0.95576923, -1.89699371, -0.42874555,-16.43107125,
   0.64157392, 26.56893803]

qfrc_actuator:
[ 9.33888673e-06,-9.08992566e-05,-3.97310379e-05, 1.43225214e-05,
  5.34064140e-05,-4.07329046e-04,-2.44286647e-04, 2.20755979e-05,
 -6.92173916e-06,-2.88484916e-05,-2.29126669e-04, 5.45401747e-05,
  1.53248918e-02,-1.44249864e-03, 1.57282178e-03,-3.15492212e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003002981736401761
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.24267213e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.24267213e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10941993, -0.0338338 ,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.44079611e-05,-1.59761143e-06, 1.33149384e-05,-1.65382655e-06,
 -4.68366822e-06,-5.13471004e-06, 4.01478704e-06,-1.95119140e-05,
 -6.78830949e-06, 5.89142696e-05,-4.59441830e-05, 1.05778554e-05,
 -1.19806789e-04,-5.85470136e-05,-7.85171298e-05, 6.02666693e-05,
 -6.67886711e-07, 8.58277587e-07,-1.21644247e+00,-4.56547930e-04,
  1.19302694e-05,-5.50335929e-04]


--- Step 983 ---
qpos:
[ 6.18466140e-03,-1.80003511e-03,-4.94513268e-03, 3.35416944e-02,
  4.48057736e-03,-3.75692060e-03,-1.85498635e-02, 2.85847951e-02,
  1.29768845e-02, 3.31617151e-03,-9.97603913e-03, 2.58896615e-02,
  1.18957408e+00, 1.83312662e-06, 9.36116477e-01, 6.41300539e-02,
  9.36158516e-02,-7.01027450e-02, 1.30960081e-01, 5.00004441e-01,
  4.89504536e-01, 5.00121125e-01, 5.10156572e-01]

qacc:
[  4.46052884, -0.19286926, -1.26030937,  7.11719227, -0.53894863,
  -1.92682194,  9.7845506 ,-20.93304977, -0.75239498,  0.98980139,
  -4.68616314, 11.96399279, -0.42265212,  0.407785  ,-16.26305865,
  54.3240869 , -0.95023231, -1.86647053, -0.56816619,-16.09420242,
   0.72931592, 26.18659977]

qfrc_actuator:
[ 3.49649824e-05,-1.15775673e-04,-3.41177991e-05, 3.08316379e-05,
  5.03422373e-05,-3.74633672e-04,-2.18216753e-04,-6.16004167e-06,
 -1.11222772e-05, 5.57844226e-06,-2.11828516e-04, 7.98778023e-05,
  1.52859787e-02,-1.43422799e-03, 1.54698826e-03,-2.90077400e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54815922, -0.06961738, -4.54762639, -0.06961738, 46.77488987,
       -0.6464283 , -4.54762639, -0.6464283 ,  4.55805508,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003023252961376066
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.18069906e-14, -2.75420972e-13,  1.00000000e+00,  2.52855706e-26,
        1.00000000e+00,  2.75420972e-13, -1.00000000e+00,  0.00000000e+00,
        9.18069906e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10941807, -0.03383439,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.60335852e-05,-2.30998345e-05, 6.85620677e-06, 1.68671282e-05,
 -3.19911556e-06, 2.98365445e-05, 2.48298199e-05,-2.86978365e-05,
 -4.37386196e-06, 5.83598085e-05, 2.42026653e-05, 2.64822302e-05,
 -1.23944496e-04,-3.02736991e-05,-5.69894114e-05, 2.47039521e-04,
 -6.85114875e-07, 2.10966708e-07,-1.21644133e+00,-4.56871575e-04,
  1.20421527e-05,-5.50385100e-04]


--- Step 984 ---
qpos:
[ 6.18560847e-03,-1.80017240e-03,-4.94485199e-03, 3.35417431e-02,
  4.48154162e-03,-3.75781859e-03,-1.85487229e-02, 2.85845042e-02,
  1.29765004e-02, 3.31659756e-03,-9.97722624e-03, 2.58910566e-02,
  1.18995912e+00, 1.71371256e-06, 9.36403274e-01, 6.41275215e-02,
  9.35994709e-02,-7.01090902e-02, 1.30955584e-01, 5.00033378e-01,
  4.89446924e-01, 5.00049684e-01, 5.10253508e-01]

qacc:
[ -0.41500654,  1.11038531, -3.57971379,  2.36475445, -0.37502221,
  -2.31873193, 10.38971899,-21.3631258 , -0.38092143, -3.59450232,
  13.22513286,-16.65743181, -0.57529669,  0.67873191, -4.00774859,
  11.81666474, -0.9455053 , -1.84122302, -0.68548043,-15.82199826,
   0.7933976 , 25.86979642]

qfrc_actuator:
[ 3.18873626e-05,-1.30526353e-04,-6.66973143e-05, 2.27091003e-05,
  4.81377671e-05,-4.25884842e-04,-2.20884138e-04,-4.06233648e-05,
 -1.34568483e-05, 8.08890286e-06,-1.47319690e-04, 7.64652050e-05,
  1.52487871e-02,-1.42924187e-03, 1.46260773e-03,-2.87409102e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54633432, -0.16401482,  4.54337483, -0.16401482, 28.06732292,
        0.84910246,  4.54337483,  0.84910246,  4.57698673,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030177644285996064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.19739637e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.19739637e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10941709, -0.03383374,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.34709446e-06,-2.55305779e-05,-3.59340870e-05,-8.55018557e-06,
 -2.28525325e-06,-3.06571949e-05, 5.55737361e-06,-3.28852281e-05,
 -2.44148869e-06, 4.12880556e-05, 8.04815248e-05, 4.42554316e-07,
 -1.17597428e-04,-2.90574246e-05,-8.52423456e-05, 3.26590423e-05,
 -5.71215658e-07,-2.99840213e-07,-1.21644140e+00,-4.57236332e-04,
  1.13061999e-05,-5.50670699e-04]


--- Step 985 ---
qpos:
[ 6.18616651e-03,-1.80023912e-03,-4.94535051e-03, 3.35420401e-02,
  4.48212726e-03,-3.75917868e-03,-1.85477785e-02, 2.85842055e-02,
  1.29757463e-02, 3.31730529e-03,-9.97765985e-03, 2.58924012e-02,
  1.19034339e+00, 1.64455928e-06, 9.36688832e-01, 6.41270031e-02,
  9.35793239e-02,-7.01227172e-02, 1.30947950e-01, 5.00050604e-01,
  4.89398451e-01, 4.99938076e-01, 5.10392467e-01]

qacc:
[ -3.44642804,  2.78933739,-10.84584691, 16.32144669, -3.31170986,
  -0.07240578, -0.58395539,  1.09061727, -3.23823623, -1.83105405,
   7.29277994, -9.58908036, -0.46588156,  0.49439225, -7.88144726,
  24.9782681 , -0.94157736, -1.82041511, -0.78416103,-15.60373843,
   0.83851828, 25.60931089]

qfrc_actuator:
[ 1.19366077e-05,-1.21527648e-04,-1.03798664e-04, 3.56412758e-05,
  2.87032773e-05,-4.73869959e-04,-2.40841533e-04,-4.30588858e-05,
 -3.24280203e-05, 2.71587084e-05,-1.08883843e-04, 7.39090491e-05,
  1.52126544e-02,-1.42624318e-03, 1.41236384e-03,-2.76879605e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53777386, -0.41842518,  4.51844133, -0.41842518, 39.41087515,
        3.22938432,  4.51844133,  3.22938432,  4.83682737,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029918297917523595
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.85542478e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.85542478e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10941683, -0.03383211,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.00244588e-05,-1.30695305e-05,-4.70993884e-05, 1.04279351e-05,
 -1.95093259e-05,-6.53708367e-05,-2.67451211e-05,-4.19684927e-06,
 -1.90289839e-05, 5.87950849e-05, 5.68983045e-05, 2.00518656e-06,
 -1.13217348e-04,-2.89783405e-05,-8.74861811e-05, 9.57900220e-05,
 -3.26291321e-07,-6.81082629e-07,-1.21644264e+00,-4.57656282e-04,
  9.76453979e-06,-5.51192327e-04]


--- Step 986 ---
qpos:
[ 6.18682606e-03,-1.80035994e-03,-4.94601653e-03, 3.35424630e-02,
  4.48212993e-03,-3.76033852e-03,-1.85471197e-02, 2.85841461e-02,
  1.29744255e-02, 3.31871476e-03,-9.97804670e-03, 2.58936996e-02,
  1.19072702e+00, 1.30368432e-06, 9.36973997e-01, 6.41266184e-02,
  9.35592808e-02,-7.01318553e-02, 1.30943662e-01, 5.00081294e-01,
  4.89336957e-01, 4.99844407e-01, 5.10513086e-01]

qacc:
[  0.8883548 ,  0.6541626 , -2.97036973,  5.45904662, -5.11421165,
   1.56426514, -6.18675791, 10.61727422, -4.99756281,  0.71127541,
  -0.97818873, -0.4319831 , -0.22020543, -0.09899772, -0.97542695,
   2.58598723,  0.02598482,  1.12219911,  0.83661931,  2.61179011,
  -0.04529349,-15.66661669]

qfrc_actuator:
[ 1.77289966e-05,-1.16144074e-04,-1.07639911e-04, 4.31328126e-05,
 -7.17140256e-07,-4.13076579e-04,-2.35323483e-04,-2.66434292e-05,
 -6.10396219e-05, 7.36537525e-05,-1.03853621e-04, 7.18677747e-05,
  1.51825090e-02,-1.44219909e-03, 1.40928497e-03,-2.75987804e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.57124973,   1.31624224,   4.37765125,   1.31624224,
        45.64507633, -12.3497973 ,   4.37765125, -12.3497973 ,
         8.28450232,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00030915215017392195
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01002120e-13, -1.79559324e-13,  1.00000000e+00,  1.81358724e-26,
        1.00000000e+00,  1.79559324e-13, -1.00000000e+00,  0.00000000e+00,
        1.01002120e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0918795 , -0.08825448,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.22060489e-06,-1.12084040e-05,-1.19749734e-05, 5.50615980e-06,
 -2.99992962e-05, 1.85662846e-05,-1.14178766e-05, 1.26092916e-05,
 -2.91320170e-05, 9.11800298e-05, 2.42465660e-05, 2.48314804e-06,
 -1.04509961e-04,-4.69696627e-05,-3.38332020e-05, 2.75098070e-06,
  4.96022217e-08,-9.37236385e-07,-1.21644501e+00,-4.58140351e-04,
  7.44825176e-06,-5.51948899e-04]


--- Step 987 ---
qpos:
[ 6.18789489e-03,-1.80086265e-03,-4.94627792e-03, 3.35422839e-02,
  4.48212423e-03,-3.76080385e-03,-1.85466832e-02, 2.85838684e-02,
  1.29731169e-02, 3.32083801e-03,-9.97863834e-03, 2.58946340e-02,
  1.19110988e+00, 1.30727849e-06, 9.37259200e-01, 6.41236243e-02,
  9.35393875e-02,-7.01366128e-02, 1.30941892e-01, 5.00125310e-01,
  4.89262380e-01, 4.99768274e-01, 5.10615972e-01]

qacc:
[  3.61771544, -2.88232174, 12.07284651,-22.84044955, -0.09218894,
   1.08994106, -1.6328283 , -2.30005806,  0.08900242,  0.76625809,
   0.17330615, -6.67100437, -1.00559631,  1.62837966,  8.00013237,
 -27.74585186,  0.03744515,  1.09517333,  0.62953703,  2.37667052,
   0.05514622,-15.39508502]

qfrc_actuator:
[ 3.86323311e-05,-1.48338409e-04,-9.18251172e-05, 1.18777915e-05,
 -2.68041709e-07,-3.40751504e-04,-2.32104765e-04,-3.46665599e-05,
 -5.95855934e-05, 1.00565947e-04,-1.18461446e-04, 5.23987775e-05,
  1.51559708e-02,-1.41596799e-03, 1.40251863e-03,-2.89647456e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59595842,  0.87519963,  4.51185765,  0.87519963, 18.12796609,
       -2.62490729,  4.51185765, -2.62490729,  5.10513182,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031622743590555
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.86513223e-13, -3.51083713e-13,  1.00000000e+00,  6.54817548e-26,
        1.00000000e+00,  3.51083713e-13, -1.00000000e+00,  0.00000000e+00,
        1.86513223e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09188171, -0.08825324,  0.06199096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10490917e-05,-4.06888686e-05, 1.22225144e-05,-3.20420120e-05,
 -4.01471961e-07, 8.09133575e-05, 6.09067372e-06,-7.37463724e-06,
  6.61445555e-07, 8.29516811e-05, 7.28400131e-06,-1.46784793e-05,
 -9.94851427e-05,-6.66056222e-06,-2.63042160e-05,-1.41780216e-04,
 -3.28936261e-07,-9.19558424e-07,-1.21644405e+00,-4.57061026e-04,
  9.12614332e-06,-5.52007157e-04]


--- Step 988 ---
qpos:
[ 6.18920593e-03,-1.80158429e-03,-4.94643236e-03, 3.35424223e-02,
  4.48212388e-03,-3.76081425e-03,-1.85464572e-02, 2.85838715e-02,
  1.29718362e-02, 3.32323821e-03,-9.97948569e-03, 2.58953884e-02,
  1.19149191e+00, 1.67151576e-06, 9.37543721e-01, 6.41223507e-02,
  9.35196788e-02,-7.01370786e-02, 1.30941944e-01, 5.00182527e-01,
  4.89174680e-01, 4.99709340e-01, 5.10701623e-01]

qacc:
[  2.13703956,  0.06106329, -1.9847961 ,  7.476145  ,  0.03256776,
   1.76589873, -6.60986724, 11.46939631,  0.2320359 ,  0.7097722 ,
  -1.24053894, -1.6684952 , -0.80661392,  1.27881824, -6.14268159,
  20.16141157,  0.04613876,  1.07290533,  0.45534742,  2.18672367,
   0.13610427,-15.16739911]

qfrc_actuator:
[ 5.05012316e-05,-1.49472163e-04,-8.24744621e-05, 2.90628257e-05,
  8.71599800e-09,-3.33092287e-04,-2.47967338e-04,-2.14858458e-05,
 -5.81971077e-05, 7.99304348e-05,-1.44619235e-04, 4.05620179e-05,
  1.51103292e-02,-1.40043745e-03, 1.39351529e-03,-2.79814295e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60816179,  0.78537135,  4.540743  ,  0.78537135, 27.76199339,
       -4.00470937,  4.540743  , -4.00470937,  5.30082024,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003196391573846158
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.25627841e-14, -1.73668182e-13,  1.00000000e+00, -5.65511949e-27,
        1.00000000e+00,  1.73668182e-13, -1.00000000e+00,  0.00000000e+00,
       -3.25627841e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0918834 , -0.08825284,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24559152e-05,-2.27099597e-05, 1.34991648e-06, 1.52417523e-05,
  2.93586769e-07, 5.38599982e-05, 1.34636377e-06, 1.67162049e-05,
  1.44284621e-06, 2.65511405e-05,-8.65508778e-06,-8.32134033e-06,
 -1.06587008e-04,-7.88412324e-06,-4.24705841e-05, 8.57703763e-05,
 -6.84621028e-07,-8.17373058e-07,-1.21644344e+00,-4.56039287e-04,
  1.06574579e-05,-5.51988176e-04]


--- Step 989 ---
qpos:
[ 6.19030396e-03,-1.80209819e-03,-4.94664977e-03, 3.35423763e-02,
  4.48212721e-03,-3.76084402e-03,-1.85461963e-02, 2.85840774e-02,
  1.29709276e-02, 3.32528039e-03,-9.98007360e-03, 2.58963877e-02,
  1.19187354e+00, 1.09513516e-06, 9.37827408e-01, 6.41196794e-02,
  9.35001808e-02,-7.01333259e-02, 1.30943232e-01, 5.00252842e-01,
  4.89073827e-01, 4.99667328e-01, 5.10770445e-01]

qacc:
[ -1.87858429,  0.07469367,  0.91665207, -4.16621617,  0.0338572 ,
   0.29371673, -1.94069023,  5.407778  ,  3.28962058, -0.7006947 ,
   0.76692136,  3.3313725 ,  0.4559758 , -1.64172928,  2.93713673,
 -12.18733458,  0.05267233,  1.05464509,  0.30912319,  2.03273013,
   0.20180303,-14.97775201]

qfrc_actuator:
[ 3.92002001e-05,-1.14227135e-04,-7.68664699e-05, 2.13753941e-05,
  1.71706495e-07,-3.64270828e-04,-2.57449005e-04,-1.37470924e-05,
 -3.91157931e-05, 3.09176142e-05,-1.42068909e-04, 5.10187906e-05,
  1.50745616e-02,-1.46249173e-03, 1.31932371e-03,-2.88168790e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60983687, -0.66167758, -4.56210244, -0.66167758, 28.42886672,
       -3.45466115, -4.56210244, -3.45466115,  5.11089353,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003201033477662901
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84254862e-13, -1.73416341e-13,  1.00000000e+00,  3.19528039e-26,
        1.00000000e+00,  1.73416341e-13, -1.00000000e+00,  0.00000000e+00,
        1.84254862e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0918847 , -0.08825314,  0.06199085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09530789e-05, 2.35052424e-05, 1.61862532e-06,-8.31636047e-06,
  1.89422593e-07,-6.78977838e-08, 2.38495807e-06, 1.04183478e-05,
  1.91391484e-05,-3.63919444e-05, 6.65961436e-06, 1.11277225e-05,
 -1.00905086e-04,-8.74984961e-05,-8.78214394e-05,-8.50486705e-05,
 -1.02242281e-06,-6.31401143e-07,-1.21644316e+00,-4.55060254e-04,
  1.20603262e-05,-5.51889010e-04]


--- Step 990 ---
qpos:
[ 6.19125834e-03,-1.80263797e-03,-4.94670278e-03, 3.35419073e-02,
  4.48213243e-03,-3.76075298e-03,-1.85463161e-02, 2.85836954e-02,
  1.29712899e-02, 3.32668945e-03,-9.97961284e-03, 2.58974854e-02,
  1.19225460e+00, 5.76026244e-08, 9.38110047e-01, 6.41166839e-02,
  9.34809128e-02,-7.01254141e-02, 1.30945267e-01, 5.00336165e-01,
  4.88959800e-01, 4.99642005e-01, 5.10822771e-01]

qacc:
[-1.25783534e+00,-1.36245345e+00, 6.59826291e+00,-1.41676522e+01,
  2.10127307e-03, 1.40312559e-02, 2.66402157e+00,-1.23182294e+01,
  1.12278121e+01,-3.58667417e+00, 1.11204084e+01,-1.05842616e+01,
 -9.79352573e-03,-5.69670210e-01,-5.82698725e-01,-2.42805550e-01,
  5.75215043e-02, 1.03976554e+00, 1.86664127e-01, 1.90737996e+00,
  2.55557128e-01,-1.48211521e+01]

qfrc_actuator:
[ 3.21081685e-05,-1.28504460e-04,-7.33769252e-05,-8.60688325e-07,
  2.65951218e-07,-3.65201781e-04,-2.81015928e-04,-4.48130653e-05,
  2.57310084e-05, 9.07853406e-07,-8.72013228e-05, 5.67462570e-05,
  1.50500357e-02,-1.48117675e-03, 1.27529255e-03,-2.89440242e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60306361, -0.50088588, -4.57573032, -0.50088588, 41.92045398,
       -4.08497719, -4.57573032, -4.08497719,  5.05022882,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031822029630701465
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09026577e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.09026577e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09188569, -0.08825398,  0.0619909 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.39311711e-06,-1.14107759e-06, 8.26449035e-06,-2.13327305e-05,
  9.91021270e-08,-3.21946994e-08,-2.29298568e-05,-3.07845887e-05,
  6.53831724e-05,-4.85733433e-05, 4.85347157e-05, 4.60845655e-06,
 -1.05346821e-04,-5.86671793e-05,-9.54638028e-05,-2.91123067e-05,
 -1.34608300e-06,-3.62373175e-07,-1.21644318e+00,-4.54112652e-04,
  1.33487284e-05,-5.51707546e-04]


--- Step 991 ---
qpos:
[ 6.19212029e-03,-1.80318889e-03,-4.94700036e-03, 3.35415478e-02,
  4.48213881e-03,-3.76064648e-03,-1.85467182e-02, 2.85832967e-02,
  1.29727720e-02, 3.32746018e-03,-9.97865438e-03, 2.58979916e-02,
  1.19263468e+00,-9.03298039e-08, 9.38391848e-01, 6.41187147e-02,
  9.34646246e-02,-7.01254386e-02, 1.30945844e-01, 5.00382850e-01,
  4.88887155e-01, 4.99595086e-01, 5.10892458e-01]

qacc:
[-8.20136712e-01, 8.96109315e-01,-3.67598972e+00, 5.96754255e+00,
  1.07234394e-03, 7.74518874e-01,-2.66146455e+00, 2.81143957e+00,
  9.87945692e+00,-3.47157682e+00, 1.36183807e+01,-2.41459988e+01,
 -1.18873067e+00, 2.25122882e+00,-1.63111848e+01, 5.54929021e+01,
  7.44941892e-01,-1.98408683e+00,-3.64697125e-01, 9.45640264e+00,
 -2.57525197e+00, 2.93186135e+01]

qfrc_actuator:
[ 2.75573964e-05,-1.36839425e-04,-8.91132681e-05, 3.99178211e-06,
  3.19281762e-07,-3.65869267e-04,-2.94879768e-04,-4.51945329e-05,
  8.14842498e-05,-5.27870086e-05,-7.28469055e-05, 2.41792946e-05,
  1.50216329e-02,-1.42068552e-03, 1.30266503e-03,-2.61659634e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61030097,  0.73831988, -4.5507976 ,  0.73831988, 41.96588798,
        6.06055792, -4.5507976 ,  6.06055792,  5.59356385,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003202317848455538
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73346788e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.73346788e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08179882, -0.03157997,  0.06199085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.75896932e-06,-8.16443773e-06,-1.56849497e-05, 4.67682037e-06,
  5.83578396e-08,-6.74200766e-06,-1.77590383e-05,-1.77445139e-06,
  5.75968310e-05,-7.06692633e-05, 1.04319320e-05,-3.28887764e-05,
 -1.05209861e-04, 2.53681028e-05,-2.08584553e-05, 2.63668342e-04,
 -1.65843392e-06,-1.09568766e-08,-1.21644351e+00,-4.53187862e-04,
  1.45335016e-05,-5.51442258e-04]


--- Step 992 ---
qpos:
[ 6.19326573e-03,-1.80355894e-03,-4.94730510e-03, 3.35412078e-02,
  4.48214597e-03,-3.76082161e-03,-1.85469306e-02, 2.85835925e-02,
  1.29742212e-02, 3.32804383e-03,-9.97849692e-03, 2.58977914e-02,
  1.19301397e+00, 4.33034308e-07, 9.38673478e-01, 6.41213746e-02,
  9.34512231e-02,-7.01332898e-02, 1.30944345e-01, 5.00393299e-01,
  4.88855155e-01, 4.99527212e-01, 5.10979205e-01]

qacc:
[ 2.48937257e+00, 2.94579697e-01,-7.94544110e-01, 1.02084023e+00,
  1.79688315e-02, 5.26021255e-01,-5.34893442e+00, 1.72738571e+01,
 -3.10940604e-01, 5.37808414e-01, 7.07518194e-01,-1.15170082e+01,
 -1.11605304e+00, 2.04831350e+00,-2.06855986e+00, 7.06643342e+00,
  7.21650478e-01,-1.95665899e+00,-5.18722818e-01, 9.41295617e+00,
 -2.40317303e+00, 2.88002294e+01]

qfrc_actuator:
[ 4.22902401e-05,-1.06108079e-04,-8.05366662e-05, 6.98133076e-06,
  3.48027641e-07,-3.84074256e-04,-2.85115177e-04,-9.74862381e-06,
  7.81663121e-05,-6.71765929e-05,-1.18174154e-04,-1.29610331e-05,
  1.49909616e-02,-1.38486538e-03, 1.27703409e-03,-2.59576181e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61836977,  2.44137351, -3.92033605,  2.44137351, 21.34676355,
       10.41753994, -3.92033605, 10.41753994, 11.10585087,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003224528664615284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72152761e-13, -3.44305522e-13,  1.00000000e+00,  5.92731462e-26,
        1.00000000e+00,  3.44305522e-13, -1.00000000e+00,  0.00000000e+00,
        1.72152761e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08179728, -0.03158182,  0.06199078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.45972386e-05, 2.31460214e-05, 5.13012688e-06, 2.19075154e-06,
  2.88508928e-08,-2.57175581e-05, 6.12737324e-06, 3.45095133e-05,
 -1.70179602e-06,-5.31782588e-05,-5.98001479e-05,-4.04550243e-05,
 -8.67730503e-05, 1.71935782e-05,-9.91134078e-06, 3.19360977e-05,
 -6.92648592e-07,-4.29958254e-07,-1.21644209e+00,-4.53795663e-04,
  1.24231985e-05,-5.51175134e-04]


--- Step 993 ---
qpos:
[ 6.19457875e-03,-1.80368887e-03,-4.94755783e-03, 3.35408939e-02,
  4.48180833e-03,-3.76104938e-03,-1.85470827e-02, 2.85839447e-02,
  1.29752747e-02, 3.32877543e-03,-9.97882834e-03, 2.58970826e-02,
  1.19339275e+00, 5.98775391e-07, 9.38954716e-01, 6.41243055e-02,
  9.34403325e-02,-7.01431609e-02, 1.30944935e-01, 5.00387746e-01,
  4.88840264e-01, 4.99460178e-01, 5.11064409e-01]

qacc:
[ 1.47112944, 0.22272189,-0.44851971, 0.64448201,-3.01469137,-0.11603559,
  0.08505364, 0.82157233,-3.5009782 , 0.52183935, 0.58214452,-8.72389653,
 -0.04943401,-0.39888114,-1.40198142, 4.04981891, 0.62774561,-0.50498863,
  0.5222865 , 8.79126782,-0.54124632, 7.77021459]

qfrc_actuator:
[ 5.05016780e-05,-8.76297786e-05,-7.52645110e-05, 8.89927635e-06,
 -1.73906838e-05,-3.77005597e-04,-2.79285382e-04,-6.76878259e-06,
  5.78628891e-05,-2.26736628e-05,-1.27200253e-04,-3.47412993e-05,
  1.49482954e-02,-1.41724331e-03, 1.25152617e-03,-2.58470252e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032191720846064205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72439217e-13, -1.76606900e-07,  1.00000000e+00,  3.04539555e-20,
        1.00000000e+00,  1.76606900e-07, -1.00000000e+00,  0.00000000e+00,
        1.72439217e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08415405, -0.06066946,  0.0619908 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.63580438e-06, 3.25945000e-05, 1.07678482e-05, 3.13135248e-06,
 -1.77485464e-05,-4.55977749e-06, 2.47050508e-06, 2.76153855e-06,
 -2.03642577e-05, 6.60628020e-07,-2.87829228e-05,-2.69165074e-05,
 -9.00785710e-05,-4.82832690e-05,-3.20642036e-05, 1.02837640e-05,
  2.37215107e-08,-3.92208690e-07,-1.21644190e+00,-4.54196194e-04,
  1.10051721e-05,-5.51130390e-04]


--- Step 994 ---
qpos:
[ 6.19563542e-03,-1.80377154e-03,-4.94823146e-03, 3.35410089e-02,
  4.48126049e-03,-3.76100890e-03,-1.85475537e-02, 2.85836240e-02,
  1.29764215e-02, 3.32971480e-03,-9.97940684e-03, 2.58964377e-02,
  1.19377075e+00, 1.01744458e-06, 9.39235334e-01, 6.41273800e-02,
  9.34311760e-02,-7.01487512e-02, 1.30947157e-01, 5.00389802e-01,
  4.88816881e-01, 4.99416241e-01, 5.11127696e-01]

qacc:
[ -2.2679795 ,  2.12636443, -9.29293885, 17.34185265, -1.85465973,
  -0.1348447 ,  3.84292764,-15.18255514,  0.8103597 ,  1.09502827,
  -3.77841121,  5.12884489, -0.75968735,  1.1399744 , -1.29702118,
   3.32863837,  0.43353124,  1.07022015,  0.4078562 ,  7.39099214,
   0.69092618,-15.19390295]

qfrc_actuator:
[ 3.70501446e-05,-1.12140162e-04,-1.07536600e-04, 2.79126148e-05,
 -2.76919792e-05,-3.54889072e-04,-2.93515443e-04,-4.06608173e-05,
  6.32495352e-05, 3.64668796e-06,-1.32190023e-04,-2.94682152e-05,
  1.49090872e-02,-1.40101653e-03, 1.21546640e-03,-2.57940190e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032518121717811654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.41416714e-13,  3.41416714e-13,  1.00000000e+00, -1.16565372e-25,
        1.00000000e+00, -3.41416714e-13, -1.00000000e+00,  0.00000000e+00,
        3.41416714e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08640559, -0.08842416,  0.0619907 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31944554e-05,-3.91763490e-06,-2.41011629e-05, 2.08444986e-05,
 -1.08101225e-05, 2.01984279e-05,-1.47676344e-05,-3.39474176e-05,
  4.81245250e-06, 1.95659889e-05,-9.33109183e-06, 3.78337891e-06,
 -1.03848794e-04,-1.36960803e-05,-5.38006938e-05, 7.81767022e-07,
  2.30085859e-07,-2.25063289e-07,-1.21644172e+00,-4.54098556e-04,
  1.10895665e-05,-5.51218692e-04]


--- Step 995 ---
qpos:
[ 6.19686786e-03,-1.80404631e-03,-4.94891054e-03, 3.35416989e-02,
  4.48059330e-03,-3.76076226e-03,-1.85482275e-02, 2.85832450e-02,
  1.29776237e-02, 3.33109443e-03,-9.98046660e-03, 2.58958466e-02,
  1.19414793e+00, 2.14856711e-06, 9.39515149e-01, 6.41295334e-02,
  9.34237452e-02,-7.01501266e-02, 1.30950426e-01, 5.00399395e-01,
  4.88785024e-01, 4.99395044e-01, 5.11169479e-01]

qacc:
[  1.54905279,  0.9424167 , -6.16135654, 16.2689488 , -1.05439154,
   0.72072263, -1.92436379,  1.08191037,  0.46421635,  2.03660331,
  -6.64581381,  8.02263824, -1.22446621,  2.24722769,  1.68713236,
  -7.41030413,  0.43141293,  1.05371392,  0.26179944,  7.21917922,
   0.71801043,-14.98006201]

qfrc_actuator:
[ 4.64630063e-05,-1.26841680e-04,-1.08625225e-04, 5.67700063e-05,
 -3.35274942e-05,-3.41796297e-04,-3.01673718e-04,-4.27114418e-05,
  6.59667586e-05, 3.66911259e-05,-1.52556869e-04,-2.60847501e-05,
  1.48826476e-02,-1.35609442e-03, 1.16245862e-03,-2.63079541e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.62923635, -0.30546686,  4.61914702, -0.30546686, 48.35282333,
        2.89146602,  4.61914702,  2.89146602,  4.82045067,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032540913094412927
  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([ 0.08640631, -0.08842428,  0.0619907 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.03736863e-06,-2.09748642e-05,-4.13705018e-06, 2.82630941e-05,
 -6.13526855e-06, 1.98835578e-05,-6.97376272e-06,-2.35453302e-06,
  2.86325575e-06, 4.22000243e-05,-1.73454517e-05, 3.97337494e-06,
 -9.15363735e-05, 1.90385095e-05,-8.10359000e-05,-5.90450480e-05,
  6.32862360e-08,-2.32626146e-07,-1.21644086e+00,-4.53541080e-04,
  1.20447190e-05,-5.51243632e-04]


--- Step 996 ---
qpos:
[ 6.19854838e-03,-1.80449354e-03,-4.94959264e-03, 3.35427267e-02,
  4.48020620e-03,-3.76043144e-03,-1.85486841e-02, 2.85828305e-02,
  1.29781593e-02, 3.33270488e-03,-9.98113972e-03, 2.58949216e-02,
  1.19452459e+00, 3.23359318e-06, 9.39794023e-01, 6.41326751e-02,
  9.34180321e-02,-7.01473413e-02, 1.30954254e-01, 5.00416461e-01,
  4.88744709e-01, 4.99396294e-01, 5.11190098e-01]

qacc:
[  3.94300604,  0.4682659 , -3.43938878,  9.43049906,  2.45659311,
  -0.57312767,  2.34646243, -3.35988648, -5.85768664, -1.45148186,
   7.04779472,-13.63662543, -0.26167057,  0.18394938, -4.35830795,
  13.26053494,  0.42944431,  1.0401682 ,  0.1395383 ,  7.0792278 ,
   0.73920844,-14.80356266]

qfrc_actuator:
[ 6.92649137e-05,-1.35437418e-04,-1.09003501e-04, 7.34633715e-05,
 -1.89376871e-05,-3.34162987e-04,-2.88424836e-04,-4.37551583e-05,
  3.15777560e-05, 5.57017793e-05,-1.28559047e-04,-4.16031140e-05,
  1.48532493e-02,-1.36552634e-03, 1.13660130e-03,-2.57317700e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003232815526618138
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.71711472e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.71711472e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08640665, -0.08842501,  0.06199076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.30519599e-05,-1.99528994e-05,-4.23460907e-06, 1.62014715e-05,
  1.44218595e-05, 1.72084342e-05, 1.64214797e-05,-4.76663077e-07,
 -3.42892187e-05, 3.91650507e-05, 3.07145014e-05,-1.42320317e-05,
 -8.01132489e-05,-2.55852439e-05,-7.19882169e-05, 4.33853024e-05,
 -8.01616196e-08,-1.76490433e-07,-1.21644039e+00,-4.53009612e-04,
  1.27027166e-05,-5.51176733e-04]


--- Step 997 ---
qpos:
[ 6.20014410e-03,-1.80482923e-03,-4.95065689e-03, 3.35435909e-02,
  4.47999701e-03,-3.76007209e-03,-1.85492009e-02, 2.85820879e-02,
  1.29772440e-02, 3.33439487e-03,-9.98144042e-03, 2.58938380e-02,
  1.19490075e+00, 3.98193277e-06, 9.40072688e-01, 6.41324106e-02,
  9.34140298e-02,-7.01404394e-02, 1.30958231e-01, 5.00440950e-01,
  4.88695949e-01, 4.99419750e-01, 5.11189826e-01]

qacc:
[-7.59775738e-01, 8.80477001e-01,-2.23243831e+00,-7.17923863e-02,
  1.55444808e+00,-4.71724519e-01, 3.11709078e+00,-8.71459556e+00,
 -1.27580355e+01,-1.23702606e+00, 5.27556335e+00,-8.71900184e+00,
 -2.64667035e-01,-1.92593847e-02, 9.97761519e+00,-3.53427772e+01,
  4.27679310e-01, 1.02914736e+00, 3.74775405e-02, 6.96568989e+00,
  7.55797208e-01,-1.46591912e+01]

qfrc_actuator:
[ 6.42523699e-05,-1.22559866e-04,-1.26708444e-04, 6.51129804e-05,
 -1.01970167e-05,-3.47518469e-04,-2.98175834e-04,-6.19469500e-05,
 -4.21278527e-05, 4.85728661e-05,-1.14123096e-04,-5.03437363e-05,
  1.48167532e-02,-1.38934447e-03, 1.11109826e-03,-2.75348724e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003193053788335537
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73849722e-13, -1.73849722e-13,  1.00000000e+00,  3.02237257e-26,
        1.00000000e+00,  1.73849722e-13, -1.00000000e+00,  0.00000000e+00,
        1.73849722e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08640669, -0.08842621,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.36267276e-06, 1.56387079e-06,-2.17792410e-05,-9.03765205e-06,
  9.15802098e-06,-3.61809387e-07,-4.18838533e-06,-1.68947828e-05,
 -7.46625114e-05, 2.04483359e-05, 2.58097651e-05,-6.27494897e-06,
 -9.03824971e-05,-4.66484757e-05,-5.56435541e-05,-1.87588307e-04,
 -2.02340115e-07,-5.77569300e-08,-1.21644027e+00,-4.52499622e-04,
  1.30781498e-05,-5.51017542e-04]


--- Step 998 ---
qpos:
[ 6.20097755e-03,-1.80499058e-03,-4.95171608e-03, 3.35443132e-02,
  4.47920464e-03,-3.75975057e-03,-1.85501484e-02, 2.85825494e-02,
  1.29754523e-02, 3.33605008e-03,-9.98119896e-03, 2.58926613e-02,
  1.19527654e+00, 3.64161289e-06, 9.40351215e-01, 6.41292308e-02,
  9.34117321e-02,-7.01294564e-02, 1.30962018e-01, 5.00472817e-01,
  4.88638756e-01, 4.99465215e-01, 5.11168880e-01]

qacc:
[ -6.70539365, -0.06307227,  1.18147176, -3.80049623, -5.11586292,
   3.63864945,-18.11483556, 39.65138779, -7.69431837, -1.73778309,
   6.54858362, -9.02894991,  0.49828036, -1.80156079,  8.53969212,
 -30.30700918,  0.42614909,  1.02028049, -0.04746239,  6.87412064,
   0.76876254,-14.54250988]

qfrc_actuator:
[ 2.51521801e-05,-9.70133516e-05,-1.18923791e-04, 5.98551390e-05,
 -4.04809509e-05,-3.55692617e-04,-3.21536171e-04,-1.35759368e-06,
 -8.51145125e-05, 4.35717954e-05,-8.78120652e-05,-5.50595795e-05,
  1.47813414e-02,-1.45699058e-03, 1.11773061e-03,-2.89502912e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003139026777446985
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.76841917e-13,  1.76841917e-13,  1.00000000e+00, -3.12730635e-26,
        1.00000000e+00, -1.76841917e-13, -1.00000000e+00,  0.00000000e+00,
        1.76841917e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08640651, -0.08842777,  0.06199103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.92204536e-05, 2.15510395e-05, 5.12553727e-06,-6.11920657e-06,
 -3.00215713e-05,-9.96775886e-06,-2.45324421e-05, 6.01017623e-05,
 -4.50966411e-05, 1.14119731e-05, 3.34850692e-05,-3.06636985e-06,
 -1.00478380e-04,-9.70137203e-05,-4.36937914e-05,-1.60049161e-04,
 -3.04846898e-07, 1.22618125e-07,-1.21644050e+00,-4.52007679e-04,
  1.31821598e-05,-5.50765784e-04]


--- Step 999 ---
qpos:
[ 6.20133621e-03,-1.80532386e-03,-4.95279396e-03, 3.35446676e-02,
  4.47805564e-03,-3.75977263e-03,-1.85504564e-02, 2.85847341e-02,
  1.29735039e-02, 3.33745441e-03,-9.98024275e-03, 2.58917985e-02,
  1.19565175e+00, 2.53408941e-06, 9.40628751e-01, 6.41287062e-02,
  9.34123624e-02,-7.01263445e-02, 1.30963708e-01, 5.00468946e-01,
  4.88622048e-01, 4.99489485e-01, 5.11164928e-01]

qacc:
[ -4.17268395, -0.92419907,  4.53218142,-10.75565968, -3.09413244,
   1.30928084,-12.59401952, 41.63708021, -1.35200751, -1.68024692,
   4.18888459,  0.28206183,  0.39472145, -1.47883858, -9.52286955,
  31.08282843,  0.73203026, -1.96777122, -0.52424182,  9.20141508,
  -2.57401578, 28.67529266]

qfrc_actuator:
[ 1.81603870e-06,-1.34983397e-04,-1.31584986e-04, 3.87441423e-05,
 -5.79844573e-05,-3.60703010e-04,-2.81657088e-04, 8.73468204e-05,
 -9.19113795e-05, 2.21773102e-05,-5.46946888e-05,-3.96099020e-05,
  1.47465855e-02,-1.49678891e-03, 1.10103879e-03,-2.74614895e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58173083,  0.40903702, -4.56343578,  0.40903702, 42.76685298,
        3.42266861, -4.56343578,  3.42266861,  4.88851682,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003121814704975523
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.89084659e-14, -3.55633863e-13,  1.00000000e+00,  3.16188612e-26,
        1.00000000e+00,  3.55633863e-13, -1.00000000e+00,  0.00000000e+00,
        8.89084659e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08178224, -0.03157878,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.44422671e-05,-2.51217108e-05,-7.77655077e-06,-2.01266790e-05,
 -1.83661216e-05,-1.30879735e-05, 3.68853715e-05, 8.85996883e-05,
 -8.07005300e-06,-8.30901900e-06, 3.94734210e-05, 1.70375942e-05,
 -1.17148908e-04,-8.19017717e-05,-5.87413544e-05, 1.33380233e-04,
 -3.88913210e-07, 3.63806387e-07,-1.21644108e+00,-4.51531172e-04,
  1.30231534e-05,-5.50421293e-04]


--- Step 1000 ---
qpos:
[ 6.20210207e-03,-1.80584294e-03,-4.95424481e-03, 3.35444484e-02,
  4.47739517e-03,-3.75999042e-03,-1.85499699e-02, 2.85872435e-02,
  1.29718337e-02, 3.33897850e-03,-9.97955319e-03, 2.58911483e-02,
  1.19602612e+00, 1.73084573e-06, 9.40905527e-01, 6.41283129e-02,
  9.34158388e-02,-7.01310020e-02, 1.30962794e-01, 5.00429564e-01,
  4.88645245e-01, 4.99493141e-01, 5.11177736e-01]

qacc:
[  3.57156538, -0.39094051,  3.44677292,-12.62648704,  4.30384072,
  -1.8179204 ,  4.72124342, -0.21106882,  2.43759675,  1.33614493,
  -5.43986432,  9.46428358, -0.84920921,  1.29715597, -1.45968539,
   3.61298443,  0.71149625, -1.94234175, -0.65117108,  9.20728518,
  -2.39431239, 28.27221723]

qfrc_actuator:
[ 2.34610293e-05,-1.57528959e-04,-1.56491975e-04, 8.40382980e-06,
 -3.23077166e-05,-3.63494281e-04,-2.40237580e-04, 1.03156407e-04,
 -7.73634777e-05, 2.66820412e-05,-7.11408666e-05,-3.01833374e-05,
  1.47229069e-02,-1.46650669e-03, 1.04913127e-03,-2.74696729e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58085965, -1.59107065,  4.29566867, -1.59107065, 17.05246291,
        4.61935112,  4.29566867,  4.61935112,  6.29181888,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003119312754722853
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.77959556e-13,  1.77959556e-13,  1.00000000e+00, -3.16696035e-26,
        1.00000000e+00, -1.77959556e-13, -1.00000000e+00,  0.00000000e+00,
        1.77959556e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08178024, -0.03157887,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.09445012e-05,-3.90484149e-05,-3.17340891e-05,-3.20742858e-05,
  2.51423312e-05, 1.29882095e-06, 4.63251568e-05, 1.82458831e-05,
  1.43186799e-05, 8.67307443e-06,-1.27383310e-05, 1.07645014e-05,
 -1.12023669e-04,-1.27610318e-05,-6.61900580e-05,-1.41906683e-06,
 -8.15076135e-08, 6.34822847e-08,-1.21644011e+00,-4.52424183e-04,
  1.27068083e-05,-5.50234963e-04]


--- Step 1001 ---
qpos:
[ 6.20312106e-03,-1.80640084e-03,-4.95584061e-03, 3.35445235e-02,
  4.47739219e-03,-3.76009778e-03,-1.85496009e-02, 2.85896017e-02,
  1.29706960e-02, 3.34020599e-03,-9.97858170e-03, 2.58902867e-02,
  1.19639965e+00, 1.50782118e-06, 9.41182177e-01, 6.41271217e-02,
  9.34220954e-02,-7.01433446e-02, 1.30958849e-01, 5.00354862e-01,
  4.88707869e-01, 4.99476649e-01, 5.11207109e-01]

qacc:
[ 2.2220279 , 0.95518797,-4.72922898,10.08750286, 5.74855126, 0.1517005 ,
  0.29000813,-2.77984079, 4.70072472,-1.62394794, 6.09751655,-9.96853142,
 -1.14767026, 2.00964044, 2.30816495,-8.14546784, 0.69504354,-1.92129982,
 -0.75770344, 9.20792389,-2.25003604,27.9415676 ]

qfrc_actuator:
[ 3.58973591e-05,-1.35231923e-04,-1.52879408e-04, 2.61366965e-05,
  8.22034705e-07,-3.64964486e-04,-2.51562370e-04, 9.36909757e-05,
 -5.03809174e-05,-6.80187763e-06,-6.33717717e-05,-4.21474149e-05,
  1.46952682e-02,-1.43044599e-03, 1.06132178e-03,-2.78288501e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57235083, -1.76997241,  4.21587355, -1.76997241, 23.62595625,
        7.9993756 ,  4.21587355,  7.9993756 ,  7.93077085,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003094723890781914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.79373518e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.79373518e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177829, -0.0315777 ,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30239972e-05,-7.42756744e-06,-9.44984766e-06, 1.43412252e-05,
  3.38458140e-05, 9.61196729e-06,-4.72853350e-06,-7.45903871e-06,
  2.73978489e-05,-3.08659480e-05, 8.33737052e-06,-1.18280754e-05,
 -9.74429095e-05, 8.55362738e-06,-2.11536463e-05,-4.51245210e-05,
 -5.12555272e-09, 2.03188003e-07,-1.21644032e+00,-4.53114057e-04,
  1.30187412e-05,-5.50254699e-04]


--- Step 1002 ---
qpos:
[ 6.20359145e-03,-1.80704475e-03,-4.95684200e-03, 3.35447639e-02,
  4.47744165e-03,-3.76010227e-03,-1.85493042e-02, 2.85907904e-02,
  1.29698915e-02, 3.34025430e-03,-9.97681763e-03, 2.58897132e-02,
  1.19677231e+00, 2.03140296e-06, 9.41458145e-01, 6.41285156e-02,
  9.34301668e-02,-7.01513744e-02, 1.30957098e-01, 5.00288012e-01,
  4.88761488e-01, 4.99483549e-01, 5.11214531e-01]

qacc:
[ -4.80353627, -1.42530155,  4.23461089, -2.275492  ,  0.45410313,
  -2.0672522 , 12.50540625,-32.70223051,  2.97697095, -3.18645038,
   7.87404123, -3.27711318, -1.12074129,  2.0677668 , -8.72369236,
  29.25976309,  0.45372921,  1.07822358,  0.54869909,  7.28932632,
   0.82891958,-15.46381436]

qfrc_actuator:
[ 7.29441885e-06,-1.21607249e-04,-1.14481315e-04, 3.65699144e-05,
  2.55394214e-06,-3.65869923e-04,-2.58434395e-04, 3.39012837e-05,
 -3.40558901e-05,-1.15968417e-04,-4.15154378e-05,-3.11018682e-05,
  1.46546309e-02,-1.39131586e-03, 1.04803183e-03,-2.64370668e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003133247736366862
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.85840443e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.85840443e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08640771, -0.08842807,  0.06199104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.82320582e-05, 8.17367104e-06, 3.62195749e-05, 1.00709937e-05,
  2.70263425e-06, 3.17929558e-06,-5.73693115e-06,-5.96938252e-05,
  1.70974962e-05,-1.25259571e-04, 1.60721658e-05, 9.77674676e-06,
 -9.65470461e-05, 1.91339665e-05,-3.33560048e-05, 1.32731042e-04,
 -1.47194060e-07, 7.69746662e-07,-1.21644167e+00,-4.53637748e-04,
  1.39472864e-05,-5.50473824e-04]


--- Step 1003 ---
qpos:
[ 6.20337075e-03,-1.80794539e-03,-4.95726982e-03, 3.35451505e-02,
  4.47682190e-03,-3.75989976e-03,-1.85491434e-02, 2.85908993e-02,
  1.29689441e-02, 3.33949612e-03,-9.97541343e-03, 2.58893098e-02,
  1.19714446e+00, 2.20041097e-06, 9.41733226e-01, 6.41316282e-02,
  9.34400330e-02,-7.01551612e-02, 1.30956872e-01, 5.00228888e-01,
  4.88806241e-01, 4.99513444e-01, 5.11200388e-01]

qacc:
[ -6.05404993, -1.62977454,  4.72146164, -2.93984172, -5.86513865,
  -1.5565972 , 10.52788251,-29.17546688, -1.25490903,  0.29256335,
  -3.30400319,  7.41337457,  0.04340284, -0.55247195, -6.50956194,
  20.83999524,  0.44867853,  1.06073694,  0.38109635,  7.15771466,
   0.81905069,-15.20266698]

qfrc_actuator:
[-2.74789674e-05,-1.48628538e-04,-9.13985504e-05, 4.26344300e-05,
 -3.19634195e-05,-3.48720483e-04,-2.62632797e-04,-1.94990358e-05,
 -4.18915840e-05,-1.63027532e-04,-6.50880761e-05,-2.44179084e-05,
  1.46168802e-02,-1.42175308e-03, 9.92879340e-04,-2.56230841e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031641253295897065
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.75439167e-13,  1.75439167e-13,  1.00000000e+00, -3.07789013e-26,
        1.00000000e+00, -1.75439167e-13, -1.00000000e+00,  0.00000000e+00,
        1.75439167e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08640824, -0.08842724,  0.06199096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.55721151e-05,-1.45141203e-05, 2.95999614e-05, 7.86817031e-06,
 -3.44363288e-05, 1.51790804e-05,-6.32007904e-06,-5.46277451e-05,
 -7.39288446e-06,-1.13383761e-04,-4.71501683e-05, 2.05879543e-06,
 -9.04718800e-05,-4.81798263e-05,-5.95424165e-05, 8.36389655e-05,
 -2.43998432e-07, 5.21357766e-07,-1.21644118e+00,-4.53611116e-04,
  1.37871076e-05,-5.50588337e-04]


--- Step 1004 ---
qpos:
[ 6.20273483e-03,-1.80900437e-03,-4.95769610e-03, 3.35459799e-02,
  4.47648316e-03,-3.75963383e-03,-1.85487709e-02, 2.85910519e-02,
  1.29675649e-02, 3.33856213e-03,-9.97490158e-03, 2.58892908e-02,
  1.19751601e+00, 2.06374713e-06, 9.42008180e-01, 6.41329496e-02,
  9.34516775e-02,-7.01547631e-02, 1.30957608e-01, 5.00177381e-01,
  4.88842245e-01, 4.99566006e-01, 5.11164995e-01]

qacc:
[-3.64800613e+00, 7.05126218e-01,-4.67417666e+00, 1.24359692e+01,
  2.46489540e+00,-4.21977012e-01, 1.43303270e+00,-1.05074127e+00,
 -3.82500321e+00, 3.06027596e+00,-1.28587510e+01, 2.10528978e+01,
 -2.78723608e-01,-1.05686930e-02, 5.22963257e+00,-1.85453335e+01,
  4.44567049e-01, 1.04622811e+00, 2.40370046e-01, 7.05140837e+00,
  8.08909565e-01,-1.49865326e+01]

qfrc_actuator:
[-4.78400708e-05,-1.64327013e-04,-9.54745420e-05, 6.37833734e-05,
 -1.65191478e-05,-3.38636014e-04,-2.47382089e-04,-1.54295157e-05,
 -6.38809303e-05,-1.37217930e-04,-9.73300542e-05,-2.59565791e-06,
  1.45808601e-02,-1.43987027e-03, 9.81887621e-04,-2.65776666e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003166527942879277
  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([ 0.08640845, -0.08842719,  0.06199095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.13758902e-05,-1.73383740e-05,-3.13984329e-06, 2.17078968e-05,
  1.44683588e-05, 1.49045382e-05, 1.57141596e-05, 3.43857167e-06,
 -2.22381837e-05,-4.72401493e-05,-6.14065595e-05, 1.53714682e-05,
 -1.00962269e-04,-4.81022278e-05,-3.12931907e-05,-9.89763700e-05,
 -3.19374845e-07, 3.46230531e-07,-1.21644107e+00,-4.53598763e-04,
  1.33443265e-05,-5.50604968e-04]


--- Step 1005 ---
qpos:
[ 6.20254937e-03,-1.81012886e-03,-4.95791298e-03, 3.35470300e-02,
  4.47736656e-03,-3.75927386e-03,-1.85482282e-02, 2.85912504e-02,
  1.29669676e-02, 3.33741351e-03,-9.97485760e-03, 2.58895081e-02,
  1.19788679e+00, 2.26231521e-06, 9.42282902e-01, 6.41314507e-02,
  9.34650871e-02,-7.01502279e-02, 1.30958833e-01, 5.00133400e-01,
  4.88869602e-01, 4.99640962e-01, 5.11108603e-01]

qacc:
[  3.968747  , -0.22520952, -0.26796548,  3.81616082, 10.69940951,
  -0.27778173,  0.94087109, -0.44878795,  6.86999437,  1.49669113,
  -6.76862935, 11.78722401, -0.99990128,  1.6009343 ,  8.23701923,
 -29.15661923,  0.44128988,  1.03428037,  0.12247608,  6.96652299,
   0.79857324,-14.80884647]

qfrc_actuator:
[-2.40479647e-05,-1.55474873e-04,-7.99979075e-05, 7.58753556e-05,
  4.59721983e-05,-3.32729770e-04,-2.38507633e-04,-1.30751257e-05,
 -2.30058470e-05,-1.39005729e-04,-1.16344569e-04, 1.02746300e-05,
  1.45512301e-02,-1.41499725e-03, 9.60075209e-04,-2.80325862e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031462729674250345
  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([ 0.0864084 , -0.08842775,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.31811318e-05,-5.25944480e-07, 1.22765294e-05, 1.16653448e-05,
  6.29090863e-05, 1.76246495e-05, 1.39992948e-05, 3.60140321e-06,
  4.02262000e-05,-4.02146167e-05,-3.57998185e-05, 9.02190633e-06,
 -1.00809674e-04,-7.48246536e-06,-5.19592974e-05,-1.56131808e-04,
 -3.74823081e-07, 2.40757456e-07,-1.21644132e+00,-4.53600476e-04,
  1.26300593e-05,-5.50525004e-04]


--- Step 1006 ---
qpos:
[ 6.20265001e-03,-1.81081294e-03,-4.95840978e-03, 3.35474945e-02,
  4.47830253e-03,-3.75897273e-03,-1.85474973e-02, 2.85914941e-02,
  1.29672094e-02, 3.33612438e-03,-9.97508145e-03, 2.58891633e-02,
  1.19825714e+00, 1.87031679e-06, 9.42556712e-01, 6.41325175e-02,
  9.34802517e-02,-7.01415946e-02, 1.30960154e-01, 5.00096868e-01,
  4.88888394e-01, 4.99738090e-01, 5.11031411e-01]

qacc:
[ 2.49886056e+00, 1.53865815e-01, 2.75979841e+00,-1.27624655e+01,
  4.67135247e-01,-5.11264499e-01, 1.51762341e+00,-9.90352972e-01,
  7.37772618e+00,-6.08497987e-01, 4.24826593e+00,-1.34166206e+01,
  3.49053894e-01,-1.20521790e+00,-9.12668385e+00, 2.98863956e+01,
  4.38752283e-01, 1.02453488e+00, 2.39570099e-02, 6.89982910e+00,
  7.88080997e-01,-1.46640760e+01]

qfrc_actuator:
[-9.96879565e-06,-1.14169219e-04,-8.85034530e-05, 4.70727898e-05,
  4.68751068e-05,-3.47139052e-04,-2.33502197e-04,-1.17694207e-05,
  1.90416027e-05,-1.39490173e-04,-1.27490139e-04,-1.77370783e-05,
  1.45254718e-02,-1.45361190e-03, 9.53087724e-04,-2.65747791e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003108221084353463
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.78594604e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.78594604e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08640814, -0.0884288 ,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47406891e-05, 4.40969056e-05,-6.68593446e-06,-2.81735840e-05,
  2.70546223e-06,-1.50564604e-06, 1.04813542e-05, 2.61040963e-06,
  4.31737591e-05,-2.99282421e-05,-2.35395949e-05,-3.07980212e-05,
 -8.78547425e-05,-6.24189452e-05,-5.24222765e-05, 1.29449365e-04,
 -4.11512012e-07, 2.01969629e-07,-1.21644193e+00,-4.53616262e-04,
  1.16525195e-05,-5.50349554e-04]


--- Step 1007 ---
qpos:
[ 6.20291882e-03,-1.81099204e-03,-4.95934293e-03, 3.35472672e-02,
  4.47889776e-03,-3.75867859e-03,-1.85469840e-02, 2.85917735e-02,
  1.29669183e-02, 3.33510781e-03,-9.97594755e-03, 2.58884581e-02,
  1.19862687e+00, 1.08965716e-06, 9.42830031e-01, 6.41352593e-02,
  9.34971638e-02,-7.01288945e-02, 1.30961243e-01, 5.00067720e-01,
  4.88898692e-01, 4.99857208e-01, 5.10933573e-01]

qacc:
[  1.455963  ,  0.46018254,  2.24268286,-13.88198808, -2.98880625,
   0.6780088 , -2.57173491,  3.53172306, -4.71437966,  1.42226417,
  -3.01028657, -2.42073756, -0.02535289, -0.50493558, -5.78912571,
  19.17955671,  0.43686909,  1.01668253, -0.0581474 ,  6.84863367,
   0.7774449 ,-14.54754575]

qfrc_actuator:
[-1.73320529e-06,-8.93764457e-05,-1.10992742e-04, 1.22042301e-05,
  2.92582783e-05,-3.55869777e-04,-2.48656878e-04,-1.11106276e-05,
 -9.58800708e-06,-1.03675625e-04,-1.51679887e-04,-3.40690036e-05,
  1.44860559e-02,-1.47626955e-03, 9.39087327e-04,-2.57197558e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030564198696310385
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.0810742e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        9.0810742e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08640773, -0.08843022,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.67412845e-06, 4.68981175e-05,-1.51666108e-05,-3.37576461e-05,
 -1.75405991e-05,-7.31498214e-06,-1.40970026e-05, 1.00476794e-06,
 -2.74156314e-05, 1.29621650e-05,-3.43199144e-05,-1.90259600e-05,
 -1.05899087e-04,-5.50682679e-05,-2.59349924e-05, 8.54543396e-05,
 -4.30354712e-07, 2.27401266e-07,-1.21644287e+00,-4.53646309e-04,
  1.04176063e-05,-5.50079570e-04]


--- Step 1008 ---
qpos:
[ 6.20328470e-03,-1.81114231e-03,-4.95984974e-03, 3.35473160e-02,
  4.47962205e-03,-3.75815365e-03,-1.85473450e-02, 2.85924194e-02,
  1.29669767e-02, 3.33425365e-03,-9.97742399e-03, 2.58879195e-02,
  1.19899577e+00, 6.08162440e-07, 9.43102720e-01, 6.41344731e-02,
  9.35144016e-02,-7.01121808e-02, 1.30962297e-01, 5.00051622e-01,
  4.88895453e-01, 4.99992670e-01, 5.10819871e-01]

qacc:
[ 8.66499584e-01,-5.86986408e-01, 9.79844469e-01, 3.09796529e+00,
  1.09834710e+00, 3.49759278e+00,-1.35800060e+01, 2.11516726e+01,
  3.05346696e+00, 2.25751528e+00,-8.45190560e+00, 1.22035686e+01,
 -1.03317018e+00, 1.60348874e+00, 9.78864894e+00,-3.54349262e+01,
  8.14342806e-02, 1.00339506e+00,-8.60597556e-03, 1.56514305e+00,
  4.05131164e-01,-1.46784870e+01]

qfrc_actuator:
[ 2.99971245e-06,-9.24847571e-05,-8.83459781e-05, 2.72942777e-05,
  3.64071718e-05,-3.43469040e-04,-2.93329627e-04, 6.90407423e-06,
  9.17564052e-06,-9.96964328e-05,-1.83214571e-04,-2.56171288e-05,
  1.44491289e-02,-1.45381341e-03, 8.51638863e-04,-2.77131278e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029969388225903337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15766359e-14,  1.85226174e-13,  1.00000000e+00, -2.14429597e-27,
        1.00000000e+00, -1.85226174e-13, -1.00000000e+00,  0.00000000e+00,
        1.15766359e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09189275, -0.08825736,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.99950008e-06, 1.85581087e-05, 2.93111585e-05, 1.59205006e-05,
  6.64578774e-06, 5.41804610e-06,-4.78948069e-05, 1.72312928e-05,
  1.79872233e-05, 3.36115232e-06,-3.37183428e-05, 7.45643929e-06,
 -1.12176831e-04,-1.26949922e-05,-9.39418319e-05,-1.98854928e-04,
 -4.32066675e-07, 3.14979154e-07,-1.21644415e+00,-4.53690952e-04,
  8.92936393e-06,-5.49715869e-04]


--- Step 1009 ---
qpos:
[ 6.20301452e-03,-1.81109932e-03,-4.96012308e-03, 3.35475371e-02,
  4.48042615e-03,-3.75741981e-03,-1.85480100e-02, 2.85932391e-02,
  1.29676042e-02, 3.33331791e-03,-9.97864283e-03, 2.58874574e-02,
  1.19936393e+00, 3.60184988e-07, 9.43374370e-01, 6.41335935e-02,
  9.35345982e-02,-7.01034190e-02, 1.30961630e-01, 4.99999062e-01,
  4.88933104e-01, 5.00107080e-01, 5.10723278e-01]

qacc:
[-5.58852026,-0.03161025,-0.2249946 , 2.67013675, 0.68555546, 1.48135749,
 -5.61801397, 8.96107234, 5.01782167,-0.68008549, 1.92851166,-0.93804074,
 -0.71123174, 1.05304952,-1.20400094, 2.09420165, 0.73968599,-1.9879596 ,
 -0.43029558, 9.48305981,-2.41003144,28.95897847]

qfrc_actuator:
[-2.98703821e-05,-7.65543042e-05,-7.48109979e-05, 3.61631748e-05,
  4.03293602e-05,-3.18624428e-04,-3.01711740e-04, 1.72346935e-05,
  3.79534096e-05,-9.70647041e-05,-1.65673342e-04,-2.04305979e-05,
  1.44190633e-02,-1.44032664e-03, 8.26667495e-04,-2.76421540e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003021688136453926
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.75563602e-13, -2.75563602e-13,  1.00000000e+00,  7.59352990e-26,
        1.00000000e+00,  2.75563602e-13, -1.00000000e+00,  0.00000000e+00,
        2.75563602e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08176312, -0.03157516,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.27223295e-05, 3.30570002e-05, 2.15363854e-05, 1.09892166e-05,
  4.11514391e-06, 1.87060488e-05,-1.25702117e-05, 9.23885068e-06,
  2.92866897e-05,-2.07826503e-06, 1.43681613e-05, 4.31466063e-06,
 -1.00575562e-04,-1.37300215e-05,-9.25268703e-05,-1.65620596e-05,
 -3.35088205e-07, 4.73474949e-07,-1.21644529e+00,-4.53764794e-04,
  7.53291556e-06,-5.49349577e-04]


--- Step 1010 ---
qpos:
[ 6.20269773e-03,-1.81107203e-03,-4.96037468e-03, 3.35475593e-02,
  4.48127093e-03,-3.75638458e-03,-1.85485573e-02, 2.85937888e-02,
  1.29682271e-02, 3.33199246e-03,-9.97919375e-03, 2.58867268e-02,
  1.19973119e+00, 8.62211008e-07, 9.43645439e-01, 6.41330081e-02,
  9.35576785e-02,-7.01024920e-02, 1.30958675e-01, 4.99910338e-01,
  4.89011000e-01, 5.00201040e-01, 5.10643531e-01]

qacc:
[-4.09101035e-01,-4.89977683e-01, 2.55730041e+00,-6.02156453e+00,
  3.54357272e-01,-4.86846962e-01, 3.45306727e+00,-8.53507650e+00,
 -1.34885011e-02,-2.93446227e+00, 1.08494429e+01,-1.62773225e+01,
 -1.26122117e+00, 2.29260602e+00,-1.64985810e+00, 4.75037303e+00,
  7.20944952e-01,-1.95869975e+00,-5.72011004e-01, 9.46703935e+00,
 -2.22794660e+00, 2.85087568e+01]

qfrc_actuator:
[-3.13501128e-05,-1.02634451e-04,-8.44733945e-05, 2.35401214e-05,
  4.23131408e-05,-2.86383901e-04,-2.88539892e-04, 5.24823617e-06,
  3.68749531e-05,-1.30567685e-04,-1.37062990e-04,-3.49323649e-05,
  1.43824845e-02,-1.39677022e-03, 8.23264575e-04,-2.74179638e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55412108,  1.69416463, -4.22727158,  1.69416463, 30.3620425 ,
       10.34304677, -4.22727158, 10.34304677,  8.69930637,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003041086935118148
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.1268603e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.1268603e-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([ 0.08176174, -0.0315764 ,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.39980790e-06,-2.68427862e-06, 2.02565417e-07,-1.02460568e-05,
  2.10798791e-06, 4.04811481e-05, 1.58040701e-05,-1.14421075e-05,
 -2.52203030e-07,-3.14509428e-05, 3.01257920e-05,-1.40049632e-05,
 -1.00093753e-04, 1.85946620e-05,-4.90293140e-05, 9.32979466e-06,
 -7.27232375e-07, 1.61338621e-07,-1.21644444e+00,-4.55034082e-04,
  9.08156810e-06,-5.49179806e-04]


--- Step 1011 ---
qpos:
[ 6.20236558e-03,-1.81124869e-03,-4.96090199e-03, 3.35474763e-02,
  4.48178829e-03,-3.75535815e-03,-1.85488339e-02, 2.85945650e-02,
  1.29684874e-02, 3.33038538e-03,-9.97970445e-03, 2.58865491e-02,
  1.20009760e+00, 2.17036043e-06, 9.43916057e-01, 6.41333004e-02,
  9.35835832e-02,-7.01093024e-02, 1.30952955e-01, 4.99785695e-01,
  4.89128599e-01, 5.00275041e-01, 5.10580412e-01]

qacc:
[-0.14029583, 0.2845715 ,-0.96068207,-0.27140694,-2.85668214,-0.29598714,
  0.09180684, 3.39160969,-3.18396245, 0.65968378,-5.21582885,14.91583416,
 -1.24904233, 2.33246207,-3.2186004 ,10.5184406 , 0.70608953,-1.93435892,
 -0.69119774, 9.4522255 ,-2.0772982 ,28.13751306]

qfrc_actuator:
[-3.20832618e-05,-1.36036665e-04,-1.07935860e-04, 1.60766517e-05,
  2.53884600e-05,-3.03139774e-04,-2.80488595e-04, 1.57511268e-05,
  1.82289033e-05,-1.49905458e-04,-1.37829798e-04,-7.67478946e-06,
  1.43473643e-02,-1.35353456e-03, 8.16821459e-04,-2.69278216e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55196619, -1.89972356,  4.13659843, -1.89972356, 23.05213006,
        8.49615878,  4.13659843,  8.49615878,  8.45380806,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030346579124473916
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.14619585e-14, -1.82923917e-13,  1.00000000e+00,  1.67305797e-26,
        1.00000000e+00,  1.82923917e-13, -1.00000000e+00,  0.00000000e+00,
        9.14619585e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08176029, -0.03157619,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.01732881e-07,-3.52984265e-05,-2.43435069e-05,-7.77028839e-06,
 -1.68504964e-05, 8.62338014e-06, 1.79566125e-05, 1.25594673e-05,
 -1.86697274e-05,-3.12446534e-05,-4.01313427e-06, 2.66855416e-05,
 -9.04129537e-05, 2.47635812e-05,-3.15221304e-05, 4.24263862e-05,
 -1.34758543e-06, 3.06773408e-07,-1.21644480e+00,-4.56116272e-04,
  1.12452292e-05,-5.49199498e-04]


--- Step 1012 ---
qpos:
[ 6.20237209e-03,-1.81145525e-03,-4.96202425e-03, 3.35466143e-02,
  4.48209911e-03,-3.75470135e-03,-1.85488016e-02, 2.85955054e-02,
  1.29681769e-02, 3.32891674e-03,-9.98069082e-03, 2.58870265e-02,
  1.20046350e+00, 3.42296662e-06, 9.44186135e-01, 6.41354911e-02,
  9.36099374e-02,-7.01121636e-02, 1.30949658e-01, 4.99673402e-01,
  4.89233338e-01, 5.00365490e-01, 5.10501330e-01]

qacc:
[ 2.95905574e+00, 1.39267388e-02, 3.17135628e+00,-1.56678212e+01,
 -1.79151606e+00,-1.00979914e+00, 2.20409701e+00, 4.11454731e-01,
 -5.04041977e+00, 2.87078294e+00,-1.27196682e+01, 2.46982051e+01,
 -2.13485055e-01, 1.01332956e-01,-6.51691433e+00, 2.16660376e+01,
  1.12363863e-01, 9.87301870e-01, 6.05726629e-01, 1.95768397e+00,
  4.00594266e-01,-1.43814965e+01]

qfrc_actuator:
[-1.46284441e-05,-1.38132327e-04,-1.39389630e-04,-2.38103115e-05,
  1.52231577e-05,-3.49103850e-04,-2.75709492e-04, 2.16065131e-05,
 -1.05979543e-05,-1.25191063e-04,-1.55862369e-04, 2.61717707e-05,
  1.43184732e-02,-1.36410535e-03, 8.03237693e-04,-2.59300656e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030086552121375546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.11619641e-07, -1.11620126e-07,  1.00000000e+00, -1.24589983e-14,
        1.00000000e+00,  1.11620126e-07, -1.00000000e+00, -1.57772181e-30,
       -1.11619641e-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([ 0.09163618, -0.08682029,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.74221248e-05,-2.71827670e-05,-4.20035106e-05,-4.23911924e-05,
 -1.06449056e-05,-3.69363623e-05, 9.19693700e-06, 7.08797572e-06,
 -2.93747686e-05, 7.61570536e-06,-2.40313430e-05, 3.28940287e-05,
 -7.67991314e-05,-2.56890867e-05,-2.76174339e-05, 9.71188622e-05,
 -2.18439002e-06, 8.93372397e-07,-1.21644634e+00,-4.57050337e-04,
  1.40150509e-05,-5.49403860e-04]


--- Step 1013 ---
qpos:
[ 6.20258781e-03,-1.81183894e-03,-4.96324972e-03, 3.35456113e-02,
  4.48228581e-03,-3.75475075e-03,-1.85484965e-02, 2.85965557e-02,
  1.29682127e-02, 3.32771398e-03,-9.98168881e-03, 2.58875112e-02,
  1.20082899e+00, 4.04335117e-06, 9.44455533e-01, 6.41385754e-02,
  9.36323460e-02,-7.01227168e-02, 1.30945188e-01, 4.99548806e-01,
  4.89347725e-01, 5.00413554e-01, 5.10466522e-01]

qacc:
[  1.83935382, -0.23958302,  1.10364168, -3.24194007, -1.06548568,
  -1.46681753,  3.41565741, -1.43390705,  3.04333695,  0.39294478,
  -0.93235023,  0.89276648,  0.30014908, -1.14344879, -3.73460585,
  11.5253442 , -0.98639322, -1.92299919, -0.29340805,-16.47560548,
   0.85564032, 26.98315178]

qfrc_actuator:
[-4.36134920e-06,-1.39289159e-04,-1.39703383e-04,-2.91776999e-05,
  9.12357703e-06,-4.12228503e-04,-2.73040320e-04, 2.46449927e-05,
  8.07791905e-06,-9.21053967e-05,-1.48249324e-04, 2.81430216e-05,
  1.42826680e-02,-1.40642081e-03, 7.58764891e-04,-2.55290920e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003061776649950637
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.81303725e-13,  3.62607450e-13,  1.00000000e+00,  6.57420815e-26,
        1.00000000e+00, -3.62607450e-13, -1.00000000e+00,  0.00000000e+00,
       -1.81303725e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10936954, -0.03381637,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.07584000e-05,-2.68220160e-05,-1.25520815e-05,-8.80638238e-06,
 -6.41722776e-06,-8.16060201e-05,-3.59174312e-06, 1.90852276e-06,
  1.78380215e-05, 3.38424854e-05, 7.39286560e-06, 2.11185521e-06,
 -8.71105500e-05,-6.47859653e-05,-5.01173532e-05, 4.10851477e-05,
 -1.99230794e-06, 5.31848962e-07,-1.21644622e+00,-4.57495400e-04,
  1.23434668e-05,-5.49500470e-04]


--- Step 1014 ---
qpos:
[ 6.20223520e-03,-1.81251349e-03,-4.96390873e-03, 3.35448645e-02,
  4.48239763e-03,-3.75517280e-03,-1.85482821e-02, 2.85979624e-02,
  1.29684716e-02, 3.32691306e-03,-9.98237939e-03, 2.58876300e-02,
  1.20119392e+00, 4.20685214e-06, 9.44724392e-01, 6.41427462e-02,
  9.36549685e-02,-7.01292698e-02, 1.30943236e-01, 4.99437246e-01,
  4.89448864e-01, 5.00477497e-01, 5.10416029e-01]

qacc:
[ -4.97431432, -1.43064069,  3.47818587,  0.24685966, -0.65162448,
   0.49509098, -3.98277866, 10.56728448,  1.96501343, -1.08512874,
   6.17807916,-13.29106694,  0.04297513, -0.64637707, -4.08958339,
  13.11671609,  0.05347556,  1.00005049,  0.62963791,  1.47894741,
   0.24839816,-14.44460417]

qfrc_actuator:
[-3.39181780e-05,-1.39723503e-04,-1.03834258e-04,-1.41596935e-05,
  5.46361208e-06,-4.14154554e-04,-2.71724541e-04, 4.37346787e-05,
  1.90612612e-05,-5.41797844e-05,-1.25522701e-04, 1.13748721e-05,
  1.42480493e-02,-1.43167891e-03, 7.43722725e-04,-2.49511534e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003109539305507408
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.70446046e-07, -8.70446488e-07,  1.00000000e+00, -7.57676704e-13,
        1.00000000e+00,  8.70446488e-07, -1.00000000e+00,  0.00000000e+00,
       -8.70446046e-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([ 0.09232356, -0.08691486,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.92567604e-05,-1.83700668e-05, 2.84983689e-05, 1.32682980e-05,
 -3.87169734e-06,-4.82263632e-05,-1.59216574e-05, 1.55026421e-05,
  1.14968114e-05, 5.85286010e-05, 3.07248735e-05,-1.50178572e-05,
 -1.01327878e-04,-5.79827612e-05,-3.62355814e-05, 5.29967009e-05,
 -1.78600558e-06, 1.24465239e-06,-1.21644523e+00,-4.58461107e-04,
  1.44355187e-05,-5.49667888e-04]


--- Step 1015 ---
qpos:
[ 6.20187597e-03,-1.81308763e-03,-4.96456469e-03, 3.35442916e-02,
  4.48280891e-03,-3.75516930e-03,-1.85484033e-02, 2.85988092e-02,
  1.29685150e-02, 3.32679303e-03,-9.98263145e-03, 2.58871556e-02,
  1.20155821e+00, 4.30683555e-06, 9.44992829e-01, 6.41478817e-02,
  9.36778188e-02,-7.01318892e-02, 1.30943132e-01, 4.99338517e-01,
  4.89536956e-01, 5.00557054e-01, 5.10350125e-01]

qacc:
[ -0.05977417,  0.48217492, -2.26017241,  5.18899934,  2.60262347,
   0.34307302,  1.94825453,-11.40539561, -1.89472806, -1.54281714,
   9.31747178,-20.79157263, -0.36041818,  0.28560846, -3.51567539,
  11.43951648,  0.05694549,  0.98339573,  0.46198936,  1.44336134,
   0.2466726 ,-14.20872119]

qfrc_actuator:
[-3.34175977e-05,-1.21787150e-04,-1.00141681e-04,-5.00389254e-06,
  2.10204677e-05,-3.43907244e-04,-2.70966401e-04, 1.89067359e-05,
  7.66128313e-06, 4.16011215e-06,-9.40423142e-05,-1.62666042e-05,
  1.42248224e-02,-1.42887241e-03, 7.30373381e-04,-2.44500668e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003140637343410832
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.84798735e-07, -1.84798817e-07,  1.00000000e+00, -3.41505877e-14,
        1.00000000e+00,  1.84798817e-07, -1.00000000e+00, -6.31088724e-30,
       -1.84798735e-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([ 0.092324  , -0.08691418,  0.06199102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.36428970e-07, 1.41436987e-05, 3.88585485e-06, 9.61881181e-06,
  1.54294212e-05, 4.06633040e-05,-1.06285568e-05,-2.71464242e-05,
 -1.10567581e-05, 9.68141176e-05, 4.68520292e-05,-2.43597956e-05,
 -9.65824008e-05,-3.18751291e-05,-2.76842561e-05, 4.75680610e-05,
 -1.63089825e-06, 8.31457254e-07,-1.21644479e+00,-4.58750918e-04,
  1.30585053e-05,-5.49854649e-04]


--- Step 1016 ---
qpos:
[ 6.20221505e-03,-1.81330166e-03,-4.96559591e-03, 3.35441708e-02,
  4.48305861e-03,-3.75493959e-03,-1.85484888e-02, 2.85990054e-02,
  1.29684216e-02, 3.32711569e-03,-9.98214058e-03, 2.58867080e-02,
  1.20192196e+00, 4.11869475e-06, 9.45261099e-01, 6.41512383e-02,
  9.36968025e-02,-7.01420785e-02, 1.30941263e-01, 4.99227532e-01,
  4.89634584e-01, 5.00594991e-01, 5.10327836e-01]

qacc:
[ 6.12249004e+00, 2.44408150e+00,-9.95283887e+00, 1.81336615e+01,
 -1.41724294e+00,-1.13602493e+00, 7.23693774e+00,-1.87258234e+01,
 -1.18726550e+00,-1.43390717e+00, 5.85266784e+00,-6.90739981e+00,
 -2.47588333e-01,-2.48143411e-02, 5.13081564e+00,-1.82906055e+01,
 -9.66638750e-01,-1.89247141e+00,-4.41157970e-01,-1.61558724e+01,
  9.18515666e-01, 2.65902133e+01]

qfrc_actuator:
[ 2.53568321e-06,-9.31032840e-05,-1.15418218e-04, 1.83671156e-05,
  1.22577629e-05,-3.37520859e-04,-2.70261702e-04,-1.37454842e-05,
  9.33260224e-07, 2.10508882e-05,-5.75637276e-05,-1.45532459e-05,
  1.41978066e-02,-1.44494302e-03, 7.07397104e-04,-2.54184290e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003178920867934615
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.73113134e-14,  2.18278283e-13,  1.00000000e+00, -1.90581636e-26,
        1.00000000e+00, -2.18278283e-13, -1.00000000e+00,  0.00000000e+00,
        8.73113134e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10936413, -0.03382135,  0.06199091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.59506974e-05, 3.78387508e-05,-1.15274949e-05, 2.43028477e-05,
 -8.30618670e-06, 2.57712408e-05, 6.85412297e-06,-3.18079337e-05,
 -7.00996179e-06, 7.96683942e-05, 6.14107029e-05, 7.01166951e-06,
 -9.14932019e-05,-4.43159864e-05,-3.45645257e-05,-9.87134399e-05,
 -1.47031621e-06, 5.08535269e-07,-1.21644463e+00,-4.59058842e-04,
  1.16287021e-05,-5.49952630e-04]


--- Step 1017 ---
qpos:
[ 6.20332739e-03,-1.81327172e-03,-4.96650149e-03, 3.35443109e-02,
  4.48320153e-03,-3.75441078e-03,-1.85491621e-02, 2.85988430e-02,
  1.29679039e-02, 3.32722677e-03,-9.98082877e-03, 2.58860186e-02,
  1.20228520e+00, 3.22824801e-06, 9.45528773e-01, 6.41554009e-02,
  9.37120320e-02,-7.01594866e-02, 1.30937393e-01, 4.99104838e-01,
  4.89741186e-01, 5.00593184e-01, 5.10347328e-01]

qacc:
[  6.79915257,  0.49513824, -2.42183879,  6.58086382, -0.9583232 ,
   1.30144932, -2.54926249, -2.94252796, -3.70523532, -3.06434337,
  11.55364475,-16.90754056,  0.27380138, -1.1925759 , -3.34724046,
  10.34894335, -0.9385648 , -1.80470622, -0.50024175,-15.49208825,
   0.94844274, 25.39308087]

qfrc_actuator:
[ 4.13056606e-05,-7.60234300e-05,-1.06193859e-04, 3.21667339e-05,
  6.99720728e-06,-3.33916636e-04,-3.05331413e-04,-3.30249301e-05,
 -2.07368111e-05,-4.02198467e-05,-3.63186921e-05,-3.11148432e-05,
  1.41578796e-02,-1.48984252e-03, 6.94614181e-04,-2.49370419e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60483719e+00, -6.62762427e-03,  4.60483242e+00, -6.62762427e-03,
        3.39628685e+01,  4.22543066e-02,  4.60483242e+00,  4.22543066e-02,
        4.60489801e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.00031871493778835435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.26753841e-07,  5.26754363e-07,  1.00000000e+00,  2.77469884e-13,
        1.00000000e+00, -5.26754363e-07, -1.00000000e+00,  5.04870979e-29,
       -5.26753841e-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([ 0.10890588, -0.03524642,  0.06199089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.98065737e-05, 3.69313590e-05, 1.64746214e-05, 1.54966961e-05,
 -5.48779473e-06, 1.80573371e-05,-3.00046767e-05,-1.85573026e-05,
 -2.18427519e-05,-3.75321103e-06, 4.54999516e-05,-1.08866703e-05,
 -1.04622196e-04,-7.43580720e-05,-4.40610683e-05, 3.71641323e-05,
 -1.25245209e-06, 1.10673112e-06,-1.21644386e+00,-4.60015821e-04,
  1.33528030e-05,-5.50159388e-04]


--- Step 1018 ---
qpos:
[ 6.20420617e-03,-1.81299465e-03,-4.96726498e-03, 3.35442682e-02,
  4.48362520e-03,-3.75366880e-03,-1.85505274e-02, 2.85984697e-02,
  1.29674756e-02, 3.32694684e-03,-9.97932996e-03, 2.58848599e-02,
  1.20264766e+00, 2.14877351e-06, 9.45795818e-01, 6.41623938e-02,
  9.37275311e-02,-7.01725257e-02, 1.30936329e-01, 4.98995623e-01,
  4.89834396e-01, 5.00609070e-01, 5.10349088e-01]

qacc:
[ -2.0536102 , -0.44281794,  2.83107335, -6.40992038,  2.43167291,
   1.7753429 , -5.0390556 ,  2.34534867,  0.80004268, -2.00696058,
   8.38489716,-16.51500423, -0.25299276, -0.0457808 , -9.4606742 ,
  31.77336907,  0.06742247,  1.09223936,  0.70134697,  2.3103579 ,
   0.11727913,-15.54861152]

qfrc_actuator:
[ 2.81534871e-05,-6.59338690e-05,-1.00372400e-04, 2.24813080e-05,
  2.16004120e-05,-3.32145077e-04,-3.43503763e-04,-4.43124410e-05,
 -1.55244879e-05,-9.46524058e-05,-4.23415876e-05,-5.83835987e-05,
  1.41155484e-02,-1.49825202e-03, 6.87991925e-04,-2.34270115e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032628198986262014
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.18998326e-14, -5.10397322e-13,  1.00000000e+00, -1.62815891e-26,
        1.00000000e+00,  5.10397322e-13, -1.00000000e+00,  0.00000000e+00,
       -3.18998326e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09189707, -0.08825059,  0.06199067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20079782e-05, 3.48285505e-05, 1.60226362e-05,-7.23148481e-06,
  1.44547217e-05, 4.86347553e-06,-3.87784287e-05,-1.19120964e-05,
  4.59063358e-06,-4.76263875e-05,-1.58529823e-06,-2.60679510e-05,
 -1.21488922e-04,-4.71795085e-05,-2.59056118e-05, 1.46666814e-04,
 -9.08071227e-07, 1.80184554e-06,-1.21644427e+00,-4.61039224e-04,
  1.42005575e-05,-5.50601010e-04]


--- Step 1019 ---
qpos:
[ 6.20423085e-03,-1.81240349e-03,-4.96765851e-03, 3.35433946e-02,
  4.48387578e-03,-3.75296145e-03,-1.85520371e-02, 2.85986487e-02,
  1.29671128e-02, 3.32664243e-03,-9.97863075e-03, 2.58840966e-02,
  1.20300937e+00, 9.32534012e-07, 9.46062469e-01, 6.41685147e-02,
  9.37433276e-02,-7.01812848e-02, 1.30937322e-01, 4.98899689e-01,
  4.89914340e-01, 5.00642308e-01, 5.10333537e-01]

qacc:
[ -7.504221  , -2.31504339, 12.38879591,-27.61540146, -1.51846532,
   1.49654589, -7.73016307, 17.54030146,  0.55136123,  3.01524146,
 -12.46946525, 20.611202  , -0.47416354,  0.37791394,  2.07619453,
  -8.0499175 ,  0.0743249 ,  1.07002835,  0.51432929,  2.19798849,
   0.14997368,-15.27873643]

qfrc_actuator:
[-1.54544515e-05,-4.23866060e-05,-7.89067518e-05,-1.87084849e-05,
  1.22717767e-05,-3.31506844e-04,-3.47693323e-04,-1.53037855e-05,
 -1.22795076e-05,-9.14601012e-05,-8.21723126e-05,-3.84945324e-05,
  1.40824692e-02,-1.50275252e-03, 6.42484175e-04,-2.39861573e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.64760621,  0.31059066,  4.6372165 ,  0.31059066, 19.53370197,
       -0.99703826,  4.6372165 , -0.99703826,  4.71438566,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003303184290085748
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.25167028e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.25167028e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09189822, -0.08824983,  0.06199056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.39376407e-05, 4.60155029e-05, 3.03885944e-05,-3.92822052e-05,
 -8.91195272e-06,-5.16747422e-06,-8.36641931e-06, 2.76451019e-05,
  3.36034640e-06,-2.48897888e-05,-5.07781212e-05, 1.72854820e-05,
 -1.15517553e-04,-4.17516105e-05,-4.49885019e-05,-5.19754276e-05,
 -8.84167941e-07, 1.29346673e-06,-1.21644335e+00,-4.61007593e-04,
  1.33960304e-05,-5.50907419e-04]


--- Step 1020 ---
qpos:
[ 6.20442265e-03,-1.81167977e-03,-4.96772455e-03, 3.35424060e-02,
  4.48401286e-03,-3.75245746e-03,-1.85535357e-02, 2.85995299e-02,
  1.29661015e-02, 3.32673641e-03,-9.97868619e-03, 2.58838648e-02,
  1.20337049e+00,-6.75602446e-07, 9.46328061e-01, 6.41720600e-02,
  9.37594437e-02,-7.01858372e-02, 1.30939745e-01, 4.98816871e-01,
  4.89981132e-01, 5.00692615e-01, 5.10301014e-01]

qacc:
[  1.47742254, -0.98009008,  4.2293838 , -6.836258  , -0.98904014,
   1.14603001, -7.43869473, 19.72047902, -5.73762932,  3.74070952,
 -14.79822034, 24.88763604, -0.20106281, -0.20108117,  6.20992289,
 -23.99959849,  0.07992491,  1.05165557,  0.35729632,  2.11064545,
   0.17354871,-15.05362182]

qfrc_actuator:
[-5.61136537e-06,-4.64358011e-05,-6.60919275e-05,-2.48218042e-05,
  6.67822066e-06,-3.49138701e-04,-3.49516455e-04, 1.94510293e-05,
 -4.57319331e-05,-3.61503656e-05,-1.05870665e-04,-8.74043661e-06,
  1.40549661e-02,-1.52263690e-03, 5.52343424e-04,-2.54060535e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.65081707,  0.11973731,  4.64927547,  0.11973731, 32.19693364,
       -0.70942192,  4.64927547, -0.70942192,  4.6690875 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033116546080337594
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.42882826e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.42882826e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09189908, -0.08824986,  0.06199053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.60898307e-06, 2.62466748e-05, 2.47050696e-05,-3.85126985e-06,
 -5.85075820e-06,-2.10763634e-05,-2.95515203e-06, 3.47836599e-05,
 -3.33647155e-05, 3.16476622e-05,-3.44994271e-05, 2.72674990e-05,
 -1.05769351e-04,-5.43351915e-05,-1.20468712e-04,-1.51569636e-04,
 -8.42533986e-07, 8.86740481e-07,-1.21644274e+00,-4.61015783e-04,
  1.24950557e-05,-5.51119062e-04]


--- Step 1021 ---
qpos:
[ 6.20507575e-03,-1.81106923e-03,-4.96808175e-03, 3.35421179e-02,
  4.48408188e-03,-3.75243196e-03,-1.85543208e-02, 2.86004622e-02,
  1.29650423e-02, 3.32681251e-03,-9.97887845e-03, 2.58833107e-02,
  1.20373085e+00,-2.22157540e-06, 9.46592339e-01, 6.41761506e-02,
  9.37730249e-02,-7.01858993e-02, 1.30943123e-01, 4.98759900e-01,
  4.90023432e-01, 5.00749790e-01, 5.10259979e-01]

qacc:
[  4.04934561,  2.09861507,-10.66989948, 23.35406699, -0.56508807,
  -2.51838944,  7.84846383, -7.75324712, -0.42479906, -0.30391576,
   2.41181242, -7.76024119, -0.53906589,  0.62508076, -3.55059005,
   9.68183314, -0.63375585,  1.1225929 ,  0.23897125, -8.55773488,
  -0.59387569,-16.53197972]

qfrc_actuator:
[ 1.78701280e-05,-8.47396098e-05,-9.40783698e-05, 7.47998821e-06,
  3.33535396e-06,-3.77550015e-04,-3.14512340e-04, 2.17774488e-05,
 -4.72570774e-05,-5.64990450e-05,-1.19614715e-04,-2.66194029e-05,
  1.40201698e-02,-1.51593650e-03, 5.15383880e-04,-2.50140350e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033135113370998115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72764988e-13, -1.67529686e-13,  1.00000000e+00,  2.89432641e-26,
        1.00000000e+00,  1.67529686e-13, -1.00000000e+00,  0.00000000e+00,
        1.72764988e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1025969 , -0.08993854,  0.06199053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.37325628e-05,-1.87091354e-05,-1.96612790e-05, 3.42066633e-05,
 -3.51868803e-06,-3.93216298e-05, 3.15002065e-05, 1.99837898e-06,
 -2.46154476e-06,-8.62599798e-06,-1.05123009e-05,-1.71841496e-05,
 -1.11202235e-04,-2.75890876e-05,-1.09409997e-04, 1.52160160e-05,
 -7.86114075e-07, 5.76746482e-07,-1.21644244e+00,-4.61057320e-04,
  1.15032580e-05,-5.51237277e-04]


--- Step 1022 ---
qpos:
[ 6.20635031e-03,-1.81070479e-03,-4.96868034e-03, 3.35422338e-02,
  4.48376528e-03,-3.75289077e-03,-1.85540452e-02, 2.86010463e-02,
  1.29643180e-02, 3.32662953e-03,-9.97910090e-03, 2.58822258e-02,
  1.20409055e+00,-3.97412257e-06, 9.46855536e-01, 6.41806130e-02,
  9.37841222e-02,-7.01815244e-02, 1.30946932e-01, 4.98728441e-01,
  4.90041520e-01, 5.00813723e-01, 5.10210609e-01]

qacc:
[ 5.46132730e+00, 1.17082667e+00,-6.37042273e+00, 1.39491885e+01,
 -3.33348359e+00,-4.31151101e+00, 1.59266175e+01,-2.33020392e+01,
  2.94945070e+00,-1.35647578e+00, 6.57107661e+00,-1.55082344e+01,
 -2.54915545e-01,-4.26704469e-03,-2.70912196e+00, 7.17865629e+00,
 -6.20949686e-01, 1.10923244e+00, 1.07904643e-01,-8.47778498e+00,
 -5.67586671e-01,-1.63055667e+01]

qfrc_actuator:
[ 4.91736375e-05,-1.07898193e-04,-1.10552665e-04, 2.65560412e-05,
 -1.64097683e-05,-3.94319917e-04,-2.58118627e-04, 5.01708391e-06,
 -2.99671956e-05,-8.64806040e-05,-1.27702146e-04,-5.46843711e-05,
  1.39863605e-02,-1.52908780e-03, 4.73113451e-04,-2.47984582e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003296974466869551
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31539044e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.31539044e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10259769, -0.08993891,  0.06199058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.19696183e-05,-3.62274754e-05,-2.15809457e-05, 1.82587874e-05,
 -1.98607165e-05,-3.21613756e-05, 5.22281105e-05,-1.73169078e-05,
  1.72180108e-05,-3.77166215e-05,-1.17570435e-05,-2.91314063e-05,
 -1.06811615e-04,-4.33949477e-05,-9.10033073e-05, 8.31663011e-06,
 -4.79633851e-07, 2.55845480e-07,-1.21644166e+00,-4.61026758e-04,
  1.03424778e-05,-5.51424335e-04]


--- Step 1023 ---
qpos:
[ 6.20730046e-03,-1.81069162e-03,-4.96916339e-03, 3.35429118e-02,
  4.48355939e-03,-3.75374250e-03,-1.85533868e-02, 2.86021511e-02,
  1.29644961e-02, 3.32658844e-03,-9.97964217e-03, 2.58814721e-02,
  1.20444946e+00,-5.34026431e-06, 9.47117839e-01, 6.41823084e-02,
  9.37927776e-02,-7.01727564e-02, 1.30950736e-01, 4.98722219e-01,
  4.90035627e-01, 5.00884325e-01, 5.10153041e-01]

qacc:
[-2.84250281e+00, 3.75523931e-01,-4.37553391e+00, 1.41654758e+01,
  9.87887588e-01,-5.19802886e-01,-1.10176114e+00, 9.79274968e+00,
  7.92905871e+00, 1.74492954e+00,-7.37506223e+00, 1.35423127e+01,
 -1.02028070e+00, 1.65824597e+00, 7.10247766e+00,-2.66020250e+01,
 -6.10479933e-01, 1.09828778e+00,-1.58989662e-03,-8.40938746e+00,
 -5.47540680e-01,-1.61207928e+01]

qfrc_actuator:
[ 3.15677772e-05,-1.21791466e-04,-1.02300331e-04, 5.54654921e-05,
 -1.01462025e-05,-4.21660377e-04,-2.42781699e-04, 3.04413900e-05,
  1.60008503e-05,-5.09830001e-05,-1.32447512e-04,-3.52656298e-05,
  1.39584872e-02,-1.50064835e-03, 4.06379758e-04,-2.62869299e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032601810017873767
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.32094223e-15, -1.70270151e-13,  1.00000000e+00,  9.05997638e-28,
        1.00000000e+00,  1.70270151e-13, -1.00000000e+00,  0.00000000e+00,
        5.32094223e-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([ 0.10259864, -0.0899399 ,  0.06199068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.67099756e-05,-3.78267388e-05,-1.25737942e-06, 2.69644165e-05,
  5.68360012e-06,-3.52740699e-05, 1.45299498e-05, 2.55160908e-05,
  4.64447134e-05, 1.07446393e-05,-1.49866219e-05, 1.68311373e-05,
 -1.01732965e-04,-4.16401984e-06,-1.08621006e-04,-1.60310484e-04,
 -2.51693425e-07, 1.20613687e-07,-1.21644132e+00,-4.61021687e-04,
  9.49269265e-06,-5.51477517e-04]


--- Step 1024 ---
qpos:
[ 6.20699747e-03,-1.81079230e-03,-4.96965992e-03, 3.35442542e-02,
  4.48342996e-03,-3.75497363e-03,-1.85522250e-02, 2.86035419e-02,
  1.29655685e-02, 3.32707526e-03,-9.98046712e-03, 2.58809036e-02,
  1.20480766e+00,-6.38794153e-06, 9.47379435e-01, 6.41807913e-02,
  9.37990252e-02,-7.01596306e-02, 1.30954168e-01, 4.98741006e-01,
  4.90005943e-01, 5.00961522e-01, 5.10087383e-01]

qacc:
[-11.01681076,  1.27681077, -7.53817711, 19.10097018,  0.69156722,
  -1.31990488,  2.76828552,  1.66133299,  7.8517739 ,  1.85622869,
  -6.41420851,  9.7111297 , -0.93103665,  1.49450406,  8.71685073,
 -31.86401608, -0.60196051,  1.08942966, -0.09280604, -8.35157071,
  -0.53234042,-15.97156913]

qfrc_actuator:
[-3.24390470e-05,-1.12169303e-04,-9.72250429e-05, 8.99553608e-05,
 -6.37212847e-06,-4.37488218e-04,-2.16320015e-04, 4.49417466e-05,
  6.07216156e-05, 5.75213073e-06,-1.34886939e-04,-2.35116860e-05,
  1.39288851e-02,-1.48327007e-03, 3.78248099e-04,-2.78802974e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003207684419981732
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.40802413e-15,  1.73056772e-13,  1.00000000e+00, -9.35895201e-28,
        1.00000000e+00, -1.73056772e-13, -1.00000000e+00,  0.00000000e+00,
        5.40802413e-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([ 0.1025997 , -0.08994137,  0.06199083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.44958949e-05,-1.06402901e-05,-1.95661138e-06, 3.33502836e-05,
  3.92247713e-06,-3.14355563e-05, 2.18480177e-05, 1.39857368e-05,
  4.60430874e-05, 6.03954701e-05,-1.47673324e-06, 1.20244884e-05,
 -9.19721557e-05,-5.67249243e-06,-9.69687121e-05,-1.82469770e-04,
 -1.00411302e-07, 1.63810686e-07,-1.21644141e+00,-4.61037330e-04,
  8.94226220e-06,-5.51399936e-04]


--- Step 1025 ---
qpos:
[ 6.20661925e-03,-1.81072292e-03,-4.97018826e-03, 3.35452729e-02,
  4.48300164e-03,-3.75617144e-03,-1.85511219e-02, 2.86040453e-02,
  1.29664790e-02, 3.32790096e-03,-9.98096263e-03, 2.58797706e-02,
  1.20516533e+00,-7.74610934e-06, 9.47640365e-01, 6.41785808e-02,
  9.38014101e-02,-7.01541046e-02, 1.30956052e-01, 4.98747157e-01,
  4.89985933e-01, 5.00997079e-01, 5.10065668e-01]

qacc:
[ -0.66556457, -0.351516  ,  2.94816313, -8.62675084, -2.61869943,
  -1.61143042,  9.5658701 ,-24.86287308, -1.41965174, -1.63191506,
   8.85655281,-19.40635823, -0.14995142, -0.20427779,  1.11031485,
  -5.31269061, -0.9656491 , -1.899921  , -0.38707431,-16.1188749 ,
   1.08046809, 26.80687742]

qfrc_actuator:
[-3.44647962e-05,-8.85347894e-05,-9.39731668e-05, 7.42083817e-05,
 -2.18544162e-05,-4.28512193e-04,-2.18962340e-04,-3.43916447e-07,
  5.10832885e-05, 2.15291017e-05,-1.18097768e-04,-5.18482266e-05,
  1.38929406e-02,-1.50812037e-03, 3.78618769e-04,-2.81008689e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000320358986698549
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73277959e-13, -1.73277959e-13,  1.00000000e+00,  3.00252509e-26,
        1.00000000e+00,  1.73277959e-13, -1.00000000e+00,  0.00000000e+00,
        1.73277959e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10935498, -0.03382002,  0.06199084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.86401019e-06, 1.86942246e-05, 1.97378053e-06,-1.56204600e-05,
 -1.53826698e-05,-3.46114899e-06,-5.96266917e-06,-4.56078131e-05,
 -8.30900912e-06, 4.97734773e-05, 2.95032874e-05,-2.55650983e-05,
 -9.28259960e-05,-4.60170423e-05,-6.61680736e-05,-4.50599613e-05,
 -2.41643935e-08, 3.79822241e-07,-1.21644191e+00,-4.61070273e-04,
  8.68210135e-06,-5.51193986e-04]


--- Step 1026 ---
qpos:
[ 6.20656401e-03,-1.81044065e-03,-4.97069735e-03, 3.35457403e-02,
  4.48273612e-03,-3.75734298e-03,-1.85506521e-02, 2.86043889e-02,
  1.29669227e-02, 3.32883927e-03,-9.98115500e-03, 2.58786834e-02,
  1.20552220e+00,-8.53439217e-06, 9.47900642e-01, 6.41744407e-02,
  9.37999778e-02,-7.01560575e-02, 1.30955795e-01, 4.98740773e-01,
  4.89975447e-01, 5.00991762e-01, 5.10087205e-01]

qacc:
[  2.83650066, -0.91308081,  5.98121374,-15.69792747,  1.40438082,
   1.47148303, -4.52576634,  2.75438571, -4.10096582, -0.59601798,
   2.16144561, -1.9506481 , -1.15202099,  2.00572745,  4.94425176,
 -18.50262056, -0.9543353 , -1.86973848, -0.53530444,-15.81277278,
   1.11445641, 26.38151459]

qfrc_actuator:
[-1.77311922e-05,-7.44838741e-05,-9.17916171e-05, 4.67943111e-05,
 -1.30404997e-05,-4.40420074e-04,-2.56458996e-04,-9.43168077e-06,
  2.72805140e-05, 1.27090435e-05,-1.08023727e-04,-5.03056639e-05,
  1.38638526e-02,-1.46904310e-03, 3.37528911e-04,-2.91078417e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61676682, -1.32307563,  4.42312183, -1.32307563, 32.91026478,
        8.46335214,  4.42312183,  8.46335214,  7.14838484,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032201340756186914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72387702e-13, -4.30969254e-14,  1.00000000e+00,  7.42937992e-27,
        1.00000000e+00,  4.30969254e-14, -1.00000000e+00,  0.00000000e+00,
        1.72387702e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10935393, -0.03382071,  0.0619908 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.66309580e-05, 2.42444668e-05, 5.74939702e-06,-2.68497368e-05,
  8.37541581e-06,-1.70053916e-05,-4.05235413e-05,-1.03302869e-05,
 -2.40196965e-05, 2.39906797e-05, 2.31047412e-05, 4.20119412e-06,
 -9.51374905e-05, 9.03988322e-06,-7.88550523e-05,-1.12244416e-04,
 -7.62291152e-08, 1.09515888e-07,-1.21644036e+00,-4.61355437e-04,
  9.69731627e-06,-5.51125419e-04]


--- Step 1027 ---
qpos:
[ 6.20636492e-03,-1.81016584e-03,-4.97112659e-03, 3.35465905e-02,
  4.48257849e-03,-3.75898565e-03,-1.85501621e-02, 2.86046400e-02,
  1.29670777e-02, 3.32984384e-03,-9.98114595e-03, 2.58772913e-02,
  1.20587836e+00,-8.87115518e-06, 9.48160165e-01, 6.41690842e-02,
  9.37947659e-02,-7.01653893e-02, 1.30952898e-01, 4.98721942e-01,
  4.89974356e-01, 5.00946195e-01, 5.10151414e-01]

qacc:
[ -1.26193936,  0.55746728, -3.61321789, 10.10943155,  0.95283472,
  -0.87038039,  2.5867652 , -3.86665234, -2.53535879, -1.09810471,
   5.33850042,-10.99597751, -0.93501075,  1.59820387,  2.62606502,
 -10.64699591, -0.94488391, -1.84473609, -0.65991578,-15.5626278 ,
   1.13837878, 26.03014829]

qfrc_actuator:
[-2.56153497e-05,-8.40465882e-05,-9.02906078e-05, 6.59949356e-05,
 -7.74362301e-06,-4.82617221e-04,-2.61012353e-04,-1.49257730e-05,
  1.31015118e-05, 6.97411407e-06,-1.02084238e-04,-6.67253814e-05,
  1.38335961e-02,-1.44562335e-03, 3.08866086e-04,-2.96838866e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61293268, -1.61089682,  4.3225177 , -1.61089682, 35.39476481,
       11.47163738,  4.3225177 , 11.47163738,  8.88813188,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003209586765631489
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72954200e-13, -1.72954200e-13,  1.00000000e+00,  2.99131554e-26,
        1.00000000e+00,  1.72954200e-13, -1.00000000e+00,  0.00000000e+00,
        1.72954200e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10935364, -0.03382003,  0.06199083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.40240786e-06, 4.03272168e-06, 6.28919793e-06, 1.99146716e-05,
  5.53226676e-06,-6.04802414e-05,-1.34079631e-05,-7.82561794e-06,
 -1.48515729e-05, 1.25971444e-05, 1.38814274e-05,-1.45085536e-05,
 -8.52734048e-05, 4.39119760e-06,-7.97413766e-05,-7.45083902e-05,
  1.55041441e-08,-2.72665974e-08,-1.21644004e+00,-4.61745881e-04,
  9.86255102e-06,-5.51309552e-04]


--- Step 1028 ---
qpos:
[ 6.20572809e-03,-1.80985403e-03,-4.97181107e-03, 3.35476818e-02,
  4.48214040e-03,-3.76069475e-03,-1.85496274e-02, 2.86047694e-02,
  1.29670616e-02, 3.33073177e-03,-9.98094069e-03, 2.58753925e-02,
  1.20623386e+00,-9.12426661e-06, 9.48419267e-01, 6.41668811e-02,
  9.37858057e-02,-7.01820176e-02, 1.30946942e-01, 4.98690736e-01,
  4.89982551e-01, 5.00860874e-01, 5.10257812e-01]

qacc:
[ -3.85753441,  1.26652604, -5.44970494,  9.98944307, -2.45209741,
  -0.45844042,  2.03017485, -4.17056275, -1.49813166, -1.74269173,
   8.13470343,-17.13811655, -0.38328798,  0.42304907,-10.1133015 ,
  34.53973046, -0.9370717 , -1.8241185 , -0.7645981 ,-15.35966202,
   1.1541439 , 25.74205789]

qfrc_actuator:
[-4.79325340e-05,-8.98896750e-05,-1.07018845e-04, 7.69456146e-05,
 -2.23198110e-05,-4.53737860e-04,-2.46199810e-04,-1.82672923e-05,
  4.70531990e-06,-1.46610473e-05,-9.86450156e-05,-9.35900373e-05,
  1.37920067e-02,-1.44946034e-03, 3.51601548e-04,-2.78704735e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003177596911570352
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74695384e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.74695384e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10935396, -0.03381827,  0.06199092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25279286e-05,-1.44424391e-06,-1.44311621e-05, 1.17274751e-05,
 -1.44383877e-05,-7.99050345e-06, 4.10532748e-07,-6.54785962e-06,
 -8.81076518e-06,-1.23831969e-05, 7.24113107e-06,-2.61253680e-05,
 -9.17946492e-05,-2.16007477e-05,-4.16774071e-06, 1.66514488e-04,
  2.47321576e-07,-3.70926576e-08,-1.21644088e+00,-4.62243795e-04,
  9.22137698e-06,-5.51743153e-04]


--- Step 1029 ---
qpos:
[ 6.20482856e-03,-1.80937473e-03,-4.97271729e-03, 3.35481863e-02,
  4.48153053e-03,-3.76178382e-03,-1.85495703e-02, 2.86051494e-02,
  1.29666001e-02, 3.33134781e-03,-9.98091756e-03, 2.58739242e-02,
  1.20658861e+00,-9.08769057e-06, 9.48678305e-01, 6.41655166e-02,
  9.37740500e-02,-7.01939213e-02, 1.30943553e-01, 4.98686043e-01,
  4.89966163e-01, 5.00782854e-01, 5.10354703e-01]

qacc:
[ -2.32022101, -0.36255031,  4.09893132,-14.03155912, -1.5286537 ,
   2.67143716, -9.39032813, 14.0304266 , -3.91989323,  1.04372838,
  -6.04776651, 13.97721099, -0.75996352,  1.16562904, -2.57229646,
   8.98738525, -0.69887103,  1.18117467,  0.64148502, -8.38202666,
  -0.87715244,-17.08005551]

qfrc_actuator:
[-6.08054699e-05,-7.57898150e-05,-1.16628849e-04, 4.74295092e-05,
 -3.07220045e-05,-3.82428851e-04,-2.55305634e-04,-2.49818708e-06,
 -1.79758882e-05,-4.56799697e-05,-1.14533948e-04,-7.31399809e-05,
  1.37542908e-02,-1.43395885e-03, 3.41308900e-04,-2.75026398e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003253660829849736
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.79844461e-14, -1.70611364e-13,  1.00000000e+00,  8.18669181e-27,
        1.00000000e+00,  1.70611364e-13, -1.00000000e+00,  0.00000000e+00,
        4.79844461e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10260567, -0.08994047,  0.0619907 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.35143781e-05, 1.08022287e-05,-1.12765051e-05,-2.98495959e-05,
 -8.81718463e-06, 6.66954469e-05,-1.09182008e-05, 1.53163851e-05,
 -2.29323967e-05,-3.76009520e-05,-1.84671152e-05, 1.96636532e-05,
 -9.64446732e-05,-9.82983790e-06, 1.70347186e-06, 4.44775802e-05,
  6.16575768e-07, 7.58448922e-08,-1.21644286e+00,-4.62849990e-04,
  7.80648297e-06,-5.52423333e-04]


--- Step 1030 ---
qpos:
[ 6.20343686e-03,-1.80912252e-03,-4.97364062e-03, 3.35494060e-02,
  4.48116952e-03,-3.76232094e-03,-1.85499600e-02, 2.86060666e-02,
  1.29658703e-02, 3.33159765e-03,-9.98073143e-03, 2.58723557e-02,
  1.20694278e+00,-9.15572907e-06, 9.48936913e-01, 6.41663085e-02,
  9.37595939e-02,-7.02011973e-02, 1.30941943e-01, 4.98707438e-01,
  4.89925419e-01, 5.00711927e-01, 5.10442496e-01]

qacc:
[ -4.32372378,  1.22874972, -7.82095731, 20.37613423,  2.15476696,
   3.07712501,-12.18901385, 21.79872633, -2.34925521, -1.14142781,
   3.79904201, -5.53455849, -0.21942227,  0.04346477, -7.13231506,
  24.05570296, -0.67511749,  1.15689995,  0.4449951 , -8.37589351,
  -0.77671528,-16.76184587]

qfrc_actuator:
[-8.57644206e-05,-1.03127380e-04,-1.21899324e-04, 8.31280449e-05,
 -1.76636826e-05,-3.57332465e-04,-2.78258047e-04, 2.44134299e-05,
 -3.11328035e-05,-6.43746086e-05,-1.06214644e-04,-7.82936458e-05,
  1.37242567e-02,-1.44259903e-03, 3.25811436e-04,-2.63938805e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6478767 , -0.23889739,  4.64173306, -0.23889739, 17.56453646,
        0.66478538,  4.64173306,  0.66478538,  4.6820914 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033038990974587623
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.62766556e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.62766556e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10260681, -0.08993918,  0.06199056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.53384212e-05,-2.49150505e-05,-5.45543349e-06, 3.51908791e-05,
  1.28295200e-05, 6.08284694e-05,-9.97964113e-06, 2.96919963e-05,
 -1.38199377e-05,-4.27220261e-05,-1.04566183e-06,-7.01860809e-06,
 -8.89712080e-05,-3.25169625e-05,-1.54306583e-05, 1.12280531e-04,
  2.63591553e-07,-2.77005370e-07,-1.21644229e+00,-4.61952399e-04,
  8.32351575e-06,-5.52712820e-04]


--- Step 1031 ---
qpos:
[ 6.20210172e-03,-1.80913596e-03,-4.97459574e-03, 3.35513955e-02,
  4.48096796e-03,-3.76265951e-03,-1.85501817e-02, 2.86069567e-02,
  1.29649882e-02, 3.33172801e-03,-9.98053337e-03, 2.58703708e-02,
  1.20729646e+00,-9.61163790e-06, 9.49195821e-01, 6.41686282e-02,
  9.37425133e-02,-7.02039263e-02, 1.30941453e-01, 4.98754560e-01,
  4.89860510e-01, 5.00647923e-01, 5.10521524e-01]

qacc:
[  0.50136524,  1.32167891, -8.4726929 , 22.04084484,  1.39727291,
  -0.26534686,  1.43633033, -2.3135261 , -1.33889916, -1.04556274,
   5.26109602,-12.40177406,  0.02523761, -0.53152549, -4.17970634,
  15.24167213, -0.65611454,  1.13675489,  0.27983539, -8.36670785,
  -0.69442437,-16.4969108 ]

qfrc_actuator:
[-8.21351828e-05,-1.19494548e-04,-1.24682010e-04, 1.21382772e-04,
 -9.83359635e-06,-3.60143592e-04,-2.73852877e-04, 2.21186766e-05,
 -3.85741007e-05,-5.77189770e-05,-1.01395318e-04,-9.84508675e-05,
  1.36988435e-02,-1.46544578e-03, 3.65809952e-04,-2.55672046e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.65401202, -0.37437949,  4.63892961, -0.37437949, 25.81511608,
        1.70778262,  4.63892961,  1.70778262,  4.79183666,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003320050974164046
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.0449981e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.0449981e-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([ 0.10260802, -0.08993885,  0.06199051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.89876473e-06,-2.99242715e-05,-7.37602265e-06, 3.76833402e-05,
  8.21697954e-06, 3.04416279e-05, 1.67758195e-05, 5.44103396e-07,
 -7.84782643e-06,-1.77663985e-05,-4.37890837e-06,-2.21578593e-05,
 -8.52104039e-05,-4.96878913e-05, 4.11866191e-05, 8.59711383e-05,
 -1.51643104e-07,-4.36391700e-07,-1.21644219e+00,-4.61117915e-04,
  9.12690117e-06,-5.52870265e-04]


--- Step 1032 ---
qpos:
[ 6.20116499e-03,-1.80924126e-03,-4.97530545e-03, 3.35527501e-02,
  4.48051691e-03,-3.76266000e-03,-1.85503125e-02, 2.86064187e-02,
  1.29640234e-02, 3.33208211e-03,-9.98105319e-03, 2.58688568e-02,
  1.20764948e+00,-1.00371868e-05, 9.49455076e-01, 6.41686528e-02,
  9.37257255e-02,-7.02024072e-02, 1.30942554e-01, 4.98814756e-01,
  4.89782590e-01, 5.00601002e-01, 5.10583481e-01]

qacc:
[  3.51215466, -2.12148877, 10.05570903,-21.35274906, -2.18716004,
  -2.73921055, 16.45389804,-41.5714323 , -0.75335979,  3.27261082,
 -13.22490052, 22.35283512, -0.65518096,  0.83885562,  7.47989616,
 -25.32917582,  0.07320619,  1.06202537,  0.39769413,  2.18723684,
   0.12719885,-15.03559801]

qfrc_actuator:
[-6.17048898e-05,-1.11397450e-04,-1.08197860e-04, 8.98200718e-05,
 -2.29032183e-05,-3.44061338e-04,-2.71221948e-04,-5.06085325e-05,
 -4.25945844e-05,-3.59534133e-05,-1.34095372e-04,-7.39962332e-05,
  1.36655635e-02,-1.46098612e-03, 3.48517422e-04,-2.68649089e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033211521930481824
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.67144256e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.67144256e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0919115 , -0.0882543 ,  0.06199051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.05016332e-05,-8.53317080e-06, 1.07063371e-05,-3.23689217e-05,
 -1.28249645e-05, 3.66093087e-05, 1.10082884e-05,-7.08326526e-05,
 -4.24831753e-06, 9.96827096e-06,-3.76759797e-05, 2.31143756e-05,
 -9.42611176e-05,-2.53695052e-05, 4.01424892e-06,-1.21357949e-04,
 -6.31717806e-07,-4.11615166e-07,-1.21644253e+00,-4.60329763e-04,
  1.02114870e-05,-5.52899252e-04]


--- Step 1033 ---
qpos:
[ 6.20013554e-03,-1.80949684e-03,-4.97577159e-03, 3.35533782e-02,
  4.47991301e-03,-3.76257238e-03,-1.85503326e-02, 2.86053900e-02,
  1.29633629e-02, 3.33256561e-03,-9.98203172e-03, 2.58686775e-02,
  1.20800190e+00,-1.06746440e-05, 9.49713500e-01, 6.41659889e-02,
  9.37092446e-02,-7.01967079e-02, 1.30944692e-01, 4.98887911e-01,
  4.89691678e-01, 5.00570916e-01, 5.10628701e-01]

qacc:
[ -0.80558582, -2.37378554, 11.24468925,-24.09745836, -1.33608099,
  -1.19928435,  6.52198415,-15.26071183,  2.66152817,  4.19520195,
 -20.35456102, 44.10164236, -0.37932954,  0.22336896,  6.9058197 ,
 -25.90369924,  0.07671773,  1.04503314,  0.25934965,  2.07301595,
   0.17313348,-14.85775773]

qfrc_actuator:
[-6.70637059e-05,-1.24194587e-04,-9.81707416e-05, 5.29688863e-05,
 -3.04148879e-05,-3.52367266e-04,-2.69645544e-04,-7.54201809e-05,
 -2.68187524e-05,-2.31699635e-05,-1.53076743e-04,-5.74243851e-06,
  1.36275963e-02,-1.47591095e-03, 2.64880544e-04,-2.83399637e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.65011925, -0.83380403, -4.57475462, -0.83380403, 41.78692295,
       -6.76862895, -4.57475462, -6.76862895,  5.88378325,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033098164865096036
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.67716704e-13,  8.38583521e-14,  1.00000000e+00, -1.40644464e-26,
        1.00000000e+00, -8.38583521e-14, -1.00000000e+00,  0.00000000e+00,
        1.67716704e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09191233, -0.08825499,  0.06199054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.77715937e-06,-1.67252367e-05, 8.46980971e-06,-3.74782702e-05,
 -7.86275896e-06, 1.14024084e-05, 8.04654774e-06,-2.42383325e-05,
  1.56594646e-05, 1.15579377e-05,-2.07586286e-05, 6.78309305e-05,
 -9.94879884e-05,-4.13737081e-05,-1.01824082e-04,-1.55258419e-04,
 -8.75063048e-07,-2.19309223e-07,-1.21644240e+00,-4.59647495e-04,
  1.13734416e-05,-5.52781453e-04]


--- Step 1034 ---
qpos:
[ 6.19905008e-03,-1.80988942e-03,-4.97611154e-03, 3.35535664e-02,
  4.47922387e-03,-3.76264162e-03,-1.85502304e-02, 2.86044485e-02,
  1.29632417e-02, 3.33265620e-03,-9.98213493e-03, 2.58686010e-02,
  1.20835346e+00,-1.08743943e-05, 9.49971034e-01, 6.41605442e-02,
  9.36930806e-02,-7.01868837e-02, 1.30947404e-01, 4.98973933e-01,
  4.89587788e-01, 5.00557462e-01, 5.10657458e-01]

qacc:
[ -0.48635602, -1.43870944,  6.72550504,-14.44044706, -0.73948097,
  -0.36816942,  0.64668176,  0.77816794,  4.78093708, -2.76315122,
   8.64803116, -7.95938608, -1.12036472,  1.82591811,  7.15691577,
 -26.76690515,  0.07922428,  1.03123617,  0.1436759 ,  1.97944924,
   0.21104687,-14.71161288]

qfrc_actuator:
[-6.98115721e-05,-1.31680464e-04,-9.21141483e-05, 3.10428351e-05,
 -3.45886165e-05,-3.75191370e-04,-2.68758135e-04,-7.18486662e-05,
  4.81038670e-07,-5.12762039e-05,-1.10541029e-04,-1.02450597e-06,
  1.35868354e-02,-1.44897846e-03, 2.21417335e-04,-2.97307892e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003277122088463924
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.46949698e-14, -8.46949698e-14,  1.00000000e+00,  7.17323790e-27,
        1.00000000e+00,  8.46949698e-14, -1.00000000e+00,  0.00000000e+00,
        8.46949698e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09191294, -0.08825617,  0.06199063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.88714495e-06,-1.66802862e-05, 2.35649515e-06,-2.30785160e-05,
 -4.39368015e-06,-1.58280054e-05, 3.39695193e-06, 3.86935118e-06,
  2.77472171e-05,-2.30263887e-05, 4.47181843e-05, 5.81579405e-06,
 -1.10225671e-04,-3.42502436e-06,-1.08623339e-04,-1.61058564e-04,
 -1.10500245e-06, 5.65804654e-08,-1.21644256e+00,-4.58994159e-04,
  1.24247351e-05,-5.52578020e-04]


--- Step 1035 ---
qpos:
[ 6.19794010e-03,-1.81039288e-03,-4.97638805e-03, 3.35534913e-02,
  4.47848988e-03,-3.76266324e-03,-1.85504655e-02, 2.86035630e-02,
  1.29631039e-02, 3.33234886e-03,-9.98159175e-03, 2.58675626e-02,
  1.20870406e+00,-1.01827804e-05, 9.50227351e-01, 6.41563974e-02,
  9.36772404e-02,-7.01729790e-02, 1.30950306e-01, 4.99072742e-01,
  4.89470929e-01, 5.00560471e-01, 5.10669974e-01]

qacc:
[ -0.21187558, -0.86551704,  3.98527023, -8.5612402 , -0.40380874,
   1.12081471, -4.14048993,  5.61238245, -0.11992294, -4.31218751,
  18.67414684,-36.06247878, -1.34487155,  2.49110982, -5.6106098 ,
  17.26007279,  0.08095685,  1.02013902,  0.0472424 ,  1.90245241,
   0.24268281,-14.59304214]

qfrc_actuator:
[-7.09925069e-05,-1.35932768e-04,-8.84199383e-05, 1.80758843e-05,
 -3.67660472e-05,-3.71011389e-04,-2.86092568e-04,-6.93813865e-05,
 -1.16688819e-06,-8.56930636e-05,-8.55035163e-05,-5.14827742e-05,
  1.35497695e-02,-1.39749642e-03, 1.96767871e-04,-2.89290841e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032278023163839764
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.59890814e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.59890814e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09191337, -0.08825773,  0.06199077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.26642156e-06,-1.40620208e-05,-2.50239377e-07,-1.40478111e-05,
 -2.30876660e-06,-3.80162744e-06,-2.00495209e-05, 1.98402709e-06,
 -8.69543697e-07,-3.77995823e-05, 2.59894351e-05,-4.97855481e-05,
 -1.04193406e-04, 2.65719911e-05,-9.35601787e-05, 5.70249973e-05,
 -1.32360077e-06, 4.14849408e-07,-1.21644301e+00,-4.58363861e-04,
  1.33737061e-05,-5.52288352e-04]


--- Step 1036 ---
qpos:
[ 6.19716943e-03,-1.81089640e-03,-4.97639586e-03, 3.35532326e-02,
  4.47773572e-03,-3.76293344e-03,-1.85511082e-02, 2.86034481e-02,
  1.29629476e-02, 3.33186701e-03,-9.98116138e-03, 2.58673337e-02,
  1.20905410e+00,-9.49057318e-06, 9.50482548e-01, 6.41551719e-02,
  9.36617286e-02,-7.01550290e-02, 1.30953076e-01, 4.99184275e-01,
  4.89341103e-01, 5.00579807e-01, 5.10666428e-01]

qacc:
[ 2.99190588e+00,-1.13519943e+00, 4.81239960e+00,-8.40859203e+00,
 -1.84563861e-01, 2.39506020e+00,-1.22708951e+01, 2.64422890e+01,
 -1.62928979e-01, 1.75107544e+00,-9.99533305e+00, 2.43122819e+01,
 -2.07462046e-01, 1.16487201e-01,-1.04563292e+01, 3.42090272e+01,
  8.20949772e-02, 1.01132525e+00,-3.28909737e-02, 1.83877002e+00,
  2.69407998e-01,-1.44984816e+01]

qfrc_actuator:
[-5.34897304e-05,-1.20463603e-04,-6.83782299e-05, 1.04837036e-05,
 -3.77520032e-05,-4.04028594e-04,-3.13949476e-04,-3.20751679e-05,
 -2.09053252e-06,-8.82288532e-05,-8.88387360e-05,-9.75469985e-06,
  1.35256121e-02,-1.40292393e-03, 1.67490755e-04,-2.73741035e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003165792134111195
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.38366994e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.38366994e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09191366, -0.08825959,  0.06199095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.74643524e-05, 6.97662521e-06, 1.66306002e-05,-8.47464443e-06,
 -1.05251040e-06,-3.91945967e-05,-3.10381513e-05, 3.64908283e-05,
 -9.61137235e-07,-2.04322390e-05,-9.66523714e-06, 4.00403529e-05,
 -8.02282683e-05,-2.30299310e-05,-6.67775513e-05, 1.46498589e-04,
 -1.53244316e-06, 8.54542476e-07,-1.21644375e+00,-4.57752009e-04,
  1.42268994e-05,-5.51912019e-04]


--- Step 1037 ---
qpos:
[ 6.19661438e-03,-1.81124587e-03,-4.97597929e-03, 3.35531987e-02,
  4.47663098e-03,-3.76390419e-03,-1.85515864e-02, 2.86038004e-02,
  1.29631266e-02, 3.33085894e-03,-9.98036844e-03, 2.58683093e-02,
  1.20940354e+00,-8.57063042e-06, 9.50737292e-01, 6.41527818e-02,
  9.36465479e-02,-7.01330611e-02, 1.30955450e-01, 4.99308484e-01,
  4.89198303e-01, 5.00615360e-01, 5.10646962e-01]

qacc:
[  1.90676354, -0.52336394,  1.20546246,  1.90213133, -3.0507406 ,
  -0.41818971, -1.81487326, 10.14218303,  2.97192318,  0.76511673,
  -8.83352352, 29.50069172, -0.68717272,  1.05659855,  2.89281651,
 -10.98302241,  0.08277802,  1.00444449, -0.09924499,  1.78580511,
   0.29229288,-14.42484865]

qfrc_actuator:
[-4.28833854e-05,-9.32280282e-05,-3.87586687e-05, 2.38947248e-05,
 -5.57824427e-05,-4.59086944e-04,-3.12409329e-04,-1.01079112e-05,
  1.51815409e-05,-1.24958144e-04,-7.31917113e-05, 5.03933416e-05,
  1.34985455e-02,-1.38870504e-03, 1.30146207e-04,-2.80514768e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030943488161637445
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.36366114e-14, -3.58790521e-13,  1.00000000e+00, -1.20684973e-26,
        1.00000000e+00,  3.58790521e-13, -1.00000000e+00,  0.00000000e+00,
       -3.36366114e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09191385, -0.08826166,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11066800e-05, 3.42365419e-05, 3.28224214e-05, 1.41215897e-05,
 -1.80744508e-05,-8.18057840e-05,-9.10531156e-06, 1.99261209e-05,
  1.72352266e-05,-4.84235984e-05, 1.16224202e-05, 5.97178900e-05,
 -7.99858253e-05,-8.42422759e-06,-5.29845051e-05,-6.84327330e-05,
 -1.73275827e-06, 1.37492297e-06,-1.21644476e+00,-4.57154973e-04,
  1.49894730e-05,-5.51448694e-04]


--- Step 1038 ---
qpos:
[ 6.19584591e-03,-1.81122940e-03,-4.97588703e-03, 3.35540407e-02,
  4.47531840e-03,-3.76522637e-03,-1.85518291e-02, 2.86033275e-02,
  1.29631661e-02, 3.32953279e-03,-9.97966560e-03, 2.58693123e-02,
  1.20975240e+00,-7.47575994e-06, 9.50991276e-01, 6.41509274e-02,
  9.36316997e-02,-7.01070965e-02, 1.30957207e-01, 4.99445332e-01,
  4.89042515e-01, 5.00667040e-01, 5.10611686e-01]

qacc:
[ -1.89256837,  3.19739461,-14.38892382, 29.78635036, -1.80606156,
  -2.81521884, 12.8554793 ,-27.26150702, -1.2250704 , -0.10977774,
  -0.33012873,  1.17814642, -0.52144116,  0.75194024, -2.70370019,
   7.91064224,  0.08311396,  0.99920184, -0.15398027,  1.74148439,
   0.31217528,-14.36947876]

qfrc_actuator:
[-5.41795601e-05,-7.68393204e-05,-5.69134628e-05, 6.73252091e-05,
 -6.59484603e-05,-4.55808066e-04,-2.93639997e-04,-5.06066848e-05,
  7.51936755e-06,-1.46276762e-04,-8.20908358e-05, 4.98639010e-05,
  1.34697585e-02,-1.38067832e-03, 1.03918961e-04,-2.77312480e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003016155368224943
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.75143938e-14, -1.84046060e-13,  1.00000000e+00,  1.05852976e-26,
        1.00000000e+00,  1.84046060e-13, -1.00000000e+00,  0.00000000e+00,
        5.75143938e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09191396, -0.08826389,  0.06199138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09696538e-05, 4.29326199e-05,-6.55214194e-06, 4.63076146e-05,
 -1.07113593e-05,-4.34596574e-05, 1.45693257e-06,-4.39286345e-05,
 -7.19456815e-06,-4.34057958e-05,-1.54039775e-05,-1.04262646e-06,
 -7.84835432e-05,-1.13855038e-05,-6.13334182e-05, 2.06867561e-05,
 -1.92550969e-06, 1.97543982e-06,-1.21644604e+00,-4.56569833e-04,
  1.56655075e-05,-5.50898111e-04]


--- Step 1039 ---
qpos:
[ 6.19494816e-03,-1.81097324e-03,-4.97563835e-03, 3.35546890e-02,
  4.47423876e-03,-3.76671861e-03,-1.85519297e-02, 2.86020104e-02,
  1.29634577e-02, 3.32888298e-03,-9.97951367e-03, 2.58698594e-02,
  1.21010083e+00,-6.81815712e-06, 9.51244687e-01, 6.41533387e-02,
  9.36129439e-02,-7.00888544e-02, 1.30957954e-01, 4.99570042e-01,
  4.88896421e-01, 5.00675935e-01, 5.10620868e-01]

qacc:
[ -1.13603654, -0.51722075,  3.12551757, -6.90923035,  2.04548056,
  -2.36162343, 11.6532066 ,-26.35881326,  2.18950352,  1.49071432,
  -2.10052646, -5.3998215 ,  0.29429084, -0.98940752,-13.75067014,
  46.80855893, -0.97688916, -1.93062398, -0.2524366 ,-16.66443739,
   0.74955684, 27.08936507]

qfrc_actuator:
[-6.05218232e-05,-6.72322519e-05,-4.98960157e-05, 5.70159204e-05,
 -5.36457029e-05,-4.53101005e-04,-2.82422580e-04,-9.19742698e-05,
  2.07426087e-05,-5.18308353e-05,-8.76573881e-05, 3.13759462e-05,
  1.34399589e-02,-1.41191046e-03, 1.27012368e-04,-2.54045918e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030822862333118595
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.00486636e-14,  4.50243318e-14,  1.00000000e+00, -4.05438091e-27,
        1.00000000e+00, -4.50243318e-14, -1.00000000e+00,  0.00000000e+00,
        9.00486636e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1093451 , -0.03381067,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.64115052e-06, 3.42412681e-05, 1.66791089e-05,-7.79651685e-06,
  1.19833711e-05,-2.31288617e-05, 9.20053036e-07,-4.40295619e-05,
  1.30010720e-05, 6.69817610e-05,-1.64606261e-05,-2.09019066e-05,
 -7.91989166e-05,-5.09650484e-05,-4.99860170e-06, 2.25438724e-04,
 -2.11146371e-06, 2.65569515e-06,-1.21644759e+00,-4.55994189e-04,
  1.62582416e-05,-5.50260033e-04]


--- Step 1040 ---
qpos:
[ 6.19432625e-03,-1.81063803e-03,-4.97462840e-03, 3.35544966e-02,
  4.47331471e-03,-3.76817298e-03,-1.85520508e-02, 2.86008824e-02,
  1.29642502e-02, 3.32915505e-03,-9.97965871e-03, 2.58701296e-02,
  1.21044867e+00,-6.21798293e-06, 9.51497924e-01, 6.41584968e-02,
  9.35903173e-02,-7.00781887e-02, 1.30957014e-01, 4.99682695e-01,
  4.88759849e-01, 5.00642952e-01, 5.10673721e-01]

qacc:
[  2.44759614, -3.75901392, 17.09364454,-32.90370499,  1.36048484,
   0.49371213, -2.49154445,  5.77628443,  4.38167902,  1.46964692,
  -2.31754264, -2.66419502, -0.25162154,  0.12469028, -8.53243196,
  29.51271943, -0.96770218, -1.89409864, -0.42181243,-16.29841846,
   0.8024603 , 26.60729529]

qfrc_actuator:
[-4.61378817e-05,-6.17142870e-05,-1.03736115e-05, 1.51820708e-05,
 -4.59719621e-05,-4.33025211e-04,-2.75737188e-04,-8.02561349e-05,
  4.61612545e-05, 2.24434801e-05,-9.07275478e-05, 2.03378703e-05,
  1.34095586e-02,-1.41289779e-03, 1.21125027e-04,-2.40438375e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58427776, -0.2914404 ,  4.57500438, -0.2914404 , 46.16901731,
        2.64906262,  4.57500438,  2.64906262,  4.75303036,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031291128368658716
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.87011018e-14,  1.77402204e-13,  1.00000000e+00, -1.57357709e-26,
        1.00000000e+00, -1.77402204e-13, -1.00000000e+00,  0.00000000e+00,
        8.87011018e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10934284, -0.03381272,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.42055275e-05, 2.77640630e-05, 4.83738105e-05,-3.99433421e-05,
  8.00979542e-06, 5.50789577e-06, 5.19084544e-07, 9.90790798e-06,
  2.58111256e-05, 1.07460991e-04, 8.01947277e-06,-9.14455196e-06,
 -8.83138868e-05,-2.96526316e-05, 1.30028049e-05, 1.47088237e-04,
 -2.32264888e-06, 1.47495990e-06,-1.21644591e+00,-4.55839454e-04,
  1.59708860e-05,-5.50107014e-04]


--- Step 1041 ---
qpos:
[ 6.19422642e-03,-1.80999382e-03,-4.97409134e-03, 3.35545514e-02,
  4.47248974e-03,-3.76941549e-03,-1.85518955e-02, 2.85995144e-02,
  1.29646518e-02, 3.32964299e-03,-9.97957114e-03, 2.58703192e-02,
  1.21079597e+00,-5.91882860e-06, 9.51750748e-01, 6.41650068e-02,
  9.35706623e-02,-7.00756277e-02, 1.30955556e-01, 4.99756813e-01,
  4.88665701e-01, 5.00588845e-01, 5.10744329e-01]

qacc:
[ 4.57046769, 2.23030287,-8.41797545,13.23905512, 0.87190558,-0.98767456,
  4.93912836,-9.6890491 ,-3.43545164,-0.52396158, 2.634072  ,-4.57210155,
 -0.05512   ,-0.34978769,-4.69333252,15.52434682, 0.74290194,-2.02619356,
 -0.12972225,10.17832322,-2.12499284,30.05758873]

qfrc_actuator:
[-1.96716292e-05,-5.85850222e-05,-4.07788039e-05, 2.61683144e-05,
 -4.10914534e-05,-4.02668075e-04,-2.53912581e-04,-9.06402456e-05,
  2.52897237e-05,-4.66442254e-06,-9.23334492e-05, 1.37731390e-05,
  1.33788289e-02,-1.43144844e-03, 8.18564991e-05,-2.34420248e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60211857,  4.58873982,  0.35065962,  4.58873982,  4.86320488,
       -3.41658158,  0.35065962, -3.41658158, 49.31158366,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003179562730613178
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74587375e-13, -3.49174751e-13,  1.00000000e+00,  6.09615034e-26,
        1.00000000e+00,  3.49174751e-13, -1.00000000e+00,  0.00000000e+00,
        1.74587375e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08173242, -0.03160197,  0.06199091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.68775032e-05, 2.69192475e-05,-2.01093974e-05, 1.30692277e-05,
  5.11081358e-06, 3.40285652e-05, 2.33897383e-05,-9.93156030e-06,
 -2.00999010e-05, 3.42522962e-05, 2.12606344e-05,-1.86185447e-06,
 -8.90584502e-05,-4.49013062e-05,-2.23937999e-05, 6.87763982e-05,
 -2.39192611e-06, 4.45173945e-07,-1.21644551e+00,-4.55739330e-04,
  1.48148549e-05,-5.50199484e-04]


--- Step 1042 ---
qpos:
[ 6.19513477e-03,-1.80928042e-03,-4.97411959e-03, 3.35551208e-02,
  4.47207486e-03,-3.77070530e-03,-1.85513834e-02, 2.85984055e-02,
  1.29644559e-02, 3.32977169e-03,-9.97890384e-03, 2.58704798e-02,
  1.21114280e+00,-6.12442247e-06, 9.52003081e-01, 6.41673196e-02,
  9.35538984e-02,-7.00810322e-02, 1.30952811e-01, 4.99793132e-01,
  4.88613067e-01, 5.00514177e-01, 5.10832315e-01]

qacc:
[  8.84616697,  2.71397476,-11.74570721, 21.53450399,  3.60116293,
  -0.53273728,  0.70231704,  3.26122416, -5.23353781, -2.14424002,
   7.09619926, -8.27752547, -0.13755901, -0.34216164, 11.93659526,
 -42.83051754,  0.72277458, -1.99136605, -0.32153782, 10.00876783,
  -2.0326864 , 29.40945108]

qfrc_actuator:
[ 3.14400758e-05,-7.49031845e-05,-7.67056446e-05, 5.03424722e-05,
 -2.01399676e-05,-4.19589160e-04,-2.41045853e-04,-7.84267895e-05,
 -4.91199720e-06,-5.67591249e-05,-7.57189495e-05, 9.80683574e-06,
  1.33479164e-02,-1.46027051e-03, 0.00000000e+00,-2.57779827e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.62578936, -4.01465152,  2.29793393, -4.01465152, 13.04185063,
       14.70344847,  2.29793393, 14.70344847, 30.3137436 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032447565770177267
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.55397777e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.55397777e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08173268, -0.03160618,  0.06199073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.18829716e-05,-4.87860693e-06,-3.24057842e-05, 2.48824128e-05,
  2.11088312e-05, 6.56136587e-06, 2.24485942e-05, 1.42930765e-05,
 -3.07599124e-05,-2.86536067e-05, 2.62381239e-05,-1.79982988e-06,
 -9.37200081e-05,-5.82454537e-05,-8.84232895e-05,-2.33565934e-04,
 -1.26736612e-06,-2.46868299e-07,-1.21644342e+00,-4.56051966e-04,
  1.20463789e-05,-5.49925735e-04]


--- Step 1043 ---
qpos:
[ 6.19664893e-03,-1.80876816e-03,-4.97389025e-03, 3.35556082e-02,
  4.47191419e-03,-3.77170186e-03,-1.85511483e-02, 2.85981426e-02,
  1.29638994e-02, 3.32972180e-03,-9.97834324e-03, 2.58709623e-02,
  1.21148892e+00,-6.35695586e-06, 9.52255329e-01, 6.41640346e-02,
  9.35399588e-02,-7.00942852e-02, 1.30948134e-01, 4.99792266e-01,
  4.88601191e-01, 5.00419402e-01, 5.10937363e-01]

qacc:
[  5.33836444, -1.16530279,  4.09734708, -5.76104866,  2.21147479,
   2.89621736,-13.34521708, 28.22228062, -3.17368331,  0.73092194,
  -4.29699324, 10.15827803, -0.79904572,  1.0126263 , 16.81908105,
 -58.91174412,  0.70608797, -1.96212873, -0.48317267,  9.86392084,
  -1.96082231, 28.87364055]

qfrc_actuator:
[ 6.11388479e-05,-8.50209497e-05,-6.24059985e-05, 4.65578022e-05,
 -7.64918623e-06,-3.93692250e-04,-2.51497286e-04,-3.53053866e-05,
 -2.25961801e-05,-7.00992452e-05,-8.41176322e-05, 2.51327820e-05,
  1.33115831e-02,-1.45942603e-03, 0.00000000e+00,-2.85838358e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.63608757, -4.13983852,  2.08687445, -4.13983852, 11.06670855,
       12.75674847,  2.08687445, 12.75674847, 29.94229544,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032725286355633765
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.69627702e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.69627702e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08173249, -0.03160821,  0.06199065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.11701772e-05,-1.84851111e-05, 1.01492416e-05,-4.63580566e-06,
  1.30945894e-05, 3.48660778e-05,-5.82557690e-06, 4.44608553e-05,
 -1.85679383e-05,-2.40448562e-05,-1.11565698e-05, 1.49699624e-05,
 -1.06260459e-04,-3.17573772e-05,-6.85778253e-05,-3.05426271e-04,
 -4.04917275e-07,-4.45255459e-07,-1.21644264e+00,-4.56215367e-04,
  1.00481408e-05,-5.49865053e-04]


--- Step 1044 ---
qpos:
[ 6.19747267e-03,-1.80830665e-03,-4.97325021e-03, 3.35556706e-02,
  4.47155949e-03,-3.77209922e-03,-1.85511955e-02, 2.85983591e-02,
  1.29631350e-02, 3.32965488e-03,-9.97850899e-03, 2.58716474e-02,
  1.21183445e+00,-7.11374517e-06, 9.52506762e-01, 6.41610067e-02,
  9.35287884e-02,-7.01152891e-02, 1.30940979e-01, 4.99754721e-01,
  4.88629443e-01, 5.00304878e-01, 5.11059208e-01]

qacc:
[ -6.05722509, -2.0781988 ,  9.1262445 ,-17.11941121, -1.7167463 ,
   2.56901266,-10.02951851, 18.32768003, -1.85224941,  2.4280491 ,
  -9.53895099, 14.21109947,  0.03546186, -0.69495019, -1.99600392,
   5.19412715,  0.69227257, -1.9377076 , -0.61927338,  9.74084783,
  -1.90521879, 28.43298312]

qfrc_actuator:
[ 2.47310635e-05,-7.34231997e-05,-3.63198639e-05, 2.63886689e-05,
 -1.79955982e-05,-3.42426166e-04,-2.57696021e-04,-9.83505506e-06,
 -3.27677035e-05,-7.79762087e-05,-1.24822336e-04, 3.39422079e-05,
  1.32720350e-02,-1.49431543e-03, 0.00000000e+00,-2.82678319e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.63523655, -4.25161964,  1.84638791, -4.25161964,  9.34457773,
       10.84405255,  1.84638791, 10.84405255, 29.60549698,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032702468150115627
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.6974606e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.6974606e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08173194, -0.03160848,  0.06199065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.55301528e-05, 3.14232248e-06, 2.33448330e-05,-2.07046486e-05,
 -9.96178527e-06, 7.15038056e-05, 1.83273356e-06, 2.76299863e-05,
 -1.07070982e-05,-2.30000628e-05,-4.65345559e-05, 7.68275836e-06,
 -1.10672578e-04,-6.49023955e-05,-6.91207412e-05, 4.94670830e-06,
  2.14627725e-07,-1.77786677e-07,-1.21644310e+00,-4.56250806e-04,
  8.77495569e-06,-5.50009924e-04]


--- Step 1045 ---
qpos:
[ 6.19716404e-03,-1.80786728e-03,-4.97256484e-03, 3.35551670e-02,
  4.47108378e-03,-3.77214263e-03,-1.85509388e-02, 2.85985242e-02,
  1.29625994e-02, 3.32947500e-03,-9.97917649e-03, 2.58727752e-02,
  1.21217941e+00,-8.57021783e-06, 9.52758122e-01, 6.41555872e-02,
  9.35203414e-02,-7.01439626e-02, 1.30930889e-01, 4.99680909e-01,
  4.88697303e-01, 5.00170889e-01, 5.11197630e-01]

qacc:
[ -9.95542284, -1.30200261,  7.02272704,-16.91007831, -1.05561017,
  -0.48510657,  2.62907416, -4.26819383,  2.00049176,  2.1602541 ,
  -9.79500427, 18.34875723,  0.04013493, -0.81339159,  7.0904476 ,
 -25.01129742,  0.68085553, -1.91742631, -0.73379817,  9.63696301,
  -1.86252049, 28.07312599]

qfrc_actuator:
[-3.25341168e-05,-8.43713362e-05,-3.89232571e-05,-3.23547168e-06,
 -2.39451563e-05,-3.29619722e-04,-2.43474300e-04,-1.26796384e-05,
 -2.06874529e-05,-8.26654011e-05,-1.48743038e-04, 5.65849132e-05,
  1.32412254e-02,-1.53238443e-03, 0.00000000e+00,-2.94878709e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.62553599, -4.35022914,  1.57196996, -4.35022914,  9.53344618,
       13.58202415,  1.57196996, 13.58202415, 42.21207952,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003244068856630977
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.71115823e-13, -1.71115823e-13,  1.00000000e+00,  2.92806249e-26,
        1.00000000e+00,  1.71115823e-13, -1.00000000e+00,  0.00000000e+00,
        1.71115823e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0817311 , -0.03160735,  0.06199073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.82765193e-05,-5.29527425e-06, 1.92173411e-07,-2.90860169e-05,
 -6.21041080e-06, 5.43648400e-05, 3.01779466e-05, 8.21798852e-07,
  1.17693405e-05,-2.68373739e-05,-3.41367439e-05, 2.01957140e-05,
 -1.11531994e-04,-7.63300057e-05,-3.30620339e-05,-1.31020066e-04,
  6.05844820e-07, 5.35093748e-07,-1.21644474e+00,-4.56173314e-04,
  8.19127009e-06,-5.50354535e-04]


--- Step 1046 ---
qpos:
[ 6.19617114e-03,-1.80740381e-03,-4.97219012e-03, 3.35539863e-02,
  4.47054044e-03,-3.77189408e-03,-1.85504583e-02, 2.85986676e-02,
  1.29622125e-02, 3.32920997e-03,-9.97957944e-03, 2.58734175e-02,
  1.21252361e+00,-9.95757628e-06, 9.53009123e-01, 6.41500409e-02,
  9.35122112e-02,-7.01680952e-02, 1.30925631e-01, 4.99621619e-01,
  4.88750264e-01, 5.00055255e-01, 5.11318062e-01]

qacc:
[ -6.02726405, -0.48222049,  4.6443768 ,-15.90555868, -0.58992984,
  -0.28219652,  1.65938793, -2.60769162,  1.3178537 , -1.8537753 ,
   8.49187793,-17.24947709, -0.62710835,  0.76983015, -0.10778066,
  -0.30056994,  0.07922353,  1.13524204,  1.20776736,  1.91950181,
   0.36590971,-16.41767432]

qfrc_actuator:
[-6.60903444e-05,-9.11026806e-05,-5.85392686e-05,-3.82215211e-05,
 -2.72519989e-05,-3.22130867e-04,-2.35226417e-04,-1.44216002e-05,
 -1.33624031e-05,-6.75865576e-05,-1.27022159e-04, 3.39485452e-05,
  1.32156767e-02,-1.51871817e-03, 0.00000000e+00,-2.94737615e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033185674125679743
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.13639579e-14, -1.67274442e-13,  1.00000000e+00, -5.24638856e-27,
        1.00000000e+00,  1.67274442e-13, -1.00000000e+00,  0.00000000e+00,
       -3.13639579e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09192134, -0.08825744,  0.06199051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.52158339e-05,-1.09413427e-05,-2.17018792e-05,-3.57712985e-05,
 -3.46653783e-06, 4.41540893e-05, 2.32202859e-05, 1.64745730e-06,
  7.64955257e-06,-6.10047744e-06, 1.26777414e-05,-2.45758125e-05,
 -1.09291425e-04,-2.72388368e-05,-3.41331132e-05,-1.11292651e-05,
  7.79656445e-07, 1.67890582e-06,-1.21644751e+00,-4.55993360e-04,
  8.26934622e-06,-5.50894393e-04]


--- Step 1047 ---
qpos:
[ 6.19547321e-03,-1.80700738e-03,-4.97205874e-03, 3.35527482e-02,
  4.46996145e-03,-3.77106215e-03,-1.85503090e-02, 2.85994809e-02,
  1.29622616e-02, 3.32862935e-03,-9.97928933e-03, 2.58727470e-02,
  1.21286698e+00,-1.06953170e-05, 9.53259779e-01, 6.41454998e-02,
  9.35051745e-02,-7.01877735e-02, 1.30924117e-01, 4.99573488e-01,
  4.88791335e-01, 4.99960626e-01, 5.11418354e-01]

qacc:
[  2.58704497,  0.46842182, -1.56521031,  1.02000995, -0.33178663,
   3.07333123,-12.667236  , 24.35670052,  3.86304245, -5.0639278 ,
  22.98052903,-46.56248296, -1.09824579,  1.95117031, -3.45852979,
  11.55774023,  0.2733442 ,  1.11356533,  0.93619494,  4.70886038,
   0.57568505,-15.98954142]

qfrc_actuator:
[-4.99111015e-05,-9.53413372e-05,-7.02723710e-05,-4.05819405e-05,
 -2.89781825e-05,-2.82406882e-04,-2.48356689e-04, 1.99940617e-05,
  8.85080692e-06,-9.38874174e-05,-9.62345423e-05,-3.28567967e-05,
  1.31933237e-02,-1.47449967e-03, 0.00000000e+00,-2.89097708e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003432575146486673
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02883336e-06, -1.16235299e-13,  1.00000000e+00,  1.19586754e-19,
        1.00000000e+00,  1.16235299e-13, -1.00000000e+00,  0.00000000e+00,
        1.02883336e-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([ 0.08922079, -0.08834358,  0.06199019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.51748854e-05,-1.64005042e-05,-1.79085097e-05,-4.27391980e-06,
 -1.81081078e-06, 6.92654289e-05,-1.10153277e-06, 3.71416005e-05,
  2.24277896e-05,-2.81323856e-05, 3.02443470e-05,-6.71067328e-05,
 -9.32379864e-05, 1.39599534e-05,-2.08803902e-05, 5.05106884e-05,
  6.14924994e-07, 1.11559782e-06,-1.21644543e+00,-4.55642255e-04,
  9.27729848e-06,-5.51411512e-04]


--- Step 1048 ---
qpos:
[ 6.19566421e-03,-1.80672589e-03,-4.97210791e-03, 3.35521837e-02,
  4.46936663e-03,-3.77016404e-03,-1.85500575e-02, 2.86000462e-02,
  1.29629218e-02, 3.32751305e-03,-9.97880859e-03, 2.58720358e-02,
  1.21320963e+00,-1.09253482e-05, 9.53510895e-01, 6.41366041e-02,
  9.34992139e-02,-7.02030987e-02, 1.30925428e-01, 4.99536284e-01,
  4.88820745e-01, 4.99886528e-01, 5.11499011e-01]

qacc:
[  7.8129384 ,  1.72455643, -9.23910914, 21.29749794, -0.13675379,
  -0.70751996,  3.69709981, -8.19988791,  5.39291931, -1.33496014,
   3.88609152, -4.48043913, -1.2088809 ,  2.08032726, 13.90768671,
 -47.46809087,  0.26905702,  1.08829013,  0.70630623,  4.57472375,
   0.57965502,-15.63182926]

qfrc_actuator:
[-4.59609850e-06,-9.80028778e-05,-7.72187884e-05,-5.96327816e-06,
 -2.97609187e-05,-3.12513182e-04,-2.56095870e-04, 4.41103703e-06,
  3.96501419e-05,-1.44751587e-04,-9.60464853e-05,-3.63788433e-05,
  1.31622699e-02,-1.44806325e-03, 0.00000000e+00,-3.12221382e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.72719301, -1.73718135,  4.39642522, -1.73718135, 10.27609402,
        2.19256484,  4.39642522,  2.19256484,  5.59355205,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003504190659584167
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.63779581e-07,  8.41572333e-14,  1.00000000e+00, -2.21989597e-20,
        1.00000000e+00, -8.41572333e-14, -1.00000000e+00,  0.00000000e+00,
        2.63779581e-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([ 0.0892215 , -0.08834176,  0.06198998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.57404988e-05,-1.57208582e-05,-1.26910716e-05, 3.32141638e-05,
 -8.11797086e-07, 9.95646472e-06, 7.70396670e-06,-1.19338568e-05,
  3.14265933e-05,-6.31972894e-05,-4.21573353e-06,-4.98594124e-06,
 -8.27495752e-05, 8.33989142e-06,-8.39014889e-06,-2.32092115e-04,
  4.57650033e-07, 7.11370484e-07,-1.21644363e+00,-4.55362519e-04,
  1.03849556e-05,-5.51819544e-04]


--- Step 1049 ---
qpos:
[ 6.19639679e-03,-1.80644933e-03,-4.97202010e-03, 3.35520018e-02,
  4.46911254e-03,-3.76993404e-03,-1.85494597e-02, 2.85994638e-02,
  1.29636011e-02, 3.32600150e-03,-9.97839359e-03, 2.58719788e-02,
  1.21355158e+00,-1.05376971e-05, 9.53762028e-01, 6.41243341e-02,
  9.34943148e-02,-7.02141552e-02, 1.30928791e-01, 4.99509815e-01,
  4.88838685e-01, 4.99832563e-01, 5.11560450e-01]

qacc:
[  4.7667477 ,  0.38882702, -3.02649028,  9.44751807,  3.0035321 ,
  -4.21568437, 18.58760297,-38.50156501,  0.17310033,  1.00758908,
  -7.11330252, 18.83173511, -1.22635977,  2.19056493, 10.3015165 ,
 -35.7894538 ,  0.26535096,  1.06717806,  0.51297053,  4.46393215,
   0.58227375,-15.3329748 ]

qfrc_actuator:
[ 2.19831494e-05,-8.18907952e-05,-6.35060027e-05, 1.46295092e-05,
 -1.22304903e-05,-4.01986445e-04,-2.60901320e-04,-5.82740726e-05,
  3.97463658e-05,-1.56749537e-04,-9.62403263e-05,-2.67793207e-06,
  1.31313404e-02,-1.41466138e-03, 0.00000000e+00,-3.29029003e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.74015608, -2.10348292,  4.24787467, -2.10348292, 13.6191375 ,
        4.39673654,  4.24787467,  4.39673654,  6.91735313,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003535286955930872
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.71824022e-07, -1.12858278e-13,  1.00000000e+00, -4.19634190e-20,
        1.00000000e+00,  1.12858278e-13, -1.00000000e+00,  0.00000000e+00,
       -3.71824022e-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([ 0.08922192, -0.08834102,  0.0619899 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.78726903e-05, 6.12960231e-06, 1.00480030e-05, 2.01252587e-05,
  1.75108981e-05,-8.28629377e-05,-2.22757500e-06,-6.22279165e-05,
  9.64195248e-07,-4.83732682e-05,-1.39314307e-05, 3.07515555e-05,
 -7.81912774e-05, 1.67599159e-05,-3.60389193e-05,-1.83524871e-04,
  3.22639704e-07, 4.00687321e-07,-1.21644223e+00,-4.55100367e-04,
  1.12734308e-05,-5.52131652e-04]


--- Step 1050 ---
qpos:
[ 6.19709769e-03,-1.80621647e-03,-4.97171105e-03, 3.35513761e-02,
  4.46907044e-03,-3.77018289e-03,-1.85489685e-02, 2.85984887e-02,
  1.29639311e-02, 3.32454007e-03,-9.97817183e-03, 2.58719316e-02,
  1.21389298e+00,-1.00050908e-05, 9.54012772e-01, 6.41114319e-02,
  9.34912167e-02,-7.02209869e-02, 1.30933476e-01, 4.99490969e-01,
  4.88847948e-01, 4.99801395e-01, 5.11600452e-01]

qacc:
[ -0.27111788, -1.58926077,  7.45627928,-15.45603727,  1.85991467,
  -1.14599252,  4.82019108,-11.08731453, -3.08036273,  0.6325335 ,
  -2.1902831 ,  2.62102775, -0.54523473,  0.78326865,  1.36978723,
  -5.54217299,  0.45026196,  1.05618507,  0.33038396,  7.15828271,
   0.76768742,-15.04431474]

qfrc_actuator:
[ 1.95600825e-05,-9.00838545e-05,-5.53956439e-05,-8.67679147e-06,
 -1.81504001e-06,-4.19856275e-04,-2.64231519e-04,-7.72108859e-05,
  2.17683002e-05,-1.27601264e-04,-9.64831807e-05,-5.79706277e-07,
  1.31005110e-02,-1.41289856e-03, 0.00000000e+00,-3.31319268e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035374669526237745
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.92308621e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.92308621e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0864418 , -0.08843291,  0.06198989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63060460e-06,-1.83061098e-06, 1.13046751e-05,-2.23060054e-05,
  1.08894529e-05,-6.73414026e-05,-2.28824356e-05,-2.37773422e-05,
 -1.79726479e-05, 5.90282834e-07,-1.08733111e-05, 1.44321777e-07,
 -7.36667196e-05,-1.19729481e-05,-4.16348656e-05,-3.87906131e-05,
  2.07633813e-07, 1.77996570e-07,-1.21644118e+00,-4.54853492e-04,
  1.19577831e-05,-5.52349127e-04]


--- Step 1051 ---
qpos:
[ 6.19776436e-03,-1.80609102e-03,-4.97096482e-03, 3.35501242e-02,
  4.46880844e-03,-3.77044014e-03,-1.85490604e-02, 2.85976115e-02,
  1.29636981e-02, 3.32306960e-03,-9.97796730e-03, 2.58719048e-02,
  1.21423395e+00,-9.93921439e-06, 9.54262999e-01, 6.41002930e-02,
  9.34898990e-02,-7.02236541e-02, 1.30938933e-01, 4.99479651e-01,
  4.88848631e-01, 4.99792707e-01, 5.11619335e-01]

qacc:
[ -0.28570416, -2.65298088, 11.89747653,-23.35478471, -1.94267206,
   1.82278037, -6.92267887,  9.54802819, -4.95519541,  0.08792598,
  -0.40030627,  0.76984311,  0.17804803, -0.81840224, -6.10796623,
  20.20536422,  0.44508673,  1.04112211,  0.19304188,  7.04492979,
   0.76649402,-14.83888717]

qfrc_actuator:
[ 1.78448915e-05,-9.50666036e-05,-3.30331640e-05,-3.98967277e-05,
 -1.34287649e-05,-3.94686056e-04,-2.84114785e-04,-7.01946476e-05,
 -6.69363258e-06,-1.27310434e-04,-9.66016578e-05, 6.92204143e-07,
  1.30644264e-02,-1.44764614e-03, 0.00000000e+00,-3.21487834e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035118192978038365
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.58069498e-13,  3.95173744e-14,  1.00000000e+00, -6.24649152e-27,
        1.00000000e+00, -3.95173744e-14, -1.00000000e+00,  0.00000000e+00,
        1.58069498e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0864417 , -0.0884337 ,  0.06198996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.76265383e-06,-4.64057436e-06, 2.25993170e-05,-3.13412612e-05,
 -1.13242301e-05,-1.82230384e-05,-3.74353466e-05, 2.87698456e-06,
 -2.89763093e-05,-1.57371802e-06,-1.31517297e-06, 9.27472437e-07,
 -8.26474605e-05,-5.35700292e-05,-2.68457543e-05, 9.00601214e-05,
  1.10653705e-07, 5.94118014e-08,-1.21644044e+00,-4.54649089e-04,
  1.25193385e-05,-5.52457831e-04]


--- Step 1052 ---
qpos:
[ 6.19806033e-03,-1.80607181e-03,-4.96999545e-03, 3.35495585e-02,
  4.46840927e-03,-3.77064037e-03,-1.85494909e-02, 2.85967989e-02,
  1.29631257e-02, 3.32144191e-03,-9.97769885e-03, 2.58719071e-02,
  1.21457440e+00,-1.02522582e-05, 9.54512611e-01, 6.40937104e-02,
  9.34903446e-02,-7.02222062e-02, 1.30944703e-01, 4.99475782e-01,
  4.88840812e-01, 4.99806241e-01, 5.11617362e-01]

qacc:
[ -3.2502263 ,  0.65520228, -5.42579058, 17.01134554, -1.21191621,
   1.15594912, -4.2813804 ,  5.8943354 , -2.98224367, -0.32087077,
   0.73010899, -0.22514141,  0.19514558, -0.81641647,-14.68143114,
  49.99369035,  0.44082553,  1.02878851,  0.07843922,  6.95254114,
   0.76475075,-14.67000207]

qfrc_actuator:
[-1.18298848e-06,-9.80419920e-05,-2.01764724e-05,-4.49424502e-06,
 -2.01602484e-05,-3.79475989e-04,-2.95658032e-04,-6.56927833e-05,
 -2.33397550e-05,-1.44294963e-04,-9.67442211e-05, 1.45380245e-06,
  1.30358500e-02,-1.46824101e-03, 0.00000000e+00,-2.97496576e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003465554924084735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.20359379e-13, -8.00898448e-14,  1.00000000e+00,  2.56575330e-26,
        1.00000000e+00,  8.00898448e-14, -1.00000000e+00,  0.00000000e+00,
        3.20359379e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08644137, -0.08843504,  0.0619901 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.90801421e-05,-2.25842755e-06, 1.35891640e-05, 3.53763587e-05,
 -7.05995305e-06,-2.58083412e-06,-1.98125690e-05, 2.48481195e-06,
 -1.74743317e-05,-1.80564172e-05,-5.81741491e-07, 6.70748097e-07,
 -8.95734380e-05,-5.04059945e-05,-5.67462525e-06, 2.40739187e-04,
  3.40938333e-08, 7.69921039e-09,-1.21644006e+00,-4.54460970e-04,
  1.27994865e-05,-5.52471372e-04]


--- Step 1053 ---
qpos:
[ 6.19778107e-03,-1.80621308e-03,-4.96914078e-03, 3.35501426e-02,
  4.46827731e-03,-3.77084391e-03,-1.85497925e-02, 2.85960214e-02,
  1.29630477e-02, 3.31965815e-03,-9.97741926e-03, 2.58719223e-02,
  1.21491427e+00,-1.08077062e-05, 9.54761910e-01, 6.40916936e-02,
  9.34925396e-02,-7.02166831e-02, 1.30950407e-01, 4.99479296e-01,
  4.88824557e-01, 4.99841781e-01, 5.11594742e-01]

qacc:
[-5.05816483e+00, 2.48567691e+00,-1.40062862e+01, 3.41842358e+01,
  2.34253589e+00,-2.96955240e-01, 8.96711522e-01,-4.85475688e-01,
  4.35486625e+00,-2.19264056e-01, 4.13201530e-01,-7.63755380e-02,
  1.59232836e-02,-4.48350494e-01,-1.42499716e+01, 4.91669794e+01,
  4.37367761e-01, 1.01878810e+00,-1.68686725e-02, 6.87794673e+00,
  7.62583755e-01,-1.45325036e+01]

qfrc_actuator:
[-3.02483210e-05,-1.17523801e-04,-3.07367244e-05, 5.20670111e-05,
 -6.20454294e-06,-3.70304064e-04,-2.84456052e-04,-6.27054280e-05,
  2.61047346e-06,-1.53740262e-04,-9.69754884e-05, 1.89244961e-06,
  1.30064757e-02,-1.48024536e-03, 0.00000000e+00,-2.74235577e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003403413976545422
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.63104317e-13,  8.15521585e-14,  1.00000000e+00, -1.33015091e-26,
        1.00000000e+00, -8.15521585e-14, -1.00000000e+00,  0.00000000e+00,
        1.63104317e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08644086, -0.08843678,  0.06199027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.96115885e-05,-1.64401406e-05,-8.13888244e-06, 5.76229663e-05,
  1.37538179e-05, 3.75456620e-06, 8.32382905e-06, 2.24309965e-06,
  2.54425912e-05,-1.95860866e-05,-3.99349528e-06,-3.38578835e-07,
 -9.31740416e-05,-4.30247817e-05, 2.03807002e-05, 2.44445419e-04,
 -2.32035807e-08, 2.06229968e-08,-1.21644003e+00,-4.54288355e-04,
  1.28087652e-05,-5.52390542e-04]


--- Step 1054 ---
qpos:
[ 6.19750013e-03,-1.80610465e-03,-4.96881826e-03, 3.35506856e-02,
  4.46865817e-03,-3.77067342e-03,-1.85501178e-02, 2.85949017e-02,
  1.29632812e-02, 3.31773330e-03,-9.97716693e-03, 2.58722888e-02,
  1.21525339e+00,-1.12073310e-05, 9.55011202e-01, 6.40928219e-02,
  9.34964731e-02,-7.02071169e-02, 1.30955726e-01, 4.99490138e-01,
  4.88799916e-01, 4.99899155e-01, 5.11551639e-01]

qacc:
[ -0.03591874,  1.73312963, -5.52688545,  5.48218561,  4.48075054,
  -0.15177014,  2.68824603, -8.83093352,  2.74150504,  0.60753937,
  -3.92945783, 10.16725981, -0.52217004,  0.6691277 , -9.46684518,
  33.19134582,  0.434615  ,  1.01078166, -0.0958391 ,  6.81849812,
   0.76007296,-14.42200469]

qfrc_actuator:
[-2.94780425e-05,-9.35548217e-05,-5.50985478e-05, 4.95750414e-05,
  1.98139785e-05,-3.29212248e-04,-2.77691587e-04,-7.83756444e-05,
  1.79150613e-05,-1.58600305e-04,-9.72327666e-05, 1.98944366e-05,
  1.29713217e-02,-1.46932771e-03, 0.00000000e+00,-2.58696994e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033293279068641324
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.66733806e-13, -1.25050354e-13,  1.00000000e+00,  2.08501215e-26,
        1.00000000e+00,  1.25050354e-13, -1.00000000e+00,  0.00000000e+00,
        1.66733806e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08644021, -0.08843884,  0.06199048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.00126684e-08, 1.55479078e-05,-2.67746511e-05,-2.35816439e-06,
  2.64123105e-05, 4.50242751e-05, 8.65005790e-06,-1.51753435e-05,
  1.60153913e-05,-1.65821894e-05,-4.79019538e-06, 1.70201179e-05,
 -9.90768912e-05,-1.95399935e-05, 3.13262968e-05, 1.70431530e-04,
 -6.21463689e-08, 9.63656666e-08,-1.21644034e+00,-4.54130679e-04,
  1.25551667e-05,-5.52216008e-04]


--- Step 1055 ---
qpos:
[ 6.19757512e-03,-1.80555246e-03,-4.96920628e-03, 3.35511819e-02,
  4.46934805e-03,-3.77012360e-03,-1.85504138e-02, 2.85939433e-02,
  1.29633511e-02, 3.31590045e-03,-9.97698659e-03, 2.58721503e-02,
  1.21559202e+00,-1.20661102e-05, 9.55260380e-01, 6.40975057e-02,
  9.35014225e-02,-7.01935535e-02, 1.30960558e-01, 4.99511099e-01,
  4.88764392e-01, 4.99975419e-01, 5.11490578e-01]

qacc:
[  3.09968696,  2.47050441, -7.7703265 ,  7.78058571,  2.69878091,
   0.74559141, -2.62170299,  5.09805494, -1.44236722, -0.71383666,
   4.85860062,-13.55578114,  0.19823983, -0.87284659,-10.92397209,
  37.91784054,  0.25398139,  0.99930006, -0.12216733,  4.12917964,
   0.58311917,-14.40988108]

qfrc_actuator:
[-1.11498527e-05,-6.16139968e-05,-8.72779989e-05, 4.78872784e-05,
  3.49650422e-05,-3.04849768e-04,-2.73488497e-04,-6.93719721e-05,
  9.06501606e-06,-1.42909100e-04,-9.74717051e-05,-5.16702691e-06,
  1.29433867e-02,-1.49821603e-03, 0.00000000e+00,-2.40731368e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032445721281887645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.82115906e-07,  2.19208141e-13,  1.00000000e+00,  1.05683732e-19,
        1.00000000e+00, -2.19208141e-13, -1.00000000e+00, -1.20370622e-35,
       -4.82115906e-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([ 0.08922092, -0.08834895,  0.06199073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.83317415e-05, 3.49955362e-05,-3.23530598e-05,-1.99591265e-06,
  1.59215854e-05, 5.06856143e-05, 1.40466819e-05, 1.09389214e-05,
 -8.40711699e-06, 6.23052075e-06,-3.64697883e-06,-2.56042956e-05,
 -8.99387538e-05,-5.57827770e-05, 2.69576643e-05, 1.91711521e-04,
 -8.34487142e-08, 2.33438189e-07,-1.21644099e+00,-4.53987548e-04,
  1.20446265e-05,-5.51948326e-04]


--- Step 1056 ---
qpos:
[ 6.19786932e-03,-1.80481445e-03,-4.96992316e-03, 3.35516606e-02,
  4.46986967e-03,-3.76954260e-03,-1.85499427e-02, 2.85930937e-02,
  1.29633148e-02, 3.31374079e-03,-9.97606646e-03, 2.58713649e-02,
  1.21592996e+00,-1.27250890e-05, 9.55509677e-01, 6.41039919e-02,
  9.35073849e-02,-7.01760106e-02, 1.30964680e-01, 4.99542124e-01,
  4.88718036e-01, 5.00070470e-01, 5.11411647e-01]

qacc:
[  1.91390308,  1.12503158, -3.58718522,  3.67893217, -1.44879902,
  -1.874687  ,  6.29038503, -5.66264933, -0.90724353, -3.82952298,
  15.76264152,-27.90560824, -0.58835013,  0.83647962, -5.22400207,
  18.62808747,  0.25322776,  0.99485306, -0.17706199,  4.10755964,
   0.5793534 ,-14.33638192]

qfrc_actuator:
[-3.96498238e-07,-6.06892640e-05,-1.06004132e-04, 4.67041440e-05,
  2.58416992e-05,-3.08432440e-04,-2.35360624e-04,-6.36832616e-05,
  3.82505639e-06,-1.68321698e-04,-6.21387507e-05,-3.75981949e-05,
  1.29197879e-02,-1.47942476e-03, 0.00000000e+00,-2.32127940e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003157316289016839
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.95269562e-08, -2.14277600e-13,  1.00000000e+00,  2.13263973e-20,
        1.00000000e+00,  2.14277600e-13, -1.00000000e+00,  0.00000000e+00,
        9.95269562e-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([ 0.08922046, -0.08835128,  0.06199098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12867311e-05, 1.37155694e-05,-1.55549629e-05,-8.44023712e-07,
 -8.65184138e-06, 2.81219326e-05, 5.07044487e-05, 8.56069413e-06,
 -5.48106672e-06,-2.37171846e-05, 3.53048553e-05,-3.27842928e-05,
 -8.85933675e-05,-1.35802188e-05, 2.79507928e-05, 9.88369105e-05,
 -8.89211255e-08, 4.40440727e-07,-1.21644188e+00,-4.53861505e-04,
  1.14280819e-05,-5.51612945e-04]


--- Step 1057 ---
qpos:
[ 6.19829058e-03,-1.80438121e-03,-4.97037325e-03, 3.35521436e-02,
  4.47027817e-03,-3.76909681e-03,-1.85485606e-02, 2.85916397e-02,
  1.29632156e-02, 3.31147205e-03,-9.97480161e-03, 2.58705416e-02,
  1.21626701e+00,-1.23310718e-05, 9.55759609e-01, 6.41071364e-02,
  9.35143582e-02,-7.01545016e-02, 1.30967915e-01, 4.99583170e-01,
  4.88660885e-01, 5.00184230e-01, 5.11314905e-01]

qacc:
[  1.13086746, -1.14213035,  3.46598104, -3.59028761, -0.95957428,
  -3.96357358, 16.42914031,-28.24703276, -0.54023245, -1.18436999,
   4.17524108, -5.3023079 , -1.76032618,  3.30704954, 11.15964888,
 -37.36066591,  0.2527359 ,  0.99156433, -0.22197364,  4.0920601 ,
   0.57562541,-14.28148754]

qfrc_actuator:
[ 5.80631056e-06,-9.60463847e-05,-9.90031186e-05, 4.58132820e-05,
  2.02599870e-05,-3.28585789e-04,-1.95379948e-04,-9.55006520e-05,
  7.59428398e-07,-1.64756679e-04,-4.17509051e-05,-3.86018540e-05,
  1.28881735e-02,-1.41474839e-03, 0.00000000e+00,-2.50411891e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000306591922967027
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.97548055e-07, -1.30135979e-13,  1.00000000e+00,  1.03789697e-19,
        1.00000000e+00,  1.30135979e-13, -1.00000000e+00,  0.00000000e+00,
        7.97548055e-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([ 0.08921997, -0.08835374,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.52747326e-06,-3.09529465e-05, 7.88706130e-06,-8.59394204e-07,
 -5.82146041e-06, 6.38459737e-06, 5.23213431e-05,-2.86912690e-05,
 -3.23573612e-06,-3.74285804e-06, 1.87193719e-05,-1.43175297e-06,
 -8.62661044e-05, 4.15431470e-05, 1.73011971e-05,-1.75261445e-04,
 -8.08339687e-08, 7.18521802e-07,-1.21644306e+00,-4.53745233e-04,
  1.06500666e-05,-5.51187632e-04]


--- Step 1058 ---
qpos:
[ 6.19809324e-03,-1.80455467e-03,-4.96998289e-03, 3.35522662e-02,
  4.47096143e-03,-3.76860449e-03,-1.85472736e-02, 2.85898631e-02,
  1.29634248e-02, 3.30980856e-03,-9.97417149e-03, 2.58696882e-02,
  1.21660367e+00,-1.22990368e-05, 9.56009639e-01, 6.41077619e-02,
  9.35216521e-02,-7.01290560e-02, 1.30970250e-01, 4.99636940e-01,
  4.88590530e-01, 5.00313915e-01, 5.11202708e-01]

qacc:
[ -5.40250482, -3.88267968, 14.21897169,-21.36932278,  2.40056443,
  -0.34101406,  2.65979806, -8.11792112,  2.68311332,  2.50667323,
  -7.65896456,  7.71666428, -0.12922029, -0.21272421,  7.7468719 ,
 -26.89501162,  0.08015694,  0.98412615, -0.22516757,  1.52908585,
   0.39503725,-14.30659575]

qfrc_actuator:
[-2.62220066e-05,-1.35003724e-04,-5.92772851e-05, 2.73304097e-05,
  3.45680693e-05,-3.40774977e-04,-2.07996246e-04,-1.13646887e-04,
  1.67500632e-05,-1.08386828e-04,-6.57362383e-05,-3.88520332e-05,
  1.28571200e-02,-1.44774250e-03, 0.00000000e+00,-2.63082803e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002978583471524576
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.8636762e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.8636762e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09192241, -0.08826624,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.18548161e-05,-5.46846590e-05, 3.42721481e-05,-1.95544794e-05,
  1.41430905e-05, 9.27399538e-07,-5.86319150e-06,-1.66212138e-05,
  1.58906511e-05, 5.81499592e-05,-2.24887045e-05, 2.13462436e-07,
 -7.22965629e-05,-4.37103375e-05,-1.92306019e-05,-1.36021274e-04,
 -5.94378020e-08, 1.06662578e-06,-1.21644452e+00,-4.53638707e-04,
  9.71160194e-06,-5.50672699e-04]


--- Step 1059 ---
qpos:
[ 6.19751332e-03,-1.80479635e-03,-4.96956382e-03, 3.35518080e-02,
  4.47146587e-03,-3.76794496e-03,-1.85465121e-02, 2.85885884e-02,
  1.29641688e-02, 3.30865294e-03,-9.97356318e-03, 2.58684625e-02,
  1.21693996e+00,-1.31249432e-05, 9.56259041e-01, 6.41108532e-02,
  9.35293408e-02,-7.00999575e-02, 1.30971799e-01, 4.99702148e-01,
  4.88508245e-01, 5.00458686e-01, 5.11075886e-01]

qacc:
[ -3.36235455, -1.35972195,  7.18016561,-17.23832006, -1.58395107,
   2.72356717,-11.50560062, 20.90416708,  4.69687847, -0.0433662 ,
   2.68454067, -9.44950354,  0.59621644, -1.76586169, -8.42926618,
  28.00236531,  0.0987082 ,  0.91323386, -0.19616412,  1.74099214,
   0.38428429,-13.24714485]

qfrc_actuator:
[-4.49889112e-05,-1.22439461e-04,-5.38548264e-05,-1.34478143e-06,
  2.49621308e-05,-3.30560716e-04,-2.33776361e-04,-8.81250912e-05,
  4.38283940e-05,-7.42626773e-05,-6.22460063e-05,-5.63953748e-05,
  1.28210634e-02,-1.50283985e-03, 0.00000000e+00,-2.49256080e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002886226618676561
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21590324e-06, -1.21590320e-06,  1.00000000e+00, -1.47842064e-12,
        1.00000000e+00,  1.21590320e-06, -1.00000000e+00,  0.00000000e+00,
       -1.21590324e-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([ 0.09166371, -0.08683374,  0.06199175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.96921545e-05,-1.17833829e-05,-2.33022204e-06,-3.02126789e-05,
 -9.20065748e-06, 8.78541230e-06,-2.69033872e-05, 2.50345955e-05,
  2.75461894e-05, 6.20667258e-05, 1.27528503e-05,-1.58217526e-05,
 -8.90652026e-05,-8.02985057e-05,-2.88810154e-05, 1.27070663e-04,
 -3.65777194e-08, 1.51216030e-06,-1.21644616e+00,-4.53564242e-04,
  8.87610986e-06,-5.50094329e-04]


--- Step 1060 ---
qpos:
[ 6.19705735e-03,-1.80465484e-03,-4.96961208e-03, 3.35513310e-02,
  4.47185131e-03,-3.76710985e-03,-1.85458434e-02, 2.85879434e-02,
  1.29652320e-02, 3.30740098e-03,-9.97237995e-03, 2.58670726e-02,
  1.21727574e+00,-1.48134435e-05, 9.56508072e-01, 6.41168549e-02,
  9.35400731e-02,-7.00791059e-02, 1.30973090e-01, 4.99729150e-01,
  4.88468455e-01, 5.00581922e-01, 5.10966814e-01]

qacc:
[  1.06849539,  1.77184498, -5.50624774,  5.64724526, -1.04693478,
   1.78787369, -8.6935398 , 19.60461321,  2.82906303, -2.077651  ,
   7.90708883,-11.58694426,  0.49962689, -1.67104785, -9.384815  ,
  31.91372592,  0.76089615, -2.06175104, -0.06477049, 10.00414822,
  -2.34416715, 30.09136856]

qfrc_actuator:
[-3.80349000e-05,-7.92580332e-05,-6.85388331e-05,-2.65514234e-07,
  1.91040840e-05,-3.07043657e-04,-2.31481172e-04,-5.48507438e-05,
  5.94568907e-05,-1.06888545e-04,-4.26294790e-05,-6.62077529e-05,
  1.27820168e-02,-1.55280577e-03, 0.00000000e+00,-2.34130584e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000300934677924275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.84462461e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.84462461e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08171007, -0.03159772,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.39177608e-06, 3.48159137e-05,-1.84500441e-05,-9.27483192e-08,
 -6.11777441e-06, 2.39124696e-05, 1.64859392e-06, 3.32072283e-05,
  1.64296191e-05, 4.08787600e-06, 3.34693612e-05,-7.01625002e-06,
 -1.09893631e-04,-8.69254771e-05,-2.15080393e-06, 1.53914841e-04,
 -8.44304399e-09, 1.99373235e-06,-1.21644793e+00,-4.53511529e-04,
  7.97713094e-06,-5.49430375e-04]


--- Step 1061 ---
qpos:
[ 6.19703283e-03,-1.80389115e-03,-4.97026743e-03, 3.35505033e-02,
  4.47250821e-03,-3.76598728e-03,-1.85449400e-02, 2.85876640e-02,
  1.29654398e-02, 3.30591602e-03,-9.97111535e-03, 2.58656289e-02,
  1.21761086e+00,-1.68577619e-05, 9.56757493e-01, 6.41209197e-02,
  9.35537617e-02,-7.00663332e-02, 1.30973320e-01, 4.99718573e-01,
  4.88470247e-01, 5.00684310e-01, 5.10875119e-01]

qacc:
[ 3.76380332e+00, 1.79030288e+00,-3.72273618e+00,-1.81866779e+00,
  2.37842489e+00, 4.71672669e-01,-2.68311741e+00, 8.43495574e+00,
 -7.52147692e+00,-6.31499615e-01, 2.05763719e+00,-2.97559812e+00,
 -3.15932035e-01,-9.28727834e-03, 6.43379502e+00,-2.16453119e+01,
  7.39069457e-01,-2.01968689e+00,-2.65258440e-01, 9.89164057e+00,
 -2.18279743e+00, 2.94420209e+01]

qfrc_actuator:
[-1.60018359e-05,-3.58830615e-05,-9.48021764e-05,-1.71684303e-05,
  3.32591109e-05,-2.75620184e-04,-2.12563188e-04,-3.50058587e-05,
  1.49592434e-05,-1.43658114e-04,-4.94304371e-05,-7.14406728e-05,
  1.27571802e-02,-1.56383973e-03, 0.00000000e+00,-2.44997878e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5719867 ,  2.20422857, -4.005551  ,  2.20422857, 10.11617001,
        3.05092789, -4.005551  ,  3.05092789,  6.2508924 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003093665399206136
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.97174453e-14, -2.24293613e-13,  1.00000000e+00, -2.01230500e-26,
        1.00000000e+00,  2.24293613e-13, -1.00000000e+00,  0.00000000e+00,
       -8.97174453e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08171009, -0.03160251,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.22273959e-05, 5.90293731e-05,-2.13470335e-05,-1.60504947e-05,
  1.39871550e-05, 4.65199890e-05, 2.51932985e-05, 2.15713027e-05,
 -4.40335349e-05,-2.78270376e-05,-2.07250955e-06,-4.03343026e-06,
 -1.09082468e-04,-5.43685974e-05, 1.16755073e-05,-1.01417496e-04,
  6.23494860e-08, 8.25441782e-07,-1.21644487e+00,-4.54613238e-04,
  7.92950598e-06,-5.48954337e-04]


--- Step 1062 ---
qpos:
[ 6.19761775e-03,-1.80279771e-03,-4.97118345e-03, 3.35498384e-02,
  4.47332979e-03,-3.76470065e-03,-1.85443051e-02, 2.85876755e-02,
  1.29644225e-02, 3.30460335e-03,-9.97011454e-03, 2.58644513e-02,
  1.21794514e+00,-1.82725333e-05, 9.57007325e-01, 6.41206581e-02,
  9.35703361e-02,-7.00614984e-02, 1.30971813e-01, 4.99670941e-01,
  4.88512855e-01, 5.00766413e-01, 5.10800490e-01]

qacc:
[  5.34489998,  1.48910459, -5.38179158,  8.39043144,  1.43017588,
   1.56158726, -6.48645817, 11.83227511,-10.79145136,  1.53388583,
  -6.22610946, 11.08792479, -1.41492845,  2.44178804, 13.76667683,
 -47.04104327,  0.7214325 , -1.98449586, -0.43410118,  9.79568861,
  -2.04939041, 28.90177153]

qfrc_actuator:
[ 1.47215600e-05,-2.82894989e-05,-1.09933781e-04,-9.01616189e-06,
  4.13264861e-05,-2.92892870e-04,-2.37219845e-04,-2.32066388e-05,
 -4.68144472e-05,-1.11728181e-04,-5.40656758e-05,-5.62179822e-05,
  1.27355745e-02,-1.51617099e-03, 0.00000000e+00,-2.67541996e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5874942 ,  2.45335597, -3.87635751,  2.45335597, 13.29608372,
        5.51168722, -3.87635751,  5.51168722,  8.07585428,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031382946626540287
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.84415856e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.84415856e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08170974, -0.03160508,  0.06199103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.13759287e-05, 3.54956007e-05,-6.12305906e-06, 9.63145909e-06,
  8.48126752e-06, 1.48234406e-05,-1.12217832e-05, 1.50798841e-05,
 -6.30378400e-05, 1.57954367e-05,-1.07703298e-05, 1.38855621e-05,
 -9.82326628e-05, 1.15399729e-05,-1.25915285e-05,-2.31142174e-04,
 -1.15300129e-07, 1.63926861e-07,-1.21644315e+00,-4.55519296e-04,
  8.56869867e-06,-5.48681353e-04]


--- Step 1063 ---
qpos:
[ 6.19822178e-03,-1.80174627e-03,-4.97185511e-03, 3.35496347e-02,
  4.47424206e-03,-3.76348998e-03,-1.85441179e-02, 2.85878729e-02,
  1.29630174e-02, 3.30333400e-03,-9.96919311e-03, 2.58641593e-02,
  1.21827854e+00,-1.88435251e-05, 9.57256704e-01, 6.41207012e-02,
  9.35897394e-02,-7.00644842e-02, 1.30968001e-01, 4.99586678e-01,
  4.88595640e-01, 5.00828696e-01, 5.10742664e-01]

qacc:
[  0.17675598,  0.21063186, -2.77885765, 10.4002899 ,  0.78096852,
   1.53087149, -6.3921064 , 10.38343745, -3.41581414,  2.10862661,
 -11.1628631 , 26.5714721 , -1.32027127,  2.43443696, -1.48548193,
   4.4655079 ,  0.70725851, -1.95514999, -0.57620184,  9.71521792,
  -1.93805551, 28.4542194 ]

qfrc_actuator:
[ 1.48033389e-05,-4.21212170e-05,-1.00737311e-04, 1.37961577e-05,
  4.57394698e-05,-3.21622200e-04,-2.69859376e-04,-1.63061730e-05,
 -6.49840993e-05,-1.09901157e-04,-5.70888700e-05,-1.12677734e-05,
  1.26999719e-02,-1.46962894e-03, 0.00000000e+00,-2.64821061e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59193315,  2.71955731, -3.69998082,  2.71955731, 19.56486962,
       11.00539727, -3.69998082, 11.00539727, 12.68111253,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003150903272476635
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.80876790e-14,  2.64263037e-13,  1.00000000e+00, -2.32783176e-26,
        1.00000000e+00, -2.64263037e-13, -1.00000000e+00,  0.00000000e+00,
        8.80876790e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08170909, -0.03160587,  0.061991  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.83720563e-07, 5.14730315e-06, 1.61052491e-05, 2.43086184e-05,
  4.66026688e-06,-2.21630257e-05,-3.04611732e-05, 7.43623694e-06,
 -1.99585620e-05, 9.04345766e-06,-5.98805118e-07, 4.55304342e-05,
 -9.11862958e-05, 2.70188289e-05,-3.78376693e-05, 1.12618382e-05,
 -5.24210770e-07,-2.07947898e-08,-1.21644269e+00,-4.56268647e-04,
  9.86750270e-06,-5.48604542e-04]


--- Step 1064 ---
qpos:
[ 6.19916731e-03,-1.80067141e-03,-4.97266289e-03, 3.35493789e-02,
  4.47520007e-03,-3.76224607e-03,-1.85441003e-02, 2.85881184e-02,
  1.29617495e-02, 3.30251203e-03,-9.96874998e-03, 2.58640382e-02,
  1.21861124e+00,-1.90928928e-05, 9.57505633e-01, 6.41226764e-02,
  9.36119266e-02,-7.00751931e-02, 1.30961407e-01, 4.99466132e-01,
  4.88718070e-01, 5.00871533e-01, 5.10701418e-01]

qacc:
[ 2.9979688 , 0.29838971,-0.80932488, 0.11958063, 0.39451918, 0.61584928,
 -2.33692095, 3.41821852, 1.18469773, 2.2775775 ,-7.98872731,11.38684978,
 -0.66505215, 1.04532434,-6.44837561,21.70677852, 0.69595132,-1.93077085,
 -0.69572416, 9.64909842,-1.84409955,28.08562205]

qfrc_actuator:
[ 3.23519580e-05,-5.08156262e-05,-1.12850002e-04, 9.53572283e-06,
  4.79679474e-05,-3.03793226e-04,-2.71496677e-04,-1.23563924e-05,
 -5.73384994e-05,-7.28179260e-05,-7.69763571e-05,-2.46478102e-06,
  1.26613292e-02,-1.45973421e-03, 0.00000000e+00,-2.54332186e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58735808, -2.99985458,  3.47055135, -2.99985458, 27.45194608,
       19.76355692,  3.47055135, 19.76355692, 21.67046416,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003137906877716118
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.84525153e-14,  8.84525153e-14,  1.00000000e+00, -7.82384747e-27,
        1.00000000e+00, -8.84525153e-14, -1.00000000e+00,  0.00000000e+00,
        8.84525153e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0817082 , -0.03160523,  0.06199103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75741169e-05,-1.47890091e-06,-8.22941437e-06,-3.01007677e-06,
  2.35479277e-06,-5.82694097e-07,-9.72714403e-06, 2.08693758e-06,
  7.07671875e-06, 4.39922929e-05,-1.65137070e-05, 1.00579064e-05,
 -8.62993262e-05,-4.87000029e-06,-1.99225101e-05, 9.98007098e-05,
 -1.15169055e-06, 2.48759453e-07,-1.21644344e+00,-4.56890888e-04,
  1.18050580e-05,-5.48718391e-04]


--- Step 1065 ---
qpos:
[ 6.19997101e-03,-1.79995177e-03,-4.97289593e-03, 3.35494193e-02,
  4.47583267e-03,-3.76123827e-03,-1.85440077e-02, 2.85884267e-02,
  1.29605827e-02, 3.30239318e-03,-9.96926656e-03, 2.58640240e-02,
  1.21894348e+00,-1.95046600e-05, 9.57754773e-01, 6.41228345e-02,
  9.36301582e-02,-7.00935033e-02, 1.30953439e-01, 4.99332951e-01,
  4.88850151e-01, 5.00872470e-01, 5.10704320e-01]

qacc:
[ -1.22258338, -1.46391944,  3.2920255 ,  1.17243196, -2.84143418,
  -0.38689962,  0.67132524,  0.45857642,  0.84744764,  3.82970967,
 -12.76066309, 15.62909546, -0.33170618,  0.23004269,  5.81420816,
 -19.84708822, -0.98888716, -1.90031934, -0.34336617,-16.25776488,
   1.02314425, 26.90721749]

qfrc_actuator:
[ 2.45453950e-05,-7.42288979e-05,-8.42075764e-05, 2.48656451e-05,
  3.11417484e-05,-3.29118614e-04,-2.72384316e-04,-1.01136360e-05,
 -5.23262954e-05,-3.27549981e-05,-1.24304391e-04, 2.76286160e-06,
  1.26368551e-02,-1.47164323e-03, 0.00000000e+00,-2.64211155e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031719803240690125
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.75004715e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.75004715e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.109318  , -0.03380599,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.30947230e-06,-2.60949438e-05, 2.72149830e-05, 1.49222910e-05,
 -1.67588273e-05,-2.76161071e-05,-2.14944806e-06, 1.91835483e-06,
  5.22667770e-06, 6.17068730e-05,-3.99237338e-05, 6.73782791e-06,
 -7.62442012e-05,-3.24459503e-05,-2.08533404e-06,-9.67132126e-05,
 -1.98854544e-06, 9.56169350e-07,-1.21644534e+00,-4.57408813e-04,
  1.43657649e-05,-5.49018424e-04]


--- Step 1066 ---
qpos:
[ 6.19964003e-03,-1.79943343e-03,-4.97254659e-03, 3.35499676e-02,
  4.47625874e-03,-3.76061084e-03,-1.85432653e-02, 2.85883929e-02,
  1.29594852e-02, 3.30270541e-03,-9.97003744e-03, 2.58644038e-02,
  1.21927495e+00,-1.94298120e-05, 9.58003755e-01, 6.41228110e-02,
  9.36444945e-02,-7.01192960e-02, 1.30943471e-01, 4.99187239e-01,
  4.88991727e-01, 5.00832278e-01, 5.10750644e-01]

qacc:
[ -9.95509777, -0.82863407,  0.45745951,  7.51509941, -1.7808347 ,
  -3.01702578, 11.47928325,-18.16426167,  0.59471056,  2.09044853,
  -8.29282327, 15.20414299, -0.97927104,  1.65504286,  0.38514063,
  -1.51943061, -0.97383724, -1.87063374, -0.4997951 ,-15.94324089,
   1.05908713, 26.47126938]

qfrc_actuator:
[-3.36328305e-05,-7.05989530e-05,-4.95211137e-05, 5.16223871e-05,
  2.09882333e-05,-3.44575298e-04,-2.37493711e-04,-2.66815944e-05,
 -4.89129144e-05,-9.09157818e-06,-1.34166122e-04, 2.35936310e-05,
  1.25995845e-02,-1.44302123e-03, 0.00000000e+00,-2.64710050e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60854163, -2.18456965,  4.05787031, -2.18456965, 24.57278119,
       10.74782299,  4.05787031, 10.74782299, 10.39467231,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003197445030916901
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.68054817e-14, -1.30208223e-13,  1.00000000e+00,  1.13027875e-26,
        1.00000000e+00,  1.30208223e-13, -1.00000000e+00,  0.00000000e+00,
        8.68054817e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10931699, -0.0338073 ,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.83989340e-05,-4.72997253e-06, 3.31581013e-05, 2.68695595e-05,
 -1.06418945e-05,-3.13055472e-05, 2.89750986e-05,-1.77909517e-05,
  3.58382737e-06, 5.02207248e-05,-1.79364288e-06, 2.22259063e-05,
 -8.97099738e-05, 4.71176717e-06,-1.74191983e-05,-1.19678656e-05,
 -1.73747221e-06, 1.88294664e-06,-1.21644569e+00,-4.58115776e-04,
  1.56049424e-05,-5.49300202e-04]


--- Step 1067 ---
qpos:
[ 6.19861400e-03,-1.79871968e-03,-4.97218497e-03, 3.35504750e-02,
  4.47690450e-03,-3.76030753e-03,-1.85418220e-02, 2.85881496e-02,
  1.29591269e-02, 3.30362680e-03,-9.97070878e-03, 2.58642915e-02,
  1.21960567e+00,-1.89694411e-05, 9.58252314e-01, 6.41250381e-02,
  9.36549863e-02,-7.01524728e-02, 1.30930977e-01, 4.99029073e-01,
  4.89142663e-01, 5.00751588e-01, 5.10839786e-01]

qacc:
[ -6.11445748,  0.15156994,  0.02795491, -0.9228695 ,  1.95000861,
  -2.82043447, 10.31331494,-14.81207728,  6.49741687, -0.49900523,
   5.00367577,-14.10612643, -0.74405551,  1.19840659, -7.36087466,
  24.97645043, -0.96111722, -1.84603459, -0.63167787,-15.68334072,
   1.08883521, 26.11358348]

qfrc_actuator:
[-6.77265604e-05,-5.07549053e-05,-4.69510351e-05, 4.93996626e-05,
  3.26022458e-05,-3.53872062e-04,-1.99493509e-04,-3.64035690e-05,
 -1.09622065e-05, 4.02281998e-05,-1.21869591e-04, 1.98440176e-07,
  1.25600045e-02,-1.42616994e-03, 0.00000000e+00,-2.52570711e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60731525, -2.35270798,  3.96132793, -2.35270798, 33.24149931,
       17.00638638,  3.96132793, 17.00638638, 14.70773149,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003194041908552714
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.30346954e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.30346954e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10931674, -0.03380711,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.57603882e-05, 2.51562885e-05, 6.59795276e-06,-7.55871094e-07,
  1.12986528e-05,-2.16154406e-05, 3.44720190e-05,-1.04098001e-05,
  3.80694706e-05, 7.79801024e-05, 2.32216510e-05,-2.08727124e-05,
 -9.13279759e-05,-2.36847261e-06,-1.41573911e-05, 1.17388573e-04,
 -1.34484323e-06, 2.92767837e-06,-1.21644724e+00,-4.58930901e-04,
  1.59850435e-05,-5.49833426e-04]


--- Step 1068 ---
qpos:
[ 6.19822173e-03,-1.79801421e-03,-4.97140810e-03, 3.35506047e-02,
  4.47768451e-03,-3.76038035e-03,-1.85404582e-02, 2.85885435e-02,
  1.29592265e-02, 3.30491374e-03,-9.97137578e-03, 2.58632470e-02,
  1.21993599e+00,-1.89087855e-05, 9.58500654e-01, 6.41293335e-02,
  9.36658010e-02,-7.01810141e-02, 1.30923920e-01, 4.98885381e-01,
  4.89278936e-01, 5.00689578e-01, 5.10910409e-01]

qacc:
[  5.58557145, -1.96022528,  8.54825015,-15.71977315,  1.17924743,
   1.03342179, -7.10092223, 18.53649949,  4.02283337, -1.45572896,
   9.81394028,-26.20883807,  0.15096656, -0.70625607, -6.58558777,
  22.52438343,  0.08071036,  1.15890632,  1.35909513,  2.20927545,
   0.2531557 ,-16.55784785]

qfrc_actuator:
[-3.40974665e-05,-5.70038558e-05,-2.78083655e-05, 3.01350319e-05,
  3.91805368e-05,-3.94882231e-04,-2.13196617e-04,-6.50849968e-06,
  1.15080027e-05, 3.35807578e-05,-1.32035497e-04,-4.90036823e-05,
  1.25403682e-02,-1.45197989e-03, 0.00000000e+00,-2.41960700e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003307379420793982
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.20290377e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.20290377e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0919233 , -0.08825796,  0.06199054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.26181449e-05, 9.10871392e-06, 2.51143421e-05,-1.79749195e-05,
  6.89255725e-06,-4.64467637e-05,-1.43020936e-05, 2.99550770e-05,
  2.35811253e-05, 4.08486162e-05, 8.07537897e-06,-4.54650235e-05,
 -7.36636851e-05,-4.70537705e-05, 2.24689471e-06, 1.09836700e-04,
 -8.14266951e-07, 4.08853038e-06,-1.21644996e+00,-4.59855389e-04,
  1.55508915e-05,-5.50615001e-04]


--- Step 1069 ---
qpos:
[ 6.19858002e-03,-1.79715841e-03,-4.97045224e-03, 3.35504985e-02,
  4.47853718e-03,-3.76045988e-03,-1.85396825e-02, 2.85892808e-02,
  1.29595958e-02, 3.30571631e-03,-9.97179320e-03, 2.58624057e-02,
  1.22026583e+00,-1.88963737e-05, 9.58749242e-01, 6.41325123e-02,
  9.36769503e-02,-7.02050556e-02, 1.30921119e-01, 4.98755797e-01,
  4.89400890e-01, 5.00645729e-01, 5.10963089e-01]

qacc:
[  6.60247094, -0.80029927,  4.1151898 , -8.57015519,  0.61774033,
   2.33818597, -9.80254801, 16.69196337,  2.38910581, -0.92406349,
   1.49990451,  1.98320212, -0.39737364,  0.41788307,  3.76045693,
 -12.56783313,  0.08367811,  1.12493367,  1.06425533,  2.10809468,
   0.2663558 ,-16.10721605]

qfrc_actuator:
[ 3.60927580e-06,-4.32778171e-05,-1.68826662e-05, 1.87509619e-05,
  4.27349568e-05,-3.83728273e-04,-2.39668810e-04, 1.08886993e-05,
  2.46755346e-05,-4.21523462e-05,-1.37870845e-04,-4.20425754e-05,
  1.25220420e-02,-1.44949767e-03, 0.00000000e+00,-2.48317452e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034499584555711116
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.41355738e-13,  8.04519126e-14,  1.00000000e+00,  1.94175307e-26,
        1.00000000e+00, -8.04519126e-14, -1.00000000e+00,  0.00000000e+00,
       -2.41355738e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09192427, -0.08825445,  0.06199014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.86340277e-05, 2.32148959e-05, 1.52599917e-05,-1.04795283e-05,
  3.73443944e-06,-1.65011710e-05,-3.68074893e-05, 1.54907534e-05,
  1.38564904e-05,-5.31985479e-05, 2.01822906e-06, 8.10622514e-06,
 -7.21487357e-05,-2.41644457e-05, 8.48970183e-06,-5.82754378e-05,
 -8.10056058e-07, 3.20419599e-06,-1.21644769e+00,-4.59835206e-04,
  1.52779371e-05,-5.51266578e-04]


--- Step 1070 ---
qpos:
[ 6.19869771e-03,-1.79605364e-03,-4.96967199e-03, 3.35499232e-02,
  4.47908066e-03,-3.76020534e-03,-1.85394158e-02, 2.85898256e-02,
  1.29601205e-02, 3.30576139e-03,-9.97207582e-03, 2.58616989e-02,
  1.22059518e+00,-1.91065664e-05, 9.58998253e-01, 6.41315672e-02,
  9.36884439e-02,-7.02247112e-02, 1.30921582e-01, 4.98640010e-01,
  4.89508821e-01, 5.00619605e-01, 5.10998302e-01]

qacc:
[ -2.12562781, -0.14176433,  2.97034563,-10.99865594, -2.72762268,
   1.47213028, -3.78632278,  1.01122336,  1.38539826, -1.10353792,
   1.90916165,  0.76745397, -0.42469001,  0.33325569, 13.0903098 ,
 -44.84428043,  0.08605846,  1.0964484 ,  0.8156712 ,  2.02755476,
   0.27485654,-15.72846564]

qfrc_actuator:
[-9.86558729e-06,-3.54747096e-05,-2.85696122e-05,-5.64806455e-06,
  2.67303193e-05,-3.41494786e-04,-2.55509597e-04, 3.07343361e-06,
  3.22665683e-05,-1.05375242e-04,-1.41354826e-04,-3.76512844e-05,
  1.24885467e-02,-1.46573698e-03, 0.00000000e+00,-2.69944290e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.74129242, -0.14422738,  4.73909826, -0.14422738,  9.87956565,
        0.15637568,  4.73909826,  0.15637568,  4.74605149,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003537992485141417
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.74575243e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.74575243e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09192499, -0.08825234,  0.06198989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23721368e-05, 2.34585867e-05,-5.39752648e-06,-2.30856964e-05,
 -1.59028746e-05, 2.60606971e-05,-2.32571541e-05,-9.49790344e-06,
  7.96766327e-06,-9.22238434e-05,-1.39465820e-05, 2.33960888e-06,
 -8.14195092e-05,-3.75820867e-05,-8.65181726e-06,-2.19840127e-04,
 -7.89785810e-07, 2.44712837e-06,-1.21644582e+00,-4.59848304e-04,
  1.49032860e-05,-5.51818498e-04]


--- Step 1071 ---
qpos:
[ 6.19865332e-03,-1.79465691e-03,-4.96964698e-03, 3.35494405e-02,
  4.47942821e-03,-3.75977070e-03,-1.85393394e-02, 2.85902695e-02,
  1.29603868e-02, 3.30571820e-03,-9.97267010e-03, 2.58609953e-02,
  1.22092392e+00,-1.94463421e-05, 9.59246828e-01, 6.41310467e-02,
  9.37002895e-02,-7.02400764e-02, 1.30924470e-01, 4.98537760e-01,
  4.89602984e-01, 5.00610843e-01, 5.11016442e-01]

qacc:
[ -1.45391093,  2.69056496, -9.41879871, 12.00669771, -1.72389365,
   0.56562088, -1.23982737, -0.34020285, -2.28265178,  0.76532492,
  -2.90372348,  3.51318158, -0.31034479,  0.16336663, -1.90840305,
   5.77940672,  0.08800318,  1.07264533,  0.60646386,  1.96390618,
   0.27969379,-15.4109305 ]

qfrc_actuator:
[-1.78532238e-05,-3.13841421e-05,-7.12937819e-05,-2.02325436e-06,
  1.70956515e-05,-3.34209591e-04,-2.64815409e-04,-1.71812021e-06,
  1.87653923e-05,-7.18620006e-05,-1.43413057e-04,-3.48145583e-05,
  1.24512937e-02,-1.47526293e-03, 0.00000000e+00,-2.66657778e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.75986183, -0.48936847,  4.73463865, -0.48936847, 13.1673333 ,
        0.86898953,  4.73463865,  0.86898953,  4.84967989,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003581749774143189
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.16237499e-13,  1.54983331e-13,  1.00000000e+00,  1.80148748e-26,
        1.00000000e+00, -1.54983331e-13, -1.00000000e+00,  0.00000000e+00,
       -1.16237499e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0919255 , -0.08825137,  0.06198976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.33422997e-06, 1.50520595e-05,-3.93623727e-05, 3.99155118e-06,
 -1.00785336e-05, 1.66282433e-05,-7.12311133e-06,-4.66601196e-06,
 -1.33068199e-05,-2.08317501e-05,-2.27405932e-05,-1.55062136e-06,
 -9.42115030e-05,-3.55760155e-05,-3.44380844e-05, 1.81130474e-05,
 -7.56084871e-07, 1.80711313e-06,-1.21644432e+00,-4.59889243e-04,
  1.44343386e-05,-5.52272965e-04]


--- Step 1072 ---
qpos:
[ 6.19920326e-03,-1.79306439e-03,-4.96987629e-03, 3.35493279e-02,
  4.48034744e-03,-3.75946313e-03,-1.85389917e-02, 2.85910053e-02,
  1.29608338e-02, 3.30595007e-03,-9.97327963e-03, 2.58609530e-02,
  1.22125193e+00,-1.93612649e-05, 9.59494932e-01, 6.41328704e-02,
  9.37124937e-02,-7.02512301e-02, 1.30929081e-01, 4.98448824e-01,
  4.89683594e-01, 5.00619141e-01, 5.11017831e-01]

qacc:
[  5.21478736,  1.72172835, -7.34333304, 14.0298414 ,  5.01405902,
  -0.3352563 , -0.29780077,  5.0278393 ,  1.58601979,  1.76423532,
  -8.56042378, 19.83255418, -0.75657269,  1.25290965, -7.71432944,
  26.11135013,  0.08962917,  1.05284131,  0.43079422,  1.91412585,
   0.2816733 ,-15.14567723]

qfrc_actuator:
[ 1.29744614e-05,-1.19110319e-05,-7.87325135e-05, 1.80417846e-05,
  4.67986590e-05,-3.47873016e-04,-2.52562585e-04, 1.30425102e-05,
  2.84658803e-05,-1.61785462e-05,-1.26470651e-04, 2.67227081e-06,
  1.24277919e-02,-1.44525957e-03, 0.00000000e+00,-2.54038955e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035898683138148313
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.15974626e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.15974626e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09192585, -0.08825131,  0.06198974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.05930395e-05, 1.98779404e-05,-9.05464501e-06, 1.94240721e-05,
  2.94213807e-05,-6.05742681e-06, 1.46419559e-05, 1.51342423e-05,
  9.31526997e-06, 3.92766828e-05, 9.79451270e-06, 3.57806713e-05,
 -8.72799214e-05, 1.31575210e-06,-1.73866642e-05, 1.21955631e-04,
 -7.10864096e-07, 1.27592309e-06,-1.21644316e+00,-4.59954099e-04,
  1.38763972e-05,-5.52631886e-04]


--- Step 1073 ---
qpos:
[ 6.20011823e-03,-1.79136913e-03,-4.96989976e-03, 3.35494361e-02,
  4.48195997e-03,-3.75878247e-03,-1.85386826e-02, 2.85915235e-02,
  1.29613936e-02, 3.30629343e-03,-9.97362186e-03, 2.58610151e-02,
  1.22157935e+00,-1.89757305e-05, 9.59743177e-01, 6.41338057e-02,
  9.37250619e-02,-7.02582380e-02, 1.30934827e-01, 4.98373016e-01,
  4.89750838e-01, 5.00644246e-01, 5.11002732e-01]

qacc:
[ 3.21449054e+00, 8.50742512e-03,-7.75797469e-01, 4.20193807e+00,
  6.05984616e+00, 1.41665968e-01, 1.10854452e+00,-5.06435148e+00,
  9.98786999e-01,-3.86649820e-01, 1.14798578e+00, 1.54202982e-01,
 -7.41461573e-01, 1.19860096e+00, 2.94422838e+00,-9.87063260e+00,
  9.10259756e-02, 1.03645445e+00, 2.83680959e-01, 1.87576806e+00,
  2.81420475e-01,-1.49251773e+01]

qfrc_actuator:
[ 3.08944946e-05,-9.81644663e-07,-6.51987993e-05, 2.99037183e-05,
  8.16623924e-05,-3.02859963e-04,-2.45512782e-04, 3.67680839e-06,
  3.39988890e-05,-1.85315229e-05,-1.16052240e-04, 7.03191659e-06,
  1.24072478e-02,-1.42754650e-03, 0.00000000e+00,-2.59108102e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003569596853810336
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.88777455e-14,  7.77554910e-14,  1.00000000e+00, -3.02295819e-27,
        1.00000000e+00, -7.77554910e-14, -1.00000000e+00,  0.00000000e+00,
        3.88777455e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09192608, -0.08825199,  0.0619898 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.87915811e-05, 2.09614598e-05, 1.71791512e-05, 1.27743149e-05,
  3.57008730e-05, 4.52920332e-05, 8.11539155e-06,-8.82846931e-06,
  5.80958361e-06, 2.31708039e-05, 2.09805802e-05, 7.07870932e-06,
 -7.13500572e-05,-1.80984329e-06, 1.48949637e-06,-4.70640268e-05,
 -6.55498872e-07, 8.46933180e-07,-1.21644233e+00,-4.60040076e-04,
  1.32331778e-05,-5.52896896e-04]


--- Step 1074 ---
qpos:
[ 6.20124128e-03,-1.78988083e-03,-4.96962316e-03, 3.35500642e-02,
  4.48363311e-03,-3.75752702e-03,-1.85389524e-02, 2.85915913e-02,
  1.29616705e-02, 3.30687327e-03,-9.97386370e-03, 2.58611247e-02,
  1.22190613e+00,-1.80780558e-05, 9.59991479e-01, 6.41334567e-02,
  9.37379992e-02,-7.02611540e-02, 1.30941216e-01, 4.98310183e-01,
  4.89804869e-01, 5.00685954e-01, 5.10971357e-01]

qacc:
[  1.84301851, -0.04531382, -2.43655881, 11.11439873,  0.50216101,
   1.44859887, -2.1622365 , -5.1315573 , -2.49112517,  0.13462329,
  -0.21862586,  0.69695726, -0.98043191,  1.72036189,  4.0320651 ,
 -13.81413187,  0.09226172,  1.02298791,  0.1608599 ,  1.84684802,
   0.2794196 ,-14.74305661]

qfrc_actuator:
[ 4.10615132e-05,-3.06690241e-05,-5.71926883e-05, 5.45978489e-05,
  8.37670050e-05,-2.76348249e-04,-2.76888601e-04,-1.97720265e-05,
  1.92744921e-05,-2.39491225e-06,-1.09824689e-04, 9.56019043e-06,
  1.23778397e-02,-1.39950052e-03, 0.00000000e+00,-2.65684223e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035270003837219177
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.36083691e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.36083691e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0919262 , -0.08825323,  0.06198992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.07020344e-05,-1.39272637e-05, 1.48723806e-05, 2.64304323e-05,
  3.14031861e-06, 5.31197213e-05,-2.13406504e-05,-2.14037110e-05,
 -1.45516485e-05, 3.37262571e-05, 1.38431225e-05, 4.38468298e-06,
 -7.17428126e-05, 1.16086687e-05,-1.03087591e-05,-6.95225719e-05,
 -5.90963962e-07, 5.14813222e-07,-1.21644181e+00,-4.60145239e-04,
  1.25071915e-05,-5.53069387e-04]


--- Step 1075 ---
qpos:
[ 6.20247779e-03,-1.78889902e-03,-4.96901845e-03, 3.35503301e-02,
  4.48497438e-03,-3.75633823e-03,-1.85393452e-02, 2.85914292e-02,
  1.29617685e-02, 3.30798618e-03,-9.97416265e-03, 2.58612362e-02,
  1.22223242e+00,-1.71062191e-05, 9.60239893e-01, 6.41306292e-02,
  9.37513100e-02,-7.02600219e-02, 1.30947840e-01, 4.98260193e-01,
  4.89845819e-01, 5.00744094e-01, 5.10923875e-01]

qacc:
[  1.01640845, -2.33446083,  8.87740211,-15.29217903, -2.90729297,
  -0.21155019,  1.60708473, -5.35051363, -1.58408835,  0.87102075,
  -2.08582758,  1.81075699, -0.57070039,  0.78856512,  7.684497  ,
 -26.55602707,  0.09338792,  1.01201688,  0.05867305,  1.82575038,
   0.27604485,-14.59390023]

qfrc_actuator:
[ 4.65876511e-05,-8.44578692e-05,-5.26797027e-05, 3.33458346e-05,
  6.65715208e-05,-3.14546169e-04,-2.95258856e-04,-3.35981316e-05,
  1.04989201e-05, 4.24184941e-05,-1.06051650e-04, 1.10048195e-05,
  1.23484655e-02,-1.40109191e-03, 0.00000000e+00,-2.78415200e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034671359174216765
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.00266622e-14,  1.60106649e-13,  1.00000000e+00, -6.40853474e-27,
        1.00000000e+00, -1.60106649e-13, -1.00000000e+00,  0.00000000e+00,
        4.00266622e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09192624, -0.08825492,  0.06199009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.81873922e-06,-5.74307426e-05, 4.35871840e-06,-2.08258406e-05,
 -1.70854845e-05,-1.38602825e-05,-1.07794676e-05,-1.27070989e-05,
 -9.17634372e-06, 6.66980882e-05, 1.25931156e-05, 3.45392650e-06,
 -6.90097321e-05,-1.52099304e-05,-1.78056360e-05,-1.33733380e-04,
 -5.17933625e-07, 2.75280508e-07,-1.21644157e+00,-4.60268298e-04,
  1.17000299e-05,-5.53150538e-04]


--- Step 1076 ---
qpos:
[ 6.20342573e-03,-1.78801544e-03,-4.96874186e-03, 3.35496424e-02,
  4.48609943e-03,-3.75553318e-03,-1.85397887e-02, 2.85911395e-02,
  1.29617608e-02, 3.30929178e-03,-9.97427788e-03, 2.58613910e-02,
  1.22255828e+00,-1.63938781e-05, 9.60488306e-01, 6.41252676e-02,
  9.37622046e-02,-7.02545392e-02, 1.30954318e-01, 4.98235364e-01,
  4.89862714e-01, 5.00808773e-01, 5.10868491e-01]

qacc:
[ -2.54652625, -1.17112298,  8.02126205,-23.93572419, -1.88743783,
  -0.62403407,  2.03433074, -3.88559019, -0.92810347, -0.16769911,
   0.78737628, -0.4753943 , -0.24226627,  0.03228996,  7.65436746,
 -26.7637096 , -0.60404659,  1.08765515, -0.03668053, -8.50615709,
  -0.4605148 ,-16.0202972 ]

qfrc_actuator:
[ 3.15880275e-05,-8.13147359e-05,-6.81632994e-05,-1.47996803e-05,
  5.59168450e-05,-3.55653080e-04,-3.06050096e-04,-4.16910289e-05,
  5.30161717e-06, 3.30362581e-05,-1.03633984e-04, 1.18259093e-05,
  1.23191212e-02,-1.42023261e-03, 0.00000000e+00,-2.91117760e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034145880746219714
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.62570565e-13, -4.06426412e-14,  1.00000000e+00,  6.60729715e-27,
        1.00000000e+00,  4.06426412e-14, -1.00000000e+00,  0.00000000e+00,
        1.62570565e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10262418, -0.08992996,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.48573195e-05,-2.90097372e-05,-2.75511286e-05,-5.08656315e-05,
 -1.11466255e-05,-5.16728316e-05,-1.54299283e-05,-9.30787610e-06,
 -5.43213426e-06, 3.06250578e-05, 1.78563712e-05, 4.18068224e-06,
 -7.37771807e-05,-3.76802841e-05,-2.81339072e-05,-1.37932007e-04,
 -4.36856235e-07, 1.24899104e-07,-1.21644162e+00,-4.60408466e-04,
  1.08125809e-05,-5.53141336e-04]


--- Step 1077 ---
qpos:
[ 6.20418643e-03,-1.78716691e-03,-4.96849420e-03, 3.35490445e-02,
  4.48708792e-03,-3.75516247e-03,-1.85403387e-02, 2.85911114e-02,
  1.29616911e-02, 3.31042296e-03,-9.97391922e-03, 2.58622728e-02,
  1.22288354e+00,-1.58200999e-05, 9.60735882e-01, 6.41237417e-02,
  9.37707102e-02,-7.02447385e-02, 1.30960299e-01, 4.98235464e-01,
  4.89855775e-01, 5.00879931e-01, 5.10805282e-01]

qacc:
[ -1.64670324,  0.22266199, -1.23460315,  2.85456291, -1.19080957,
   0.26407397, -2.87522642,  7.8881563 , -0.52682878, -0.05730856,
  -3.19816662, 15.15020156, -0.09693701, -0.1911126 ,-12.80983061,
  43.02557835, -0.59726953,  1.0795026 , -0.12391224, -8.42911162,
  -0.45695884,-15.87201707]

qfrc_actuator:
[ 2.23822105e-05,-6.19707206e-05,-5.96145901e-05,-7.33449115e-06,
  4.92037553e-05,-3.80408992e-04,-3.12317035e-04,-2.86017153e-05,
  2.24976854e-06, 9.01644476e-06,-8.44948944e-05, 4.77358700e-05,
  1.22791551e-02,-1.43184627e-03, 0.00000000e+00,-2.69968579e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003348254830470715
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.97373892e-13,  1.24343473e-13,  1.00000000e+00, -6.18451971e-26,
        1.00000000e+00, -1.24343473e-13, -1.00000000e+00,  0.00000000e+00,
        4.97373892e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10262519, -0.08993179,  0.06199043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.63809645e-06,-4.79108539e-06,-2.60934301e-06, 4.27823281e-06,
 -7.04853490e-06,-5.72644860e-05,-1.91660022e-05, 1.01601217e-05,
 -3.19233346e-06,-3.07467305e-06, 2.77951049e-05, 3.79188120e-05,
 -9.24929443e-05,-3.59355824e-05,-3.27332821e-05, 1.99170916e-04,
 -1.90769017e-07, 4.49515185e-08,-1.21644136e+00,-4.60518663e-04,
  1.00094265e-05,-5.53134393e-04]


--- Step 1078 ---
qpos:
[ 6.20517560e-03,-1.78629629e-03,-4.96824020e-03, 3.35492205e-02,
  4.48764313e-03,-3.75511487e-03,-1.85407745e-02, 2.85919011e-02,
  1.29619304e-02, 3.31146494e-03,-9.97358401e-03, 2.58636021e-02,
  1.22320802e+00,-1.50480340e-05, 9.60983224e-01, 6.41246893e-02,
  9.37768487e-02,-7.02306457e-02, 1.30965497e-01, 4.98260304e-01,
  4.89825178e-01, 5.00957518e-01, 5.10734304e-01]

qacc:
[  2.00916816,  1.60097028, -8.9391807 , 22.31129657, -3.78240074,
   0.94292627, -7.42256026, 21.61717943,  2.72001199,  0.86328746,
  -5.14737029, 13.0034365 , -0.61104078,  0.82543783, -7.76851507,
  26.77681401, -0.59175614,  1.07302627, -0.19608996, -8.3656866 ,
  -0.45488753,-15.75403883]

qfrc_actuator:
[ 3.44194196e-05,-5.06826873e-05,-5.45670679e-05, 3.28351584e-05,
  2.71098024e-05,-3.77397595e-04,-2.98040599e-04, 1.46114235e-05,
  1.82363304e-05,-5.74326743e-06,-9.11918714e-05, 6.84929008e-05,
  1.22381729e-02,-1.42120821e-03, 0.00000000e+00,-2.57448175e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003271334975457896
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.24223991e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.24223991e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10262631, -0.08993395,  0.06199065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17585995e-05, 8.21508927e-06, 3.87262238e-06, 3.99564703e-05,
 -2.23149403e-05,-3.25435205e-05, 4.41396881e-07, 4.02943767e-05,
  1.58962153e-05,-9.16111292e-06,-2.61581955e-06, 2.23197959e-05,
 -1.03421960e-04,-1.79696860e-05, 4.41517836e-06, 1.31489149e-04,
 -2.28884455e-08, 1.37009107e-07,-1.21644151e+00,-4.60639401e-04,
  9.49982527e-06,-5.53001671e-04]


--- Step 1079 ---
qpos:
[ 6.20595616e-03,-1.78520802e-03,-4.96856838e-03, 3.35498919e-02,
  4.48758412e-03,-3.75531767e-03,-1.85408091e-02, 2.85935176e-02,
  1.29623594e-02, 3.31249532e-03,-9.97304708e-03, 2.58647990e-02,
  1.22353180e+00,-1.41727597e-05, 9.61230658e-01, 6.41261172e-02,
  9.37806380e-02,-7.02122809e-02, 1.30969672e-01, 4.98309735e-01,
  4.89771059e-01, 5.01041495e-01, 5.10655596e-01]

qacc:
[ -1.85608116,  2.9387189 ,-12.14509077, 21.48013553, -5.35804647,
   0.25933311, -4.87840213, 18.71176938,  1.67563296, -0.85478454,
   3.57859068, -6.17650993, -0.58867535,  0.75475956, -1.27661409,
   4.75342815, -0.58731726,  1.06799912, -0.25557989, -8.31413536,
  -0.45387731,-15.66198754]

qfrc_actuator:
[ 2.33563685e-05,-4.42713753e-05,-8.71492163e-05, 5.64022367e-05,
 -3.86131072e-06,-3.75415931e-04,-2.71616360e-04, 5.74854050e-05,
  2.75471598e-05, 2.79026315e-06,-7.75774322e-05, 6.23943670e-05,
  1.22072704e-02,-1.41525317e-03, 0.00000000e+00,-2.55448033e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003186821659815209
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74189701e-13,  4.35474253e-14,  1.00000000e+00, -7.58551299e-27,
        1.00000000e+00, -4.35474253e-14, -1.00000000e+00,  0.00000000e+00,
        1.74189701e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10262752, -0.08993635,  0.06199089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07307319e-05, 1.34834668e-05,-2.90407903e-05, 2.48271683e-05,
 -3.16216293e-05,-1.44047488e-05, 2.11545829e-05, 4.22788173e-05,
  9.76232477e-06, 3.78844005e-06, 1.21527145e-05,-6.15391345e-06,
 -9.53230043e-05,-2.15352444e-05, 1.14387263e-05, 2.67054688e-05,
  6.88790499e-08, 3.96745018e-07,-1.21644207e+00,-4.60769504e-04,
  9.27559676e-06,-5.52744670e-04]


--- Step 1080 ---
qpos:
[ 6.20590838e-03,-1.78417281e-03,-4.96920251e-03, 3.35512020e-02,
  4.48749904e-03,-3.75574154e-03,-1.85404683e-02, 2.85949422e-02,
  1.29625519e-02, 3.31349440e-03,-9.97206045e-03, 2.58658983e-02,
  1.22385514e+00,-1.38279620e-05, 9.61478264e-01, 6.41264425e-02,
  9.37820921e-02,-7.01896592e-02, 1.30972629e-01, 4.98383637e-01,
  4.89693523e-01, 5.01131833e-01, 5.10569182e-01]

qacc:
[ -7.29186526,  2.11449017,-10.31213118, 21.86553989, -0.21277407,
  -1.73441351,  6.57132854,-10.32872486, -2.06661999, -1.49481037,
   5.68846532, -8.07909764,  0.04187417, -0.63631103,  3.56719631,
 -12.14647447, -0.58379319,  1.06422315, -0.30441087, -8.27295597,
  -0.45358398,-15.59217022]

qfrc_actuator:
[-1.89737824e-05,-5.87431108e-05,-1.06217930e-04, 8.77293129e-05,
 -4.29921601e-06,-3.91748206e-04,-2.55988703e-04, 4.65618598e-05,
  1.50956237e-05, 7.50519033e-06,-5.19919507e-05, 5.83358883e-05,
  1.21824360e-02,-1.44759744e-03, 0.00000000e+00,-2.61434939e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030971653726659387
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.58464238e-13, -1.34424089e-13,  1.00000000e+00,  4.81862287e-26,
        1.00000000e+00,  1.34424089e-13, -1.00000000e+00,  0.00000000e+00,
        3.58464238e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10262879, -0.08993893,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.26336564e-05,-1.19098913e-05,-1.90120692e-05, 3.13803691e-05,
 -1.34887094e-06,-1.82128400e-05, 1.67215287e-05,-9.98784761e-06,
 -1.21690507e-05, 9.03853085e-06, 2.76310191e-05,-3.60188823e-06,
 -8.54711918e-05,-5.86508387e-05, 2.20665453e-06,-5.82958453e-05,
  8.62081658e-08, 8.20862307e-07,-1.21644303e+00,-4.60908218e-04,
  9.33062602e-06,-5.52364506e-04]


--- Step 1081 ---
qpos:
[ 6.20535366e-03,-1.78346788e-03,-4.96963412e-03, 3.35525326e-02,
  4.48775383e-03,-3.75616300e-03,-1.85399925e-02, 2.85958677e-02,
  1.29619037e-02, 3.31486152e-03,-9.97145055e-03, 2.58662555e-02,
  1.22417787e+00,-1.33407575e-05, 9.61726342e-01, 6.41220305e-02,
  9.37812220e-02,-7.01627913e-02, 1.30974209e-01, 4.98481918e-01,
  4.89592644e-01, 5.01228508e-01, 5.10475076e-01]

qacc:
[-4.44541791e+00,-9.51743503e-01, 2.68827631e+00,-2.42934318e+00,
  2.97832231e+00,-1.40608282e+00, 7.11629371e+00,-1.59618489e+01,
 -7.41670617e+00, 2.59381371e-02, 3.77230002e+00,-1.63139762e+01,
 -8.61316522e-01, 1.26113618e+00, 1.50525781e+01,-5.15155970e+01,
 -5.81049183e-01, 1.06152632e+00,-3.44320454e-01,-8.24085851e+00,
 -4.53727107e-01,-1.55414686e+01]

qfrc_actuator:
[-4.38557598e-05,-8.55610422e-05,-9.94693009e-05, 8.78656504e-05,
  1.32403499e-05,-3.83492747e-04,-2.46973659e-04, 2.18003425e-05,
 -2.78156466e-05, 2.77059228e-05,-7.28103952e-05, 2.00142939e-05,
  1.21612443e-02,-1.43131838e-03, 0.00000000e+00,-2.86277099e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003004358708195015
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.78994697e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.78994697e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10263008, -0.08994161,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.61017494e-05,-3.61082902e-05, 3.02673622e-06,-4.23111663e-07,
  1.74944184e-05, 1.10448196e-06, 6.96517558e-06,-2.51607777e-05,
 -4.32504147e-05, 3.07545192e-05,-1.56976694e-05,-3.70546312e-05,
 -8.49033214e-05,-1.54477071e-05,-1.11193457e-05,-2.52697264e-04,
  3.04282983e-08, 1.40687356e-06,-1.21644439e+00,-4.61055093e-04,
  9.66049635e-06,-5.51861979e-04]


--- Step 1082 ---
qpos:
[ 6.20450458e-03,-1.78309200e-03,-4.96962108e-03, 3.35528017e-02,
  4.48821680e-03,-3.75646645e-03,-1.85397489e-02, 2.85964998e-02,
  1.29600562e-02, 3.31672560e-03,-9.97147213e-03, 2.58661519e-02,
  1.22449992e+00,-1.24139786e-05, 9.61973684e-01, 6.41200272e-02,
  9.37762984e-02,-7.01437469e-02, 1.30975378e-01, 4.98566639e-01,
  4.89501757e-01, 5.01282710e-01, 5.10426274e-01]

qacc:
[ -2.56931057, -3.85861931, 17.61605233,-36.46222623,  1.81251084,
   0.19774374,  0.75410637, -5.54117422,-10.58211994,  1.49381862,
  -2.39198707, -4.97787882, -0.70587059,  1.20237367, -8.30185142,
  27.592851  , -1.01337737, -1.95585504, -0.10280066,-16.38474631,
   1.35208898, 27.65456507]

qfrc_actuator:
[-5.82588963e-05,-1.01735603e-04,-7.76163626e-05, 3.41449811e-05,
  2.34582518e-05,-3.78372330e-04,-2.59588594e-04, 6.87274909e-06,
 -8.83039720e-05, 5.68113201e-05,-1.03072016e-04,-2.67621269e-06,
  1.21369448e-02,-1.40407863e-03, 0.00000000e+00,-2.72317463e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002975570521937393
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.86556329e-13,  9.32781643e-14,  1.00000000e+00, -1.74016319e-26,
        1.00000000e+00, -9.32781643e-14, -1.00000000e+00,  0.00000000e+00,
        1.86556329e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10931317, -0.03379373,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51600353e-05,-3.57903077e-05, 1.47478427e-05,-5.51738522e-05,
  1.07188112e-05, 6.11220913e-06,-1.24028248e-05,-1.51318508e-05,
 -6.16991403e-05, 4.13984005e-05,-2.71473420e-05,-2.26403762e-05,
 -7.82351881e-05, 5.04750785e-06,-3.94078819e-05, 1.22672292e-04,
 -9.74149714e-08, 2.15292382e-06,-1.21644615e+00,-4.61209890e-04,
  1.02621931e-05,-5.51237637e-04]


--- Step 1083 ---
qpos:
[ 6.20383377e-03,-1.78251075e-03,-4.96960327e-03, 3.35527316e-02,
  4.48879884e-03,-3.75669798e-03,-1.85396585e-02, 2.85969485e-02,
  1.29578431e-02, 3.31877438e-03,-9.97179404e-03, 2.58661397e-02,
  1.22482142e+00,-1.14243948e-05, 9.62220552e-01, 6.41213067e-02,
  9.37673986e-02,-7.01323689e-02, 1.30975368e-01, 4.98638101e-01,
  4.89420660e-01, 5.01295310e-01, 5.10421859e-01]

qacc:
[  1.56400462, -0.44327743,  3.40083963, -9.42352559,  1.03585239,
   0.14347434,  0.39706641, -3.374841  , -3.2304688 ,  1.27777405,
  -4.57646413,  6.48932006, -0.27212739,  0.2637732 ,-10.59210789,
  36.07997561, -0.9940438 , -1.91660031, -0.29475643,-16.05653414,
   1.31771762, 27.08436948]

qfrc_actuator:
[-4.86318952e-05,-5.81353589e-05,-6.47766122e-05, 2.01944994e-05,
  2.92788904e-05,-3.75249512e-04,-2.67115608e-04,-2.16060064e-06,
 -1.05385795e-04, 5.54781251e-05,-1.20841467e-04, 1.77998608e-06,
  1.21054815e-02,-1.40612187e-03, 0.00000000e+00,-2.55129751e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55829405, -4.01760956,  2.1533365 , -4.01760956,  9.31114041,
        8.86767163,  2.1533365 ,  8.86767163, 21.10324298,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003053482727436302
  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([ 0.10931138, -0.0337977 ,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.18391910e-06, 2.42511790e-05, 5.35050715e-06,-1.60483763e-05,
  6.13010318e-06, 3.34092657e-06,-8.31705633e-06,-9.49678108e-06,
 -1.88123573e-05, 1.51447380e-05,-1.33659474e-05, 4.84868272e-06,
 -7.63017196e-05,-1.85948377e-05,-7.29729402e-06, 1.73014389e-04,
 -4.61952133e-07, 1.29005762e-06,-1.21644337e+00,-4.60771370e-04,
  1.13506267e-05,-5.50810445e-04]


--- Step 1084 ---
qpos:
[ 6.20328330e-03,-1.78158273e-03,-4.96985617e-03, 3.35531854e-02,
  4.48944603e-03,-3.75673750e-03,-1.85391970e-02, 2.85975783e-02,
  1.29557871e-02, 3.32076676e-03,-9.97218998e-03, 2.58655059e-02,
  1.22514237e+00,-1.04297991e-05, 9.62467568e-01, 6.41225970e-02,
  9.37545864e-02,-7.01285262e-02, 1.30973532e-01, 4.98696556e-01,
  4.89349181e-01, 5.01267026e-01, 5.10461059e-01]

qacc:
[  1.04387044,  2.29169512, -9.72071322, 18.96676442,  0.57867855,
  -0.41096789,  1.06682849,  1.33610964,  1.38139967, -1.14999673,
   6.61236502,-17.20648984, -0.42855587,  0.4779245 ,  0.21460543,
  -0.36736555, -0.97810934, -1.88381318, -0.4564399 ,-15.78548008,
   1.28532502, 26.60970607]

qfrc_actuator:
[-4.26943393e-05,-3.23309418e-05,-7.48353669e-05, 4.75610344e-05,
  3.24670216e-05,-3.37821088e-04,-2.36070894e-04, 1.01025333e-05,
 -9.67775991e-05, 3.59952376e-05,-1.31194176e-04,-3.11014725e-05,
  1.20750593e-02,-1.40778134e-03, 0.00000000e+00,-2.55716857e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57192033, -4.0640045 ,  2.09435502, -4.0640045 ,  9.02154756,
        8.63430742,  2.09435502,  8.63430742, 21.32641699,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003093472402259101
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.97230426e-14, -3.58892170e-13,  1.00000000e+00,  3.22008975e-26,
        1.00000000e+00,  3.58892170e-13, -1.00000000e+00,  0.00000000e+00,
        8.97230426e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10931047, -0.03379972,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.20575213e-06, 3.97676240e-05,-4.95211700e-06, 2.82770780e-05,
  3.36514486e-06, 3.71802507e-05, 3.03820802e-05, 1.19327624e-05,
  8.08550913e-06,-1.36509659e-05,-8.72457312e-06,-3.26040289e-05,
 -7.91384076e-05,-2.30031838e-05, 1.17906758e-05, 1.88753969e-06,
 -6.60087046e-07, 5.81054082e-07,-1.21644191e+00,-4.60489166e-04,
  1.15466111e-05,-5.50654190e-04]


--- Step 1085 ---
qpos:
[ 6.20280866e-03,-1.78080719e-03,-4.96999417e-03, 3.35536559e-02,
  4.49012650e-03,-3.75662593e-03,-1.85383485e-02, 2.85983534e-02,
  1.29541952e-02, 3.32277290e-03,-9.97274228e-03, 2.58644800e-02,
  1.22546279e+00,-9.69628376e-06, 9.62714562e-01, 6.41241537e-02,
  9.37379139e-02,-7.01321095e-02, 1.30969326e-01, 4.98742213e-01,
  4.89287176e-01, 5.01198438e-01, 5.10543230e-01]

qacc:
[  0.67310834, -0.48969907,  1.38086081, -1.16096016,  0.3008115 ,
  -0.58366518,  1.75667767,  0.02809092,  4.07782383, -0.35979189,
   2.95082676, -9.4813129 , -0.16638795, -0.13461592, -0.83471267,
   2.87875775, -0.96506899, -1.85651376, -0.59254695,-15.56317731,
   1.2542837 , 26.21630028]

qfrc_actuator:
[-3.89838122e-05,-7.06854551e-05,-8.06070424e-05, 4.57324796e-05,
  3.40819300e-05,-3.33216073e-04,-2.17851193e-04, 1.70997994e-05,
 -7.31319712e-05, 4.12950371e-05,-1.37203003e-04,-5.02038123e-05,
  1.20399560e-02,-1.42693049e-03, 0.00000000e+00,-2.54346116e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031028921161138645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.68351988e-13, -3.13077320e-13,  1.00000000e+00,  8.40149212e-26,
        1.00000000e+00,  3.13077320e-13, -1.00000000e+00,  0.00000000e+00,
        2.68351988e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10931026, -0.03380016,  0.06199113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.89710676e-06,-1.59551287e-05, 2.80275880e-06, 2.51875230e-07,
  1.72229149e-06, 3.21787657e-05, 3.00483050e-05, 9.87162852e-06,
  2.38780591e-05,-5.60309116e-06,-1.10510551e-05,-2.06266365e-05,
 -8.66354343e-05,-4.20173518e-05,-3.56359696e-07, 1.39434974e-05,
 -7.01684613e-07, 1.46498546e-08,-1.21644169e+00,-4.60349262e-04,
  1.09033306e-05,-5.50760010e-04]


--- Step 1086 ---
qpos:
[ 6.20272716e-03,-1.78021416e-03,-4.96988736e-03, 3.35544416e-02,
  4.49047642e-03,-3.75667953e-03,-1.85371013e-02, 2.85992467e-02,
  1.29532440e-02, 3.32489165e-03,-9.97349476e-03, 2.58642590e-02,
  1.22578260e+00,-8.91464642e-06, 9.62961880e-01, 6.41228399e-02,
  9.37174234e-02,-7.01430283e-02, 1.30962292e-01, 4.98775246e-01,
  4.89234519e-01, 5.01090015e-01, 5.10667834e-01]

qacc:
[  3.46788885, -0.28310864, -0.68343207,  5.89600363, -2.87738472,
  -1.08279033,  3.05481963, -1.53487904,  5.63149417,  2.35424083,
 -11.59607141, 25.78512526, -0.67475965,  0.88622532,  9.18725437,
 -31.3424625 , -0.95449367, -1.83386689, -0.70706797,-15.38256756,
   1.22405948, 25.89217292]

qfrc_actuator:
[-1.88605134e-05,-7.61642593e-05,-6.63311527e-05, 6.21897881e-05,
  1.70060964e-05,-3.66093607e-04,-2.07491111e-04, 2.09010006e-05,
 -4.08335844e-05, 6.14168296e-05,-1.40493565e-04,-7.76173836e-06,
  1.20127131e-02,-1.42080411e-03, 0.00000000e+00,-2.69579285e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003087890053013881
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.34827869e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.34827869e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10931061, -0.03379935,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.02260056e-05,-1.38359453e-05, 1.13258627e-05, 1.58729440e-05,
 -1.70170275e-05,-8.26880625e-06, 2.10366074e-05, 6.40809859e-06,
  3.29816983e-05, 1.37612233e-05,-6.54014149e-06, 4.14158903e-05,
 -8.76545273e-05,-2.24462339e-05,-3.86451503e-06,-1.52816731e-04,
 -5.94118609e-07,-4.17301586e-07,-1.21644265e+00,-4.60340092e-04,
  9.46117579e-06,-5.51120641e-04]


--- Step 1087 ---
qpos:
[ 6.20254233e-03,-1.77957534e-03,-4.96969611e-03, 3.35553998e-02,
  4.49027398e-03,-3.75669009e-03,-1.85360318e-02, 2.85998471e-02,
  1.29526879e-02, 3.32677821e-03,-9.97384118e-03, 2.58642048e-02,
  1.22610176e+00,-7.82113005e-06, 9.63208822e-01, 6.41223880e-02,
  9.36931488e-02,-7.01612077e-02, 1.30952044e-01, 4.98795797e-01,
  4.89191104e-01, 5.00942124e-01, 5.10834419e-01]

qacc:
[ -0.90659539,  0.18126816, -1.28325344,  4.09492343, -4.84062276,
  -0.03934012,  1.47567519, -6.30852855,  3.49300875, -1.10523849,
   2.77961116, -0.35876887, -0.67732516,  1.07300395, -3.10804675,
  10.18112328, -0.94601787, -1.81515925, -0.80340306,-15.23770197,
   1.19419553, 25.62723321]

qfrc_actuator:
[-2.47424490e-05,-6.18266154e-05,-5.79552294e-05, 7.15606716e-05,
 -1.09336825e-05,-3.67946948e-04,-2.19765742e-04, 5.00087819e-06,
 -2.14585971e-05, 3.70695758e-05,-1.24294173e-04,-4.43720305e-07,
  1.19902135e-02,-1.39971718e-03, 0.00000000e+00,-2.64292307e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003053593061182608
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.08948084e-14,  9.08948084e-14,  1.00000000e+00, -8.26186619e-27,
        1.00000000e+00, -9.08948084e-14, -1.00000000e+00,  0.00000000e+00,
        9.08948084e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1093114 , -0.03379755,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.31494527e-06, 9.60301825e-06, 7.45138061e-06, 9.47465014e-06,
 -2.84299004e-05,-1.87807399e-06,-1.11848318e-05,-1.54058465e-05,
  2.03212376e-05,-1.62869342e-05, 1.96516393e-05, 8.48335524e-06,
 -7.93578874e-05,-3.38965424e-06,-2.48195972e-05, 4.24689749e-05,
 -3.42750642e-07,-7.20355810e-07,-1.21644474e+00,-4.60451916e-04,
  7.25035025e-06,-5.51730084e-04]


--- Step 1088 ---
qpos:
[ 6.20228868e-03,-1.77900929e-03,-4.96937009e-03, 3.35568198e-02,
  4.48973809e-03,-3.75668076e-03,-1.85350968e-02, 2.85999073e-02,
  1.29520233e-02, 3.32916260e-03,-9.97454374e-03, 2.58638522e-02,
  1.22642035e+00,-6.72809857e-06, 9.63455666e-01, 6.41218533e-02,
  9.36690288e-02,-7.01748344e-02, 1.30945944e-01, 4.98830072e-01,
  4.89134418e-01, 5.00812508e-01, 5.10982301e-01]

qacc:
[ -0.59940105,  0.47899483, -3.79453032, 11.62098736, -2.9231831 ,
  -0.70335687,  4.83748192,-13.99803061, -0.97506328,  1.0407888 ,
  -1.49290778, -3.47319648, -0.4339046 ,  0.47325006,  0.13176758,
  -0.60876975,  0.03862935,  1.13819143,  1.03717172,  2.68579094,
  -0.06480016,-15.96446085]

qfrc_actuator:
[-2.81356811e-05,-7.12596647e-05,-5.30568384e-05, 9.44491083e-05,
 -2.72851557e-05,-3.69080562e-04,-2.27451655e-04,-2.23563344e-05,
 -2.76008000e-05, 9.28564334e-05,-1.32432233e-04,-1.38839041e-05,
  1.19546069e-02,-1.40544218e-03, 0.00000000e+00,-2.64704281e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031022563583837925
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.78937988e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.78937988e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09193479, -0.08826754,  0.06199113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.54409964e-06,-2.14655202e-06, 8.11616181e-06, 2.37384197e-05,
 -1.71631831e-05,-5.17774017e-06,-9.99729458e-06,-2.81270634e-05,
 -5.56609628e-06, 5.10431545e-05,-8.80755927e-06,-1.32973535e-05,
 -8.30353947e-05,-2.43346850e-05,-1.06528311e-05,-5.84858354e-06,
  4.86984865e-08,-8.97879845e-07,-1.21644795e+00,-4.60676337e-04,
  4.29290879e-06,-5.52583331e-04]


--- Step 1089 ---
qpos:
[ 6.20165131e-03,-1.77859875e-03,-4.96866457e-03, 3.35588419e-02,
  4.48901013e-03,-3.75674153e-03,-1.85339415e-02, 2.85992808e-02,
  1.29516355e-02, 3.33201663e-03,-9.97542692e-03, 2.58640226e-02,
  1.22673840e+00,-5.70109456e-06, 9.63702991e-01, 6.41165630e-02,
  9.36451015e-02,-7.01840283e-02, 1.30943034e-01, 4.98877875e-01,
  4.89064467e-01, 5.00700704e-01, 5.11112138e-01]

qacc:
[-3.35900055e+00,-1.99549318e-02,-2.75775632e+00, 1.26742679e+01,
 -1.67322249e+00,-2.11680879e+00, 1.03195208e+01,-2.25118493e+01,
  2.42263155e+00, 2.19752878e+00,-9.15158770e+00, 1.81563604e+01,
 -6.29809306e-01, 7.60983780e-01, 1.51004885e+01,-5.17111935e+01,
  4.81679796e-02, 1.10818201e+00, 7.97216428e-01, 2.45248215e+00,
  3.07810670e-02,-1.56344283e+01]

qfrc_actuator:
[-4.77814955e-05,-7.71022492e-05,-3.25764408e-05, 1.25089777e-04,
 -3.66816107e-05,-3.69776389e-04,-2.14603877e-04,-5.62232263e-05,
 -1.32025106e-05, 1.25076108e-04,-1.36820369e-04, 1.38773611e-05,
  1.19271306e-02,-1.40931411e-03, 0.00000000e+00,-2.89778795e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61101811,  0.76589158,  4.54696581,  0.76589158, 12.54868543,
       -1.33702183,  4.54696581, -1.33702183,  4.83622626,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003204301019725936
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.29929626e-13,  8.66197509e-14,  1.00000000e+00,  1.12544719e-26,
        1.00000000e+00, -8.66197509e-14, -1.00000000e+00,  0.00000000e+00,
       -1.29929626e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09193689, -0.08826539,  0.06199084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.97510511e-05,-4.37713019e-06, 2.18447605e-05, 3.12865495e-05,
 -9.88698168e-06,-6.87900128e-06, 9.56305658e-06,-3.49836387e-05,
  1.42656444e-05, 5.82927406e-05, 4.59122289e-06, 2.93822821e-05,
 -8.18357597e-05,-2.78056701e-05,-1.04181752e-05,-2.53559053e-04,
 -3.45715677e-07,-9.41842424e-07,-1.21644657e+00,-4.59621174e-04,
  6.38632416e-06,-5.52734966e-04]


--- Step 1090 ---
qpos:
[ 6.20043833e-03,-1.77823558e-03,-4.96768981e-03, 3.35605183e-02,
  4.48817490e-03,-3.75661129e-03,-1.85330423e-02, 2.85982524e-02,
  1.29517690e-02, 3.33441461e-03,-9.97566255e-03, 2.58645862e-02,
  1.22705597e+00,-4.99716802e-06, 9.63949828e-01, 6.41116523e-02,
  9.36213952e-02,-7.01888889e-02, 1.30942504e-01, 4.98939038e-01,
  4.88981268e-01, 5.00606326e-01, 5.11224474e-01]

qacc:
[ -5.05222568, -1.51717299,  6.79479087,-13.19041984, -0.95040995,
   0.14321444,  1.55566674, -8.24464559,  4.61607008, -1.61210408,
   3.19763739,  2.92525121, -0.04947756, -0.350033  , -1.87000785,
   5.48442342,  0.05526444,  1.08331359,  0.59513077,  2.26294944,
   0.10826779,-15.35725251]

qfrc_actuator:
[-7.68364391e-05,-8.06787083e-05,-2.07981117e-05, 1.06798767e-04,
 -4.19130624e-05,-3.52374886e-04,-2.25242154e-04,-7.58806587e-05,
  1.31781254e-05, 5.42213495e-05,-1.21238967e-04, 3.01520926e-05,
  1.18992242e-02,-1.42976108e-03, 0.00000000e+00,-2.86573922e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.63246405,  0.67168517,  4.58350981,  0.67168517, 17.27841617,
       -1.85318651,  4.58350981, -1.85318651,  4.90403713,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032627965379454504
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.12667073e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.12667073e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0919385 , -0.08826429,  0.06199067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.96226453e-05,-2.03661079e-07, 1.46310630e-05,-1.71198985e-05,
 -5.51521920e-06, 1.40174299e-05,-1.21026726e-05,-2.03028165e-05,
  2.68130303e-05,-3.61392424e-05, 2.91803081e-05, 1.94980674e-05,
 -8.28639378e-05,-4.45865935e-05,-3.91032191e-05, 1.51833943e-05,
 -7.14676837e-07,-8.98178366e-07,-1.21644556e+00,-4.58629146e-04,
  8.31398894e-06,-5.52809003e-04]


--- Step 1091 ---
qpos:
[ 6.19957622e-03,-1.77786518e-03,-4.96654771e-03, 3.35612720e-02,
  4.48762841e-03,-3.75643082e-03,-1.85325621e-02, 2.85977166e-02,
  1.29518727e-02, 3.33668309e-03,-9.97601406e-03, 2.58650072e-02,
  1.22737304e+00,-4.77997870e-06, 9.64196163e-01, 6.41091016e-02,
  9.35979307e-02,-7.01894985e-02, 1.30943675e-01, 4.99013416e-01,
  4.88884839e-01, 5.00529051e-01, 5.11319758e-01]

qacc:
[  3.08971992, -2.36399862, 12.32664787,-28.5536119 ,  2.51338006,
   2.24422577, -9.99465535, 19.16071209, -0.26299029, -0.14038028,
   0.85529784, -3.04413882,  0.17150947, -0.84209065, -7.88828615,
  26.46397356,  0.06046274,  1.06279023,  0.42525354,  2.10830329,
   0.1716018 ,-15.12562693]

qfrc_actuator:
[-5.79335850e-05,-8.29414369e-05,-1.42825672e-05, 5.98557611e-05,
 -2.69008410e-05,-3.59853323e-04,-2.49583773e-04,-5.15174259e-05,
  1.08876853e-05, 4.65281948e-05,-1.29937036e-04, 2.17029456e-05,
  1.18657476e-02,-1.45986962e-03, 0.00000000e+00,-2.73825774e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.64115414,  0.54211759,  4.60938393,  0.54211759, 26.55694701,
       -2.57755418,  4.60938393, -2.57755418,  4.94430473,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032860650989303963
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.11161182e-13,  1.68928946e-13,  1.00000000e+00, -3.56712358e-26,
        1.00000000e+00, -1.68928946e-13, -1.00000000e+00,  0.00000000e+00,
        2.11161182e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09193973, -0.08826404,  0.06199061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.80581855e-05,-1.22753961e-07, 7.66622434e-06,-4.67839619e-05,
  1.48608958e-05,-3.02476243e-06,-2.36491744e-05, 2.41502875e-05,
 -1.53581714e-06,-2.11148233e-05,-1.19217541e-05,-8.61591125e-06,
 -9.26716315e-05,-5.81595212e-05,-1.94150817e-05, 1.22595343e-04,
 -1.06352874e-06,-7.68611861e-07,-1.21644490e+00,-4.57684895e-04,
  1.00970745e-05,-5.52802706e-04]


--- Step 1092 ---
qpos:
[ 6.19929198e-03,-1.77741064e-03,-4.96563033e-03, 3.35611296e-02,
  4.48726621e-03,-3.75642184e-03,-1.85322666e-02, 2.85971442e-02,
  1.29519487e-02, 3.33882562e-03,-9.97647338e-03, 2.58653230e-02,
  1.22768940e+00,-4.37604125e-06, 9.64442426e-01, 6.41073834e-02,
  9.35747230e-02,-7.01859242e-02, 1.30945977e-01, 4.99100890e-01,
  4.88775194e-01, 5.00468612e-01, 5.11398358e-01]

qacc:
[  5.07217301, -1.11577065,  7.90555117,-23.09831395,  1.60993316,
   0.21118728, -0.93278118,  0.72660828, -0.2466334 , -0.08137027,
   0.49388955, -2.05159545, -0.6416361 ,  0.89373717, -2.57475059,
   8.95798762,  0.06418818,  1.04594421,  0.28276894,  1.98149035,
   0.22387512,-14.9333348 ]

qfrc_actuator:
[-2.87049125e-05,-8.44515596e-05,-2.86831142e-05, 1.41894178e-05,
 -1.78481638e-05,-3.82195340e-04,-2.64129499e-04,-5.47333444e-05,
  9.48973496e-06, 4.10826076e-05,-1.34945750e-04, 1.65506272e-05,
  1.18396000e-02,-1.44222431e-03, 0.00000000e+00,-2.69766975e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.63929055, -0.36751254, -4.62471095, -0.36751254, 38.759854  ,
       -2.71146351, -4.62471095, -2.71146351,  4.8547628 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003281095739329498
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.22961989e-14,  8.45923978e-14,  1.00000000e+00,  3.57793689e-27,
        1.00000000e+00, -8.45923978e-14, -1.00000000e+00,  0.00000000e+00,
       -4.22961989e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09194065, -0.08826448,  0.06199062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.97412246e-05,-2.01936667e-06,-1.51196038e-05,-4.63225375e-05,
  9.47609604e-06,-2.78890978e-05,-1.72551833e-05,-3.69473006e-06,
 -1.44120358e-06,-2.01641233e-05,-1.11599945e-05,-6.64249891e-06,
 -9.37756333e-05,-1.57773774e-05, 1.07757189e-06, 4.40963722e-05,
 -1.39631966e-06,-5.54640557e-07,-1.21644457e+00,-4.56776757e-04,
  1.17520880e-05,-5.52714142e-04]


--- Step 1093 ---
qpos:
[ 6.19936042e-03,-1.77688622e-03,-4.96521038e-03, 3.35608074e-02,
  4.48701564e-03,-3.75679999e-03,-1.85320666e-02, 2.85969052e-02,
  1.29520073e-02, 3.34090690e-03,-9.97732872e-03, 2.58659315e-02,
  1.22800492e+00,-3.22174879e-06, 9.64688939e-01, 6.41038141e-02,
  9.35517824e-02,-7.01782211e-02, 1.30948934e-01, 4.99201357e-01,
  4.88652345e-01, 5.00424788e-01, 5.11460577e-01]

qacc:
[  3.08414824,  1.10664648, -3.06303749,  0.7062061 ,  0.98080677,
   0.438956  , -3.71909385,  9.93109912, -0.16298943,  1.62878523,
  -7.16048886, 12.9044799 , -1.37057043,  2.43844052,  6.06132083,
 -20.42367821,  0.06677277,  1.03221374,  0.16356586,  1.87690869,
   0.26751199,-14.77506247]

qfrc_actuator:
[-1.14007382e-05,-8.55899427e-05,-5.53081880e-05, 5.13694531e-06,
 -1.23822490e-05,-4.13253882e-04,-2.72864227e-04,-3.86593404e-05,
  8.63732959e-06, 3.70338181e-05,-1.55455199e-04, 3.11487271e-05,
  1.18072349e-02,-1.39640549e-03, 0.00000000e+00,-2.79739765e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003253742670961124
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.53035363e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.53035363e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09194134, -0.08826545,  0.0619907 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.81492800e-05,-7.39137537e-06,-3.05237792e-05,-1.05676195e-05,
  5.72773262e-06,-5.03756890e-05,-1.67513443e-05, 1.42100584e-05,
 -8.93281726e-07,-1.79877664e-05,-2.62993035e-05, 1.32141717e-05,
 -9.07757070e-05, 2.10915195e-05, 1.92638934e-08,-9.83572404e-05,
 -1.71613953e-06,-2.57515395e-07,-1.21644454e+00,-4.55895784e-04,
  1.32919835e-05,-5.52541931e-04]


--- Step 1094 ---
qpos:
[ 6.19929094e-03,-1.77630356e-03,-4.96488830e-03, 3.35606980e-02,
  4.48717777e-03,-3.75786043e-03,-1.85318237e-02, 2.85968897e-02,
  1.29524005e-02, 3.34268226e-03,-9.97803649e-03, 2.58663586e-02,
  1.22831973e+00,-1.53797310e-06, 9.64935334e-01, 6.40997470e-02,
  9.35291157e-02,-7.01664334e-02, 1.30952147e-01, 4.99314737e-01,
  4.88516298e-01, 5.00397397e-01, 5.11506662e-01]

qacc:
[ -1.2166872 ,  0.79109704, -3.60299513,  7.3942226 ,  3.62494991,
  -0.56906268, -0.23508886,  4.54878707,  2.95357912, -1.19596067,
   4.433584  , -7.57307379, -0.98821181,  1.71205128,  1.40106629,
  -4.9822395 ,  0.06847532,  1.02112514,  0.0641266 ,  1.79010523,
   0.30441199,-14.6462542 ]

qfrc_actuator:
[-1.90098528e-05,-6.87720298e-05,-5.34001272e-05, 1.76948414e-05,
  8.68317950e-06,-4.67010729e-04,-2.78127765e-04,-2.91194216e-05,
  2.58653984e-05, 1.60561497e-05,-1.49428477e-04, 2.17359019e-05,
  1.17765033e-02,-1.36982612e-03, 0.00000000e+00,-2.81919070e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032088944911180806
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.32478782e-14,  8.64957564e-14,  1.00000000e+00, -3.74075794e-27,
        1.00000000e+00, -8.64957564e-14, -1.00000000e+00,  0.00000000e+00,
        4.32478782e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09194185, -0.08826685,  0.06199083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.09601937e-06, 5.90956261e-06,-3.75496508e-06, 1.09772310e-05,
  2.12115550e-05,-8.47639085e-05,-1.72381594e-05, 7.07868441e-06,
  1.72027602e-05,-3.59695623e-05,-4.86598281e-07,-1.08405389e-05,
 -7.91631292e-05, 1.05125550e-05,-1.71739734e-05,-2.86847296e-05,
 -2.02536834e-06, 1.21755721e-07,-1.21644482e+00,-4.55035018e-04,
  1.47269946e-05,-5.52285076e-04]


--- Step 1095 ---
qpos:
[ 6.19913089e-03,-1.77562383e-03,-4.96458583e-03, 3.35607287e-02,
  4.48724600e-03,-3.75923872e-03,-1.85317869e-02, 2.85969592e-02,
  1.29533424e-02, 3.34381115e-03,-9.97820030e-03, 2.58663408e-02,
  1.22863397e+00, 4.51125145e-07, 9.65181551e-01, 6.40957519e-02,
  9.35067270e-02,-7.01505967e-02, 1.30955286e-01, 4.99440961e-01,
  4.88367050e-01, 5.00386289e-01, 5.11536815e-01]

qacc:
[-7.98619916e-01, 4.73386950e-01,-2.09080781e+00, 4.47382933e+00,
 -8.22795179e-01, 3.32491047e-01,-2.15169287e+00, 4.18462677e+00,
  4.85657312e+00,-3.29987180e+00, 1.23881936e+01,-2.04634975e+01,
 -6.65587248e-01, 1.07807601e+00,-4.31024971e-01, 1.24073351e+00,
  6.94973034e-02, 1.01227848e+00,-1.85627772e-02, 1.71753741e+00,
  3.36062561e-01,-1.45429968e+01]

qfrc_actuator:
[-2.34647785e-05,-5.89493007e-05,-5.23254056e-05, 2.51456671e-05,
  3.25733591e-06,-4.62926025e-04,-2.81408866e-04,-2.35233040e-05,
  5.35968838e-05,-3.25623046e-05,-1.27865256e-04,-1.72641344e-06,
  1.17520949e-02,-1.35486970e-03, 0.00000000e+00,-2.81258844e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003150618893523055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.76191260e-13,  8.80956299e-14,  1.00000000e+00,  1.55216800e-26,
        1.00000000e+00, -8.80956299e-14, -1.00000000e+00,  0.00000000e+00,
       -1.76191260e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09194221, -0.08826856,  0.06199099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.65708103e-06, 1.27952684e-05, 2.20277403e-06, 7.78631863e-06,
 -4.84908135e-06,-4.65291198e-05,-2.26590445e-05, 1.50582023e-06,
  2.82131187e-05,-6.93476297e-05, 1.36844717e-05,-2.52355542e-05,
 -6.85405072e-05,-6.51325246e-07,-1.58787016e-05, 1.71358993e-06,
 -2.32585954e-06, 5.82390231e-07,-1.21644537e+00,-4.54188966e-04,
  1.60652600e-05,-5.51942840e-04]


--- Step 1096 ---
qpos:
[ 6.19891868e-03,-1.77498628e-03,-4.96419196e-03, 3.35605134e-02,
  4.48724825e-03,-3.76018951e-03,-1.85321919e-02, 2.85973598e-02,
  1.29546094e-02, 3.34479281e-03,-9.97943662e-03, 2.58667812e-02,
  1.22894783e+00, 2.32286098e-06, 9.65427633e-01, 6.40918337e-02,
  9.34846183e-02,-7.01307386e-02, 1.30958076e-01, 4.99579978e-01,
  4.88204590e-01, 5.00391343e-01, 5.11551198e-01]

qacc:
[ -0.45517687, -0.81708427,  3.87264443, -8.24756361, -0.59834983,
   2.48026606, -9.42004805, 15.53752907,  2.8297039 ,  3.74052556,
 -15.56369884, 25.32692614, -0.18647083,  0.05960322, -0.42136147,
   1.2064799 ,  0.06999536,  1.00533583, -0.08708589,  1.65638503,
   0.36362756,-14.46192588]

qfrc_actuator:
[-2.60193687e-05,-7.11384225e-05,-5.17897835e-05, 1.17670969e-05,
  3.08818916e-08,-3.88722645e-04,-2.83268524e-04,-2.49187250e-06,
  6.95297949e-05,-4.40444253e-05,-1.86198702e-04, 1.99755240e-05,
  1.17314932e-02,-1.36462732e-03, 0.00000000e+00,-2.80707224e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003082286594541239
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.80097306e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.80097306e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09194245, -0.08827052,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.68541887e-06,-4.27457928e-06, 3.70817707e-06,-1.26045550e-05,
 -3.38036137e-06, 4.36164989e-05,-1.41936767e-05, 1.82857393e-05,
  1.67141511e-05,-4.85425443e-05,-7.18571764e-05, 1.87093574e-05,
 -6.10298637e-05,-2.53216539e-05,-1.16341403e-05, 2.54252589e-06,
 -2.61907552e-06, 1.12380571e-06,-1.21644621e+00,-4.53353208e-04,
  1.73132970e-05,-5.51514659e-04]


--- Step 1097 ---
qpos:
[ 6.19867745e-03,-1.77442445e-03,-4.96376568e-03, 3.35601482e-02,
  4.48721162e-03,-3.76066542e-03,-1.85324451e-02, 2.85979602e-02,
  1.29557129e-02, 3.34539943e-03,-9.98131896e-03, 2.58674784e-02,
  1.22926121e+00, 4.12007025e-06, 9.65673320e-01, 6.40903300e-02,
  9.34655563e-02,-7.01190695e-02, 1.30960461e-01, 4.99681072e-01,
  4.88084553e-01, 5.00374655e-01, 5.11583326e-01]

qacc:
[-2.52914543e-01,-4.98795339e-01, 2.26674062e+00,-4.85724917e+00,
 -3.43490477e-01, 6.15054096e-01,-2.12515774e+00, 4.99024383e+00,
 -1.45200418e+00, 1.84120326e+00,-8.36344874e+00, 1.41109739e+01,
 -1.47771566e-01,-7.16791089e-03,-7.86591297e+00, 2.66848908e+01,
  7.61686721e-01,-2.04724551e+00,-1.01393916e-01, 9.85269117e+00,
 -2.46191030e+00, 3.00536355e+01]

qfrc_actuator:
[-2.74359433e-05,-7.86816044e-05,-5.16808039e-05, 3.97373146e-06,
 -1.86630390e-06,-3.44076810e-04,-2.66204653e-04, 9.76813495e-06,
  6.06350706e-05,-6.89906506e-05,-2.20060728e-04, 3.25455599e-05,
  1.17025285e-02,-1.37116016e-03, 0.00000000e+00,-2.67797295e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003092539660314031
  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([ 0.08168409, -0.03161809,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.49642447e-06,-9.73517931e-06,-7.64644839e-07,-8.09522195e-06,
 -1.97871892e-06, 6.69251833e-05, 2.49724250e-05, 1.39962378e-05,
 -8.43276128e-06,-6.61449916e-05,-5.20899320e-05, 8.36669395e-06,
 -7.06597708e-05,-2.56248670e-05,-9.58218910e-06, 1.26709311e-04,
 -2.90618795e-06, 1.74559135e-06,-1.21644733e+00,-4.52524115e-04,
  1.84763620e-05,-5.51000084e-04]


--- Step 1098 ---
qpos:
[ 6.19876599e-03,-1.77385359e-03,-4.96363502e-03, 3.35593592e-02,
  4.48680770e-03,-3.76082035e-03,-1.85324489e-02, 2.85990607e-02,
  1.29560115e-02, 3.34542550e-03,-9.98267001e-03, 2.58675746e-02,
  1.22957401e+00, 6.13528756e-06, 9.65919269e-01, 6.40873397e-02,
  9.34494418e-02,-7.01154342e-02, 1.30961659e-01, 4.99744874e-01,
  4.88006040e-01, 5.00336896e-01, 5.11632833e-01]

qacc:
[  2.88990894, -0.04004353,  1.93954466, -8.79785442, -3.21168513,
   0.76202512, -4.20245085, 12.21019807, -7.05720642, -3.47551336,
  13.84047551,-24.69015616, -0.71742974,  1.0877361 ,  4.92585665,
 -16.55002056,  0.73687922, -2.00843701, -0.29671785,  9.7381252 ,
  -2.31450359, 29.41200088]

qfrc_actuator:
[-1.04193551e-05,-8.33868152e-05,-6.95580065e-05,-1.82189145e-05,
 -2.07192674e-05,-3.35136500e-04,-2.55956108e-04, 3.45167077e-05,
  1.94496198e-05,-8.39760073e-05,-1.85979504e-04, 4.14933203e-06,
  1.16738934e-02,-1.35800141e-03, 0.00000000e+00,-2.76113423e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59743471,  2.40075964, -3.92081102,  2.40075964, 10.55732478,
        3.64931221, -3.92081102,  3.64931221,  6.83195238,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003166429989273356
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.75311475e-13, -4.38278688e-14,  1.00000000e+00,  7.68352833e-27,
        1.00000000e+00,  4.38278688e-14, -1.00000000e+00,  0.00000000e+00,
        1.75311475e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08168374, -0.03162251,  0.06199095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.69688674e-05,-1.06783096e-05,-2.02728479e-05,-2.27951023e-05,
 -1.88877246e-05, 5.21408414e-05, 2.76398586e-05, 2.87535078e-05,
 -4.14462235e-05,-6.23762851e-05, 1.43064136e-05,-3.28685072e-05,
 -7.57454889e-05,-8.37184405e-06, 5.59981986e-06,-7.82702892e-05,
 -1.74877658e-06, 5.99758010e-07,-1.21644410e+00,-4.52982482e-04,
  1.54798755e-05,-5.50520745e-04]


--- Step 1099 ---
qpos:
[ 6.19836799e-03,-1.77350072e-03,-4.96365703e-03, 3.35586755e-02,
  4.48618098e-03,-3.76068318e-03,-1.85322400e-02, 2.85997650e-02,
  1.29554688e-02, 3.34535161e-03,-9.98439459e-03, 2.58676755e-02,
  1.22988640e+00, 7.74854076e-06, 9.66165042e-01, 6.40847225e-02,
  9.34361934e-02,-7.01197028e-02, 1.30961012e-01, 4.99771912e-01,
  4.87968302e-01, 5.00278609e-01, 5.11699410e-01]

qacc:
[ -4.27914305,  0.36372849, -2.14464135,  4.35470516, -1.94856184,
  -1.01899399,  5.873221  ,-13.29136547, -7.41304621,  0.9358308 ,
  -3.52290829,  4.24647286,  0.05618684, -0.54868883, -1.40092061,
   4.4888283 ,  0.71652042, -1.97599563, -0.46113117,  9.6368312 ,
  -2.19847845, 28.87968447]

qfrc_actuator:
[-3.59479421e-05,-1.04196337e-04,-8.01592246e-05,-1.32119597e-05,
 -3.16491122e-05,-3.29902931e-04,-2.49955093e-04, 1.31203784e-05,
 -2.26507422e-05,-7.48766905e-05,-2.00814388e-04, 5.18637679e-06,
  1.16454836e-02,-1.38654831e-03, 0.00000000e+00,-2.73793246e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61018811,  2.61724111, -3.79524483,  2.61724111, 14.10622601,
        6.5485685 , -3.79524483,  6.5485685 ,  9.12615044,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003202005582211981
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.66818464e-14, -8.66818464e-14,  1.00000000e+00,  7.51374250e-27,
        1.00000000e+00,  8.66818464e-14, -1.00000000e+00,  0.00000000e+00,
        8.66818464e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08168308, -0.03162473,  0.06199085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.50498661e-05,-3.19601665e-05,-1.60998049e-05, 3.40376604e-06,
 -1.14535223e-05, 4.13285175e-05, 2.11706528e-05,-1.76471782e-05,
 -4.33001114e-05,-2.42341122e-05,-2.70774132e-05,-1.77617995e-06,
 -7.47500385e-05,-4.74676446e-05,-1.22258011e-05, 1.81652824e-05,
 -8.59626856e-07,-5.00374957e-08,-1.21644219e+00,-4.53235769e-04,
  1.32340978e-05,-5.50264837e-04]


--- Step 1100 ---
qpos:
[ 6.19766742e-03,-1.77355568e-03,-4.96373854e-03, 3.35584206e-02,
  4.48577292e-03,-3.76031800e-03,-1.85318896e-02, 2.85998758e-02,
  1.29544256e-02, 3.34473614e-03,-9.98560403e-03, 2.58684735e-02,
  1.23019834e+00, 8.79412647e-06, 9.66410287e-01, 6.40857228e-02,
  9.34257444e-02,-7.01317674e-02, 1.30957968e-01, 4.99762628e-01,
  4.87970716e-01, 5.00200225e-01, 5.11782797e-01]

qacc:
[ -2.65510388,  0.51551809, -4.42157004, 12.22890348,  1.91388205,
  -1.3177108 ,  7.63555429,-18.29299045, -4.37858846, -0.71170059,
  -1.43014958, 13.05669   ,  0.34312659, -1.15913431,-11.7334934 ,
  39.83407884,  0.69982955, -1.94899085, -0.59941604,  9.54828144,
  -2.10735262, 28.44016603]

qfrc_actuator:
[-5.08139705e-05,-1.34445042e-04,-8.64195455e-05, 7.75519359e-06,
 -2.00700098e-05,-3.26992920e-04,-2.46565689e-04,-1.75140756e-05,
 -4.71891390e-05,-1.04832836e-04,-1.73296102e-04, 4.12707466e-05,
  1.16118874e-02,-1.42183320e-03, 0.00000000e+00,-2.54566198e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61190523,  2.85244362, -3.62398058,  2.85244362, 21.76593334,
       13.50197576, -3.62398058, 13.50197576, 15.23934202,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032067517623510233
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73107104e-13, -8.65535522e-14,  1.00000000e+00,  1.49830348e-26,
        1.00000000e+00,  8.65535522e-14, -1.00000000e+00,  0.00000000e+00,
        1.73107104e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08168218, -0.03162521,  0.06199083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.55898679e-05,-5.13193462e-05,-1.47282576e-05, 1.91087307e-05,
  1.12662154e-05, 2.96243609e-05, 1.39179784e-05,-2.84760975e-05,
 -2.57778286e-05,-4.91715276e-05, 1.91377748e-05, 3.40798451e-05,
 -8.83896774e-05,-6.22867968e-05,-8.01657417e-06, 1.90695249e-04,
 -2.17869086e-07,-2.31940910e-07,-1.21644153e+00,-4.53318989e-04,
  1.16995108e-05,-5.50222561e-04]


--- Step 1101 ---
qpos:
[ 6.19748380e-03,-1.77404408e-03,-4.96357252e-03, 3.35580557e-02,
  4.48516188e-03,-3.75974248e-03,-1.85317808e-02, 2.85999933e-02,
  1.29534408e-02, 3.34370843e-03,-9.98595050e-03, 2.58700016e-02,
  1.23050968e+00, 9.68572301e-06, 9.66655551e-01, 6.40879813e-02,
  9.34180400e-02,-7.01515385e-02, 1.30952061e-01, 4.99717387e-01,
  4.88012762e-01, 5.00102087e-01, 5.11882779e-01]

qacc:
[ 4.56067183,-1.50032699, 4.9670677 ,-6.93037821,-1.78763296, 0.96960062,
 -3.07602677, 3.41552309, 0.54839117,-1.45481174, 1.31209207,10.25002294,
 -0.25948149, 0.06540359,-3.7574891 ,13.21528196, 0.6861669 ,-1.92662209,
 -0.71563838, 9.47179223,-2.03595626,28.07961157]

qfrc_actuator:
[-2.37665540e-05,-1.52327571e-04,-7.23547966e-05, 2.42746175e-06,
 -3.08431587e-05,-3.25529786e-04,-2.62509651e-04,-1.78303840e-05,
 -4.34419543e-05,-1.04482753e-04,-1.21105181e-04, 7.99364530e-05,
  1.15858501e-02,-1.42532914e-03, 0.00000000e+00,-2.48612825e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60475727, -3.10894603,  3.3967991 , -3.10894603, 24.45280097,
       18.16607189,  3.3967991 , 18.16607189, 21.23139177,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003186926727771211
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74183958e-13,  1.30637969e-13,  1.00000000e+00, -2.27550385e-26,
        1.00000000e+00, -1.30637969e-13, -1.00000000e+00,  0.00000000e+00,
        1.74183958e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08168108, -0.03162429,  0.06199089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.65863532e-05,-4.88039120e-05, 2.31463309e-06,-7.66285495e-06,
 -1.04403480e-05, 1.96697313e-05,-9.10493121e-06, 8.78318933e-07,
  2.99244566e-06,-2.17109356e-05, 4.55898571e-05, 3.78870919e-05,
 -9.18196685e-05,-3.70116477e-05, 1.37135997e-05, 6.82479786e-05,
  1.92334805e-07, 3.28931636e-08,-1.21644207e+00,-4.53257234e-04,
  1.08444822e-05,-5.50386376e-04]


--- Step 1102 ---
qpos:
[ 6.19762545e-03,-1.77476707e-03,-4.96304263e-03, 3.35575957e-02,
  4.48408202e-03,-3.75947189e-03,-1.85313927e-02, 2.86008274e-02,
  1.29528530e-02, 3.34269786e-03,-9.98632498e-03, 2.58712966e-02,
  1.23082060e+00, 1.01679960e-05, 9.66900957e-01, 6.40899406e-02,
  9.34122363e-02,-7.01668631e-02, 1.30949480e-01, 4.99680310e-01,
  4.88045312e-01, 5.00027845e-01, 5.11960462e-01]

qacc:
[ 2.87559477e+00,-1.52855852e+00, 5.39148578e+00,-7.43408584e+00,
 -4.08851884e+00, 2.98564084e-01,-4.66168394e+00, 1.68268907e+01,
  3.49218947e+00,-3.85760521e-01, 2.38082692e+00,-6.37057263e+00,
 -7.02293879e-03,-4.60310578e-01, 1.10241345e+00,-3.57541678e+00,
  4.75177441e-01, 1.11161812e+00, 8.31439575e-01, 7.32714419e+00,
  9.18564700e-01,-1.58658627e+01]

qfrc_actuator:
[-7.77482105e-06,-1.44849040e-04,-4.63782475e-05,-5.57203358e-07,
 -5.46934714e-05,-3.60513582e-04,-2.54221987e-04, 1.74340984e-05,
 -2.30821027e-05,-1.03614278e-04,-1.25675085e-04, 6.65813360e-05,
  1.15697034e-02,-1.44544358e-03, 0.00000000e+00,-2.50532420e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032019269541751216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73367950e-13,  3.46735900e-13,  1.00000000e+00, -6.01128922e-26,
        1.00000000e+00, -3.46735900e-13, -1.00000000e+00,  0.00000000e+00,
        1.73367950e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08645996, -0.08845537,  0.06199085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67322927e-05,-1.96368109e-05, 1.59190335e-05,-5.14456826e-06,
 -2.41413641e-05,-2.58536501e-05, 1.12514516e-05, 3.58081247e-05,
  2.04305565e-05,-1.95805382e-07,-2.11673313e-06,-1.19713831e-05,
 -7.80957653e-05,-4.90443911e-05, 8.11940079e-06,-1.49648184e-05,
  3.82881734e-07, 7.29032066e-07,-1.21644375e+00,-4.53068361e-04,
  1.06439432e-05,-5.50750484e-04]


--- Step 1103 ---
qpos:
[ 6.19795760e-03,-1.77534342e-03,-4.96212082e-03, 3.35573968e-02,
  4.48306941e-03,-3.75934829e-03,-1.85309280e-02, 2.86020715e-02,
  1.29525138e-02, 3.34149269e-03,-9.98635356e-03, 2.58720780e-02,
  1.23113093e+00, 1.06818455e-05, 9.67146324e-01, 6.40919963e-02,
  9.34082907e-02,-7.01778349e-02, 1.30949367e-01, 4.99651224e-01,
  4.88068582e-01, 4.99977009e-01, 5.12016313e-01]

qacc:
[  1.68506178, -0.3675686 ,  0.48401537,  3.30533117,  0.59365493,
   0.43366647, -3.5615649 , 10.6449683 ,  2.20209503, -2.28538571,
   9.93654667,-19.22663777, -0.46362261,  0.5376036 , -0.31839534,
   1.10050906,  0.46452469,  1.08820164,  0.61693204,  7.18080072,
   0.89770739,-15.53231211]

qfrc_actuator:
[ 1.56839205e-06,-1.04426710e-04,-1.34699614e-05, 1.56456482e-05,
 -5.05377952e-05,-3.63676505e-04,-2.49572214e-04, 3.78292083e-05,
 -1.08692538e-05,-1.20451878e-04,-1.10497797e-04, 4.04375090e-05,
  1.15435195e-02,-1.43970693e-03, 0.00000000e+00,-2.49969339e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032741858934774715
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.54312765e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.54312765e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08646052, -0.08845349,  0.06199064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.81351101e-06, 3.25355368e-05, 3.06371506e-05, 1.58127833e-05,
  3.45506986e-06,-1.37863057e-05, 1.92599161e-06, 2.03710046e-05,
  1.27904646e-05,-1.78540082e-05, 1.44737782e-05,-2.64592068e-05,
 -8.31336905e-05,-2.24534508e-05,-3.62815534e-06, 4.51446334e-06,
  2.62211690e-07, 4.38092264e-07,-1.21644222e+00,-4.52931723e-04,
  1.17291916e-05,-5.51072342e-04]


--- Step 1104 ---
qpos:
[ 6.19839907e-03,-1.77546126e-03,-4.96095665e-03, 3.35573626e-02,
  4.48245884e-03,-3.75892412e-03,-1.85308835e-02, 2.86035269e-02,
  1.29523238e-02, 3.34009090e-03,-9.98621565e-03, 2.58732436e-02,
  1.23144056e+00, 1.15501290e-05, 9.67391755e-01, 6.40930861e-02,
  9.34061679e-02,-7.01845320e-02, 1.30950999e-01, 4.99629986e-01,
  4.88082748e-01, 4.99949168e-01, 5.12050718e-01]

qacc:
[  0.96107749,  0.26582027, -0.76703485,  2.89570083,  3.50046374,
   1.99842511, -7.45383951, 11.57421789,  1.32137666,  0.06308725,
  -2.22855934,  8.76095796, -0.87623143,  1.39839962,  3.07315614,
 -10.46568448,  0.45569144,  1.06866653,  0.43650864,  7.05873062,
   0.8800878 ,-15.25421537]

qfrc_actuator:
[ 6.92715869e-06,-6.22781225e-05, 5.67112875e-06, 2.52903168e-05,
 -2.99270569e-05,-3.30030248e-04,-2.64766854e-04, 4.93226641e-05,
 -3.55506719e-06,-1.29955604e-04,-1.01587534e-04, 6.02520689e-05,
  1.15113433e-02,-1.41873679e-03, 0.00000000e+00,-2.55045293e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003308285683810003
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.35588619e-13,  2.09742887e-13,  1.00000000e+00, -7.03873258e-26,
        1.00000000e+00, -2.09742887e-13, -1.00000000e+00,  0.00000000e+00,
        3.35588619e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08646074, -0.08845263,  0.06199054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.64817103e-06, 6.73617680e-05, 3.01779969e-05, 1.24058424e-05,
  2.07037012e-05, 2.71962912e-05,-1.71099593e-05, 1.13614858e-05,
  7.66815557e-06,-1.75863078e-05, 6.10134776e-06, 1.90357175e-05,
 -8.59982243e-05,-2.68186418e-06,-6.35694878e-06,-5.21740905e-05,
  1.62527222e-07, 2.26537180e-07,-1.21644111e+00,-4.52799041e-04,
  1.25035562e-05,-5.51292094e-04]


--- Step 1105 ---
qpos:
[ 6.19890137e-03,-1.77502114e-03,-4.95989052e-03, 3.35574546e-02,
  4.48244522e-03,-3.75845843e-03,-1.85312404e-02, 2.86054860e-02,
  1.29522228e-02, 3.33871696e-03,-9.98659085e-03, 2.58743106e-02,
  1.23174967e+00, 1.23642486e-05, 9.67637031e-01, 6.40942154e-02,
  9.34058387e-02,-7.01870193e-02, 1.30953772e-01, 4.99616476e-01,
  4.88087958e-01, 4.99943982e-01, 5.12063998e-01]

qacc:
[  0.52228934,  1.2706199 , -3.99521746,  5.92839297,  5.21126214,
   2.2013453 , -9.91470727, 19.26213063,  0.76723612,  1.26630185,
  -4.04779006,  3.14313892, -0.3334384 ,  0.29395806, -0.33009444,
   0.86527714,  0.44841003,  1.05245857,  0.28507127,  6.95749782,
   0.86510232,-15.02340874]

qfrc_actuator:
[ 9.90024172e-06,-3.72169356e-05,-1.20792578e-06, 3.09920112e-05,
  1.95012893e-07,-3.45697765e-04,-2.91401919e-04, 7.32623906e-05,
  8.19965980e-07,-1.34979155e-04,-1.31901691e-04, 5.36914503e-05,
  1.14862547e-02,-1.42446732e-03, 0.00000000e+00,-2.54525975e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003311705822484079
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.35242043e-13,  8.38105107e-14,  1.00000000e+00, -2.80968068e-26,
        1.00000000e+00, -8.38105107e-14, -1.00000000e+00,  0.00000000e+00,
        3.35242043e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08646069, -0.0884526 ,  0.06199054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.15463865e-06, 6.94870194e-05, 1.11687865e-05, 9.87124332e-06,
  3.07232135e-05,-3.51861363e-06,-2.27417186e-05, 2.47291467e-05,
  4.58163608e-06,-1.27332149e-05,-3.25249971e-05,-6.73282606e-06,
 -7.61486306e-05,-2.57682468e-05,-1.42101955e-05, 2.09534691e-07,
  8.26009047e-08, 8.96075210e-08,-1.21644039e+00,-4.52671997e-04,
  1.29841578e-05,-5.51411734e-04]


--- Step 1106 ---
qpos:
[ 6.19943552e-03,-1.77422878e-03,-4.95855913e-03, 3.35579610e-02,
  4.48244807e-03,-3.75809013e-03,-1.85315156e-02, 2.86066655e-02,
  1.29521750e-02, 3.33754890e-03,-9.98769690e-03, 2.58749379e-02,
  1.23205831e+00, 1.28643128e-05, 9.67882022e-01, 6.40967078e-02,
  9.34072793e-02,-7.01853502e-02, 1.30957178e-01, 4.99610594e-01,
  4.88084332e-01, 4.99961166e-01, 5.12056415e-01]

qacc:
[ 2.82624255e-01, 5.76681855e-01,-3.13074775e+00, 9.61880828e+00,
  1.47911392e-01,-1.96027745e+00, 1.00952260e+01,-2.36473200e+01,
  4.40229075e-01, 1.40880946e+00,-2.77363253e+00,-3.81683945e+00,
 -1.84820150e-02,-3.94906949e-01,-4.54009820e+00, 1.52583910e+01,
  4.42453811e-01, 1.03910320e+00, 1.58271953e-01, 6.87419873e+00,
  8.52247872e-01,-1.48330269e+01]

qfrc_actuator:
[ 1.14466731e-05,-2.26910493e-05, 1.20496431e-05, 5.20530561e-05,
  1.62910635e-07,-3.55309459e-04,-2.89246763e-04, 3.32824284e-05,
  3.43191041e-06,-1.19707791e-04,-1.67384870e-04, 3.16348324e-05,
  1.14547752e-02,-1.44595141e-03, 0.00000000e+00,-2.47160871e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032907158972082795
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.74760787e-13, -8.43450984e-14,  1.00000000e+00,  5.69127650e-26,
        1.00000000e+00,  8.43450984e-14, -1.00000000e+00,  0.00000000e+00,
        6.74760787e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08646043, -0.08845322,  0.0619906 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.65701172e-06, 5.60845289e-05, 2.93098205e-05, 2.46134105e-05,
  8.44217305e-07,-1.52232860e-05,-5.24246935e-07,-4.04422867e-05,
  2.73472937e-06, 1.19691612e-06,-4.23347345e-05,-2.38574106e-05,
 -8.21082714e-05,-4.41707253e-05,-1.10686949e-05, 7.07815939e-05,
  2.14359233e-08, 2.35214595e-08,-1.21644005e+00,-4.52551842e-04,
  1.31843735e-05,-5.51432900e-04]


--- Step 1107 ---
qpos:
[ 6.19998418e-03,-1.77329197e-03,-4.95694978e-03, 3.35587418e-02,
  4.48210579e-03,-3.75774628e-03,-1.85315253e-02, 2.86073344e-02,
  1.29518141e-02, 3.33604642e-03,-9.98848415e-03, 2.58752928e-02,
  1.23236657e+00, 1.27973684e-05, 9.68127233e-01, 6.40973547e-02,
  9.34104705e-02,-7.01795683e-02, 1.30960794e-01, 4.99612258e-01,
  4.88071969e-01, 5.00000488e-01, 5.12028180e-01]

qacc:
[  0.13405834, -0.02125693, -0.8061423 ,  5.00508986, -3.01198052,
  -1.8174784 ,  8.59978803,-17.85175755, -2.73911415, -1.88841387,
   7.25162146,-12.24040508,  0.07664732, -0.68801549,  5.87545181,
 -20.12881243,  0.4376305 ,  1.02819339,  0.0523923 ,  6.80636994,
   0.84110344,-14.6772736 ]

qfrc_actuator:
[ 1.21417616e-05,-3.22564364e-05, 1.93124677e-05, 6.42385211e-05,
 -1.76200063e-05,-3.43412733e-04,-2.70139971e-04, 9.29048338e-06,
 -1.27662567e-05,-1.45706538e-04,-1.52288594e-04, 1.84136697e-05,
  1.14354543e-02,-1.47660609e-03, 0.00000000e+00,-2.57125394e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032505559058904065
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.28080749e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.28080749e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08645999, -0.08845435,  0.06199071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.55595129e-07, 2.88600942e-05, 2.32828905e-05, 1.60758596e-05,
 -1.77624076e-05, 1.52995504e-06, 1.44946822e-05,-2.54524426e-05,
 -1.61220628e-05,-3.50419850e-05, 9.32861096e-06,-1.50954486e-05,
 -7.75026004e-05,-5.87373796e-05,-1.53064529e-06,-9.81267011e-05,
 -2.17775993e-08, 2.52636242e-08,-1.21644006e+00,-4.52439518e-04,
  1.31145593e-05,-5.51356928e-04]


--- Step 1108 ---
qpos:
[ 6.20019210e-03,-1.77239420e-03,-4.95544666e-03, 3.35604043e-02,
  4.48155325e-03,-3.75761075e-03,-1.85315227e-02, 2.86080971e-02,
  1.29512617e-02, 3.33424990e-03,-9.98908282e-03, 2.58754903e-02,
  1.23267438e+00, 1.23491726e-05, 9.68372571e-01, 6.40954615e-02,
  9.34153967e-02,-7.01697089e-02, 1.30964267e-01, 4.99621398e-01,
  4.88050948e-01, 5.00061757e-01, 5.11979462e-01]

qacc:
[ -2.99834017,  2.0666673 ,-11.15513705, 26.60008118, -1.83627798,
  -0.11337508, -0.38457433,  2.13260123, -1.67354455, -1.23636131,
   4.51466389, -7.32973094, -0.17000545, -0.1843452 ,  7.85475362,
 -27.20640531,  0.43377671,  1.01937985, -0.03575285,  6.75191568,
   0.83131549,-14.55124143]

qfrc_actuator:
[-5.42199010e-06,-5.62096990e-05, 5.10702113e-06, 1.06578091e-04,
 -2.79457755e-05,-3.71902831e-04,-2.76583915e-04, 1.26866635e-05,
 -2.21529707e-05,-1.60504148e-04,-1.43107204e-04, 1.05024948e-05,
  1.14127841e-02,-1.49463192e-03, 0.00000000e+00,-2.70120309e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031955903466467095
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73711725e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.73711725e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08645942, -0.08845587,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75385734e-05,-2.37214347e-06,-4.85222180e-06, 4.46871511e-05,
 -1.08321725e-05,-2.57514890e-05,-5.22782791e-06, 3.46642642e-06,
 -9.86221842e-06,-3.30571915e-05, 2.59597368e-06,-9.37895873e-06,
 -8.17745427e-05,-4.80217893e-05,-1.71635434e-05,-1.36904897e-04,
 -4.76982893e-08, 9.24175508e-08,-1.21644042e+00,-4.52335739e-04,
  1.27826213e-05,-5.51184907e-04]


--- Step 1109 ---
qpos:
[ 6.20053283e-03,-1.77160069e-03,-4.95403710e-03, 3.35622241e-02,
  4.48088126e-03,-3.75796582e-03,-1.85311849e-02, 2.86092542e-02,
  1.29509455e-02, 3.33277475e-03,-9.99012052e-03, 2.58755555e-02,
  1.23298156e+00, 1.19784879e-05, 9.68617546e-01, 6.40940110e-02,
  9.34220460e-02,-7.01558001e-02, 1.30967304e-01, 4.99637959e-01,
  4.88021332e-01, 5.00144819e-01, 5.11910393e-01]

qacc:
[  1.16679768,  0.44514097, -2.45462859,  5.4056752 , -1.02615105,
  -0.77121358,  0.1465408 ,  6.50335946,  2.05783135,  1.37529271,
  -3.73562615,  1.91803686, -0.50807445,  0.62045975, -1.83936774,
   5.73306581,  0.43075353,  1.01236281, -0.10889403,  6.70904963,
   0.82258634,-14.45076715]

qfrc_actuator:
[ 1.91367378e-06,-7.09173399e-05,-3.95375627e-06, 1.13035154e-04,
 -3.37940519e-05,-4.06678735e-04,-2.62706055e-04, 3.21157597e-05,
 -9.69659020e-06,-1.15229783e-04,-1.55224677e-04, 5.77123204e-06,
  1.13827993e-02,-1.48728675e-03, 0.00000000e+00,-2.67037547e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031294401157133667
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.77383651e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.77383651e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08645875, -0.0884577 ,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.82979629e-06,-1.51821352e-05,-8.63354838e-06, 7.04888042e-06,
 -6.16663467e-06,-5.01177725e-05, 8.03189579e-06, 1.82105152e-05,
  1.21586751e-05, 2.69893244e-05,-1.89232422e-05,-6.23540523e-06,
 -8.93462231e-05,-2.12245008e-05,-2.81426860e-05, 1.98344087e-05,
 -5.68628657e-08, 2.23031635e-07,-1.21644112e+00,-4.52241070e-04,
  1.21944715e-05,-5.50917718e-04]


--- Step 1110 ---
qpos:
[ 6.20130353e-03,-1.77090617e-03,-4.95269974e-03, 3.35634146e-02,
  4.48083383e-03,-3.75847686e-03,-1.85304996e-02, 2.86102456e-02,
  1.29504355e-02, 3.33201208e-03,-9.99186038e-03, 2.58762212e-02,
  1.23328803e+00, 1.19664110e-05, 9.68862536e-01, 6.40912145e-02,
  9.34304090e-02,-7.01378637e-02, 1.30969663e-01, 4.99661895e-01,
  4.87983168e-01, 5.00249549e-01, 5.11821070e-01]

qacc:
[  3.77977866, -1.23211018,  6.84675439,-17.53407793,  5.47940565,
  -1.5278963 ,  5.83039637, -9.11899046, -1.73884882,  4.1433973 ,
 -15.93664683, 26.92004635, -0.89958048,  1.43617272,  4.15040934,
 -14.33492448,  0.42844286,  1.00688527, -0.16937214,  6.67624776,
   0.81466469,-14.37231467]

qfrc_actuator:
[ 2.38517210e-05,-7.99967687e-05,-9.89791531e-06, 8.05818894e-05,
 -1.45729677e-06,-3.91602638e-04,-2.36963017e-04, 2.53210228e-05,
 -1.99905220e-05,-5.21626629e-05,-1.79569298e-04, 3.84910478e-05,
  1.13537848e-02,-1.46502525e-03, 0.00000000e+00,-2.74032746e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003055095499850252
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.08501080e-14,  1.81700216e-13,  1.00000000e+00,  1.65074843e-26,
        1.00000000e+00, -1.81700216e-13, -1.00000000e+00,  0.00000000e+00,
       -9.08501080e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08645801, -0.08845974,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.21226791e-05,-1.90987028e-05,-9.93016811e-06,-3.32746931e-05,
  3.21420234e-05,-1.05059887e-05, 1.70084300e-05,-8.31252541e-06,
 -9.94378251e-06, 7.40522908e-05,-2.12877548e-05, 3.31052046e-05,
 -8.63833039e-05,-2.45109631e-06,-1.46104069e-05,-7.33450288e-05,
 -4.97103827e-08, 4.15511221e-07,-1.21644214e+00,-4.52155975e-04,
  1.13543905e-05,-5.50556068e-04]


--- Step 1111 ---
qpos:
[ 6.20233116e-03,-1.77025217e-03,-4.95175931e-03, 3.35642221e-02,
  4.48151881e-03,-3.75865787e-03,-1.85297171e-02, 2.86107563e-02,
  1.29498064e-02, 3.33142582e-03,-9.99316698e-03, 2.58776085e-02,
  1.23359378e+00, 1.24930766e-05, 9.69107292e-01, 6.40885826e-02,
  9.34416865e-02,-7.01279170e-02, 1.30970467e-01, 4.99648986e-01,
  4.87986072e-01, 5.00333418e-01, 5.11748918e-01]

qacc:
[  2.24705108,  0.26316478,  0.59297831, -6.54748655,  6.40699985,
  -0.83625354,  5.62293695,-14.31631601, -1.03693772,  0.50989839,
  -4.52349706, 16.18776157, -0.96086454,  1.6626208 , -0.76832188,
   2.35892895,  0.72860281, -1.99744366, -0.38905237,  9.61659482,
  -2.31593437, 29.0813864 ]

qfrc_actuator:
[ 3.64482856e-05,-8.56628449e-05,-3.17086713e-05, 6.10113110e-05,
  3.53416259e-05,-3.46753707e-04,-2.21999781e-04, 3.19444878e-06,
 -2.58466437e-05,-4.99500722e-05,-1.57553567e-04, 7.52490217e-05,
  1.13253812e-02,-1.43412606e-03, 0.00000000e+00,-2.72711455e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003017034939812868
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.83992404e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.83992404e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0816675 , -0.03161639,  0.06199138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.32168858e-05,-1.98614697e-05,-2.81583096e-05,-2.13884367e-05,
  3.77131042e-05, 4.21504426e-05, 1.45951475e-05,-2.21540242e-05,
 -6.11736678e-06, 4.06858756e-05, 3.58632959e-05, 3.98435524e-05,
 -7.97379966e-05, 1.08925495e-05,-2.00199306e-05, 6.07965428e-06,
 -2.66023261e-08, 6.68531277e-07,-1.21644349e+00,-4.52080859e-04,
  1.02653202e-05,-5.50100520e-04]


--- Step 1112 ---
qpos:
[ 6.20350192e-03,-1.76968674e-03,-4.95109830e-03, 3.35647868e-02,
  4.48194971e-03,-3.75807149e-03,-1.85292922e-02, 2.86113175e-02,
  1.29491120e-02, 3.33074041e-03,-9.99341012e-03, 2.58783812e-02,
  1.23389905e+00, 1.30897291e-05, 9.69351522e-01, 6.40891032e-02,
  9.34558100e-02,-7.01258367e-02, 1.30969123e-01, 4.99599640e-01,
  4.88029378e-01, 5.00396960e-01, 5.11693666e-01]

qacc:
[  1.25123325,  0.16157752,  0.27498398, -3.96104065, -2.24804248,
   2.120347  , -6.29435912,  7.16504322, -0.53976666, -4.36726255,
  17.97844599,-30.24408571, -0.23424798,  0.23069842,-10.27635115,
  34.86005506,  0.71150985, -1.96657411, -0.53684472,  9.55448722,
  -2.17727722, 28.61143259]

qfrc_actuator:
[ 4.34410231e-05,-8.92997727e-05,-4.49331325e-05, 4.91756992e-05,
  2.12022731e-05,-2.84464699e-04,-2.31145771e-04, 7.75523743e-06,
 -2.90372252e-05,-6.62464955e-05,-1.08576177e-04, 4.30579785e-05,
  1.13026961e-02,-1.43387308e-03, 0.00000000e+00,-2.55845917e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55511008,  2.09826263, -4.04305847,  2.09826263, 21.21023668,
        8.64366173, -4.04305847,  8.64366173,  9.04098941,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003044031200522823
  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([ 0.08166671, -0.03161798,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.36042692e-06,-2.15117742e-05,-2.15573245e-05,-1.40833481e-05,
 -1.30469744e-05, 8.79340713e-05, 5.81878091e-07, 6.43695184e-06,
 -3.35620792e-06, 1.56001416e-05, 6.31962166e-05,-2.84298880e-05,
 -6.69475961e-05,-1.54252710e-05,-1.29875775e-05, 1.65412534e-04,
 -1.31462019e-07, 1.34148883e-07,-1.21644207e+00,-4.52958328e-04,
  1.07856421e-05,-5.49879153e-04]


--- Step 1113 ---
qpos:
[ 6.20440250e-03,-1.76922046e-03,-4.95062472e-03, 3.35652001e-02,
  4.48186320e-03,-3.75662214e-03,-1.85296102e-02, 2.86115975e-02,
  1.29483843e-02, 3.33054996e-03,-9.99353711e-03, 2.58787516e-02,
  1.23420404e+00, 1.28945997e-05, 9.69595616e-01, 6.40916001e-02,
  9.34727248e-02,-7.01315200e-02, 1.30965134e-01, 4.99514194e-01,
  4.88112527e-01, 5.00440611e-01, 5.11655085e-01]

qacc:
[ -2.38003378,  0.08555211,  0.15252254, -2.41075556, -4.56637528,
   2.6456996 , -6.5762908 ,  2.24515479, -0.29817644, -0.49787446,
   4.42391779,-11.93709841,  0.55333143, -1.58714802, -6.22036557,
  21.34254708,  0.69782009, -1.94090731, -0.66113   ,  9.50173171,
  -2.06256024, 28.2232615 ]

qfrc_actuator:
[ 2.93298407e-05,-9.16549613e-05,-5.29645590e-05, 4.19941378e-05,
 -5.05387108e-06,-2.47786291e-04,-2.72094099e-04,-7.51566332e-06,
 -3.06346398e-05,-2.24327901e-05,-9.74832022e-05, 2.38030600e-05,
  1.12727961e-02,-1.48725985e-03, 0.00000000e+00,-2.45936566e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55498651, -2.36261721,  3.89434745, -2.36261721, 25.53838533,
       12.73017872,  3.89434745, 12.73017872, 12.27811334,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030436635548503066
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82382679e-13,  9.11913394e-14,  1.00000000e+00, -1.66317208e-26,
        1.00000000e+00, -9.11913394e-14, -1.00000000e+00,  0.00000000e+00,
        1.82382679e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08166573, -0.03161804,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39105405e-05,-1.94718153e-05,-1.56344859e-05,-9.12787021e-06,
 -2.65984564e-05, 8.62148132e-05,-2.25035074e-05,-1.13600328e-05,
 -1.69095722e-06, 6.43956331e-05, 2.11242415e-05,-1.69526686e-05,
 -7.23921110e-05,-7.19303979e-05, 8.70407289e-06, 1.05783880e-04,
 -4.65375487e-07, 6.07820765e-08,-1.21644188e+00,-4.53663186e-04,
  1.19478652e-05,-5.49855760e-04]


--- Step 1114 ---
qpos:
[ 6.20443706e-03,-1.76878627e-03,-4.95060016e-03, 3.35658787e-02,
  4.48146308e-03,-3.75503443e-03,-1.85301320e-02, 2.86117492e-02,
  1.29476432e-02, 3.33055212e-03,-9.99284885e-03, 2.58788784e-02,
  1.23450846e+00, 1.24142070e-05, 9.69839789e-01, 6.40945956e-02,
  9.34923873e-02,-7.01448819e-02, 1.30958083e-01, 4.99392916e-01,
  4.88235055e-01, 5.00464722e-01, 5.11632983e-01]

qacc:
[ -7.62838988,  1.77416458, -7.48161573, 12.78732612, -2.75345352,
   0.49347366, -0.94255464, -1.06664598, -0.09556509, -2.52515524,
  10.40182106,-16.06301049, -0.17161268, -0.15977765, -1.38474428,
   5.02254994,  0.68693359, -1.91965409, -0.76560093,  9.45825756,
  -1.96669431, 27.90484717]

qfrc_actuator:
[-1.48402544e-05,-9.31950964e-05,-7.56130209e-05, 5.53634523e-05,
 -2.04625124e-05,-2.80134657e-04,-2.96090131e-04,-1.66215518e-05,
 -3.12820287e-05,-1.41180078e-05,-5.53410406e-05, 1.23433005e-05,
  1.12385657e-02,-1.50098615e-03, 0.00000000e+00,-2.43759933e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5475842 , -2.64103552,  3.70208772, -2.64103552, 33.4744695 ,
       20.63617538,  3.70208772, 20.63617538, 19.26924296,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003021525053055474
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83718984e-13,  1.83718984e-13,  1.00000000e+00, -3.37526650e-26,
        1.00000000e+00, -1.83718984e-13, -1.00000000e+00,  0.00000000e+00,
        1.83718984e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08166459, -0.03161689,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.45734373e-05,-1.60806504e-05,-2.89243693e-05, 1.18137103e-05,
 -1.61370008e-05, 1.06688462e-05,-9.36606832e-06,-6.41291562e-06,
 -6.73762735e-07, 4.79668396e-05, 5.74614738e-05,-8.29932270e-06,
 -9.28616211e-05,-4.56624045e-05, 1.08735553e-05, 2.76317962e-05,
 -1.01663468e-06, 4.30011859e-07,-1.21644286e+00,-4.54225583e-04,
  1.37355933e-05,-5.50025047e-04]


--- Step 1115 ---
qpos:
[ 6.20359702e-03,-1.76865751e-03,-4.95049056e-03, 3.35670557e-02,
  4.48088135e-03,-3.75360542e-03,-1.85305034e-02, 2.86118050e-02,
  1.29465554e-02, 3.33058593e-03,-9.99210262e-03, 2.58792859e-02,
  1.23481205e+00, 1.23497820e-05, 9.70084186e-01, 6.40961636e-02,
  9.35139680e-02,-7.01538888e-02, 1.30953522e-01, 4.99279632e-01,
  4.88348178e-01, 5.00512290e-01, 5.11589049e-01]

qacc:
[ -7.68214535,  0.39958151, -4.08791439, 12.77184461, -1.58207178,
  -0.82392647,  3.04322249, -4.8295431 , -3.04952515,  0.46360957,
  -2.7673184 ,  7.49864905, -1.05555195,  1.67799864,  4.71542092,
 -15.8368248 ,  0.47955457,  1.08875891,  0.62237964,  7.16370948,
   0.93335581,-15.57618112]

qfrc_actuator:
[-5.85891527e-05,-1.12026238e-04,-7.11898826e-05, 8.07069515e-05,
 -2.93594852e-05,-3.00261775e-04,-2.92404027e-04,-2.20686685e-05,
 -4.91186290e-05,-4.47508250e-05,-6.63254656e-05, 2.33155407e-05,
  1.12017731e-02,-1.47335336e-03, 0.00000000e+00,-2.51480001e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000304518680471752
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.64582896e-13, -4.55728620e-14,  1.00000000e+00,  1.66150860e-26,
        1.00000000e+00,  4.55728620e-14, -1.00000000e+00,  0.00000000e+00,
        3.64582896e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08645686, -0.08846009,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.50227040e-05,-3.33252773e-05,-2.05740256e-06, 2.38828952e-05,
 -9.35358352e-06,-1.64280992e-05, 4.50195702e-06,-5.44083883e-06,
 -1.78402399e-05, 7.69328439e-06, 5.70514416e-06, 1.48525964e-05,
 -1.01405520e-04,-3.36813339e-06, 2.28648118e-06,-7.56042687e-05,
 -1.77678835e-06, 1.22861526e-06,-1.21644498e+00,-4.54668550e-04,
  1.61365400e-05,-5.50382763e-04]


--- Step 1116 ---
qpos:
[ 6.20258364e-03,-1.76873668e-03,-4.95029850e-03, 3.35674786e-02,
  4.48019727e-03,-3.75221454e-03,-1.85308840e-02, 2.86121362e-02,
  1.29452625e-02, 3.33072704e-03,-9.99232905e-03, 2.58802304e-02,
  1.23511500e+00, 1.25464123e-05, 9.70328724e-01, 6.40954570e-02,
  9.35359315e-02,-7.01586207e-02, 1.30951290e-01, 4.99180191e-01,
  4.88446789e-01, 5.00577060e-01, 5.11528570e-01]

qacc:
[ -1.51847697, -2.05486666, 10.11557605,-23.14688736, -0.89515332,
   0.54332066, -3.16984408,  7.9733158 , -1.83789346,  3.96903579,
 -16.20695697, 26.9686334 , -0.8321235 ,  1.27701479,  7.13196124,
 -24.51261063,  0.09569716,  1.06875671,  0.58239403,  1.53747207,
   0.50191112,-15.50321985]

qfrc_actuator:
[-6.62250824e-05,-1.23193157e-04,-6.86308583e-05, 4.18853872e-05,
 -3.43560078e-05,-2.95061797e-04,-2.90134181e-04,-7.54921173e-06,
 -5.91774525e-05,-6.31630267e-05,-1.26507294e-04, 4.73200870e-05,
  1.11794645e-02,-1.45699749e-03, 0.00000000e+00,-2.63190174e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003107809923163646
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.93091157e-14,  3.57236463e-13,  1.00000000e+00,  3.19044726e-26,
        1.00000000e+00, -3.57236463e-13, -1.00000000e+00,  0.00000000e+00,
       -8.93091157e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09194128, -0.08826942,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.92932797e-06,-2.92258653e-05,-3.75460807e-06,-3.98570752e-05,
 -5.26941005e-06,-3.34081516e-06,-7.69281576e-07, 1.38632061e-05,
 -1.05628836e-05,-1.23156355e-05,-5.73864741e-05, 2.48185770e-05,
 -8.24073095e-05,-7.43624296e-06,-1.35645548e-05,-1.22441512e-04,
 -1.76693021e-06, 8.03652160e-07,-1.21644483e+00,-4.55186353e-04,
  1.50412915e-05,-5.50559534e-04]


--- Step 1117 ---
qpos:
[ 6.20183100e-03,-1.76876146e-03,-4.95048232e-03, 3.35674313e-02,
  4.47945876e-03,-3.75121250e-03,-1.85307959e-02, 2.86126506e-02,
  1.29442041e-02, 3.33035696e-03,-9.99242538e-03, 2.58807686e-02,
  1.23541734e+00, 1.31732327e-05, 9.70573078e-01, 6.40940026e-02,
  9.35582706e-02,-7.01591452e-02, 1.30950725e-01, 4.99094348e-01,
  4.88531197e-01, 5.00658771e-01, 5.11451754e-01]

qacc:
[  2.27966703,  0.14988448,  1.54744865, -9.11672989, -0.45492602,
  -1.44464937,  3.63306116, -0.92473472,  2.07773385, -1.87945198,
   7.42920794,-14.28383998, -0.84146841,  1.43147462,  2.04833737,
  -7.41296215,  0.09388123,  1.05183284,  0.41666157,  1.55663144,
   0.46786162,-15.24765201]

qfrc_actuator:
[-5.25446503e-05,-1.11984259e-04,-8.49743849e-05, 1.88756542e-05,
 -3.70188851e-05,-3.27980556e-04,-2.70861829e-04, 8.64852825e-07,
 -4.68198053e-05,-1.09836441e-04,-1.26436955e-04, 2.55175790e-05,
  1.11605339e-02,-1.42966662e-03, 0.00000000e+00,-2.66501001e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000313749177627734
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.76928436e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.76928436e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09194105, -0.08826863,  0.06199103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34181356e-05,-7.61815447e-06,-2.42228939e-05,-2.51683557e-05,
 -2.81511802e-06,-3.44003871e-05, 1.89548336e-05, 8.51129007e-06,
  1.20549332e-05,-6.43630932e-05,-8.68527489e-06,-2.38346390e-05,
 -6.91642026e-05, 7.20945286e-06,-2.52382419e-05,-4.29084044e-05,
 -1.54663491e-06, 4.09299624e-07,-1.21644446e+00,-4.55651219e-04,
  1.35686466e-05,-5.50695712e-04]


--- Step 1118 ---
qpos:
[ 6.20159320e-03,-1.76900401e-03,-4.95054240e-03, 3.35677994e-02,
  4.47869389e-03,-3.75037796e-03,-1.85305091e-02, 2.86129068e-02,
  1.29436472e-02, 3.32924893e-03,-9.99211777e-03, 2.58810521e-02,
  1.23571929e+00, 1.35788152e-05, 9.70817256e-01, 6.40921183e-02,
  9.35809804e-02,-7.01555184e-02, 1.30951270e-01, 4.99021894e-01,
  4.88601659e-01, 5.00757208e-01, 5.11358765e-01]

qacc:
[  4.53488537,  0.21269919, -2.94483694, 10.11241406, -0.22186539,
  -1.30702072,  5.43028453,-10.0933172 ,  4.43695512, -2.63730951,
   9.04892814,-13.54392892, -0.13279851, -0.10619023,  1.0409798 ,
  -4.01346176,  0.09271083,  1.03782663,  0.27753538,  1.57453571,
   0.43802565,-15.03658062]

qfrc_actuator:
[-2.64391509e-05,-1.23034273e-04,-7.67288062e-05, 4.08761585e-05,
 -3.82885499e-05,-3.30146680e-04,-2.59614793e-04,-1.21550722e-05,
 -2.13700644e-05,-1.55138375e-04,-1.08681643e-04, 1.24645151e-05,
  1.11329980e-02,-1.44928221e-03, 0.00000000e+00,-2.68384464e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000313923074431538
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.6524564e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.6524564e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09194082, -0.08826859,  0.06199103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.64866560e-05,-2.13820159e-05, 2.82048286e-06, 2.03462763e-05,
 -1.36320678e-06,-1.71623814e-05, 6.75711285e-06,-1.36761368e-05,
  2.57699317e-05,-8.40954336e-05, 2.56846150e-06,-1.65765515e-05,
 -6.66214166e-05,-3.35550499e-05,-2.06798079e-05,-2.54521591e-05,
 -1.32732942e-06, 1.17087027e-07,-1.21644440e+00,-4.56115579e-04,
  1.20381197e-05,-5.50738638e-04]


--- Step 1119 ---
qpos:
[ 6.20167036e-03,-1.76964234e-03,-4.95012972e-03, 3.35684267e-02,
  4.47791955e-03,-3.74949979e-03,-1.85302010e-02, 2.86133353e-02,
  1.29433990e-02, 3.32808612e-03,-9.99160925e-03, 2.58811024e-02,
  1.23602102e+00, 1.29587251e-05, 9.71061114e-01, 6.40913236e-02,
  9.36040586e-02,-7.01477863e-02, 1.30952459e-01, 4.98962659e-01,
  4.88658388e-01, 5.00872193e-01, 5.11249734e-01]

qacc:
[  2.79127657, -1.31657106,  2.83169119,  1.19931456, -0.08274374,
   0.35274161, -1.90113537,  4.81543115,  2.72479358, -1.11911482,
   4.86053399, -9.16676601,  0.75168872, -2.05087231, -3.83427169,
  12.55646479,  0.09206517,  1.02633097,  0.16101559,  1.59185142,
   0.41152551,-14.86353266]

qfrc_actuator:
[-1.09896360e-05,-1.47189226e-04,-5.40790376e-05, 5.36799796e-05,
 -3.87285745e-05,-3.13927048e-04,-2.53100634e-04,-2.16199374e-06,
 -6.17822773e-06,-1.10423017e-04,-8.06412434e-05, 4.67213708e-06,
  1.11056276e-02,-1.51433895e-03, 0.00000000e+00,-2.62312312e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031187418508137055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.44980331e-14,  1.77992132e-13,  1.00000000e+00,  7.92029980e-27,
        1.00000000e+00, -1.77992132e-13, -1.00000000e+00,  0.00000000e+00,
       -4.44980331e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09194061, -0.08826915,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.61949318e-05,-3.46388011e-05, 1.92862440e-05, 1.23799503e-05,
 -4.84658867e-07, 7.39733430e-06, 3.31468845e-06, 9.22219423e-06,
  1.58920558e-05,-2.44798673e-06, 1.04192870e-05,-1.16299959e-05,
 -7.43263270e-05,-8.71763868e-05,-1.65161890e-05, 5.56818422e-05,
 -1.10757256e-06,-7.85095171e-08,-1.21644465e+00,-4.56582562e-04,
  1.04461096e-05,-5.50689570e-04]


--- Step 1120 ---
qpos:
[ 6.20227727e-03,-1.77059232e-03,-4.94946066e-03, 3.35695521e-02,
  4.47749080e-03,-3.74852388e-03,-1.85298519e-02, 2.86138713e-02,
  1.29433346e-02, 3.32739896e-03,-9.99107475e-03, 2.58813463e-02,
  1.23632237e+00, 1.13507574e-05, 9.71304672e-01, 6.40925649e-02,
  9.36275041e-02,-7.01359863e-02, 1.30953902e-01, 4.98916500e-01,
  4.88701561e-01, 5.01003582e-01, 5.11124760e-01]

qacc:
[  4.67186335, -0.11203585, -2.31687332, 10.77427157,  3.02421043,
   0.22966561, -1.0957032 ,  2.8298246 ,  1.60959103,  0.95134388,
  -3.30276098,  6.26733134,  0.6435806 , -1.91623508, -6.65440014,
  22.48227868,  0.09184747,  1.01699541,  0.0636828 ,  1.60906054,
   0.38766105,-14.72305129]

qfrc_actuator:
[ 1.58128671e-05,-1.61189406e-04,-4.09379096e-05, 7.87085291e-05,
 -2.09245486e-05,-3.04572707e-04,-2.49328074e-04, 3.55913524e-06,
  2.85083825e-06,-4.75905546e-05,-6.41409441e-05, 1.78691199e-05,
  1.10730289e-02,-1.57026218e-03, 0.00000000e+00,-2.51601566e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030808005992244425
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.80184174e-13, -3.60368349e-13,  1.00000000e+00,  6.49326734e-26,
        1.00000000e+00,  3.60368349e-13, -1.00000000e+00,  0.00000000e+00,
        1.80184174e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0919404 , -0.08827018,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.72510593e-05,-2.88338099e-05, 8.79021250e-06, 2.44508848e-05,
  1.77922445e-05, 1.45341215e-05, 6.01304731e-06, 6.32871811e-06,
  9.47661590e-06, 6.31581895e-05, 1.68822321e-05, 1.32268932e-05,
 -9.62479477e-05,-9.14111738e-05,-5.13813347e-06, 1.07213681e-04,
 -8.86188237e-07,-1.81892131e-07,-1.21644518e+00,-4.57054780e-04,
  8.78938787e-06,-5.50549560e-04]


--- Step 1121 ---
qpos:
[ 6.20320069e-03,-1.77159761e-03,-4.94872724e-03, 3.35709487e-02,
  4.47727865e-03,-3.74728981e-03,-1.85295340e-02, 2.86144557e-02,
  1.29437244e-02, 3.32676744e-03,-9.99077744e-03, 2.58825090e-02,
  1.23662310e+00, 9.35388346e-06, 9.71548979e-01, 6.40883614e-02,
  9.36513176e-02,-7.01201481e-02, 1.30955277e-01, 4.98883301e-01,
  4.88731323e-01, 5.01151260e-01, 5.10983915e-01]

qacc:
[ 2.78616002e+00, 3.00095970e-01,-2.33063261e+00, 6.97317493e+00,
  1.89022967e+00, 5.24028995e-01,-1.58430593e+00, 2.28879651e+00,
  3.98896725e+00, 2.62002505e+00,-1.31283545e+01, 2.93837376e+01,
 -4.86080580e-01, 2.50757631e-01, 1.75615561e+01,-5.97826688e+01,
  9.19800430e-02, 1.00951826e+00,-1.73902555e-02, 1.62650447e+00,
  3.65873109e-01,-1.46105241e+01]

qfrc_actuator:
[ 3.13337518e-05,-1.51269898e-04,-3.34746807e-05, 9.29766129e-05,
 -1.02779871e-05,-2.81656483e-04,-2.47228801e-04, 6.71291898e-06,
  2.59364384e-05,-8.09121293e-05,-8.99754202e-05, 6.10788653e-05,
  1.10426418e-02,-1.58482758e-03, 0.00000000e+00,-2.80852194e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003029383950199638
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.37431782e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.37431782e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09194019, -0.08827158,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.62863671e-05,-3.30942509e-06, 3.43486724e-06, 1.38093941e-05,
  1.11593868e-05, 3.25223318e-05, 6.04354712e-06, 4.10296376e-06,
  2.33740609e-05, 6.07211164e-06,-1.02504422e-05, 4.67572968e-05,
 -1.07552515e-04,-5.61587457e-05, 5.28194901e-06,-2.88187865e-04,
 -6.62197927e-07,-1.96576978e-07,-1.21644601e+00,-4.57534484e-04,
  7.06500071e-06,-5.50319488e-04]


--- Step 1122 ---
qpos:
[ 6.20395805e-03,-1.77238915e-03,-4.94799593e-03, 3.35717844e-02,
  4.47685103e-03,-3.74589516e-03,-1.85289011e-02, 2.86154067e-02,
  1.29443879e-02, 3.32607155e-03,-9.99063621e-03, 2.58831555e-02,
  1.23692311e+00, 7.17042688e-06, 9.71793304e-01, 6.40807090e-02,
  9.36710771e-02,-7.01121574e-02, 1.30956371e-01, 4.98837006e-01,
  4.88771080e-01, 5.01255883e-01, 5.10888454e-01]

qacc:
[ -1.46416157, -0.86391103,  5.86338385,-15.7314634 , -1.87831481,
   0.0901128 , -1.55539367,  7.2729023 ,  2.40528417, -0.71628991,
   4.60234506,-13.23211795, -0.56811421,  0.49864104, 10.46756131,
 -36.51052563, -1.01348995, -1.9618719 , -0.07001182,-16.67900219,
   1.07890657, 27.69177374]

qfrc_actuator:
[ 2.23343825e-05,-1.27130255e-04,-2.93287321e-05, 6.53107589e-05,
 -2.16877764e-05,-2.68555271e-04,-2.28325045e-04, 2.60950176e-05,
  3.93593778e-05,-1.00685851e-04,-1.05452724e-04, 3.27304034e-05,
  1.10082917e-02,-1.59253472e-03, 0.00000000e+00,-2.97907738e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003116267578869708
  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([ 0.10927594, -0.03379027,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.53601744e-06, 2.36177283e-05, 4.36165095e-06,-2.74234246e-05,
 -1.10800721e-05, 3.26657471e-05, 2.64877823e-05, 2.10595664e-05,
  1.40861157e-05,-1.64655846e-05,-1.38669740e-05,-2.75356952e-05,
 -1.10625568e-04,-4.40172616e-05,-3.68079122e-05,-1.87578039e-04,
 -4.34770885e-07,-1.25381226e-07,-1.21644711e+00,-4.58023671e-04,
  5.27019707e-06,-5.50000084e-04]


--- Step 1123 ---
qpos:
[ 6.20494693e-03,-1.77318098e-03,-4.94686617e-03, 3.35722815e-02,
  4.47663509e-03,-3.74438940e-03,-1.85282557e-02, 2.86162645e-02,
  1.29452072e-02, 3.32557992e-03,-9.99077024e-03, 2.58827408e-02,
  1.23722236e+00, 4.91220867e-06, 9.72036585e-01, 6.40777166e-02,
  9.36868618e-02,-7.01118529e-02, 1.30956389e-01, 4.98777813e-01,
  4.88820630e-01, 5.01318450e-01, 5.10837446e-01]

qacc:
[ 2.04808205e+00,-1.81517062e+00, 7.89310113e+00,-1.43791691e+01,
  1.85098288e+00,-8.34756053e-02, 8.98053672e-01,-2.60616701e+00,
  1.35710082e+00,-1.14791056e+00, 8.96095581e+00,-2.70333287e+01,
 -2.14807924e-01,-1.70585126e-02,-1.55970539e+01, 5.23499301e+01,
 -9.93683319e-01,-1.92152575e+00,-2.69079539e-01,-1.62895177e+01,
  1.10452069e+00, 2.71148171e+01]

qfrc_actuator:
[ 3.44840769e-05,-1.30210736e-04,-9.37978751e-06, 4.87136374e-05,
 -1.04806963e-05,-2.79101390e-04,-2.35177555e-04, 1.93712333e-05,
  4.69834344e-05,-7.67278435e-05,-1.14701945e-04,-1.97327621e-05,
  1.09715934e-02,-1.59617368e-03, 0.00000000e+00,-2.72122770e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6069142 , -2.05489335,  4.12323559, -2.05489335, 26.03440755,
       10.67880131,  4.12323559, 10.67880131,  9.92889916,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003192927900312198
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73856576e-13, -3.04249008e-13,  1.00000000e+00,  5.28956908e-26,
        1.00000000e+00,  3.04249008e-13, -1.00000000e+00,  0.00000000e+00,
        1.73856576e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10927378, -0.0337941 ,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19177970e-05, 9.86543359e-06, 2.44143140e-05,-1.59694160e-05,
  1.09000167e-05, 1.40299873e-05, 3.86072062e-06,-4.00373241e-06,
  8.01827258e-06, 1.07350512e-05,-1.53060364e-05,-5.41851510e-05,
 -1.12196705e-04,-3.79263075e-05,-4.23299177e-05, 2.41651523e-04,
 -5.86773150e-07,-4.36439987e-08,-1.21644391e+00,-4.58496721e-04,
  8.27286981e-06,-5.49646081e-04]


--- Step 1124 ---
qpos:
[ 6.20572897e-03,-1.77425424e-03,-4.94532931e-03, 3.35722663e-02,
  4.47655534e-03,-3.74301438e-03,-1.85280978e-02, 2.86167568e-02,
  1.29464568e-02, 3.32493249e-03,-9.99094247e-03, 2.58824211e-02,
  1.23752068e+00, 3.41284758e-06, 9.72279950e-01, 6.40747334e-02,
  9.36987385e-02,-7.01191000e-02, 1.30954660e-01, 4.98705884e-01,
  4.88879806e-01, 5.01339780e-01, 5.10830111e-01]

qacc:
[ -1.80141241, -2.56127944, 10.76072236,-20.07475754,  1.17863605,
   0.43476393, -0.26125127, -5.18604756,  3.78844636,  0.08912227,
  -1.03074937,  2.86564778, -1.332901  ,  2.32786155,  0.19945728,
  -0.27577067, -0.97701127, -1.88793152, -0.43672617,-15.96609683,
   1.12462551, 26.63540443]

qfrc_actuator:
[ 2.34867992e-05,-1.67247385e-04, 1.89860545e-06, 2.10069991e-05,
 -3.79707733e-06,-3.21603285e-04,-2.75059996e-04,-2.70288272e-06,
  6.88893956e-05,-9.77842056e-05,-1.20032708e-04,-1.49027736e-05,
  1.09441682e-02,-1.54415101e-03, 0.00000000e+00,-2.72789064e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.62051846, -2.31719776,  3.99747238, -2.31719776, 23.64974414,
       11.03059009,  3.99747238, 11.03059009, 11.01457358,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032304057405292685
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.59197817e-14, -4.29598909e-14,  1.00000000e+00,  3.69110445e-27,
        1.00000000e+00,  4.29598909e-14, -1.00000000e+00,  0.00000000e+00,
        8.59197817e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10927262, -0.03379592,  0.06199077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06540491e-05,-2.71456180e-05, 1.57641522e-05,-2.67525320e-05,
  6.99989853e-06,-3.40909284e-05,-3.66750801e-05,-2.14243853e-05,
  2.21386102e-05,-2.05113046e-05,-6.86467537e-06, 3.70804347e-06,
 -1.01600567e-04, 1.82553328e-05, 5.31345362e-06, 9.07721842e-07,
 -5.83020361e-07, 1.75313882e-07,-1.21644206e+00,-4.59082152e-04,
  1.03214694e-05,-5.49554256e-04]


--- Step 1125 ---
qpos:
[ 6.20637333e-03,-1.77556552e-03,-4.94393772e-03, 3.35722981e-02,
  4.47621169e-03,-3.74203734e-03,-1.85280399e-02, 2.86173347e-02,
  1.29476144e-02, 3.32377815e-03,-9.99047033e-03, 2.58825050e-02,
  1.23781822e+00, 2.73834073e-06, 9.72523219e-01, 6.40723669e-02,
  9.37067631e-02,-7.01337874e-02, 1.30950619e-01, 4.98621347e-01,
  4.88948462e-01, 5.01320549e-01, 5.10865796e-01]

qacc:
[ -1.21106846,  0.19069454, -1.33068748,  2.54730347, -2.30594907,
  -0.06607789, -0.88130456,  2.80697517, -0.7795618 , -1.63854112,
   3.16884917,  3.15617883, -1.22853673,  2.26885204, -1.90649707,
   6.69128315, -0.96303766, -1.86006435, -0.57780357,-15.69852629,
   1.14026764, 26.23909222]

qfrc_actuator:
[ 1.66997225e-05,-1.88871207e-04,-9.94599615e-06, 2.24490974e-05,
 -1.75893512e-05,-3.47575995e-04,-2.81007503e-04, 1.82768673e-06,
  6.35223086e-05,-1.27818205e-04,-8.76340960e-05, 5.81868043e-06,
  1.09223500e-02,-1.49504035e-03, 0.00000000e+00,-2.69519538e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.62269507, -2.5593073 ,  3.84957866, -2.5593073 , 21.47719329,
       11.20534068,  3.84957866, 11.20534068, 12.07231821,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032363432276102944
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.57621509e-14, -4.28810754e-14,  1.00000000e+00,  3.67757326e-27,
        1.00000000e+00,  4.28810754e-14, -1.00000000e+00,  0.00000000e+00,
        8.57621509e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10927224, -0.03379613,  0.06199075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.09716644e-06,-3.46791909e-05,-1.64417125e-05, 3.02919120e-07,
 -1.36018377e-05,-5.35802313e-05,-1.82674860e-05, 1.37880830e-06,
 -4.74744882e-06,-4.27252627e-05, 2.74551815e-05, 1.96789598e-05,
 -7.67763505e-05, 2.98170321e-05,-3.53032843e-06, 3.20605595e-05,
 -4.31104277e-07, 5.22822735e-07,-1.21644148e+00,-4.59778937e-04,
  1.14823382e-05,-5.49719154e-04]


--- Step 1126 ---
qpos:
[ 6.20727618e-03,-1.77694668e-03,-4.94312809e-03, 3.35737372e-02,
  4.47605026e-03,-3.74143188e-03,-1.85275352e-02, 2.86182658e-02,
  1.29486988e-02, 3.32225056e-03,-9.98961592e-03, 2.58828374e-02,
  1.23811512e+00, 2.89002831e-06, 9.72766376e-01, 6.40707295e-02,
  9.37109821e-02,-7.01558231e-02, 1.30943793e-01, 4.98524305e-01,
  4.89026477e-01, 5.01261301e-01, 5.10943959e-01]

qacc:
[  2.25657453,  4.4275383 ,-21.86773922, 47.20819785,  1.61542855,
  -1.01548584,  1.41135157,  4.26741124, -0.62595976, -1.04876506,
   1.97620534,  1.98750082, -1.11485341,  2.14315396, -2.27552585,
   7.93335572, -0.95138532, -1.8370514 , -0.69643814,-15.47830978,
   1.15222546, 25.91373238]

qfrc_actuator:
[ 3.02049712e-05,-1.83425552e-04,-3.52748549e-05, 9.42839262e-05,
 -7.81627822e-06,-3.45559011e-04,-2.49033941e-04, 2.20161479e-05,
  5.98941393e-05,-1.45072713e-04,-6.87703955e-05, 1.79758866e-05,
  1.09039157e-02,-1.44804643e-03, 0.00000000e+00,-2.65724896e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003217130322629713
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72548656e-13, -8.62743278e-14,  1.00000000e+00,  1.48865193e-26,
        1.00000000e+00,  8.62743278e-14, -1.00000000e+00,  0.00000000e+00,
        1.72548656e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1092725 , -0.03379507,  0.0619908 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.32947272e-05,-1.73038899e-05,-3.45083061e-05, 6.97857232e-05,
  9.36650302e-06,-3.17012638e-05, 1.86910077e-05, 1.72839748e-05,
 -3.78303820e-06,-3.45940538e-05, 1.41100165e-05, 1.16609656e-05,
 -5.62904457e-05, 3.59487442e-05,-3.31526650e-06, 3.80897704e-05,
 -1.36671670e-07, 9.93044042e-07,-1.21644210e+00,-4.60586120e-04,
  1.18065990e-05,-5.50136291e-04]


--- Step 1127 ---
qpos:
[ 6.20764388e-03,-1.77836524e-03,-4.94266688e-03, 3.35760051e-02,
  4.47566215e-03,-3.74114481e-03,-1.85266392e-02, 2.86190824e-02,
  1.29497309e-02, 3.32098776e-03,-9.98965296e-03, 2.58836647e-02,
  1.23841148e+00, 3.63634582e-06, 9.73009505e-01, 6.40692090e-02,
  9.37114343e-02,-7.01851313e-02, 1.30933782e-01, 4.98414834e-01,
  4.89113750e-01, 5.01162474e-01, 5.11064151e-01]

qacc:
[ -4.71533987,  2.64006702,-12.96680841, 27.87394821, -1.9662882 ,
  -1.74481814,  6.10102055, -8.4796605 , -0.49333331,  3.86086698,
 -15.34597887, 25.13782432, -0.8847144 ,  1.64426359, -0.32362284,
   1.23766647, -0.94172764, -1.81814753, -0.79614922,-15.29835189,
   1.16107058, 25.64906778]

qfrc_actuator:
[ 2.28662695e-06,-1.79563763e-04,-5.04468490e-05, 1.35964815e-04,
 -1.97498335e-05,-3.62120693e-04,-2.30319759e-04, 1.57922401e-05,
  5.73274204e-05,-1.19085179e-04,-1.11281209e-04, 4.27407339e-05,
  1.08768755e-02,-1.42040647e-03, 0.00000000e+00,-2.65201629e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003178094706866724
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.49336042e-13,  1.74668021e-13,  1.00000000e+00, -6.10178350e-26,
        1.00000000e+00, -1.74668021e-13, -1.00000000e+00,  0.00000000e+00,
        3.49336042e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10927326, -0.03379299,  0.06199091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75446323e-05,-9.91335607e-06,-2.05800366e-05, 4.11009773e-05,
 -1.16785279e-05,-2.97142952e-05, 1.50511553e-05,-6.60433149e-06,
 -2.69122116e-06, 1.01033760e-05,-4.75068427e-05, 2.39986349e-05,
 -5.15331436e-05, 2.26467607e-05,-2.34837533e-06, 5.77507603e-06,
  2.96245550e-07, 1.58246926e-06,-1.21644386e+00,-4.61502868e-04,
  1.13332890e-05,-5.50802021e-04]


--- Step 1128 ---
qpos:
[ 6.20767413e-03,-1.77966922e-03,-4.94214040e-03, 3.35776701e-02,
  4.47478914e-03,-3.74101403e-03,-1.85258463e-02, 2.86198317e-02,
  1.29507237e-02, 3.32034343e-03,-9.99068699e-03, 2.58843985e-02,
  1.23870744e+00, 4.49182805e-06, 9.73252159e-01, 6.40710993e-02,
  9.37120395e-02,-7.02098202e-02, 1.30928578e-01, 4.98319247e-01,
  4.89187618e-01, 5.01082203e-01, 5.11165363e-01]

qacc:
[ -2.96751668, -1.26644756,  7.2899294 ,-17.92130816, -4.24441329,
  -0.04885627,  0.17312026, -1.07405237, -0.38698961,  3.41199282,
 -10.58339411, 10.10138566, -0.18434928,  0.21469945,-10.98220692,
  37.43497295,  0.03828425,  1.15482888,  1.20151794,  2.76143635,
  -0.07109203,-16.17510103]

qfrc_actuator:
[-1.42903755e-05,-1.58904190e-04,-4.17728506e-05, 1.06311072e-04,
 -4.43713438e-05,-3.71981490e-04,-2.37437024e-04, 1.17999338e-05,
  5.54060068e-05,-6.76411438e-05,-1.53990640e-04, 3.92191945e-05,
  1.08500113e-02,-1.42223043e-03, 0.00000000e+00,-2.47081236e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003334256262461227
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.32436784e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.32436784e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09194949, -0.08826617,  0.06199047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.73609302e-05, 1.26562047e-05, 5.52044172e-06,-2.99925151e-05,
 -2.49658217e-05,-2.36779709e-05,-1.16445578e-05,-4.87745737e-06,
 -1.99730095e-06, 4.83558219e-05,-4.56290529e-05,-4.26393211e-06,
 -5.17237266e-05,-8.55006138e-06,-5.58435440e-06, 1.80043349e-04,
  8.64966073e-07, 2.28954246e-06,-1.21644673e+00,-4.62528474e-04,
  1.00918010e-05,-5.51713403e-04]


--- Step 1129 ---
qpos:
[ 6.20750512e-03,-1.78059826e-03,-4.94195374e-03, 3.35793063e-02,
  4.47397221e-03,-3.74048306e-03,-1.85256853e-02, 2.86204922e-02,
  1.29516860e-02, 3.31983893e-03,-9.99180591e-03, 2.58847370e-02,
  1.23900311e+00, 5.08174098e-06, 9.73494798e-01, 6.40744462e-02,
  9.37128439e-02,-7.02300253e-02, 1.30927102e-01, 4.98237298e-01,
  4.89248167e-01, 5.01019979e-01, 5.11248283e-01]

qacc:
[-1.76927739e+00, 1.38977157e+00,-4.10866473e+00, 3.87117138e+00,
  4.64097302e-01, 2.11009930e+00,-6.38290014e+00, 5.56130782e+00,
 -2.74270584e-01,-3.91007934e-01, 3.33203895e+00,-1.01406416e+01,
  7.01796891e-02,-4.27534971e-01,-4.42983088e+00, 1.54396467e+01,
  4.97837725e-02, 1.12092730e+00, 9.32183009e-01, 2.54120595e+00,
  9.94298996e-03,-1.57937770e+01]

qfrc_actuator:
[-2.40462033e-05,-1.28302981e-04,-5.45708333e-05, 1.05967175e-04,
 -4.07514727e-05,-3.24598611e-04,-2.59715373e-04, 9.14522324e-06,
  5.38795349e-05,-7.23933396e-05,-1.60851852e-04, 1.91162199e-05,
  1.08285854e-02,-1.44148513e-03, 0.00000000e+00,-2.40039783e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.70506972,  0.83311688,  4.63072319,  0.83311688,  9.92491341,
       -0.93910599,  4.63072319, -0.93910599,  4.87402498,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003450105135828496
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.60896984e-13,  2.41345477e-13,  1.00000000e+00, -3.88317594e-26,
        1.00000000e+00, -2.41345477e-13, -1.00000000e+00,  0.00000000e+00,
        1.60896984e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09195169, -0.08826369,  0.06199014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02407324e-05, 3.75649564e-05,-1.05354067e-05,-1.95555423e-07,
  2.89910683e-06, 3.15035375e-05,-2.87837784e-05,-4.16998437e-06,
 -1.56727117e-06, 1.27168738e-05,-2.62134187e-06,-1.96901293e-05,
 -5.33015756e-05,-3.28925002e-05, 1.35565907e-05, 7.88216211e-05,
  6.62359953e-07, 1.67633522e-06,-1.21644476e+00,-4.61940170e-04,
  1.06294398e-05,-5.52209000e-04]


--- Step 1130 ---
qpos:
[ 6.20687557e-03,-1.78130726e-03,-4.94220334e-03, 3.35816428e-02,
  4.47285959e-03,-3.73932088e-03,-1.85257013e-02, 2.86210531e-02,
  1.29526226e-02, 3.31929630e-03,-9.99320174e-03, 2.58848688e-02,
  1.23929814e+00, 6.07923345e-06, 9.73737918e-01, 6.40749376e-02,
  9.37138833e-02,-7.02458597e-02, 1.30928447e-01, 4.98168772e-01,
  4.89295486e-01, 5.00975377e-01, 5.11313479e-01]

qacc:
[ -4.06655101,  2.96014786,-13.07425395, 25.71152953, -2.60422639,
   1.1283643 , -2.38383126,  0.46942407, -0.2339801 ,  0.2982192 ,
  -0.26233394, -2.84750168, -0.98394929,  1.63216384,  9.40039136,
 -31.6867337 ,  0.05876177,  1.09270533,  0.70528895,  2.36544951,
   0.07315485,-15.47239286]

qfrc_actuator:
[-4.74651691e-05,-1.27548231e-04,-7.98730250e-05, 1.40628851e-04,
 -5.60390565e-05,-2.61116130e-04,-2.55014911e-04, 7.34153582e-06,
  5.25970768e-05,-9.28793849e-05,-1.82222715e-04, 7.15614766e-06,
  1.07944506e-02,-1.41760931e-03, 0.00000000e+00,-2.55564073e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.73248619,  0.73445003,  4.67514799,  0.73445003, 12.99699151,
       -1.29832599,  4.67514799, -1.29832599,  4.93644884,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035169401514408005
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18379505e-13,  1.57839340e-13,  1.00000000e+00,  1.86849429e-26,
        1.00000000e+00, -1.57839340e-13, -1.00000000e+00,  0.00000000e+00,
       -1.18379505e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09195337, -0.08826241,  0.06198995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.36941585e-05, 1.96015061e-05,-1.88413417e-05, 3.59015223e-05,
 -1.51924387e-05, 7.49534380e-05, 7.50794754e-06,-1.53385282e-06,
 -1.32429323e-06,-1.47268784e-05,-1.97289220e-05,-1.18858815e-05,
 -7.25677799e-05, 4.63930774e-06, 9.69535862e-06,-1.50352639e-04,
  4.92216555e-07, 1.17019443e-06,-1.21644317e+00,-4.61427033e-04,
  1.10197540e-05,-5.52614391e-04]


--- Step 1131 ---
qpos:
[ 6.20597039e-03,-1.78211792e-03,-4.94231586e-03, 3.35840330e-02,
  4.47191746e-03,-3.73779000e-03,-1.85253537e-02, 2.86222738e-02,
  1.29535367e-02, 3.31849028e-03,-9.99470601e-03, 2.58841836e-02,
  1.23959248e+00, 7.91117970e-06, 9.73981436e-01, 6.40705711e-02,
  9.37151859e-02,-7.02574169e-02, 1.30931851e-01, 4.98113487e-01,
  4.89329660e-01, 5.00948045e-01, 5.11361412e-01]

qacc:
[ -2.41760302, -0.40230185,  1.02089503, -0.24465652,  1.49760722,
   0.82542939, -5.02755042, 15.5997212 , -0.19786999, -1.72625605,
   9.09992424,-22.87184573, -1.4982262 ,  2.73954406, 15.3658483 ,
 -52.63368894,  0.06577694,  1.06929029,  0.5145269 ,  2.22530589,
   0.12237029,-15.20250955]

qfrc_actuator:
[-6.09884115e-05,-1.44696436e-04,-7.69401142e-05, 1.42318451e-04,
 -4.68365147e-05,-2.41622862e-04,-2.34329446e-04, 4.15999432e-05,
  5.14683461e-05,-1.22683715e-04,-1.94320753e-04,-3.54537647e-05,
  1.07687078e-02,-1.36842210e-03, 0.00000000e+00,-2.80704347e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.74387183,  0.61096588,  4.704364  ,  0.61096588, 18.24561056,
       -1.75349986,  4.704364  , -1.75349986,  4.97160263,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035441217409709624
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17471595e-13,  7.83143968e-14,  1.00000000e+00,  9.19971711e-27,
        1.00000000e+00, -7.83143968e-14, -1.00000000e+00,  0.00000000e+00,
       -1.17471595e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09195465, -0.08826208,  0.06198987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.41887749e-05,-8.52332119e-06, 5.91105910e-06, 2.57442440e-06,
  8.79447126e-06, 6.28434474e-05, 3.70249753e-05, 3.76972997e-05,
 -1.17332087e-06,-4.25861320e-05,-1.79579946e-05,-4.41507129e-05,
 -6.71940593e-05, 3.37954379e-05,-1.89698524e-05,-2.60079441e-04,
  3.47852615e-07, 7.65655035e-07,-1.21644193e+00,-4.60972799e-04,
  1.12807308e-05,-5.52929391e-04]


--- Step 1132 ---
qpos:
[ 6.20559992e-03,-1.78309226e-03,-4.94202362e-03, 3.35857239e-02,
  4.47178290e-03,-3.73616080e-03,-1.85248743e-02, 2.86239465e-02,
  1.29544299e-02, 3.31752607e-03,-9.99586888e-03, 2.58832938e-02,
  1.23988662e+00, 9.42241728e-06, 9.74224413e-01, 6.40665536e-02,
  9.37167735e-02,-7.02647743e-02, 1.30936672e-01, 4.98071288e-01,
  4.89350767e-01, 5.00937690e-01, 5.11392461e-01]

qacc:
[  4.71690177, -2.79706689, 12.59502299,-25.20598153,  7.07056395,
   0.67718552, -4.15887056, 11.72449673, -0.17045011, -1.58405662,
   6.20923787,-10.18040048,  0.1608177 , -0.57004876, -1.87094616,
   5.33993954,  0.07126732,  1.0499486 ,  0.35452982,  2.11372711,
   0.1605939 ,-14.9769735 ]

qfrc_actuator:
[-3.30696346e-05,-1.54600091e-04,-5.74649758e-05, 1.06838651e-04,
 -5.53516562e-06,-2.66265742e-04,-2.40027993e-04, 6.12708303e-05,
  5.04390117e-05,-1.04580602e-04,-1.65407545e-04,-4.25028731e-05,
  1.07586816e-02,-1.39340112e-03, 0.00000000e+00,-2.77569746e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.74193286,  0.44318523,  4.72117719,  0.44318523, 28.90603842,
       -2.26832723,  4.72117719, -2.26832723,  4.95486474,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035395158610065924
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.84163052e-14,  7.84163052e-14,  1.00000000e+00, -6.14911693e-27,
        1.00000000e+00, -7.84163052e-14, -1.00000000e+00,  0.00000000e+00,
        7.84163052e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09195561, -0.08826253,  0.06198988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.75142526e-05,-1.33153748e-05, 1.85385915e-05,-3.55929180e-05,
  4.15714374e-05, 1.97027361e-05, 1.31219931e-05, 2.43715126e-05,
 -1.07919142e-06,-1.12620091e-05, 1.64064269e-05,-1.03478066e-05,
 -4.21264128e-05,-3.25888328e-05,-4.35150113e-05, 1.30829074e-05,
  2.24290806e-07, 4.58127877e-07,-1.21644102e+00,-4.60565385e-04,
  1.14258049e-05,-5.53154117e-04]


--- Step 1133 ---
qpos:
[ 6.20591174e-03,-1.78407692e-03,-4.94179026e-03, 3.35862983e-02,
  4.47179982e-03,-3.73470224e-03,-1.85242654e-02, 2.86255326e-02,
  1.29549582e-02, 3.31715185e-03,-9.99763191e-03, 2.58829849e-02,
  1.24018053e+00, 1.04117370e-05, 9.74466947e-01, 6.40642041e-02,
  9.37186634e-02,-7.02679955e-02, 1.30942377e-01, 4.98042042e-01,
  4.89358879e-01, 5.00944069e-01, 5.11406934e-01]

qacc:
[  5.99704328, -2.15933625, 12.37120635,-31.5653021 ,  1.33268969,
  -0.76739853,  2.77038993, -4.34548814, -3.23931867,  3.65902283,
 -14.35657108, 24.92217262,  0.36656394, -1.06164462, -5.72514031,
  18.99256294,  0.07557581,  1.03406155,  0.22071275,  2.02509923,
   0.19018393,-14.78968776]

qfrc_actuator:
[ 1.26162044e-06,-1.60054354e-04,-6.38922842e-05, 4.97888204e-05,
  1.06229320e-06,-2.99514769e-04,-2.43718045e-04, 5.43804395e-05,
  3.17240385e-05,-3.99802407e-05,-1.83304576e-04,-1.07483786e-05,
  1.07367614e-02,-1.42655323e-03, 0.00000000e+00,-2.68448174e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.72948288, -0.2203228 , -4.72434823, -0.2203228 , 48.7821487 ,
       -2.05442238, -4.72434823, -2.05442238,  4.82529209,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035097150699024693
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.90821336e-14,  1.58164267e-13,  1.00000000e+00,  1.25079677e-26,
        1.00000000e+00, -1.58164267e-13, -1.00000000e+00,  0.00000000e+00,
       -7.90821336e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09195631, -0.08826358,  0.06198997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.51121029e-05,-1.05572368e-05,-8.12250630e-06,-5.76750445e-05,
  7.79031747e-06,-1.85305679e-05, 2.80910865e-06,-5.12788000e-06,
 -1.87542097e-05, 6.13010521e-05,-1.85327651e-05, 3.16451157e-05,
 -5.45335580e-05,-4.93575697e-05,-2.10510368e-05, 8.57732112e-05,
  1.17826078e-07, 2.43795313e-07,-1.21644042e+00,-4.60195807e-04,
  1.14649904e-05,-5.53288847e-04]


--- Step 1134 ---
qpos:
[ 6.20663280e-03,-1.78493549e-03,-4.94169937e-03, 3.35858277e-02,
  4.47189626e-03,-3.73362339e-03,-1.85235503e-02, 2.86267079e-02,
  1.29552583e-02, 3.31700123e-03,-9.99919824e-03, 2.58827047e-02,
  1.24047404e+00, 1.10633122e-05, 9.74709526e-01, 6.40612459e-02,
  9.37208692e-02,-7.02671322e-02, 1.30948518e-01, 4.98025638e-01,
  4.89354056e-01, 5.00966983e-01, 5.11405078e-01]

qacc:
[  3.5910698 , -1.59389492, 10.32405685,-28.26053146,  0.70554435,
  -1.64449625,  6.86794578,-13.86456089, -2.00651729, -0.19106305,
   0.99533166, -0.98367313, -0.06582554, -0.30216389,  1.89947956,
  -6.55816767,  0.07897043,  1.02110611,  0.10914792,  1.95494456,
   0.2129906 ,-14.63543629]

qfrc_actuator:
[ 2.13262663e-05,-1.45174217e-04,-6.78066801e-05,-1.75368127e-06,
  4.92310975e-06,-3.37697865e-04,-2.46253235e-04, 3.19111050e-05,
  2.05026258e-05,-3.69295979e-05,-1.75224849e-04,-9.67325024e-06,
  1.07077148e-02,-1.44652707e-03, 0.00000000e+00,-2.71857635e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034602272892426955
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.01065787e-14, -8.02131574e-14,  1.00000000e+00,  3.21707531e-27,
        1.00000000e+00,  8.02131574e-14, -1.00000000e+00,  0.00000000e+00,
        4.01065787e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09195681, -0.08826511,  0.06199011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10647875e-05, 4.87008937e-06,-9.08531093e-06,-5.33995637e-05,
  4.07698742e-06,-4.82458574e-05,-6.22225913e-06,-2.32745751e-05,
 -1.17364437e-05, 3.48884653e-05, 1.95814908e-05, 3.68310056e-06,
 -7.23664930e-05,-4.28702777e-05,-3.47599564e-06,-3.27955340e-05,
  2.57036203e-08, 1.19509194e-07,-1.21644011e+00,-4.59857388e-04,
  1.14057199e-05,-5.53333933e-04]


--- Step 1135 ---
qpos:
[ 6.20758913e-03,-1.78565343e-03,-4.94204178e-03, 3.35857972e-02,
  4.47169340e-03,-3.73284846e-03,-1.85231418e-02, 2.86272790e-02,
  1.29561115e-02, 3.31663357e-03,-9.99959941e-03, 2.58824292e-02,
  1.24076706e+00, 1.14936094e-05, 9.74952171e-01, 6.40568881e-02,
  9.37234016e-02,-7.02622264e-02, 1.30954724e-01, 4.98021983e-01,
  4.89336352e-01, 5.01006269e-01, 5.11387091e-01]

qacc:
[ 2.05295738e+00, 2.29919955e+00,-9.79232549e+00, 1.80032773e+01,
 -2.62434864e+00,-7.82382631e-01, 4.76731880e+00,-1.45200815e+01,
  4.90799402e+00,-3.54305838e+00, 1.21801400e+01,-1.37826568e+01,
 -2.70689046e-01, 7.77302428e-02, 4.33352799e+00,-1.49929652e+01,
  8.16604000e-02, 1.01063951e+00, 1.64652989e-02, 1.89968713e+00,
  2.30464877e-01,-1.45097461e+01]

qfrc_actuator:
[ 3.28310921e-05,-1.35978356e-04,-8.78588160e-05, 2.13940043e-05,
 -1.05993239e-05,-3.60811436e-04,-2.65876821e-04, 4.53205357e-07,
  4.92919912e-05,-5.29257586e-05,-1.16610605e-04,-8.93336268e-06,
  1.06797424e-02,-1.45856936e-03, 0.00000000e+00,-2.79074265e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003395637425730458
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -8.1738926e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  8.1738926e-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([ 0.09195716, -0.088267  ,  0.0619903 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21107599e-05, 7.79045363e-06,-2.20042922e-05, 2.20044781e-05,
 -1.54215873e-05,-5.24239899e-05,-3.11845499e-05,-3.42005710e-05,
  2.84650323e-05, 7.73757014e-06, 6.83817313e-05, 2.98923391e-06,
 -8.02070547e-05,-3.76614540e-05,-1.03433654e-05,-7.56126376e-05,
 -5.41207792e-08, 8.26947751e-08,-1.21644009e+00,-4.59545167e-04,
  1.12534713e-05,-5.53289740e-04]


--- Step 1136 ---
qpos:
[ 6.20798641e-03,-1.78646301e-03,-4.94258153e-03, 3.35867483e-02,
  4.47096113e-03,-3.73241224e-03,-1.85224654e-02, 2.86281238e-02,
  1.29573026e-02, 3.31651584e-03,-9.99973880e-03, 2.58828578e-02,
  1.24105958e+00, 1.17600461e-05, 9.75194310e-01, 6.40550291e-02,
  9.37262693e-02,-7.02533114e-02, 1.30960690e-01, 4.98031003e-01,
  4.89305808e-01, 5.01061797e-01, 5.11353129e-01]

qacc:
[ -4.91980004,  2.46137421,-13.07858402, 30.42991267, -4.61899621,
  -0.62361569,  0.43399651,  4.10722072,  2.97875558,  1.04230714,
  -6.22017862, 17.81480785, -0.08288371, -0.18639541, -8.28913133,
  27.91492443,  0.08380878,  1.00228662, -0.06022849,  1.85646772,
   0.24374404,-14.40877686]

qfrc_actuator:
[ 3.70502631e-06,-1.48010683e-04,-9.94931661e-05, 7.05360412e-05,
 -3.74046852e-05,-3.57054560e-04,-2.42125125e-04, 1.72177984e-05,
  6.58924586e-05,-2.67408949e-05,-9.97333259e-05, 2.71232118e-05,
  1.06577626e-02,-1.46583409e-03, 0.00000000e+00,-2.65393314e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000331974597910914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.18037642e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.18037642e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09195738, -0.08826916,  0.06199051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.87764074e-05,-1.12469705e-05,-1.19629383e-05, 4.91445417e-05,
 -2.72615024e-05,-3.35050129e-05, 7.88406834e-06, 1.27700368e-05,
  1.74073525e-05, 4.47962691e-05, 2.70110422e-05, 3.88137302e-05,
 -7.77248301e-05,-3.35004865e-05,-1.82318947e-05, 1.30110534e-04,
 -1.23159349e-07, 1.31262516e-07,-1.21644034e+00,-4.59255472e-04,
  1.10122365e-05,-5.53156616e-04]


--- Step 1137 ---
qpos:
[ 6.20803146e-03,-1.78712479e-03,-4.94306156e-03, 3.35878866e-02,
  4.47025792e-03,-3.73215912e-03,-1.85216027e-02, 2.86294927e-02,
  1.29583386e-02, 3.31709226e-03,-1.00006682e-02, 2.58833857e-02,
  1.24135168e+00, 1.16467353e-05, 9.75436290e-01, 6.40547774e-02,
  9.37294791e-02,-7.02404136e-02, 1.30966163e-01, 4.98052635e-01,
  4.89262456e-01, 5.01133461e-01, 5.11303311e-01]

qacc:
[ -3.09769728,  0.41981143, -1.99297454,  5.01612659,  0.26356027,
   0.31471929, -3.6874335 , 12.59574357, -1.40290663,  3.33225234,
 -10.96430192, 13.42767003,  0.08075852, -0.57840229, -5.099936  ,
  17.46804941,  0.0855425 ,  0.99572965, -0.12341725,  1.82299763,
   0.25371905,-14.32923004]

qfrc_actuator:
[-1.35940914e-05,-1.19345996e-04,-8.83868271e-05, 8.12991897e-05,
 -3.51247203e-05,-3.54771698e-04,-2.28305320e-04, 4.45270670e-05,
  5.74208359e-05, 6.61978082e-06,-1.42966158e-04, 3.04106228e-05,
  1.06340708e-02,-1.48795382e-03, 0.00000000e+00,-2.57260316e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003235687990917474
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.28669277e-13,  3.43118072e-13,  1.00000000e+00,  4.41487542e-26,
        1.00000000e+00, -3.43118072e-13, -1.00000000e+00,  0.00000000e+00,
       -1.28669277e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09195751, -0.08827151,  0.06199075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.81198665e-05, 2.20322839e-05, 9.02447573e-06, 1.08257836e-05,
  1.48867781e-06,-1.43125020e-05, 8.29844145e-06, 2.63914762e-05,
 -7.96457741e-06, 6.56686131e-05,-2.93070064e-05, 6.89623938e-06,
 -7.66880984e-05,-4.70544633e-05, 2.49359654e-06, 8.54168428e-05,
 -1.82525683e-07, 2.63528656e-07,-1.21644087e+00,-4.58985594e-04,
  1.06848740e-05,-5.52934868e-04]


--- Step 1138 ---
qpos:
[ 6.20786852e-03,-1.78754825e-03,-4.94344111e-03, 3.35887846e-02,
  4.46924220e-03,-3.73181905e-03,-1.85212263e-02, 2.86308445e-02,
  1.29589206e-02, 3.31765848e-03,-1.00015134e-02, 2.58832890e-02,
  1.24164311e+00, 1.15956233e-05, 9.75678401e-01, 6.40541549e-02,
  9.37330368e-02,-7.02235529e-02, 1.30970934e-01, 4.98086831e-01,
  4.89206321e-01, 5.01221178e-01, 5.11237728e-01]

qacc:
[ -1.82986849, -0.45688512,  3.10613329, -7.60552992, -2.75177097,
   1.44332064, -4.89852024,  5.30616547, -3.99183071, -1.52657453,
   8.07370494,-19.02300629, -0.57291278,  0.70383036,  1.34901977,
  -4.35218855,  0.08696018,  0.99069942, -0.17523173,  1.79744295,
   0.26108744,-14.26827379]

qfrc_actuator:
[-2.37802420e-05,-1.01971152e-04,-8.15668519e-05, 6.94368383e-05,
 -5.12455176e-05,-3.53393377e-04,-2.55975615e-04, 4.22979956e-05,
  3.42640002e-05,-2.72687661e-05,-1.50307450e-04,-3.39287034e-06,
  1.05987119e-02,-1.48319985e-03, 0.00000000e+00,-2.59567942e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003146035111858819
  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([ 0.09195756, -0.088274  ,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06921063e-05, 3.20440737e-05, 1.28686324e-05,-1.03945466e-05,
 -1.60847008e-05,-3.80198001e-06,-2.87074050e-05,-2.04730835e-06,
 -2.33583127e-05,-2.93518528e-06, 2.85657966e-06,-3.18690058e-05,
 -9.07578917e-05,-2.29301162e-05, 5.81964015e-06,-1.91108637e-05,
 -2.33034421e-07, 4.78144750e-07,-1.21644166e+00,-4.58733556e-04,
  1.02733743e-05,-5.52624756e-04]


--- Step 1139 ---
qpos:
[ 6.20723992e-03,-1.78810255e-03,-4.94324949e-03, 3.35888579e-02,
  4.46838610e-03,-3.73145660e-03,-1.85211826e-02, 2.86321571e-02,
  1.29592206e-02, 3.31804172e-03,-1.00018206e-02, 2.58834701e-02,
  1.24193390e+00, 1.16042916e-05, 9.75920335e-01, 6.40546037e-02,
  9.37369471e-02,-7.02027443e-02, 1.30974835e-01, 4.98133553e-01,
  4.89137417e-01, 5.01324885e-01, 5.11156444e-01]

qacc:
[ -4.07480022, -3.45987885, 15.58021269,-30.68328586,  1.38623465,
   0.87509198, -2.91629611,  2.75650263, -2.46147864, -1.16887126,
   2.65254054,  1.4195955 , -0.47308842,  0.54345115, -3.46310567,
  11.80994407,  0.0881384 ,  0.98696814, -0.21749771,  1.77833275,
   0.26639499,-14.223479  ]

qfrc_actuator:
[-4.74545988e-05,-1.27025111e-04,-5.96306983e-05, 2.65990720e-05,
 -4.25715747e-05,-3.52754575e-04,-2.72436560e-04, 4.04300397e-05,
  2.04094207e-05,-3.00696312e-05,-1.18919453e-04, 1.22436163e-05,
  1.05670401e-02,-1.48036434e-03, 0.00000000e+00,-2.53804311e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030528831233996023
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.27289864e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.27289864e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09195756, -0.08827656,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.39657088e-05,-4.90732946e-06, 2.97886371e-05,-4.12214305e-05,
  8.21438975e-06,-7.53000328e-06,-2.08641248e-05,-3.06800939e-06,
 -1.45170912e-05,-5.23461151e-06, 3.00358603e-05, 1.49912439e-05,
 -8.98283232e-05,-2.28342423e-05,-5.28454214e-06, 5.59837419e-05,
 -2.75275850e-07, 7.74035872e-07,-1.21644272e+00,-4.58497927e-04,
  9.77906070e-06,-5.52226480e-04]


--- Step 1140 ---
qpos:
[ 6.20667729e-03,-1.78852033e-03,-4.94344955e-03, 3.35887956e-02,
  4.46798539e-03,-3.73109362e-03,-1.85213341e-02, 2.86330849e-02,
  1.29590069e-02, 3.31856028e-03,-1.00021591e-02, 2.58841804e-02,
  1.24222411e+00, 1.16230575e-05, 9.76161859e-01, 6.40583982e-02,
  9.37412138e-02,-7.01779984e-02, 1.30977730e-01, 4.98192773e-01,
  4.89055751e-01, 5.01444535e-01, 5.11059500e-01]

qacc:
[  0.56527758,  0.99524017, -2.71644641,  0.89867616,  3.97907369,
  -0.25289451,  2.5143512 , -8.8479441 , -4.52370191,  1.36463576,
  -6.82562861, 15.91952487, -0.24710056,  0.1699999 ,-10.68844166,
  36.55047026,  0.08913648,  0.98434324, -0.25177741,  1.76448616,
   0.27006838,-14.19276469]

qfrc_actuator:
[-4.33757441e-05,-1.24004635e-04,-8.23936219e-05, 1.91146302e-05,
 -1.93679174e-05,-3.52529699e-04,-2.82131039e-04, 2.10551652e-05,
 -5.60675547e-06,-1.40410258e-05,-1.18039189e-04, 3.91391065e-05,
  1.05429294e-02,-1.47870237e-03, 0.00000000e+00,-2.36226257e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002957926901600988
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.38345555e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.38345555e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09195751, -0.08827917,  0.06199155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.39779639e-06, 4.67444529e-06,-2.15282285e-05,-7.46456990e-06,
  2.34366491e-05,-8.44066155e-06,-1.39341075e-05,-2.04833999e-05,
 -2.64313355e-05, 1.99333198e-05, 4.01687012e-06, 2.80022805e-05,
 -8.16672303e-05,-2.37904683e-05,-1.05976950e-06, 1.77109115e-04,
 -3.09671795e-07, 1.15034698e-06,-1.21644404e+00,-4.58277698e-04,
  9.20274117e-06,-5.51740185e-04]


--- Step 1141 ---
qpos:
[ 6.20651269e-03,-1.78872616e-03,-4.94453570e-03, 3.35886693e-02,
  4.46821103e-03,-3.73098387e-03,-1.85212290e-02, 2.86337745e-02,
  1.29584835e-02, 3.31847914e-03,-1.00015642e-02, 2.58848901e-02,
  1.24251385e+00, 1.13686553e-05, 9.76403313e-01, 6.40642477e-02,
  9.37458406e-02,-7.01493218e-02, 1.30979506e-01, 4.98264471e-01,
  4.88961320e-01, 5.01580094e-01, 5.10946919e-01]

qacc:
[ 3.46829269e+00, 2.61826167e+00,-8.66942685e+00, 8.83102028e+00,
  5.49416580e+00,-1.55175624e+00, 6.03455523e+00,-1.03591554e+01,
 -2.68610064e+00,-3.39718742e+00, 1.09745017e+01,-1.20452292e+01,
 -1.76451110e-02,-3.59099374e-01,-6.31135954e+00, 2.19175409e+01,
  9.00003606e-02, 9.82662114e-01,-2.79405228e-01, 1.75495440e+00,
  2.72440921e-01,-1.41743510e+01]

qfrc_actuator:
[-2.29903271e-05,-1.22107153e-04,-1.31241611e-04, 1.47301567e-05,
  1.21939715e-05,-3.70292925e-04,-2.70017302e-04, 9.29000973e-06,
 -2.08227489e-05,-7.57230054e-05,-8.18515840e-05, 3.69220826e-05,
  1.05180468e-02,-1.49547139e-03, 0.00000000e+00,-2.26031949e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000286252453086111
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45442818e-13, -1.93923757e-13,  1.00000000e+00,  2.82048177e-26,
        1.00000000e+00,  1.93923757e-13, -1.00000000e+00,  0.00000000e+00,
        1.45442818e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09195744, -0.08828178,  0.06199182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.04863788e-05,-2.34795956e-07,-5.07844085e-05,-5.07282480e-06,
  3.22298418e-05,-2.62444827e-05, 7.93960438e-06,-1.30111882e-05,
 -1.59598471e-05,-4.85317048e-05, 4.17659273e-05,-6.79764520e-07,
 -7.76187681e-05,-4.06859195e-05, 1.48397868e-05, 1.10663988e-04,
 -3.36517513e-07, 1.60639668e-06,-1.21644562e+00,-4.58072178e-04,
  8.54482322e-06,-5.51165961e-04]


--- Step 1142 ---
qpos:
[ 6.20659408e-03,-1.78924132e-03,-4.94571876e-03, 3.35881590e-02,
  4.46915847e-03,-3.73131891e-03,-1.85205956e-02, 2.86343236e-02,
  1.29584715e-02, 3.31786248e-03,-1.00004468e-02, 2.58852435e-02,
  1.24280298e+00, 1.12122902e-05, 9.76645499e-01, 6.40655906e-02,
  9.37465725e-02,-7.01286008e-02, 1.30981221e-01, 4.98323922e-01,
  4.88876927e-01, 5.01671649e-01, 5.10879805e-01]

qacc:
[ 2.16498276e+00,-9.32801590e-01, 4.34618846e+00,-1.06000181e+01,
  6.34123533e+00,-2.36434075e+00, 8.14993449e+00,-1.10760376e+01,
  4.52597538e+00,-2.91008009e+00, 1.08381602e+01,-1.74286223e+01,
 -8.28511595e-01, 1.15562974e+00, 1.47361349e+01,-4.98575404e+01,
 -9.73732779e-01,-1.98887764e+00,-1.54862319e-02,-1.71494141e+01,
  6.59760211e-01, 2.77320892e+01]

qfrc_actuator:
[-1.09320585e-05,-1.56518756e-04,-1.41831655e-04,-5.56414128e-06,
  4.84176613e-05,-3.98595443e-04,-2.45192490e-04, 2.09793933e-06,
  5.94815496e-06,-1.12339915e-04,-6.09370073e-05, 1.75557572e-05,
  1.04873861e-02,-1.48751450e-03, 0.00000000e+00,-2.50452115e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002949190166454674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88225066e-13, -1.41168799e-13,  1.00000000e+00,  2.65715065e-26,
        1.00000000e+00,  1.41168799e-13, -1.00000000e+00,  0.00000000e+00,
        1.88225066e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10925478, -0.03377384,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26447181e-05,-4.52224389e-05,-1.70542011e-05,-2.21578542e-05,
  3.71354183e-05,-4.18915265e-05, 1.99263923e-05,-8.29865317e-06,
  2.62993754e-05,-5.51707691e-05, 1.60030932e-05,-2.00163714e-05,
 -8.49233461e-05,-1.86843897e-05, 1.37187861e-05,-2.37394473e-04,
 -3.56013121e-07, 2.14163773e-06,-1.21644747e+00,-4.57880922e-04,
  7.80540137e-06,-5.50503844e-04]


--- Step 1143 ---
qpos:
[ 6.20716474e-03,-1.79034009e-03,-4.94661633e-03, 3.35874187e-02,
  4.47018795e-03,-3.73191767e-03,-1.85194332e-02, 2.86347586e-02,
  1.29584349e-02, 3.31728672e-03,-9.99984219e-03, 2.58850147e-02,
  1.24309126e+00, 1.19751135e-05, 9.76888284e-01, 6.40596776e-02,
  9.37434537e-02,-7.01156543e-02, 1.30982051e-01, 4.98371146e-01,
  4.88802372e-01, 5.01720381e-01, 5.10857222e-01]

qacc:
[  4.32101571, -2.05141266,  7.15099476,-11.14065375,  0.73904503,
  -2.06161865,  7.32464274, -9.94650149, -0.23309923,  0.28894391,
   1.50708813,-10.79426803, -1.80611789,  3.23525549, 22.92315366,
 -78.59005401, -0.96264582, -1.94365222, -0.22104036,-16.66851508,
   0.76941235, 27.15360172]

qfrc_actuator:
[ 1.38753863e-05,-1.94526699e-04,-1.29901686e-04,-1.73062116e-05,
  5.15871914e-05,-3.97423437e-04,-2.13115289e-04,-2.35256353e-06,
  3.95602230e-06,-9.82368198e-05,-8.46539173e-05,-1.17442369e-05,
  1.04586148e-02,-1.42947875e-03, 0.00000000e+00,-2.87965962e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55525024, -0.22054503, -4.5499082 , -0.22054503, 12.19499554,
       -0.37031688, -4.5499082 , -0.37031688,  4.57320039,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030444481284733205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82335678e-13, -2.27919597e-13,  1.00000000e+00,  4.15578741e-26,
        1.00000000e+00,  2.27919597e-13, -1.00000000e+00,  0.00000000e+00,
        1.82335678e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1092509, -0.0337782,  0.0619913])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51557371e-05,-6.77311798e-05,-2.58118693e-07,-1.46968381e-05,
  4.21524835e-06,-1.84769304e-05, 2.55855972e-05,-5.72124962e-06,
 -1.26477457e-06,-1.42832311e-05,-3.38423371e-05,-3.15031322e-05,
 -8.28989027e-05, 3.48109744e-05,-2.74431977e-05,-3.88300739e-04,
 -5.51642300e-07, 1.27111040e-06,-1.21644389e+00,-4.58346510e-04,
  9.70841464e-06,-5.50195224e-04]


--- Step 1144 ---
qpos:
[ 6.20733853e-03,-1.79194944e-03,-4.94739501e-03, 3.35868911e-02,
  4.47124765e-03,-3.73255026e-03,-1.85182544e-02, 2.86351424e-02,
  1.29573398e-02, 3.31705089e-03,-9.99974379e-03, 2.58847425e-02,
  1.24337900e+00, 1.31092805e-05, 9.77130464e-01, 6.40529750e-02,
  9.37365227e-02,-7.01103318e-02, 1.30981305e-01, 4.98406172e-01,
  4.88737483e-01, 5.01727257e-01, 5.10878380e-01]

qacc:
[ -3.47698897, -0.56250858,  0.14040364,  3.71347062,  0.26551567,
  -0.19624123,  0.849915  , -1.73528661, -9.33687812,  1.79298878,
  -5.52624637,  5.29964666, -0.72853841,  1.22160644,  1.54325283,
  -6.57225283, -0.95307002, -1.90599741, -0.39423968,-16.27490086,
   0.85145864, 26.66989022]

qfrc_actuator:
[-7.26723663e-06,-2.16541782e-04,-1.22555964e-04,-6.16472241e-06,
  5.30278923e-05,-3.96322503e-04,-2.12403931e-04,-5.12841978e-06,
 -5.04678099e-05,-5.40639362e-05,-9.88183226e-05,-1.11308103e-05,
  1.04363446e-02,-1.41326658e-03, 0.00000000e+00,-2.90274498e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57359070e+00, -1.61749588e-02, -4.57356210e+00, -1.61749588e-02,
        1.78137952e+01, -4.68255942e-02, -4.57356210e+00, -4.68255942e-02,
        4.57375630e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.00030983242153387325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79165082e-13,  8.95825410e-14,  1.00000000e+00, -1.60500633e-26,
        1.00000000e+00, -8.95825410e-14, -1.00000000e+00,  0.00000000e+00,
        1.79165082e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10924833, -0.03378052,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.04458535e-05,-6.05150619e-05,-7.16204401e-06, 7.94909980e-06,
  1.55386959e-06,-4.18310541e-06,-1.59130693e-07,-2.79615564e-06,
 -5.44633221e-05, 2.78587229e-05,-2.23730748e-05,-1.78226316e-06,
 -6.35662596e-05, 5.38406067e-06,-6.20445144e-05,-4.96577391e-05,
 -6.08735231e-07, 5.60077060e-07,-1.21644170e+00,-4.58845916e-04,
  1.06456241e-05,-5.50130129e-04]


--- Step 1145 ---
qpos:
[ 6.20725775e-03,-1.79387533e-03,-4.94790377e-03, 3.35868105e-02,
  4.47197132e-03,-3.73293006e-03,-1.85174462e-02, 2.86347893e-02,
  1.29559457e-02, 3.31737940e-03,-1.00002897e-02, 2.58848048e-02,
  1.24366655e+00, 1.36038455e-05, 9.77371814e-01, 6.40496274e-02,
  9.37258121e-02,-7.01125083e-02, 1.30978398e-01, 4.98429037e-01,
  4.88682113e-01, 5.01693062e-01, 5.10942619e-01]

qacc:
[ -2.22430341, -0.24803391, -1.60253439,  9.13320164, -2.95731255,
  -0.14079867,  4.1091305 ,-16.46912832, -2.66075395,  3.24011243,
 -11.87346686, 18.26521274,  0.59579264, -1.4997498 ,-11.40432934,
  37.99208662, -0.9449114 , -1.87472983, -0.54008688,-15.95400521,
   0.91155037, 26.26716927]

qfrc_actuator:
[-1.97842071e-05,-2.11048117e-04,-1.00155759e-04, 1.83562312e-05,
  3.56976725e-05,-3.77635974e-04,-2.30211122e-04,-4.24220520e-05,
 -6.42963188e-05,-9.91720620e-06,-1.24805210e-04, 7.12477646e-06,
  1.04179789e-02,-1.45747364e-03, 0.00000000e+00,-2.71816247e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58066192, -0.21862702,  4.5754416 , -0.21862702, 47.42348815,
        2.04714652,  4.5754416 ,  2.04714652,  4.67848014,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000311874449968913
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.66987972e-13, -1.33493986e-13,  1.00000000e+00,  3.56412885e-26,
        1.00000000e+00,  1.33493986e-13, -1.00000000e+00,  0.00000000e+00,
        2.66987972e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10924681, -0.03378121,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31134663e-05,-2.94247411e-05, 9.32259778e-06, 2.18420388e-05,
 -1.72871696e-05, 1.62034904e-05,-1.87949081e-05,-3.75349726e-05,
 -1.53658198e-05, 5.50131700e-05,-2.30464090e-05, 1.86436052e-05,
 -5.49362633e-05,-5.70582412e-05,-3.63309472e-05, 1.73340464e-04,
 -5.29261355e-07,-4.80194889e-09,-1.21644079e+00,-4.59399339e-04,
  1.06892025e-05,-5.50308304e-04]


--- Step 1146 ---
qpos:
[ 6.20771717e-03,-1.79585048e-03,-4.94798218e-03, 3.35869780e-02,
  4.47248169e-03,-3.73311453e-03,-1.85168774e-02, 2.86339903e-02,
  1.29550862e-02, 3.31812829e-03,-1.00008409e-02, 2.58847135e-02,
  1.24395369e+00, 1.36563376e-05, 9.77613328e-01, 6.40450935e-02,
  9.37113492e-02,-7.01220802e-02, 1.30972840e-01, 4.98439774e-01,
  4.88636139e-01, 5.01618426e-01, 5.11049382e-01]

qacc:
[ 4.76461412e+00,-7.66832478e-01, 1.57666041e+00, 2.08068108e+00,
 -1.87792084e+00, 1.35006436e-02, 2.21563507e+00,-9.70025100e+00,
  4.69665117e+00, 2.45076939e-01, 5.64723055e-01,-3.50588942e+00,
 -2.19847358e-02,-4.48841619e-01, 3.81217203e+00,-1.30087849e+01,
 -9.38064036e-01,-1.84885031e+00,-6.62829248e-01,-1.56938906e+01,
  9.54100374e-01, 2.59338118e+01]

qfrc_actuator:
[ 8.39593835e-06,-1.89039001e-04,-6.89214557e-05, 3.28327512e-05,
  2.52116884e-05,-3.66423807e-04,-2.40996384e-04,-6.42147833e-05,
 -3.63511497e-05, 1.61008327e-05,-1.22039730e-04, 9.99604614e-08,
  1.03859666e-02,-1.48381194e-03, 0.00000000e+00,-2.78561320e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57843795, -0.4947261 ,  4.5516305 , -0.4947261 , 32.16857772,
        2.99882913,  4.5516305 ,  2.99882913,  4.90438687,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003112342741152935
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.67537138e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.67537138e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10924613, -0.03378058,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.78023764e-05, 8.48780382e-06, 2.70893934e-05, 1.39694670e-05,
 -1.09718265e-05, 1.47814782e-05,-1.10558817e-05,-2.24785937e-05,
  2.75284686e-05, 5.28047026e-05, 1.19371963e-05,-5.10114390e-06,
 -7.73155009e-05,-5.10459197e-05, 5.55748674e-07,-6.29278692e-05,
 -3.14982905e-07,-4.33218655e-07,-1.21644111e+00,-4.60020253e-04,
  9.89386439e-06,-5.50728614e-04]


--- Step 1147 ---
qpos:
[ 6.20816578e-03,-1.79773807e-03,-4.94830982e-03, 3.35876922e-02,
  4.47286230e-03,-3.73323496e-03,-1.85161358e-02, 2.86329243e-02,
  1.29545684e-02, 3.31900311e-03,-1.00009529e-02, 2.58845456e-02,
  1.24424014e+00, 1.37473293e-05, 9.77854526e-01, 6.40421312e-02,
  9.36931566e-02,-7.01389621e-02, 1.30964217e-01, 4.98438417e-01,
  4.88599453e-01, 5.01503852e-01, 5.11198206e-01]

qacc:
[ -0.10406834,  1.93843846, -9.05105588, 18.84578095, -1.13152658,
  -0.94461266,  4.62223625, -9.56954295,  3.0183119 , -1.2245082 ,
   4.92054225, -7.02898565, -0.4562791 ,  0.48142655, -5.18182591,
  17.51773006, -0.93241611, -1.82751278, -0.76608406,-15.48473829,
   0.98254996, 25.65997066]

qfrc_actuator:
[ 7.04349736e-06,-1.92766553e-04,-8.59129824e-05, 5.90555443e-05,
  1.88439288e-05,-3.59739915e-04,-2.29798804e-04,-7.67033155e-05,
 -1.95609854e-05, 1.34072378e-05,-1.02404175e-04,-3.98629185e-06,
  1.03457928e-02,-1.48161805e-03, 0.00000000e+00,-2.69928993e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56889484, -0.79762124,  4.4987332 , -0.79762124, 45.45898086,
        7.24977444,  4.4987332 ,  7.24977444,  5.85427315,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003084656808911429
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.59917843e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.59917843e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10924612, -0.03377891,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.54353865e-07, 7.29353073e-06,-1.13963906e-05, 2.77986264e-05,
 -6.67463592e-06, 1.17006922e-05, 1.21087812e-05,-1.26736992e-05,
  1.75921995e-05, 2.90686892e-05, 3.18327898e-05,-1.51113075e-06,
 -9.71575691e-05,-2.63804932e-05,-1.21904367e-05, 8.16403950e-05,
  3.27071459e-08,-7.31911249e-07,-1.21644258e+00,-4.60717287e-04,
  8.30066458e-06,-5.51389434e-04]


--- Step 1148 ---
qpos:
[ 6.20859521e-03,-1.79965770e-03,-4.94903470e-03, 3.35883963e-02,
  4.47316326e-03,-3.73295186e-03,-1.85154044e-02, 2.86313401e-02,
  1.29546014e-02, 3.31964348e-03,-1.00006402e-02, 2.58847234e-02,
  1.24452606e+00, 1.35451713e-05, 9.78095517e-01, 6.40408622e-02,
  9.36712526e-02,-7.01630840e-02, 1.30952183e-01, 4.98424996e-01,
  4.88571965e-01, 5.01349731e-01, 5.11388704e-01]

qacc:
[ -0.18070028,  1.04742893, -3.75213671,  4.23278967, -0.70461536,
  -0.50269937,  4.7574716 ,-14.01066347,  4.86496712, -0.79477403,
   0.90855109,  4.58438289, -0.05438669, -0.33487301, -5.41930703,
  18.5080517 , -0.92785467, -1.80999941, -0.85293868,-15.31844637,
   0.99957891, 25.43728056]

qfrc_actuator:
[ 6.05907222e-06,-2.12053217e-04,-1.13579943e-04, 5.64228239e-05,
  1.49488864e-05,-3.20214568e-04,-2.23480561e-04,-1.01362515e-04,
  8.26787674e-06,-2.41396673e-05,-9.08415691e-05, 1.14276690e-05,
  1.03220655e-02,-1.49811384e-03, 0.00000000e+00,-2.61174870e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003040295447946373
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82584726e-13,  2.73877089e-13,  1.00000000e+00, -5.00057734e-26,
        1.00000000e+00, -2.73877089e-13, -1.00000000e+00,  0.00000000e+00,
        1.82584726e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10924662, -0.03377643,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.92165296e-07,-1.63019767e-05,-2.65783228e-05,-2.17017127e-06,
 -4.08158522e-06, 4.80220379e-05, 9.78348187e-06,-2.39841615e-05,
  2.83402047e-05,-1.48062990e-05, 2.14259595e-05, 1.77295576e-05,
 -8.63452814e-05,-4.44370377e-05,-9.18448063e-07, 8.95330987e-05,
  5.12874603e-07,-9.05180052e-07,-1.21644518e+00,-4.61495559e-04,
  5.93991331e-06,-5.52288893e-04]


--- Step 1149 ---
qpos:
[ 6.20866474e-03,-1.80182043e-03,-4.94940409e-03, 3.35883481e-02,
  4.47341515e-03,-3.73223651e-03,-1.85149826e-02, 2.86305254e-02,
  1.29553128e-02, 3.32011903e-03,-9.99985922e-03, 2.58847276e-02,
  1.24481145e+00, 1.31268442e-05, 9.78336531e-01, 6.40399675e-02,
  9.36493212e-02,-7.01825208e-02, 1.30944922e-01, 4.98425167e-01,
  4.88531865e-01, 5.01214224e-01, 5.11559646e-01]

qacc:
[-3.14965086e+00,-2.85766678e+00, 1.29082741e+01,-2.63245443e+01,
 -4.46065063e-01, 3.01872686e+00,-1.31833039e+01, 2.66758414e+01,
  5.98715470e+00,-1.89560476e+00, 7.15508519e+00,-1.07630201e+01,
 -2.08565703e-01,-3.58549450e-02,-1.08744975e+00, 3.87268352e+00,
 -6.84394158e-03, 1.17126470e+00, 1.19335152e+00, 3.19785972e+00,
 -3.21062898e-01,-1.60573163e+01]

qfrc_actuator:
[-1.24444719e-05,-2.22838135e-04,-9.41465548e-05, 1.90624321e-05,
  1.25392643e-05,-2.96854722e-04,-2.37728666e-04,-6.19554795e-05,
  4.23741229e-05,-2.90306652e-05,-6.65312376e-05, 2.64497920e-06,
  1.02975641e-02,-1.50775456e-03, 0.00000000e+00,-2.59523763e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.56957265,   1.31874305,   4.37514697,   1.31874305,
        43.41209591, -11.70779131,   4.37514697, -11.70779131,
         8.09849832,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00030866349142670557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.34882695e-13,  1.79843593e-13,  1.00000000e+00,  2.42577884e-26,
        1.00000000e+00, -1.79843593e-13, -1.00000000e+00,  0.00000000e+00,
       -1.34882695e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09197555, -0.08828119,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.85295968e-05,-2.54095341e-05, 1.27463187e-05,-3.90164947e-05,
 -2.50885266e-06, 5.11898349e-05,-3.96194689e-06, 4.13382293e-05,
  3.49070064e-05,-8.00240584e-06, 2.44917792e-05,-8.33449474e-06,
 -8.48887040e-05,-3.90440929e-05, 4.80928702e-06, 2.02995700e-05,
  1.12508654e-06,-9.55273899e-07,-1.21644887e+00,-4.62357610e-04,
  2.83342843e-06,-5.53425024e-04]


--- Step 1150 ---
qpos:
[ 6.20851193e-03,-1.80405620e-03,-4.94931442e-03, 3.35874778e-02,
  4.47329131e-03,-3.73117665e-03,-1.85147046e-02, 2.86301889e-02,
  1.29560827e-02, 3.32052694e-03,-9.99878698e-03, 2.58842809e-02,
  1.24509609e+00, 1.31549424e-05, 9.78577488e-01, 6.40396123e-02,
  9.36274363e-02,-7.01974183e-02, 1.30941374e-01, 4.98438777e-01,
  4.88479009e-01, 5.01096798e-01, 5.11711874e-01]

qacc:
[-1.93970231e+00,-3.06865967e+00, 1.42775038e+01,-2.91892016e+01,
 -3.29856095e+00, 1.84651268e+00,-7.93165395e+00, 1.61711420e+01,
  5.24908169e-01,-1.83232035e+00, 8.30537491e+00,-1.65218515e+01,
 -9.03953046e-01, 1.46986714e+00,-1.64591902e+00, 5.79392639e+00,
  1.16120958e-02, 1.13484900e+00, 9.28093427e-01, 2.85350199e+00,
 -1.70214117e-01,-1.57152682e+01]

qfrc_actuator:
[-2.33584690e-05,-2.10545503e-04,-6.47994246e-05,-2.06358468e-05,
 -6.73045595e-06,-2.83384300e-04,-2.46260528e-04,-3.84471058e-05,
  4.43936631e-05,-3.20565843e-05,-5.25384639e-05,-2.02748479e-05,
  1.02672921e-02,-1.47773669e-03, 0.00000000e+00,-2.56744500e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61458235,  1.01862595,  4.50075232,  1.01862595, 11.83302648,
       -1.63370343,  4.50075232, -1.63370343,  4.9843278 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000321413102490245
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.72709671e-13,  2.59064507e-13,  1.00000000e+00,  4.47429458e-26,
        1.00000000e+00, -2.59064507e-13, -1.00000000e+00,  0.00000000e+00,
       -1.72709671e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09197895, -0.08827876,  0.06199081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14413631e-05,-8.79483095e-07, 2.43487697e-05,-4.10989425e-05,
 -1.93250847e-05, 4.30188342e-05, 2.97242809e-06, 2.63689330e-05,
  3.01012620e-06,-2.81090390e-06, 1.50527013e-05,-2.25816554e-05,
 -8.86380872e-05, 2.15867305e-06,-9.34581116e-07, 2.83011204e-05,
  6.32948082e-07,-1.11104603e-06,-1.21644708e+00,-4.60921896e-04,
  4.96926138e-06,-5.53628863e-04]


--- Step 1151 ---
qpos:
[ 6.20857438e-03,-1.80626646e-03,-4.94893900e-03, 3.35864828e-02,
  4.47328277e-03,-3.73031316e-03,-1.85142551e-02, 2.86298398e-02,
  1.29565264e-02, 3.32064510e-03,-9.99773169e-03, 2.58839589e-02,
  1.24538016e+00, 1.34686669e-05, 9.78818555e-01, 6.40382422e-02,
  9.36056544e-02,-7.02078969e-02, 1.30940644e-01, 4.98465689e-01,
  4.88413294e-01, 5.00997013e-01, 5.11846075e-01]

qacc:
[  1.90118689, -1.02562747,  4.22572764, -6.85236426,  1.01790019,
  -0.7664046 ,  2.40590472, -2.74930963, -2.86547594, -0.07342823,
  -0.81037561,  3.19726558, -0.72137316,  1.13717821,  3.27758791,
 -11.10842898,  0.02576525,  1.10471002,  0.70456524,  2.57658399,
  -0.04949904,-15.42581068]

qfrc_actuator:
[-1.19597164e-05,-2.02231789e-04,-4.75024500e-05,-2.58608296e-05,
 -2.64676392e-07,-3.29190594e-04,-2.51404524e-04,-4.22470080e-05,
  2.75096994e-05,-6.94999843e-05,-6.24990566e-05,-1.58249492e-05,
  1.02495744e-02,-1.46000507e-03, 0.00000000e+00,-2.62196162e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.64366442,  0.96794303,  4.5416633 ,  0.96794303, 15.72120983,
       -2.3609044 ,  4.5416633 , -2.3609044 ,  5.14683271,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000329274131570495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26439825e-13,  2.52879649e-13,  1.00000000e+00, -3.19740585e-26,
        1.00000000e+00, -2.52879649e-13, -1.00000000e+00,  0.00000000e+00,
        1.26439825e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09198158, -0.08827744,  0.06199059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10810274e-05, 1.11687015e-05, 1.87198863e-05,-5.21287339e-06,
  5.92754098e-06,-2.00540527e-05, 5.00603978e-06,-1.34172352e-06,
 -1.67967889e-05,-3.68964846e-05,-9.48414884e-06, 4.40852105e-06,
 -6.87380187e-05,-2.07155490e-06,-2.63266128e-06,-5.42772911e-05,
  1.77489626e-07,-1.18542789e-06,-1.21644568e+00,-4.59590364e-04,
  6.90987061e-06,-5.53768570e-04]


--- Step 1152 ---
qpos:
[ 6.20842785e-03,-1.80810769e-03,-4.94908162e-03, 3.35857897e-02,
  4.47369691e-03,-3.73008174e-03,-1.85136342e-02, 2.86298508e-02,
  1.29571093e-02, 3.32065979e-03,-9.99714046e-03, 2.58837004e-02,
  1.24566390e+00, 1.34237715e-05, 9.79059274e-01, 6.40385650e-02,
  9.35840188e-02,-7.02140561e-02, 1.30941980e-01, 4.98505781e-01,
  4.88334650e-01, 5.00914499e-01, 5.11962813e-01]

qacc:
[ -1.85998074,  2.56111565, -9.69159477, 15.46400007,  3.71568464,
  -0.58014973, -0.67684993,  7.11487134,  1.21159279,  1.28843495,
  -5.06448541,  6.98517281,  0.15398524, -0.63741521, -5.64117799,
  18.94622098,  0.03655079,  1.07984009,  0.51652359,  2.35324911,
   0.04758032,-15.18197529]

qfrc_actuator:
[-2.30272273e-05,-1.78622133e-04,-7.29511556e-05,-1.07703413e-05,
  2.13016537e-05,-3.92407208e-04,-2.54773677e-04,-2.66271268e-05,
  3.51501383e-05,-7.40868027e-05,-8.66399860e-05,-1.31009833e-05,
  1.02287478e-02,-1.48516823e-03, 0.00000000e+00,-2.52924619e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.65845404,  0.89579412,  4.57151474,  0.89579412, 22.72817256,
       -3.54078429,  4.57151474, -3.54078429,  5.35227522,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003331672146975051
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24962366e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.24962366e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09198361, -0.08827703,  0.06199048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07422745e-05, 3.35803054e-05,-2.09932023e-05, 1.61211631e-05,
  2.17285092e-05,-7.34880808e-05,-6.95600919e-06, 1.49051555e-05,
  7.15195424e-06,-2.70100507e-05,-3.27899001e-05, 8.99313025e-07,
 -6.14641678e-05,-4.11627011e-05,-1.26942060e-05, 8.81038609e-05,
 -2.49628632e-07,-1.17801318e-06,-1.21644464e+00,-4.58337391e-04,
  8.68440687e-06,-5.53837955e-04]


--- Step 1153 ---
qpos:
[ 6.20780495e-03,-1.80933448e-03,-4.95021324e-03, 3.35849388e-02,
  4.47402139e-03,-3.73034148e-03,-1.85130886e-02, 2.86303939e-02,
  1.29577788e-02, 3.32078237e-03,-9.99671660e-03, 2.58837737e-02,
  1.24594720e+00, 1.31317546e-05, 9.79299708e-01, 6.40413015e-02,
  9.35625619e-02,-7.02159778e-02, 1.30944750e-01, 4.98558947e-01,
  4.88243024e-01, 5.00848949e-01, 5.12062551e-01]

qacc:
[-4.23055961e+00, 3.26009664e+00,-9.76441473e+00, 8.14445002e+00,
 -7.78355755e-01, 6.56767842e-01,-5.52826646e+00, 1.52162584e+01,
  7.55695313e-01, 1.29189976e+00,-5.80295136e+00, 1.17362537e+01,
  8.56800323e-03,-3.71886469e-01,-7.71355222e+00, 2.63578864e+01,
  4.47034091e-02, 1.05940102e+00, 3.58668964e-01, 2.17252514e+00,
  1.26129026e-01,-1.49777863e+01]

qfrc_actuator:
[-4.72363704e-05,-1.46188632e-04,-1.23357768e-04,-1.93725680e-05,
  1.60695586e-05,-4.12297874e-04,-2.57146288e-04, 2.76954037e-07,
  3.94177659e-05,-4.12774188e-05,-8.33299734e-05, 6.35134773e-06,
  1.02007288e-02,-1.50003299e-03, 0.00000000e+00,-2.40375124e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.66113761,  0.79585941,  4.59269111,  0.79585941, 38.82314687,
       -5.91987482,  4.59269111, -5.91987482,  5.68698236,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003338663513052925
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24700687e-13,  8.31337914e-14,  1.00000000e+00, -1.03668409e-26,
        1.00000000e+00, -8.31337914e-14, -1.00000000e+00,  0.00000000e+00,
        1.24700687e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09198517, -0.08827734,  0.06199046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.44965653e-05, 4.76328251e-05,-4.54726251e-05,-7.56940838e-06,
 -4.63739394e-06,-6.17911409e-05,-1.79037971e-05, 2.38012818e-05,
  4.46327651e-06, 1.09680364e-05,-6.28314792e-06, 1.71768106e-05,
 -7.33241903e-05,-3.77236296e-05, 8.94308800e-08, 1.27871768e-04,
 -6.54676827e-07,-1.08884599e-06,-1.21644395e+00,-4.57143679e-04,
  1.03152143e-05,-5.53832572e-04]


--- Step 1154 ---
qpos:
[ 6.20724194e-03,-1.81030292e-03,-4.95187353e-03, 3.35843511e-02,
  4.47428074e-03,-3.73091893e-03,-1.85129500e-02, 2.86316012e-02,
  1.29578042e-02, 3.32125647e-03,-9.99640820e-03, 2.58840433e-02,
  1.24622979e+00, 1.32549089e-05, 9.79540629e-01, 6.40411529e-02,
  9.35413083e-02,-7.02137286e-02, 1.30948427e-01, 4.98625097e-01,
  4.88138378e-01, 5.00800112e-01, 5.12145667e-01]

qacc:
[  0.50570967,  2.36028161, -9.03255532, 14.24302533, -0.57691243,
   2.08403263,-10.84311862, 23.21916137, -5.67786641,  1.20246919,
  -4.42314228,  7.72603532, -1.0538462 ,  1.70666493,  9.50485055,
 -32.02627063,  0.05079961,  1.04269319,  0.22648383,  2.02571672,
   0.19015686,-14.80809216]

qfrc_actuator:
[-4.34742374e-05,-1.44359112e-04,-1.52555681e-04,-6.34620944e-06,
  1.28543077e-05,-4.23833682e-04,-2.76495644e-04, 3.36355181e-05,
  6.15326368e-06,-3.95292716e-06,-8.14130795e-05, 1.77943543e-05,
  1.01684169e-02,-1.47318150e-03, 0.00000000e+00,-2.56178135e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6540715 , -0.65997575, -4.60703957, -0.65997575, 32.76324203,
       -4.02674441, -4.60703957, -4.02674441,  5.23091779,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033202069977375515
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.67191839e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.67191839e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09198636, -0.08827823,  0.06199051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.08961447e-06, 1.88017388e-05,-2.51900882e-05, 1.33551457e-05,
 -3.36955270e-06,-4.87670963e-05,-3.34987453e-05, 3.05525420e-05,
 -3.31334953e-05, 4.28902326e-05, 3.99686717e-06, 1.20284814e-05,
 -8.34750317e-05, 1.86250737e-06, 9.76949763e-06,-1.51938071e-04,
 -1.04238714e-06,-9.18195167e-07,-1.21644357e+00,-4.55994596e-04,
  1.18195077e-05,-5.53749203e-04]


--- Step 1155 ---
qpos:
[ 6.20707321e-03,-1.81100999e-03,-4.95392271e-03, 3.35842594e-02,
  4.47484418e-03,-3.73156925e-03,-1.85131397e-02, 2.86324708e-02,
  1.29570858e-02, 3.32219906e-03,-9.99639768e-03, 2.58837544e-02,
  1.24651184e+00, 1.34143502e-05, 9.79781616e-01, 6.40387969e-02,
  9.35202758e-02,-7.02073630e-02, 1.30952568e-01, 4.98704156e-01,
  4.88020679e-01, 5.00767777e-01, 5.12212471e-01]

qacc:
[  3.45033252,  2.44709629,-10.32893867, 19.35291867,  2.65215255,
   0.12102647,  0.84546408, -6.1008683 , -6.56338358,  0.31477037,
   2.1566147 ,-11.7161419 , -0.57015296,  0.71978574,  6.79544493,
 -23.5490043 ,  0.05529134,  1.02913112,  0.11610591,  1.90592779,
   0.2428123 ,-14.66843654]

qfrc_actuator:
[-2.32750595e-05,-1.25276407e-04,-1.69093113e-04, 1.92993846e-05,
  2.86131254e-05,-4.12580929e-04,-2.87916392e-04, 1.72640054e-05,
 -3.11817577e-05, 1.80412104e-05,-9.80696661e-05,-1.10707499e-05,
  1.01388945e-02,-1.47512161e-03, 0.00000000e+00,-2.67256154e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.63952873, -0.48478558, -4.61413153, -0.48478558, 47.45122804,
       -4.49802835, -4.61413153, -4.49802835,  5.11211588,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032817314843781864
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26864016e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.26864016e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09198726, -0.08827958,  0.06199062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.02989301e-05, 2.50243406e-05,-1.52616144e-05, 2.58467973e-05,
  1.56456258e-05,-2.16120982e-05,-2.45604358e-05,-1.90275156e-05,
 -3.82601693e-05, 4.72868155e-05,-6.89693082e-06,-2.66556450e-05,
 -7.78508942e-05,-2.04862141e-05,-1.91927634e-05,-1.19546787e-04,
 -1.41634929e-06,-6.66413992e-07,-1.21644350e+00,-4.54878955e-04,
  1.32106198e-05,-5.53585499e-04]


--- Step 1156 ---
qpos:
[ 6.20680317e-03,-1.81179174e-03,-4.95545386e-03, 3.35841105e-02,
  4.47559202e-03,-3.73230256e-03,-1.85132106e-02, 2.86327620e-02,
  1.29559254e-02, 3.32339478e-03,-9.99625974e-03, 2.58834655e-02,
  1.24679359e+00, 1.29687278e-05, 9.80022008e-01, 6.40387841e-02,
  9.35001906e-02,-7.01968640e-02, 1.30956896e-01, 4.98793304e-01,
  4.87892375e-01, 5.00754635e-01, 5.12260741e-01]

qacc:
[-8.73155537e-01,-1.66285657e+00, 6.02974536e+00,-7.79477957e+00,
  1.61870396e+00,-1.63418133e+00, 8.10539863e+00,-1.82398802e+01,
 -3.88983868e+00,-1.39225415e-02, 5.48105834e-01,-9.51850630e-01,
  4.24928875e-01,-1.23667611e+00,-7.99202474e+00, 2.65863193e+01,
  2.36805413e-01, 1.03333961e+00, 4.67227475e-02, 4.44949552e+00,
  4.53611961e-01,-1.45442383e+01]

qfrc_actuator:
[-2.90772515e-05,-1.31453409e-04,-1.42457301e-04, 1.66731848e-05,
  3.76605868e-05,-4.05525424e-04,-2.76743381e-04,-1.04568287e-05,
 -5.28491147e-05, 3.05795690e-05,-9.01364602e-05,-1.01864995e-05,
  1.01217088e-02,-1.51187648e-03, 0.00000000e+00,-2.54148380e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003223742421508156
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01249771e-06,  9.14784596e-14,  1.00000000e+00, -9.26217310e-20,
        1.00000000e+00, -9.14784596e-14, -1.00000000e+00,  0.00000000e+00,
        1.01249771e-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([ 0.08928581, -0.08837934,  0.06199079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.21240760e-06, 5.82924866e-06, 3.08513313e-05,-1.57332693e-06,
  9.48862810e-06,-1.08889947e-05, 3.03246764e-06,-2.98678722e-05,
 -2.27335010e-05, 3.63652097e-05, 1.59194107e-05, 2.15326333e-06,
 -6.76878198e-05,-5.87049670e-05,-2.70126217e-05, 1.20830704e-04,
 -1.77930454e-06,-3.33856682e-07,-1.21644372e+00,-4.53788116e-04,
  1.44989326e-05,-5.53339724e-04]


--- Step 1157 ---
qpos:
[ 6.20646606e-03,-1.81274722e-03,-4.95655229e-03, 3.35836049e-02,
  4.47678749e-03,-3.73298220e-03,-1.85135060e-02, 2.86327246e-02,
  1.29545141e-02, 3.32501908e-03,-9.99693560e-03, 2.58832323e-02,
  1.24707463e+00, 1.34269690e-05, 9.80262583e-01, 6.40372713e-02,
  9.34817850e-02,-7.01822152e-02, 1.30961117e-01, 4.98889681e-01,
  4.87755975e-01, 5.00763415e-01, 5.12288197e-01]

qacc:
[-5.73318331e-01,-2.17261953e+00, 8.92068792e+00,-1.56585044e+01,
  3.90943381e+00, 1.46522154e-02, 1.42514997e+00,-6.77879757e+00,
 -2.24119961e+00, 2.95974588e+00,-9.95868108e+00, 1.18988181e+01,
 -1.36194609e+00, 2.55087413e+00, 4.90450726e+00,-1.65141076e+01,
  4.19914697e-01, 1.03744784e+00,-2.66449700e-02, 7.04402725e+00,
  6.53624573e-01,-1.44172724e+01]

qfrc_actuator:
[-3.23897704e-05,-1.52554734e-04,-1.26174175e-04,-2.56128455e-06,
  6.04319146e-05,-4.00949000e-04,-2.87835162e-04,-2.68587009e-05,
 -6.51201742e-05, 3.74724118e-05,-1.38766067e-04,-9.54040685e-06,
  1.01119220e-02,-1.44462496e-03, 0.00000000e+00,-2.62401174e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003167962769494437
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.50453306e-13,  1.31419990e-13,  1.00000000e+00,  4.60565698e-26,
        1.00000000e+00, -1.31419990e-13, -1.00000000e+00,  0.00000000e+00,
       -3.50453306e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08650509, -0.08848223,  0.06199094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.45579419e-06,-1.14906032e-05, 2.12604857e-05,-1.79420991e-05,
  2.30396968e-05,-2.13615729e-06,-1.39924472e-05,-1.73441201e-05,
 -1.29010913e-05, 3.05532368e-05,-3.90977844e-05, 2.79562271e-06,
 -6.28548873e-05, 3.91792423e-05,-1.88627170e-06,-7.99437993e-05,
 -2.04596419e-06, 8.61145309e-08,-1.21644399e+00,-4.52715776e-04,
  1.55718239e-05,-5.52968521e-04]


--- Step 1158 ---
qpos:
[ 6.20643664e-03,-1.81349332e-03,-4.95788321e-03, 3.35832153e-02,
  4.47824672e-03,-3.73371955e-03,-1.85136482e-02, 2.86328242e-02,
  1.29533117e-02, 3.32679426e-03,-9.99835893e-03, 2.58826954e-02,
  1.24735516e+00, 1.46127263e-05, 9.80503525e-01, 6.40314297e-02,
  9.34650548e-02,-7.01634580e-02, 1.30964933e-01, 4.98993286e-01,
  4.87611403e-01, 5.00793974e-01, 5.12295047e-01]

qacc:
[  2.69461472,  1.16031994, -4.23436364,  6.46921823,  2.3143539 ,
  -0.22688935,  0.11181772,  2.06612492,  1.81264797,  1.65976937,
  -4.35258113,  0.18713189, -1.23402128,  2.29696437, 13.70470178,
 -46.93218447,  0.4188591 ,  1.02708726, -0.10122689,  6.93620918,
   0.69062866,-14.34877165]

qfrc_actuator:
[-1.64495661e-05,-1.29223833e-04,-1.33977193e-04, 4.06695133e-06,
  7.33479533e-05,-3.97963496e-04,-2.76484720e-04,-1.87350595e-05,
 -5.40150846e-05, 2.29486246e-05,-1.84937832e-04,-2.68455100e-05,
  1.00959705e-02,-1.40499966e-03, 0.00000000e+00,-2.84954966e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031047005320596066
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.57594239e-13,  2.68195679e-13,  1.00000000e+00, -9.59052299e-26,
        1.00000000e+00, -2.68195679e-13, -1.00000000e+00,  0.00000000e+00,
        3.57594239e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08650497, -0.08848439,  0.06199113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58420760e-05, 2.05765277e-05,-8.15317300e-06, 6.52816962e-06,
  1.35747216e-05,-1.80620071e-06, 8.59606128e-06, 7.21170373e-06,
  1.07550971e-05,-5.45397321e-06,-4.45910980e-05,-1.72955161e-05,
 -4.36191303e-05, 3.39513740e-05,-1.55579838e-05,-2.31557039e-04,
 -2.20752172e-06, 5.73891414e-07,-1.21644435e+00,-4.51657500e-04,
  1.62988096e-05,-5.52468505e-04]


--- Step 1159 ---
qpos:
[ 6.20625369e-03,-1.81425678e-03,-4.95894227e-03, 3.35829022e-02,
  4.47950454e-03,-3.73429292e-03,-1.85137329e-02, 2.86326526e-02,
  1.29525971e-02, 3.32812906e-03,-9.99928025e-03, 2.58822906e-02,
  1.24763560e+00, 1.49550653e-05, 9.80743982e-01, 6.40259273e-02,
  9.34499958e-02,-7.01406247e-02, 1.30968098e-01, 4.99104119e-01,
  4.87458590e-01, 5.00846194e-01, 5.12281457e-01]

qacc:
[ -1.34108793, -0.62280463,  1.86893063, -0.97193786, -1.76385082,
  -0.49799409,  3.24141504, -8.15383141,  4.31503822, -1.72159557,
   4.72171996, -2.89842087,  0.66408988, -1.7053939 , -1.80305029,
   5.11793976,  0.41778701,  1.01902713, -0.16288978,  6.84820182,
   0.72166538,-14.29611639]

qfrc_actuator:
[-2.48109204e-05,-1.32805110e-04,-1.20234510e-04, 8.13010069e-06,
  6.26029943e-05,-3.78089996e-04,-2.69709520e-04,-3.17355703e-05,
 -2.92438444e-05,-4.31888272e-06,-1.58365185e-04,-1.90790200e-05,
  1.00656767e-02,-1.47089846e-03, 0.00000000e+00,-2.82016482e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030328724632100457
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.15158021e-14,  3.66063208e-13,  1.00000000e+00, -3.35005681e-26,
        1.00000000e+00, -3.66063208e-13, -1.00000000e+00,  0.00000000e+00,
        9.15158021e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08650468, -0.08848669,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.89987845e-06, 6.56993079e-06, 1.72393011e-05, 4.79469138e-06,
 -1.03584670e-05, 2.09810596e-05, 7.72009119e-06,-1.26389485e-05,
  2.50814679e-05,-4.03159637e-05, 1.93506653e-05, 5.65299545e-06,
 -4.84803701e-05,-6.80024559e-05,-3.85184742e-05, 1.32040439e-05,
 -2.35351319e-06, 1.11676682e-06,-1.21644505e+00,-4.50617024e-04,
  1.67649233e-05,-5.51882285e-04]


--- Step 1160 ---
qpos:
[ 6.20528252e-03,-1.81535170e-03,-4.95967921e-03, 3.35830228e-02,
  4.48062388e-03,-3.73464779e-03,-1.85137347e-02, 2.86316269e-02,
  1.29521852e-02, 3.32870830e-03,-9.99943415e-03, 2.58823494e-02,
  1.24791565e+00, 1.46736818e-05, 9.80983944e-01, 6.40227591e-02,
  9.34381790e-02,-7.01259653e-02, 1.30970819e-01, 4.99178319e-01,
  4.87348200e-01, 5.00875515e-01, 5.12285522e-01]

qacc:
[ -6.91460901, -0.43191194, -0.90352823,  8.11444361, -1.21371862,
  -1.69676539, 10.08025507,-25.15984139,  2.70233523, -2.19430869,
   4.40842463,  2.95465008,  0.35413769, -1.17814276, -7.8147979 ,
  26.18773339,  0.81056565, -2.04345188, -0.110894  ,  9.22907357,
  -3.10374528, 29.99443305]

qfrc_actuator:
[-6.51676957e-05,-1.70143343e-04,-1.11728387e-04, 2.83999947e-05,
  5.57737294e-05,-3.66034941e-04,-2.65644977e-04,-7.48097881e-05,
 -1.43878384e-05,-5.64543391e-05,-1.24601641e-04, 3.41619992e-06,
  1.00267573e-02,-1.51006862e-03, 0.00000000e+00,-2.69402062e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56152429,  0.36524459, -4.54687808,  0.36524459, 40.35661524,
        2.87537142, -4.54687808,  2.87537142,  4.792499  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030630295924859163
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81229562e-13,  1.81229562e-13,  1.00000000e+00, -3.28441542e-26,
        1.00000000e+00, -1.81229562e-13, -1.00000000e+00,  0.00000000e+00,
        1.81229562e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08159393, -0.03165588,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.05764300e-05,-2.98592348e-05, 1.21749331e-05, 2.12463413e-05,
 -7.11762372e-06, 2.48591667e-05, 8.92041935e-06,-4.21516287e-05,
  1.55566894e-05,-7.04711465e-05, 2.80091291e-05, 2.15458723e-05,
 -8.33494341e-05,-6.46406602e-05,-1.88128441e-05, 1.21333317e-04,
 -2.48463267e-06, 1.71541462e-06,-1.21644608e+00,-4.49590543e-04,
  1.69761475e-05,-5.51208294e-04]


--- Step 1161 ---
qpos:
[ 6.20383517e-03,-1.81670220e-03,-4.96003104e-03, 3.35837171e-02,
  4.48165284e-03,-3.73512234e-03,-1.85135225e-02, 2.86297825e-02,
  1.29519549e-02, 3.32860818e-03,-9.99939182e-03, 2.58823624e-02,
  1.24819493e+00, 1.47755394e-05, 9.81223758e-01, 6.40210833e-02,
  9.34294684e-02,-7.01193256e-02, 1.30972323e-01, 4.99216240e-01,
  4.87279337e-01, 5.00882868e-01, 5.12306886e-01]

qacc:
[ -4.17011343, -0.22519707, -2.09439401, 11.57771056, -0.78275828,
  -2.43760343, 11.92219749,-26.34690593,  1.61536832, -1.54369721,
   4.38924605, -4.98936948, -0.79920449,  1.25029613, -4.6638435 ,
  16.13909136,  0.776524  , -2.00493705, -0.30431776,  9.24515975,
  -2.81882417, 29.36248567]

qfrc_actuator:
[-8.85203614e-05,-1.74156809e-04,-8.87705857e-05, 5.80060240e-05,
  5.13115271e-05,-3.94296312e-04,-2.63255261e-04,-1.17484203e-04,
 -5.49119194e-06,-1.05266609e-04,-1.22495039e-04,-1.14094057e-06,
  9.99867144e-03,-1.47982603e-03, 0.00000000e+00,-2.61846734e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58657917,  1.37295403, -4.37626619,  1.37295403, 15.89519226,
        3.54782028, -4.37626619,  3.54782028,  5.69962713,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031356864992551636
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.77030297e-13, -8.85151485e-14,  1.00000000e+00,  1.56698630e-26,
        1.00000000e+00,  8.85151485e-14, -1.00000000e+00,  0.00000000e+00,
        1.77030297e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0815919 , -0.03166034,  0.06199104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.45139657e-05,-1.72487210e-05, 1.90483587e-05, 2.91669764e-05,
 -4.65545070e-06,-1.43113480e-05, 7.17155581e-06,-4.21173574e-05,
  9.31367666e-06,-8.15263240e-05,-8.26085522e-06,-6.19048036e-06,
 -9.15083421e-05,-2.83779570e-06, 1.39927353e-06, 7.91104050e-05,
 -1.39655872e-06, 6.19977276e-07,-1.21644284e+00,-4.51014925e-04,
  1.47726210e-05,-5.50582869e-04]


--- Step 1162 ---
qpos:
[ 6.20315354e-03,-1.81800615e-03,-4.96019408e-03, 3.35843897e-02,
  4.48296539e-03,-3.73595773e-03,-1.85131687e-02, 2.86278234e-02,
  1.29521778e-02, 3.32840020e-03,-1.00000712e-02, 2.58816207e-02,
  1.24847356e+00, 1.54229312e-05, 9.81463526e-01, 6.40203160e-02,
  9.34237537e-02,-7.01205768e-02, 1.30971959e-01, 4.99218197e-01,
  4.87251250e-01, 5.00869001e-01, 5.12345250e-01]

qacc:
[  6.73808998, -0.5238769 ,  2.02547957, -2.71058377,  2.49250487,
  -1.11321697,  3.75365811, -5.69133071,  3.96649152,  0.31318045,
   1.84939175,-13.66259457, -0.88878996,  1.55223035, -2.73990573,
   9.65071954,  0.74898631, -1.97273223, -0.46705954,  9.248039  ,
  -2.5928515 , 28.83805587]

qfrc_actuator:
[-4.84094178e-05,-1.58118708e-04,-7.50862332e-05, 5.73951765e-05,
  6.60294804e-05,-4.28744151e-04,-2.62034727e-04,-1.24107284e-04,
  1.75826280e-05,-9.86010467e-05,-1.56871013e-04,-3.93581920e-05,
  9.98245831e-03,-1.44419854e-03, 0.00000000e+00,-2.57336058e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59893477,  1.5013918 , -4.34695568,  1.5013918 , 22.91008081,
        6.32447314, -4.34695568,  6.32447314,  6.78333985,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003170644465200628
  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([ 0.08158992, -0.03166262,  0.06199094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.94104450e-05, 1.16245446e-05, 1.34974576e-05,-1.19696350e-07,
  1.45814375e-05,-4.27570848e-05,-2.30201733e-06,-7.80301422e-06,
  2.33102863e-05,-4.08904729e-05,-5.24479827e-05,-4.21176522e-05,
 -6.98693240e-05, 1.39832983e-05, 4.24978868e-06, 4.85196266e-05,
 -5.89530614e-07, 6.93095268e-09,-1.21644091e+00,-4.52116654e-04,
  1.32571872e-05,-5.50193448e-04]


--- Step 1163 ---
qpos:
[ 6.20330257e-03,-1.81903315e-03,-4.96029648e-03, 3.35850286e-02,
  4.48444405e-03,-3.73710956e-03,-1.85125805e-02, 2.86268242e-02,
  1.29526752e-02, 3.32825484e-03,-1.00007628e-02, 2.58803551e-02,
  1.24875171e+00, 1.62058913e-05, 9.81703262e-01, 6.40200904e-02,
  9.34209459e-02,-7.01296117e-02, 1.30969179e-01, 4.99184455e-01,
  4.87263317e-01, 5.00834513e-01, 5.12400361e-01]

qacc:
[  7.30091446,  0.11302151,  0.24543977, -1.10178349,  1.46715661,
   0.89866627, -7.86979709, 24.346513  ,  2.41458166, -0.96613236,
   5.76925972,-14.85576237, -0.44270198,  0.61352278, -1.6506761 ,
   5.7807626 ,  0.72673741, -1.94591237, -0.60388402,  9.24274621,
  -2.41348722, 28.40490209]

qfrc_actuator:
[-6.77700715e-06,-1.30249562e-04,-6.69236798e-05, 5.67725922e-05,
  7.41650798e-05,-4.31109553e-04,-2.43776329e-04,-7.39707249e-05,
  3.10658747e-05,-5.89485256e-05,-1.41286603e-04,-6.15391285e-05,
  9.95740940e-03,-1.44116095e-03, 0.00000000e+00,-2.54653461e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60058385,  1.64730013, -4.29555282,  1.64730013, 40.10316987,
       13.61487498, -4.29555282, 13.61487498,  9.82174775,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031752683045176144
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74823498e-13,  8.74117490e-14,  1.00000000e+00, -1.52816277e-26,
        1.00000000e+00, -8.74117490e-14, -1.00000000e+00,  0.00000000e+00,
        1.74823498e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08158798, -0.03166316,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.27606503e-05, 3.72161887e-05, 1.22368119e-05, 3.40480440e-07,
  8.53762366e-06,-2.70492373e-05, 8.88269742e-06, 4.80775406e-05,
  1.41335949e-05, 4.17356141e-06,-7.68170512e-07,-2.65649966e-05,
 -6.22817346e-05,-9.91106155e-06, 1.97611538e-06, 2.88491692e-05,
 -3.87187746e-08,-1.48322867e-07,-1.21644022e+00,-4.52964821e-04,
  1.24069914e-05,-5.50026793e-04]


--- Step 1164 ---
qpos:
[ 6.20360471e-03,-1.81966547e-03,-4.96006878e-03, 3.35852754e-02,
  4.48566371e-03,-3.73826797e-03,-1.85119011e-02, 2.86264027e-02,
  1.29529856e-02, 3.32810828e-03,-1.00007960e-02, 2.58798294e-02,
  1.24902940e+00, 1.70510234e-05, 9.81942960e-01, 6.40201815e-02,
  9.34209733e-02,-7.01463413e-02, 1.30963524e-01, 4.99115241e-01,
  4.87315020e-01, 5.00779880e-01, 5.12472009e-01]

qacc:
[  1.34975705, -1.21129776,  6.72669143,-14.32696543, -2.26342823,
   0.9287448 , -5.75684206, 15.60793428, -1.62531065, -0.31529163,
  -1.99729552, 13.7476106 , -0.38415067,  0.4726536 , -0.98680016,
   3.42979306,  0.70879482, -1.92368216, -0.71883919,  9.23298996,
  -2.27094676, 28.04942385]

qfrc_actuator:
[-1.08190709e-07,-9.55308088e-05,-4.42689406e-05, 3.84110139e-05,
  6.06026772e-05,-4.14125575e-04,-2.33197088e-04,-4.40650199e-05,
  2.10394575e-05,-3.51364543e-05,-9.61466429e-05,-2.07691457e-05,
  9.93239256e-03,-1.43973292e-03, 0.00000000e+00,-2.53067392e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59363396, -1.82830129,  4.21411763, -1.82830129, 21.30113621,
        7.24857506,  4.21411763,  7.24857506,  7.73843919,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003155715153302652
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.75906723e-13,  1.75906723e-13,  1.00000000e+00, -3.09431753e-26,
        1.00000000e+00, -1.75906723e-13, -1.00000000e+00,  0.00000000e+00,
        1.75906723e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08158606, -0.03166232,  0.06199098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.90034067e-06, 5.81240263e-05, 3.18711250e-05,-1.63375200e-05,
 -1.33303203e-05, 5.79342783e-06, 7.75838972e-06, 2.99926683e-05,
 -9.62369955e-06, 2.48715347e-05, 4.50008223e-05, 4.04094614e-05,
 -6.34657081e-05,-1.49151916e-05,-1.01437607e-06, 1.65397679e-05,
  2.74432931e-07, 1.35702744e-07,-1.21644072e+00,-4.53609572e-04,
  1.22028071e-05,-5.50072694e-04]


--- Step 1165 ---
qpos:
[ 6.20467465e-03,-1.81973111e-03,-4.95965109e-03, 3.35852871e-02,
  4.48671159e-03,-3.73971868e-03,-1.85106845e-02, 2.86263487e-02,
  1.29538635e-02, 3.32786905e-03,-1.00005074e-02, 2.58801762e-02,
  1.24930658e+00, 1.81807228e-05, 9.82182937e-01, 6.40177730e-02,
  9.34237782e-02,-7.01706923e-02, 1.30954607e-01, 4.99010735e-01,
  4.87405932e-01, 5.00705476e-01, 5.12560017e-01]

qacc:
[  6.74720854, -0.27897162,  3.0501478 , -7.81157817, -1.48136195,
  -1.12784976,  1.91466453,  3.79542112,  5.00718773,  0.76419051,
  -6.60308118, 21.27441589, -0.76178497,  1.22249672,  8.01220493,
 -27.30170442,  0.69436277, -1.90535668, -0.81537341,  9.22146126,
  -2.15746445, 27.76018946]

qfrc_actuator:
[ 3.91856324e-05,-5.69308131e-05,-3.09652356e-05, 2.75307335e-05,
  5.21327715e-05,-4.38973132e-04,-2.09423514e-04,-2.62997323e-05,
  5.05170006e-05,-5.62951214e-05,-8.71970755e-05, 2.12117348e-05,
  9.91273671e-03,-1.42149883e-03, 0.00000000e+00,-2.66340490e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58009614, -2.02121734,  4.10998311, -2.02121734, 28.83583324,
       11.92854449,  4.10998311, 11.92854449, 10.44634432,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031171176624671115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.90424380e-14, -3.56169752e-13,  1.00000000e+00,  3.17142231e-26,
        1.00000000e+00,  3.56169752e-13, -1.00000000e+00,  0.00000000e+00,
        8.90424380e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08158416, -0.03166038,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.95398549e-05, 7.70082445e-05, 2.86737783e-05,-7.60487745e-06,
 -8.85023571e-06,-1.86896061e-05, 2.69708032e-05, 1.88682953e-05,
  2.92087148e-05, 3.78136515e-06, 2.10321388e-05, 4.53922798e-05,
 -6.00088889e-05, 5.54789494e-07,-3.64742169e-06,-1.33098448e-04,
  3.63668422e-07, 8.45520456e-07,-1.21644235e+00,-4.54087266e-04,
  1.26288443e-05,-5.50323292e-04]


--- Step 1166 ---
qpos:
[ 6.20620720e-03,-1.81913424e-03,-4.95914168e-03, 3.35855078e-02,
  4.48764954e-03,-3.74123867e-03,-1.85092356e-02, 2.86265006e-02,
  1.29550877e-02, 3.32770122e-03,-1.00001056e-02, 2.58806720e-02,
  1.24958334e+00, 1.92727981e-05, 9.82422575e-01, 6.40161330e-02,
  9.34284016e-02,-7.01905441e-02, 1.30949662e-01, 4.98914410e-01,
  4.87487592e-01, 5.00655513e-01, 5.12624928e-01]

qacc:
[  4.05930777,  1.04161762, -3.33906883,  6.33501912, -0.9534996 ,
  -0.31479519,  0.12321511,  3.11737998,  3.04940773,  0.07876053,
  -0.78331191,  3.13958589, -0.23225218,  0.17439068, -2.80853975,
   9.12671311,  0.45463055,  1.12480295,  0.99275971,  7.74384251,
   0.79214423,-16.13178744]

qfrc_actuator:
[ 6.18732766e-05,-1.63319325e-05,-2.32640858e-05, 3.88914564e-05,
  4.67347445e-05,-4.35373373e-04,-1.95968274e-04,-1.58393639e-05,
  6.75117842e-05,-5.10864016e-05,-8.21358706e-05, 2.79854805e-05,
  9.88566591e-03,-1.42893362e-03, 0.00000000e+00,-2.61631196e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003200822520375707
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  3.4685554e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -3.4685554e-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([ 0.08651132, -0.08848271,  0.06199085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.38376902e-05, 8.92674662e-05, 2.68699915e-05, 1.55020406e-05,
 -5.65923690e-06,-4.36430518e-07, 1.35732685e-05, 1.09608646e-05,
  1.78227941e-05, 1.36304932e-05, 1.00018527e-05, 8.54500629e-06,
 -6.21615897e-05,-2.07792999e-05,-2.21835378e-05, 3.78984933e-05,
  2.39009134e-07, 1.97184345e-06,-1.21644509e+00,-4.54424237e-04,
  1.36724785e-05,-5.50772546e-04]


--- Step 1167 ---
qpos:
[ 6.20696548e-03,-1.81825111e-03,-4.95834419e-03, 3.35855525e-02,
  4.48851519e-03,-3.74241750e-03,-1.85083238e-02, 2.86260865e-02,
  1.29558162e-02, 3.32780329e-03,-9.99968522e-03, 2.58805354e-02,
  1.24985976e+00, 1.97811254e-05, 9.82661960e-01, 6.40156934e-02,
  9.34348201e-02,-7.02059990e-02, 1.30947724e-01, 4.98826091e-01,
  4.87560171e-01, 5.00629399e-01, 5.12667354e-01]

qacc:
[ -6.80396753, -0.77604127,  4.08175389, -7.82329154, -0.65584546,
   0.78791526,  0.23686458, -9.42724463, -4.36622053, -0.98824056,
   6.72567387,-17.91293547,  0.29548052, -1.02798405, -4.02839943,
  13.47465477,  0.44879842,  1.09923591,  0.75197413,  7.52494789,
   0.79213293,-15.74731439]

qfrc_actuator:
[ 2.13373832e-05,-2.81141201e-05,-1.89021857e-05, 2.77416228e-05,
  4.31867049e-05,-4.14811326e-04,-2.24119268e-04,-4.52527166e-05,
  4.15059633e-05,-3.01842433e-05,-7.93277788e-05,-3.74322773e-06,
  9.85415714e-03,-1.46931402e-03, 0.00000000e+00,-2.55235604e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.64611796, -1.71012697,  4.31993957, -1.71012697,  9.93748619,
        2.09468474,  4.31993957,  2.09468474,  5.47533717,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000329924725962466
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.36507978e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.36507978e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08651285, -0.08848003,  0.06199057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.98311519e-05, 4.43269352e-05, 2.66312597e-05,-6.09746665e-06,
 -3.71085647e-06, 2.36272502e-05,-2.61891714e-05,-2.87490332e-05,
 -2.54954954e-05, 3.09669837e-05, 7.14795453e-06,-3.06343401e-05,
 -7.26512292e-05,-5.89405437e-05,-9.72388581e-06, 6.23578618e-05,
  5.43680583e-08, 1.50575828e-06,-1.21644353e+00,-4.54293755e-04,
  1.42547953e-05,-5.51138288e-04]


--- Step 1168 ---
qpos:
[ 6.20688750e-03,-1.81730945e-03,-4.95762313e-03, 3.35855190e-02,
  4.48933166e-03,-3.74341265e-03,-1.85079901e-02, 2.86250016e-02,
  1.29562279e-02, 3.32792700e-03,-9.99939277e-03, 2.58797170e-02,
  1.25013560e+00, 2.01445577e-05, 9.82901869e-01, 6.40109753e-02,
  9.34430141e-02,-7.02171428e-02, 1.30947983e-01, 4.98745628e-01,
  4.87623817e-01, 5.00626641e-01, 5.12687798e-01]

qacc:
[ -7.35654837,  0.14444423, -0.04793964, -1.25248756, -0.45199229,
   0.4787035 ,  1.4800024 ,-12.30444386, -2.79368309, -1.01219746,
   6.53949215,-18.16408673, -0.58393024,  0.59616041, 13.72084912,
 -46.80027842,  0.44384587,  1.07778045,  0.54917118,  7.3461832 ,
   0.78957485,-15.42614741]

qfrc_actuator:
[-2.05755376e-05,-5.34610733e-05,-3.45295233e-05, 2.11394710e-05,
  4.07550077e-05,-4.19959891e-04,-2.58805051e-04,-8.01481926e-05,
  2.59084520e-05,-5.33509852e-05,-9.55748706e-05,-4.00991135e-05,
  9.81999313e-03,-1.47564271e-03, 0.00000000e+00,-2.78081638e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.66699143, -1.90063312,  4.26244094, -1.90063312, 13.36379169,
        3.87792508,  4.26244094,  3.87792508,  6.39616796,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000335383835906089
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.31030570e-13,  8.27576426e-14,  1.00000000e+00, -2.73953096e-26,
        1.00000000e+00, -8.27576426e-14, -1.00000000e+00,  0.00000000e+00,
        3.31030570e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08651383, -0.08847856,  0.06199041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.30344121e-05, 4.62309179e-06,-3.42080186e-06,-3.90227324e-06,
 -2.52720098e-06, 1.45400916e-06,-3.40220928e-05,-3.53469237e-05,
 -1.63093151e-05,-5.70103836e-06,-1.00340361e-05,-3.53773407e-05,
 -9.00607260e-05,-3.57253940e-05,-1.68601971e-06,-2.27197414e-04,
 -1.01902020e-07, 1.12295193e-06,-1.21644242e+00,-4.54186699e-04,
  1.45135886e-05,-5.51404763e-04]


--- Step 1169 ---
qpos:
[ 6.20699745e-03,-1.81653802e-03,-4.95670463e-03, 3.35857633e-02,
  4.48976770e-03,-3.74417584e-03,-1.85084579e-02, 2.86242074e-02,
  1.29561044e-02, 3.32790235e-03,-9.99980850e-03, 2.58792232e-02,
  1.25041078e+00, 2.04533948e-05, 9.83141505e-01, 6.40055732e-02,
  9.34529669e-02,-7.02240471e-02, 1.30949757e-01, 4.98672895e-01,
  4.87678659e-01, 5.00646828e-01, 5.12686672e-01]

qacc:
[  1.66168274, -0.20825648, -0.76212758,  5.38485726, -3.35850507,
   3.14879595,-11.99902482, 18.12599177, -4.72823862,  2.46072888,
 -10.41335103, 17.25668472, -0.47927666,  0.46297001,  1.68985888,
  -6.43189616,  0.43971118,  1.05986304,  0.37868488,  7.20097631,
   0.78507873,-15.15878499]

qfrc_actuator:
[-9.68508412e-06,-6.90810306e-05,-2.63958663e-05, 3.49911012e-05,
  2.12462671e-05,-4.05008545e-04,-2.97155722e-04,-6.47437152e-05,
 -1.17718394e-06,-8.50661209e-05,-1.40868605e-04,-2.56708132e-05,
  9.78427017e-03,-1.47949836e-03, 0.00000000e+00,-2.80692246e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.67444793, -2.11899719,  4.16657105, -2.11899719, 19.94713758,
        7.76724698,  4.16657105,  7.76724698,  8.62464445,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003373019195259258
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.29148149e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.29148149e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08651438, -0.08847805,  0.06199036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.66505894e-06,-1.39657533e-05, 8.51473112e-06, 1.38536014e-05,
 -1.95775796e-05, 7.25606861e-06,-4.34540102e-05, 1.36056921e-05,
 -2.75485635e-05,-3.85023854e-05,-4.89333246e-05, 1.31499547e-05,
 -9.68162527e-05,-3.19972101e-05,-3.24252889e-05,-4.04380109e-05,
 -2.32954247e-07, 8.18050250e-07,-1.21644171e+00,-4.54100441e-04,
  1.44703411e-05,-5.51573352e-04]


--- Step 1170 ---
qpos:
[ 6.20792662e-03,-1.81606038e-03,-4.95559083e-03, 3.35858425e-02,
  4.48962151e-03,-3.74465600e-03,-1.85094879e-02, 2.86239256e-02,
  1.29560020e-02, 3.32782756e-03,-1.00011094e-02, 2.58789065e-02,
  1.25068540e+00, 2.06666053e-05, 9.83380596e-01, 6.40025223e-02,
  9.34646651e-02,-7.02267714e-02, 1.30952473e-01, 4.98607784e-01,
  4.87724806e-01, 5.00689621e-01, 5.12664310e-01]

qacc:
[ 7.21443588e+00,-1.28810999e+00, 4.70142803e+00,-7.62618073e+00,
 -5.11779824e+00, 3.00809130e+00,-1.23303876e+01, 2.18713658e+01,
  1.58734246e-01, 2.77166483e+00,-1.07265243e+01, 1.52420207e+01,
 -1.98276101e-01, 2.00507197e-02,-7.89131417e+00, 2.64615594e+01,
  4.36329860e-01, 1.04499023e+00, 2.35690397e-01, 7.08392938e+00,
  7.79097139e-01,-1.49372740e+01]

qfrc_actuator:
[ 3.21977202e-05,-9.64120649e-05,-2.20015365e-05, 2.52850782e-05,
 -8.15775885e-06,-3.78119002e-04,-3.19498166e-04,-3.76050821e-05,
  6.94496726e-07,-8.62436974e-05,-1.85206277e-04,-1.70111616e-05,
  9.76361694e-03,-1.48190253e-03, 0.00000000e+00,-2.67799375e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033638612226556674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.30044241e-13,  1.23766590e-13,  1.00000000e+00, -4.08484504e-26,
        1.00000000e+00, -1.23766590e-13, -1.00000000e+00,  0.00000000e+00,
        3.30044241e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08651458, -0.0884783 ,  0.06199039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.21483835e-05,-3.28244984e-05, 3.01673173e-06,-9.74498225e-06,
 -2.99595562e-05, 2.25828253e-05,-2.57086561e-05, 2.62161744e-05,
  1.07641160e-06,-3.22557713e-05,-5.78558185e-05, 5.57564036e-06,
 -8.47396963e-05,-3.13301072e-05,-2.32965726e-05, 1.21638511e-04,
 -3.41222166e-07, 5.86651932e-07,-1.21644138e+00,-4.54033170e-04,
  1.41413914e-05,-5.51645311e-04]


--- Step 1171 ---
qpos:
[ 6.20900545e-03,-1.81554365e-03,-4.95509516e-03, 3.35854736e-02,
  4.48981367e-03,-3.74503796e-03,-1.85101880e-02, 2.86239325e-02,
  1.29562674e-02, 3.32782638e-03,-1.00024842e-02, 2.58782779e-02,
  1.25095956e+00, 2.07642822e-05, 9.83619671e-01, 6.39996478e-02,
  9.34780977e-02,-7.02253648e-02, 1.30955654e-01, 4.98550205e-01,
  4.87762353e-01, 5.00754739e-01, 5.12620982e-01]

qacc:
[  1.29547029,  0.8542191 , -1.08308039, -5.70907225,  2.9701715 ,
  -0.20423968, -0.31209561,  4.71792637,  3.23169151, -0.3447789 ,
   2.67645054, -7.99876519, -0.23352375,  0.11152525, -0.54608499,
   1.90168423,  0.43363706,  1.03273663,  0.11606476,  6.99059062,
   0.77196229,-14.75492615]

qfrc_actuator:
[ 3.87115690e-05,-9.50728428e-05,-5.54328924e-05, 1.77614929e-06,
  1.01129061e-05,-3.61963032e-04,-2.96648975e-04,-2.15167247e-05,
  1.95984209e-05,-5.13849873e-05,-1.75252132e-04,-2.95475257e-05,
  9.75202114e-03,-1.48337293e-03, 0.00000000e+00,-2.67183742e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033322849833923585
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.33171692e-13,  1.66585846e-13,  1.00000000e+00, -5.55016880e-26,
        1.00000000e+00, -1.66585846e-13, -1.00000000e+00,  0.00000000e+00,
        3.33171692e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0865145 , -0.08847917,  0.06199048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.69840647e-06,-1.68296536e-05,-4.01987928e-05,-2.50064524e-05,
  1.74226714e-05, 2.46172456e-05, 2.52735603e-05, 1.66820725e-05,
  1.89237191e-05, 5.12783506e-06,-3.62535054e-06,-1.58083130e-05,
 -6.80918173e-05,-2.76658348e-05,-5.96201480e-07, 9.17105859e-06,
 -4.28587611e-07, 4.25139205e-07,-1.21644142e+00,-4.53983686e-04,
  1.35390421e-05,-5.51621764e-04]


--- Step 1172 ---
qpos:
[ 6.20980940e-03,-1.81519973e-03,-4.95440215e-03, 3.35847965e-02,
  4.49056794e-03,-3.74527845e-03,-1.85106344e-02, 2.86244766e-02,
  1.29560671e-02, 3.32783918e-03,-1.00032192e-02, 2.58778060e-02,
  1.25123327e+00, 2.08281943e-05, 9.83858738e-01, 6.39965266e-02,
  9.34932567e-02,-7.02198672e-02, 1.30958899e-01, 4.98500081e-01,
  4.87791380e-01, 5.00841952e-01, 5.12556902e-01]

qacc:
[ -2.40793894, -1.40990466,  6.00455571,-11.53432669,  4.92531084,
   0.57383601, -4.06065651, 12.86892742, -4.07655105, -1.43859573,
   4.50785383, -2.84146221, -0.3411408 ,  0.33287188,  0.75548754,
  -2.60937866,  0.43156933,  1.02273519,  0.01627676,  6.91727549,
   0.76391436,-14.60609736]

qfrc_actuator:
[ 2.43459238e-05,-9.44994502e-05,-3.98138439e-05,-1.19127595e-05,
  3.85480530e-05,-3.52175587e-04,-2.82857423e-04, 5.71304361e-06,
 -4.89121457e-06,-3.05134489e-05,-1.33180207e-04,-1.88781359e-05,
  9.72989182e-03,-1.48422493e-03, 0.00000000e+00,-2.68485238e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032832316806212514
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.69074731e-13, -8.45373654e-14,  1.00000000e+00,  1.42931323e-26,
        1.00000000e+00,  8.45373654e-14, -1.00000000e+00,  0.00000000e+00,
        1.69074731e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08651421, -0.08848051,  0.06199062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.41520431e-05,-1.82375051e-05, 6.31390466e-06,-1.62895926e-05,
  2.89397169e-05, 2.95167377e-05, 2.25787645e-05, 2.94855869e-05,
 -2.39509483e-05, 2.23377016e-05, 4.21546233e-05, 1.04597806e-05,
 -6.81122942e-05,-2.23861138e-05,-4.28626630e-06,-1.37335353e-05,
 -4.96508204e-07, 3.30522724e-07,-1.21644181e+00,-4.53951261e-04,
  1.26724099e-05,-5.51503706e-04]


--- Step 1173 ---
qpos:
[ 6.21009009e-03,-1.81518248e-03,-4.95318516e-03, 3.35839572e-02,
  4.49165728e-03,-3.74527165e-03,-1.85111904e-02, 2.86250092e-02,
  1.29559206e-02, 3.32721138e-03,-1.00025783e-02, 2.58778438e-02,
  1.25150633e+00, 2.14366844e-05, 9.84097700e-01, 6.39935958e-02,
  9.35101359e-02,-7.02103110e-02, 1.30961879e-01, 4.98457349e-01,
  4.87811953e-01, 5.00951075e-01, 5.12472233e-01]

qacc:
[ -4.57888775, -2.2216521 ,  7.99484056,-11.41525783,  2.92496064,
   0.60321432, -1.63773463,  1.44120165,  0.52666934, -3.64396277,
   9.61077465, -2.51645719, -0.91139852,  1.58987135, -0.65838363,
   2.24492477,  0.43006595,  1.01466925, -0.06670177,  6.86092549,
   0.7551236 ,-14.48601223]

qfrc_actuator:
[-2.18275064e-06,-1.11941933e-04,-1.30853840e-05,-1.96703431e-05,
  5.49701771e-05,-3.46291809e-04,-2.92308732e-04, 3.75820369e-06,
 -1.47296506e-06,-8.90145572e-05,-7.25216031e-05, 5.37078906e-06,
  9.70678628e-03,-1.44923617e-03, 0.00000000e+00,-2.67351216e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032208099681697855
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.44703052e-13,  2.15439407e-13,  1.00000000e+00, -7.42626211e-26,
        1.00000000e+00, -2.15439407e-13, -1.00000000e+00,  0.00000000e+00,
        3.44703052e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08651375, -0.08848221,  0.06199079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.69386689e-05,-2.70613682e-05, 2.31644116e-05,-8.63803591e-06,
  1.72569752e-05, 2.83396290e-05, 4.52668173e-07, 6.64313657e-07,
  2.74265660e-06,-3.68537052e-05, 7.08371952e-05, 2.68719751e-05,
 -6.79579687e-05, 1.46434880e-05,-8.48553138e-06, 8.88323587e-06,
 -5.46114847e-07, 3.00313674e-07,-1.21644253e+00,-4.53935527e-04,
  1.15480839e-05,-5.51292012e-04]


--- Step 1174 ---
qpos:
[ 6.21005045e-03,-1.81532335e-03,-4.95197565e-03, 3.35830466e-02,
  4.49293520e-03,-3.74499803e-03,-1.85115663e-02, 2.86251465e-02,
  1.29561610e-02, 3.32584503e-03,-1.00012832e-02, 2.58778903e-02,
  1.25177885e+00, 2.24479220e-05, 9.84336859e-01, 6.39884580e-02,
  9.35280188e-02,-7.01967405e-02, 1.30964583e-01, 4.98424834e-01,
  4.87821545e-01, 5.01079211e-01, 5.12369446e-01]

qacc:
[ -2.81423979, -0.32932188,  1.18125298, -2.29615569,  1.65122331,
  -0.96654822,  5.62190094,-12.94119075,  3.43917661, -2.79296211,
   8.49336713, -8.83023966, -0.86371302,  1.45337166,  7.01598967,
 -23.97256504,  0.25090452,  1.00355977, -0.06866771,  4.18127355,
   0.5737076 ,-14.52188563]

qfrc_actuator:
[-1.78982814e-05,-1.22218315e-04,-1.56021243e-05,-2.38917949e-05,
  6.41866626e-05,-3.25159999e-04,-2.79938732e-04,-1.53734389e-05,
  1.83570699e-05,-1.58985008e-04,-5.49609637e-05, 1.84669539e-06,
  9.68312727e-03,-1.42881306e-03, 0.00000000e+00,-2.78991832e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031514066827127154
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.30687186e-07,  4.95414044e-14,  1.00000000e+00, -3.61992694e-20,
        1.00000000e+00, -4.95414044e-14, -1.00000000e+00,  6.01853108e-36,
        7.30687186e-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([ 0.08929414, -0.08838078,  0.06199099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64926319e-05,-2.10177805e-05,-5.56424602e-06,-4.74752498e-06,
  9.71929123e-06, 3.71123224e-05, 1.83069288e-05,-1.78892296e-05,
  1.98897870e-05,-7.47796607e-05, 1.96024688e-05,-2.12967650e-06,
 -5.98089444e-05, 8.17384326e-06,-7.78611954e-06,-1.18106572e-04,
 -5.78286740e-07, 3.32417921e-07,-1.21644359e+00,-4.53936412e-04,
  1.01706369e-05,-5.50987446e-04]


--- Step 1175 ---
qpos:
[ 6.21016747e-03,-1.81555750e-03,-4.95114678e-03, 3.35828010e-02,
  4.49396920e-03,-3.74486816e-03,-1.85113454e-02, 2.86254228e-02,
  1.29566368e-02, 3.32434508e-03,-1.00002517e-02, 2.58778810e-02,
  1.25205081e+00, 2.37729244e-05, 9.84575657e-01, 6.39842984e-02,
  9.35462087e-02,-7.01791948e-02, 1.30966986e-01, 4.98405276e-01,
  4.87817730e-01, 5.01223523e-01, 5.12250938e-01]

qacc:
[  1.36748529,  2.30731395,-11.21700867, 23.4059308 , -2.11356836,
  -1.56683211,  4.73176973, -3.18261456,  2.0652597 ,  0.44118339,
  -1.60100444,  1.16385513, -0.61496257,  0.97856845, -3.44065131,
  11.36910288,  0.07677785,  0.99382752, -0.07536674,  1.58084628,
   0.38513104,-14.54131572]

qfrc_actuator:
[-9.36691087e-06,-1.28232925e-04,-3.53441198e-05, 9.48759435e-06,
  5.13396092e-05,-3.48255719e-04,-2.54721808e-04,-8.91754473e-06,
  2.99266929e-05,-1.46719717e-04,-6.30877475e-05,-2.91627962e-07,
  9.64849829e-03,-1.41720533e-03, 0.00000000e+00,-2.73211431e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003088077425092567
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.79759584e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.79759584e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09199647, -0.08828187,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.05491074e-06,-1.91333690e-05,-2.49428695e-05, 3.21941738e-05,
 -1.25564547e-05, 6.69629049e-07, 3.45191749e-05, 8.33115803e-06,
  1.21048974e-05,-2.55520999e-05,-2.12325560e-05,-4.70686330e-06,
 -6.78177148e-05,-3.08482168e-08,-2.21457984e-05, 4.89874394e-05,
 -5.45195574e-07, 4.21281642e-07,-1.21644474e+00,-4.53953849e-04,
  8.67877045e-06,-5.50642406e-04]


--- Step 1176 ---
qpos:
[ 6.21038577e-03,-1.81597511e-03,-4.95080803e-03, 3.35829767e-02,
  4.49449640e-03,-3.74487509e-03,-1.85107639e-02, 2.86257900e-02,
  1.29572471e-02, 3.32343317e-03,-9.99969789e-03, 2.58777673e-02,
  1.25232230e+00, 2.50062626e-05, 9.84813994e-01, 6.39831609e-02,
  9.35647106e-02,-7.01576869e-02, 1.30968854e-01, 4.98398587e-01,
  4.87800602e-01, 5.01383912e-01, 5.12116778e-01]

qacc:
[  0.8784884 ,  1.99341613, -9.2405076 , 17.45242741, -4.42178123,
  -0.99205878,  2.90568336, -1.82185169,  1.15811542,  1.89475746,
  -5.19045718,  3.71493123, -0.0944754 , -0.10372922, -9.79718886,
  33.29660111,  0.07797502,  0.99051297, -0.13356254,  1.58390611,
   0.37363179,-14.45483494]

qfrc_actuator:
[-4.38889077e-06,-1.49444696e-04,-6.50451127e-05, 2.92144563e-05,
  2.56115021e-05,-3.62078848e-04,-2.40038092e-04,-5.23784309e-06,
  3.65369098e-05,-6.76698783e-05,-6.82183261e-05,-1.53752016e-06,
  9.61796115e-03,-1.42871159e-03, 0.00000000e+00,-2.57208661e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030141070862063635
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.76256697e-13,  2.76256697e-13,  1.00000000e+00, -7.63177627e-26,
        1.00000000e+00, -2.76256697e-13, -1.00000000e+00,  0.00000000e+00,
        2.76256697e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0919964 , -0.08828369,  0.06199138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.19997328e-06,-3.56822778e-05,-3.56183195e-05, 1.86694111e-05,
 -2.60883005e-05,-5.97392541e-06, 1.93582187e-05, 5.06406021e-06,
  6.94255595e-06, 6.02213897e-05,-1.31813226e-05,-3.16652814e-06,
 -7.00772052e-05,-2.69006369e-05,-8.58226964e-06, 1.59043911e-04,
 -4.56735893e-07, 5.84881439e-07,-1.21644593e+00,-4.53991939e-04,
  7.20337245e-06,-5.50258880e-04]


--- Step 1177 ---
qpos:
[ 6.21066227e-03,-1.81683968e-03,-4.95042233e-03, 3.35830393e-02,
  4.49402106e-03,-3.74477397e-03,-1.85103810e-02, 2.86265514e-02,
  1.29575871e-02, 3.32293885e-03,-9.99949817e-03, 2.58776517e-02,
  1.25259342e+00, 2.58271725e-05, 9.85052593e-01, 6.39809036e-02,
  9.35835291e-02,-7.01322267e-02, 1.30969997e-01, 4.98404698e-01,
  4.87770234e-01, 5.01560304e-01, 5.11967008e-01]

qacc:
[  0.52085285, -0.9561323 ,  3.02787494, -4.73027117, -8.78189143,
   1.52493095, -6.86509841, 13.8919058 , -2.39701557,  1.54246293,
  -4.68320242,  4.9017584 , -0.01792395, -0.41386244,  3.75757012,
 -12.60461842,  0.07917465,  0.98811295, -0.18148332,  1.59006407,
   0.36221702,-14.38975657]

qfrc_actuator:
[-1.55016449e-06,-1.79647274e-04,-6.49544967e-05, 2.29748264e-05,
 -2.52374245e-05,-3.52535248e-04,-2.49429480e-04, 1.45211073e-05,
  2.24256047e-05,-5.57332874e-05,-8.89841747e-05,-2.17678902e-06,
  9.59521651e-03,-1.45380631e-03, 0.00000000e+00,-2.63720185e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029347538348416247
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.83726444e-13, -1.89150962e-13,  1.00000000e+00,  5.36671299e-26,
        1.00000000e+00,  1.89150962e-13, -1.00000000e+00,  0.00000000e+00,
        2.83726444e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09199631, -0.0882857 ,  0.06199161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.97572361e-06,-5.67019685e-05,-1.10209755e-05,-8.63815200e-06,
 -5.15972405e-05, 1.04020139e-05,-8.07201973e-06, 2.02702852e-05,
 -1.38947259e-05, 4.27854113e-05,-1.00546701e-05, 1.42464858e-06,
 -6.94586190e-05,-4.70743706e-05, 9.88116052e-06,-5.82396703e-05,
 -3.63555901e-07, 8.32015621e-07,-1.21644738e+00,-4.54040264e-04,
  5.65606082e-06,-5.49785790e-04]


--- Step 1178 ---
qpos:
[ 6.21097050e-03,-1.81789053e-03,-4.94991439e-03, 3.35836782e-02,
  4.49328476e-03,-3.74474535e-03,-1.85100560e-02, 2.86279025e-02,
  1.29584454e-02, 3.32280714e-03,-9.99980018e-03, 2.58772017e-02,
  1.25286407e+00, 2.65996647e-05, 9.85291455e-01, 6.39758878e-02,
  9.36026692e-02,-7.01028203e-02, 1.30970257e-01, 4.98423553e-01,
  4.87726683e-01, 5.01752646e-01, 5.11801648e-01]

qacc:
[  0.2864041 ,  0.59820827, -4.9239662 , 14.84026248, -2.28420296,
   1.28330559, -7.19780818, 17.54233731,  4.53857516,  1.18422837,
  -2.13050347, -3.10532894, -0.48020381,  0.54396478,  8.74376733,
 -29.95733594,  0.08038414,  0.98652295, -0.22077916,  1.59886214,
   0.35086027,-14.34300037]

qfrc_actuator:
[ 7.55048042e-09,-1.61649553e-04,-4.73299535e-05, 5.47791857e-05,
 -3.72024986e-05,-3.64666986e-04,-2.55098328e-04, 4.35880710e-05,
  4.94902707e-05,-4.86241714e-05,-1.19063755e-04,-2.02656811e-05,
  9.57715495e-03,-1.45119142e-03, 0.00000000e+00,-2.78121206e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028519414706788815
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.89286749e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.89286749e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0919962 , -0.08828784,  0.06199185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.62566894e-06,-1.63303319e-05, 4.26069827e-06, 2.88259184e-05,
 -1.34358859e-05,-7.14145253e-06,-3.81854160e-06, 2.96272953e-05,
  2.66838124e-05, 2.90311359e-05,-2.24262336e-05,-1.65739672e-05,
 -6.93528859e-05,-2.34967558e-05,-7.75611503e-06,-1.47328483e-04,
 -2.65475957e-07, 1.16105104e-06,-1.21644911e+00,-4.54099343e-04,
  4.03516939e-06,-5.49223608e-04]


--- Step 1179 ---
qpos:
[ 6.21060498e-03,-1.81886505e-03,-4.94958804e-03, 3.35843343e-02,
  4.49309983e-03,-3.74450737e-03,-1.85095618e-02, 2.86281578e-02,
  1.29592761e-02, 3.32317625e-03,-1.00005784e-02, 2.58768645e-02,
  1.25313425e+00, 2.71469165e-05, 9.85530121e-01, 6.39701802e-02,
  9.36178176e-02,-7.00815796e-02, 1.30971412e-01, 4.98430300e-01,
  4.87693394e-01, 5.01899560e-01, 5.11682735e-01]

qacc:
[-5.93117695e+00, 6.55386425e-01,-2.24254670e+00, 2.75108984e+00,
  4.82661380e+00,-2.45866216e+00, 1.37798758e+01,-3.31520321e+01,
 -2.65954192e-01, 2.22514087e+00,-7.44831590e+00, 9.78974519e+00,
 -2.04439290e-01,-2.44151570e-02, 1.80563817e+00,-6.72228209e+00,
 -9.97919911e-01,-2.04141512e+00, 2.23940882e-01,-1.77673101e+01,
  4.17473725e-01, 2.83257940e+01]

qfrc_actuator:
[-3.47054141e-05,-1.50318808e-04,-5.47843790e-05, 5.55077907e-05,
 -8.42517642e-06,-3.36408725e-04,-2.40842202e-04,-1.08765967e-05,
  4.73221609e-05,-9.01831612e-06,-1.36689667e-04,-1.29857862e-05,
  9.54594818e-03,-1.46765506e-03, 0.00000000e+00,-2.81069889e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029735859227521255
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.33404191e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.33404191e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10917865, -0.03374465,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.46711309e-05, 4.34431385e-06,-9.30102569e-06, 7.36933011e-07,
  2.83899419e-05, 2.47331674e-05, 1.33291686e-05,-5.43295063e-05,
 -1.39910332e-06, 5.05188658e-05,-1.49590265e-05, 7.42650528e-06,
 -7.73303812e-05,-3.72090737e-05,-2.54398842e-05,-3.99457198e-05,
 -1.62292258e-07, 1.57067386e-06,-1.21645110e+00,-4.54169818e-04,
  2.33897294e-06,-5.48572691e-04]


--- Step 1180 ---
qpos:
[ 6.20982631e-03,-1.81973689e-03,-4.94936385e-03, 3.35846397e-02,
  4.49291615e-03,-3.74391949e-03,-1.85092305e-02, 2.86270726e-02,
  1.29593845e-02, 3.32425764e-03,-1.00017534e-02, 2.58772742e-02,
  1.25340410e+00, 2.67161765e-05, 9.85768111e-01, 6.39681355e-02,
  9.36290341e-02,-7.00682870e-02, 1.30972483e-01, 4.98424937e-01,
  4.87670131e-01, 5.02002475e-01, 5.11609168e-01]

qacc:
[-3.63803086e+00,-2.93547840e-01, 2.73590520e+00,-8.72902034e+00,
 -1.03476819e-03,-1.83951320e+00, 1.28914704e+01,-3.60899372e+01,
 -6.38065336e+00, 3.60045585e+00,-1.46039077e+01, 2.76176083e+01,
  7.76126930e-01,-2.07015716e+00,-1.21289533e+01, 4.08081385e+01,
 -9.82980892e-01,-1.98701884e+00,-2.11067800e-02,-1.71845394e+01,
  5.65997387e-01, 2.76445234e+01]

qfrc_actuator:
[-5.49827408e-05,-1.43176355e-04,-5.92786163e-05, 3.79196150e-05,
 -9.16826600e-06,-3.19674573e-04,-2.50340332e-04,-7.85052772e-05,
  1.02002673e-05, 4.98023315e-05,-1.46668235e-04, 2.69547002e-05,
  9.51219729e-03,-1.53087490e-03, 0.00000000e+00,-2.61266118e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57750231,  0.39636872,  4.56030912,  0.39636872, 43.71574803,
       -3.40178177,  4.56030912, -3.40178177,  4.87317523,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003109643833042325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78512892e-13, -8.92564458e-14,  1.00000000e+00,  1.59334262e-26,
        1.00000000e+00,  8.92564458e-14, -1.00000000e+00,  0.00000000e+00,
        1.78512892e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10917354, -0.03375094,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.12586399e-05, 7.70120639e-06,-4.70903179e-06,-1.77079853e-05,
  7.82508791e-08, 3.09846213e-05,-4.63768685e-06,-6.71682644e-05,
 -3.71434051e-05, 8.42979857e-05,-1.12235010e-06, 4.17342589e-05,
 -8.76476836e-05,-8.88295839e-05,-2.01406169e-05, 1.91637902e-04,
 -3.26315199e-07, 9.78601089e-07,-1.21644620e+00,-4.55138051e-04,
  5.88126566e-06,-5.48205531e-04]


--- Step 1181 ---
qpos:
[ 6.20984507e-03,-1.82030266e-03,-4.94905019e-03, 3.35850374e-02,
  4.49272557e-03,-3.74334011e-03,-1.85091834e-02, 2.86255858e-02,
  1.29593921e-02, 3.32631068e-03,-1.00037389e-02, 2.58778085e-02,
  1.25367350e+00, 2.55381633e-05, 9.86005847e-01, 6.39690966e-02,
  9.36363707e-02,-7.00627612e-02, 1.30972643e-01, 4.98407475e-01,
  4.87656696e-01, 5.02062565e-01, 5.11580020e-01]

qacc:
[  7.009289  ,  0.3307476 , -1.00547114,  2.25926135, -0.06927186,
  -0.04331453,  1.83417904, -8.32410189, -0.93007578,  3.80754616,
 -12.23586326, 14.96965138,  0.4328584 , -1.40995167, -9.49219128,
  32.55765543, -0.96995341, -1.94170947, -0.2276828 ,-16.70483273,
   0.68110337, 27.07362701]

qfrc_actuator:
[-1.33318794e-05,-1.03098485e-04,-4.42509055e-05, 4.52075421e-05,
 -9.54139198e-06,-3.45584429e-04,-2.73826655e-04,-1.00091407e-04,
  6.06978935e-06, 1.01987423e-04,-1.87452516e-04, 3.25543248e-05,
  9.48757563e-03,-1.56804771e-03, 0.00000000e+00,-2.45971323e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60773634, -0.3589581 , -4.59373305, -0.3589581 , 11.62281556,
       -0.54816409, -4.59373305, -0.54816409,  4.65057034,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003195211016799454
  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([ 0.10917003, -0.03375476,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.10525079e-05, 4.26762293e-05, 1.54343813e-05, 7.11216139e-06,
 -3.57093586e-07,-1.24425860e-05,-1.99901091e-05,-2.17255806e-05,
 -5.15569212e-06, 1.00842706e-04,-2.20638170e-05, 9.98640443e-06,
 -9.59499979e-05,-7.67291475e-05, 9.16408968e-06, 1.60374810e-04,
 -3.55628290e-07, 5.55333328e-07,-1.21644280e+00,-4.56100182e-04,
  8.35457556e-06,-5.48067795e-04]


--- Step 1182 ---
qpos:
[ 6.21036273e-03,-1.82058546e-03,-4.94884454e-03, 3.35855354e-02,
  4.49253221e-03,-3.74290722e-03,-1.85098948e-02, 2.86235582e-02,
  1.29590053e-02, 3.32857384e-03,-1.00056077e-02, 2.58780948e-02,
  1.25394210e+00, 2.47040874e-05, 9.86243951e-01, 6.39688673e-02,
  9.36398726e-02,-7.00648516e-02, 1.30971196e-01, 4.98377935e-01,
  4.87652919e-01, 5.02080792e-01, 5.11594511e-01]

qacc:
[  4.37863442,  0.87382233, -3.01088804,  4.72585575, -0.04603487,
   0.81314279, -0.89664493, -7.14283947, -3.46963753, -0.55220735,
   3.43118869, -8.07894246, -0.96212749,  1.46270037,  4.20518713,
 -13.75948456, -0.95870097, -1.90406064, -0.40171407,-16.31081302,
   0.76974751, 26.59695416]

qfrc_actuator:
[ 1.11726800e-05,-9.67617366e-05,-5.31660572e-05, 4.93658694e-05,
 -9.68490794e-06,-3.79109632e-04,-3.23272115e-04,-1.29960053e-04,
 -1.41035957e-05, 7.86363795e-05,-1.92889993e-04, 1.78729196e-05,
  9.46312940e-03,-1.53617394e-03, 0.00000000e+00,-2.52990603e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.62395124, -0.14274388, -4.62174742, -0.14274388, 16.77878323,
       -0.37540517, -4.62174742, -0.37540517,  4.63554573,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003239762606339208
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.71343268e-13,  1.71343268e-13,  1.00000000e+00, -2.93585155e-26,
        1.00000000e+00, -1.71343268e-13, -1.00000000e+00,  0.00000000e+00,
        1.71343268e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10916779, -0.03375658,  0.06199074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.56871713e-05, 3.37247852e-05, 2.04769234e-06, 6.65746097e-06,
 -1.56347159e-07,-4.55615334e-05,-5.52336757e-05,-3.15144325e-05,
 -2.02796105e-05, 2.88570607e-05, 1.30190519e-05,-1.09300647e-05,
 -9.74993324e-05,-7.10524484e-06, 1.72857760e-05,-6.11779778e-05,
 -2.51707474e-07, 2.84273785e-07,-1.21644079e+00,-4.57085556e-04,
  9.85402779e-06,-5.48163015e-04]


--- Step 1183 ---
qpos:
[ 6.21082567e-03,-1.82081580e-03,-4.94861583e-03, 3.35857550e-02,
  4.49199400e-03,-3.74304052e-03,-1.85108006e-02, 2.86218950e-02,
  1.29583801e-02, 3.33063835e-03,-1.00070074e-02, 2.58778867e-02,
  1.25421007e+00, 2.41538214e-05, 9.86482149e-01, 6.39674886e-02,
  9.36395782e-02,-7.00744335e-02, 1.30967557e-01, 4.98336336e-01,
  4.87658658e-01, 5.02057938e-01, 5.11651988e-01]

qacc:
[ -0.48155623, -0.56716776,  3.29910494, -8.1918728 , -3.0143397 ,
   0.55016749, -4.57626108, 11.59930569, -2.08000189, -2.58731512,
  10.93860442,-20.10553667, -0.77209359,  1.18298401,  3.6628757 ,
 -12.48357178, -0.94907914, -1.87287262, -0.54821741,-15.98827569,
   0.83736356, 26.20092118]

qfrc_actuator:
[ 7.61637375e-06,-1.10768982e-04,-5.85326082e-05, 3.38488983e-05,
 -2.74446304e-05,-4.17062650e-04,-3.34447061e-04,-1.11240500e-04,
 -2.58163626e-05, 4.58417817e-05,-1.77722296e-04,-8.65419268e-06,
  9.44416054e-03,-1.51692240e-03, 0.00000000e+00,-2.58896843e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.62818315, -0.10299155,  4.62703707, -0.10299155, 49.87718209,
        1.00718113,  4.62703707,  1.00718113,  4.65060163,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032512433419915054
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.13422779e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.13422779e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10916656, -0.03375679,  0.06199071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.81394777e-06, 5.57422302e-06, 2.08057334e-06,-1.38735106e-05,
 -1.77765465e-05,-7.61930155e-05,-2.84722321e-05, 1.42476982e-05,
 -1.22735984e-05,-1.45057499e-05, 2.23490663e-05,-2.50534556e-05,
 -7.70881969e-05,-4.69244912e-06,-5.63050332e-06,-6.17950439e-05,
 -1.60763581e-08, 1.53281510e-07,-1.21644006e+00,-4.58114740e-04,
  1.04525207e-05,-5.48492901e-04]


--- Step 1184 ---
qpos:
[ 6.21089789e-03,-1.82130556e-03,-4.94801591e-03, 3.35858036e-02,
  4.49159178e-03,-3.74356071e-03,-1.85114079e-02, 2.86211019e-02,
  1.29579647e-02, 3.33213349e-03,-1.00080134e-02, 2.58777616e-02,
  1.25447764e+00, 2.35050473e-05, 9.86720025e-01, 6.39674087e-02,
  9.36355199e-02,-7.00914040e-02, 1.30961231e-01, 4.98282700e-01,
  4.87673789e-01, 5.01994637e-01, 5.11751903e-01]

qacc:
[-3.41943201e+00,-1.72606803e+00, 6.39008380e+00,-9.76396331e+00,
  1.20677468e+00, 4.41840800e-01,-5.99559712e+00, 2.08652194e+01,
  1.86761663e+00,-1.68524389e+00, 4.56002185e+00,-3.32588609e+00,
 -1.40983147e-01,-8.22441624e-03,-4.38815351e+00, 1.46773521e+01,
 -9.40940858e-01,-1.84713242e+00,-6.71457486e-01,-1.57255601e+01,
  8.88191159e-01, 2.58740421e+01]

qfrc_actuator:
[-1.24223795e-05,-1.36865297e-04,-4.41052247e-05, 2.46178247e-05,
 -1.99256331e-05,-4.03936165e-04,-3.05167794e-04,-6.40568796e-05,
 -1.46982887e-05,-1.00468533e-05,-1.68343323e-04,-6.43796821e-06,
  9.42849164e-03,-1.52307429e-03, 0.00000000e+00,-2.51664896e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.62267913, -0.38690423,  4.60645932, -0.38690423, 33.62083587,
        2.43560374,  4.60645932,  2.43560374,  4.82724957,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032362997974151597
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.57633018e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.57633018e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10916615, -0.03375571,  0.06199075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.01158713e-05,-2.31411649e-05, 1.53542298e-05,-9.19069939e-06,
  6.98516188e-06,-3.47378535e-05, 1.05437468e-05, 4.32172514e-05,
  1.07695242e-05,-6.05216769e-05, 8.26106324e-06, 1.87968026e-06,
 -6.16738406e-05,-2.46832402e-05,-1.48253945e-05, 6.69276329e-05,
  3.49948575e-07, 1.53753642e-07,-1.21644055e+00,-4.59202026e-04,
  1.02056082e-05,-5.49058017e-04]


--- Step 1185 ---
qpos:
[ 6.21107433e-03,-1.82194669e-03,-4.94751816e-03, 3.35854153e-02,
  4.49093737e-03,-3.74397655e-03,-1.85121451e-02, 2.86205002e-02,
  1.29573408e-02, 3.33305672e-03,-1.00088577e-02, 2.58780265e-02,
  1.25474485e+00, 2.27583294e-05, 9.86957811e-01, 6.39678251e-02,
  9.36277252e-02,-7.01156784e-02, 1.30951806e-01, 4.98217044e-01,
  4.87698210e-01, 5.01891392e-01, 5.11893801e-01]

qacc:
[  0.91545256, -0.81602871,  4.46080949,-11.7447123 , -2.212898  ,
   0.8986647 , -3.80540872,  7.24177954, -1.81950076, -0.40162531,
  -1.3054014 ,  8.21143876, -0.16309961,  0.04516291, -1.62275694,
   5.50241734, -0.93414083, -1.82598235, -0.77507068,-15.51305865,
   0.92553352, 25.60656545]

qfrc_actuator:
[-6.48746170e-06,-1.52171526e-04,-5.36641197e-05, 1.40972977e-06,
 -3.30875797e-05,-3.77867425e-04,-3.05289044e-04,-5.37040787e-05,
 -2.57397157e-05,-4.38364711e-05,-1.62549686e-04, 1.26446152e-05,
  9.41480542e-03,-1.52644681e-03, 0.00000000e+00,-2.49175724e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60963593, -0.6961163 ,  4.55677139, -0.6961163 , 47.91417387,
        6.61542832,  4.55677139,  6.61542832,  5.62024345,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003200477162455251
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.67232422e-14,  4.33616211e-14,  1.00000000e+00, -3.76046037e-27,
        1.00000000e+00, -4.33616211e-14, -1.00000000e+00,  0.00000000e+00,
        8.67232422e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10916637, -0.03375362,  0.06199085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.35557930e-06,-2.54657733e-05,-1.27665879e-05,-2.38468825e-05,
 -1.29767572e-05, 1.07036116e-05,-4.48754890e-06, 1.00740175e-05,
 -1.07533182e-05,-6.58863510e-05,-5.63164717e-06, 1.68100480e-05,
 -5.52597790e-05,-2.27670309e-05,-3.30369920e-06, 2.58077481e-05,
  8.45409481e-07, 2.79948213e-07,-1.21644221e+00,-4.60357198e-04,
  9.15523004e-06,-5.49858228e-04]


--- Step 1186 ---
qpos:
[ 6.21132024e-03,-1.82258247e-03,-4.94719761e-03, 3.35843918e-02,
  4.48978547e-03,-3.74428823e-03,-1.85131598e-02, 2.86196922e-02,
  1.29569344e-02, 3.33352127e-03,-1.00096329e-02, 2.58781647e-02,
  1.25501160e+00, 2.22461582e-05, 9.87195578e-01, 6.39681880e-02,
  9.36162162e-02,-7.01471876e-02, 1.30938931e-01, 4.98139380e-01,
  4.87731830e-01, 5.01748597e-01, 5.12077304e-01]

qacc:
[  0.60485048, -0.80651716,  5.56485192,-16.27412147, -4.36466593,
   0.49695229, -0.6861915 , -2.53403098,  1.92439365, -1.06374328,
   3.44188693, -5.40103326, -0.53993171,  0.84380868,  0.17143949,
  -0.54896319, -0.92853881, -1.8086948 , -0.86216384,-15.34283068,
   0.95196008, 25.39018842]

qfrc_actuator:
[-3.05961408e-06,-1.43255364e-04,-5.95372536e-05,-2.98502137e-05,
 -5.83243017e-05,-3.79875093e-04,-3.22741611e-04,-6.51192455e-05,
 -1.42372715e-05,-6.41363856e-05,-1.58832877e-04, 6.00154972e-06,
  9.39699362e-03,-1.51036024e-03, 0.00000000e+00,-2.49503908e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031483865322934346
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.81580941e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.81580941e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10916709, -0.03375074,  0.061991  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.57433994e-06,-8.96391708e-06,-1.35288042e-05,-3.32560943e-05,
 -2.56039177e-05, 3.50315497e-06,-1.54305161e-05,-1.09112066e-05,
  1.11755828e-05,-5.76167207e-05,-1.00066233e-05,-9.33473296e-06,
 -5.51863509e-05,-1.41805985e-06,-3.34139593e-06,-3.35731819e-06,
  1.46979039e-06, 5.28480597e-07,-1.21644498e+00,-4.61586768e-04,
  7.33258393e-06,-5.50892991e-04]


--- Step 1187 ---
qpos:
[ 6.21126045e-03,-1.82321459e-03,-4.94700494e-03, 3.35833435e-02,
  4.48902968e-03,-3.74437228e-03,-1.85147678e-02, 2.86194507e-02,
  1.29570136e-02, 3.33379617e-03,-1.00104632e-02, 2.58778507e-02,
  1.25527796e+00, 2.16785864e-05, 9.87433240e-01, 6.39688312e-02,
  9.36046011e-02,-7.01739270e-02, 1.30931431e-01, 4.98075458e-01,
  4.87752807e-01, 5.01624675e-01, 5.12240884e-01]

qacc:
[ -2.69216926,  0.31655965, -1.0079411 ,  0.77101227,  3.44462341,
   3.11575167,-13.07773426, 23.6756344 ,  4.27517631, -1.03592111,
   5.22483414,-12.80784659, -0.23247234,  0.1735013 , -0.98579924,
   3.25695165, -0.02654091,  1.19243136,  1.34353933,  3.32968634,
  -0.36827811,-16.25457672]

qfrc_actuator:
[-1.88955903e-05,-1.37654561e-04,-6.30830311e-05,-3.00630677e-05,
 -3.72018118e-05,-3.63264887e-04,-3.50393367e-04,-3.60160868e-05,
  1.04488553e-05,-5.84743144e-05,-1.56334106e-04,-1.57161506e-05,
  9.37140245e-03,-1.51839679e-03, 0.00000000e+00,-2.47936873e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.60332032,   1.32818684,   4.40754781,   1.32818684,
        42.96360286, -11.55963009,   4.40754781, -11.55963009,
         8.08674221,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00031829196003788085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.74403247e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.74403247e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09201925, -0.08828539,  0.0619909 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.57336594e-05,-3.60950008e-06,-8.20874959e-06,-1.70951790e-06,
  2.03933905e-05, 1.49304549e-05,-2.91880663e-05, 2.85128707e-05,
  2.49850127e-05,-2.90300094e-05,-1.09557935e-05,-2.47148956e-05,
 -5.80140865e-05,-2.08264875e-05,-6.87960216e-06, 1.39060509e-05,
  2.22305624e-06, 8.97946945e-07,-1.21644884e+00,-4.62894857e-04,
  4.76035153e-06,-5.52161538e-04]


--- Step 1188 ---
qpos:
[ 6.21135632e-03,-1.82381655e-03,-4.94686822e-03, 3.35819468e-02,
  4.48853271e-03,-3.74436387e-03,-1.85163967e-02, 2.86195373e-02,
  1.29570431e-02, 3.33409360e-03,-1.00114256e-02, 2.58779470e-02,
  1.25554372e+00, 2.13868353e-05, 9.87670702e-01, 6.39706434e-02,
  9.35929681e-02,-7.01960586e-02, 1.30928142e-01, 4.98025103e-01,
  4.87760994e-01, 5.01519042e-01, 5.12385460e-01]

qacc:
[ 1.36629850e+00,-5.23837906e-01, 3.39178346e+00,-9.34922365e+00,
  2.26320810e+00, 8.50771645e-01,-4.24919048e+00, 9.89978502e+00,
 -4.42549433e-01, 1.24418467e+00,-6.12384886e+00, 1.34174561e+01,
 -6.09537700e-01, 9.24405009e-01,-3.77899162e+00, 1.28972531e+01,
 -4.48280598e-03, 1.15197035e+00, 1.05268874e+00, 2.95694454e+00,
 -2.07419287e-01,-1.58757432e+01]

qfrc_actuator:
[-1.04372014e-05,-1.34043432e-04,-6.52108440e-05,-4.75092454e-05,
 -2.44636689e-05,-3.53401716e-04,-3.48232650e-04,-1.87975682e-05,
  7.18477981e-06,-3.73206041e-05,-1.54469675e-04, 7.15541129e-06,
  9.33582840e-03,-1.50520581e-03, 0.00000000e+00,-2.41713400e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.65752023,  1.05308194,  4.53690568,  1.05308194, 10.20221177,
       -1.28700372,  4.53690568, -1.28700372,  4.95625256,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003329234166123546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.16846251e-14,  1.66738500e-13,  1.00000000e+00,  6.95043188e-27,
        1.00000000e+00, -1.66738500e-13, -1.00000000e+00,  0.00000000e+00,
       -4.16846251e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09202307, -0.08828257,  0.06199048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.01218783e-06,-1.58550453e-07,-3.93541438e-06,-1.79141514e-05,
  1.33259000e-05, 1.34348751e-05, 2.65534727e-06, 1.74068149e-05,
 -2.56294969e-06, 1.60718892e-06,-6.33043976e-06, 2.07683408e-05,
 -7.41481675e-05,-4.50607349e-06,-6.22294971e-06, 6.10573800e-05,
  1.76225025e-06, 4.45473261e-07,-1.21644661e+00,-4.61535411e-04,
  6.35205318e-06,-5.52562295e-04]


--- Step 1189 ---
qpos:
[ 6.21189757e-03,-1.82431017e-03,-4.94653210e-03, 3.35803238e-02,
  4.48784742e-03,-3.74414529e-03,-1.85177318e-02, 2.86191015e-02,
  1.29566887e-02, 3.33417369e-03,-1.00122719e-02, 2.58783298e-02,
  1.25580871e+00, 2.18429702e-05, 9.87907964e-01, 6.39741716e-02,
  9.35813857e-02,-7.02137165e-02, 1.30928082e-01, 4.97988159e-01,
  4.87756297e-01, 5.01431212e-01, 5.12511783e-01]

qacc:
[ 3.92036485e+00,-8.87668286e-01, 4.31426468e+00,-8.61276860e+00,
 -1.64296893e+00,-1.61404151e+00, 8.37023921e+00,-1.80423744e+01,
 -3.37087906e+00,-1.49842387e-02,-1.56166132e+00, 6.48250357e+00,
 -1.07339645e+00, 1.94024288e+00,-5.38944847e+00, 1.86275975e+01,
  1.26539391e-02, 1.11840764e+00, 8.07498691e-01, 2.65901866e+00,
 -8.00492185e-02,-1.55542720e+01]

qfrc_actuator:
[ 1.22587107e-05,-1.13901435e-04,-4.87560133e-05,-5.72091999e-05,
 -3.45299260e-05,-3.29790022e-04,-3.28519425e-04,-4.42031699e-05,
 -1.25082091e-05,-6.02661383e-05,-1.52886863e-04, 2.05936659e-05,
  9.30494961e-03,-1.46183476e-03, 0.00000000e+00,-2.32796156e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.69360933,  1.00384397,  4.58500445,  1.00384397, 13.10858309,
       -1.84238004,  4.58500445, -1.84238004,  5.09698126,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034215657062491855
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.11195166e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.11195166e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09202603, -0.08828097,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.29266114e-05, 1.84985818e-05, 1.53256918e-05,-1.01877652e-05,
 -9.68173380e-06, 3.24421493e-05, 2.34359103e-05,-2.43963212e-05,
 -1.97658747e-05,-2.24649403e-05, 1.86136658e-06, 1.36936571e-05,
 -7.48709643e-05, 2.54249891e-05,-7.43144940e-07, 9.07008911e-05,
  1.34874893e-06, 8.34447989e-08,-1.21644478e+00,-4.60300931e-04,
  7.74119367e-06,-5.52894034e-04]


--- Step 1190 ---
qpos:
[ 6.21305177e-03,-1.82481109e-03,-4.94597409e-03, 3.35789556e-02,
  4.48739168e-03,-3.74339772e-03,-1.85195472e-02, 2.86187224e-02,
  1.29557557e-02, 3.33436462e-03,-1.00132008e-02, 2.58784969e-02,
  1.25607336e+00, 2.22127084e-05, 9.88145535e-01, 6.39757120e-02,
  9.35699070e-02,-7.02270119e-02, 1.30930428e-01, 4.97964488e-01,
  4.87738652e-01, 5.01360783e-01, 5.12620466e-01]

qacc:
[ 5.39690316e+00,-1.16011778e-01,-6.93818558e-01, 4.77196956e+00,
  1.98497000e+00, 2.15292042e+00,-6.90890983e+00, 8.27670934e+00,
 -5.09546950e+00,-5.69814541e-02, 1.34364692e+00,-5.04493881e+00,
 -3.26315584e-01, 3.14285913e-01, 6.47587790e+00,-2.19477232e+01,
  2.59322531e-02, 1.09063496e+00, 6.01150170e-01, 2.42056276e+00,
  2.10324444e-02,-1.52824874e+01]

qfrc_actuator:
[ 4.31451694e-05,-1.19436422e-04,-3.91372093e-05,-4.44916257e-05,
 -2.24299318e-05,-2.98083911e-04,-3.51839009e-04,-4.12060734e-05,
 -4.17045104e-05,-3.84298316e-05,-1.51668198e-04, 1.05789820e-05,
  9.28757470e-03,-1.47194857e-03, 0.00000000e+00,-2.43667272e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.71315481,  0.94220434,  4.61801681,  0.94220434, 17.91857208,
       -2.69427376,  4.61801681, -2.69427376,  5.26286187,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034700225802145046
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99966823e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.99966823e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09202833, -0.08828037,  0.06199008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.15461271e-05, 7.56260286e-06, 1.49790454e-05, 1.38451534e-05,
  1.18348173e-05, 5.36482261e-05,-1.45613531e-05, 4.72741323e-06,
 -2.97668765e-05, 1.02432296e-05,-2.71014123e-06,-1.06448878e-05,
 -5.46923886e-05,-2.17490986e-05, 4.74373630e-06,-1.04899419e-04,
  9.71685281e-07,-1.89091225e-07,-1.21644332e+00,-4.59161055e-04,
  8.95975207e-06,-5.53151232e-04]


--- Step 1191 ---
qpos:
[ 6.21387763e-03,-1.82547214e-03,-4.94520589e-03, 3.35777712e-02,
  4.48777443e-03,-3.74246703e-03,-1.85212305e-02, 2.86183843e-02,
  1.29541347e-02, 3.33493029e-03,-1.00140012e-02, 2.58788386e-02,
  1.25633767e+00, 2.22265925e-05, 9.88383348e-01, 6.39739370e-02,
  9.35585731e-02,-7.02360364e-02, 1.30934484e-01, 4.97953966e-01,
  4.87708021e-01, 5.01307417e-01, 5.12712013e-01]

qacc:
[-2.87761354e+00,-4.15070119e-01, 4.06446774e-01, 2.54658484e+00,
  7.33950301e+00,-5.70151246e-02, 3.56766240e-01, 3.29611183e-02,
 -6.05730650e+00, 5.07358455e-01,-1.80724431e+00, 4.32609333e+00,
 -1.53393496e-01,-1.39912199e-01, 1.03641974e+01,-3.57400873e+01,
  3.61884496e-02, 1.06773082e+00, 4.27861513e-01, 2.22942495e+00,
  1.01483619e-01,-1.50538263e+01]

qfrc_actuator:
[ 2.53423281e-05,-1.40305299e-04,-3.37222614e-05,-3.64665971e-05,
  2.03798938e-05,-2.97429294e-04,-3.47063843e-04,-3.92902804e-05,
 -7.62546427e-05, 1.00343467e-05,-1.32763314e-04, 2.23853775e-05,
  9.26231620e-03,-1.49586555e-03, 0.00000000e+00,-2.60783866e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.71850626,  0.85534019,  4.64033345,  0.85534019, 27.34124352,
       -4.16998834,  4.64033345, -4.16998834,  5.48714901,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034831091093992517
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99215519e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.99215519e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0920301 , -0.08828058,  0.06199004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69031546e-05,-1.29303668e-05, 9.30097785e-06, 9.13821122e-06,
  4.31670113e-05, 2.78485669e-05, 1.42391288e-05, 3.80581450e-06,
 -3.53919996e-05, 5.31664859e-05, 2.03271256e-05, 1.19467536e-05,
 -6.22383800e-05,-4.10075924e-05,-1.52752605e-05,-1.77749875e-04,
  6.22905371e-07,-3.73386114e-07,-1.21644221e+00,-4.58093040e-04,
  1.00319150e-05,-5.53330061e-04]


--- Step 1192 ---
qpos:
[ 6.21413899e-03,-1.82616843e-03,-4.94444046e-03, 3.35773819e-02,
  4.48901242e-03,-3.74161080e-03,-1.85218394e-02, 2.86173487e-02,
  1.29524571e-02, 3.33578670e-03,-1.00150857e-02, 2.58790127e-02,
  1.25660161e+00, 2.17370381e-05, 9.88620766e-01, 6.39724497e-02,
  9.35474155e-02,-7.02408652e-02, 1.30939672e-01, 4.97956488e-01,
  4.87664380e-01, 5.01270837e-01, 5.12786833e-01]

qacc:
[ -4.96247926,  1.6079856 , -9.14023204, 22.91118747,  7.519426  ,
  -4.54773813, 18.99327877,-32.69774886, -0.51235987,  0.83431763,
  -1.70790376, -0.95439306,  0.15129849, -0.75283038, -1.47258275,
   4.25341751,  0.04407991,  1.0489261 ,  0.28270627,  2.07597373,
   0.16574933,-14.86264181]

qfrc_actuator:
[-3.22534327e-06,-1.34713495e-04,-3.09066869e-05, 4.21714522e-06,
  6.31622196e-05,-2.97518680e-04,-2.90346766e-04,-7.35353935e-05,
 -7.81708388e-05, 3.15647843e-06,-1.56682620e-04, 1.14751266e-05,
  9.23233741e-03,-1.52776041e-03, 0.00000000e+00,-2.58357051e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.71231558, -0.7351536 , -4.65461784, -0.7351536 , 26.30910593,
       -3.41101219, -4.65461784, -3.41101219,  5.25105323,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003467963359621018
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.60068448e-13,  1.60068448e-13,  1.00000000e+00, -2.56219080e-26,
        1.00000000e+00, -1.60068448e-13, -1.00000000e+00,  0.00000000e+00,
        1.60068448e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09203145, -0.08828143,  0.06199009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.90520103e-05, 6.82963958e-07, 1.60757736e-06, 4.06322682e-05,
  4.40244200e-05, 1.85894293e-05, 6.43628153e-05,-3.24842504e-05,
 -2.90341254e-06, 2.75345624e-05,-1.00182131e-05,-7.69507373e-06,
 -7.61718363e-05,-5.47694034e-05,-3.18575515e-05, 1.12271197e-05,
  2.96282088e-07,-4.70769254e-07,-1.21644142e+00,-4.57079776e-04,
  1.09760258e-05,-5.53427855e-04]


--- Step 1193 ---
qpos:
[ 6.21405605e-03,-1.82724657e-03,-4.94321696e-03, 3.35778410e-02,
  4.49006400e-03,-3.74063073e-03,-1.85215003e-02, 2.86155483e-02,
  1.29511146e-02, 3.33646312e-03,-1.00162092e-02, 2.58787543e-02,
  1.25686506e+00, 2.11198803e-05, 9.88858057e-01, 6.39705368e-02,
  9.35364583e-02,-7.02415596e-02, 1.30945505e-01, 4.97971964e-01,
  4.87607717e-01, 5.01250813e-01, 5.12845260e-01]

qacc:
[-3.00595137e+00,-3.23000818e-02,-4.18869542e+00, 1.84098332e+01,
 -1.60432492e+00,-4.05326787e+00, 1.79256067e+01,-3.27727955e+01,
  2.95060426e+00,-1.02503219e+00, 5.12622363e+00,-1.24074623e+01,
 -2.79648850e-01, 1.61092066e-01, 1.11043512e+00,-4.12542873e+00,
  5.01228944e-02, 1.03357696e+00, 1.61472205e-01, 1.95256880e+00,
  2.17320796e-01,-1.47040545e+01]

qfrc_actuator:
[-2.01317991e-05,-1.66564016e-04,-1.17692199e-05, 4.60586799e-05,
  5.23180175e-05,-2.80117493e-04,-2.38964981e-04,-1.11002372e-04,
 -6.08628929e-05,-3.69925184e-05,-1.70429947e-04,-1.27927643e-05,
  9.21552069e-03,-1.52864681e-03, 0.00000000e+00,-2.60409263e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.69720521, -0.57878235, -4.66141049, -0.57878235, 39.04479542,
       -4.26475609, -4.66141049, -4.26475609,  5.22673711,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034305596627337565
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.83173955e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.83173955e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09203248, -0.08828278,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.77325114e-05,-2.93892248e-05, 2.08833569e-05, 4.27191064e-05,
 -9.58135771e-06, 3.96922381e-05, 6.20234849e-05,-3.50755562e-05,
  1.72374265e-05,-2.71757227e-05,-9.55923896e-06,-2.35844012e-05,
 -7.40494419e-05,-3.01287606e-05,-1.66802183e-05,-2.47459738e-05,
 -1.27975821e-08,-4.82518006e-07,-1.21644093e+00,-4.56108332e-04,
  1.18060293e-05,-5.53442750e-04]


--- Step 1194 ---
qpos:
[ 6.21377085e-03,-1.82860453e-03,-4.94171485e-03, 3.35781070e-02,
  4.49028813e-03,-3.73960840e-03,-1.85204825e-02, 2.86136874e-02,
  1.29496450e-02, 3.33683740e-03,-1.00168788e-02, 2.58785344e-02,
  1.25712800e+00, 2.07126672e-05, 9.89094892e-01, 6.39710412e-02,
  9.35257201e-02,-7.02381695e-02, 1.30951581e-01, 4.98000318e-01,
  4.87538019e-01, 5.01247156e-01, 5.12887562e-01]

qacc:
[ -1.76496277, -1.54302059,  5.78627035, -9.37444651, -7.22123277,
  -1.94983179,  7.31360241, -9.50217959, -1.0987379 , -1.58599137,
   4.9160717 , -4.7541622 , -0.40846411,  0.59136975, -7.93868754,
  26.86720709,  0.05472251,  1.02114334,  0.06054987,  1.85314477,
   0.25893915,-14.5738383 ]

qfrc_actuator:
[-3.00359101e-05,-1.85013958e-04,-1.05097683e-06, 3.49655837e-05,
  9.99744684e-06,-2.87895741e-04,-2.08840317e-04,-1.14550883e-04,
 -6.78948172e-05,-4.34918570e-05,-1.42700260e-04,-9.23793425e-06,
  9.20129806e-03,-1.51110260e-03, 0.00000000e+00,-2.47336435e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003375881708819056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.64434527e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.64434527e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09203325, -0.08828453,  0.06199035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04191039e-05,-2.87225048e-05, 8.69569871e-06,-1.07990790e-05,
 -4.25814621e-05, 2.56865641e-05, 4.47386778e-05,-3.82552703e-07,
 -6.54938647e-06,-2.46904523e-05, 2.01264436e-05, 1.60107611e-06,
 -6.43960465e-05,-5.85108284e-06,-1.48110582e-05, 1.26200597e-04,
 -3.07815592e-07,-4.09786812e-07,-1.21644075e+00,-4.55168881e-04,
  1.25325483e-05,-5.53373428e-04]


--- Step 1195 ---
qpos:
[ 6.21336887e-03,-1.82999151e-03,-4.94014513e-03, 3.35775300e-02,
  4.49000309e-03,-3.73825243e-03,-1.85197583e-02, 2.86121742e-02,
  1.29484475e-02, 3.33708591e-03,-1.00170340e-02, 2.58790218e-02,
  1.25739043e+00, 2.05099670e-05, 9.89331757e-01, 6.39717293e-02,
  9.35159221e-02,-7.02306784e-02, 1.30957572e-01, 4.98038720e-01,
  4.87457769e-01, 5.01262518e-01, 5.12911537e-01]

qacc:
[-1.02468304e+00,-1.96113708e+00, 1.04986235e+01,-2.51768795e+01,
 -4.47092485e+00, 1.98392278e+00,-7.88734902e+00, 1.41107197e+01,
  2.41346405e+00,-1.52929974e-01,-2.69036698e+00, 1.42101384e+01,
 -5.35819482e-01, 7.97553041e-01,-4.70343067e-01, 1.80278230e+00,
  2.35043157e-01, 1.02524647e+00,-2.09074388e-02, 4.39331724e+00,
  4.55269284e-01,-1.44216505e+01]

qfrc_actuator:
[-3.57429410e-05,-1.77620224e-04, 4.61195172e-06,-7.18601791e-06,
 -1.49880817e-05,-2.75244347e-04,-2.27085084e-04,-9.81466859e-05,
 -5.36972537e-05,-2.96072540e-05,-1.08314253e-04, 2.84649814e-05,
  9.17800107e-03,-1.50053915e-03, 0.00000000e+00,-2.46759003e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003303641762825103
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11554899e-06, -3.67566014e-14,  1.00000000e+00,  4.10037895e-20,
        1.00000000e+00,  3.67566014e-14, -1.00000000e+00,  0.00000000e+00,
        1.11554899e-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([ 0.08933193, -0.08839098,  0.06199056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.01048826e-06,-7.30635815e-06, 4.25670863e-07,-4.32921362e-05,
 -2.61947354e-05, 3.61799495e-05,-7.45941828e-06, 1.90469414e-05,
  1.40024510e-05, 4.29138675e-06, 3.18229837e-05, 3.73735143e-05,
 -6.19042550e-05,-5.43155632e-06, 3.46744441e-06, 1.00407769e-05,
 -5.91408909e-07,-2.53574599e-07,-1.21644084e+00,-4.54253904e-04,
  1.31636873e-05,-5.53218949e-04]


--- Step 1196 ---
qpos:
[ 6.21255660e-03,-1.83137776e-03,-4.93857054e-03, 3.35767980e-02,
  4.48907569e-03,-3.73683039e-03,-1.85191576e-02, 2.86112378e-02,
  1.29474295e-02, 3.33716154e-03,-1.00169595e-02, 2.58792921e-02,
  1.25765237e+00, 2.04654292e-05, 9.89569425e-01, 6.39657832e-02,
  9.35070698e-02,-7.02191249e-02, 1.30963193e-01, 4.98087147e-01,
  4.87366926e-01, 5.01296764e-01, 5.12917369e-01]

qacc:
[ -3.60756782, -0.32457462,  1.82470017, -4.52667247, -5.6265627 ,
   1.62976409, -8.10176109, 18.21392116,  1.58964749, -1.32059726,
   5.28863014, -9.28091267, -0.91281925,  1.36285668, 21.27144411,
 -72.55128352,  0.23644639,  1.01559566, -0.09295972,  4.30905296,
   0.48540914,-14.34546897]

qfrc_actuator:
[-5.66889342e-05,-1.72611776e-04, 7.34126083e-06,-1.39877111e-05,
 -4.73125120e-05,-2.86148712e-04,-2.38145569e-04,-7.01548273e-05,
 -4.48629947e-05,-5.68057000e-05,-1.05681900e-04, 1.49621626e-05,
  9.14927635e-03,-1.49424270e-03, 0.00000000e+00,-2.81956355e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032292396864179603
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.63041442e-07,  1.34298136e-13,  1.00000000e+00, -3.53259753e-20,
        1.00000000e+00, -1.34298136e-13, -1.00000000e+00,  0.00000000e+00,
        2.63041442e-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([ 0.08933206, -0.08839333,  0.06199077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.11147510e-05,-8.12186357e-07,-2.25575028e-07,-7.94142230e-06,
 -3.30605742e-05, 8.53931812e-06,-3.86720731e-06, 2.96547615e-05,
  9.23144599e-06,-1.66307810e-05, 8.72768612e-06,-1.14925690e-05,
 -6.58310657e-05,-9.01362005e-06,-2.58415472e-06,-3.52189573e-04,
 -8.21018508e-07, 3.73054947e-09,-1.21644111e+00,-4.53364616e-04,
  1.36170808e-05,-5.52921652e-04]


--- Step 1197 ---
qpos:
[ 6.21184445e-03,-1.83253930e-03,-4.93740443e-03, 3.35766804e-02,
  4.48742324e-03,-3.73580832e-03,-1.85181822e-02, 2.86106701e-02,
  1.29461805e-02, 3.33719850e-03,-1.00174128e-02, 2.58790896e-02,
  1.25791384e+00, 2.02759032e-05, 9.89806700e-01, 6.39586934e-02,
  9.34991673e-02,-7.02035392e-02, 1.30968203e-01, 4.98145575e-01,
  4.87265455e-01, 5.01349788e-01, 5.12905208e-01]

qacc:
[  0.86389701,  2.70215374,-11.79938254, 22.91994741, -6.32682356,
  -0.8046827 ,  0.56662148,  5.48721263, -2.04938035,  0.45489927,
   0.30719841, -7.62558129, -0.27804319,  0.15372901,  2.88568796,
 -10.90678306,  0.23743716,  1.00805972, -0.15229744,  4.24129507,
   0.50998119,-14.28612988]

qfrc_actuator:
[-5.09328180e-05,-1.51300008e-04,-9.40655000e-06, 1.78222578e-05,
 -8.37034251e-05,-3.28805053e-04,-2.27195296e-04,-5.33312926e-05,
 -5.70155757e-05,-7.30512862e-05,-1.39775400e-04,-1.08699682e-05,
  9.11731303e-03,-1.50829455e-03, 0.00000000e+00,-2.86461492e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003147312339029658
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.67535119e-07,  9.36999443e-14,  1.00000000e+00,  4.38080146e-20,
        1.00000000e+00, -9.36999443e-14, -1.00000000e+00,  0.00000000e+00,
       -4.67535119e-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([ 0.08933204, -0.08839582,  0.061991  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.15874395e-06, 2.04993128e-05,-1.72170171e-05, 3.16150513e-05,
 -3.73334174e-05,-3.74772750e-05, 1.32435043e-05, 1.76317533e-05,
 -1.18956280e-05,-2.42395161e-05,-3.68552313e-05,-2.64680305e-05,
 -7.29896814e-05,-3.06472328e-05,-4.72045493e-05,-6.65728518e-05,
 -1.03507145e-06, 3.29805045e-07,-1.21644168e+00,-4.52494018e-04,
  1.38982683e-05,-5.52538895e-04]


--- Step 1198 ---
qpos:
[ 6.21120654e-03,-1.83340781e-03,-4.93623038e-03, 3.35769066e-02,
  4.48603687e-03,-3.73502123e-03,-1.85171000e-02, 2.86103063e-02,
  1.29451406e-02, 3.33713684e-03,-1.00185906e-02, 2.58792919e-02,
  1.25817488e+00, 1.96879629e-05, 9.90043147e-01, 6.39553931e-02,
  9.34929293e-02,-7.01838908e-02, 1.30972348e-01, 4.98211181e-01,
  4.87155869e-01, 5.01424282e-01, 5.12872760e-01]

qacc:
[  0.64827878,  1.07169169, -4.71247379, 10.43527092,  2.33626659,
  -0.19379759, -0.62839233,  4.16762478,  1.81996562,  2.72408418,
 -11.61742549, 19.86077264,  0.23834927, -0.83725586,-12.68463156,
  42.54197344,  0.41614731,  1.01566829, -0.21660918,  6.8224149 ,
   0.68730172,-14.1591175 ]

qfrc_actuator:
[-4.72543522e-05,-1.20430530e-04,-1.92395109e-06, 3.65866742e-05,
 -6.89366970e-05,-3.36815078e-04,-2.21240217e-04,-4.32313213e-05,
 -4.59162627e-05,-8.27902222e-05,-1.77486082e-04, 9.50070394e-06,
  9.08874687e-03,-1.53431549e-03, 0.00000000e+00,-2.65733952e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030646756992352975
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.81132220e-13,  9.05661099e-14,  1.00000000e+00,  1.64044405e-26,
        1.00000000e+00, -9.05661099e-14, -1.00000000e+00,  0.00000000e+00,
       -1.81132220e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08655108, -0.0885063 ,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.83418898e-06, 4.01639101e-05, 1.06910870e-05, 1.96626289e-05,
  1.36859200e-05,-2.55364674e-05, 4.34826346e-07, 9.29360759e-06,
  1.07550961e-05,-3.20447090e-05,-4.81685005e-05, 1.75431955e-05,
 -7.86591058e-05,-4.90817202e-05,-3.20704426e-05, 1.96838984e-04,
 -1.23470788e-06, 7.24584753e-07,-1.21644254e+00,-4.51638499e-04,
  1.40119364e-05,-5.52069853e-04]


--- Step 1199 ---
qpos:
[ 6.21061772e-03,-1.83401519e-03,-4.93467385e-03, 3.35769880e-02,
  4.48518279e-03,-3.73441218e-03,-1.85159884e-02, 2.86104096e-02,
  1.29445868e-02, 3.33684311e-03,-1.00199178e-02, 2.58797138e-02,
  1.25843529e+00, 1.93350868e-05, 9.90279490e-01, 6.39535270e-02,
  9.34883550e-02,-7.01602040e-02, 1.30975457e-01, 4.98283970e-01,
  4.87038108e-01, 5.01520186e-01, 5.12820115e-01]

qacc:
[  0.43910857, -1.02290385,  4.75723505, -8.06356721,  4.66281695,
   0.63393764, -4.59047364, 12.77656121,  4.27582074,  0.55467838,
  -3.36461837,  7.59122552, -0.58086489,  0.83944512, -4.4416229 ,
  15.41356006,  0.41591039,  1.00960956, -0.25873215,  6.76732287,
   0.70897064,-14.13713605]

qfrc_actuator:
[-4.48366582e-05,-1.01737261e-04, 1.98438447e-05, 2.97959515e-05,
 -4.19291331e-05,-3.41794936e-04,-2.18164052e-04,-1.93954898e-05,
 -2.12136252e-05,-8.85497507e-05,-1.81454072e-04, 2.13992780e-05,
  9.06755926e-03,-1.51394857e-03, 0.00000000e+00,-2.58718570e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029763898107770803
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.73009953e-13,  2.33131221e-13,  1.00000000e+00, -8.69602658e-26,
        1.00000000e+00, -2.33131221e-13, -1.00000000e+00,  0.00000000e+00,
        3.73009953e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08655052, -0.08850905,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.54098725e-06, 4.42247791e-05, 3.20577479e-05,-4.31827818e-06,
  2.73891976e-05,-1.88073964e-05,-1.84500376e-06, 2.29334308e-05,
  2.49968545e-05,-3.28611348e-05,-1.59006949e-05, 9.20172082e-06,
 -7.81247353e-05,-8.43387456e-06, 4.79201085e-06, 7.64717562e-05,
 -1.36892404e-06, 1.18686506e-06,-1.21644362e+00,-4.50787937e-04,
  1.37469193e-05,-5.51453651e-04]


--- Step 1200 ---
qpos:
[ 6.21109748e-03,-1.83443454e-03,-4.93308924e-03, 3.35770216e-02,
  4.48500404e-03,-3.73392208e-03,-1.85148664e-02, 2.86107913e-02,
  1.29446780e-02, 3.33655298e-03,-1.00208377e-02, 2.58798599e-02,
  1.25869487e+00, 2.02684098e-05, 9.90515979e-01, 6.39511743e-02,
  9.34854436e-02,-7.01324965e-02, 1.30977395e-01, 4.98363948e-01,
  4.86912118e-01, 5.01637450e-01, 5.12747338e-01]

qacc:
[  9.39353779,  0.05316418,  0.34129927, -1.31851389,  5.91304916,
   0.37480572, -2.75998337,  7.66970167,  5.68934156, -1.71261915,
   7.25895386,-12.66646208, -1.70617454,  3.29034898,  1.82513171,
  -5.74208797,  0.41572299,  1.00516555, -0.29299853,  6.72442708,
   0.72671164,-14.12465849]

qfrc_actuator:
[ 1.00779286e-05,-1.08187651e-04, 1.42997958e-05, 2.57758145e-05,
 -7.94970124e-06,-3.44919652e-04,-2.16780709e-04,-5.41562420e-06,
  1.12905632e-05,-5.62434698e-05,-1.47709056e-04, 1.04852252e-05,
  9.05083147e-03,-1.43071777e-03, 0.00000000e+00,-2.61621801e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028860516966768
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.92342886e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.92342886e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08654989, -0.08851179,  0.06199175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.50014741e-05, 2.47237627e-05, 7.37943918e-06,-1.10220670e-06,
  3.47543818e-05,-1.30658848e-05,-1.95665413e-06, 1.35511254e-05,
  3.32009317e-05, 1.10721697e-05, 2.53334234e-05,-1.26918690e-05,
 -6.37280382e-05, 6.33923151e-05, 5.54719787e-06,-2.53288395e-05,
 -1.48772358e-06, 1.70570515e-06,-1.21644503e+00,-4.49951734e-04,
  1.32336129e-05,-5.50748299e-04]


--- Step 1201 ---
qpos:
[ 6.21223164e-03,-1.83454534e-03,-4.93191351e-03, 3.35773674e-02,
  4.48523415e-03,-3.73342210e-03,-1.85140481e-02, 2.86109974e-02,
  1.29448132e-02, 3.33628409e-03,-1.00208123e-02, 2.58798331e-02,
  1.25895408e+00, 2.15686675e-05, 9.90752280e-01, 6.39498332e-02,
  9.34858829e-02,-7.01130094e-02, 1.30979127e-01, 4.98407371e-01,
  4.86828836e-01, 5.01731450e-01, 5.12692237e-01]

qacc:
[  5.735983  ,  2.18254387, -8.52736786, 14.37747165,  3.56848175,
   0.49317986, -1.0102404 , -1.5374611 ,  0.41622077, -2.97022755,
  11.35942042,-15.87481927, -0.5091266 ,  0.92293315, -3.2894561 ,
  11.20207748,  0.83765649, -2.05509851, -0.05141702,  9.14372929,
  -3.27421779, 30.15244195]

qfrc_actuator:
[ 4.21936239e-05,-9.42503342e-05,-7.42995383e-06, 4.11316648e-05,
  1.21042577e-05,-3.46919139e-04,-2.34158310e-04,-1.51000027e-05,
  1.26169068e-05,-3.67458080e-05,-9.18332258e-05, 4.04390414e-06,
  9.03682095e-03,-1.41742961e-03, 0.00000000e+00,-2.56139378e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53162381,  0.3902954 , -4.51478503,  0.3902954 , 39.7735298 ,
        3.04660214, -4.51478503,  3.04660214,  4.79499733,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002973002477394959
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.33587369e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.33587369e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08149442, -0.03168473,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.36876286e-05, 2.92543902e-05,-1.57683497e-05, 1.66441069e-05,
  2.10416985e-05,-9.14901376e-06,-1.98697114e-05,-1.00542098e-05,
  2.27112415e-06, 3.04111484e-05, 6.08567248e-05,-5.33626234e-06,
 -3.61735977e-05, 1.26805627e-05,-6.27483437e-06, 5.27680863e-05,
 -1.59156934e-06, 2.28123019e-06,-1.21644676e+00,-4.49127919e-04,
  1.24738880e-05,-5.49952963e-04]


--- Step 1202 ---
qpos:
[ 6.21270763e-03,-1.83448735e-03,-4.93119996e-03, 3.35772259e-02,
  4.48501321e-03,-3.73277873e-03,-1.85135081e-02, 2.86107216e-02,
  1.29446184e-02, 3.33618621e-03,-1.00201404e-02, 2.58797301e-02,
  1.25921326e+00, 2.19814472e-05, 9.90988652e-01, 6.39477964e-02,
  9.34895247e-02,-7.01015788e-02, 1.30979844e-01, 4.98414533e-01,
  4.86787321e-01, 5.01803229e-01, 5.12654442e-01]

qacc:
[-5.80493335e+00, 5.23035182e-01, 5.35682373e-01,-8.37579707e+00,
 -3.95900142e+00,-1.66690709e-02, 2.38289313e+00,-1.03988425e+01,
 -2.88583129e+00,-1.73202077e+00, 6.83501647e+00,-9.32340137e+00,
  6.55800154e-01,-1.68169625e+00, 2.13991953e+00,-7.48508320e+00,
  8.00651125e-01,-2.01411844e+00,-2.53669106e-01, 9.19709819e+00,
 -2.93491057e+00, 2.94948919e+01]

qfrc_actuator:
[ 7.35884692e-06,-1.03781383e-04,-3.84454042e-05, 1.45142219e-05,
 -1.17059831e-05,-3.30572132e-04,-2.44729984e-04,-3.86403686e-05,
 -4.42036905e-06,-2.49524025e-05,-5.88850488e-05, 2.93513074e-07,
  9.01377705e-03,-1.48120750e-03, 0.00000000e+00,-2.59958031e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56062695,  1.18794827, -4.40319169,  1.18794827, 15.84645292,
        3.04483167, -4.40319169,  3.04483167,  5.38209982,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003060381746948643
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.06931811e-14, -9.06931811e-14,  1.00000000e+00,  8.22525311e-27,
        1.00000000e+00,  9.06931811e-14, -1.00000000e+00,  0.00000000e+00,
        9.06931811e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08149213, -0.03169   ,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.38677064e-05, 4.28192091e-06,-2.63545065e-05,-2.55902649e-05,
 -2.32111419e-05, 6.67499260e-06,-1.52736947e-05,-2.48199283e-05,
 -1.69652025e-05, 4.11522910e-05, 4.65441527e-05,-4.44751457e-07,
 -4.10812547e-05,-6.91259794e-05,-1.39409111e-06,-3.70619999e-05,
 -8.49862698e-07, 1.12149831e-06,-1.21644338e+00,-4.51136249e-04,
  1.14876378e-05,-5.49316158e-04]


--- Step 1203 ---
qpos:
[ 6.21241813e-03,-1.83472556e-03,-4.93067029e-03, 3.35768081e-02,
  4.48416378e-03,-3.73192867e-03,-1.85128932e-02, 2.86101326e-02,
  1.29445661e-02, 3.33621561e-03,-1.00192865e-02, 2.58796212e-02,
  1.25947205e+00, 2.22666662e-05, 9.91225270e-01, 6.39429678e-02,
  9.34962501e-02,-7.00980674e-02, 1.30978866e-01, 4.98385697e-01,
  4.86786787e-01, 5.01853631e-01, 5.12633645e-01]

qacc:
[ -6.73170062, -0.43323565,  2.16577663, -6.45968897, -5.50196056,
  -0.56923031,  3.76744717, -9.48005487,  1.25693973, -0.3549548 ,
   1.53047904, -2.01302983, -0.36928698,  0.33413579,  8.81090162,
 -30.248824  ,  0.77089291, -1.97980426, -0.42391159,  9.23048946,
  -2.6633163 , 28.94823301]

qfrc_actuator:
[-3.10901467e-05,-1.45129750e-04,-5.70627872e-05,-1.10726540e-06,
 -4.33857591e-05,-3.03354668e-04,-2.33369412e-04,-5.23651232e-05,
  3.38574027e-06,-3.56924438e-05,-5.75254377e-05,-1.86979856e-06,
  8.99062126e-03,-1.48360160e-03, 0.00000000e+00,-2.74552854e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57687742,  1.30218183, -4.38772486,  1.30218183, 22.42103103,
        5.29575883, -4.38772486,  5.29575883,  6.1485441 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031078394479742977
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78616535e-13, -2.67924802e-13,  1.00000000e+00,  4.78557997e-26,
        1.00000000e+00,  2.67924802e-13, -1.00000000e+00,  0.00000000e+00,
        1.78616535e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08148996, -0.03169297,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.94092181e-05,-4.55178285e-05,-2.18720818e-05,-1.68479931e-05,
 -3.23388385e-05, 2.66944069e-05, 9.98672789e-06,-1.44512876e-05,
  7.33698700e-06, 2.18571807e-05, 1.55717054e-05, 1.20168157e-06,
 -6.32109287e-05,-2.68018527e-05,-9.41145871e-06,-1.49283291e-04,
 -3.96202761e-07, 4.54811964e-07,-1.21644135e+00,-4.52776386e-04,
  1.11529570e-05,-5.48902586e-04]


--- Step 1204 ---
qpos:
[ 6.21201470e-03,-1.83520012e-03,-4.93040973e-03, 3.35765504e-02,
  4.48259613e-03,-3.73094537e-03,-1.85118964e-02, 2.86100616e-02,
  1.29442627e-02, 3.33636353e-03,-1.00181244e-02, 2.58798253e-02,
  1.25973025e+00, 2.30555354e-05, 9.91461151e-01, 6.39417742e-02,
  9.35059636e-02,-7.01023607e-02, 1.30975619e-01, 4.98321092e-01,
  4.86826580e-01, 5.01883335e-01, 5.12629583e-01]

qacc:
[ -1.00614222,  0.7713621 , -3.87563269,  7.24554105, -6.27586426,
   0.18672751, -2.57681513, 10.81152122, -2.20227587, -0.05623075,
  -0.88668491,  5.71702673, -0.61357524,  1.09797009,-12.00848608,
  40.5505778 ,  0.74701609, -1.9511712 , -0.56712169,  9.25047759,
  -2.44519182, 28.49568857]

qfrc_actuator:
[-3.58318192e-05,-1.51913131e-04,-6.83347482e-05, 7.60535888e-06,
 -7.94293896e-05,-2.87488232e-04,-2.09091279e-04,-2.46711738e-05,
 -9.74776352e-06,-2.44719634e-05,-3.94077486e-05, 1.46319767e-05,
  8.97275904e-03,-1.44957034e-03, 0.00000000e+00,-2.54544884e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58216668,  1.4313766 , -4.35286256,  1.4313766 , 37.00865891,
       10.66298817, -4.35286256, 10.66298817,  8.08853783,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003123065336846642
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.88728625e-14, -2.22182156e-13,  1.00000000e+00,  1.97459642e-26,
        1.00000000e+00,  2.22182156e-13, -1.00000000e+00,  0.00000000e+00,
        8.88728625e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08148788, -0.03169409,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.87620178e-06,-3.74867301e-05,-2.39517386e-05, 5.67944074e-06,
 -3.69578965e-05, 3.21892610e-05, 3.05075225e-05, 2.89016373e-05,
 -1.29171638e-05, 2.67027661e-05, 2.45817190e-05, 1.79985905e-05,
 -6.11484575e-05, 1.39363887e-05,-2.62250867e-05, 1.89340406e-04,
 -2.03707296e-07, 2.54502182e-07,-1.21644059e+00,-4.54133151e-04,
  1.14556887e-05,-5.48700932e-04]


--- Step 1205 ---
qpos:
[ 6.21190199e-03,-1.83567841e-03,-4.93038014e-03, 3.35756754e-02,
  4.48095322e-03,-3.72970550e-03,-1.85109228e-02, 2.86103349e-02,
  1.29438044e-02, 3.33650590e-03,-1.00166705e-02, 2.58802427e-02,
  1.25998796e+00, 2.42292883e-05, 9.91696827e-01, 6.39429241e-02,
  9.35185887e-02,-7.01143634e-02, 1.30969622e-01, 4.98220906e-01,
  4.86906154e-01, 5.01892884e-01, 5.12642037e-01]

qacc:
[  2.54864984, -0.6353009 ,  4.85520055,-15.15633658, -0.66359086,
   1.11290396, -4.92766452, 10.73062118, -1.35306838, -0.38119057,
   0.45294322,  2.76953823, -0.54192044,  0.93780878, -7.33323109,
  25.31683615,  0.72791884, -1.92737528, -0.68752133,  9.26197509,
  -2.26925697, 28.12322251]

qfrc_actuator:
[-2.06944565e-05,-1.37898891e-04,-7.50406893e-05,-2.26652936e-05,
 -8.22449448e-05,-2.78441635e-04,-2.12904960e-04,-8.33724782e-06,
 -1.73557889e-05,-3.56225854e-05,-2.91869710e-05, 2.42635521e-05,
  8.95277808e-03,-1.42976933e-03, 0.00000000e+00,-2.42710465e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57849039, -1.59372929,  4.29215577, -1.59372929, 18.85706266,
        5.30180637,  4.29215577,  5.30180637,  6.54711514,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003112493883975498
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.33762073e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.33762073e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08148585, -0.03169374,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49592197e-05,-1.16388992e-05,-1.71991661e-05,-3.25938086e-05,
 -3.86248313e-06, 3.45265558e-05, 7.57152569e-06, 1.93287387e-05,
 -7.96572829e-06, 9.60583943e-06, 1.93715688e-05, 1.19738397e-05,
 -5.20642082e-05, 8.88002189e-06, 6.10260486e-06, 1.24871628e-04,
 -2.52453958e-07, 5.00423153e-07,-1.21644103e+00,-4.55268839e-04,
  1.23835424e-05,-5.48702396e-04]


--- Step 1206 ---
qpos:
[ 6.21162655e-03,-1.83619910e-03,-4.93018157e-03, 3.35744212e-02,
  4.47997882e-03,-3.72817931e-03,-1.85102593e-02, 2.86104729e-02,
  1.29432586e-02, 3.33638297e-03,-1.00146840e-02, 2.58811346e-02,
  1.26024528e+00, 2.53991695e-05, 9.91932642e-01, 6.39441380e-02,
  9.35340647e-02,-7.01339970e-02, 1.30960470e-01, 4.98085295e-01,
  4.87025056e-01, 5.01882715e-01, 5.12670825e-01]

qacc:
[ -1.42493914, -1.30628334,  6.18137128,-12.98615042,  5.83618311,
   0.95507329, -2.30509435,  0.27051279, -0.74841754, -0.86066995,
   0.55838494,  6.99787153, -0.29329766,  0.30802132,  0.03155276,
   0.23327354,  0.7127107 , -1.90769167, -0.78870248,  9.26861216,
  -2.12657064, 27.8190447 ]

qfrc_actuator:
[-2.94940153e-05,-1.29296799e-04,-6.11848808e-05,-4.01073038e-05,
 -4.77266927e-05,-2.73663567e-04,-2.33321305e-04,-1.66053528e-05,
 -2.16443906e-05,-6.01192055e-05,-6.05846423e-06, 4.75003031e-05,
  8.92621252e-03,-1.43634178e-03, 0.00000000e+00,-2.42897461e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56781263, -1.76475068,  4.21314221, -1.76475068, 25.82949846,
        8.90584095,  4.21314221,  8.90584095,  8.2981849 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003081494786054684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.00717916e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.00717916e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08148387, -0.03169222,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.37457753e-06,-2.83139242e-06, 8.21226989e-06,-1.91678406e-05,
  3.44188555e-05, 2.64190207e-05,-1.17097510e-05,-6.15571646e-06,
 -4.51081811e-06,-1.46377170e-05, 2.78933141e-05, 2.45474585e-05,
 -5.43580738e-05,-1.66143647e-05, 1.18860297e-05, 4.76402514e-06,
 -5.27819387e-07, 1.17779228e-06,-1.21644262e+00,-4.56229364e-04,
  1.39263296e-05,-5.48900132e-04]


--- Step 1207 ---
qpos:
[ 6.21124795e-03,-1.83679097e-03,-4.92955793e-03, 3.35732984e-02,
  4.47942602e-03,-3.72674459e-03,-1.85099782e-02, 2.86109106e-02,
  1.29426653e-02, 3.33650979e-03,-1.00131654e-02, 2.58823013e-02,
  1.26050236e+00, 2.59793670e-05, 9.92168306e-01, 6.39466698e-02,
  9.35523434e-02,-7.01611965e-02, 1.30947823e-01, 4.97914374e-01,
  4.87182911e-01, 5.01853171e-01, 5.12715790e-01]

qacc:
[-0.89240707,-1.0100682 , 2.91308062,-1.26916534, 3.67965547, 1.55580996,
 -7.00107874,12.87904173,-0.43667451, 2.2042715 ,-8.53918868,13.8568667 ,
  0.36270673,-1.09517539,-4.23948482,14.41811845, 0.70067087,-1.89149709,
 -0.87372731, 9.27303606,-2.01003996,27.57322068]

qfrc_actuator:
[-3.45659456e-05,-1.23901827e-04,-3.52995726e-05,-3.20907178e-05,
 -2.70270914e-05,-3.07084259e-04,-2.63402991e-04,-3.78765315e-06,
 -2.39467279e-05,-3.91035733e-05,-2.88008092e-05, 6.08007964e-05,
  8.90103028e-03,-1.47625615e-03, 0.00000000e+00,-2.35961004e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55192501, -1.95782948,  4.10937039, -1.95782948, 34.08424193,
       14.07009719,  4.10937039, 14.07009719, 11.25534877,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030345348661603433
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.65862669e-13, -4.11595502e-13,  1.00000000e+00,  1.50587429e-25,
        1.00000000e+00,  4.11595502e-13, -1.00000000e+00,  0.00000000e+00,
        3.65862669e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08148192, -0.0316898 ,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.30887364e-06, 4.70391667e-06, 2.56558987e-05, 7.81026033e-06,
  2.16927433e-05,-2.13812948e-05,-2.63075913e-05, 1.34182747e-05,
 -2.43593185e-06, 1.96197626e-05,-2.15050798e-05, 1.41100068e-05,
 -6.04213490e-05,-5.60132432e-05, 3.93298697e-07, 6.98576422e-05,
 -1.01924807e-06, 2.27629254e-06,-1.21644533e+00,-4.57048730e-04,
  1.60760115e-05,-5.49288797e-04]


--- Step 1208 ---
qpos:
[ 6.21081141e-03,-1.83742272e-03,-4.92832310e-03, 3.35719177e-02,
  4.47878141e-03,-3.72586916e-03,-1.85098530e-02, 2.86118894e-02,
  1.29423938e-02, 3.33718553e-03,-1.00126165e-02, 2.58829240e-02,
  1.26075901e+00, 2.63679439e-05, 9.92404170e-01, 6.39479919e-02,
  9.35708726e-02,-7.01838809e-02, 1.30940150e-01, 4.97758050e-01,
  4.87325885e-01, 5.01842206e-01, 5.12742436e-01]

qacc:
[ -0.48973892, -2.29144022,  9.18390288,-14.59653722, -0.79858144,
   0.81084514, -6.24625208, 16.26903106,  2.79149186,  2.3099242 ,
  -4.89580649, -3.36419471, -0.23775615,  0.07473922,  3.95714259,
 -13.38987703,  0.06264253,  1.12878725,  1.24339842,  2.09948618,
   0.31508049,-16.56288006]

qfrc_actuator:
[-3.73957660e-05,-1.20385389e-04,-2.52026001e-06,-4.46631089e-05,
 -3.23918045e-05,-3.63160942e-04,-2.81335089e-04, 2.13006989e-05,
 -7.30970242e-06,-8.94212595e-06,-7.82781388e-05, 3.26442795e-05,
  8.88200582e-03,-1.48233040e-03, 0.00000000e+00,-2.42631056e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031449029850429133
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32383618e-13, -3.53022980e-13,  1.00000000e+00,  4.67344592e-26,
        1.00000000e+00,  3.53022980e-13, -1.00000000e+00,  0.00000000e+00,
        1.32383618e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09204182, -0.08828856,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.97902899e-06, 1.17971800e-05, 3.71838559e-05,-1.13284060e-05,
 -4.75200721e-06,-7.29407565e-05,-2.51467959e-05, 2.35171900e-05,
  1.65771293e-05, 3.72677610e-05,-4.76075620e-05,-2.77915102e-05,
 -6.69297190e-05,-3.22636935e-05, 3.46060342e-06,-6.38108055e-05,
 -1.71933307e-06, 3.78936890e-06,-1.21644913e+00,-4.57752309e-04,
  1.88266316e-05,-5.49864199e-04]


--- Step 1209 ---
qpos:
[ 6.21034423e-03,-1.83785037e-03,-4.92731596e-03, 3.35700786e-02,
  4.47842265e-03,-3.72575503e-03,-1.85089319e-02, 2.86120855e-02,
  1.29423240e-02, 3.33823428e-03,-1.00126674e-02, 2.58832016e-02,
  1.26101531e+00, 2.63859260e-05, 9.92639850e-01, 6.39498469e-02,
  9.35896701e-02,-7.02021597e-02, 1.30936355e-01, 4.97615949e-01,
  4.87454334e-01, 5.01849305e-01, 5.12751319e-01]

qacc:
[ -0.28028721, -0.03676507,  2.45789487,-10.17546136,  2.539304  ,
  -4.84293966, 19.10553326,-33.35301266,  1.74871776,  1.45560487,
  -3.0231946 , -2.26022991,  0.0615096 , -0.50530769, -1.89317134,
   6.19684157,  0.06707419,  1.10139502,  0.9695332 ,  2.00763421,
   0.32217434,-16.11278836]

qfrc_actuator:
[-3.88842707e-05,-1.17998892e-04,-1.92185747e-05,-6.92520585e-05,
 -1.75450652e-05,-3.96821549e-04,-2.38792967e-04,-1.76203759e-05,
  2.58802088e-06, 8.55508613e-06,-1.07602373e-04, 1.58276788e-05,
  8.86137387e-03,-1.50376805e-03, 0.00000000e+00,-2.39512345e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003278116898141892
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.11673168e-13,  8.46692674e-14,  1.00000000e+00, -1.79222121e-26,
        1.00000000e+00, -8.46692674e-14, -1.00000000e+00,  0.00000000e+00,
        2.11673168e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09204277, -0.08828481,  0.06199063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56910938e-06, 1.61908674e-05,-1.00770358e-05,-2.30154230e-05,
  1.46855779e-05,-7.86723041e-05, 2.51783510e-05,-4.24636346e-05,
  1.03875900e-05, 2.72852416e-05,-2.84682717e-05,-1.74125224e-05,
 -6.69991437e-05,-4.37883466e-05,-1.10593584e-05, 2.67876712e-05,
 -1.64504997e-06, 2.95007206e-06,-1.21644733e+00,-4.57816072e-04,
  1.78795981e-05,-5.50406065e-04]


--- Step 1210 ---
qpos:
[ 6.21055291e-03,-1.83817322e-03,-4.92703688e-03, 3.35680077e-02,
  4.47824430e-03,-3.72587411e-03,-1.85082505e-02, 2.86114721e-02,
  1.29423738e-02, 3.33922142e-03,-1.00129039e-02, 2.58829574e-02,
  1.26127130e+00, 2.56184746e-05, 9.92875507e-01, 6.39513640e-02,
  9.36087507e-02,-7.02161254e-02, 1.30935514e-01, 4.97487755e-01,
  4.87568566e-01, 5.01874037e-01, 5.12742896e-01]

qacc:
[  5.91781238,  1.684779  , -4.84698438,  1.94183197,  1.57483868,
  -1.30629834,  7.62412636,-21.07454873,  1.04818829, -0.63889454,
   4.35935445,-13.04364281,  0.38599396, -1.28935277,  0.94025052,
  -3.4444812 ,  0.07074492,  1.07827894,  0.73864345,  1.93600371,
   0.3250134 ,-15.73672669]

qfrc_actuator:
[-4.06686104e-06,-1.34271028e-04,-6.50090751e-05,-8.29948589e-05,
 -8.66503214e-06,-3.98854152e-04,-2.49618969e-04,-5.83344535e-05,
  8.43362229e-06,-1.70951526e-05,-1.24816604e-04,-1.19188518e-05,
  8.83446183e-03,-1.55192073e-03, 0.00000000e+00,-2.41297807e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.66960524, -2.58740277,  3.88723038, -2.58740277,  9.55954582,
        3.25482273,  3.88723038,  3.25482273,  6.83606736,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003360580870918478
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.25916015e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.25916015e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09204349, -0.08828247,  0.06199039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.47804966e-05,-1.02771349e-05,-4.44856286e-05,-1.38426335e-05,
  9.27283033e-06,-4.26553320e-05,-2.54569284e-05,-4.40441830e-05,
  6.15543522e-06,-1.70534748e-05,-1.56998640e-05,-2.79044409e-05,
 -7.59741429e-05,-7.30691859e-05,-6.35880184e-06,-1.87742532e-05,
 -1.55885428e-06, 2.23862714e-06,-1.21644592e+00,-4.57908837e-04,
  1.68518218e-05,-5.50847355e-04]


--- Step 1211 ---
qpos:
[ 6.21083257e-03,-1.83880964e-03,-4.92689247e-03, 3.35661471e-02,
  4.47748380e-03,-3.72582824e-03,-1.85082652e-02, 2.86113915e-02,
  1.29418038e-02, 3.33980049e-03,-1.00129106e-02, 2.58823990e-02,
  1.26152674e+00, 2.45905264e-05, 9.93111591e-01, 6.39486229e-02,
  9.36281265e-02,-7.02258556e-02, 1.30936851e-01, 4.97373204e-01,
  4.87668842e-01, 5.01916047e-01, 5.12717542e-01]

qacc:
[  0.62536275,  0.39369346, -2.8946521 ,  6.98150359, -5.11927537,
   3.2679911 ,-13.56986219, 23.76517178, -5.44075824, -1.81763228,
   7.04347422,-12.56839101, -0.47496047,  0.34214155, 13.50956509,
 -46.2876021 ,  0.07383502,  1.05886318,  0.54432153,  1.8809107 ,
   0.32453255,-15.42331632]

qfrc_actuator:
[-1.41803231e-06,-1.61720683e-04,-7.44055345e-05,-7.25204463e-05,
 -3.88791725e-05,-3.64380900e-04,-2.73995931e-04,-2.87738855e-05,
 -2.36560344e-05,-5.05958192e-05,-1.17186587e-04,-2.81560567e-05,
  8.80378924e-03,-1.56228147e-03, 0.00000000e+00,-2.63712656e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.68577376, -2.76626618,  3.78209561, -2.76626618, 12.52282417,
        5.73210456,  3.78209561,  5.73210456,  8.87829786,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003401841250973009
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.07949307e-14,  8.15898614e-14,  1.00000000e+00, -3.32845274e-27,
        1.00000000e+00, -8.15898614e-14, -1.00000000e+00,  0.00000000e+00,
        4.07949307e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09204402, -0.08828127,  0.06199028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.63766887e-06,-4.29545172e-05,-1.74738647e-05, 8.22866513e-06,
 -2.99612823e-05, 3.47573438e-06,-3.78529594e-05, 2.59942769e-05,
 -3.19160989e-05,-4.75060360e-05, 1.19965989e-06,-1.80556953e-05,
 -9.17721937e-05,-4.37999521e-05,-9.66341815e-06,-2.27098077e-04,
 -1.46284226e-06, 1.64449812e-06,-1.21644487e+00,-4.58025854e-04,
  1.57471921e-05,-5.51190525e-04]


--- Step 1212 ---
qpos:
[ 6.21079733e-03,-1.83986229e-03,-4.92710939e-03, 3.35648012e-02,
  4.47671222e-03,-3.72594219e-03,-1.85081768e-02, 2.86109607e-02,
  1.29408537e-02, 3.34005580e-03,-1.00131404e-02, 2.58820166e-02,
  1.26178149e+00, 2.39274344e-05, 9.93347157e-01, 6.39468959e-02,
  9.36478083e-02,-7.02314153e-02, 1.30939712e-01, 4.97272073e-01,
  4.87755385e-01, 5.01975039e-01, 5.12675559e-01]

qacc:
[ -2.7727104 ,  1.52499571, -8.39844879, 18.17783376, -0.09122209,
  -1.21973526,  5.52269004,-11.63400624, -3.3458472 ,  0.56441631,
  -3.36500063,  6.99315177, -0.72660385,  1.13939122, -3.77196944,
  12.21097597,  0.07648521,  1.04264929,  0.38112691,  1.83938687,
   0.32145812,-15.16309072]

qfrc_actuator:
[-1.77358160e-05,-1.95500400e-04,-9.77730055e-05,-4.78650903e-05,
 -3.86015400e-05,-3.79319528e-04,-2.70445865e-04,-4.68303814e-05,
 -4.23098961e-05,-7.06830095e-05,-1.30496385e-04,-1.97338532e-05,
  8.78687204e-03,-1.53242518e-03, 0.00000000e+00,-2.57268540e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003409925833313676
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.22094630e-13,  8.13964203e-14,  1.00000000e+00, -9.93806584e-27,
        1.00000000e+00, -8.13964203e-14, -1.00000000e+00,  0.00000000e+00,
        1.22094630e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09204439, -0.08828099,  0.06199025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.62267527e-05,-6.10311933e-05,-3.40983523e-05, 2.23753111e-05,
 -5.76563907e-07,-1.97114153e-05, 5.05633723e-07,-1.87100506e-05,
 -1.95747613e-05,-4.72113824e-05,-2.36045228e-05, 6.07766697e-06,
 -8.07712810e-05,-5.73922150e-07,-3.55903854e-05, 4.91975547e-05,
 -1.35847519e-06, 1.15924906e-06,-1.21644416e+00,-4.58163790e-04,
  1.45680300e-05,-5.51437671e-04]


--- Step 1213 ---
qpos:
[ 6.21056678e-03,-1.84111436e-03,-4.92800579e-03, 3.35641011e-02,
  4.47629456e-03,-3.72617088e-03,-1.85080045e-02, 2.86092765e-02,
  1.29403768e-02, 3.34041494e-03,-1.00139944e-02, 2.58813654e-02,
  1.26203560e+00, 2.38452505e-05, 9.93582158e-01, 6.39485662e-02,
  9.36678053e-02,-7.02328581e-02, 1.30943552e-01, 4.97184176e-01,
  4.87828385e-01, 5.02050772e-01, 5.12617191e-01]

qacc:
[ -1.73499471,  2.96895681,-13.68807503, 26.08932715,  3.10135211,
  -2.96865412, 15.64761888,-37.37601967,  4.14220146,  1.32015508,
  -3.38708928, -0.32849892, -0.74409444,  1.33167932,-11.02808993,
  37.51174226,  0.07880494,  1.02920461,  0.24441929,  1.80903316,
   0.31635306,-14.94813132]

qfrc_actuator:
[-2.73234584e-05,-1.97344797e-04,-1.29242553e-04,-1.50896854e-05,
 -2.03670494e-05,-3.88141227e-04,-2.68413161e-04,-1.10539598e-04,
 -1.73888817e-05,-4.71379237e-05,-1.56009090e-04,-3.23857745e-05,
  8.76758702e-03,-1.49671244e-03, 0.00000000e+00,-2.39191728e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003391569242729431
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.04592429e-13,  1.63673943e-13,  1.00000000e+00,  3.34864497e-26,
        1.00000000e+00, -1.63673943e-13, -1.00000000e+00,  0.00000000e+00,
       -2.04592429e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09204464, -0.08828143,  0.06199031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00660555e-05,-4.20201062e-05,-4.74834576e-05, 2.94223610e-05,
  1.82119010e-05,-2.05377814e-05,-2.62255985e-06,-6.48995416e-05,
  2.43496107e-05,-7.48670292e-06,-3.79615870e-05,-1.53721674e-05,
 -6.64302914e-05, 1.72359153e-05,-1.41376278e-05, 1.78207553e-04,
 -1.24674623e-06, 7.76118870e-07,-1.21644376e+00,-4.58320371e-04,
  1.33155057e-05,-5.51590571e-04]


--- Step 1214 ---
qpos:
[ 6.20987781e-03,-1.84229668e-03,-4.92916907e-03, 3.35637354e-02,
  4.47540878e-03,-3.72637672e-03,-1.85079087e-02, 2.86071808e-02,
  1.29398568e-02, 3.34117878e-03,-1.00153803e-02, 2.58808672e-02,
  1.26228919e+00, 2.39415865e-05, 9.93817518e-01, 6.39483303e-02,
  9.36881259e-02,-7.02302283e-02, 1.30947911e-01, 4.97109357e-01,
  4.87888001e-01, 5.02143047e-01, 5.12542629e-01]

qacc:
[ -4.04024457,  1.53454939, -6.7350872 , 12.88056039, -4.10009822,
  -0.59458262,  3.91550547,-10.94682029, -0.40246942,  2.33727246,
  -8.2018622 , 11.399148  , -0.65946721,  0.96386232,  6.33223768,
 -21.2703687 ,  0.08087904,  1.0181532 ,  0.13022869,  1.78790496,
   0.30965264,-14.77178591]

qfrc_actuator:
[-5.06192647e-05,-1.62325691e-04,-1.29605407e-04, 4.46807099e-06,
 -4.49769077e-05,-3.75521303e-04,-2.67312708e-04,-1.29586848e-04,
 -2.02820370e-05, 2.28843534e-06,-1.70600652e-04,-2.18025718e-05,
  8.73625150e-03,-1.49335311e-03, 0.00000000e+00,-2.49919443e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033524049756609997
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24189541e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.24189541e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09204479, -0.08828244,  0.06199042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.35909688e-05, 3.02812089e-06,-1.38457122e-05, 1.66937012e-05,
 -2.40939874e-05,-2.17130903e-06,-5.70663633e-06,-2.12780571e-05,
 -2.20168669e-06, 3.67449431e-05,-2.13399627e-05, 8.65113651e-06,
 -6.55508647e-05,-8.11324436e-06, 9.65056346e-06,-1.00000362e-04,
 -1.12830259e-06, 4.89685629e-07,-1.21644366e+00,-4.58494135e-04,
  1.19899445e-05,-5.51650726e-04]


--- Step 1215 ---
qpos:
[ 6.20856992e-03,-1.84336112e-03,-4.93010491e-03, 3.35632200e-02,
  4.47458013e-03,-3.72667390e-03,-1.85081315e-02, 2.86062858e-02,
  1.29393067e-02, 3.34193230e-03,-1.00165723e-02, 2.58811925e-02,
  1.26254234e+00, 2.40910833e-05, 9.94053353e-01, 6.39431441e-02,
  9.37087775e-02,-7.02235618e-02, 1.30952412e-01, 4.97047486e-01,
  4.87934369e-01, 5.02251702e-01, 5.12452022e-01]

qacc:
[-5.43696892e+00,-7.77628601e-01, 3.64887432e+00,-6.70941701e+00,
  4.92354201e-01, 3.23716306e+00,-1.67900786e+01, 3.81474331e+01,
 -2.58507346e-01, 1.13979062e+00,-7.56024088e+00, 2.15100598e+01,
 -6.81088523e-01, 9.36021659e-01, 1.56868361e+01,-5.37583263e+01,
  8.27730653e-02, 1.00916843e+00, 3.51520897e-02, 1.77442173e+00,
  3.01692633e-01,-1.46284479e+01]

qfrc_actuator:
[-8.17987373e-05,-1.40883153e-04,-1.11445041e-04,-1.60422190e-06,
 -4.13550057e-05,-3.85633345e-04,-2.84397571e-04,-6.89195107e-05,
 -2.17841137e-05,-4.10937027e-06,-1.60729351e-04, 2.01601576e-05,
  8.71367451e-03,-1.49148315e-03, 0.00000000e+00,-2.75760166e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003297129550038913
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.41810284e-14,  8.41810284e-14,  1.00000000e+00, -7.08644554e-27,
        1.00000000e+00, -8.41810284e-14, -1.00000000e+00,  0.00000000e+00,
        8.41810284e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09204487, -0.08828389,  0.06199058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.18443055e-05, 2.10423796e-05, 1.76880544e-05,-6.08951542e-06,
  2.93400749e-06,-1.34141865e-05,-1.89655981e-05, 5.99686669e-05,
 -1.55039831e-06, 1.01001051e-05, 1.51402544e-05, 4.29698803e-05,
 -6.25070878e-05,-1.48400182e-05,-1.28699903e-05,-2.64163420e-04,
 -1.00353554e-06, 2.95599363e-07,-1.21644386e+00,-4.58684234e-04,
  1.05910506e-05,-5.51619398e-04]


--- Step 1216 ---
qpos:
[ 6.20724321e-03,-1.84419278e-03,-4.93063695e-03, 3.35632987e-02,
  4.47414578e-03,-3.72678040e-03,-1.85087052e-02, 2.86064357e-02,
  1.29390881e-02, 3.34241680e-03,-1.00177805e-02, 2.58824116e-02,
  1.26279487e+00, 2.48317362e-05, 9.94288653e-01, 6.39385768e-02,
  9.37297673e-02,-7.02128875e-02, 1.30956738e-01, 4.96998457e-01,
  4.87967602e-01, 5.02376609e-01, 5.12345485e-01]

qacc:
[ -0.15635912,  0.4027238 , -3.49731441, 12.96270353,  3.43734227,
   3.37361846,-16.08791424, 34.60379339,  2.92189028,  1.5241931 ,
  -9.73472095, 25.44023338, -0.88420224,  1.57173252, -2.58722727,
   8.06852522,  0.08453744,  1.00196686, -0.04373025,  1.76729551,
   0.29273134,-14.51338106]

qfrc_actuator:
[-8.18592844e-05,-1.09909944e-04,-8.25583214e-05, 3.05536767e-05,
 -2.11320527e-05,-3.56021635e-04,-2.94368162e-04,-1.51288665e-05,
 -4.69459144e-06,-4.37485290e-05,-1.72198855e-04, 6.24661909e-05,
  8.69103925e-03,-1.45494761e-03, 0.00000000e+00,-2.71232238e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032296430894014627
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.29700355e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.29700355e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09204488, -0.08828568,  0.06199077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.54658582e-07, 4.61767219e-05, 3.52283583e-05, 3.35602655e-05,
  2.03003511e-05, 2.07795607e-05,-1.29945742e-05, 5.37296797e-05,
  1.70478288e-05,-2.90386142e-05,-6.02763540e-06, 4.40992092e-05,
 -6.29708928e-05, 1.93562133e-05,-4.10549672e-05, 2.75893946e-05,
 -8.72646737e-07, 1.90367821e-07,-1.21644433e+00,-4.58890302e-04,
  9.11807069e-06,-5.51497640e-04]


--- Step 1217 ---
qpos:
[ 6.20627074e-03,-1.84463404e-03,-4.93114902e-03, 3.35637680e-02,
  4.47361197e-03,-3.72637058e-03,-1.85092371e-02, 2.86061229e-02,
  1.29387308e-02, 3.34304116e-03,-1.00198150e-02, 2.58841328e-02,
  1.26304695e+00, 2.57359597e-05, 9.94522859e-01, 6.39412091e-02,
  9.37511019e-02,-7.01982279e-02, 1.30960628e-01, 4.96962183e-01,
  4.87987792e-01, 5.02517665e-01, 5.12223096e-01]

qacc:
[ 3.10887793e+00, 1.25823420e+00,-5.39656468e+00, 1.18465126e+01,
 -8.78351350e-01,-3.84110172e-01, 4.31663296e+00,-1.27739929e+01,
 -1.24853165e+00, 3.52991791e+00,-1.44329905e+01, 2.43329904e+01,
 -1.89614831e-02,-3.18019000e-02,-2.33418569e+01, 7.93243047e+01,
  8.62108264e-02, 9.96302900e-01,-1.08923783e-01, 1.76547435e+00,
  2.82966946e-01,-1.44225778e+01]

qfrc_actuator:
[-6.36010089e-05,-9.11330338e-05,-8.30083817e-05, 4.94604055e-05,
 -2.68137520e-05,-3.02821156e-04,-2.82157874e-04,-3.67992512e-05,
 -1.23049678e-05,-3.20591521e-05,-2.14092804e-04, 8.68258034e-05,
  8.66840036e-03,-1.45142987e-03, 0.00000000e+00,-2.32864661e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031531698427696153
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.76048719e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.76048719e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09204484, -0.08828772,  0.06199099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.82475968e-05, 5.33543544e-05, 1.46056629e-05, 2.27606774e-05,
 -5.09627380e-06, 6.44562378e-05, 1.67676014e-05,-2.01834877e-05,
 -7.13723935e-06,-3.90530408e-06,-4.71039846e-05, 2.37630032e-05,
 -5.49699057e-05,-6.37395122e-06,-1.87895668e-05, 3.79275209e-04,
 -7.35697298e-07, 1.71183755e-07,-1.21644508e+00,-4.59112346e-04,
  7.56991463e-06,-5.51286324e-04]


--- Step 1218 ---
qpos:
[ 6.20552484e-03,-1.84482931e-03,-4.93185758e-03, 3.35644944e-02,
  4.47335936e-03,-3.72555254e-03,-1.85095647e-02, 2.86048644e-02,
  1.29382851e-02, 3.34391180e-03,-1.00224208e-02, 2.58857557e-02,
  1.26329898e+00, 2.55781550e-05, 9.94757203e-01, 6.39456742e-02,
  9.37727878e-02,-7.01796005e-02, 1.30963867e-01, 4.96938593e-01,
  4.87995015e-01, 5.02674790e-01, 5.12084910e-01]

qacc:
[  1.98188801,  1.40002023, -5.61202568, 10.20156171,  2.46003697,
  -1.98080238, 11.83127806,-28.81623636, -0.8002519 ,  1.72122944,
  -5.24729751,  4.2756128 ,  0.91439346, -2.2162256 , -5.41257273,
  19.0352299 ,  0.08782271,  0.99196427, -0.1625775 ,  1.76809719,
   0.27255103,-14.35264442]

qfrc_actuator:
[-5.24695952e-05,-9.76772485e-05,-1.00838210e-04, 6.03824096e-05,
 -1.21969329e-05,-2.89127218e-04,-2.74643955e-04,-8.49040264e-05,
 -1.66450683e-05,-7.62654805e-06,-2.37919544e-04, 8.26993189e-05,
  8.65109210e-03,-1.52078959e-03, 0.00000000e+00,-2.24583480e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003070361524545179
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.03983957e-14, -1.80796791e-13,  1.00000000e+00,  1.63437399e-26,
        1.00000000e+00,  1.80796791e-13, -1.00000000e+00,  0.00000000e+00,
        9.03983957e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09204477, -0.08828994,  0.06199122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16691666e-05, 2.73146563e-05,-4.21192438e-06, 1.41571462e-05,
  1.44938990e-05, 5.23263696e-05, 2.21969665e-05,-4.51539227e-05,
 -4.54309109e-06, 1.35308520e-05,-2.96005204e-05,-5.46169123e-06,
 -5.00402142e-05,-8.35810354e-05, 3.14318943e-05, 1.01043716e-04,
 -5.92644153e-07, 2.35785054e-07,-1.21644609e+00,-4.59350670e-04,
  5.94524323e-06,-5.50986168e-04]


--- Step 1219 ---
qpos:
[ 6.20560826e-03,-1.84484669e-03,-4.93247310e-03, 3.35656806e-02,
  4.47362917e-03,-3.72479094e-03,-1.85096389e-02, 2.86041323e-02,
  1.29384806e-02, 3.34519578e-03,-1.00253561e-02, 2.58858964e-02,
  1.26355074e+00, 2.46524443e-05, 9.94992159e-01, 6.39471158e-02,
  9.37906289e-02,-7.01688461e-02, 1.30966571e-01, 4.96902480e-01,
  4.88012287e-01, 5.02788701e-01, 5.11991656e-01]

qacc:
[  7.29229815,  0.90742858, -4.85959155, 12.56224764,  4.58145466,
   0.29091418, -3.38397088, 12.14744394,  5.62357867, -1.59480459,
  12.71853974,-38.12885526,  0.20375989, -0.9796603 ,  9.99821499,
 -33.7392514 , -0.96121055, -1.96824216, -0.13399536,-16.80559221,
   0.80060379, 27.44025003]

qfrc_actuator:
[-1.01230599e-05,-8.39206287e-05,-9.33821530e-05, 8.42433852e-05,
  1.42581045e-05,-3.16988263e-04,-2.70127168e-04,-5.94381762e-05,
  1.64874554e-05, 2.42896174e-05,-2.50830558e-04, 8.62267462e-06,
  8.62631054e-03,-1.56170508e-03, 0.00000000e+00,-2.41206505e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003024802944647659
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.67039786e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.67039786e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10909295, -0.03371364,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.26886435e-05, 2.87879729e-05, 1.30786086e-05, 2.51613045e-05,
  2.68883062e-05, 4.03145473e-06, 1.64933108e-05, 2.75987011e-05,
  3.30100063e-05, 3.31265833e-05,-1.39345730e-05,-7.46269387e-05,
 -7.26944220e-05,-7.10350978e-05, 2.00200084e-05,-1.57904029e-04,
 -4.43366990e-07, 3.82341102e-07,-1.21644738e+00,-4.59605815e-04,
  4.24253263e-06,-5.50597754e-04]


--- Step 1220 ---
qpos:
[ 6.20585370e-03,-1.84474253e-03,-4.93266214e-03, 3.35667819e-02,
  4.47421423e-03,-3.72426340e-03,-1.85092835e-02, 2.86044127e-02,
  1.29394166e-02, 3.34665823e-03,-1.00278324e-02, 2.58851234e-02,
  1.26380201e+00, 2.32611508e-05, 9.95227197e-01, 6.39465899e-02,
  9.38046748e-02,-7.01658027e-02, 1.30967989e-01, 4.96853866e-01,
  4.88039423e-01, 5.02860466e-01, 5.11942486e-01]

qacc:
[  1.43592713, -1.20903095,  4.8969407 , -7.13057728,  2.77723685,
   0.56798251, -6.75965936, 23.78069116,  6.52791107, -2.94026428,
  14.66164443,-31.31550857, -0.10257129, -0.35840692,  6.05310596,
 -21.0150285 , -0.94878823, -1.92775613, -0.3212562 ,-16.37059199,
   0.90304549, 26.91675639]

qfrc_actuator:
[-2.99873599e-06,-7.57664441e-05,-7.09655099e-05, 8.00570232e-05,
  2.97097557e-05,-3.33975668e-04,-2.49786919e-04,-8.67638796e-06,
  5.36567407e-05, 4.26777209e-05,-2.21700052e-04,-3.49902596e-05,
  8.59706803e-03,-1.58542334e-03, 0.00000000e+00,-2.51056574e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57256123, -0.04224934, -4.57236604, -0.04224934, 14.43880307,
       -0.09116554, -4.57236604, -0.09116554,  4.57340362,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003095335276308703
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.96690443e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.96690443e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10909001, -0.03371682,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.34701795e-06, 2.80522275e-05, 3.08475647e-05,-2.01357291e-06,
  1.62193181e-05,-1.01593285e-05, 2.41520748e-05, 5.20413424e-05,
  3.81234278e-05, 3.08358750e-05, 3.16925859e-05,-4.41257948e-05,
 -8.79462200e-05,-5.60030526e-05,-1.50796917e-05,-1.06294466e-04,
 -5.13623300e-07, 2.62288536e-07,-1.21644391e+00,-4.60419409e-04,
  7.21767018e-06,-5.50349796e-04]


--- Step 1221 ---
qpos:
[ 6.20583853e-03,-1.84510686e-03,-4.93225588e-03, 3.35675440e-02,
  4.47429032e-03,-3.72386880e-03,-1.85086352e-02, 2.86046052e-02,
  1.29401010e-02, 3.34850797e-03,-1.00298250e-02, 2.58848401e-02,
  1.26405277e+00, 2.15562091e-05, 9.95461710e-01, 6.39482121e-02,
  9.38149685e-02,-7.01703359e-02, 1.30967492e-01, 4.96792775e-01,
  4.88076268e-01, 5.02890961e-01, 5.11936691e-01]

qacc:
[-2.26488263e+00,-2.97729595e+00, 1.11561877e+01,-1.76395616e+01,
 -4.44324814e+00,-1.16579675e+00, 4.28864941e+00,-6.19775933e+00,
 -2.20507466e+00, 1.72395772e-01,-1.93230774e+00, 9.34166556e+00,
  7.73563550e-03,-4.37963500e-01,-7.26687021e+00, 2.42764409e+01,
 -9.38053938e-01,-1.89416048e+00,-4.78894972e-01,-1.60126674e+01,
  9.83282979e-01, 2.64808463e+01]

qfrc_actuator:
[-1.66721633e-05,-1.41999041e-04,-5.76957909e-05, 5.94029739e-05,
  3.05230540e-06,-3.44238694e-04,-2.37982632e-04,-1.44443113e-05,
  3.96342906e-05, 8.85237858e-05,-1.85753951e-04,-7.04273050e-06,
  8.57582819e-03,-1.59881844e-03, 0.00000000e+00,-2.39074904e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58424403, -0.18619155,  4.58046134, -0.18619155, 48.8488118 ,
        1.79931407,  4.58046134,  1.79931407,  4.6573845 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003129016343210722
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.87038372e-14, -8.87038372e-14,  1.00000000e+00,  7.86837073e-27,
        1.00000000e+00,  8.87038372e-14, -1.00000000e+00,  0.00000000e+00,
        8.87038372e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10908819, -0.03371819,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.34278184e-05,-4.42617249e-05, 2.27919458e-05,-1.84265223e-05,
 -2.62008268e-05,-8.74348406e-06, 1.44700060e-05,-4.35808459e-06,
 -1.29260870e-05, 6.77391990e-05, 4.47054963e-05, 2.95094001e-05,
 -8.55025155e-05,-4.57640992e-05,-2.36167773e-05, 1.10836599e-04,
 -4.46330483e-07, 2.87898025e-07,-1.21644179e+00,-4.61297215e-04,
  9.24107630e-06,-5.50342783e-04]


--- Step 1222 ---
qpos:
[ 6.20565979e-03,-1.84597609e-03,-4.93157103e-03, 3.35677353e-02,
  4.47370138e-03,-3.72326817e-03,-1.85085327e-02, 2.86047421e-02,
  1.29402674e-02, 3.35097993e-03,-1.00314683e-02, 2.58848718e-02,
  1.26430276e+00, 2.04914512e-05, 9.95695887e-01, 6.39525458e-02,
  9.38215467e-02,-7.01823347e-02, 1.30964549e-01, 4.96719230e-01,
  4.88122692e-01, 5.02880901e-01, 5.11973675e-01]

qacc:
[ -1.42119038, -2.61855239, 10.78184055,-20.73602019, -5.84100476,
   1.69356748, -5.38936543,  5.12643488, -4.55871589,  0.50316378,
  -1.91544012,  6.33387386, -0.93803647,  1.62543331, -8.6049218 ,
  29.56089135, -0.92885932, -1.86637977, -0.61150132,-15.7191005 ,
   1.04588462, 26.11987147]

qfrc_actuator:
[-2.47137883e-05,-1.81311782e-04,-5.02536367e-05, 2.91565988e-05,
 -3.04198429e-05,-3.32721954e-04,-2.66840346e-04,-1.79292445e-05,
  1.33453686e-05, 1.32811788e-04,-1.63679453e-04, 9.54528355e-06,
  8.55408443e-03,-1.55272743e-03, 0.00000000e+00,-2.24978614e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58565706, -0.44077264,  4.5644244 , -0.44077264, 43.8979428 ,
        3.79626835,  4.5644244 ,  3.79626835,  4.95225119,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003133054979679861
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.85894943e-14,  1.77178989e-13,  1.00000000e+00, -1.56961970e-26,
        1.00000000e+00, -1.77178989e-13, -1.00000000e+00,  0.00000000e+00,
        8.85894943e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10908727, -0.03371809,  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:
[-8.43842985e-06,-6.01437198e-05, 4.67237125e-07,-3.17143204e-05,
 -3.42240380e-05, 9.39793630e-06,-2.90436644e-05,-3.44544976e-06,
 -2.66317750e-05, 9.26218697e-05, 4.25979679e-05, 2.16137148e-05,
 -8.18478971e-05, 1.63760657e-05,-1.86382674e-06, 1.43336944e-04,
 -2.43582242e-07, 4.48832833e-07,-1.21644093e+00,-4.62255263e-04,
  1.03800569e-05,-5.50577845e-04]


--- Step 1223 ---
qpos:
[ 6.20573046e-03,-1.84670245e-03,-4.93111618e-03, 3.35682052e-02,
  4.47340530e-03,-3.72236637e-03,-1.85088421e-02, 2.86044693e-02,
  1.29404631e-02, 3.35311825e-03,-1.00323474e-02, 2.58848517e-02,
  1.26455201e+00, 2.02237274e-05, 9.95930539e-01, 6.39541638e-02,
  9.38244408e-02,-7.02017075e-02, 1.30958715e-01, 4.96633247e-01,
  4.88178582e-01, 5.02830861e-01, 5.12052942e-01]

qacc:
[  2.18343887,  1.40099572, -5.90408912, 10.99351421,  2.54481947,
   0.7006097 , -0.19897325, -6.44670762,  0.2882665 , -2.68362561,
   9.14629465,-11.0163652 , -1.37455739,  2.44063021,  9.00654266,
 -30.23690798, -0.92105699, -1.84350414, -0.72297906,-15.47944156,
   1.09440567, 25.82313756]

qfrc_actuator:
[-1.16164890e-05,-1.33238259e-04,-4.62294494e-05, 4.67799264e-05,
 -1.43632816e-05,-3.08423144e-04,-2.83868492e-04,-3.77942669e-05,
  1.55689710e-05, 5.15066808e-05,-1.49987093e-04, 1.54379848e-06,
  8.52675482e-03,-1.50727840e-03, 0.00000000e+00,-2.39935305e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57883092, -0.73221971,  4.51990563, -0.73221971, 40.74170484,
        5.85834554,  4.51990563,  5.85834554,  5.52787641,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031134752692574263
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.45733035e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.45733035e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10908706, -0.03371683,  0.0619911 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28396960e-05, 1.31988723e-05,-9.43688075e-06, 1.44453849e-05,
  1.50835358e-05, 2.33721210e-05,-1.87910347e-05,-2.05347278e-05,
  1.50285684e-06,-1.98641578e-05, 3.88108441e-05,-2.13844122e-06,
 -7.05227480e-05, 3.01648978e-05, 1.04273190e-05,-1.42885600e-04,
  9.29360170e-08, 7.37916053e-07,-1.21644128e+00,-4.63304818e-04,
  1.06861543e-05,-5.51055294e-04]


--- Step 1224 ---
qpos:
[ 6.20664727e-03,-1.84716221e-03,-4.93074832e-03, 3.35692007e-02,
  4.47330370e-03,-3.72137131e-03,-1.85087542e-02, 2.86039306e-02,
  1.29406841e-02, 3.35460335e-03,-1.00327800e-02, 2.58848014e-02,
  1.26480085e+00, 1.99466792e-05, 9.96165423e-01, 6.39523230e-02,
  9.38244170e-02,-7.02163366e-02, 1.30955785e-01, 4.96573909e-01,
  4.88210044e-01, 5.02788210e-01, 5.12122370e-01]

qacc:
[  7.43306357,  1.66324679, -7.66264484, 16.72731979,  1.71280382,
  -1.53632974,  6.7740227 ,-12.07231546,  0.24825385, -2.17394636,
   6.62548933, -7.38066481, -0.50680391,  0.63039269, 10.81407648,
 -37.2612508 , -0.72943556,  1.18589772,  0.72623236, -8.20428113,
  -1.01135807,-17.21049257]

qfrc_actuator:
[ 3.15692462e-05,-1.04189329e-04,-4.38588738e-05, 7.47514935e-05,
 -4.78662821e-06,-2.94385281e-04,-2.58209249e-04,-4.93583247e-05,
  1.68072263e-05,-1.56841634e-05,-1.41878532e-04,-3.21800101e-06,
  8.50142379e-03,-1.51588538e-03, 0.00000000e+00,-2.57687412e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60044749,  0.45946498,  4.57744569,  0.45946498, 45.27950211,
       -4.08319449,  4.57744569, -4.08319449,  5.01030159,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031748863497514657
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.91750241e-14, -1.74844530e-13,  1.00000000e+00,  8.59798399e-27,
        1.00000000e+00,  1.74844530e-13, -1.00000000e+00,  0.00000000e+00,
        4.91750241e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10276646, -0.08989437,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.35569369e-05, 3.51237096e-05, 4.43603918e-06, 2.84907994e-05,
  1.00172891e-05, 2.23228518e-05, 2.74546182e-05,-1.16136153e-05,
  1.27841271e-06,-7.04397044e-05, 8.69722759e-06,-4.31457610e-06,
 -5.92466088e-05,-1.79709411e-05,-1.78315076e-05,-1.85687677e-04,
  5.62032068e-07, 1.15054253e-06,-1.21644277e+00,-4.64453763e-04,
  1.01984873e-05,-5.51774971e-04]


--- Step 1225 ---
qpos:
[ 6.20772963e-03,-1.84728777e-03,-4.93034111e-03, 3.35694696e-02,
  4.47331781e-03,-3.72013923e-03,-1.85090301e-02, 2.86043275e-02,
  1.29412631e-02, 3.35575213e-03,-1.00331872e-02, 2.58846836e-02,
  1.26504943e+00, 1.90638480e-05, 9.96399731e-01, 6.39520293e-02,
  9.38215929e-02,-7.02263251e-02, 1.30954924e-01, 4.96540772e-01,
  4.88217283e-01, 5.02752718e-01, 5.12182438e-01]

qacc:
[  1.4506602 , -1.16715674,  7.86448177,-20.74141473,  0.9978452 ,
   3.2507071 ,-15.09092845, 31.69251246,  3.15677645, -0.66016833,
   1.98282501, -2.93061165,  0.40033186, -1.1648277 , -5.56130455,
  18.1236553 , -0.70010492,  1.16018337,  0.51731895, -8.22361668,
  -0.89178034,-16.8702097 ]

qfrc_actuator:
[ 3.88536386e-05,-8.67360240e-05,-4.25314757e-05, 3.75629948e-05,
  8.83315606e-07,-2.86416551e-04,-2.78592497e-04,-2.66386314e-06,
  3.51991911e-05,-2.06955061e-05,-1.37108269e-04,-6.03679304e-06,
  8.47728886e-03,-1.55643842e-03, 0.00000000e+00,-2.48529620e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.62500643, -0.22628798,  4.61946731, -0.22628798, 16.78149098,
        0.59549428,  4.61946731,  0.59549428,  4.65417715,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003242630831016141
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.09455952e-14, -1.71191709e-13,  1.00000000e+00,  1.55691318e-26,
        1.00000000e+00,  1.71191709e-13, -1.00000000e+00,  0.00000000e+00,
        9.09455952e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1027679 , -0.08989256,  0.06199073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.53462649e-06, 3.92543702e-05, 1.01110052e-05,-3.49794225e-05,
  5.96325616e-06, 2.55922272e-05,-1.28042327e-05, 4.83734202e-05,
  1.84077807e-05,-4.28374524e-05,-8.87004582e-06,-5.62272142e-06,
 -6.31881587e-05,-5.77311009e-05,-3.38888607e-05, 7.77782265e-05,
  4.69357723e-07, 5.20314731e-07,-1.21644152e+00,-4.63602261e-04,
  9.79572206e-06,-5.52255071e-04]


--- Step 1226 ---
qpos:
[ 6.20820156e-03,-1.84731357e-03,-4.92984093e-03, 3.35696629e-02,
  4.47339977e-03,-3.71845966e-03,-1.85102224e-02, 2.86056376e-02,
  1.29417131e-02, 3.35674858e-03,-1.00339071e-02, 2.58845326e-02,
  1.26529741e+00, 1.83157327e-05, 9.96633569e-01, 6.39547790e-02,
  9.38160628e-02,-7.02317583e-02, 1.30955430e-01, 4.96533462e-01,
  4.88200482e-01, 5.02724197e-01, 5.12233533e-01]

qacc:
[ -5.36623858, -0.27311765,  1.50210116, -3.05107528,  0.55801461,
   5.02741217,-20.92680926, 37.86818299, -1.14315814,  0.60606975,
  -2.30851842,  2.33945464, -0.37556414,  0.44762114, -9.85328022,
  33.52567481, -0.67649651,  1.13880559,  0.3416652 , -8.23206883,
  -0.79567779,-16.58633598]

qfrc_actuator:
[ 7.18674040e-06,-9.41669764e-05,-4.19215345e-05, 3.33309425e-05,
  4.21021180e-06,-2.64517722e-04,-3.25999135e-04, 4.23853505e-05,
  2.80353366e-05,-2.39600344e-05,-1.51851038e-04,-7.64053781e-06,
  8.44854743e-03,-1.54454837e-03, 0.00000000e+00,-2.32464450e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6364121 , -0.32725857,  4.62484799, -0.32725857, 24.0832679 ,
        1.37607772,  4.62484799,  1.37607772,  4.73378464,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003273398175076686
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54373964e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.54373964e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10276935, -0.0898918 ,  0.06199064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.14095577e-05, 1.51087891e-05, 8.74822262e-06,-2.88270515e-06,
  3.50467159e-06, 3.55978814e-05,-4.20363229e-05, 4.66410808e-05,
 -6.65204615e-06,-2.93209702e-05,-2.48870633e-05,-3.85790191e-06,
 -7.89609995e-05,-1.51994353e-05,-9.56513992e-06, 1.60016327e-04,
  3.16459533e-07, 9.23270689e-08,-1.21644074e+00,-4.62834400e-04,
  9.68760581e-06,-5.52595202e-04]


--- Step 1227 ---
qpos:
[ 6.20898049e-03,-1.84741959e-03,-4.92955157e-03, 3.35705394e-02,
  4.47352116e-03,-3.71657750e-03,-1.85118302e-02, 2.86060932e-02,
  1.29413841e-02, 3.35736417e-03,-1.00344625e-02, 2.58847051e-02,
  1.26554469e+00, 1.82238309e-05, 9.96867716e-01, 6.39560524e-02,
  9.38079024e-02,-7.02327070e-02, 1.30956713e-01, 4.96551662e-01,
  4.88159798e-01, 5.02702490e-01, 5.12275966e-01]

qacc:
[  2.69456948,  1.88472029, -9.76647901, 21.99394957,  0.32805121,
  -0.32989395,  5.17264189,-19.44717454, -6.84275507, -0.28372678,
  -1.06163548,  6.65338518, -1.14973469,  2.00219516,  5.00339033,
 -16.62842569, -0.65756005,  1.12112003,  0.194256  , -8.23401488,
  -0.71801214,-16.35073106]

qfrc_actuator:
[ 2.38693521e-05,-1.16427703e-04,-5.95640519e-05, 6.62649878e-05,
  6.13285754e-06,-2.70071375e-04,-3.53416290e-04,-2.66765087e-06,
 -1.18707714e-05,-4.39785726e-05,-1.42468530e-04, 9.23024845e-06,
  8.42773387e-03,-1.50169067e-03, 0.00000000e+00,-2.40870563e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.63680583, -0.46114475,  4.6138177 , -0.46114475, 39.86744406,
        3.52125396,  4.6138177 ,  3.52125396,  4.98875033,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000327445267160581
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.47640152e-14,  8.47640152e-14,  1.00000000e+00,  7.18493828e-27,
        1.00000000e+00, -8.47640152e-14, -1.00000000e+00,  0.00000000e+00,
       -8.47640152e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10277081, -0.08989188,  0.06199064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57941117e-05,-1.21460338e-05,-1.35490316e-05, 3.38277804e-05,
  2.03493464e-06, 7.61991211e-06,-2.36374025e-05,-4.40784117e-05,
 -4.01017698e-05,-4.17492929e-05, 1.24831910e-07, 1.46781403e-05,
 -6.97413889e-05, 2.12693596e-05, 9.46985283e-06,-7.72761647e-05,
  9.95720072e-08,-1.44289686e-07,-1.21644042e+00,-4.62129190e-04,
  9.86787022e-06,-5.52800245e-04]


--- Step 1228 ---
qpos:
[ 6.21029788e-03,-1.84750265e-03,-4.92948602e-03, 3.35714463e-02,
  4.47400996e-03,-3.71502611e-03,-1.85132435e-02, 2.86056872e-02,
  1.29405792e-02, 3.35770112e-03,-1.00343598e-02, 2.58846850e-02,
  1.26579157e+00, 1.85411105e-05, 9.97101753e-01, 6.39573272e-02,
  9.37971723e-02,-7.02292295e-02, 1.30958279e-01, 4.96595109e-01,
  4.88095363e-01, 5.02687469e-01, 5.12309988e-01]

qacc:
[  4.72718027,  0.70942385, -2.62985381,  3.51467468,  3.22686448,
  -2.75812445, 12.82785975,-27.79381307, -4.16245752, -2.59590097,
   9.54857757,-13.74297112, -0.63502247,  1.12742886, -0.11729574,
   0.29078189, -0.6424454 ,  1.10657957,  0.07081866, -8.23267038,
  -0.6547959 ,-16.15651997]

qfrc_actuator:
[ 5.11357769e-05,-1.11940981e-04,-7.01388114e-05, 6.75122735e-05,
  2.49668663e-05,-3.09783249e-04,-3.51221533e-04,-4.71215529e-05,
 -3.52154700e-05,-3.82547732e-05,-1.01210281e-04, 1.33699172e-06,
  8.42235816e-03,-1.47633301e-03, 0.00000000e+00,-2.40550803e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.62841881,  0.63922486, -4.58406504,  0.63922486, 39.9507624 ,
        4.9255235 , -4.58406504,  4.9255235 ,  5.31525834,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000325188091637868
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.53523740e-14,  8.53523740e-14,  1.00000000e+00,  7.28502775e-27,
        1.00000000e+00, -8.53523740e-14, -1.00000000e+00,  0.00000000e+00,
       -8.53523740e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10277228, -0.08989263,  0.06199071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.77102646e-05,-3.65307685e-06,-1.35875857e-05, 9.13227092e-07,
  1.88975859e-05,-4.22720548e-05,-6.72526900e-07,-4.58047898e-05,
 -2.44977661e-05,-1.69990519e-05, 3.31578282e-05,-9.39132828e-06,
 -4.07718474e-05, 1.41384634e-05,-1.05145434e-05,-1.33003130e-06,
 -1.83834996e-07,-1.98161296e-07,-1.21644054e+00,-4.61470887e-04,
  1.03311470e-05,-5.52874073e-04]


--- Step 1229 ---
qpos:
[ 6.21158689e-03,-1.84748509e-03,-4.92932514e-03, 3.35723288e-02,
  4.47472081e-03,-3.71394406e-03,-1.85142826e-02, 2.86051027e-02,
  1.29398449e-02, 3.35842844e-03,-1.00340326e-02, 2.58841679e-02,
  1.26603805e+00, 1.94206779e-05, 9.97335938e-01, 6.39565969e-02,
  9.37839203e-02,-7.02213730e-02, 1.30959716e-01, 4.96663582e-01,
  4.88007281e-01, 5.02679028e-01, 5.12335802e-01]

qacc:
[ -0.24834815, -0.18348905,  0.95150764, -1.60320093,  1.96311737,
  -2.03570492,  7.10585281,-10.43961991,  0.62119896, -1.13546459,
   6.89327016,-16.1375541 , -0.87029032,  1.61225033,  6.34088247,
 -21.70177896, -0.63046325,  1.0947188 , -0.03229652, -8.23036027,
  -0.60287096,-15.99787473]

qfrc_actuator:
[ 4.88929648e-05,-9.14768634e-05,-5.86229785e-05, 6.78795817e-05,
  3.58513054e-05,-3.34032469e-04,-3.31703469e-04,-5.53619274e-05,
 -3.08621604e-05, 1.84697937e-05,-7.68913476e-05,-2.10280154e-05,
  8.41026739e-03,-1.44373820e-03, 0.00000000e+00,-2.51061599e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032107675693580917
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.64452970e-14, -8.64452970e-14,  1.00000000e+00,  7.47278937e-27,
        1.00000000e+00,  8.64452970e-14, -1.00000000e+00,  0.00000000e+00,
        8.64452970e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10277376, -0.0898939 ,  0.06199082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45567391e-06, 1.56594201e-05, 9.11502973e-06,-2.44975497e-07,
  1.14114344e-05,-5.00218163e-05, 9.11743838e-06,-1.09668494e-05,
  3.65161244e-06, 5.36408710e-05, 2.45617849e-05,-2.21290381e-05,
 -3.25434347e-05, 2.65945242e-05,-9.45304079e-06,-1.07570007e-04,
 -5.35460934e-07,-7.61059095e-08,-1.21644108e+00,-4.60847617e-04,
  1.10730645e-05,-5.52819752e-04]


--- Step 1230 ---
qpos:
[ 6.21318414e-03,-1.84729788e-03,-4.92905167e-03, 3.35728527e-02,
  4.47521180e-03,-3.71322973e-03,-1.85151060e-02, 2.86044216e-02,
  1.29395132e-02, 3.35963626e-03,-1.00340419e-02, 2.58834137e-02,
  1.26628408e+00, 2.10051187e-05, 9.97570334e-01, 6.39522555e-02,
  9.37681841e-02,-7.02091760e-02, 1.30960680e-01, 4.96756903e-01,
  4.87895637e-01, 5.02677080e-01, 5.12353571e-01]

qacc:
[  2.71075117, -0.83393559,  4.80277682,-11.30126664, -1.91128362,
  -1.2829185 ,  4.28343701, -6.03461705,  3.52446529,  1.08032206,
  -1.94059715, -1.96884666, -1.11630285,  2.07973014, 11.29986397,
 -38.87301932, -0.62105378,  1.08514135, -0.11821204, -8.22873239,
  -0.55973429,-15.86984183]

qfrc_actuator:
[ 6.48013396e-05,-7.92657838e-05,-5.18350236e-05, 5.00090842e-05,
  2.42117615e-05,-3.48733218e-04,-3.19801451e-04,-5.99652554e-05,
 -1.02461692e-05, 3.42267570e-05,-9.80707991e-05,-3.39420452e-05,
  8.38883516e-03,-1.40711789e-03, 0.00000000e+00,-2.69645411e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003155345543633947
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.51854657e-13,  1.86922787e-13,  1.00000000e+00, -6.57696530e-26,
        1.00000000e+00, -1.86922787e-13, -1.00000000e+00,  0.00000000e+00,
        3.51854657e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10277524, -0.08989557,  0.06199098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58716964e-05, 2.28312149e-05, 1.11315015e-05,-1.68914235e-05,
 -1.13309429e-05,-4.12813993e-05, 2.31386214e-06,-6.64424780e-06,
  2.07409220e-05, 4.98484135e-05,-7.85166418e-06,-1.01975840e-05,
 -3.44537068e-05, 3.54048145e-05,-2.13642209e-05,-1.94214805e-04,
 -9.56458200e-07, 2.16511991e-07,-1.21644203e+00,-4.60250354e-04,
  1.20902644e-05,-5.52639699e-04]


--- Step 1231 ---
qpos:
[ 6.21495986e-03,-1.84720672e-03,-4.92887250e-03, 3.35735526e-02,
  4.47521466e-03,-3.71296434e-03,-1.85152169e-02, 2.86043570e-02,
  1.29394316e-02, 3.36101075e-03,-1.00341784e-02, 2.58825369e-02,
  1.26652994e+00, 2.25038372e-05, 9.97803845e-01, 6.39517199e-02,
  9.37499929e-02,-7.01926689e-02, 1.30960886e-01, 4.96874923e-01,
  4.87760487e-01, 5.02681552e-01, 5.12363421e-01]

qacc:
[  1.56805576,  0.4959978 , -2.70090507,  5.97381176, -4.24188159,
  -1.30726504,  1.21157059,  8.63393669,  2.19300466,  0.31933343,
  -0.30922289, -1.72194914,  0.1883908 , -0.4276428 ,-12.8100445 ,
  42.88057248, -0.61376167,  1.07750951, -0.18960141, -8.22892449,
  -0.52340066,-15.76820382]

qfrc_actuator:
[ 7.35225183e-05,-1.07621076e-04,-6.56918227e-05, 5.70449569e-05,
 -5.89077348e-07,-3.57618765e-04,-2.76955022e-04,-2.68916614e-05,
  2.01447917e-06, 2.51568843e-05,-1.10572799e-04,-4.12463943e-05,
  8.37246842e-03,-1.42170766e-03, 0.00000000e+00,-2.48450627e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003089124544049804
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.61558283e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.61558283e-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([ 0.10277672, -0.08989755,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.17970255e-06,-1.40230137e-05,-8.36292528e-06, 8.06744036e-06,
 -2.51387314e-05,-3.17955170e-05, 3.43780361e-05, 3.12574641e-05,
  1.28717076e-05, 1.67110089e-05,-3.53861062e-06,-5.64018582e-06,
 -2.87440903e-05,-1.41448173e-05,-3.63590501e-05, 1.97252790e-04,
 -1.44762902e-06, 6.75493350e-07,-1.21644340e+00,-4.59672171e-04,
  1.33803705e-05,-5.52335812e-04]


--- Step 1232 ---
qpos:
[ 6.21648153e-03,-1.84721126e-03,-4.92909634e-03, 3.35740082e-02,
  4.47491987e-03,-3.71278693e-03,-1.85149328e-02, 2.86046640e-02,
  1.29394978e-02, 3.36249471e-03,-1.00341761e-02, 2.58819139e-02,
  1.26677567e+00, 2.35930803e-05, 9.98037011e-01, 6.39543175e-02,
  9.37321175e-02,-7.01720628e-02, 1.30961232e-01, 4.97005734e-01,
  4.87612337e-01, 5.02702399e-01, 5.12357108e-01]

qacc:
[ -2.24502376,  0.50137481, -0.9320595 , -2.58994856, -2.59094577,
  -0.45034747, -0.12308178,  5.97750931,  1.30378001,  0.27636594,
  -1.85124276,  5.94485398,  0.42854554, -1.01162599,-10.00204298,
  34.16635572,  0.07897092,  1.02476676,  0.03484933,  1.90878069,
   0.24191409,-14.55288687]

qfrc_actuator:
[ 6.01852220e-05,-1.24613083e-04,-9.17736211e-05, 4.31282608e-05,
 -1.51778407e-05,-3.45034247e-04,-2.51630352e-04,-7.39151776e-06,
  9.25352800e-06, 3.68177826e-05,-1.00190449e-04,-2.74521853e-05,
  8.35913298e-03,-1.44876221e-03, 0.00000000e+00,-2.32390166e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003039330181064115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.13213569e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.13213569e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.092063  , -0.08829781,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30817969e-05,-2.62249482e-05,-2.97362622e-05,-1.46528329e-05,
 -1.53206383e-05, 3.22800924e-06, 2.40728767e-05, 1.99362267e-05,
  7.61498824e-06, 1.99911497e-05, 1.31900922e-05, 1.42767831e-05,
 -3.33338741e-05,-3.66041530e-05, 3.45343923e-06, 1.66507399e-04,
 -2.00956049e-06, 1.29756929e-06,-1.21644516e+00,-4.59107669e-04,
  1.49419287e-05,-5.51909582e-04]


--- Step 1233 ---
qpos:
[ 6.21748641e-03,-1.84702320e-03,-4.92972880e-03, 3.35732210e-02,
  4.47514222e-03,-3.71279066e-03,-1.85145364e-02, 2.86048885e-02,
  1.29393054e-02, 3.36418565e-03,-1.00338116e-02, 2.58814323e-02,
  1.26702114e+00, 2.44133881e-05, 9.98270552e-01, 6.39554586e-02,
  9.37104397e-02,-7.01591113e-02, 1.30960156e-01, 4.97123987e-01,
  4.87474003e-01, 5.02681169e-01, 5.12394849e-01]

qacc:
[ -4.56096821, -1.1532828 ,  9.74313933,-30.75572884,  4.53268508,
  -0.73107651,  2.59183975, -4.0462831 , -2.26801145, -0.44299794,
   1.38677371,  0.32222168, -0.09127054, -0.15485128,  4.94749876,
 -16.50768006, -0.95061264, -1.91365023, -0.3551158 ,-16.35183732,
   0.92597747, 26.89019124]

qfrc_actuator:
[ 3.39739737e-05,-9.92437891e-05,-1.07091363e-04,-1.85153162e-05,
  1.18706690e-05,-3.73006985e-04,-2.54538839e-04,-1.37897481e-05,
 -4.27087290e-06, 6.09076965e-05,-7.62926439e-05,-1.90786792e-05,
  8.33696590e-03,-1.46518496e-03, 0.00000000e+00,-2.40798408e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003017130242935623
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.75979889e-13,  9.19932962e-14,  1.00000000e+00, -2.53882996e-26,
        1.00000000e+00, -9.19932962e-14, -1.00000000e+00,  0.00000000e+00,
        2.75979889e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1090782 , -0.03371013,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.65903981e-05, 3.92612543e-06,-2.49037188e-05,-6.40816476e-05,
  2.66101993e-05,-2.03567721e-05, 1.40795049e-06,-5.04003405e-06,
 -1.32976262e-05, 3.85559814e-05, 3.01296519e-05, 9.96222341e-06,
 -4.96629230e-05,-3.22290756e-05, 1.61655101e-05,-7.52927574e-05,
 -2.22358853e-06, 1.90561981e-06,-1.21644635e+00,-4.58490701e-04,
  1.58080134e-05,-5.51373952e-04]


--- Step 1234 ---
qpos:
[ 6.21851407e-03,-1.84658296e-03,-4.93036638e-03, 3.35716649e-02,
  4.47534237e-03,-3.71345048e-03,-1.85138849e-02, 2.86043965e-02,
  1.29386079e-02, 3.36567676e-03,-1.00329376e-02, 2.58807516e-02,
  1.26726645e+00, 2.42559219e-05, 9.98504345e-01, 6.39539324e-02,
  9.36849914e-02,-7.01536884e-02, 1.30957053e-01, 4.97229787e-01,
  4.87345319e-01, 5.02618652e-01, 5.12475920e-01]

qacc:
[  0.1952911 , -1.23591465,  8.13513298,-21.61711533, -0.17550014,
  -3.05212161, 12.65158726,-24.97803173, -4.4249996 , -2.08928814,
   7.92174516,-12.05042206,  0.50618324, -1.54857884,  8.36725928,
 -28.86409945, -0.94262403, -1.88214822, -0.50712844,-16.03391952,
   0.9565249 , 26.44928256]

qfrc_actuator:
[ 3.59079758e-05,-6.64603670e-05,-9.80312156e-05,-5.44408701e-05,
  9.94791877e-06,-4.42938341e-04,-2.56509878e-04,-5.31743758e-05,
 -2.99059968e-05, 2.13031814e-05,-6.23170698e-05,-3.16994525e-05,
  8.30951786e-03,-1.52846326e-03, 0.00000000e+00,-2.54677928e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55693526, -1.04634759,  4.43517933, -1.04634759, 35.62265728,
        7.32902573,  4.43517933,  7.32902573,  6.28599915,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003049454247342209
  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([ 0.10907649, -0.03371163,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18320089e-06, 2.70786101e-05, 4.59368923e-06,-3.78625052e-05,
 -1.16957931e-06,-8.12357121e-05,-6.18292790e-06,-4.03088846e-05,
 -2.59954489e-05,-1.14628622e-05, 2.59730287e-05,-9.73507928e-06,
 -6.36769903e-05,-8.17435730e-05,-7.00082485e-06,-1.42325753e-04,
 -2.35696617e-06, 8.25981020e-07,-1.21644553e+00,-4.58254698e-04,
  1.49141458e-05,-5.51366638e-04]


--- Step 1235 ---
qpos:
[ 6.21921197e-03,-1.84628790e-03,-4.93051144e-03, 3.35703970e-02,
  4.47482830e-03,-3.71457797e-03,-1.85136008e-02, 2.86038019e-02,
  1.29376094e-02, 3.36611510e-03,-1.00314540e-02, 2.58803750e-02,
  1.26751132e+00, 2.36673515e-05, 9.98737787e-01, 6.39530905e-02,
  9.36557988e-02,-7.01556891e-02, 1.30951408e-01, 4.97323231e-01,
  4.87226148e-01, 5.02515487e-01, 5.12599716e-01]

qacc:
[ -2.8813198 , -0.96964717,  1.97185881,  2.32493737, -6.25468325,
   0.20921693, -1.18819693,  0.31954215, -2.61209307, -2.46375937,
   5.49082468, -0.43716692,  0.06083913, -0.57742529, -2.59896912,
   8.30383111, -0.93606367, -1.85591306, -0.6351712 ,-15.77726828,
   0.97266031, 26.08352993]

qfrc_actuator:
[ 1.88910174e-05,-8.26229861e-05,-7.45843997e-05,-3.94071554e-05,
 -2.67777400e-05,-4.66486949e-04,-2.75858761e-04,-5.84257695e-05,
 -4.47050571e-05,-9.16992316e-05,-5.45870758e-05,-2.11275707e-05,
  8.28422603e-03,-1.54802796e-03, 0.00000000e+00,-2.50357704e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55819219, -1.31568982,  4.36418106, -1.31568982, 29.76639943,
        7.59963469,  4.36418106,  7.59963469,  6.84928917,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030531809763800766
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.09070764e-14, -1.81814153e-13,  1.00000000e+00,  1.65281931e-26,
        1.00000000e+00,  1.81814153e-13, -1.00000000e+00,  0.00000000e+00,
        9.09070764e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10907565, -0.03371168,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69729156e-05,-1.70147196e-06, 2.83007473e-05, 1.56197656e-05,
 -3.67854891e-05,-7.19628964e-05,-3.82834536e-05,-9.73001813e-06,
 -1.55367534e-05,-1.14538609e-04, 8.19868657e-06, 1.07870693e-05,
 -8.15321268e-05,-5.20849198e-05,-2.40752390e-05, 3.31985766e-05,
 -2.34743420e-06,-1.06591499e-07,-1.21644594e+00,-4.58100102e-04,
  1.31864948e-05,-5.51608017e-04]


--- Step 1236 ---
qpos:
[ 6.21935569e-03,-1.84628258e-03,-4.93027852e-03, 3.35696911e-02,
  4.47456779e-03,-3.71613070e-03,-1.85136187e-02, 2.86034842e-02,
  1.29371310e-02, 3.36563551e-03,-1.00303868e-02, 2.58801838e-02,
  1.26775545e+00, 2.34043065e-05, 9.98970649e-01, 6.39560745e-02,
  9.36267506e-02,-7.01533205e-02, 1.30948099e-01, 4.97429971e-01,
  4.87093913e-01, 5.02429737e-01, 5.12705864e-01]

qacc:
[-4.85556134e+00,-2.72851394e-01,-1.93902705e+00, 1.12569450e+01,
  2.21729730e+00, 8.46892241e-01,-5.01247154e+00, 1.06096392e+01,
  4.58055305e+00, 3.23142901e-01,-3.71078873e+00, 8.27751534e+00,
 -5.76658353e-01, 8.46721158e-01,-1.23597779e+01, 4.21007553e+01,
  3.60907511e-02, 1.09233193e+00, 5.83890574e-01, 2.41017699e+00,
  3.88271630e-02,-1.53210026e+01]

qfrc_actuator:
[-9.15309388e-06,-1.10104101e-04,-6.07537894e-05,-1.23000251e-05,
 -1.26737027e-05,-4.79884507e-04,-2.87361317e-04,-4.35245017e-05,
 -1.74991511e-05,-1.59044356e-04,-8.64134522e-05,-1.48162033e-05,
  8.25493407e-03,-1.52376742e-03, 0.00000000e+00,-2.30020324e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.55879019,   1.22848081,   4.39014839,   1.22848081,
        45.2681307 , -11.39156109,   4.39014839, -11.39156109,
         7.74645333,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003054951793138583
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.54271908e-14, -1.81708763e-13,  1.00000000e+00,  8.25451867e-27,
        1.00000000e+00,  1.81708763e-13, -1.00000000e+00,  0.00000000e+00,
        4.54271908e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09206769, -0.08829932,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.85296317e-05,-2.19316208e-05, 1.75062941e-05, 2.83204758e-05,
  1.30300959e-05,-6.19373878e-05,-3.14064846e-05, 1.03080146e-05,
  2.67265778e-05,-1.29280905e-04,-5.41247778e-05, 1.89351139e-06,
 -8.86953124e-05,-5.93019912e-06,-1.09776521e-05, 2.01303998e-04,
 -2.19823185e-06,-9.00292440e-07,-1.21644752e+00,-4.58029597e-04,
  1.06652114e-05,-5.52093357e-04]


--- Step 1237 ---
qpos:
[ 6.21950700e-03,-1.84660138e-03,-4.92953201e-03, 3.35693109e-02,
  4.47482282e-03,-3.71799921e-03,-1.85138339e-02, 2.86029804e-02,
  1.29376715e-02, 3.36529371e-03,-1.00310316e-02, 2.58800241e-02,
  1.26799903e+00, 2.31166298e-05, 9.99203926e-01, 6.39570812e-02,
  9.35978767e-02,-7.01466672e-02, 1.30946463e-01, 4.97549899e-01,
  4.86948550e-01, 5.02361085e-01, 5.12794839e-01]

qacc:
[  0.08868741, -1.19361775,  2.2588232 ,  2.79633625,  4.51106394,
  -0.25736924,  1.08249508, -3.73803813,  8.90941965,  5.01406519,
 -17.77678852, 20.98911911, -0.5297255 ,  0.59711082,  6.61509109,
 -22.17303298,  0.04359369,  1.07116322,  0.41804203,  2.22060394,
   0.12249813,-15.11415289]

qfrc_actuator:
[-7.95191046e-06,-1.26421052e-04,-3.50227536e-05, 3.90938447e-06,
  1.34934085e-05,-4.87046816e-04,-2.94074487e-04,-5.23754830e-05,
  3.42088738e-05,-1.09945676e-04,-1.58944232e-04,-1.10641451e-05,
  8.22860969e-03,-1.52705383e-03, 0.00000000e+00,-2.41245236e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56983067,  0.86049509,  4.48808429,  0.86049509, 33.01120945,
       -5.45303192,  4.48808429, -5.45303192,  5.61533403,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003087387428909044
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79799758e-13, -3.59599516e-13,  1.00000000e+00,  6.46559059e-26,
        1.00000000e+00,  3.59599516e-13, -1.00000000e+00,  0.00000000e+00,
        1.79799758e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09206928, -0.08829898,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.80339125e-07,-2.37632826e-05, 2.43365666e-05, 1.64287135e-05,
  2.65185408e-05,-4.77809477e-05,-2.29999363e-05,-1.23877296e-05,
  5.24238441e-05,-3.42818446e-05,-1.05844606e-04,-3.62620524e-06,
 -7.85686716e-05,-2.51602910e-05, 1.35476665e-05,-1.03306055e-04,
 -2.59122046e-06,-5.28305044e-07,-1.21644734e+00,-4.56938499e-04,
  1.27036890e-05,-5.51883183e-04]


--- Step 1238 ---
qpos:
[ 6.22036099e-03,-1.84690478e-03,-4.92887013e-03, 3.35691257e-02,
  4.47538944e-03,-3.72003406e-03,-1.85139690e-02, 2.86026809e-02,
  1.29388274e-02, 3.36531890e-03,-1.00325817e-02, 2.58805143e-02,
  1.26824210e+00, 2.30109293e-05, 9.99437246e-01, 6.39567584e-02,
  9.35691992e-02,-7.01357985e-02, 1.30945941e-01, 4.97682924e-01,
  4.86790009e-01, 5.02309270e-01, 5.12867031e-01]

qacc:
[ 6.17570499e+00, 6.46460623e-01,-3.11953958e+00, 6.64098810e+00,
  2.73262762e+00,-2.90038425e-02,-1.08716202e+00, 4.62579225e+00,
  5.38080141e+00, 4.34210707e+00,-1.75400895e+01, 2.99824186e+01,
 -6.12912075e-01, 8.88376537e-01, 4.11951258e+00,-1.42185088e+01,
  4.90668898e-02, 1.05387952e+00, 2.78778833e-01, 2.06536760e+00,
  1.91502645e-01,-1.49426136e+01]

qfrc_actuator:
[ 2.82089851e-05,-1.18136600e-04,-3.79435213e-05, 1.35916829e-05,
  2.87823510e-05,-4.72654687e-04,-2.80145243e-04,-3.96203212e-05,
  6.44061894e-05,-4.49271580e-05,-1.83424969e-04, 2.67372806e-05,
  8.21472733e-03,-1.51114320e-03, 0.00000000e+00,-2.47901809e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57134301, -0.73147324, -4.512441  , -0.73147324, 31.58996362,
       -4.37975764, -4.512441  , -4.37975764,  5.28130808,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030917929745535866
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.79543558e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.79543558e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0920705 , -0.08829928,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.61620694e-05, 7.30227022e-07,-4.26790616e-06, 9.82563602e-06,
  1.60312167e-05,-1.75275898e-05, 8.22659480e-07, 9.67527651e-06,
  3.16773647e-05, 2.38692005e-05,-4.47143246e-05, 3.25998721e-05,
 -6.51552159e-05,-7.68997956e-06,-1.16818374e-05,-7.20610999e-05,
 -2.97117228e-06,-7.81772068e-08,-1.21644749e+00,-4.55883171e-04,
  1.46127851e-05,-5.51596298e-04]


--- Step 1239 ---
qpos:
[ 6.22129649e-03,-1.84678932e-03,-4.92873862e-03, 3.35693822e-02,
  4.47579011e-03,-3.72209279e-03,-1.85140195e-02, 2.86025170e-02,
  1.29403368e-02, 3.36524155e-03,-1.00340138e-02, 2.58810961e-02,
  1.26848468e+00, 2.30863323e-05, 9.99670179e-01, 6.39579633e-02,
  9.35436045e-02,-7.01330563e-02, 1.30945019e-01, 4.97777562e-01,
  4.86674085e-01, 5.02236082e-01, 5.12956871e-01]

qacc:
[ 6.93076090e-01, 2.94408262e+00,-1.15597550e+01, 1.97417335e+01,
 -1.44920879e+00, 1.39176516e-02,-6.63538015e-01, 2.88890571e+00,
  3.11733609e+00,-2.82477812e-01, 4.12798002e-01, 1.07268964e+00,
 -4.17656340e-01, 5.88247713e-01,-5.15149064e+00, 1.72646403e+01,
  7.70717251e-01,-2.03165844e+00,-9.99896482e-02, 1.00343042e+01,
 -2.31054457e+00, 3.01413299e+01]

qfrc_actuator:
[ 3.13896891e-05,-7.75485419e-05,-5.76625865e-05, 3.71107238e-05,
  1.97894790e-05,-4.63105675e-04,-2.71781749e-04,-3.19699366e-05,
  8.16930110e-05,-5.94042152e-05,-1.79197585e-04, 3.10795472e-05,
  8.19234931e-03,-1.50166372e-03, 0.00000000e+00,-2.39376230e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031635575300095753
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.77353276e-14, -8.77353276e-14,  1.00000000e+00,  7.69748770e-27,
        1.00000000e+00,  8.77353276e-14, -1.00000000e+00,  0.00000000e+00,
        8.77353276e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08144347, -0.03171957,  0.06199096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.20923843e-06, 4.05494243e-05,-1.97600347e-05, 2.35918380e-05,
 -8.54149109e-06, 4.14005944e-07, 5.20472850e-06, 7.12086119e-06,
  1.81941484e-05,-8.93771640e-06, 4.79496882e-06, 4.45366450e-06,
 -6.20777746e-05,-6.98839115e-06,-1.82747930e-05, 7.86159935e-05,
 -3.34101075e-06, 4.50259873e-07,-1.21644795e+00,-4.54853476e-04,
  1.64063568e-05,-5.51230024e-04]


--- Step 1240 ---
qpos:
[ 6.22191835e-03,-1.84654239e-03,-4.92852230e-03, 3.35706029e-02,
  4.47573493e-03,-3.72387772e-03,-1.85143871e-02, 2.86024354e-02,
  1.29416972e-02, 3.36490385e-03,-1.00352764e-02, 2.58813972e-02,
  1.26872691e+00, 2.27562218e-05, 9.99902963e-01, 6.39601384e-02,
  9.35209977e-02,-7.01382951e-02, 1.30942911e-01, 4.97834515e-01,
  4.86599853e-01, 5.02142139e-01, 5.13063983e-01]

qacc:
[ -2.75676138,  1.92761132,-10.68179284, 27.1258593 , -4.00427752,
   1.42447436, -4.88797747,  6.60161673, -1.30267738, -1.39320135,
   5.65811556,-10.60106596,  0.12638608, -0.61999653, -3.1679264 ,
  10.71821342,  0.74698248, -1.9952282 , -0.29680682,  9.88695013,
  -2.19228052, 29.48335653]

qfrc_actuator:
[ 1.51223728e-05,-7.12458411e-05,-5.14757763e-05, 8.63598904e-05,
 -3.41958109e-06,-4.38785805e-04,-2.84546871e-04,-2.73955761e-05,
  7.34965131e-05,-8.57506108e-05,-1.76159070e-04, 1.56445134e-05,
  8.16489072e-03,-1.53162012e-03, 0.00000000e+00,-2.34400744e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.62205377,  3.29667519, -3.23964716,  3.29667519,  8.41920487,
        3.86399297, -3.23964716,  3.86399297,  8.55406523,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003234595490174408
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.71616981e-13, -1.28712736e-13,  1.00000000e+00,  2.20892911e-26,
        1.00000000e+00,  1.28712736e-13, -1.00000000e+00,  0.00000000e+00,
        1.71616981e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08144343, -0.03172405,  0.06199075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61342211e-05, 2.58996761e-05, 1.29408183e-05, 5.07607543e-05,
 -2.34534115e-05, 2.60044072e-05,-1.17666214e-05, 4.91622438e-06,
 -7.68469107e-06,-3.01337113e-05, 1.95418183e-06,-1.55638600e-05,
 -6.49796067e-05,-4.56769673e-05,-3.39662445e-06, 5.09266096e-05,
 -1.98203577e-06,-3.34429936e-07,-1.21644556e+00,-4.55088590e-04,
  1.29919037e-05,-5.50898305e-04]


--- Step 1241 ---
qpos:
[ 6.22303047e-03,-1.84631218e-03,-4.92812136e-03, 3.35720710e-02,
  4.47574670e-03,-3.72525330e-03,-1.85150005e-02, 2.86023866e-02,
  1.29429488e-02, 3.36434317e-03,-1.00362708e-02, 2.58825356e-02,
  1.26896873e+00, 2.23288038e-05, 1.00013606e+00, 6.39598641e-02,
  9.35013003e-02,-7.01513926e-02, 1.30938951e-01, 4.97854371e-01,
  4.86566541e-01, 5.02027941e-01, 5.13188048e-01]

qacc:
[  4.31695573, -0.0372706 , -0.95814781,  4.97237784,  0.57127808,
   1.29309795, -3.96615086,  4.62625326, -0.94399889,  0.68096139,
  -6.38782586, 20.61103266, -0.38774184,  0.37691981,  7.87204899,
 -26.82422621,  0.72734369, -1.96468777, -0.46262644,  9.75863571,
  -2.10097203, 28.93887613]

qfrc_actuator:
[ 4.08066843e-05,-8.53945112e-05,-4.79010956e-05, 9.70898930e-05,
  7.03200128e-07,-4.05891570e-04,-2.91868566e-04,-2.46676667e-05,
  6.81239526e-05,-8.35145389e-05,-1.56180004e-04, 5.96893957e-05,
  8.15036514e-03,-1.53146598e-03, 0.00000000e+00,-2.47538028e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.63406388, -3.47638549,  3.06419515, -3.47638549, 24.82074711,
       22.90216161,  3.06419515, 22.90216161, 30.61698541,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003267098661588891
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.49548131e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.49548131e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.081443  , -0.03172629,  0.06199066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.52307244e-05, 5.16110951e-06, 1.22666629e-05, 1.32723116e-05,
  3.46217346e-06, 4.52772710e-05,-3.20335337e-06, 3.53685601e-06,
 -5.60312895e-06,-1.48502367e-05, 1.34764683e-05, 4.25217259e-05,
 -6.26336581e-05,-2.49098440e-05,-3.56304917e-07,-1.30011021e-04,
 -8.97613528e-07,-6.26800606e-07,-1.21644449e+00,-4.55147035e-04,
  1.03569544e-05,-5.50788506e-04]


--- Step 1242 ---
qpos:
[ 6.22340658e-03,-1.84587019e-03,-4.92798852e-03, 3.35729682e-02,
  4.47580746e-03,-3.72615870e-03,-1.85154620e-02, 2.86019895e-02,
  1.29441258e-02, 3.36407828e-03,-1.00375173e-02, 2.58841614e-02,
  1.26921015e+00, 2.18740902e-05, 1.00036916e+00, 6.39576850e-02,
  9.34844473e-02,-7.01722470e-02, 1.30932583e-01, 4.97837620e-01,
  4.86573510e-01, 5.01893880e-01, 5.13328800e-01]

qacc:
[ -6.48393201, -0.13360122,  3.31470288,-12.9466406 ,  0.42523084,
  -0.51969681,  4.22402815,-10.83826751, -0.66925935,  2.10030421,
  -8.97723836, 17.59565574, -0.39669996,  0.44154798,  5.79088276,
 -20.17724312,  0.71110041, -1.93920878, -0.60222453,  9.64763387,
  -2.03109975, 28.49058794]

qfrc_actuator:
[ 2.22037921e-06,-7.62131269e-05,-6.37800743e-05, 6.72869508e-05,
  3.13199079e-06,-3.68097772e-04,-2.78116223e-04,-4.07836851e-05,
  6.44650064e-05,-4.63095573e-05,-1.61708407e-04, 8.51586007e-05,
  8.13296639e-03,-1.53114414e-03, 0.00000000e+00,-2.57037729e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.63462928, -3.65708554,  2.84701842, -3.65708554, 20.03445149,
       19.7815605 ,  2.84701842, 19.7815605 , 30.0446717 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003268617087210379
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.69830695e-13,  1.69830695e-13,  1.00000000e+00, -2.88424650e-26,
        1.00000000e+00, -1.69830695e-13, -1.00000000e+00,  0.00000000e+00,
        1.69830695e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08144225, -0.03172673,  0.06199066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.78695942e-05, 1.51590931e-05,-1.28556490e-05,-2.89050022e-05,
  2.54347136e-06, 6.26611389e-05, 2.28555798e-05,-1.42132340e-05,
 -3.82819650e-06, 3.35380295e-05,-5.44754516e-06, 2.61280579e-05,
 -5.96543653e-05,-1.93945877e-05,-2.02705387e-05,-1.03592534e-04,
 -6.64471049e-08,-4.54403471e-07,-1.21644465e+00,-4.55055888e-04,
  8.45528904e-06,-5.50891170e-04]


--- Step 1243 ---
qpos:
[ 6.22366237e-03,-1.84502956e-03,-4.92839916e-03, 3.35728058e-02,
  4.47555225e-03,-3.72699660e-03,-1.85153029e-02, 2.86014215e-02,
  1.29449045e-02, 3.36441827e-03,-1.00392132e-02, 2.58850172e-02,
  1.26945096e+00, 2.15230776e-05, 1.00060172e+00, 6.39577018e-02,
  9.34694330e-02,-7.01885824e-02, 1.30930024e-01, 4.97829048e-01,
  4.86571227e-01, 5.01784048e-01, 5.13446638e-01]

qacc:
[ -1.08268971, -0.13323636,  5.71563594,-23.47899356, -2.74717546,
  -1.99013764,  7.95682856,-11.96556267, -3.53001357,  0.47712438,
   2.72197541,-15.78885535, -0.38890751,  0.44714844, -7.40941252,
  24.80943442,  0.45966221,  1.12971947,  0.95236169,  7.67607081,
   0.7782876 ,-16.01968774]

qfrc_actuator:
[-2.88762040e-06,-5.32555344e-05,-9.09523693e-05, 1.38836514e-05,
 -1.32170604e-05,-3.80846697e-04,-2.52018641e-04,-5.00855106e-05,
  4.40909652e-05,-6.30546635e-06,-1.82128170e-04, 4.62394596e-05,
  8.09255513e-03,-1.53075277e-03, 0.00000000e+00,-2.44783474e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033435398022026164
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.49037642e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.49037642e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08659367, -0.0885171 ,  0.06199044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.17944816e-06, 2.75065631e-05,-2.66320057e-05,-5.37628589e-05,
 -1.62548594e-05, 2.64428709e-05, 4.13808459e-05,-6.09840059e-06,
 -2.04737561e-05, 5.87761167e-05,-1.32435613e-05,-3.71617531e-05,
 -7.98326364e-05,-1.73127676e-05,-2.52984759e-05, 1.13141406e-04,
  5.27672814e-07, 1.62367892e-07,-1.21644601e+00,-4.54834026e-04,
  7.25007593e-06,-5.51199045e-04]


--- Step 1244 ---
qpos:
[ 6.22454455e-03,-1.84398893e-03,-4.92882982e-03, 3.35719939e-02,
  4.47510341e-03,-3.72805380e-03,-1.85149352e-02, 2.86011583e-02,
  1.29454334e-02, 3.36468638e-03,-1.00406261e-02, 2.58857820e-02,
  1.26969118e+00, 2.12183764e-05, 1.00083446e+00, 6.39561187e-02,
  9.34562230e-02,-7.02005046e-02, 1.30930330e-01, 4.97828495e-01,
  4.86559839e-01, 5.01697886e-01, 5.13542154e-01]

qacc:
[  5.50337608, -1.02790811,  6.77181363,-18.10745039, -1.68419227,
  -0.24232331, -0.83766078,  5.93360956, -2.18818847, -1.06890913,
   4.06505524, -6.04735949, -0.59354368,  0.72601923,  5.14315319,
 -17.50206479,  0.45108257,  1.10332398,  0.71612977,  7.45936041,
   0.78679575,-15.65810353]

qfrc_actuator:
[ 2.95227301e-05,-4.00564140e-05,-8.90127742e-05,-1.74577045e-05,
 -2.27348266e-05,-4.23706669e-04,-2.54548747e-04,-3.75842322e-05,
  3.17940293e-05,-3.60598238e-05,-1.75679423e-04, 4.07602849e-05,
  8.05967129e-03,-1.53043977e-03, 0.00000000e+00,-2.53540706e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.69613108, -0.94941755,  4.5991579 , -0.94941755, 10.44098011,
        1.18592591,  4.5991579 ,  1.18592591,  4.94094521,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003427876841120975
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.09701658e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.09701658e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08659485, -0.08851497,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.22453520e-05, 2.07477163e-05, 2.47650510e-06,-3.21308722e-05,
 -9.97428182e-06,-1.97630320e-05, 7.82800989e-06, 1.49511078e-05,
 -1.28564874e-05,-1.21366639e-06, 1.56882297e-05,-4.13971148e-06,
 -8.30059813e-05,-2.18564264e-05,-2.35922987e-06,-8.52701543e-05,
  3.38870894e-07,-3.28552267e-08,-1.21644406e+00,-4.54348321e-04,
  9.09390051e-06,-5.51505286e-04]


--- Step 1245 ---
qpos:
[ 6.22511848e-03,-1.84311176e-03,-4.92855476e-03, 3.35711540e-02,
  4.47454364e-03,-3.72899650e-03,-1.85149549e-02, 2.86007008e-02,
  1.29461559e-02, 3.36463966e-03,-1.00417973e-02, 2.58865100e-02,
  1.26993095e+00, 2.08502788e-05, 1.00106719e+00, 6.39531601e-02,
  9.34447878e-02,-7.02081016e-02, 1.30932705e-01, 4.97835829e-01,
  4.86539469e-01, 5.01634927e-01, 5.13615842e-01]

qacc:
[ -2.68536674, -2.24117455,  7.80425621, -9.30490999, -0.98509382,
   0.83573131, -1.93715817, -0.8923325 ,  1.71586364, -1.170581  ,
   3.71963441, -4.50481294, -0.36253392,  0.34915914,  4.16588057,
 -14.53440253,  0.443709  ,  1.08130664,  0.51733843,  7.27947415,
   0.79326143,-15.35601056]

qfrc_actuator:
[ 1.27349626e-05,-5.04258156e-05,-5.21594742e-05,-1.77953718e-05,
 -2.81497715e-05,-4.13362916e-04,-2.74091645e-04,-4.79136167e-05,
  4.21068192e-05,-7.17291908e-05,-1.71414806e-04, 3.72214687e-05,
  8.04730306e-03,-1.53015787e-03, 0.00000000e+00,-2.60410989e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.71309372, -1.28773372,  4.53376161, -1.28773372, 14.19095708,
        2.6920172 ,  4.53376161,  2.6920172 ,  5.47771296,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003469872757363712
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.59980366e-13,  1.19985274e-13,  1.00000000e+00, -1.91952880e-26,
        1.00000000e+00, -1.19985274e-13, -1.00000000e+00,  0.00000000e+00,
        1.59980366e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08659554, -0.08851396,  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:
[-1.58651534e-05, 3.45214391e-07, 4.03248331e-05, 1.06680834e-08,
 -5.70770013e-06, 1.58117475e-06,-2.21343212e-05,-1.06119530e-05,
  9.94620716e-06,-3.32825539e-05, 5.81576926e-06,-3.12707627e-06,
 -6.55292559e-05,-2.35678637e-05,-1.61102254e-05,-7.50223338e-05,
  1.75726705e-07,-1.53479526e-07,-1.21644257e+00,-4.53884217e-04,
  1.05933040e-05,-5.51713967e-04]


--- Step 1246 ---
qpos:
[ 6.22583205e-03,-1.84241135e-03,-4.92806049e-03, 3.35703520e-02,
  4.47392311e-03,-3.72971201e-03,-1.85153152e-02, 2.86004508e-02,
  1.29469961e-02, 3.36415239e-03,-1.00422180e-02, 2.58864805e-02,
  1.27017019e+00, 2.07521266e-05, 1.00129981e+00, 6.39493744e-02,
  9.34351023e-02,-7.02114464e-02, 1.30936482e-01, 4.97850935e-01,
  4.86510221e-01, 5.01594782e-01, 5.13668110e-01]

qacc:
[  1.23773358, -0.77066467,  2.24422038, -1.80244842, -0.54614773,
   1.67871681, -6.42409609, 10.38764848,  1.06802051, -4.24117451,
  17.4718249 ,-31.45209667, -0.66661079,  1.0229014 ,  2.37140442,
  -8.43549446,  0.4374137 ,  1.06303456,  0.35041316,  7.13043812,
   0.79823144,-15.10470153]

qfrc_actuator:
[ 2.03703112e-05,-7.46528878e-05,-4.83335797e-05,-1.76452008e-05,
 -3.11082709e-05,-3.89095663e-04,-2.85577100e-04,-3.60591544e-05,
  4.78894213e-05,-9.29232249e-05,-1.33027272e-04,-6.76187330e-07,
  8.02594831e-03,-1.51205083e-03, 0.00000000e+00,-2.64332297e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034777861455860537
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.98081724e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.98081724e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08659585, -0.08851386,  0.06199006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.17984797e-06,-1.57443413e-05, 8.85264187e-06, 1.56023729e-06,
 -3.11965557e-06, 2.01582872e-05,-1.42400519e-05, 1.09532419e-05,
  6.05225182e-06,-3.87189858e-05, 3.21336784e-05,-3.91827639e-05,
 -6.50080414e-05,-1.96684248e-06,-2.03092816e-05,-4.65059732e-05,
  3.56987821e-08,-2.03109942e-07,-1.21644148e+00,-4.53438789e-04,
  1.17729961e-05,-5.51825899e-04]


--- Step 1247 ---
qpos:
[ 6.22663129e-03,-1.84174472e-03,-4.92755286e-03, 3.35695545e-02,
  4.47361695e-03,-3.73047151e-03,-1.85154835e-02, 2.86010329e-02,
  1.29475541e-02, 3.36342665e-03,-1.00419726e-02, 2.58863220e-02,
  1.27040874e+00, 2.14338553e-05, 1.00153275e+00, 6.39414301e-02,
  9.34271451e-02,-7.02105993e-02, 1.30941101e-01, 4.97873720e-01,
  4.86472179e-01, 5.01577127e-01, 5.13699293e-01]

qacc:
[  0.75432007, -0.07436389,  0.17921279, -0.09665178,  2.75865058,
   1.11162104, -7.57167542, 21.70973378, -2.45923467, -2.43728716,
   8.7859853 ,-11.91652561, -1.39471737,  2.46511784, 13.12406908,
 -44.98640608,  0.43207883,  1.04796749,  0.21059972,  7.00733226,
   0.80210641,-14.89684451]

qfrc_actuator:
[ 2.45823148e-05,-7.16106083e-05,-4.63672828e-05,-1.72571000e-05,
 -1.48460760e-05,-3.92138042e-04,-2.74367291e-04, 6.53438162e-06,
  3.31995135e-05,-8.74277720e-05,-9.25242160e-05,-5.19588989e-06,
  7.99922626e-03,-1.46580404e-03, 0.00000000e+00,-2.86011908e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003458544461867469
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.02521868e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.02521868e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08659586, -0.08851447,  0.06199012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.40766073e-06,-3.89568273e-06,-1.54809479e-07, 4.87829659e-08,
  1.61802336e-05, 5.78786480e-06, 1.40117428e-05, 4.31809703e-05,
 -1.45331182e-05,-1.11705325e-05, 3.51186375e-05,-5.82767632e-06,
 -6.50150599e-05, 3.10982504e-05,-1.88227765e-05,-2.22974118e-04,
 -8.31929492e-08,-1.84631693e-07,-1.21644078e+00,-4.53009760e-04,
  1.26523479e-05,-5.51841827e-04]


--- Step 1248 ---
qpos:
[ 6.22712961e-03,-1.84091833e-03,-4.92656448e-03, 3.35687098e-02,
  4.47350790e-03,-3.73107037e-03,-1.85155634e-02, 2.86017561e-02,
  1.29482764e-02, 3.36299771e-03,-1.00423146e-02, 2.58864736e-02,
  1.27064670e+00, 2.29215121e-05, 1.00176535e+00, 6.39326040e-02,
  9.34208983e-02,-7.02056097e-02, 1.30946096e-01, 4.97904107e-01,
  4.86425413e-01, 5.01581695e-01, 5.13709667e-01]

qacc:
[ -2.63351728, -1.22463618,  4.88039375, -6.59103368,  1.72519987,
   0.25185231, -1.19145015,  3.37929819,  1.42259767,  2.66935564,
 -10.26236241, 16.35331051, -1.12780708,  2.10267733,  2.27289841,
  -8.43600631,  0.42759644,  1.03564315,  0.09383039,  6.90608793,
   0.80517486,-14.72623833]

qfrc_actuator:
[ 8.98578499e-06,-3.45263650e-05,-9.89329973e-06,-1.67078651e-05,
 -5.15491616e-06,-3.75880651e-04,-2.67689236e-04, 1.36057235e-05,
  4.20843885e-05,-6.59444931e-05,-1.21978049e-04, 9.98573526e-06,
  7.97996810e-03,-1.42104396e-03, 0.00000000e+00,-2.89576085e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034179416662555306
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.62411055e-13,  1.62411055e-13,  1.00000000e+00,  2.63773508e-26,
        1.00000000e+00, -1.62411055e-13, -1.00000000e+00,  0.00000000e+00,
       -1.62411055e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08659562, -0.08851564,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.54750403e-05, 3.48465699e-05, 3.56389450e-05, 3.76712698e-07,
  1.01530131e-05, 2.42725684e-05, 1.11025983e-05, 8.64467945e-06,
  8.46483810e-06, 2.22615913e-05,-2.76301400e-05, 1.58067855e-05,
 -5.01838205e-05, 3.71521249e-05,-3.89430430e-05,-5.17150941e-05,
 -1.82497517e-07,-1.00348870e-07,-1.21644045e+00,-4.52595332e-04,
  1.32464893e-05,-5.51762410e-04]


--- Step 1249 ---
qpos:
[ 6.22778207e-03,-1.83986949e-03,-4.92543024e-03, 3.35675473e-02,
  4.47317115e-03,-3.73148190e-03,-1.85161050e-02, 2.86022482e-02,
  1.29490996e-02, 3.36266253e-03,-1.00429320e-02, 2.58864653e-02,
  1.27088441e+00, 2.43818803e-05, 1.00199713e+00, 6.39280402e-02,
  9.34163469e-02,-7.01965174e-02, 1.30951077e-01, 4.97942030e-01,
  4.86369976e-01, 5.01608268e-01, 5.13699452e-01]

qacc:
[ 1.35583414e+00,-7.70695071e-01, 4.51120250e+00,-1.04019898e+01,
 -2.01060263e+00, 1.06566816e+00,-2.45802237e+00,-9.49160034e-01,
  8.76837816e-01, 5.62566901e-01,-1.15401030e+00,-1.23858863e+00,
  1.12637376e-01,-2.93193828e-01,-1.41030871e+01, 4.75326580e+01,
  4.23868338e-01, 1.02566559e+00,-3.38205023e-03, 6.82332920e+00,
  8.07640021e-01,-1.45876214e+01]

qfrc_actuator:
[ 1.73617181e-05,-3.04548572e-05,-6.44534576e-06,-3.37647864e-05,
 -1.71674951e-05,-3.83735691e-04,-2.99208790e-04,-2.77999961e-07,
  4.70277968e-05,-7.08136582e-05,-1.39161064e-04, 1.09544699e-06,
  7.96520439e-03,-1.43077179e-03, 0.00000000e+00,-2.66454949e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033608071622001634
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.12930202e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.12930202e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0865952 , -0.08851725,  0.06199039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.94317272e-06, 3.08892896e-05, 1.50293161e-05,-1.43249020e-05,
 -1.17148900e-05, 8.40647683e-06,-2.48332941e-05,-1.22916348e-05,
  5.19044460e-06, 2.57409780e-06,-1.54318387e-05,-8.58351777e-06,
 -3.56222203e-05,-1.25940837e-05,-2.70721180e-05, 2.22575016e-04,
 -2.63432002e-07, 4.79002422e-08,-1.21644048e+00,-4.52194058e-04,
  1.35671610e-05,-5.51588209e-04]


--- Step 1250 ---
qpos:
[ 6.22818495e-03,-1.83890106e-03,-4.92438232e-03, 3.35662454e-02,
  4.47269323e-03,-3.73177834e-03,-1.85172819e-02, 2.86025923e-02,
  1.29492855e-02, 3.36266501e-03,-1.00438619e-02, 2.58859764e-02,
  1.27112175e+00, 2.58178889e-05, 1.00222873e+00, 6.39258815e-02,
  9.34134788e-02,-7.01833544e-02, 1.30955722e-01, 4.97987439e-01,
  4.86305908e-01, 5.01656666e-01, 5.13668827e-01]

qacc:
[-2.19588811e+00,-1.47726572e-01, 9.68486044e-01,-3.19196078e+00,
 -1.25755191e+00, 1.62462934e+00,-4.94333045e+00, 3.30845642e+00,
 -5.62366420e+00, 3.41547673e-01, 1.47796985e+00,-9.56525808e+00,
 -1.15554012e-01, 1.97687883e-02,-7.50396855e+00, 2.59037941e+01,
  4.20805889e-01, 1.01769557e+00,-8.40300609e-02, 6.75624748e+00,
  8.09640793e-01,-1.44765200e+01]

qfrc_actuator:
[ 4.28118527e-06,-6.40702173e-05,-2.26704272e-05,-4.33432721e-05,
 -2.41037278e-05,-3.88396490e-04,-3.35379489e-04,-8.66642281e-06,
  1.40988329e-05,-3.81520831e-05,-1.49058739e-04,-2.18921188e-05,
  7.93715039e-03,-1.43717627e-03, 0.00000000e+00,-2.54430712e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032911504958677007
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.37335842e-13,  8.43339606e-14,  1.00000000e+00, -2.84488676e-26,
        1.00000000e+00, -8.43339606e-14, -1.00000000e+00,  0.00000000e+00,
        3.37335842e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08659464, -0.0885192 ,  0.06199059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28481714e-05,-1.38990922e-05,-8.51291062e-06,-8.01637165e-06,
 -7.26642764e-06,-5.59994364e-06,-3.79080888e-05,-9.12511782e-06,
 -3.27813165e-05, 3.05693286e-05,-1.15519382e-05,-2.35761727e-05,
 -5.14583041e-05,-1.73321683e-05, 1.01403437e-05, 1.28675217e-04,
 -3.26957421e-07, 2.58646800e-07,-1.21644084e+00,-4.51804761e-04,
  1.36233826e-05,-5.51319690e-04]


--- Step 1251 ---
qpos:
[ 6.22842805e-03,-1.83807828e-03,-4.92377912e-03, 3.35652185e-02,
  4.47248039e-03,-3.73167031e-03,-1.85187654e-02, 2.86024276e-02,
  1.29490752e-02, 3.36313222e-03,-1.00450157e-02, 2.58851927e-02,
  1.27135873e+00, 2.71937126e-05, 1.00246029e+00, 6.39255153e-02,
  9.34122840e-02,-7.01661455e-02, 1.30959764e-01, 4.98040291e-01,
  4.86233240e-01, 5.01726747e-01, 5.13617928e-01]

qacc:
[-1.41630539e+00, 1.61967303e+00,-7.21001583e+00, 1.27810676e+01,
  2.30312843e+00, 3.39713651e-01, 1.70542741e+00,-1.03117832e+01,
 -3.50164085e+00, 6.39735490e-01,-1.33378741e-01,-4.96537305e+00,
 -1.29437445e-01, 1.50608358e-02,-5.47359651e+00, 1.90642926e+01,
  4.18329633e-01, 1.01144256e+00,-1.50681986e-01, 6.70250126e+00,
  8.11268018e-01,-1.43891250e+01]

qfrc_actuator:
[-3.57854294e-06,-8.45785638e-05,-5.05254773e-05,-3.07333226e-05,
 -1.02369609e-05,-3.37885562e-04,-3.38477313e-04,-3.15010204e-05,
 -5.35055507e-06,-1.00609129e-06,-1.54437814e-04,-3.52007499e-05,
  7.91711906e-03,-1.44157874e-03, 0.00000000e+00,-2.45498867e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032122854205024476
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.64044504e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.64044504e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08659398, -0.08852138,  0.06199082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.23310182e-06,-3.04329823e-05,-3.20725367e-05, 1.15626567e-05,
  1.36591529e-05, 3.91796594e-05,-9.22303885e-06,-2.45610083e-05,
 -2.03696275e-05, 5.08450088e-05,-1.28976159e-06,-1.28525798e-05,
 -5.34085771e-05,-2.02145468e-05, 1.42132895e-05, 9.66993596e-05,
 -3.73837242e-07, 5.30710686e-07,-1.21644154e+00,-4.51426469e-04,
  1.34219779e-05,-5.50957222e-04]


--- Step 1252 ---
qpos:
[ 6.22926471e-03,-1.83725127e-03,-4.92389452e-03, 3.35646961e-02,
  4.47243542e-03,-3.73137043e-03,-1.85199696e-02, 2.86019764e-02,
  1.29493231e-02, 3.36392120e-03,-1.00459431e-02, 2.58845876e-02,
  1.27159558e+00, 2.79207551e-05, 1.00269182e+00, 6.39265633e-02,
  9.34136305e-02,-7.01509249e-02, 1.30965020e-01, 4.98077867e-01,
  4.86177012e-01, 5.01797476e-01, 5.13565619e-01]

qacc:
[  5.19670945,  3.04284444,-12.98767334, 22.88042343,  1.47454405,
  -1.11873947,  5.56233957,-11.10422537,  4.03405346,  0.15226363,
  -0.69334384,  3.19937295,  0.49966919, -1.29101448, -4.36205528,
  15.08206596,  0.6353169 , -0.49706088,  0.30357703,  8.32803539,
  -0.57135709,  7.53844546]

qfrc_actuator:
[ 2.72095151e-05,-7.93726687e-05,-8.49655800e-05,-5.16898205e-06,
 -1.99080987e-06,-3.25617529e-04,-3.21806026e-04,-4.48305979e-05,
  1.88069059e-05, 2.08157819e-05,-1.39316854e-04,-2.49429848e-05,
  7.90724054e-03,-1.48023971e-03, 0.00000000e+00,-2.38457405e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003125044739363869
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.51867092e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.51867092e-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([ 0.08406948, -0.06078011,  0.06199107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.05411327e-05,-1.79802420e-05,-4.42909449e-05, 2.33750033e-05,
  8.65140101e-06, 3.12381893e-05, 2.27939565e-05,-1.24447664e-05,
  2.35972386e-05, 4.94280282e-05, 2.50304778e-05, 1.21460240e-05,
 -4.50678605e-05,-5.55636378e-05, 1.21402211e-05, 7.64410916e-05,
 -4.04682770e-07, 8.63132818e-07,-1.21644257e+00,-4.51058376e-04,
  1.29679916e-05,-5.50501084e-04]


--- Step 1253 ---
qpos:
[ 6.22977383e-03,-1.83654224e-03,-4.92415719e-03, 3.35648052e-02,
  4.47214487e-03,-3.73089099e-03,-1.85209527e-02, 2.86013743e-02,
  1.29502030e-02, 3.36562761e-03,-1.00475056e-02, 2.58840926e-02,
  1.27183222e+00, 2.79336615e-05, 1.00292352e+00, 6.39271128e-02,
  9.34179212e-02,-7.01435736e-02, 1.30968260e-01, 4.98079179e-01,
  4.86161407e-01, 5.01847581e-01, 5.13530159e-01]

qacc:
[ -2.88224666,  1.56166712, -8.45016949, 19.68952764, -2.14551436,
  -0.68608621,  3.43503381, -6.53865457,  5.52598724,  3.20349365,
 -10.14675046, 12.4132472 ,  0.37948483, -1.17725547,  1.71950277,
  -5.74094331,  0.73606214, -1.96732256, -0.50411674,  9.40894746,
  -2.37286938, 28.7135952 ]

qfrc_actuator:
[ 9.48628271e-06,-7.65824682e-05,-8.73997010e-05, 2.78285207e-05,
 -1.48784888e-05,-3.18491763e-04,-3.11489149e-04,-5.24758790e-05,
  5.06799113e-05, 8.66581479e-05,-1.65514406e-04,-1.86533918e-05,
  7.88746817e-03,-1.52109046e-03, 0.00000000e+00,-2.41460349e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59212008,  0.08960045, -4.59124586,  0.08960045, 40.64335273,
        0.7035578 , -4.59124586,  0.7035578 ,  4.60585036,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003151432652410413
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.80728820e-14, -2.20182205e-13,  1.00000000e+00,  1.93920814e-26,
        1.00000000e+00,  2.20182205e-13, -1.00000000e+00,  0.00000000e+00,
        8.80728820e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08142478, -0.0317229 ,  0.06199099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68627206e-05,-1.54312105e-05,-1.08037926e-05, 3.11476688e-05,
 -1.26300465e-05, 2.87761615e-05, 1.91576920e-05,-5.75738001e-06,
  3.25605734e-05, 9.91663292e-05,-1.24819523e-05, 9.51098617e-06,
 -5.84977776e-05,-6.36547642e-05, 9.24219377e-06,-2.53455969e-05,
 -2.48964225e-07, 6.32300907e-07,-1.21644204e+00,-4.51322762e-04,
  1.23328959e-05,-5.50080147e-04]


--- Step 1254 ---
qpos:
[ 6.22937701e-03,-1.83620421e-03,-4.92378623e-03, 3.35652867e-02,
  4.47204705e-03,-3.73019215e-03,-1.85215513e-02, 2.86010139e-02,
  1.29507687e-02, 3.36788555e-03,-1.00489870e-02, 2.58836741e-02,
  1.27206831e+00, 2.80395776e-05, 1.00315544e+00, 6.39256337e-02,
  9.34250862e-02,-7.01439845e-02, 1.30968963e-01, 4.98044550e-01,
  4.86185835e-01, 5.01877570e-01, 5.13511309e-01]

qacc:
[ -7.93923725, -1.47940499,  3.018024  ,  2.65801174,  1.69515317,
  -0.29040379,  0.4294529 ,  2.98549027, -2.77268398,  0.66507611,
  -1.6269138 ,  2.40346196, -0.62011601,  0.81763678,  6.4899318 ,
 -22.13377752,  0.71858844, -1.94055508, -0.63444158,  9.373147  ,
  -2.23234985, 28.30009708]

qfrc_actuator:
[-3.66600449e-05,-9.28738012e-05,-5.31614731e-05, 4.72044639e-05,
 -4.59490137e-06,-2.96763195e-04,-2.87285763e-04,-3.89790671e-05,
  3.35672649e-05, 1.07177918e-04,-1.62474224e-04,-1.47477744e-05,
  7.86177066e-03,-1.50967234e-03, 0.00000000e+00,-2.52130493e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59198445,  1.93450269, -4.16461529,  1.93450269, 37.74950632,
       15.40197849, -4.16461529, 15.40197849, 11.74634726,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000315104856756121
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.80836173e-14, -4.40418087e-14,  1.00000000e+00,  3.87936182e-27,
        1.00000000e+00,  4.40418087e-14, -1.00000000e+00,  0.00000000e+00,
        8.80836173e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08142337, -0.03172302,  0.06199099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.66340335e-05,-2.58478940e-05, 3.07924184e-05, 1.89464708e-05,
  9.93231018e-06, 4.15215048e-05, 3.23156254e-05, 1.52838571e-05,
 -1.61491657e-05, 7.37751498e-05, 2.23149697e-05, 7.90813479e-06,
 -7.42646932e-05,-1.62017345e-05,-3.88096075e-06,-1.08166324e-04,
 -8.42321536e-08, 1.49595861e-07,-1.21644068e+00,-4.52131412e-04,
  1.22130761e-05,-5.49858134e-04]


--- Step 1255 ---
qpos:
[ 6.22911985e-03,-1.83601642e-03,-4.92331681e-03, 3.35656599e-02,
  4.47241826e-03,-3.72949164e-03,-1.85220286e-02, 2.86012098e-02,
  1.29511256e-02, 3.37017080e-03,-1.00498897e-02, 2.58833389e-02,
  1.27230391e+00, 2.80069754e-05, 1.00338739e+00, 6.39222122e-02,
  9.34350697e-02,-7.01520691e-02, 1.30966690e-01, 4.97974245e-01,
  4.86249804e-01, 5.01887853e-01, 5.13508872e-01]

qacc:
[  1.2335872 , -0.69919918,  2.65773155, -4.5736553 ,  4.10914165,
   0.79928091, -5.20965065, 14.65624986, -1.81868243, -1.40621998,
   4.72052304, -4.22966085, -0.37577647,  0.29564427,  5.92752614,
 -20.62629694,  0.70458394, -1.9184026 , -0.74379529,  9.34127826,
  -2.11797108, 27.96009084]

qfrc_actuator:
[-2.81402859e-05,-1.02561216e-04,-5.08997331e-05, 4.06613893e-05,
  1.92513798e-05,-3.19642485e-04,-2.90507705e-04,-1.31292877e-05,
  2.32619986e-05, 8.27504143e-05,-1.42353536e-04,-1.22828262e-05,
  7.83255687e-03,-1.52067227e-03, 0.00000000e+00,-2.61902239e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58382186, -2.18606858,  4.02896103, -2.18606858, 27.79301313,
       12.59304406,  4.02896103, 12.59304406, 11.4166648 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031278082586877476
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.77476196e-13, -4.43690491e-14,  1.00000000e+00,  7.87445006e-27,
        1.00000000e+00,  4.43690491e-14, -1.00000000e+00,  0.00000000e+00,
        1.77476196e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08142187, -0.03172185,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.18121710e-06,-1.70019180e-05, 1.36348878e-06,-6.21717993e-06,
  2.41425534e-05, 7.65518276e-06, 9.86321814e-06, 2.90449734e-05,
 -1.07339876e-05, 2.17089740e-05, 3.83752101e-05, 6.55254488e-06,
 -7.60598330e-05,-3.15420729e-05,-1.93226850e-05,-1.05503735e-04,
 -1.50265412e-07, 1.11527586e-07,-1.21644050e+00,-4.52761641e-04,
  1.27283722e-05,-5.49837104e-04]


--- Step 1256 ---
qpos:
[ 6.22931147e-03,-1.83614341e-03,-4.92295171e-03, 3.35649518e-02,
  4.47341745e-03,-3.72870858e-03,-1.85230661e-02, 2.86014066e-02,
  1.29520467e-02, 3.37200874e-03,-1.00505286e-02, 2.58831201e-02,
  1.27253901e+00, 2.78527437e-05, 1.00361941e+00, 6.39159421e-02,
  9.34478268e-02,-7.01677543e-02, 1.30961075e-01, 4.97868475e-01,
  4.86352909e-01, 5.01878757e-01, 5.13522679e-01]

qacc:
[  3.94754008, -2.35861043, 12.35690629,-30.65538328,  5.4770887 ,
   1.66457662, -5.79933381,  6.66818042,  4.98007569, -1.09850675,
   2.55039696, -0.60884645, -0.45265398,  0.42230857,  8.73255737,
 -30.33271396,  0.69342476, -1.90016275, -0.83549633,  9.31423147,
  -2.0241786 , 27.68284459]

qfrc_actuator:
[-5.25672643e-06,-1.43863900e-04,-6.75421645e-05,-1.66066537e-05,
  5.08818729e-05,-3.33651273e-04,-3.27827975e-04,-1.57841479e-05,
  5.25665411e-05, 1.39055344e-05,-1.48019915e-04,-1.07197700e-05,
  7.80657361e-03,-1.52717607e-03, 0.00000000e+00,-2.76388187e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56956853, -2.45535653,  3.85385273, -2.45535653, 36.0061084 ,
       20.02876568,  3.85385273, 20.02876568, 17.33024309,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030866228805373486
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.99221469e-14, -2.69766441e-13,  1.00000000e+00,  2.42579775e-26,
        1.00000000e+00,  2.69766441e-13, -1.00000000e+00,  0.00000000e+00,
        8.99221469e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08142031, -0.03171968,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.30808658e-05,-5.08048530e-05,-2.02101498e-05,-5.80729723e-05,
  3.23212053e-05,-6.45790196e-06,-3.35231396e-05,-1.42219706e-06,
  2.90115966e-05,-4.85714525e-05, 3.75674761e-06, 3.94690561e-06,
 -7.76076236e-05,-3.08076528e-05,-2.52173714e-05,-1.54268834e-04,
 -4.35549763e-07, 5.02938936e-07,-1.21644148e+00,-4.53243303e-04,
  1.38642968e-05,-5.50011525e-04]


--- Step 1257 ---
qpos:
[ 6.22943092e-03,-1.83650373e-03,-4.92282735e-03, 3.35635628e-02,
  4.47478805e-03,-3.72765333e-03,-1.85246319e-02, 2.86011987e-02,
  1.29533125e-02, 3.37251771e-03,-1.00507427e-02, 2.58830265e-02,
  1.27277359e+00, 2.76161737e-05, 1.00385095e+00, 6.39106283e-02,
  9.34624235e-02,-7.01790735e-02, 1.30957983e-01, 4.97770778e-01,
  4.86446607e-01, 5.01893134e-01, 5.13514589e-01]

qacc:
[ -0.63857258, -1.03626835,  6.12389222,-17.35299179,  3.22910419,
   0.99660598, -1.33350445, -5.015476  ,  3.07047244, -2.69209552,
   6.51144056, -4.03472391, -0.24992531,  0.1295227 , -3.59558428,
  11.5601288 ,  0.45989842,  1.09147424,  0.63074219,  7.21752986,
   0.90807459,-15.592681  ]

qfrc_actuator:
[-9.62513926e-06,-1.50653209e-04,-7.76110665e-05,-5.00354473e-05,
  6.90837080e-05,-3.06914035e-04,-3.49469036e-04,-3.52089259e-05,
  6.94423949e-05,-1.16631346e-04,-1.51322492e-04,-9.76430811e-06,
  7.78254762e-03,-1.53094368e-03, 0.00000000e+00,-2.70455933e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030831701851126436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.70068539e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.70068539e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08659318, -0.08852489,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.72648561e-06,-4.18536185e-05,-2.50642012e-05,-3.74353080e-05,
  1.91242702e-05, 1.61353078e-05,-2.71523847e-05,-2.08903698e-05,
  1.76879350e-05,-1.56798713e-04,-1.27501211e-05,-9.22451740e-07,
 -7.65316145e-05,-2.81832644e-05,-3.33028756e-05, 4.64586678e-05,
 -9.31742512e-07, 1.31311636e-06,-1.21644357e+00,-4.53598786e-04,
  1.56097764e-05,-5.50377047e-04]


--- Step 1258 ---
qpos:
[ 6.22915199e-03,-1.83662660e-03,-4.92312438e-03, 3.35624258e-02,
  4.47567656e-03,-3.72638189e-03,-1.85259505e-02, 2.86010575e-02,
  1.29544259e-02, 3.37195477e-03,-1.00507146e-02, 2.58825808e-02,
  1.27300779e+00, 2.72501960e-05, 1.00408200e+00, 6.39080118e-02,
  9.34788297e-02,-7.01861034e-02, 1.30956691e-01, 4.97680994e-01,
  4.86531110e-01, 5.01930575e-01, 5.13484961e-01]

qacc:
[-3.52012188e+00, 2.01760185e+00,-7.79005807e+00, 1.26363344e+01,
 -4.21511975e+00,-2.59017057e-01, 1.07037865e+00,-4.83758104e-01,
 -1.31561179e+00,-2.81536939e+00, 9.47381913e+00,-1.51697252e+01,
 -7.82626733e-03,-2.26496720e-01,-8.84782817e+00, 2.99250780e+01,
  4.52397003e-01, 1.07235559e+00, 4.50155104e-01, 7.11303770e+00,
  8.76845597e-01,-1.53087920e+01]

qfrc_actuator:
[-3.00032963e-05,-1.01184783e-04,-8.35577138e-05,-3.36232893e-05,
  4.37284624e-05,-2.73704474e-04,-3.26005082e-04,-2.87851689e-05,
  6.11020674e-05,-1.58854410e-04,-1.35720691e-04,-2.69812990e-05,
  7.77569245e-03,-1.53306022e-03, 0.00000000e+00,-2.56089829e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031296716217595055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.77370529e-13,  1.77370529e-13,  1.00000000e+00, -3.14603047e-26,
        1.00000000e+00, -1.77370529e-13, -1.00000000e+00,  0.00000000e+00,
        1.77370529e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0865935 , -0.08852363,  0.06199105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.04948641e-05, 1.92950464e-05,-1.89685180e-05, 1.30266400e-05,
 -2.48013517e-05, 3.57158770e-05, 2.27349057e-05, 5.76998687e-06,
 -7.89060747e-06,-1.32584554e-04,-1.83920769e-05,-2.43965561e-05,
 -5.77934452e-05,-2.58647273e-05,-1.32382762e-05, 1.41280870e-04,
 -9.71839554e-07, 9.12703269e-07,-1.21644301e+00,-4.53896217e-04,
  1.51106704e-05,-5.50599249e-04]


--- Step 1259 ---
qpos:
[ 6.22863089e-03,-1.83645800e-03,-4.92362533e-03, 3.35621615e-02,
  4.47625442e-03,-3.72491755e-03,-1.85267215e-02, 2.86013208e-02,
  1.29554304e-02, 3.37079155e-03,-1.00504809e-02, 2.58825640e-02,
  1.27324160e+00, 2.70672522e-05, 1.00431297e+00, 6.39067646e-02,
  9.34970217e-02,-7.01889075e-02, 1.30956593e-01, 4.97598988e-01,
  4.86606597e-01, 5.01990736e-01, 5.13434092e-01]

qacc:
[ -2.14021246,  2.75651123,-12.94598168, 28.15165221, -2.70474286,
  -0.43811665,  0.23358683,  5.73828637, -0.94113309, -0.48364992,
  -1.23423233,  8.76606054, -0.36170502,  0.54065797, -4.23428603,
  14.69081333,  0.44641268,  1.05643348,  0.29837352,  7.02854982,
   0.8490002 ,-15.07313679]

qfrc_actuator:
[-4.18795882e-05,-7.15970475e-05,-8.67540581e-05, 1.20328508e-05,
  2.84491604e-05,-2.54417020e-04,-2.93794884e-04,-7.16189852e-06,
  5.57439765e-05,-1.47814667e-04,-1.08763446e-04,-1.41670570e-06,
  7.76849410e-03,-1.51635347e-03, 0.00000000e+00,-2.49302614e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003144832956331195
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.76515421e-13,  1.76515421e-13,  1.00000000e+00,  3.11576937e-26,
        1.00000000e+00, -1.76515421e-13, -1.00000000e+00,  0.00000000e+00,
       -1.76515421e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08659355, -0.08852323,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24511490e-05, 3.70218444e-05,-1.08765535e-06, 4.60845741e-05,
 -1.59764620e-05, 4.41638223e-05, 4.25894669e-05, 2.40542884e-05,
 -5.62861868e-06,-6.79250828e-05,-3.53067174e-06, 1.87743216e-05,
 -4.64192458e-05,-2.35850022e-06, 6.15229397e-06, 7.32509152e-05,
 -9.94756339e-07, 5.90547187e-07,-1.21644285e+00,-4.54197839e-04,
  1.43366252e-05,-5.50722235e-04]


--- Step 1260 ---
qpos:
[ 6.22866121e-03,-1.83599359e-03,-4.92417985e-03, 3.35624349e-02,
  4.47664475e-03,-3.72366432e-03,-1.85268538e-02, 2.86015415e-02,
  1.29563627e-02, 3.36910096e-03,-1.00502569e-02, 2.58828580e-02,
  1.27347485e+00, 2.74077536e-05, 1.00454356e+00, 6.39093521e-02,
  9.35169805e-02,-7.01875386e-02, 1.30957180e-01, 4.97524650e-01,
  4.86673219e-01, 5.02073336e-01, 5.13362218e-01]

qacc:
[ 4.84205077e+00, 1.63823525e+00,-7.55934284e+00, 1.67473132e+01,
 -1.61760479e+00,-2.14633516e+00, 7.43324198e+00,-9.03838703e+00,
 -6.26392311e-01,-2.83271202e-02,-2.22100440e+00, 8.00380389e+00,
 -6.12406202e-01, 1.10346075e+00,-1.20957155e+01, 4.16066926e+01,
  4.41721756e-01, 1.04326000e+00, 1.71066577e-01, 6.96140312e+00,
  8.23834963e-01,-1.48786241e+01]

qfrc_actuator:
[-1.31463631e-05,-5.40867227e-05,-8.83491322e-05, 3.90085707e-05,
  1.92368297e-05,-2.96803922e-04,-2.74489055e-04,-1.22884948e-05,
  5.21926519e-05,-1.75870624e-04,-1.10558652e-04, 1.36714928e-05,
  7.73980151e-03,-1.48861344e-03, 0.00000000e+00,-2.29285176e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003134922897994885
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.77073418e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.77073418e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08659339, -0.08852351,  0.06199104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.83902791e-05, 3.99609822e-05, 7.51838218e-06, 2.94234002e-05,
 -9.65601657e-06,-7.91314382e-06, 3.44984782e-05,-1.29363731e-06,
 -3.73902710e-06,-6.59241454e-05,-1.55991343e-05, 1.24230702e-05,
 -5.58208138e-05, 1.65529064e-05, 6.10610415e-06, 2.03927024e-04,
 -1.00111587e-06, 3.41785115e-07,-1.21644305e+00,-4.54506525e-04,
  1.32967699e-05,-5.50747902e-04]


--- Step 1261 ---
qpos:
[ 6.22903552e-03,-1.83531590e-03,-4.92439048e-03, 3.35623217e-02,
  4.47692157e-03,-3.72265551e-03,-1.85266343e-02, 2.86013792e-02,
  1.29568995e-02, 3.36771480e-03,-1.00506734e-02, 2.58825763e-02,
  1.27370765e+00, 2.78556100e-05, 1.00477456e+00, 6.39106220e-02,
  9.35379650e-02,-7.01820502e-02, 1.30958316e-01, 4.97460807e-01,
  4.86728491e-01, 5.02175315e-01, 5.13271931e-01]

qacc:
[  3.03168385, -1.48126729,  7.31164351,-14.6957357 , -0.97856586,
  -2.09170991,  8.61109863,-15.62777972, -3.50656358,  1.01363389,
  -0.58708606, -8.59263951, -0.52534053,  0.71755726,  4.63155497,
 -15.21967345,  0.2564111 ,  1.02986793,  0.13739661,  4.21895347,
   0.61856334,-14.83902913]

qfrc_actuator:
[ 3.75059786e-06,-4.39437806e-05,-7.12995848e-05, 1.92568465e-05,
  1.36658102e-05,-3.22610697e-04,-2.63235744e-04,-3.31799122e-05,
  3.19796208e-05,-1.20701024e-04,-1.29472101e-04,-1.30850285e-05,
  7.70889365e-03,-1.49017231e-03, 0.00000000e+00,-2.37136200e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031091990815195364
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.82357167e-07,  5.02139325e-14,  1.00000000e+00, -4.93280165e-20,
        1.00000000e+00, -5.02139325e-14, -1.00000000e+00,  6.01853108e-36,
        9.82357167e-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([ 0.0893732 , -0.08840957,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.77156424e-05, 3.53021620e-05, 2.72473794e-05,-1.72081543e-05,
 -5.85094938e-06,-2.32093306e-05, 1.38104101e-05,-2.00646280e-05,
 -2.03472203e-05, 1.56742160e-05,-3.40048749e-05,-2.98766760e-05,
 -5.87285035e-05,-1.08639476e-05, 2.10636251e-05,-6.73790496e-05,
 -9.91426656e-07, 1.62449034e-07,-1.21644361e+00,-4.54824677e-04,
  1.19977657e-05,-5.50677848e-04]


--- Step 1262 ---
qpos:
[ 6.22926475e-03,-1.83446140e-03,-4.92437860e-03, 3.35623313e-02,
  4.47712933e-03,-3.72170524e-03,-1.85268466e-02, 2.86003083e-02,
  1.29575340e-02, 3.36733644e-03,-1.00517236e-02, 2.58815382e-02,
  1.27394033e+00, 2.74557414e-05, 1.00500567e+00, 6.39106364e-02,
  9.35592598e-02,-7.01724904e-02, 1.30959866e-01, 4.97410191e-01,
  4.86770028e-01, 5.02293708e-01, 5.13165736e-01]

qacc:
[ -1.27166045, -0.13289823,  0.29872053,  1.3362646 , -0.61743716,
  -0.73806427,  6.35808798,-21.35037594,  0.82284114,  1.5443592 ,
  -0.38298106,-12.43374548,  0.51124313, -1.4405925 ,  3.89587899,
 -13.52295025,  0.0776015 ,  1.01786402,  0.10349561,  1.57181537,
   0.41494213,-14.79459944]

qfrc_actuator:
[-4.21998383e-06,-3.82570552e-05,-6.11919523e-05, 2.54356640e-05,
  1.02805843e-05,-3.38351629e-04,-2.92288019e-04,-8.09251835e-05,
  3.76270555e-05,-1.62169189e-05,-1.40269323e-04,-4.64333742e-05,
  7.69264428e-03,-1.54460909e-03, 0.00000000e+00,-2.43593811e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003082988054913388
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.50140823e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.50140823e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09207575, -0.08829874,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.45684503e-06, 3.03020934e-05, 2.01540454e-05, 8.29778579e-06,
 -3.56018293e-06,-2.67677413e-05,-3.28531040e-05,-4.86546920e-05,
  5.07258640e-06, 1.04995007e-04,-1.27586358e-05,-3.44290866e-05,
 -5.25463848e-05,-7.03609380e-05,-4.27993551e-06,-6.71202239e-05,
 -8.92598992e-07, 4.07342322e-08,-1.21644424e+00,-4.55143838e-04,
  1.04956815e-05,-5.50548326e-04]


--- Step 1263 ---
qpos:
[ 6.22974190e-03,-1.83361514e-03,-4.92413606e-03, 3.35624383e-02,
  4.47695005e-03,-3.72095361e-03,-1.85274325e-02, 2.85997243e-02,
  1.29585763e-02, 3.36761872e-03,-1.00528786e-02, 2.58804605e-02,
  1.27417262e+00, 2.69564161e-05, 1.00523693e+00, 6.39081931e-02,
  9.35808672e-02,-7.01588896e-02, 1.30961480e-01, 4.97372673e-01,
  4.86797983e-01, 5.02428379e-01, 5.13043733e-01]

qacc:
[ 2.18740210e+00,-4.59313128e-01, 1.20305044e+00, 1.28798043e-01,
 -3.39545062e+00, 1.78873278e+00,-8.80355134e+00, 1.79596880e+01,
  3.57291335e+00, 1.07778159e+00,-2.42100773e+00, 1.43052443e+00,
 -3.63092454e-01, 3.43493929e-01, 7.66155663e+00,-2.64325776e+01,
  7.81261671e-02, 1.01024296e+00, 1.61833480e-02, 1.58112647e+00,
  3.96301156e-01,-1.46654558e+01]

qfrc_actuator:
[ 8.74565736e-06,-5.30455431e-05,-5.52656248e-05, 2.90654353e-05,
 -9.54485932e-06,-3.48141170e-04,-3.09375338e-04,-5.53410181e-05,
  5.84556452e-05, 1.05149409e-05,-1.45947388e-04,-4.78207077e-05,
  7.67985020e-03,-1.54109731e-03, 0.00000000e+00,-2.56269944e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030377919956738053
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.56837987e-14,  2.74102792e-13,  1.00000000e+00, -1.25220568e-26,
        1.00000000e+00, -2.74102792e-13, -1.00000000e+00,  0.00000000e+00,
        4.56837987e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09207563, -0.0882999 ,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.27603160e-05, 6.64092797e-06, 1.49449606e-05, 5.78537983e-06,
 -1.99331312e-05,-3.36598813e-05,-2.83528186e-05, 2.23542622e-05,
  2.10088242e-05, 8.13668346e-05, 1.32667179e-05, 2.00606788e-06,
 -5.97374683e-05,-2.41325968e-05,-1.41299031e-05,-1.32153454e-04,
 -7.16186505e-07,-5.40285902e-09,-1.21644488e+00,-4.55469226e-04,
  8.92965540e-06,-5.50362170e-04]


--- Step 1264 ---
qpos:
[ 6.23071561e-03,-1.83286159e-03,-4.92343281e-03, 3.35618926e-02,
  4.47653433e-03,-3.72029015e-03,-1.85278191e-02, 2.86007778e-02,
  1.29598604e-02, 3.36812081e-03,-1.00536779e-02, 2.58804355e-02,
  1.27440442e+00, 2.65133152e-05, 1.00546784e+00, 6.39062393e-02,
  9.36027899e-02,-7.01412720e-02, 1.30962869e-01, 4.97348148e-01,
  4.86812481e-01, 5.02579219e-01, 5.12905992e-01]

qacc:
[  4.38182604, -2.76293889, 12.41354045,-24.35981234, -2.06062566,
   2.69785374,-16.69713694, 44.7759026 ,  2.13652675,  1.4589109 ,
  -9.23215697, 26.72770363, -0.37535411,  0.43179652, -1.96741453,
   6.19321051,  0.07882601,  1.00419379, -0.0564208 ,  1.59223551,
   0.37883907,-14.56293874]

qfrc_actuator:
[ 3.39380608e-05,-6.22521931e-05,-3.41926045e-05,-4.36323566e-06,
 -2.11361877e-05,-3.18691098e-04,-2.83663907e-04, 3.09615140e-05,
  7.02912911e-05, 8.29212241e-06,-1.31076665e-04, 5.05958868e-06,
  7.65318065e-03,-1.53873084e-03, 0.00000000e+00,-2.52978843e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029810775578753557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.65529244e-14, -3.72423395e-13,  1.00000000e+00,  1.73373981e-26,
        1.00000000e+00,  3.72423395e-13, -1.00000000e+00,  0.00000000e+00,
        4.65529244e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09207551, -0.08830139,  0.06199148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.55537394e-05,-2.18875714e-06, 2.44716968e-05,-3.25177072e-05,
 -1.21722609e-05, 5.70312480e-06, 1.60399805e-05, 8.43158043e-05,
  1.24597939e-05, 4.61206806e-05, 3.33944450e-05, 5.68689840e-05,
 -6.71749694e-05,-1.64748968e-05,-2.60655989e-05, 2.26117881e-05,
 -5.36991749e-07, 3.63433631e-08,-1.21644581e+00,-4.55802256e-04,
  7.29537759e-06,-5.50085652e-04]


--- Step 1265 ---
qpos:
[ 6.23129382e-03,-1.83217675e-03,-4.92246548e-03, 3.35609613e-02,
  4.47667248e-03,-3.71973286e-03,-1.85275815e-02, 2.86024833e-02,
  1.29605868e-02, 3.36861427e-03,-1.00541467e-02, 2.58814212e-02,
  1.27463572e+00, 2.61155966e-05, 1.00569832e+00, 6.39066542e-02,
  9.36250313e-02,-7.01196563e-02, 1.30963792e-01, 4.97336529e-01,
  4.86813623e-01, 5.02746144e-01, 5.12752560e-01]

qacc:
[ -3.46820841, -1.61612314,  7.26954918,-14.32516605,  4.86939658,
  -0.5520251 , -1.00533687, 11.38956278, -4.89610999,  1.15523585,
  -8.38696733, 25.34103671, -0.25845149,  0.2409895 , -7.76733276,
  26.29163914,  0.07967347,  0.99950626, -0.11660003,  1.60501896,
   0.36230256,-14.48328084]

qfrc_actuator:
[ 1.28608271e-05,-6.80219812e-05,-2.21065241e-05,-2.38105150e-05,
  7.72243810e-06,-3.18986171e-04,-2.50449405e-04, 6.35865109e-05,
  4.12286485e-05,-1.11269198e-05,-1.22047965e-04, 5.39188469e-05,
  7.62886069e-03,-1.53716745e-03, 0.00000000e+00,-2.40303824e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002915795830687601
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.51903948e-14,  1.90380790e-13,  1.00000000e+00, -1.81224225e-26,
        1.00000000e+00, -1.90380790e-13, -1.00000000e+00,  0.00000000e+00,
        9.51903948e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09207537, -0.08830312,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.03540652e-05,-3.36065326e-06, 1.35050834e-05,-1.93305332e-05,
  2.85087510e-05, 9.79438995e-06, 3.92806497e-05, 3.50628600e-05,
 -2.86955059e-05, 1.57066853e-05, 2.46408631e-05, 5.30984271e-05,
 -6.71016047e-05,-1.74036808e-05,-1.30419230e-05, 1.23848209e-04,
 -3.54465116e-07, 1.63444107e-07,-1.21644701e+00,-4.56144277e-04,
  5.59060792e-06,-5.49719482e-04]


--- Step 1266 ---
qpos:
[ 6.23092533e-03,-1.83164152e-03,-4.92160308e-03, 3.35601859e-02,
  4.47750041e-03,-3.71940199e-03,-1.85270891e-02, 2.86042627e-02,
  1.29609597e-02, 3.36883343e-03,-1.00540328e-02, 2.58830022e-02,
  1.27486649e+00, 2.62376249e-05, 1.00592934e+00, 6.39031917e-02,
  9.36432652e-02,-7.01060360e-02, 1.30964926e-01, 4.97311990e-01,
  4.86824995e-01, 5.02869146e-01, 5.12644936e-01]

qacc:
[ -8.32492513,  0.43273975, -2.45950433,  5.40376582,  6.04889037,
  -0.87076516,  2.33823302, -1.27761302, -3.08834854, -0.75954809,
  -0.32115579,  9.88436848, -1.07211862,  1.82418775, 12.5824757 ,
 -42.66890899, -1.00186756, -1.99882308,  0.05276814,-17.08720852,
   0.85287075, 27.96660285]

qfrc_actuator:
[-3.52847696e-05,-8.94691957e-05,-3.31528875e-05,-1.71223993e-05,
  4.24026556e-05,-3.54827689e-04,-2.48742844e-04, 6.43354308e-05,
  2.38350685e-05,-4.07231743e-05,-9.88888591e-05, 8.22336568e-05,
  7.61661997e-03,-1.50059230e-03, 0.00000000e+00,-2.61261741e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003040359105076773
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.12904517e-14,  4.56452259e-14,  1.00000000e+00, -4.16697329e-27,
        1.00000000e+00, -4.56452259e-14, -1.00000000e+00,  0.00000000e+00,
        9.12904517e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10904079, -0.03369775,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.87282154e-05,-2.14081505e-05,-1.07630369e-05, 6.63427784e-06,
  3.54949554e-05,-2.07652883e-05, 9.76721726e-06, 3.20341204e-06,
 -1.82052662e-05,-1.34698946e-05, 3.12752661e-05, 3.08729739e-05,
 -5.48324644e-05, 1.72262768e-05, 4.04442267e-06,-2.05209345e-04,
 -1.68105392e-07, 3.73867483e-07,-1.21644848e+00,-4.56496602e-04,
  3.81315063e-06,-5.49264229e-04]


--- Step 1267 ---
qpos:
[ 6.23067226e-03,-1.83106528e-03,-4.92123430e-03, 3.35594994e-02,
  4.47804815e-03,-3.71937129e-03,-1.85267099e-02, 2.86050376e-02,
  1.29618111e-02, 3.36837489e-03,-1.00528029e-02, 2.58845805e-02,
  1.27509682e+00, 2.67644636e-05, 1.00615999e+00, 6.39002735e-02,
  9.36575659e-02,-7.01002272e-02, 1.30965398e-01, 4.97274676e-01,
  4.86846378e-01, 5.02949376e-01, 5.12582116e-01]

qacc:
[  0.9987318 ,  1.61528408, -6.05924939,  8.36035657, -2.45133976,
  -2.14103427, 11.30921931,-28.30174277,  4.25853329, -4.02851616,
  13.06131276,-14.37731085, -0.60061343,  1.05260349, -2.14349671,
   6.81322413, -0.98329096, -1.95287476, -0.16529117,-16.62916902,
   0.91657373, 27.34351249]

qfrc_actuator:
[-2.79514415e-05,-8.47092181e-05,-5.78153350e-05,-1.28928772e-05,
  2.69604849e-05,-3.94081736e-04,-2.65821440e-04, 1.07707844e-05,
  4.89672153e-05,-9.39092822e-05,-4.98833319e-05, 8.04802944e-05,
  7.60099727e-03,-1.47900786e-03, 0.00000000e+00,-2.57487988e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58901679, -0.50084096,  4.56160426, -0.50084096, 43.9425265 ,
        4.32081533,  4.56160426,  4.32081533,  5.06342035,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003142627701432088
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.76639286e-13,  4.41598214e-14,  1.00000000e+00, -7.80035931e-27,
        1.00000000e+00, -4.41598214e-14, -1.00000000e+00,  0.00000000e+00,
        1.76639286e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10903758, -0.03370272,  0.06199102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.93810117e-06,-9.19417622e-06,-3.01929773e-05, 3.06959486e-06,
 -1.44360162e-05,-4.87206126e-05,-2.00688134e-05,-5.40615566e-05,
  2.46088057e-05,-5.29531584e-05, 5.11373070e-05,-6.51050893e-07,
 -4.35884023e-05, 1.31221469e-05,-2.73605891e-05, 2.53613537e-05,
 -3.45998319e-07, 1.96504868e-07,-1.21644456e+00,-4.57099815e-04,
  7.06851068e-06,-5.48877152e-04]


--- Step 1268 ---
qpos:
[ 6.23085339e-03,-1.83032694e-03,-4.92125772e-03, 3.35588462e-02,
  4.47840666e-03,-3.71929437e-03,-1.85269375e-02, 2.86044643e-02,
  1.29629568e-02, 3.36762161e-03,-1.00513224e-02, 2.58857915e-02,
  1.27532679e+00, 2.75666355e-05, 1.00639032e+00, 6.38987808e-02,
  9.36679966e-02,-7.01020767e-02, 1.30964475e-01, 4.97224709e-01,
  4.86877588e-01, 5.02987786e-01, 5.12563256e-01]

qacc:
[  3.80271684,  1.37155837, -4.73232577,  5.82809643, -1.67680395,
  -1.01329116,  9.40063734,-31.803688  ,  2.60190478, -1.85112665,
   7.5772727 ,-14.10866302, -0.40430439,  0.67910507, -4.74063121,
  15.97790945, -0.96751174, -1.91459371, -0.34902123,-16.25000459,
   0.9659981 , 26.82387055]

qfrc_actuator:
[-5.76684305e-06,-6.43557014e-05,-7.24641417e-05,-1.01339714e-05,
  1.76442045e-05,-3.81961070e-04,-2.93904938e-04,-5.65804824e-05,
  6.34187611e-05,-1.07478276e-04,-3.93942164e-05, 6.10459759e-05,
  7.58335476e-03,-1.46651083e-03, 0.00000000e+00,-2.49813863e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60982465, -0.83912547,  4.53280837, -0.83912547, 38.91686144,
        6.35100932,  4.53280837,  6.35100932,  5.78554028,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003200999651486458
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.67090867e-14,  2.16772717e-13,  1.00000000e+00, -1.87961643e-26,
        1.00000000e+00, -2.16772717e-13, -1.00000000e+00,  0.00000000e+00,
        8.67090867e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10903556, -0.03370547,  0.06199085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.23492499e-05, 9.08602136e-06,-2.01700179e-05, 1.37923284e-06,
 -9.74259238e-06,-2.15981853e-05,-4.24955531e-05,-7.11877880e-05,
  1.51302813e-05,-3.26355254e-05, 5.81442944e-06,-1.99529597e-05,
 -3.99904957e-05, 5.67707481e-06,-1.31639756e-05, 7.38643012e-05,
 -3.74151672e-07, 1.68413484e-07,-1.21644206e+00,-4.57779060e-04,
  9.32589307e-06,-5.48742315e-04]


--- Step 1269 ---
qpos:
[ 6.23129913e-03,-1.82966967e-03,-4.92111015e-03, 3.35582230e-02,
  4.47899536e-03,-3.71905328e-03,-1.85276402e-02, 2.86030637e-02,
  1.29642668e-02, 3.36696264e-03,-1.00504435e-02, 2.58867695e-02,
  1.27555650e+00, 2.82708684e-05, 1.00662069e+00, 6.38968466e-02,
  9.36746106e-02,-7.01114575e-02, 1.30961536e-01, 4.97162192e-01,
  4.86918466e-01, 5.02985154e-01, 5.12587648e-01]

qacc:
[  2.33339797, -0.527978  ,  1.59265403, -1.2791778 ,  1.99650957,
  -0.16127683,  4.37722259,-18.05130545,  1.42510082,  1.32378888,
  -3.560232  ,  0.42523583, -0.14668605,  0.05787205,  1.40189557,
  -4.79746136, -0.95418041, -1.88280082, -0.50371671,-15.93706556,
   1.00404676, 26.39240375]

qfrc_actuator:
[ 7.21094504e-06,-7.02888104e-05,-6.32561155e-05,-8.23728730e-06,
  2.97772024e-05,-3.56994541e-04,-3.10299969e-04,-9.59530547e-05,
  7.14548842e-05,-9.73888868e-05,-6.93485871e-05, 4.91213983e-05,
  7.56451035e-03,-1.47725130e-03, 0.00000000e+00,-2.52336270e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61813023, -1.14538304,  4.47383778, -1.14538304, 34.96949738,
        7.7704966 ,  4.47383778,  7.7704966 ,  6.6075173 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032238725022865067
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.60938998e-14, -2.15234749e-13,  1.00000000e+00,  1.85303990e-26,
        1.00000000e+00,  2.15234749e-13, -1.00000000e+00,  0.00000000e+00,
        8.60938998e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1090345 , -0.03370643,  0.06199079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.36149827e-05,-4.97722757e-06, 8.64036417e-06, 1.61390109e-06,
  1.18518393e-05, 1.05830453e-06,-2.85506313e-05,-4.31519709e-05,
  8.45454964e-06,-7.79843248e-06,-3.66805342e-05,-1.35150158e-05,
 -4.06063064e-05,-1.85312850e-05,-1.65486927e-06,-2.36765720e-05,
 -2.58637675e-07, 2.77993557e-07,-1.21644086e+00,-4.58541976e-04,
  1.06622341e-05,-5.48856808e-04]


--- Step 1270 ---
qpos:
[ 6.23155215e-03,-1.82909295e-03,-4.92086088e-03, 3.35579772e-02,
  4.47937989e-03,-3.71866585e-03,-1.85286041e-02, 2.86011888e-02,
  1.29656631e-02, 3.36621679e-03,-1.00498776e-02, 2.58872550e-02,
  1.27578597e+00, 2.83874566e-05, 1.00685077e+00, 6.38966261e-02,
  9.36774526e-02,-7.01282642e-02, 1.30956062e-01, 4.97087209e-01,
  4.86968882e-01, 5.02942114e-01, 5.12654704e-01]

qacc:
[ -1.68964519,  0.38987754, -3.13258466,  9.55647672, -1.79794401,
  -0.04900902,  2.46427065,-10.36947347,  0.75125075, -0.25547458,
   2.82122996,-10.77797086,  0.39703925, -1.12512918, -5.6552804 ,
  19.0471446 , -0.94298684, -1.85649717, -0.63387128,-15.67990896,
   1.0329607 , 26.03627121]

qfrc_actuator:
[-3.09206693e-06,-7.40629559e-05,-5.78929147e-05, 1.08846899e-05,
  1.89307670e-05,-3.42209569e-04,-3.19570787e-04,-1.18519909e-04,
  7.56539875e-05,-1.08880886e-04,-8.73117455e-05, 2.39625990e-05,
  7.53429665e-03,-1.51942378e-03, 0.00000000e+00,-2.43094281e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6160906 , -1.47056768,  4.3755826 , -1.47056768, 39.01052808,
       11.55945452,  4.3755826 , 11.55945452,  8.50104986,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000321827751928766
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72487148e-13, -1.72487148e-13,  1.00000000e+00,  2.97518164e-26,
        1.00000000e+00,  1.72487148e-13, -1.00000000e+00,  0.00000000e+00,
        1.72487148e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1090342 , -0.03370596,  0.0619908 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.92016409e-06,-4.72429285e-06, 5.44608649e-06, 1.92379992e-05,
 -1.05045643e-05, 7.63703175e-06,-1.40541877e-05,-2.43455168e-05,
  4.43762588e-06,-2.39904488e-05,-2.45634280e-05,-2.70279756e-05,
 -5.80629147e-05,-5.55048396e-05,-8.17507140e-06, 8.97819658e-05,
 -4.12751057e-09, 5.17043781e-07,-1.21644090e+00,-4.59393675e-04,
  1.11367447e-05,-5.49217889e-04]


--- Step 1271 ---
qpos:
[ 6.23098997e-03,-1.82863593e-03,-4.92077258e-03, 3.35576407e-02,
  4.47963157e-03,-3.71817863e-03,-1.85297135e-02, 2.85994009e-02,
  1.29670990e-02, 3.36530623e-03,-1.00495621e-02, 2.58881317e-02,
  1.27601505e+00, 2.80589324e-05, 1.00708070e+00, 6.38978226e-02,
  9.36765600e-02,-7.01524103e-02, 1.30947615e-01, 4.96999825e-01,
  4.87028722e-01, 5.02859176e-01, 5.12763930e-01]

qacc:
[ -7.17101297,  0.11882019, -0.24559688, -1.00656591, -1.16900065,
   0.71947744, -2.73787593,  4.3995555 ,  0.34343411,  1.28671778,
  -6.55650627, 13.84914801,  0.14515146, -0.69097956, -4.49983305,
  15.40112411, -0.93365582, -1.83483387, -0.74331189,-15.46987748,
   1.05446407, 25.74462871]

qfrc_actuator:
[-4.47647218e-05,-9.42624202e-05,-7.25883563e-05, 4.47700455e-06,
  1.23915980e-05,-3.33581352e-04,-3.24591013e-04,-1.13272867e-04,
  7.75631033e-05,-1.15425613e-04,-9.81282410e-05, 4.44738584e-05,
  7.50792042e-03,-1.54442132e-03, 0.00000000e+00,-2.35867819e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031900868870204935
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.61017113e-13,  1.30508556e-13,  1.00000000e+00, -3.40649666e-26,
        1.00000000e+00, -1.30508556e-13, -1.00000000e+00,  0.00000000e+00,
        2.61017113e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10903451, -0.03370436,  0.06199088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.19594194e-05,-2.09194969e-05,-1.43438924e-05,-6.04820519e-06,
 -6.83498972e-06, 8.95032441e-06,-6.00499806e-06, 4.62016246e-06,
  2.02724855e-06,-2.61672085e-05,-1.97304902e-05, 1.81066410e-05,
 -7.26999073e-05,-5.08002566e-05, 2.40626028e-06, 7.53282308e-05,
  3.85939637e-07, 8.80122682e-07,-1.21644211e+00,-4.60337527e-04,
  1.07946567e-05,-5.49823077e-04]


--- Step 1272 ---
qpos:
[ 6.23062256e-03,-1.82833675e-03,-4.92082016e-03, 3.35568885e-02,
  4.48014800e-03,-3.71801330e-03,-1.85304377e-02, 2.85980527e-02,
  1.29685465e-02, 3.36446962e-03,-1.00498021e-02, 2.58895828e-02,
  1.27624372e+00, 2.74025631e-05, 1.00731101e+00, 6.38965190e-02,
  9.36719636e-02,-7.01838247e-02, 1.30935827e-01, 4.96900087e-01,
  4.87097890e-01, 5.02736744e-01, 5.12914920e-01]

qacc:
[  1.710654  , -0.68808902,  3.89966792,-10.75366871,  2.33505931,
  -0.60152631, -0.33669154,  7.57493275,  0.08325671,  2.83229898,
 -12.38230976, 23.15637119, -0.2140095 , -0.05960337,  8.10695887,
 -27.54239916, -0.92594349, -1.81708807, -0.83530536,-15.29976927,
   1.0698781 , 25.50828744]

qfrc_actuator:
[-3.35490620e-05,-1.06493096e-04,-8.13443611e-05,-1.69311619e-05,
  2.61997741e-05,-3.64164456e-04,-3.09319470e-04,-9.17091284e-05,
  7.81104653e-05,-1.01136769e-04,-1.22346705e-04, 7.39478677e-05,
  7.48919447e-03,-1.55902136e-03, 0.00000000e+00,-2.49417459e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031441896592136753
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.82757678e-14,  2.20689419e-13,  1.00000000e+00, -1.94815279e-26,
        1.00000000e+00, -2.20689419e-13, -1.00000000e+00,  0.00000000e+00,
        8.82757678e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10903528, -0.03370188,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00146893e-05,-2.71808291e-05,-1.50565262e-05,-2.29172057e-05,
  1.36161054e-05,-2.66235283e-05, 1.65519926e-05, 2.18351265e-05,
  5.93479396e-07,-3.61106718e-06,-3.14209893e-05, 2.80218870e-05,
 -7.22391746e-05,-4.28191005e-05, 4.83771026e-06,-1.32065360e-04,
  9.09206782e-07, 1.36406993e-06,-1.21644445e+00,-4.61375669e-04,
  9.67011776e-06,-5.50670188e-04]


--- Step 1273 ---
qpos:
[ 6.23073686e-03,-1.82806369e-03,-4.92106850e-03, 3.35562185e-02,
  4.48082586e-03,-3.71813963e-03,-1.85309378e-02, 2.85969810e-02,
  1.29699889e-02, 3.36390330e-03,-1.00498703e-02, 2.58906084e-02,
  1.27647203e+00, 2.62659412e-05, 1.00754144e+00, 6.38926074e-02,
  9.36673917e-02,-7.02105408e-02, 1.30929267e-01, 4.96814311e-01,
  4.87153805e-01, 5.02633029e-01, 5.13046537e-01]

qacc:
[ 4.22989754e+00, 6.87633321e-01,-2.86290416e+00, 4.64022950e+00,
  1.42501223e+00,-4.45444383e-01,-1.43556063e-01, 4.79133458e+00,
 -4.35805825e-02,-9.98436604e-01, 5.87455081e+00,-1.37103559e+01,
 -4.23916756e-02,-4.11113247e-01, 8.03884799e+00,-2.78897055e+01,
  6.11838828e-03, 1.17458458e+00, 1.30721248e+00, 2.97624239e+00,
 -1.78119596e-01,-1.62838224e+01]

qfrc_actuator:
[-9.03692148e-06,-9.61038310e-05,-8.64974017e-05,-1.14731259e-05,
  3.41192500e-05,-3.82387306e-04,-3.00097934e-04,-7.84953336e-05,
  7.78529644e-05,-5.67679272e-05,-1.00943222e-04, 5.52019622e-05,
  7.46974914e-03,-1.58507477e-03, 0.00000000e+00,-2.62670876e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003275724432862809
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.69462213e-13, -1.69462213e-13,  1.00000000e+00,  2.87174417e-26,
        1.00000000e+00,  1.69462213e-13, -1.00000000e+00,  0.00000000e+00,
        1.69462213e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09208977, -0.08829747,  0.06199064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47882121e-05,-8.90658056e-06,-1.34162949e-05, 3.32709883e-06,
  8.29755686e-06,-2.87457766e-05, 6.52584059e-06, 1.30742080e-05,
 -2.44407315e-07, 3.70946078e-05, 1.77677813e-05,-1.94430811e-05,
 -7.12368629e-05,-5.21585054e-05,-1.83457735e-05,-1.40626539e-04,
  1.56426800e-06, 1.96764602e-06,-1.21644789e+00,-4.62509359e-04,
  7.78844441e-06,-5.51757337e-04]


--- Step 1274 ---
qpos:
[ 6.23079937e-03,-1.82809306e-03,-4.92127557e-03, 3.35556377e-02,
  4.48124845e-03,-3.71835393e-03,-1.85314098e-02, 2.85964088e-02,
  1.29710721e-02, 3.36354147e-03,-1.00496814e-02, 2.58914032e-02,
  1.27669976e+00, 2.53558773e-05, 1.00777184e+00, 6.38864427e-02,
  9.36629070e-02,-7.02327076e-02, 1.30926793e-01, 4.96742264e-01,
  4.87196476e-01, 5.02547478e-01, 5.13159575e-01]

qacc:
[-4.48844977e-01,-3.30580908e-01, 2.23660314e-01, 1.47516544e+00,
 -2.23149458e+00, 8.36661907e-01,-5.25406822e+00, 1.39111615e+01,
 -3.15695470e+00,-9.17501068e-01, 4.64916657e+00,-9.21842436e+00,
 -7.51308516e-01, 1.09896258e+00, 6.79831911e+00,-2.37401997e+01,
  2.17982878e-02, 1.13733500e+00, 1.02131718e+00, 2.69538394e+00,
 -6.63786753e-02,-1.58895208e+01]

qfrc_actuator:
[-1.24170242e-05,-1.25469089e-04,-8.93694296e-05,-7.97960594e-06,
  2.07503026e-05,-3.75342867e-04,-2.94499462e-04,-5.25516497e-05,
  5.93718574e-05,-4.78348955e-05,-8.81769226e-05, 4.37993766e-05,
  7.44988185e-03,-1.56445875e-03, 0.00000000e+00,-2.73860512e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.68957588,  0.95165543,  4.59200108,  0.95165543,  9.50698433,
       -0.9983693 ,  4.59200108, -0.9983693 ,  4.89647992,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003411434069396785
  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([ 0.09209259, -0.08829462,  0.06199025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.67848766e-06,-3.69718483e-05,-6.24902967e-06, 2.71280551e-06,
 -1.31427639e-05,-7.10612760e-06, 9.26624040e-07, 2.51954818e-05,
 -1.84766690e-05, 3.25369937e-05, 2.19510377e-05,-9.57711166e-06,
 -7.35465323e-05,-7.20180126e-06,-2.87037856e-05,-1.23150442e-04,
  1.25308813e-06, 1.38646480e-06,-1.21644572e+00,-4.61603700e-04,
  8.80161280e-06,-5.52247367e-04]


--- Step 1275 ---
qpos:
[ 6.23116601e-03,-1.82836005e-03,-4.92126997e-03, 3.35554285e-02,
  4.48116287e-03,-3.71896576e-03,-1.85313879e-02, 2.85961594e-02,
  1.29719255e-02, 3.36329210e-03,-1.00495394e-02, 2.58917430e-02,
  1.27692692e+00, 2.46838155e-05, 1.00800176e+00, 6.38812858e-02,
  9.36585583e-02,-7.02504490e-02, 1.30927440e-01, 4.96683741e-01,
  4.87225933e-01, 5.02479631e-01, 5.13254684e-01]

qacc:
[  2.68509617, -0.14873337, -1.50310052,  7.77847213, -4.42499556,
  -1.23190241,  2.28208485,  2.79233937, -2.02590077, -0.65291282,
   4.47145677,-12.36059995, -0.5423483 ,  0.7884236 , -3.69525204,
  12.01369466,  0.03400521,  1.10634182,  0.78034703,  2.47091667,
   0.02155219,-15.55626435]

qfrc_actuator:
[ 3.31361555e-06,-1.25142409e-04,-7.32819513e-05, 1.20479391e-05,
 -5.03956673e-06,-4.06482959e-04,-2.73215868e-04,-3.70562907e-05,
  4.80654648e-05,-6.02056735e-05,-9.84996280e-05, 1.90258289e-05,
  7.42446897e-03,-1.55186104e-03, 0.00000000e+00,-2.67765678e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.72317285,  0.84979251,  4.64609669,  0.84979251, 12.25432434,
       -1.37748233,  4.64609669, -1.37748233,  4.97512072,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034944588929086695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19141088e-13,  7.94273920e-14,  1.00000000e+00,  9.46306589e-27,
        1.00000000e+00, -7.94273920e-14, -1.00000000e+00,  0.00000000e+00,
       -1.19141088e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09209477, -0.08829304,  0.06199001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56421358e-05,-2.15191927e-05, 7.77870108e-06, 1.82817630e-05,
 -2.61688643e-05,-3.38326368e-05, 2.08116094e-05, 1.57165983e-05,
 -1.18212401e-05, 9.95404874e-06,-1.22728507e-06,-2.28064600e-05,
 -6.99757431e-05,-5.61763100e-06,-3.11816058e-05, 4.94366879e-05,
  9.80920919e-07, 9.08490704e-07,-1.21644394e+00,-4.60793672e-04,
  9.64312681e-06,-5.52653691e-04]


--- Step 1276 ---
qpos:
[ 6.23206305e-03,-1.82858918e-03,-4.92119077e-03, 3.35554344e-02,
  4.48111363e-03,-3.71997727e-03,-1.85307773e-02, 2.85960915e-02,
  1.29729816e-02, 3.36320603e-03,-1.00495373e-02, 2.58917838e-02,
  1.27715347e+00, 2.42229256e-05, 1.00823106e+00, 6.38801884e-02,
  9.36543836e-02,-7.02638678e-02, 1.30930398e-01, 4.96638568e-01,
  4.87242216e-01, 5.02429105e-01, 5.13332398e-01]

qacc:
[ 4.66563267e+00, 2.78260209e-01,-1.84354893e+00, 5.43847626e+00,
  3.43376908e-01,-1.79936306e+00, 4.88177073e+00,-2.38435657e+00,
  1.77564038e+00,-1.18859659e-02, 1.61223620e+00,-6.67783285e+00,
 -3.73770507e-01, 4.90515563e-01,-1.31466026e+01, 4.47205150e+01,
  4.34963886e-02, 1.08062812e+00, 5.77612298e-01, 2.29143764e+00,
  9.07951391e-02,-1.52755612e+01]

qfrc_actuator:
[ 3.01755066e-05,-1.06944398e-04,-6.37593131e-05, 2.39252002e-05,
 -2.42173015e-06,-4.24683760e-04,-2.42998131e-04,-2.78529907e-05,
  5.88307788e-05,-4.98432307e-05,-1.04721949e-04, 4.29873534e-06,
  7.39042250e-03,-1.54417640e-03, 0.00000000e+00,-2.46210336e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.73992642,  0.75979672,  4.67863349,  0.75979672, 16.75557277,
       -1.95130667,  4.67863349, -1.95130667,  5.05681305,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035347397638568756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.17783391e-13,  1.57044521e-13,  1.00000000e+00, -1.84972361e-26,
        1.00000000e+00, -1.57044521e-13, -1.00000000e+00,  0.00000000e+00,
        1.17783391e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09209645, -0.08829247,  0.0619899 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.72989362e-05, 8.56888391e-06, 6.67065183e-06, 1.15804128e-05,
  1.85701093e-06,-3.21342696e-05, 2.63454901e-05, 8.78234072e-06,
  1.04333704e-05, 1.47031229e-05,-5.10462867e-06,-1.47866954e-05,
 -7.58528061e-05,-9.51682580e-06,-1.20744840e-05, 2.13582004e-04,
  7.39151526e-07, 5.29479765e-07,-1.21644252e+00,-4.60057166e-04,
  1.03371174e-05,-5.52974416e-04]


--- Step 1277 ---
qpos:
[ 6.23327513e-03,-1.82868979e-03,-4.92102634e-03, 3.35552244e-02,
  4.48144048e-03,-3.72087933e-03,-1.85302947e-02, 2.85964638e-02,
  1.29745031e-02, 3.36340278e-03,-1.00496859e-02, 2.58916329e-02,
  1.27737954e+00, 2.36026375e-05, 1.00846047e+00, 6.38796322e-02,
  9.36504124e-02,-7.02730492e-02, 1.30934985e-01, 4.96606593e-01,
  4.87245365e-01, 5.02395580e-01, 5.13393151e-01]

qacc:
[  2.77041293, -0.51843057,  2.99695938, -6.95420102,  3.28602057,
   1.40038174, -6.65331751, 14.40629454,  4.08716247,  0.39208373,
  -0.05999206, -3.21057949, -0.21838586,  0.03760223, -1.45128405,
   5.35191218,  0.05086687,  1.05937625,  0.40743294,  2.14789813,
   0.14537299,-15.04020363]

qfrc_actuator:
[ 4.56155780e-05,-9.59566629e-05,-5.81215619e-05, 1.31674508e-05,
  1.68995014e-05,-3.99454570e-04,-2.43217552e-04,-4.66016172e-06,
  8.24986181e-05,-2.59366934e-05,-1.08372143e-04,-4.37441308e-06,
  7.36187178e-03,-1.55726059e-03, 0.00000000e+00,-2.44128382e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.7424045 ,  0.63565009,  4.69961163,  0.63565009, 25.37993295,
       -2.791347  ,  4.69961163, -2.791347  ,  5.11995059,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035406370822430033
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.91957365e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.91957365e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09209773, -0.08829272,  0.06198988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.62191396e-05, 1.76677206e-05, 8.62976860e-06,-9.93536697e-06,
  1.93616348e-05, 1.31083031e-05,-3.30287947e-06, 2.28991834e-05,
  2.39699468e-05, 3.04504920e-05,-1.75190132e-06,-8.50758644e-06,
 -7.40640079e-05,-3.28385300e-05, 1.47580891e-05, 3.03941452e-05,
  5.21338697e-07, 2.45725412e-07,-1.21644144e+00,-4.59377674e-04,
  1.09017566e-05,-5.53208408e-04]


--- Step 1278 ---
qpos:
[ 6.23431813e-03,-1.82860225e-03,-4.92112148e-03, 3.35552488e-02,
  4.48199616e-03,-3.72135692e-03,-1.85302398e-02, 2.85967456e-02,
  1.29759517e-02, 3.36379741e-03,-1.00495682e-02, 2.58910155e-02,
  1.27760515e+00, 2.28134998e-05, 1.00869000e+00, 6.38786750e-02,
  9.36466675e-02,-7.02780630e-02, 1.30940632e-01, 4.96587687e-01,
  4.87235422e-01, 5.02378794e-01, 5.13437299e-01]

qacc:
[ -1.49792676,  1.45984206, -5.82836502, 10.15471389,  1.98198241,
   1.5653907 , -4.39211024,  3.20307678, -0.63797   , -1.44182891,
   7.49245449,-16.14054371, -0.23668139,  0.07339618,  1.38965443,
  -4.59137815,  0.05658371,  1.04189928,  0.26496329,  2.03310886,
   0.18844423,-14.84403637]

qfrc_actuator:
[ 3.64531369e-05,-8.94008781e-05,-7.26084566e-05, 2.46789967e-05,
  2.81358413e-05,-3.66269267e-04,-2.61218160e-04,-8.91009176e-06,
  7.80587229e-05,-1.18411553e-05,-9.26598265e-05,-2.71555430e-05,
  7.34195494e-03,-1.56476735e-03, 0.00000000e+00,-2.46439967e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.73341282,  0.46894092,  4.71012647,  0.46894092, 48.18737294,
       -4.32628297,  4.71012647, -4.32628297,  5.16413822,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003519164665683888
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.18304676e-13, -7.88697837e-14,  1.00000000e+00,  9.33066418e-27,
        1.00000000e+00,  7.88697837e-14, -1.00000000e+00,  0.00000000e+00,
        1.18304676e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09209869, -0.08829361,  0.06198994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.69486412e-06, 1.77965819e-05,-1.01204087e-05, 1.23732605e-05,
  1.17931678e-05, 4.08476049e-05,-1.49042628e-05,-3.35749845e-06,
 -3.74740728e-06, 3.04052947e-05, 2.14924742e-05,-2.17028553e-05,
 -6.99425456e-05,-3.20510355e-05, 4.52680718e-06,-2.08199510e-05,
  3.22661748e-07, 5.40532689e-08,-1.21644068e+00,-4.58742835e-04,
  1.13507423e-05,-5.53355013e-04]


--- Step 1279 ---
qpos:
[ 6.23489871e-03,-1.82877666e-03,-4.92091296e-03, 3.35554301e-02,
  4.48233761e-03,-3.72168285e-03,-1.85300216e-02, 2.85966228e-02,
  1.29769913e-02, 3.36412817e-03,-1.00494329e-02, 2.58905264e-02,
  1.27783034e+00, 2.21370245e-05, 1.00892001e+00, 6.38734310e-02,
  9.36431667e-02,-7.02789663e-02, 1.30946864e-01, 4.96581740e-01,
  4.87212427e-01, 5.02378528e-01, 5.13465131e-01]

qacc:
[ -4.05189198, -0.86407351,  1.92966525,  0.47891574, -1.87270051,
  -1.08376787,  5.86964409,-13.24892533, -3.59677596,  0.13773403,
  -1.14344369,  3.37093945, -0.68613772,  0.97520834, 13.69027452,
 -46.76222569,  0.06101306,  1.02761857,  0.14605607,  1.94135149,
   0.22248782,-14.68178074]

qfrc_actuator:
[ 1.28872844e-05,-1.21120583e-04,-6.33541633e-05, 3.14355313e-05,
  1.67654461e-05,-3.64174373e-04,-2.54031180e-04,-2.92710650e-05,
  5.71065537e-05,-3.91656803e-05,-1.01191943e-04,-2.25446762e-05,
  7.33255843e-03,-1.55110181e-03, 0.00000000e+00,-2.69067725e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034761891699978953
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.98448366e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.98448366e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09209941, -0.08829502,  0.06199007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.38071570e-05,-2.33364805e-05, 1.21113829e-05, 7.40991836e-06,
 -1.10185214e-05, 2.17345499e-05, 1.36758997e-05,-1.91916609e-05,
 -2.10467289e-05,-6.82322933e-06,-3.58155238e-07, 6.23582865e-06,
 -5.71012159e-05,-9.61884046e-06,-5.55804593e-06,-2.28079033e-04,
  1.39509550e-07,-4.82107738e-08,-1.21644022e+00,-4.58143364e-04,
  1.16943995e-05,-5.53413886e-04]


--- Step 1280 ---
qpos:
[ 6.23553726e-03,-1.82921923e-03,-4.92054802e-03, 3.35557025e-02,
  4.48254053e-03,-3.72221596e-03,-1.85295440e-02, 2.85962970e-02,
  1.29777718e-02, 3.36437914e-03,-1.00496403e-02, 2.58901242e-02,
  1.27805532e+00, 2.12590709e-05, 1.00914987e+00, 6.38661853e-02,
  9.36399236e-02,-7.02758054e-02, 1.30953284e-01, 4.96588663e-01,
  4.87176412e-01, 5.02394604e-01, 5.13476879e-01]

qacc:
[  0.5193398 , -0.60528991,  1.25779084,  0.26713252, -1.20086153,
  -1.4133316 ,  5.50405934, -9.28520765, -2.28964095,  1.03581242,
  -4.20569413,  6.30886886, -0.10362767, -0.06112434,  5.84000496,
 -20.72409121,  0.0644417 ,  1.01604577,  0.04715472,  1.8680729 ,
   0.2494486 ,-14.54889776]

qfrc_actuator:
[ 1.65456297e-05,-1.39925471e-04,-5.80671883e-05, 3.53227815e-05,
  9.93516934e-06,-3.98383310e-04,-2.49904258e-04,-4.11958850e-05,
  4.43647561e-05,-5.56543769e-05,-1.24128511e-04,-1.96595387e-05,
  7.32948887e-03,-1.56045212e-03, 0.00000000e+00,-2.78626885e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003416600686736576
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.12373999e-14,  1.62474800e-13,  1.00000000e+00, -1.31990303e-26,
        1.00000000e+00, -1.62474800e-13, -1.00000000e+00,  0.00000000e+00,
        8.12373999e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09209993, -0.08829682,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.97279761e-06,-2.90421927e-05, 2.21412347e-06, 3.45091259e-06,
 -7.13719413e-06,-2.00469970e-05, 9.63881000e-06,-1.08927031e-05,
 -1.33412688e-05,-2.01275546e-05,-2.41767902e-05, 2.70283053e-06,
 -3.87302193e-05,-2.42923047e-05,-3.37684907e-05,-1.10349326e-04,
 -3.08253389e-08,-6.32869147e-08,-1.21644004e+00,-4.57572265e-04,
  1.19405010e-05,-5.53384869e-04]


--- Step 1281 ---
qpos:
[ 6.23586949e-03,-1.82981245e-03,-4.92043229e-03, 3.35560326e-02,
  4.48300474e-03,-3.72277108e-03,-1.85293435e-02, 2.85958449e-02,
  1.29783932e-02, 3.36472444e-03,-1.00499352e-02, 2.58897198e-02,
  1.27827988e+00, 2.05930234e-05, 1.00937887e+00, 6.38631546e-02,
  9.36369489e-02,-7.02686174e-02, 1.30959564e-01, 4.96608380e-01,
  4.87127404e-01, 5.02426877e-01, 5.13472728e-01]

qacc:
[-2.69862114e+00, 6.21841524e-01,-2.74086838e+00, 4.24042128e+00,
  2.27846963e+00, 4.80409672e-01,-1.22954770e+00,-4.89445370e-01,
 -1.40485911e+00, 3.67013209e-01,-1.11304213e+00, 1.13755192e+00,
 -2.05759836e-01, 3.05148623e-01,-1.39904658e+01, 4.71186380e+01,
  6.70939652e-02, 1.00676831e+00,-3.47936284e-02, 1.80964425e+00,
  2.70851621e-01,-1.44414792e+01]

qfrc_actuator:
[ 6.97801601e-07,-1.50870483e-04,-7.28874666e-05, 3.74915738e-05,
  2.35915839e-05,-4.00818498e-04,-2.65527391e-04,-4.80985842e-05,
  3.65629491e-05,-3.00948504e-05,-1.19849234e-04,-1.78197933e-05,
  7.30890745e-03,-1.54783761e-03, 0.00000000e+00,-2.55548239e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033444589766062904
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.48969198e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.48969198e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09210031, -0.08829891,  0.06199044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.57726990e-05,-2.65702269e-05,-2.04277427e-05, 1.06738525e-06,
  1.34456057e-05,-1.21092852e-05,-1.89517946e-05,-7.63914284e-06,
 -8.18648822e-06, 9.41792881e-06,-2.76099061e-06, 1.94759499e-07,
 -4.92333385e-05,-1.28487551e-06,-3.12506971e-05, 2.19512170e-04,
 -1.90374585e-07, 7.00572314e-09,-1.21644015e+00,-4.57024250e-04,
  1.20948809e-05,-5.53267908e-04]


--- Step 1282 ---
qpos:
[ 6.23566409e-03,-1.83027577e-03,-4.92067678e-03, 3.35570483e-02,
  4.48362900e-03,-3.72345862e-03,-1.85290420e-02, 2.85956469e-02,
  1.29792610e-02, 3.36522520e-03,-1.00502368e-02, 2.58893263e-02,
  1.27850411e+00, 1.95961596e-05, 1.00960813e+00, 6.38588220e-02,
  9.36342508e-02,-7.02574317e-02, 1.30965436e-01, 4.96640830e-01,
  4.87065423e-01, 5.02475231e-01, 5.13452824e-01]

qacc:
[ -4.74054973,  2.59942529,-11.89662671, 24.22174599,  1.40627872,
   0.06324148, -1.55758902,  5.89805936,  2.16592758,  0.24263618,
  -0.62072478,  0.71506743, -0.07216359, -0.2475102 ,  4.31161446,
 -14.53250255,  0.06914521,  0.99943747, -0.10240981,  1.76317071,
   0.28789219,-14.35615868]

qfrc_actuator:
[-2.65126320e-05,-1.21604549e-04,-8.16763933e-05, 7.41313500e-05,
  3.14429715e-05,-4.02044357e-04,-2.57062645e-04,-3.42309397e-05,
  4.94814414e-05,-1.49538487e-05,-1.17111238e-04,-1.65527493e-05,
  7.27784540e-03,-1.57563489e-03, 0.00000000e+00,-2.63135887e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003263118939905024
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.50584246e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.50584246e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09210056, -0.08830122,  0.06199067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.76656960e-05, 1.02465811e-05,-1.67513118e-05, 3.48161158e-05,
  8.23232531e-06,-1.22157280e-05, 3.36932327e-06, 1.25455194e-05,
  1.26900195e-05, 1.98365457e-05, 4.35133496e-06, 1.58015282e-06,
 -5.96075362e-05,-3.93547636e-05, 7.89551191e-06,-6.81413378e-05,
 -3.40664090e-07, 1.61194845e-07,-1.21644054e+00,-4.56495309e-04,
  1.21618958e-05,-5.53063003e-04]


--- Step 1283 ---
qpos:
[ 6.23513385e-03,-1.83033870e-03,-4.92148659e-03, 3.35588191e-02,
  4.48434260e-03,-3.72423416e-03,-1.85286773e-02, 2.85959586e-02,
  1.29802769e-02, 3.36574004e-03,-1.00504270e-02, 2.58886156e-02,
  1.27872806e+00, 1.80314253e-05, 1.00983714e+00, 6.38556341e-02,
  9.36318356e-02,-7.02422710e-02, 1.30970675e-01, 4.96685964e-01,
  4.86990481e-01, 5.02539572e-01, 5.13417280e-01]

qacc:
[ -2.88047509,  3.66972484,-15.49335196, 29.15539743,  0.78578054,
   0.75315117, -5.00891782, 13.79457777,  1.3065964 , -0.94803208,
   4.74199945,-10.414652  ,  0.30414371, -0.98489886, -3.84903523,
  12.86365146,  0.07073235,  0.99375854, -0.15794264,  1.72634108,
   0.30150659,-14.29003765]

qfrc_actuator:
[-4.24341484e-05,-8.61849616e-05,-1.04388462e-04, 1.13050223e-04,
  3.58080771e-05,-4.02425401e-04,-2.52164891e-04,-8.23104409e-06,
  5.67375375e-05,-2.39154567e-05,-1.15343766e-04,-3.33943529e-05,
  7.25647905e-03,-1.60946866e-03, 0.00000000e+00,-2.56785468e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000317533828759306
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31114734e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.31114734e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09210072, -0.08830368,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.67038109e-05, 3.91896032e-05,-2.14467120e-05, 3.94564861e-05,
  4.59534485e-06,-5.95368955e-06, 3.22833665e-06, 2.58380919e-05,
  7.62450637e-06, 3.09109191e-06, 6.45453502e-06,-1.58101338e-05,
 -6.49162016e-05,-5.63205040e-05,-9.51591003e-06, 5.94454385e-05,
 -4.82840942e-07, 3.98102442e-07,-1.21644119e+00,-4.55982387e-04,
  1.21447718e-05,-5.52770174e-04]


--- Step 1284 ---
qpos:
[ 6.23476185e-03,-1.83039820e-03,-4.92210413e-03, 3.35603501e-02,
  4.48510275e-03,-3.72471876e-03,-1.85284024e-02, 2.85961954e-02,
  1.29810273e-02, 3.36607025e-03,-1.00504897e-02, 2.58877337e-02,
  1.27895122e+00, 1.72049610e-05, 1.01006553e+00, 6.38575589e-02,
  9.36297082e-02,-7.02231523e-02, 1.30975101e-01, 4.96743746e-01,
  4.86902584e-01, 5.02619828e-01, 5.13366179e-01]

qacc:
[  1.39725882, -1.02932164,  4.68387021, -9.1373167 ,  0.39954177,
   0.48085278, -0.84212662, -0.52153969, -2.33006362, -0.94844918,
   3.75882521, -6.79977482, -0.86120566,  1.54932788,-16.28968492,
  55.80872982,  0.07196218,  0.98948254, -0.20331981,  1.69730866,
   0.31242779,-14.24062286]

qfrc_actuator:
[-3.38274298e-05,-1.00653536e-04,-9.95999528e-05, 9.97349819e-05,
  3.80880915e-05,-3.66785744e-04,-2.49410140e-04,-1.08141354e-05,
  4.28433095e-05,-4.72594388e-05,-1.14274010e-04,-4.30247633e-05,
  7.23028732e-03,-1.55779178e-03, 0.00000000e+00,-2.29837968e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003083369892196153
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.35025524e-13,  1.80034032e-13,  1.00000000e+00, -2.43091894e-26,
        1.00000000e+00, -1.80034032e-13, -1.00000000e+00,  0.00000000e+00,
        1.35025524e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09210082, -0.08830623,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.14536408e-06, 4.71082397e-06, 1.16148522e-05,-1.16112372e-05,
  2.40799882e-06, 3.41093046e-05, 2.82064203e-06,-2.22365134e-06,
 -1.36748372e-05,-2.09686427e-05, 1.95475307e-06,-9.58155859e-06,
 -7.66716941e-05, 2.40919495e-05,-1.71353319e-06, 2.70658640e-04,
 -6.17768308e-07, 7.16795759e-07,-1.21644211e+00,-4.55483149e-04,
  1.20458671e-05,-5.52389435e-04]


--- Step 1285 ---
qpos:
[ 6.23484066e-03,-1.83048285e-03,-4.92204960e-03, 3.35613347e-02,
  4.48588415e-03,-3.72456045e-03,-1.85288242e-02, 2.85960505e-02,
  1.29816054e-02, 3.36641461e-03,-1.00514427e-02, 2.58867891e-02,
  1.27917367e+00, 1.70042640e-05, 1.01029429e+00, 6.38589857e-02,
  9.36278725e-02,-7.02000880e-02, 1.30978567e-01, 4.96814147e-01,
  4.86801728e-01, 5.02715943e-01, 5.13299582e-01]

qacc:
[  3.98516841, -3.04463982, 13.09959377,-23.59348056,  0.15291826,
   2.00945057, -4.32072461, -1.64618843, -1.54433169,  2.38073066,
  -8.19136982,  8.51237836, -1.08494722,  1.84438695,  2.1413207 ,
  -6.4874351 ,  0.07291793,  0.98639933, -0.24019151,  1.67459684,
   0.32122919,-14.20577264]

qfrc_actuator:
[-1.08569135e-05,-9.15603159e-05,-6.10899255e-05, 7.35246835e-05,
  3.91241127e-05,-3.27630048e-04,-2.83318552e-04,-3.01664796e-05,
  3.43659826e-05,-6.12871387e-05,-1.66941486e-04,-4.83474589e-05,
  7.19592904e-03,-1.52689802e-03, 0.00000000e+00,-2.33581120e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002989040920320374
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.64288987e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.64288987e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09210085, -0.08830883,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.32042947e-05, 1.36391926e-05, 4.05164744e-05,-2.58347246e-05,
  1.11668938e-06, 5.87315317e-05,-2.65906980e-05,-1.78364194e-05,
 -8.87201583e-06,-2.57719657e-05,-5.70894278e-05,-6.33804188e-06,
 -7.22025542e-05, 1.83946246e-05, 2.54005297e-05,-2.34520204e-05,
 -7.46096412e-07, 1.11654271e-06,-1.21644330e+00,-4.54995805e-04,
  1.18668701e-05,-5.51920783e-04]


--- Step 1286 ---
qpos:
[ 6.23484921e-03,-1.83048240e-03,-4.92153823e-03, 3.35616525e-02,
  4.48667198e-03,-3.72383506e-03,-1.85299572e-02, 2.85956858e-02,
  1.29820772e-02, 3.36677519e-03,-1.00530909e-02, 2.58861201e-02,
  1.27939579e+00, 1.65970617e-05, 1.01052326e+00, 6.38589832e-02,
  9.36263315e-02,-7.01730864e-02, 1.30980952e-01, 4.96897150e-01,
  4.86687904e-01, 5.02827879e-01, 5.13217528e-01]

qacc:
[-6.05256774e-01,-2.53621500e+00, 1.20222928e+01,-2.43544842e+01,
  2.41662685e-02, 2.28358572e+00,-6.12683746e+00, 3.04053993e+00,
 -9.57035186e-01, 2.53356682e+00,-1.01630727e+01, 1.60292255e+01,
 -1.77917110e-01, 2.83840455e-03, 4.63344415e+00,-1.57404148e+01,
  7.36644212e-02, 9.84331687e-01,-2.69968140e-01, 1.65702415e+00,
  3.28359053e-01,-1.41836505e+01]

qfrc_actuator:
[-1.51292436e-05,-8.60554214e-05,-3.84089653e-05, 3.99798320e-05,
  3.94204165e-05,-3.04585699e-04,-3.20829588e-04,-4.14908968e-05,
  2.91517150e-05,-5.20973556e-05,-1.97626587e-04,-3.33729650e-05,
  7.17799569e-03,-1.54416221e-03, 0.00000000e+00,-2.41179992e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002893820546865933
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43869887e-13,  1.91826516e-13,  1.00000000e+00,  2.75980591e-26,
        1.00000000e+00, -1.91826516e-13, -1.00000000e+00,  0.00000000e+00,
       -1.43869887e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09210085, -0.08831145,  0.06199173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.60834229e-06, 2.04023394e-05, 2.95918293e-05,-3.20644738e-05,
  3.50514902e-07, 4.96299914e-05,-2.92691763e-05,-1.00737890e-05,
 -5.47281609e-06,-1.72867139e-05,-4.32495817e-05, 1.17752990e-05,
 -5.48681956e-05,-2.98533529e-05, 2.29815318e-06,-7.55813523e-05,
 -8.68315672e-07, 1.59677206e-06,-1.21644474e+00,-4.54518973e-04,
  1.16089508e-05,-5.51364186e-04]


--- Step 1287 ---
qpos:
[ 6.23480668e-03,-1.83023046e-03,-4.92136825e-03, 3.35616002e-02,
  4.48745730e-03,-3.72270024e-03,-1.85312964e-02, 2.85962093e-02,
  1.29821379e-02, 3.36688902e-03,-1.00542223e-02, 2.58859301e-02,
  1.27961758e+00, 1.62274394e-05, 1.01075224e+00, 6.38577362e-02,
  9.36250875e-02,-7.01421523e-02, 1.30982162e-01, 4.96992741e-01,
  4.86561096e-01, 5.02955606e-01, 5.13120038e-01]

qacc:
[ -0.46448745,  0.52537017,  0.17349   , -6.22143975, -0.03481309,
   2.94286591,-13.45921627, 28.85905818, -3.59756308, -0.77736673,
   0.28830314,  7.34397608, -0.36179437,  0.45384232,  3.80473863,
 -13.21969168,  0.07425208,  0.98313039, -0.29385291,  1.6436447 ,
   0.33416749,-14.17268463]

qfrc_actuator:
[-1.76539056e-05,-8.28037381e-05,-6.07843050e-05, 2.01258475e-05,
  3.92792079e-05,-2.73636867e-04,-3.24703559e-04, 5.25014179e-06,
  8.14553979e-06,-4.67374522e-05,-1.61703363e-04,-6.53344432e-06,
  7.16990848e-03,-1.53648131e-03, 0.00000000e+00,-2.47428720e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002798877803896205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.91668003e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.91668003e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09210082, -0.08831405,  0.061992  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.62058210e-06, 1.93914597e-05,-1.56322205e-05,-1.85816216e-05,
 -1.12275114e-07, 5.22123046e-05, 2.42881414e-06, 4.76608602e-05,
 -2.11671100e-05,-1.27287782e-05, 2.74499841e-05, 2.48360818e-05,
 -4.67739887e-05,-1.15334019e-05,-1.26798713e-05,-6.76389346e-05,
 -9.84796491e-07, 2.15703849e-06,-1.21644645e+00,-4.54051582e-04,
  1.12728752e-05,-5.50719581e-04]


--- Step 1288 ---
qpos:
[ 6.23473412e-03,-1.82968798e-03,-4.92150655e-03, 3.35613032e-02,
  4.48788989e-03,-3.72103817e-03,-1.85332777e-02, 2.85969582e-02,
  1.29819460e-02, 3.36707460e-03,-1.00550419e-02, 2.58860353e-02,
  1.27983912e+00, 1.56530185e-05, 1.01098087e+00, 6.38577358e-02,
  9.36200493e-02,-7.01192005e-02, 1.30983212e-01, 4.97076684e-01,
  4.86444378e-01, 5.03038855e-01, 5.13067780e-01]

qacc:
[ -0.27880614,  0.74275114, -1.05763781, -2.89717375, -3.11614613,
   2.95956877,-10.48316103, 15.00959702, -2.21348166, -0.16462299,
  -0.51467334,  5.06561366,  0.06520462, -0.33932659, -4.29536469,
  14.24472013, -0.94855787, -1.99557434, -0.04011234,-17.44533204,
   0.29194882, 27.58611377]

qfrc_actuator:
[-1.91210379e-05,-6.33517566e-05,-7.40726637e-05, 8.45652206e-06,
  2.11292232e-05,-2.55767150e-04,-3.61873900e-04, 1.47997903e-05,
 -4.23571543e-06,-2.56663531e-05,-1.40006911e-04, 9.35890817e-06,
  7.15709040e-03,-1.54950010e-03, 0.00000000e+00,-2.40401820e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002759772092417734
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01715954e-13, -5.02859923e-14,  1.00000000e+00,  1.51720861e-26,
        1.00000000e+00,  5.02859923e-14, -1.00000000e+00,  0.00000000e+00,
        3.01715954e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10900866, -0.03367123,  0.06199211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53443201e-06, 2.62587480e-05,-1.18556927e-05,-1.17415963e-05,
 -1.81370535e-05, 4.95841373e-05,-2.44362095e-05, 1.27981104e-05,
 -1.29900327e-05, 2.06899236e-05, 2.33208170e-05, 1.67836072e-05,
 -4.27412236e-05,-2.61221835e-05,-1.78733807e-05, 6.38271930e-05,
 -1.09581908e-06, 2.79699206e-06,-1.21644842e+00,-4.53592801e-04,
  1.08590925e-05,-5.49986871e-04]


--- Step 1289 ---
qpos:
[ 6.23464467e-03,-1.82915000e-03,-4.92142413e-03, 3.35608699e-02,
  4.48775690e-03,-3.71923536e-03,-1.85352264e-02, 2.85971286e-02,
  1.29816069e-02, 3.36741020e-03,-1.00556376e-02, 2.58866712e-02,
  1.28006035e+00, 1.47195762e-05, 1.01120895e+00, 6.38618856e-02,
  9.36112413e-02,-7.01040490e-02, 1.30983302e-01, 4.97148890e-01,
  4.86337554e-01, 5.03078866e-01, 5.13059860e-01]

qacc:
[ -0.1416692 , -0.90357176,  3.78931879, -6.4999805 , -4.95178645,
  -1.08508254,  6.59872867,-16.7842599 , -1.29011656,  0.66748064,
  -4.32847444, 13.03947443,  0.3132737 , -0.85658916,-13.37904282,
  45.54231836, -0.94242698, -1.95009013, -0.23983944,-16.92949785,
   0.45171629, 27.03588757]

qfrc_actuator:
[-1.99542847e-05,-6.98245197e-05,-6.40527693e-05, 1.72043333e-06,
 -7.47479538e-06,-2.63779121e-04,-3.65245589e-04,-1.54104642e-05,
 -1.14361973e-05,-1.31409842e-05,-1.26848333e-04, 3.64277050e-05,
  7.13078561e-03,-1.57471136e-03, 0.00000000e+00,-2.18507831e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49621343, -0.47695258, -4.4708446 , -0.47695258, 14.63759363,
       -1.08188897, -4.4708446 , -1.08188897,  4.61163004,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028612429552432594
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.70053087e-14, -9.70053087e-14,  1.00000000e+00,  9.41002992e-27,
        1.00000000e+00,  9.70053087e-14, -1.00000000e+00,  0.00000000e+00,
        9.70053087e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10900401, -0.03367573,  0.06199182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.68261704e-07, 5.24154855e-06, 1.35736375e-05,-6.24975113e-06,
 -2.91043569e-05, 1.51712700e-05, 4.30557092e-06,-2.86819693e-05,
 -7.56417884e-06, 2.96292505e-05, 2.08930623e-05, 2.90906951e-05,
 -5.71150241e-05,-4.07736275e-05,-4.55475631e-06, 2.19399446e-04,
 -1.24544708e-06, 1.69926232e-06,-1.21644494e+00,-4.54236425e-04,
  1.23826220e-05,-5.49747170e-04]


--- Step 1290 ---
qpos:
[ 6.23489097e-03,-1.82871526e-03,-4.92143611e-03, 3.35603940e-02,
  4.48762710e-03,-3.71766172e-03,-1.85367884e-02, 2.85976498e-02,
  1.29808393e-02, 3.36758287e-03,-1.00553857e-02, 2.58883139e-02,
  1.28028094e+00, 1.43475599e-05, 1.01143727e+00, 6.38659197e-02,
  9.36020885e-02,-7.00967797e-02, 1.30982742e-01, 4.97195819e-01,
  4.86256883e-01, 5.03086480e-01, 5.13083380e-01]

qacc:
[ 2.95103842, 0.03418192,-0.15046041,-0.34706664, 0.04427429,-0.66151587,
  0.43743296, 5.18620466,-3.7411822 ,-0.5043628 ,-2.75309835,18.93172558,
 -0.95540346, 1.62219998, 0.79401421,-2.06391142,-0.08621733,-1.97052764,
 -0.16269479,-3.57197052,-0.75914163,28.75607647]

qfrc_actuator:
[-2.65567715e-06,-9.16732962e-05,-7.59588543e-05,-2.06600335e-06,
 -6.49202538e-06,-2.87144511e-04,-3.48756079e-04, 2.24757590e-06,
 -3.32852145e-05,-2.36026415e-05,-8.33439437e-05, 8.76015231e-05,
  7.10705490e-03,-1.53599143e-03, 0.00000000e+00,-2.19988551e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51383195,  4.21078667,  1.62602414,  4.21078667,  7.51169475,
       -7.76332924,  1.62602414, -7.76332924, 24.61791442,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029175834854561477
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06688457e-06,  4.75660350e-14,  1.00000000e+00, -5.07474687e-20,
        1.00000000e+00, -4.75660350e-14, -1.00000000e+00,  6.01853108e-36,
        1.06688457e-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([ 0.09517528, -0.03270577,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72737586e-05,-1.64011347e-05,-9.37396482e-06,-3.21419062e-06,
  1.57702739e-07,-1.52747019e-05, 1.91636206e-05, 1.79001459e-05,
 -2.20550527e-05, 1.16592667e-05, 5.32062900e-05, 5.37320451e-05,
 -6.57007946e-05, 1.62319021e-05, 1.88935582e-05,-3.96910332e-06,
 -1.27050425e-06, 7.65167245e-07,-1.21644285e+00,-4.54850175e-04,
  1.29322902e-05,-5.49736445e-04]


--- Step 1291 ---
qpos:
[ 6.23568775e-03,-1.82851323e-03,-4.92177636e-03, 3.35595650e-02,
  4.48819977e-03,-3.71644235e-03,-1.85380188e-02, 2.85980535e-02,
  1.29798157e-02, 3.36785341e-03,-1.00546490e-02, 2.58905485e-02,
  1.28050096e+00, 1.46638666e-05, 1.01166582e+00, 6.38684303e-02,
  9.35959594e-02,-7.00973484e-02, 1.30980646e-01, 4.97205459e-01,
  4.86217720e-01, 5.03073344e-01, 5.13124030e-01]

qacc:
[ 4.83374701e+00,-1.26730903e-01, 1.48040212e+00,-6.87956407e+00,
  6.16433239e+00,-1.64775971e+00, 5.67196096e+00,-7.95359128e+00,
 -2.23968616e+00,-2.62936642e-03,-2.29419392e+00, 1.16817141e+01,
 -1.07687471e+00, 1.92833399e+00, 5.01939789e+00,-1.68716752e+01,
  7.55917846e-01,-1.95953228e+00,-3.83672032e-01, 9.75246131e+00,
 -2.26194477e+00, 2.93107840e+01]

qfrc_actuator:
[ 2.51761450e-05,-1.22647155e-04,-1.00793711e-04,-2.18746740e-05,
  2.96528972e-05,-3.19408329e-04,-3.38469662e-04,-5.32925845e-06,
 -4.58304489e-05,-1.20983216e-05,-5.78507094e-05, 1.17044574e-04,
  7.09023578e-03,-1.49519489e-03, 0.00000000e+00,-2.28132456e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53358329,  4.02571877,  2.08493783,  4.02571877,  8.97695691,
       -8.57952323,  2.08493783, -8.57952323, 21.09942385,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002979019023084256
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.86340372e-13, -5.12436022e-13,  1.00000000e+00,  9.54875189e-26,
        1.00000000e+00,  5.12436022e-13, -1.00000000e+00,  0.00000000e+00,
        1.86340372e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0813613 , -0.03173879,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.83164807e-05,-4.22288537e-05,-2.94933393e-05,-2.08990194e-05,
  3.61425780e-05,-3.61199519e-05, 1.01100612e-05,-7.22118566e-06,
 -1.31710124e-05, 3.12943646e-05, 3.63057883e-05, 3.28255631e-05,
 -5.05567244e-05, 2.92646416e-05, 1.99606382e-06,-8.06732084e-05,
 -8.05580208e-07, 3.87136560e-08,-1.21644130e+00,-4.55723282e-04,
  1.20314192e-05,-5.49646992e-04]


--- Step 1292 ---
qpos:
[ 6.23681200e-03,-1.82853452e-03,-4.92215039e-03, 3.35584838e-02,
  4.48920112e-03,-3.71554379e-03,-1.85385385e-02, 2.85983328e-02,
  1.29793395e-02, 3.36822567e-03,-1.00543561e-02, 2.58924924e-02,
  1.28072067e+00, 1.49388351e-05, 1.01189418e+00, 6.38712858e-02,
  9.35927794e-02,-7.01056594e-02, 1.30976425e-01, 4.97178279e-01,
  4.86219327e-01, 5.03040018e-01, 5.13181513e-01]

qacc:
[  2.8820159 , -0.72551901,  3.21314396, -7.34723987,  3.77958739,
  -2.67165715,  9.42360567,-12.4608384 ,  4.80219713,  0.76688635,
  -1.32842575, -3.04954125, -0.1769326 ,  0.12304949, -1.31558084,
   4.21237738,  0.73729102, -1.93554768, -0.53153551,  9.67305607,
  -2.12574567, 28.794563  ]

qfrc_actuator:
[ 4.12262373e-05,-1.23420013e-04,-9.76089306e-05,-3.32163168e-05,
  5.06893109e-05,-3.21289180e-04,-2.96499306e-04,-9.96624530e-06,
 -1.72891894e-05,-4.08679201e-05,-9.63981182e-05, 9.79562605e-05,
  7.06692839e-03,-1.50676175e-03, 0.00000000e+00,-2.25926761e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54383654, -3.46790898,  2.93599351, -3.46790898, 22.91424623,
       21.69858636,  2.93599351, 21.69858636, 30.17356708,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030102294553523146
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.22041859e-14,  4.61020929e-14,  1.00000000e+00, -4.25080594e-27,
        1.00000000e+00, -4.61020929e-14, -1.00000000e+00,  0.00000000e+00,
        9.22041859e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08136058, -0.03174134,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.68424019e-05,-3.13695169e-05,-9.89235014e-06,-1.45775807e-05,
  2.20561321e-05,-2.03183985e-05, 3.55029688e-05,-5.97801827e-06,
  2.81772040e-05,-2.39469513e-06,-2.64927733e-05,-1.58590422e-05,
 -4.56933011e-05,-1.64288760e-05,-1.37188707e-05, 1.65116092e-05,
 -1.44010453e-07,-1.99258767e-07,-1.21644034e+00,-4.56660576e-04,
  1.09415610e-05,-5.49432900e-04]


--- Step 1293 ---
qpos:
[ 6.23811983e-03,-1.82839148e-03,-4.92268791e-03, 3.35572334e-02,
  4.48975740e-03,-3.71505549e-03,-1.85382361e-02, 2.85992482e-02,
  1.29798992e-02, 3.36828701e-03,-1.00540325e-02, 2.58938688e-02,
  1.28093984e+00, 1.59250967e-05, 1.01212297e+00, 6.38700014e-02,
  9.35924879e-02,-7.01216318e-02, 1.30969579e-01, 4.97114666e-01,
  4.86261093e-01, 5.02986949e-01, 5.13255577e-01]

qacc:
[  1.60609383,  0.32270689, -0.12664501, -2.6552576 , -3.86210773,
  -1.5222968 ,  1.96795904,  8.01678735,  9.12172484, -1.6826656 ,
   7.76867138,-17.37702484, -1.23332372,  2.19577963, 13.22499632,
 -45.12175536,  0.72211929, -1.91536264, -0.65607934,  9.60358016,
  -2.01731641, 28.37077792]

qfrc_actuator:
[ 5.02101107e-05,-8.82359683e-05,-9.55281818e-05,-3.94375426e-05,
  2.71481428e-05,-3.40337250e-04,-2.53782982e-04, 2.27197367e-05,
  3.52027916e-05,-7.60922571e-05,-1.01624884e-04, 6.81474254e-05,
  7.05037708e-03,-1.46052915e-03, 0.00000000e+00,-2.47816679e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5449413 , -3.59998582,  2.7742735 , -3.59998582, 12.25240017,
       10.00144458,  2.7742735 , 10.00144458, 17.52313492,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030135653873246404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.76306355e-13, -3.22357414e-13,  1.00000000e+00,  8.90694023e-26,
        1.00000000e+00,  3.22357414e-13, -1.00000000e+00,  0.00000000e+00,
        2.76306355e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08135965, -0.03174218,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.45346726e-06, 1.49837669e-05,-6.11665028e-06,-8.18906287e-06,
 -2.29193990e-05,-2.33525044e-05, 4.26800333e-05, 3.29249421e-05,
  5.32952474e-05,-4.27284431e-05,-9.54706871e-06,-3.11438691e-05,
 -4.68251538e-05, 3.21708322e-05,-8.46885288e-06,-2.20677920e-04,
  2.70610469e-07, 2.06763407e-08,-1.21644061e+00,-4.57431397e-04,
  1.05411798e-05,-5.49428120e-04]


--- Step 1294 ---
qpos:
[ 6.23918044e-03,-1.82820343e-03,-4.92322564e-03, 3.35566122e-02,
  4.48968252e-03,-3.71496073e-03,-1.85373370e-02, 2.86002163e-02,
  1.29807389e-02, 3.36804118e-03,-1.00531736e-02, 2.58941512e-02,
  1.28115837e+00, 1.80243041e-05, 1.01235162e+00, 6.38667712e-02,
  9.35950356e-02,-7.01451982e-02, 1.30959690e-01, 4.97014935e-01,
  4.86342511e-01, 5.02914491e-01, 5.13346015e-01]

qacc:
[ -2.17416116,  1.35985488, -7.41070944, 18.25766251, -5.49852894,
  -2.06728555,  6.4129917 , -6.18514208,  2.48526999, -4.15879112,
  18.85053782,-38.40610865, -1.47084505,  2.80762144,  5.79078579,
 -20.27067865,  0.70979839, -1.89848244, -0.76094651,  9.54382376,
  -1.93079748, 28.02520639]

qfrc_actuator:
[ 3.72145255e-05,-8.50339768e-05,-9.39666267e-05,-7.06333990e-06,
 -4.68466116e-06,-3.69467894e-04,-2.28767419e-04, 2.38308388e-05,
  4.80999323e-05,-7.93122071e-05,-6.94035480e-05, 1.45467682e-05,
  7.02725971e-03,-1.39810561e-03, 0.00000000e+00,-2.57100332e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53870917, -3.72318993,  2.59571526, -3.72318993, 14.86294428,
       14.80866903,  2.59571526, 14.80866903, 25.77967048,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002994678656999261
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.85365969e-13,  2.31707462e-13,  1.00000000e+00, -4.29506783e-26,
        1.00000000e+00, -2.31707462e-13, -1.00000000e+00,  0.00000000e+00,
        1.85365969e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08135854, -0.03174167,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27206415e-05, 9.96968533e-06, 3.62566263e-06, 3.26482851e-05,
 -3.24987501e-05,-3.19939589e-05, 2.65783047e-05, 2.22501100e-06,
  1.43988266e-05,-3.04093608e-05, 2.11325187e-05,-5.63742479e-05,
 -4.31014648e-05, 5.92994057e-05,-3.42351112e-05,-1.07550542e-04,
  4.53414231e-07, 6.80072454e-07,-1.21644206e+00,-4.58065236e-04,
  1.08045294e-05,-5.49625250e-04]


--- Step 1295 ---
qpos:
[ 6.23973232e-03,-1.82819833e-03,-4.92334825e-03, 3.35563841e-02,
  4.48991598e-03,-3.71477097e-03,-1.85365679e-02, 2.86008326e-02,
  1.29810369e-02, 3.36786808e-03,-1.00523666e-02, 2.58934350e-02,
  1.28137665e+00, 2.00915519e-05, 1.01258004e+00, 6.38623990e-02,
  9.36003826e-02,-7.01763024e-02, 1.30946404e-01, 4.96879334e-01,
  4.86463165e-01, 5.02822920e-01, 5.13452653e-01]

qacc:
[ -4.45671381, -0.5839985 ,  0.08660163,  6.17258364,  2.6927148 ,
  -0.24003954,  2.51433074, -8.45411549, -4.76984406, -1.80526762,
  10.80893273,-28.08032589, -0.22631984,  0.22694395,  3.13850998,
 -11.4173601 ,  0.6998325 , -1.88446461, -0.84924431,  9.49340019,
  -1.86152391, 27.74597977]

qfrc_actuator:
[ 1.13886300e-05,-1.00967648e-04,-7.50618442e-05, 1.22321460e-05,
  1.21295690e-05,-3.51242801e-04,-2.32228361e-04, 6.32606300e-06,
  1.98290919e-05,-6.32089083e-05,-6.84880740e-05,-3.48227486e-05,
  7.00023066e-03,-1.41541683e-03, 0.00000000e+00,-2.62424572e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52685156, -3.84497653,  2.38925523, -3.84497653, 17.04912542,
       20.15182323,  2.38925523, 20.15182323, 36.95674281,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029582781938783387
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.87646826e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.87646826e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08135729, -0.03174009,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.61855354e-05,-8.21752722e-06, 2.25452377e-05, 2.04860565e-05,
  1.58735591e-05, 5.89183416e-06,-6.73093523e-06,-1.79159838e-05,
 -2.78707291e-05, 1.05344650e-06,-4.72117825e-06,-5.10410516e-05,
 -3.85836438e-05,-1.34133211e-05,-3.16777636e-05,-6.45290295e-05,
  4.15553908e-07, 1.76590321e-06,-1.21644463e+00,-4.58583578e-04,
  1.17115504e-05,-5.50018567e-04]


--- Step 1296 ---
qpos:
[ 6.23997024e-03,-1.82830176e-03,-4.92319278e-03, 3.35556986e-02,
  4.49034865e-03,-3.71413788e-03,-1.85365689e-02, 2.86008885e-02,
  1.29809940e-02, 3.36784918e-03,-1.00519248e-02, 2.58924890e-02,
  1.28159469e+00, 2.19883470e-05, 1.01280815e+00, 6.38583750e-02,
  9.36059226e-02,-7.02028252e-02, 1.30938490e-01, 4.96758355e-01,
  4.86569160e-01, 5.02750109e-01, 5.13540571e-01]

qacc:
[-2.75027137e+00,-1.85741486e+00, 8.35469816e+00,-1.66454140e+01,
  1.71140505e+00, 1.58079082e+00,-2.42552599e+00,-6.36416754e+00,
 -3.01527761e+00, 7.57584599e-01,-1.42542163e+00,-2.09083739e+00,
 -1.44403573e-03,-2.04964161e-01,-1.53911103e+00, 4.67117686e+00,
  4.82528653e-02, 1.14533971e+00, 1.34317125e+00, 2.32449331e+00,
  1.94722626e-01,-1.66524962e+01]

qfrc_actuator:
[-4.02242364e-06,-1.10420113e-04,-6.39190028e-05,-1.18405124e-05,
  2.19397180e-05,-3.22688012e-04,-2.70039860e-04,-2.19649327e-05,
  3.07234497e-06,-5.35213283e-05,-8.59831243e-05,-4.58061589e-05,
  6.98682091e-03,-1.42661129e-03, 0.00000000e+00,-2.60049912e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003157580612952321
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.076549e-13,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
       -3.076549e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09211482, -0.08830596,  0.06199097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61600644e-05,-8.52199307e-06, 1.29333589e-05,-2.32442719e-05,
  1.02666575e-05, 2.96796319e-05,-3.80568477e-05,-2.86242625e-05,
 -1.75457329e-05, 7.10376631e-06,-1.96294233e-05,-1.20935625e-05,
 -3.92852268e-05,-2.27490007e-05,-2.51198047e-05, 1.53062095e-05,
  1.65068177e-07, 3.26960767e-06,-1.21644831e+00,-4.59002104e-04,
  1.32469200e-05,-5.50603631e-04]


--- Step 1297 ---
qpos:
[ 6.23967633e-03,-1.82830757e-03,-4.92331699e-03, 3.35557785e-02,
  4.49055082e-03,-3.71311409e-03,-1.85373509e-02, 2.86006125e-02,
  1.29814403e-02, 3.36764185e-03,-1.00509986e-02, 2.58910584e-02,
  1.28181249e+00, 2.35170460e-05, 1.01303545e+00, 6.38596415e-02,
  9.36116811e-02,-7.02248891e-02, 1.30934788e-01, 4.96651631e-01,
  4.86660792e-01, 5.02695500e-01, 5.13610422e-01]

qacc:
[-4.68637261e+00, 2.49596669e+00,-1.19268452e+01, 2.55288501e+01,
 -2.04870994e+00, 2.01850509e+00,-5.03973589e+00, 2.47724342e-01,
  4.32448085e+00,-2.60896524e+00, 1.09730248e+01,-1.99815180e+01,
  4.40805220e-01,-1.03616725e+00,-1.71857005e+01, 5.83218492e+01,
  5.45989807e-02, 1.11473639e+00, 1.05308413e+00, 2.17907390e+00,
  2.30060747e-01,-1.61866609e+01]

qfrc_actuator:
[-3.09284792e-05,-9.82324724e-05,-7.52149723e-05, 2.75224989e-05,
  9.78058505e-06,-3.06074377e-04,-3.10016871e-04,-3.86256259e-05,
  2.87453593e-05,-6.55463798e-05,-6.09324760e-05,-6.96326537e-05,
  6.96561172e-03,-1.45173704e-03, 0.00000000e+00,-2.31856106e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003305928265196073
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.39569809e-14,  8.39569809e-14,  1.00000000e+00,  7.04877464e-27,
        1.00000000e+00, -8.39569809e-14, -1.00000000e+00,  0.00000000e+00,
       -8.39569809e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09211621, -0.08830196,  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:
[-2.73677599e-05, 9.09467004e-06,-1.22662804e-05, 3.89949649e-05,
 -1.18527763e-05, 2.41034112e-05,-3.95329265e-05,-1.72646214e-05,
  2.51785216e-05,-1.26341951e-05, 2.36796110e-05,-2.44347370e-05,
 -4.94244491e-05,-3.90833624e-05,-1.31062691e-05, 2.78814865e-04,
  7.18517273e-08, 2.49354018e-06,-1.21644611e+00,-4.58702068e-04,
  1.33844191e-05,-5.51191782e-04]


--- Step 1298 ---
qpos:
[ 6.23906194e-03,-1.82811419e-03,-4.92333973e-03, 3.35559439e-02,
  4.49095076e-03,-3.71184616e-03,-1.85385862e-02, 2.85997898e-02,
  1.29825357e-02, 3.36722532e-03,-1.00494669e-02, 2.58893474e-02,
  1.28202987e+00, 2.48139702e-05, 1.01326307e+00, 6.38605459e-02,
  9.36176779e-02,-7.02425972e-02, 1.30934321e-01, 4.96558857e-01,
  4.86738316e-01, 5.02658627e-01, 5.13662747e-01]

qacc:
[ -2.81806129,  0.1614514 , -0.54563154,  1.70830572,  1.71223048,
   0.46103889,  1.12735588,-10.03913782,  5.73382576, -2.55688147,
   9.87979384,-15.52418209, -0.17585245, -0.0552753 ,  1.56453306,
  -4.7827548 ,  0.05958995,  1.08894937,  0.80846232,  2.06298764,
   0.25657097,-15.79642146]

qfrc_actuator:
[-4.66354477e-05,-7.32235077e-05,-6.40224237e-05, 3.28964951e-05,
  2.02951687e-05,-2.96750124e-04,-3.33221761e-04,-6.60651482e-05,
  6.14296351e-05,-7.25654121e-05,-2.88105595e-05,-8.30654561e-05,
  6.93440737e-03,-1.46720311e-03, 0.00000000e+00,-2.34835810e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.68510162, -1.33075686,  4.4921335 , -1.33075686, 10.2587025 ,
        1.6511325 ,  4.4921335 ,  1.6511325 ,  5.17423577,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034001411297548967
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.16306575e-14,  8.16306575e-14,  1.00000000e+00,  6.66356425e-27,
        1.00000000e+00, -8.16306575e-14, -1.00000000e+00,  0.00000000e+00,
       -8.16306575e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09211727, -0.08829943,  0.06199028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64829382e-05, 2.92248404e-05, 1.29123568e-05, 6.09956287e-06,
  1.01867308e-05, 1.38657457e-05,-2.36951419e-05,-2.81098790e-05,
  3.33952647e-05,-1.02298716e-05, 3.15775790e-05,-1.36298058e-05,
 -6.83342499e-05,-3.58563860e-05, 2.24266551e-05,-1.65420179e-05,
 -5.32248608e-12, 1.84232797e-06,-1.21644432e+00,-4.58448415e-04,
  1.34021034e-05,-5.51681684e-04]


--- Step 1299 ---
qpos:
[ 6.23791883e-03,-1.82774253e-03,-4.92292875e-03, 3.35558063e-02,
  4.49112893e-03,-3.71089191e-03,-1.85393043e-02, 2.85983038e-02,
  1.29836695e-02, 3.36697935e-03,-1.00488293e-02, 2.58878895e-02,
  1.28224668e+00, 2.62120360e-05, 1.01349073e+00, 6.38614527e-02,
  9.36239288e-02,-7.02560361e-02, 1.30936263e-01, 4.96479772e-01,
  4.86801954e-01, 5.02639106e-01, 5.13697987e-01]

qacc:
[ -4.63862002, -1.59177807,  7.31216906,-13.39779212, -1.91983993,
  -3.21871646, 13.68279113,-25.7627412 ,  0.30665739,  3.24449745,
 -12.31129405, 17.99698932, -0.51039343,  0.64111876,  0.08920892,
  -0.14057219,  0.06353449,  1.0673071 ,  0.60252449,  1.97058504,
   0.27619005,-15.47024667]

qfrc_actuator:
[-7.33742215e-05,-5.84149906e-05,-3.96060469e-05, 1.82506953e-05,
  8.57264399e-06,-3.27314498e-04,-3.10873308e-04,-9.96243637e-05,
  6.24599992e-05,-7.64847059e-05,-8.15238943e-05,-7.25198963e-05,
  6.90788209e-03,-1.45910983e-03, 0.00000000e+00,-2.34862817e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.70516384, -1.51712826,  4.45386221, -1.51712826, 13.69515257,
        3.06227838,  4.45386221,  3.06227838,  5.74827403,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034503380208016077
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20664593e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.20664593e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09211806, -0.08829809,  0.06199014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.71986266e-05, 3.40689704e-05, 3.22535219e-05,-1.28279484e-05,
 -1.14245713e-05,-2.89358318e-05, 2.13220502e-05,-3.43305946e-05,
  1.97476568e-06,-3.68511022e-06,-5.14180342e-05, 1.09346774e-05,
 -7.39170428e-05,-1.58920739e-05, 2.29107863e-06, 2.62309075e-07,
 -5.47843649e-08, 1.30636147e-06,-1.21644291e+00,-4.58231549e-04,
  1.33120945e-05,-5.52075013e-04]


--- Step 1300 ---
qpos:
[ 6.23611923e-03,-1.82735153e-03,-4.92270661e-03, 3.35559036e-02,
  4.49116562e-03,-3.71063873e-03,-1.85392760e-02, 2.85968070e-02,
  1.29844624e-02, 3.36651300e-03,-1.00484301e-02, 2.58869204e-02,
  1.28246307e+00, 2.76338656e-05, 1.01371823e+00, 6.38633490e-02,
  9.36304464e-02,-7.02652781e-02, 1.30939924e-01, 4.96414159e-01,
  4.86851894e-01, 5.02636615e-01, 5.13716507e-01]

qacc:
[ -5.77847939,  1.04849825, -4.67339229,  9.00518486, -1.20295506,
  -3.0304447 ,  9.51128586,-10.37947431, -3.00329441,  1.3869387 ,
  -7.42089057, 16.41037986, -0.28476579,  0.28844659, -3.20210128,
  10.90651169,  0.06667395,  1.04923344,  0.42952012,  1.89735183,
   0.2904314 ,-15.19853487]

qfrc_actuator:
[-1.06395635e-04,-8.52907769e-05,-6.08861132e-05, 2.74527600e-05,
  1.60092537e-06,-3.81351881e-04,-2.79734683e-04,-1.01014959e-04,
  4.48490591e-05,-9.65928517e-05,-9.51178940e-05,-4.80087077e-05,
  6.89484345e-03,-1.45487377e-03, 0.00000000e+00,-2.29589641e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.71112247, -1.74481139,  4.37610651, -1.74481139, 19.94921437,
        6.07562823,  4.37610651,  6.07562823,  7.13355559,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003465032594976436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.00254795e-13,  8.01019178e-14,  1.00000000e+00,  1.60407931e-26,
        1.00000000e+00, -8.01019178e-14, -1.00000000e+00,  0.00000000e+00,
       -2.00254795e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09211865, -0.0882977 ,  0.0619901 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.37851933e-05,-1.73524029e-06,-1.07205233e-05, 1.15281665e-05,
 -7.30759415e-06,-6.73122498e-05, 2.66014894e-05,-2.55773428e-06,
 -1.75549115e-05,-3.23123701e-05,-2.03103598e-05, 2.27894724e-05,
 -5.91325526e-05,-1.64390922e-05,-4.13860178e-06, 5.18430325e-05,
 -9.56437596e-08, 8.77918455e-07,-1.21644184e+00,-4.58044389e-04,
  1.31233329e-05,-5.52373276e-04]


--- Step 1301 ---
qpos:
[ 6.23497268e-03,-1.82714270e-03,-4.92288115e-03, 3.35558068e-02,
  4.49146344e-03,-3.71114856e-03,-1.85393246e-02, 2.85953713e-02,
  1.29850382e-02, 3.36553997e-03,-1.00474734e-02, 2.58855434e-02,
  1.28267911e+00, 2.90430827e-05, 1.01394570e+00, 6.38655098e-02,
  9.36372408e-02,-7.02703831e-02, 1.30944723e-01, 4.96361832e-01,
  4.86888297e-01, 5.02650889e-01, 5.13718601e-01]

qacc:
[  5.73257982,  0.45699191, -1.17816716, -1.39395224,  2.29625136,
  -0.6723966 ,  0.6687139 ,  1.08095864, -1.88445038, -3.06351488,
  11.67965098,-19.26213328, -0.23377099,  0.21966155, -0.82835765,
   2.86742754,  0.06919659,  1.0342323 ,  0.28454844,  1.8396727 ,
   0.30047617,-14.97324352]

qfrc_actuator:
[-7.18368626e-05,-1.19336892e-04,-9.13823395e-05, 1.50414631e-05,
  1.52407457e-05,-4.48960198e-04,-2.97015862e-04,-1.01244062e-04,
  3.41698834e-05,-1.26091615e-04,-6.77856149e-05,-6.87127835e-05,
  6.88457961e-03,-1.45291512e-03, 0.00000000e+00,-2.28336225e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034513714548896346
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.01047439e-13, -8.04189754e-14,  1.00000000e+00, -1.61680290e-26,
        1.00000000e+00,  8.04189754e-14, -1.00000000e+00,  0.00000000e+00,
       -2.01047439e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09211907, -0.08829808,  0.06199014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.35960283e-05,-3.67600255e-05,-3.17803771e-05,-1.26320360e-05,
  1.34066192e-05,-9.98728612e-05,-2.79960245e-05,-2.24009511e-06,
 -1.11905748e-05,-5.07760001e-05, 1.89490749e-05,-2.23448418e-05,
 -4.80070539e-05,-1.53919713e-05,-5.88219492e-07, 1.38613947e-05,
 -1.24908958e-07, 5.50799812e-07,-1.21644110e+00,-4.57881723e-04,
  1.28423705e-05,-5.52577808e-04]


--- Step 1302 ---
qpos:
[ 6.23493879e-03,-1.82715755e-03,-4.92314932e-03, 3.35558922e-02,
  4.49192250e-03,-3.71250607e-03,-1.85398044e-02, 2.85943262e-02,
  1.29854812e-02, 3.36417674e-03,-1.00462136e-02, 2.58839318e-02,
  1.28289491e+00, 3.01754969e-05, 1.01417304e+00, 6.38684644e-02,
  9.36443202e-02,-7.02714006e-02, 1.30950175e-01, 4.96322641e-01,
  4.86911298e-01, 5.02681710e-01, 5.13704508e-01]

qacc:
[  9.7846068 ,  0.32229677, -2.38058625,  5.88506215,  1.41233893,
   0.88518215, -6.4367608 , 14.51686157, -1.15188208, -1.84361234,
   6.81970099,-11.08143319,  0.08705996, -0.42147106, -2.60287725,
   8.79454237,  0.07124889,  1.02187569,  0.16341834,  1.79464621,
   0.30724501,-14.78760463]

qfrc_actuator:
[-1.55295347e-05,-1.21986147e-04,-9.16196131e-05, 2.55025847e-05,
  2.31488192e-05,-5.06616086e-04,-3.25071686e-04,-8.30912216e-05,
  2.76623312e-05,-1.43097646e-04,-5.21034376e-05,-8.03397592e-05,
  6.87066219e-03,-1.47004869e-03, 0.00000000e+00,-2.24135947e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003415336878288544
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.06337304e-14,  1.62534922e-13,  1.00000000e+00,  6.60440020e-27,
        1.00000000e+00, -1.62534922e-13, -1.00000000e+00,  0.00000000e+00,
       -4.06337304e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09211936, -0.08829905,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.72510799e-05,-3.03016926e-05,-1.21822640e-05, 7.53943750e-06,
  8.25740738e-06,-1.19356150e-04,-5.22017253e-05, 1.28643763e-05,
 -6.84540367e-06,-4.24186084e-05, 6.75886753e-06,-1.35784686e-05,
 -4.51035048e-05,-3.16178533e-05,-3.44594301e-06, 4.16015393e-05,
 -1.44285819e-07, 3.20037822e-07,-1.21644066e+00,-4.57739726e-04,
  1.24739564e-05,-5.52689764e-04]


--- Step 1303 ---
qpos:
[ 6.23523532e-03,-1.82741538e-03,-4.92316775e-03, 3.35564257e-02,
  4.49281740e-03,-3.71430910e-03,-1.85402403e-02, 2.85930765e-02,
  1.29858423e-02, 3.36281695e-03,-1.00449802e-02, 2.58828560e-02,
  1.28311056e+00, 3.08007673e-05, 1.01440093e+00, 6.38668605e-02,
  9.36516914e-02,-7.02683709e-02, 1.30955878e-01, 4.96296459e-01,
  4.86921010e-01, 5.02728899e-01, 5.13674419e-01]

qacc:
[ 2.91761313e+00,-1.02418860e-01,-2.00207387e+00, 9.54621617e+00,
  3.82331737e+00,-1.13970368e+00, 4.06082640e+00,-7.33088938e+00,
 -7.21222240e-01, 1.18280375e+00,-6.47038966e+00, 1.57796196e+01,
 -3.32027858e-03,-4.09680097e-01, 1.45631843e+01,-4.97916853e+01,
  7.29445670e-02, 1.01179411e+00, 6.25376583e-02, 1.75993917e+00,
  3.11454558e-01,-1.46359028e+01]

qfrc_actuator:
[-1.51820213e-07,-1.23435561e-04,-7.38459055e-05, 4.93883365e-05,
  4.53659316e-05,-4.86900105e-04,-3.05949230e-04,-8.97685586e-05,
  2.36602202e-05,-1.17016594e-04,-4.33799675e-05,-5.10252820e-05,
  6.85988164e-03,-1.49836834e-03, 0.00000000e+00,-2.48410545e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003361920039201133
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.65117405e-13,  1.65117405e-13,  1.00000000e+00, -2.72637574e-26,
        1.00000000e+00, -1.65117405e-13, -1.00000000e+00,  0.00000000e+00,
        1.65117405e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09211955, -0.08830049,  0.06199039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.69954362e-05,-2.05641314e-05, 1.02757181e-05, 2.23105867e-05,
  2.24129059e-05,-5.71985230e-05,-1.14925078e-05,-1.33421473e-05,
 -4.21444447e-06, 3.21180867e-06, 3.29555083e-07, 2.74704596e-05,
 -4.40815568e-05,-4.58116398e-05,-1.24989487e-06,-2.41878526e-04,
 -1.55018073e-07, 1.81660541e-07,-1.21644052e+00,-4.57615619e-04,
  1.20214725e-05,-5.52710133e-04]


--- Step 1304 ---
qpos:
[ 6.23502462e-03,-1.82803841e-03,-4.92317729e-03, 3.35572736e-02,
  4.49397108e-03,-3.71580771e-03,-1.85408241e-02, 2.85913261e-02,
  1.29864975e-02, 3.36159006e-03,-1.00442637e-02, 2.58818114e-02,
  1.28332612e+00, 3.05359857e-05, 1.01462863e+00, 6.38637079e-02,
  9.36593601e-02,-7.02613266e-02, 1.30961496e-01, 4.96283180e-01,
  4.86917525e-01, 5.02792312e-01, 5.13628484e-01]

qacc:
[ -4.45329564,  0.14855114, -2.54227505,  8.22205362,  2.25475914,
  -0.21834668,  3.46906138,-12.11352889,  2.56887413,  1.67924749,
  -5.87305966,  7.15075228,  0.55955169, -1.51921813,  4.33488094,
 -15.71227487,  0.07437172,  1.00366865, -0.02117595,  1.73367186,
   0.31366182,-14.51329954]

qfrc_actuator:
[-2.67473162e-05,-1.59561554e-04,-8.10767800e-05, 6.32375605e-05,
  5.80767425e-05,-4.20824104e-04,-2.94327829e-04,-1.10904921e-04,
  3.89162622e-05,-1.18578742e-04,-7.41285857e-05,-5.10803274e-05,
  6.84565825e-03,-1.55081122e-03, 0.00000000e+00,-2.55536590e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032952693503902897
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.42285491e-14,  8.42285491e-14,  1.00000000e+00,  7.09444848e-27,
        1.00000000e+00, -8.42285491e-14, -1.00000000e+00,  0.00000000e+00,
       -8.42285491e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09211966, -0.08830228,  0.06199058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.61200571e-05,-4.45336195e-05,-9.44010497e-06, 1.37564409e-05,
  1.33321005e-05, 3.12264388e-05,-2.04226204e-06,-2.42380550e-05,
  1.51330182e-05, 1.51610716e-06,-2.90896584e-05, 6.31546856e-07,
 -5.08431507e-05,-7.26108601e-05,-3.32330561e-05,-8.62404860e-05,
 -1.58003945e-07, 1.32500318e-07,-1.21644066e+00,-4.57507405e-04,
  1.14872599e-05,-5.52639747e-04]


--- Step 1305 ---
qpos:
[ 6.23484194e-03,-1.82898045e-03,-4.92320729e-03, 3.35572417e-02,
  4.49457837e-03,-3.71679620e-03,-1.85417336e-02, 2.85896660e-02,
  1.29876754e-02, 3.36040347e-03,-1.00439035e-02, 2.58807756e-02,
  1.28354129e+00, 2.99564626e-05, 1.01485605e+00, 6.38603418e-02,
  9.36673311e-02,-7.02502933e-02, 1.30966753e-01, 4.96282720e-01,
  4.86900919e-01, 5.02871832e-01, 5.13566819e-01]

qacc:
[  0.25064166, -2.17663789, 10.86218495,-25.81927715, -4.8009015 ,
   1.77798489, -5.72622407,  7.41400233,  4.58745679,  1.05832826,
  -3.74902547,  4.45839661, -0.04673688, -0.29928226,  0.21463033,
  -1.38012498,  0.07559838,  0.99722436, -0.09036818,  1.71432731,
   0.31429906,-14.41569205]

qfrc_actuator:
[-2.45633612e-05,-1.80768809e-04,-8.54168247e-05, 1.77613539e-05,
  2.95812229e-05,-3.80761706e-04,-3.04785261e-04,-1.04833560e-04,
  6.53840318e-05,-1.19105011e-04,-9.25542742e-05,-5.07142441e-05,
  6.82404277e-03,-1.56388437e-03, 0.00000000e+00,-2.56042656e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032188176531754153
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.31145511e-14,  2.58687306e-13,  1.00000000e+00, -1.11531871e-26,
        1.00000000e+00, -2.58687306e-13, -1.00000000e+00,  0.00000000e+00,
        4.31145511e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0921197 , -0.08830434,  0.0619908 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.42736910e-06,-4.74589758e-05,-1.42190742e-05,-4.74427658e-05,
 -2.81026941e-05, 5.61334617e-05,-5.06994186e-06, 6.87523275e-06,
  2.68960208e-05,-5.61450496e-06,-2.16653334e-05,-5.60218996e-07,
 -6.84018421e-05,-4.08740752e-05,-2.80443206e-05,-1.48774562e-05,
 -1.53882812e-07, 1.70037458e-07,-1.21644107e+00,-4.57413683e-04,
  1.08728633e-05,-5.52479299e-04]


--- Step 1306 ---
qpos:
[ 6.23537619e-03,-1.82974686e-03,-4.92353259e-03, 3.35566204e-02,
  4.49449479e-03,-3.71759004e-03,-1.85424171e-02, 2.85887842e-02,
  1.29895062e-02, 3.35929568e-03,-1.00435342e-02, 2.58797217e-02,
  1.28375590e+00, 2.94982774e-05, 1.01508377e+00, 6.38528745e-02,
  9.36756089e-02,-7.02352912e-02, 1.30971420e-01, 4.96295011e-01,
  4.86871250e-01, 5.02967368e-01, 5.13489508e-01]

qacc:
[ 6.29128729e+00,-1.68239866e-01, 3.40343344e+00,-1.32373804e+01,
 -6.04222025e+00, 1.23858793e+00,-7.30967348e+00, 2.02539407e+01,
  5.74524819e+00, 3.02173088e-02, 1.00247185e-01,-4.64615701e-01,
 -7.77029482e-01, 1.06347161e+00, 1.28953564e+01,-4.43174281e+01,
  7.66769990e-02, 9.92224551e-01,-1.47309159e-01, 1.70067933e+00,
  3.13701213e-01,-1.43395982e+01]

qfrc_actuator:
[ 1.23085404e-05,-1.39667054e-04,-8.79965780e-05,-8.98367084e-06,
 -5.18380340e-06,-3.74387577e-04,-2.92747967e-04,-6.50755354e-05,
  9.82325954e-05,-1.01217684e-04,-8.57873345e-05,-5.00855872e-05,
  6.79802246e-03,-1.55355498e-03, 0.00000000e+00,-2.77502007e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003135391309770086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.42617410e-14,  8.85234820e-14,  1.00000000e+00,  3.91820343e-27,
        1.00000000e+00, -8.85234820e-14, -1.00000000e+00,  0.00000000e+00,
       -4.42617410e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0921197 , -0.08830659,  0.06199104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.69014938e-05, 9.62780232e-06,-1.57643225e-05,-3.01918182e-05,
 -3.55482836e-05, 3.70517376e-05, 2.32723014e-05, 4.21311593e-05,
  3.36080304e-05, 1.03025819e-05, 2.93134068e-06,-3.69229681e-07,
 -7.51745847e-05,-1.44998194e-05,-1.80161773e-05,-2.19815204e-04,
 -1.43099751e-07, 2.92272136e-07,-1.21644176e+00,-4.57333504e-04,
  1.01792152e-05,-5.52229351e-04]


--- Step 1307 ---
qpos:
[ 6.23634833e-03,-1.83040748e-03,-4.92427919e-03, 3.35570816e-02,
  4.49399498e-03,-3.71824057e-03,-1.85429341e-02, 2.85890870e-02,
  1.29910268e-02, 3.35812807e-03,-1.00430773e-02, 2.58793864e-02,
  1.28397001e+00, 2.89036531e-05, 1.01531077e+00, 6.38478978e-02,
  9.36841973e-02,-7.02163352e-02, 1.30975311e-01, 4.96319998e-01,
  4.86828563e-01, 5.03078848e-01, 5.13396613e-01]

qacc:
[  3.83587987,  3.53906774,-16.99799854, 36.34016922, -3.63945337,
   2.16717306,-12.4433683 , 32.56151356, -2.72548598,  1.16061186,
  -7.27741171, 19.60647462, -0.09580267, -0.14151476, -8.59887746,
  28.51334105,  0.07764788,  0.98846585, -0.1939451 ,  1.69173531,
   0.31212726,-14.2820618 ]

qfrc_actuator:
[ 3.37878154e-05,-1.32557441e-04,-1.06989756e-04, 4.65820124e-05,
 -2.55948737e-05,-3.70362352e-04,-2.85387681e-04,-5.82972329e-06,
  8.13123411e-05,-1.07842082e-04,-8.18803740e-05,-1.37707462e-05,
  6.76938908e-03,-1.56499950e-03, 0.00000000e+00,-2.63203899e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030473037444550544
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82164812e-13,  1.82164812e-13,  1.00000000e+00, -3.31840186e-26,
        1.00000000e+00, -1.82164812e-13, -1.00000000e+00,  0.00000000e+00,
        1.82164812e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09211965, -0.08830896,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.25366269e-05, 7.98757298e-06,-1.99785292e-05, 5.48473804e-05,
 -2.14162876e-05, 3.13833911e-05, 1.93586959e-05, 6.24656327e-05,
 -1.59652863e-05,-2.17773518e-07, 6.39488290e-06, 3.68535507e-05,
 -7.57907195e-05,-3.17184148e-05,-3.80079516e-05, 1.27230498e-04,
 -1.25953735e-07, 4.97619234e-07,-1.21644271e+00,-4.57266267e-04,
  9.40677551e-06,-5.51890352e-04]


--- Step 1308 ---
qpos:
[ 6.23757086e-03,-1.83114950e-03,-4.92517602e-03, 3.35582102e-02,
  4.49325407e-03,-3.71879415e-03,-1.85429794e-02, 2.85893917e-02,
  1.29919880e-02, 3.35705985e-03,-1.00426464e-02, 2.58798213e-02,
  1.28418356e+00, 2.82150193e-05, 1.01553701e+00, 6.38486144e-02,
  9.36930998e-02,-7.01934361e-02, 1.30978275e-01, 4.96357639e-01,
  4.86772891e-01, 5.03206218e-01, 5.13288173e-01]

qacc:
[ 2.19867423e+00, 1.68217265e+00,-8.97818311e+00, 2.08342640e+01,
 -2.09696105e+00,-1.18138640e+00, 4.39769943e+00,-5.19799286e+00,
 -4.92509262e+00, 1.79908864e+00,-9.46027188e+00, 2.27433222e+01,
  5.46804908e-03,-2.92647456e-01,-1.83005843e+01, 6.24001070e+01,
  7.85418972e-02, 9.85773890e-01,-2.31942478e-01, 1.68669065e+00,
  3.09777055e-01,-1.42405733e+01]

qfrc_actuator:
[ 4.60237881e-05,-1.45843532e-04,-1.17834249e-04, 7.90873593e-05,
 -3.73918454e-05,-3.67772997e-04,-2.63112040e-04,-6.61945237e-06,
  5.29854214e-05,-9.35611565e-05,-7.97714533e-05, 2.54738560e-05,
  6.73920231e-03,-1.57154650e-03, 0.00000000e+00,-2.33272248e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002956435584734046
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.28586610e-13,  1.87763777e-13,  1.00000000e+00, -6.16966630e-26,
        1.00000000e+00, -1.87763777e-13, -1.00000000e+00,  0.00000000e+00,
        3.28586610e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09211958, -0.08831141,  0.06199155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28808276e-05,-1.05595489e-05,-9.74399336e-06, 3.32248370e-05,
 -1.24011699e-05, 2.68359863e-05, 3.33178890e-05, 2.44356290e-06,
 -2.87856552e-05, 1.70963589e-05, 4.13803899e-06, 4.01770664e-05,
 -8.12131125e-05,-3.11352969e-05,-5.66260976e-06, 3.01008202e-04,
 -1.02633692e-07, 7.84821873e-07,-1.21644392e+00,-4.57211641e-04,
  8.55563689e-06,-5.51462647e-04]


--- Step 1309 ---
qpos:
[ 6.23824077e-03,-1.83188358e-03,-4.92591005e-03, 3.35589958e-02,
  4.49237719e-03,-3.71906265e-03,-1.85427844e-02, 2.85893313e-02,
  1.29929468e-02, 3.35624312e-03,-1.00419422e-02, 2.58799918e-02,
  1.28439660e+00, 2.74182858e-05, 1.01576339e+00, 6.38508664e-02,
  9.37023199e-02,-7.01666010e-02, 1.30980188e-01, 4.96407903e-01,
  4.86704254e-01, 5.03349441e-01, 5.13164207e-01]

qacc:
[ -4.85438909, -1.14140309,  5.54918976,-11.7687236 , -1.1875375 ,
  -1.04267209,  5.81043358,-12.72690474, -0.0167808 , -0.97574185,
   5.07843123,-10.27897504, -0.21941023,  0.06690043, -4.41077115,
  15.76703983,  0.07938266,  0.98399955, -0.26272609,  1.68489236,
   0.30680448,-14.21300366]

qfrc_actuator:
[ 1.72208649e-05,-1.35716905e-04,-1.06139440e-04, 6.22334313e-05,
 -4.40290062e-05,-3.48303483e-04,-2.50011575e-04,-2.49689147e-05,
  5.36930875e-05,-6.68723164e-05,-6.09103188e-05, 1.28791417e-05,
  6.71875884e-03,-1.57514284e-03, 0.00000000e+00,-2.26335099e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028643032390984757
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45352499e-13, -5.81409997e-13,  1.00000000e+00,  8.45093961e-26,
        1.00000000e+00,  5.81409997e-13, -1.00000000e+00,  0.00000000e+00,
        1.45352499e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09211949, -0.0883139 ,  0.06199181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.84383162e-05, 3.66806877e-06, 9.47789134e-06,-1.69965480e-05,
 -6.98348885e-06, 4.14783765e-05, 2.28390806e-05,-1.59978276e-05,
 -1.08864069e-07, 3.88514174e-05, 2.43010989e-05,-1.09351311e-05,
 -7.36812311e-05,-2.97116378e-05, 2.76519611e-05, 8.46869870e-05,
 -7.32455216e-08, 1.15288027e-06,-1.21644540e+00,-4.57169506e-04,
  7.62560467e-06,-5.50946490e-04]


--- Step 1310 ---
qpos:
[ 6.23856025e-03,-1.83231401e-03,-4.92689924e-03, 3.35592188e-02,
  4.49177238e-03,-3.71898440e-03,-1.85427315e-02, 2.85890703e-02,
  1.29935614e-02, 3.35573188e-03,-1.00410204e-02, 2.58796613e-02,
  1.28460905e+00, 2.70703840e-05, 1.01599004e+00, 6.38526250e-02,
  9.37076706e-02,-7.01477145e-02, 1.30981894e-01, 4.96445614e-01,
  4.86645794e-01, 5.03448961e-01, 5.13085536e-01]

qacc:
[ -3.09477383, -0.0378705 ,  3.10296194,-12.66691546,  2.37059291,
   0.43759457, -0.05600572, -3.43654231, -3.02835387, -1.2295206 ,
   7.09499854,-16.34799845, -0.84853741,  1.39087245,  1.9440583 ,
  -6.0814242 , -0.96732148, -1.98713654, -0.05159807,-17.03218072,
   0.72372925, 27.65984485]

qfrc_actuator:
[ 2.72561266e-09,-1.11599435e-04,-1.16679251e-04, 3.42600315e-05,
 -2.98263423e-05,-3.36685429e-04,-2.60126050e-04,-3.57353822e-05,
  3.59829540e-05,-5.06832138e-05,-5.00392409e-05,-1.23397509e-05,
  6.70417627e-03,-1.54141183e-03, 0.00000000e+00,-2.29456066e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028174939547814803
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.85115711e-14, -1.47767357e-13,  1.00000000e+00,  1.45567945e-26,
        1.00000000e+00,  1.47767357e-13, -1.00000000e+00,  0.00000000e+00,
        9.85115711e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1089776 , -0.03366085,  0.06199195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80221977e-05, 2.74195222e-05,-9.18696233e-06,-2.78165098e-05,
  1.40173953e-05, 3.88496883e-05, 7.14099677e-07,-8.50939280e-06,
 -1.77020213e-05, 4.24900874e-05, 2.15131178e-05,-2.29258497e-05,
 -6.32694958e-05, 9.74274429e-06, 1.61103840e-05,-2.43260240e-05,
 -3.78323666e-08, 1.60099317e-06,-1.21644714e+00,-4.57139911e-04,
  6.61625753e-06,-5.50342057e-04]


--- Step 1311 ---
qpos:
[ 6.23936048e-03,-1.83225624e-03,-4.92841063e-03, 3.35590994e-02,
  4.49168753e-03,-3.71874398e-03,-1.85429982e-02, 2.85887189e-02,
  1.29939591e-02, 3.35524886e-03,-1.00401153e-02, 2.58790836e-02,
  1.28482083e+00, 2.78733038e-05, 1.01621686e+00, 6.38530117e-02,
  9.37092013e-02,-7.01366035e-02, 1.30982601e-01, 4.96470828e-01,
  4.86597311e-01, 5.03505894e-01, 5.13051253e-01]

qacc:
[  4.20201245,  1.3920176 , -2.59593681, -2.83804602,  4.53788286,
   0.91214857, -2.57536181,  1.41956082, -1.90868477, -0.42142465,
   2.60688485, -6.88610903, -1.50677026,  2.86515062,  4.51956346,
 -15.14932161, -0.95502137, -1.9438954 , -0.24992535,-16.58164089,
   0.81534201, 27.09788584]

qfrc_actuator:
[ 2.52595618e-05,-7.93863365e-05,-1.40207002e-04, 1.77244153e-05,
 -3.47342416e-06,-3.47706576e-04,-2.83883285e-04,-4.19704514e-05,
  2.53176272e-05,-7.64538086e-05,-6.17684763e-05,-2.70383426e-05,
  6.69313636e-03,-1.46804546e-03, 0.00000000e+00,-2.36695171e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51252882,  0.02185647, -4.51247589,  0.02185647, 12.90564729,
        0.04065261, -4.51247589,  0.04065261,  4.51272572,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002913467206548115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.52664768e-14,  1.90532954e-13,  1.00000000e+00,  1.81514032e-26,
        1.00000000e+00, -1.90532954e-13, -1.00000000e+00,  0.00000000e+00,
       -9.52664768e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10897404, -0.03366536,  0.06199167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47578424e-05, 4.44759838e-05,-1.99412879e-05,-1.62165412e-05,
  2.67672161e-05, 1.04883204e-05,-1.59407195e-05,-4.71134540e-06,
 -1.11540638e-05, 1.45568605e-06,-1.09851400e-06,-1.25788258e-05,
 -4.49072264e-05, 6.09668252e-05,-1.40546339e-06,-7.30796804e-05,
 -2.33896305e-07, 9.20899101e-07,-1.21644349e+00,-4.57600457e-04,
  8.86899974e-06,-5.50000990e-04]


--- Step 1312 ---
qpos:
[ 6.24011215e-03,-1.83189068e-03,-4.92988913e-03, 3.35587672e-02,
  4.49157450e-03,-3.71839337e-03,-1.85437871e-02, 2.85879718e-02,
  1.29942257e-02, 3.35498369e-03,-1.00394222e-02, 2.58783240e-02,
  1.28503225e+00, 2.92445866e-05, 1.01644338e+00, 6.38545318e-02,
  9.37069541e-02,-7.01331241e-02, 1.30981639e-01, 4.96483604e-01,
  4.86558636e-01, 5.03521153e-01, 5.13060594e-01]

qacc:
[ -0.43130143, -0.1225131 ,  1.92687537, -5.8905593 , -0.26513265,
   0.79055624, -0.93530894, -5.16261899, -1.16525937,  0.5086143 ,
  -0.62372891, -2.35010419, -0.64293995,  1.24829423, -3.80255976,
  12.79774432, -0.94447536, -1.90789439, -0.41701937,-16.21189237,
   0.88424694, 26.62853942]

qfrc_actuator:
[ 2.20524994e-05,-6.03745075e-05,-1.35653140e-04, 8.05618944e-06,
 -5.69234189e-06,-3.54512733e-04,-3.15591827e-04,-6.32693783e-05,
  1.88893813e-05,-5.62346344e-05,-6.91581382e-05,-3.54781247e-05,
  6.67892446e-03,-1.44278994e-03, 0.00000000e+00,-2.30320212e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53042908, -0.25232782,  4.52339677, -0.25232782, 47.11460909,
        2.37546559,  4.52339677,  2.37546559,  4.66293925,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029693257442142684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.34743373e-14,  1.40211506e-13,  1.00000000e+00, -1.31061776e-26,
        1.00000000e+00, -1.40211506e-13, -1.00000000e+00,  0.00000000e+00,
        9.34743373e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10897169, -0.03366787,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.48473653e-06, 3.90910269e-05, 1.07393256e-05,-8.76562275e-06,
 -1.44979644e-06,-4.43110396e-06,-3.16687700e-05,-2.14929745e-05,
 -6.74477255e-06, 2.02727937e-05,-7.66230813e-06,-8.65932443e-06,
 -2.59086074e-05, 2.89492357e-05,-1.43205199e-05, 5.82310705e-05,
 -2.89619647e-07, 3.96983904e-07,-1.21644121e+00,-4.58109390e-04,
  1.01597614e-05,-5.49904847e-04]


--- Step 1313 ---
qpos:
[ 6.23978493e-03,-1.83125104e-03,-4.93127888e-03, 3.35579766e-02,
  4.49143610e-03,-3.71813067e-03,-1.85446162e-02, 2.85869676e-02,
  1.29933779e-02, 3.35524702e-03,-1.00389783e-02, 2.58770859e-02,
  1.28524351e+00, 3.04393475e-05, 1.01666981e+00, 6.38564340e-02,
  9.37009648e-02,-7.01371567e-02, 1.30978447e-01, 4.96483994e-01,
  4.86529626e-01, 5.03495481e-01, 5.13112919e-01]

qacc:
[ -9.48873031, -0.81103116,  5.38419605,-13.69428002, -0.22195235,
  -0.53176411,  2.81347662, -7.13264495, -9.82375116,  0.428746  ,
   1.53866661, -9.84819971,  0.04358105, -0.25218477, -1.29028364,
   4.30844509, -0.93552846, -1.87800423, -0.55772937,-15.90960297,
   0.93505653, 26.23826893]

qfrc_actuator:
[-3.34011699e-05,-4.92983019e-05,-1.32349165e-04,-1.52367876e-05,
 -6.96157198e-06,-3.58802788e-04,-3.16235466e-04,-7.55124041e-05,
 -3.82533527e-05,-8.62250696e-06,-7.37418694e-05,-5.78816644e-05,
  6.65747967e-03,-1.46403142e-03, 0.00000000e+00,-2.28399307e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53806527, -0.51125684,  4.5091743 , -0.51125684, 42.36540883,
        4.28892007,  4.5091743 ,  4.28892007,  5.02434936,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002992717796450606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.27437116e-14, -1.39115567e-13,  1.00000000e+00,  1.29020941e-26,
        1.00000000e+00,  1.39115567e-13, -1.00000000e+00,  0.00000000e+00,
        9.27437116e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1089703 , -0.03366878,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.55103255e-05, 3.47804999e-05, 1.24113177e-05,-2.14137226e-05,
 -1.31001743e-06,-1.42325878e-05,-6.19673549e-06,-1.39442729e-05,
 -5.73268860e-05, 5.69966297e-05,-1.64228441e-06,-2.19673377e-05,
 -2.96790445e-05,-2.04415223e-05,-3.88680055e-06, 1.97364397e-05,
 -2.07949418e-07, 1.68476531e-08,-1.21644022e+00,-4.58682213e-04,
  1.05579331e-05,-5.50052773e-04]


--- Step 1314 ---
qpos:
[ 6.23879575e-03,-1.83044111e-03,-4.93279074e-03, 3.35559055e-02,
  4.49128359e-03,-3.71805746e-03,-1.85451754e-02, 2.85865065e-02,
  1.29925421e-02, 3.35544577e-03,-1.00381096e-02, 2.58759636e-02,
  1.28545457e+00, 3.12022255e-05, 1.01689655e+00, 6.38555237e-02,
  9.36912634e-02,-7.01486024e-02, 1.30972550e-01, 4.96472049e-01,
  4.86510158e-01, 5.03429476e-01, 5.13207691e-01]

qacc:
[-5.82809921e+00,-2.05875165e+00, 1.30917879e+01,-3.52014053e+01,
 -1.11460198e-01, 1.12716679e-01,-3.05809143e+00, 1.21640576e+01,
  1.20604833e-01,-1.03412495e+00, 3.07383302e+00,-1.69959120e+00,
  7.74526323e-03,-3.93354717e-01, 8.93320042e+00,-3.06171138e+01,
 -9.28027926e-01,-1.85327088e+00,-6.76169446e-01,-1.56638270e+01,
  9.71366225e-01, 2.59156726e+01]

qfrc_actuator:
[-6.58951491e-05,-6.08255168e-05,-1.47616752e-04,-8.18791989e-05,
 -7.65252840e-06,-3.61429150e-04,-2.98513246e-04,-4.67971224e-05,
 -3.60259691e-05,-3.37355475e-05,-5.87675794e-05,-5.27887732e-05,
  6.63169017e-03,-1.49490093e-03, 0.00000000e+00,-2.43323145e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53718827, -0.81102917,  4.46411348, -0.81102917, 37.89207125,
        6.05983318,  4.46411348,  6.05983318,  5.63812388,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002990044204801423
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.28266397e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.28266397e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10896969, -0.03366839,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.40602213e-05, 9.54495840e-06,-7.28230924e-06,-6.51335512e-05,
 -7.32513807e-07,-1.24607456e-05, 1.35455744e-05, 2.76231197e-05,
  6.20642060e-07, 5.44450500e-06, 2.57812586e-05, 7.05450671e-06,
 -4.77088641e-05,-4.22053666e-05,-3.85258104e-06,-1.49640058e-04,
  8.68831107e-09,-2.28460904e-07,-1.21644044e+00,-4.59329227e-04,
  1.01163660e-05,-5.50443345e-04]


--- Step 1315 ---
qpos:
[ 6.23811451e-03,-1.82987355e-03,-4.93405822e-03, 3.35537712e-02,
  4.49077898e-03,-3.71806781e-03,-1.85455274e-02, 2.85860381e-02,
  1.29927740e-02, 3.35551466e-03,-1.00370033e-02, 2.58752783e-02,
  1.28566535e+00, 3.16143415e-05, 1.01712375e+00, 6.38488122e-02,
  9.36778746e-02,-7.01673797e-02, 1.30963550e-01, 4.96447809e-01,
  4.86500127e-01, 5.03323616e-01, 5.13344463e-01]

qacc:
[ 2.71954354e+00,-1.13877818e+00, 3.85268445e+00,-5.14703101e+00,
 -3.07367230e+00,-6.98033787e-01, 2.37020608e+00,-2.77800708e+00,
  9.40549142e+00, 4.51425578e-02,-2.28665659e+00, 9.59863426e+00,
 -2.88165125e-01, 9.11671303e-02, 1.81867501e+01,-6.26353127e+01,
 -9.21826309e-01,-1.83288611e+00,-7.75840666e-01,-1.54655451e+01,
  9.95974219e-01, 2.56511081e+01]

qfrc_actuator:
[-4.90934224e-05,-8.59206245e-05,-1.38346673e-04,-8.47626537e-05,
 -2.57502631e-05,-3.62920562e-04,-2.87818175e-04,-4.74619513e-05,
  1.88954388e-05,-4.88441385e-05,-5.03853165e-05,-3.16009959e-05,
  6.61395530e-03,-1.51346866e-03, 0.00000000e+00,-2.73375451e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029666485097179507
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.87117385e-13,  9.35586927e-14,  1.00000000e+00, -1.75064579e-26,
        1.00000000e+00, -9.35586927e-14, -1.00000000e+00,  0.00000000e+00,
        1.87117385e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10896968, -0.03366697,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58390206e-05,-2.40685990e-05, 8.10644035e-06,-3.98627431e-06,
 -1.81247049e-05,-4.47307387e-06, 1.07524060e-05,-1.90400510e-07,
  5.49409027e-05,-6.45349973e-06, 1.29156590e-05, 2.24503826e-05,
 -5.53901656e-05,-3.88972004e-05,-2.36070581e-05,-3.10564815e-04,
  3.58452768e-07,-3.45085565e-07,-1.21644183e+00,-4.60056993e-04,
  8.87492334e-06,-5.51074851e-04]


--- Step 1316 ---
qpos:
[ 6.23763968e-03,-1.82965475e-03,-4.93489390e-03, 3.35523104e-02,
  4.49040614e-03,-3.71797508e-03,-1.85458406e-02, 2.85858982e-02,
  1.29933171e-02, 3.35576799e-03,-1.00359322e-02, 2.58751759e-02,
  1.28587583e+00, 3.20030592e-05, 1.01735047e+00, 6.38412081e-02,
  9.36644870e-02,-7.01816087e-02, 1.30958238e-01, 4.96437063e-01,
  4.86477345e-01, 5.03235851e-01, 5.13462475e-01]

qacc:
[ 1.83493457e+00,-2.85124831e-01,-2.50106900e+00, 1.37276381e+01,
  1.15295441e+00, 7.00992557e-01,-3.69356739e+00, 9.24717312e+00,
  2.73501734e+00, 1.53699615e+00,-7.59755671e+00, 1.76186732e+01,
 -2.37433467e-01, 2.33448942e-01, 2.02134308e+00,-8.03740278e+00,
  2.85765713e-04, 1.13707439e+00, 9.22011856e-01, 2.91768993e+00,
 -1.94784101e-01,-1.57305818e+01]

qfrc_actuator:
[-3.89246580e-05,-1.01059292e-04,-1.14671619e-04,-5.00958840e-05,
 -1.84431681e-05,-3.46008499e-04,-2.81384609e-04,-2.99164169e-05,
  3.33622885e-05,-2.23536563e-05,-4.59410912e-05,-1.12369283e-06,
  6.61171852e-03,-1.50681105e-03, 0.00000000e+00,-2.76588187e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.52079935,   1.25850355,   4.34209576,   1.25850355,
        43.12928449, -11.19019895,   4.34209576, -11.19019895,
         7.76414216,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002939457669575568
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41636207e-13,  3.77696551e-13,  1.00000000e+00, -5.34955068e-26,
        1.00000000e+00, -3.77696551e-13, -1.00000000e+00,  0.00000000e+00,
        1.41636207e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09213209, -0.08831552,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06104711e-05,-2.70876041e-05, 1.95768448e-05, 3.38440921e-05,
  6.78736493e-06, 1.66227440e-05, 6.83359394e-06, 1.77247965e-05,
  1.60252319e-05, 2.65176533e-05, 5.46462954e-06, 3.10812225e-05,
 -4.40612619e-05,-1.44243797e-05,-5.04654799e-05,-5.36263023e-05,
  8.40109457e-07,-3.36842020e-07,-1.21644434e+00,-4.60869362e-04,
  6.86321569e-06,-5.51945475e-04]


--- Step 1317 ---
qpos:
[ 6.23729035e-03,-1.82949714e-03,-4.93551310e-03, 3.35509086e-02,
  4.49046864e-03,-3.71792633e-03,-1.85460466e-02, 2.85866744e-02,
  1.29936852e-02, 3.35601608e-03,-1.00350096e-02, 2.58754718e-02,
  1.28608599e+00, 3.26829958e-05, 1.01757611e+00, 6.38395562e-02,
  9.36511636e-02,-7.01914078e-02, 1.30955738e-01, 4.96439680e-01,
  4.86441702e-01, 5.03165744e-01, 5.13562410e-01]

qacc:
[ 1.11144094e+00,-5.66577924e-01, 1.64957339e+00,-9.24045064e-01,
  3.81472641e+00, 1.51897994e+00,-9.38185453e+00, 2.51103636e+01,
 -1.54508185e+00, 1.23090768e+00,-6.07524246e+00, 1.32033494e+01,
 -8.78646586e-02, 2.10882111e-01,-1.95646291e+01, 6.61341540e+01,
  1.60471738e-02, 1.10744560e+00, 7.03181132e-01, 2.63955498e+00,
 -7.42571364e-02,-1.54488180e+01]

qfrc_actuator:
[-3.27573129e-05,-9.22681279e-05,-1.00391401e-04,-4.68681453e-05,
  3.76379111e-06,-3.53712831e-04,-2.77422558e-04, 1.59749275e-05,
  2.38857638e-05,-4.21766333e-05,-6.14345043e-05, 1.68538084e-05,
  6.60814094e-03,-1.48520530e-03, 0.00000000e+00,-2.44428115e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55098886,  0.88583541,  4.46394391,  0.88583541, 17.50880217,
       -2.57137862,  4.46394391, -2.57137862,  5.06125922,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003031735767497906
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.37325172e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.37325172e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09213485, -0.08831383,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.45782701e-06,-8.51964730e-07, 1.22775765e-05, 3.40732946e-06,
  2.24056312e-05, 3.76514197e-06, 8.85322575e-06, 4.71856458e-05,
 -9.01162652e-06,-2.54755701e-06,-8.28266048e-06, 1.99045820e-05,
 -3.29659999e-05, 8.63166323e-06,-3.15179984e-05, 3.11604575e-04,
  4.86820598e-07,-4.94999985e-07,-1.21644307e+00,-4.59819160e-04,
  8.22300354e-06,-5.52110588e-04]


--- Step 1318 ---
qpos:
[ 6.23667289e-03,-1.82950502e-03,-4.93593842e-03, 3.35502621e-02,
  4.49079709e-03,-3.71819679e-03,-1.85460030e-02, 2.85873297e-02,
  1.29932470e-02, 3.35643295e-03,-1.00345785e-02, 2.58752923e-02,
  1.28629570e+00, 3.39222288e-05, 1.01780167e+00, 6.38403531e-02,
  9.36379531e-02,-7.01968751e-02, 1.30955314e-01, 4.96455540e-01,
  4.86393121e-01, 5.03112932e-01, 5.13644824e-01]

qacc:
[-2.34823714e+00, 7.99131612e-01,-6.34715825e+00, 1.92215391e+01,
  2.34092278e+00,-1.37193148e+00, 4.78213989e+00,-7.02835536e+00,
 -7.11386363e+00, 6.31775538e-01, 1.02758130e-01,-7.69680009e+00,
 -6.36772125e-01, 1.19742643e+00,-7.44628406e+00, 2.60199253e+01,
  2.82268123e-02, 1.08298717e+00, 5.18978025e-01, 2.41648939e+00,
  2.18001942e-02,-1.52113492e+01]

qfrc_actuator:
[-4.67451090e-05,-1.04772385e-04,-9.17054745e-05,-8.90095890e-06,
  1.68017692e-05,-3.93833805e-04,-2.75027138e-04, 7.14439470e-06,
 -1.73475863e-05,-3.64138823e-05,-8.87631240e-05,-8.22226877e-06,
  6.58779514e-03,-1.45493593e-03, 0.00000000e+00,-2.32524185e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56880487,  0.81763274,  4.49504779,  0.81763274, 26.17122575,
       -3.92940127,  4.49504779, -3.92940127,  5.28354858,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030843941054158053
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.59948498e-13,  1.79974249e-13,  1.00000000e+00,  6.47814605e-26,
        1.00000000e+00, -1.79974249e-13, -1.00000000e+00,  0.00000000e+00,
       -3.59948498e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09213699, -0.08831304,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.38047065e-05,-1.02905357e-05, 1.01486260e-05, 3.84257485e-05,
  1.36770001e-05,-3.41579797e-05, 5.89556581e-06,-7.44685303e-06,
 -4.14889661e-05, 3.45783467e-06,-2.81999335e-05,-2.50872903e-05,
 -3.70082890e-05, 2.46285543e-05, 1.86681137e-05, 1.32015642e-04,
  1.62450322e-07,-5.67230198e-07,-1.21644216e+00,-4.58847035e-04,
  9.42464028e-06,-5.52199687e-04]


--- Step 1319 ---
qpos:
[ 6.23623770e-03,-1.82970743e-03,-4.93646622e-03, 3.35497551e-02,
  4.49093459e-03,-3.71877883e-03,-1.85458500e-02, 2.85871932e-02,
  1.29919731e-02, 3.35675300e-03,-1.00338799e-02, 2.58754859e-02,
  1.28650504e+00, 3.55448762e-05, 1.01802769e+00, 6.38392361e-02,
  9.36248930e-02,-7.01980908e-02, 1.30956347e-01, 4.96484541e-01,
  4.86331549e-01, 5.03077115e-01, 5.13710172e-01]

qacc:
[  1.60280089,  0.31311241, -2.08301746,  4.80708981, -1.66305922,
  -2.34225394, 11.10395678,-24.75968665, -7.34349181, -0.09289744,
  -1.40526772,  7.48077118, -0.71435408,  1.22350844,  6.50452042,
 -21.64821601,  0.03760035,  1.06287441,  0.36420253,  2.2372414 ,
   0.09864338,-15.01237428]

qfrc_actuator:
[-3.69772924e-05,-1.29925130e-04,-1.04192755e-04,-4.06790607e-06,
  6.58096291e-06,-4.17606682e-04,-2.73757117e-04,-3.38488275e-05,
 -5.91811774e-05,-3.32242461e-05,-6.95325884e-05, 1.25944498e-05,
  6.56806213e-03,-1.43760558e-03, 0.00000000e+00,-2.43313252e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57589916,  0.72364696,  4.51831697,  0.72364696, 47.99211159,
       -6.95347633,  4.51831697, -6.95347633,  5.68955764,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031050116855141363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.93896012e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.93896012e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09213864, -0.08831298,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.37029469e-06,-2.71605111e-05,-1.20257800e-05, 5.49419759e-06,
 -9.84196264e-06,-4.19626858e-05,-5.31619815e-06,-4.23995360e-05,
 -4.30071800e-05,-1.81249703e-06, 1.55950207e-05, 1.95010654e-05,
 -3.47558197e-05, 1.42687139e-05, 1.80499288e-05,-9.93357883e-05,
 -1.39495565e-07,-5.54192616e-07,-1.21644158e+00,-4.57934118e-04,
  1.04888869e-05,-5.52209287e-04]


--- Step 1320 ---
qpos:
[ 6.23626745e-03,-1.82971129e-03,-4.93699318e-03, 3.35485616e-02,
  4.49094853e-03,-3.71950904e-03,-1.85457758e-02, 2.85869041e-02,
  1.29905523e-02, 3.35712304e-03,-1.00332883e-02, 2.58759339e-02,
  1.28671435e+00, 3.65612739e-05, 1.01825384e+00, 6.38361917e-02,
  9.36120120e-02,-7.01951208e-02, 1.30958318e-01, 4.96526595e-01,
  4.86256948e-01, 5.03058044e-01, 5.13758821e-01]

qacc:
[  4.08441945, -1.16110142,  7.40403205,-19.41372683, -1.08140141,
  -0.28703144,  1.38726628, -3.79662165, -1.29684309,  0.89134765,
  -4.15215774,  8.68491671,  0.33713253, -0.95309556,  5.97924563,
 -20.71621445,  0.04477757,  1.04642006,  0.23443196,  2.09289314,
   0.16040298,-14.84690103]

qfrc_actuator:
[-1.32992492e-05,-9.15611967e-05,-9.36598854e-05,-3.65541117e-05,
  5.08058892e-07,-4.13698019e-04,-2.73121997e-04,-4.01624156e-05,
 -6.55177479e-05,-3.13803928e-05,-7.61867887e-05, 2.47831471e-05,
  6.55403156e-03,-1.48134437e-03, 0.00000000e+00,-2.53177708e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57415139, -0.59555727, -4.53521471, -0.59555727, 32.85362149,
       -3.71361561, -4.53521471, -3.71361561,  5.06181756,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003099950381589833
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.23838870e-13,  8.95355480e-14,  1.00000000e+00, -2.00415359e-26,
        1.00000000e+00, -8.95355480e-14, -1.00000000e+00,  0.00000000e+00,
        2.23838870e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09213991, -0.08831351,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.39365270e-05, 2.09461825e-05, 3.64114124e-06,-3.39567655e-05,
 -6.36670935e-06,-2.24556334e-05,-1.01485830e-05,-9.11934631e-06,
 -7.55871919e-06, 4.84812042e-06,-4.44488173e-06, 1.30289882e-05,
 -3.06990813e-05,-4.83798354e-05,-9.03146019e-06,-1.03309267e-04,
 -4.23869761e-07,-4.56681684e-07,-1.21644132e+00,-4.57066254e-04,
  1.14315073e-05,-5.52136943e-04]


--- Step 1321 ---
qpos:
[ 6.23623569e-03,-1.82922764e-03,-4.93786684e-03, 3.35473196e-02,
  4.49123422e-03,-3.72012004e-03,-1.85461583e-02, 2.85872236e-02,
  1.29897559e-02, 3.35801892e-03,-1.00335174e-02, 2.58758222e-02,
  1.28692344e+00, 3.71331025e-05, 1.01847970e+00, 6.38336478e-02,
  9.35993320e-02,-7.01880187e-02, 1.30960793e-01, 4.96581624e-01,
  4.86169286e-01, 5.03055512e-01, 5.13791073e-01]

qacc:
[ -0.56020155,  1.51474736, -4.25898446,  3.6117879 ,  2.36237135,
   2.67915065,-11.90218938, 23.08320016,  5.45918979,  1.82537753,
  -3.15488751, -5.58923777,  0.22047078, -0.73613085, -1.96130399,
   6.18364513,  0.05023744,  1.03304977,  0.12589315,  1.97637113,
   0.21032469,-14.71061774]

qfrc_actuator:
[-1.71359239e-05,-5.09077906e-05,-1.04882513e-04,-3.74039970e-05,
  1.46855060e-05,-3.93219191e-04,-2.90475876e-04,-8.23812889e-06,
 -3.31579674e-05, 5.05317319e-06,-1.15856998e-04,-3.74076100e-06,
  6.53275388e-03,-1.50763045e-03, 0.00000000e+00,-2.49982651e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56543676, -0.43113034, -4.54503459, -0.43113034, 46.91230465,
       -4.0169154 , -4.54503459, -4.0169154 ,  4.94647106,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003074536700834879
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.35413454e-13,  2.70826908e-13,  1.00000000e+00,  3.66736071e-26,
        1.00000000e+00, -2.70826908e-13, -1.00000000e+00,  0.00000000e+00,
       -1.35413454e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09214088, -0.08831451,  0.06199121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.14672589e-06, 5.16809376e-05,-7.61443070e-06,-4.84375978e-07,
  1.39885311e-05, 5.45877344e-06,-2.35492123e-05, 3.04356957e-05,
  3.21482256e-05, 3.87564051e-05,-3.87788280e-05,-2.82194859e-05,
 -5.06398360e-05,-4.40741495e-05,-2.00779738e-05, 2.39974865e-05,
 -6.94305355e-07,-2.75503321e-07,-1.21644135e+00,-4.56232773e-04,
  1.22645044e-05,-5.51980928e-04]


--- Step 1322 ---
qpos:
[ 6.23581360e-03,-1.82842237e-03,-4.93915369e-03, 3.35467935e-02,
  4.49134270e-03,-3.72073844e-03,-1.85467051e-02, 2.85875734e-02,
  1.29896990e-02, 3.35862797e-03,-1.00336244e-02, 2.58750639e-02,
  1.28713180e+00, 3.85321210e-05, 1.01870526e+00, 6.38328068e-02,
  9.35868693e-02,-7.01768274e-02, 1.30963409e-01, 4.96649567e-01,
  4.86068541e-01, 5.03069354e-01, 5.13807169e-01]

qacc:
[ -3.45021249,  3.06087309,-13.30658619, 26.10467821, -1.55588155,
   0.51481885, -1.97306263,  2.76158443,  6.5159902 , -2.06375674,
   9.51636635,-20.66653254, -1.09067935,  1.9730086 , -5.50170382,
  18.80233535,  0.05435591,  1.02228265,  0.03536056,  1.88206079,
   0.2509582 ,-14.59979287]

qfrc_actuator:
[-3.71409485e-05,-4.47543401e-05,-1.28811229e-04,-1.88275508e-06,
  5.16201965e-06,-3.98511662e-04,-3.00461294e-04,-7.32905320e-06,
  3.95447574e-06,-4.47710704e-05,-1.21322512e-04,-3.82271860e-05,
  6.50714659e-03,-1.45235356e-03, 0.00000000e+00,-2.40892836e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000303321679229529
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.15054133e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.15054133e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09214161, -0.08831588,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.00765259e-05, 3.34546736e-05,-1.42003555e-05, 3.74667344e-05,
 -9.12230718e-06,-5.76890129e-06,-1.06952497e-05, 9.21437625e-07,
  3.80446225e-05,-3.73918667e-05,-3.22241268e-06,-3.47192642e-05,
 -6.51685014e-05, 3.37178543e-05,-1.00100710e-05, 8.88597228e-05,
 -9.53530067e-07,-1.14053438e-08,-1.21644168e+00,-4.55425578e-04,
  1.29970404e-05,-5.51740005e-04]


--- Step 1323 ---
qpos:
[ 6.23584515e-03,-1.82768653e-03,-4.94030605e-03, 3.35474005e-02,
  4.49133635e-03,-3.72145424e-03,-1.85470365e-02, 2.85875714e-02,
  1.29893979e-02, 3.35868444e-03,-1.00336451e-02, 2.58739359e-02,
  1.28733963e+00, 4.05381551e-05, 1.01893030e+00, 6.38363810e-02,
  9.35746364e-02,-7.01615813e-02, 1.30965865e-01, 4.96730372e-01,
  4.85954688e-01, 5.03099430e-01, 5.13807301e-01]

qacc:
[ 3.99494380e+00, 1.85745623e+00,-1.15522106e+01, 3.10101037e+01,
 -9.96874420e-01,-1.45139109e+00, 6.47754321e+00,-1.28419083e+01,
 -2.13639789e+00,-1.72834808e+00, 6.67111191e+00,-1.28085357e+01,
 -6.04707716e-01, 1.14709988e+00,-1.40406819e+01, 4.81322900e+01,
  5.74278645e-02, 1.01371541e+00,-3.99263721e-02, 1.80550267e+00,
  2.84305738e-01,-1.45111940e+01]

qfrc_actuator:
[-1.32356674e-05,-5.93299869e-05,-1.24653178e-04, 5.47161596e-05,
 -4.89144736e-07,-4.01435345e-04,-2.88382576e-04,-2.46944145e-05,
 -9.70426046e-06,-9.24897624e-05,-1.24632226e-04,-5.82277840e-05,
  6.48964583e-03,-1.42024335e-03, 0.00000000e+00,-2.17754843e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002979688910570294
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.79447719e-13, -1.86298479e-13,  1.00000000e+00,  5.20606850e-26,
        1.00000000e+00,  1.86298479e-13, -1.00000000e+00,  0.00000000e+00,
        2.79447719e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09214216, -0.08831752,  0.06199148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.33440043e-05, 2.78605970e-06, 1.06239910e-05, 5.82735360e-05,
 -5.91336893e-06,-8.29435140e-06, 9.61481353e-06,-1.79625187e-05,
 -1.25876893e-05,-7.07879490e-05,-1.26375045e-05,-2.23912183e-05,
 -4.68389226e-05, 2.47282576e-05, 9.86197962e-07, 2.34078854e-04,
 -1.20360009e-06, 3.34957382e-07,-1.21644229e+00,-4.54638475e-04,
  1.36361240e-05,-5.51413274e-04]


--- Step 1324 ---
qpos:
[ 6.23616302e-03,-1.82740393e-03,-4.94088184e-03, 3.35483548e-02,
  4.49195178e-03,-3.72185766e-03,-1.85477039e-02, 2.85876919e-02,
  1.29885907e-02, 3.35854309e-03,-1.00341877e-02, 2.58736098e-02,
  1.28754724e+00, 4.23769793e-05, 1.01915556e+00, 6.38403330e-02,
  9.35626423e-02,-7.01423071e-02, 1.30967912e-01, 4.96823997e-01,
  4.85827703e-01, 5.03145633e-01, 5.13791622e-01]

qacc:
[  2.54365381, -1.50059705,  3.00616382,  2.42660048,  5.42605733,
   1.59196622, -5.61306551,  8.05902712, -4.46689455,  2.85658738,
 -13.93571872, 28.77866489, -0.03449819, -0.15306715, -0.81557457,
   3.32396537,  0.05968441,  1.0070096 , -0.10233129,  1.74315263,
   0.31193902,-14.44202132]

qfrc_actuator:
[ 8.22693837e-07,-1.03833313e-04,-1.04025470e-04, 7.00002482e-05,
  3.16968648e-05,-3.67339526e-04,-2.98884559e-04,-1.71491210e-05,
 -3.53852333e-05,-8.53067601e-05,-1.44414190e-04,-1.62972249e-05,
  6.47169194e-03,-1.43764911e-03, 0.00000000e+00,-2.16706776e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029170167452778617
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.37876382e-13, -1.90301106e-13,  1.00000000e+00,  4.52681386e-26,
        1.00000000e+00,  1.90301106e-13, -1.00000000e+00,  0.00000000e+00,
        2.37876382e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09214256, -0.08831937,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47189458e-05,-3.82601790e-05, 2.45304865e-05, 1.69038111e-05,
  3.20145556e-05, 3.07016673e-05,-1.16398188e-05, 7.17553768e-06,
 -2.60619178e-05,-3.59766531e-05,-3.67331956e-05, 3.80268507e-05,
 -3.85234403e-05,-2.27688253e-05, 2.26132602e-05, 2.27585002e-05,
 -1.44607398e-06, 7.63035612e-07,-1.21644317e+00,-4.53866678e-04,
  1.41871267e-05,-5.51000064e-04]


--- Step 1325 ---
qpos:
[ 6.23561210e-03,-1.82736072e-03,-4.94121055e-03, 3.35491354e-02,
  4.49225826e-03,-3.72186106e-03,-1.85488326e-02, 2.85875536e-02,
  1.29878267e-02, 3.35813597e-03,-1.00344195e-02, 2.58737388e-02,
  1.28775445e+00, 4.43333732e-05, 1.01938156e+00, 6.38390507e-02,
  9.35538669e-02,-7.01310923e-02, 1.30969215e-01, 4.96880470e-01,
  4.85742978e-01, 5.03169913e-01, 5.13793340e-01]

qacc:
[ -7.62726389, -1.34971028,  5.11173018, -8.3620257 , -2.72535316,
   1.28985816, -2.7299485 , -1.31720384,  0.39525927, -0.28395153,
  -1.41999509,  8.9962226 , -0.72939488,  1.04922201, 16.94322801,
 -57.56815032,  0.80470544, -2.01485506, -0.18582516,  9.51472235,
  -2.72980432, 29.82254394]

qfrc_actuator:
[-4.42991163e-05,-1.12623784e-04,-9.17644645e-05, 6.08279580e-05,
  1.48839653e-05,-3.46908093e-04,-3.22469894e-04,-3.04962681e-05,
 -3.24145894e-05,-8.08217253e-05,-1.20247939e-04, 8.51034224e-06,
  6.44813257e-03,-1.43097514e-03, 0.00000000e+00,-2.44662890e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002986862623643727
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.29255179e-14, -3.71702072e-13,  1.00000000e+00,  3.45406075e-26,
        1.00000000e+00,  3.71702072e-13, -1.00000000e+00,  0.00000000e+00,
        9.29255179e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08130959, -0.03176359,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.47188483e-05,-2.43958705e-05, 7.96434445e-06,-9.63620671e-06,
 -1.58874961e-05, 3.55363857e-05,-1.84183573e-05,-1.22937268e-05,
  2.21649529e-06,-2.15908851e-05, 1.35350215e-05, 2.27380504e-05,
 -5.07342688e-05,-7.46770982e-06, 7.21350318e-06,-2.76727090e-04,
 -1.68214180e-06, 1.27238467e-06,-1.21644433e+00,-4.53106446e-04,
  1.46541695e-05,-5.50499854e-04]


--- Step 1326 ---
qpos:
[ 6.23452478e-03,-1.82742058e-03,-4.94173391e-03, 3.35501588e-02,
  4.49201647e-03,-3.72189728e-03,-1.85495402e-02, 2.85875963e-02,
  1.29877936e-02, 3.35778470e-03,-1.00339460e-02, 2.58740941e-02,
  1.28796139e+00, 4.60787565e-05, 1.01960745e+00, 6.38354564e-02,
  9.35481968e-02,-7.01278004e-02, 1.30969054e-01, 4.96900217e-01,
  4.85699658e-01, 5.03173060e-01, 5.13812114e-01]

qacc:
[-4.72075966e+00, 9.16734252e-01,-4.47443053e+00, 9.04279695e+00,
 -4.78460339e+00,-8.37667632e-01, 2.17565577e+00, 2.91610268e-01,
  6.45294737e+00,-1.44412734e+00, 4.27903659e+00,-1.50786629e+00,
 -1.65872552e-01, 4.00776411e-03, 6.83326509e+00,-2.41128125e+01,
  7.76316310e-01,-1.98070101e+00,-3.66185091e-01, 9.48627581e+00,
 -2.50464142e+00, 2.92214429e+01]

qfrc_actuator:
[-7.06305693e-05,-1.17771707e-04,-1.02177263e-04, 7.28691121e-05,
 -1.28936315e-05,-3.52640521e-04,-3.00387580e-04,-2.05413099e-05,
  5.15269920e-06,-4.23031369e-05,-7.03367107e-05, 2.30702446e-05,
  6.43188433e-03,-1.44557649e-03, 0.00000000e+00,-2.55745419e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55755732,  1.94869849, -4.11993967,  1.94869849, 15.83820528,
        5.3356562 , -4.11993967,  5.3356562 ,  7.08128   ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030512994181784714
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.09631334e-14, -1.36444700e-13,  1.00000000e+00,  1.24114375e-26,
        1.00000000e+00,  1.36444700e-13, -1.00000000e+00,  0.00000000e+00,
        9.09631334e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08130827, -0.03176771,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.76113275e-05,-1.75713768e-05,-1.48006371e-05, 1.10846403e-05,
 -2.82177780e-05, 9.81633599e-06, 2.67424916e-05, 1.06048340e-05,
  3.76197259e-05, 3.02306242e-05, 4.79115529e-05, 1.45463813e-05,
 -4.76023040e-05,-2.77007044e-05,-3.41277104e-05,-1.26856770e-04,
 -8.23972052e-07, 3.76071105e-07,-1.21644168e+00,-4.54194111e-04,
  1.28988300e-05,-5.50023711e-04]


--- Step 1327 ---
qpos:
[ 6.23347497e-03,-1.82770183e-03,-4.94229220e-03, 3.35506321e-02,
  4.49213343e-03,-3.72216194e-03,-1.85495565e-02, 2.85874189e-02,
  1.29882106e-02, 3.35800947e-03,-1.00331003e-02, 2.58745757e-02,
  1.28816828e+00, 4.68332278e-05, 1.01983326e+00, 6.38295033e-02,
  9.35455400e-02,-7.01323168e-02, 1.30966821e-01, 4.96883601e-01,
  4.85697028e-01, 5.03155710e-01, 5.13847658e-01]

qacc:
[ 3.32151338e-01,-1.32818080e+00, 6.63165246e+00,-1.59295391e+01,
  3.16517969e+00,-2.69115952e+00, 1.00765744e+01,-1.48095286e+01,
  3.96269832e+00,-2.62003486e-02, 6.50890334e-01, 5.32675395e-01,
  6.03968350e-01,-1.63983773e+00, 6.91941321e+00,-2.45565057e+01,
  7.53301529e-01,-1.95208538e+00,-5.17998628e-01, 9.45508711e+00,
 -2.32547987e+00, 2.87237683e+01]

qfrc_actuator:
[-6.79200383e-05,-1.38527308e-04,-1.08098805e-04, 4.40336131e-05,
  6.37075322e-06,-3.73798425e-04,-2.69355140e-04,-3.24466665e-05,
  2.72678029e-05, 1.64202810e-05,-4.10025437e-05, 3.15283477e-05,
  6.41469983e-03,-1.50816674e-03, 0.00000000e+00,-2.67438241e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56751704,  2.09758142, -4.0573839 ,  2.09758142, 23.9391349 ,
       10.01471554, -4.0573839 , 10.01471554,  9.74491255,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003080630318880173
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.80194134e-13,  2.70291201e-13,  1.00000000e+00, -4.87048889e-26,
        1.00000000e+00, -2.70291201e-13, -1.00000000e+00,  0.00000000e+00,
        1.80194134e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08130685, -0.03176977,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.91999153e-06,-3.31641357e-05,-1.09838079e-05,-2.98844315e-05,
  1.84602275e-05,-9.69075400e-06, 3.67309464e-05,-1.03502183e-05,
  2.31913352e-05, 8.61681081e-05, 4.19796047e-05, 1.16918644e-05,
 -5.16511504e-05,-7.94861750e-05,-3.33475782e-05,-1.29197717e-04,
 -2.35902405e-07,-4.28364081e-08,-1.21644032e+00,-4.55030258e-04,
  1.18379942e-05,-5.49771132e-04]


--- Step 1328 ---
qpos:
[ 6.23246545e-03,-1.82798696e-03,-4.94329984e-03, 3.35507573e-02,
  4.49213517e-03,-3.72251122e-03,-1.85494659e-02, 2.85867775e-02,
  1.29885449e-02, 3.35866176e-03,-1.00320740e-02, 2.58744964e-02,
  1.28837486e+00, 4.68886472e-05, 1.02005874e+00, 6.38231503e-02,
  9.35458218e-02,-7.01445460e-02, 1.30962005e-01, 4.96830926e-01,
  4.85734497e-01, 5.03118369e-01, 5.13899733e-01]

qacc:
[  0.33999243,  0.53352711, -0.44115276, -4.86125968, -1.00386402,
  -1.36267249,  6.6597284 ,-14.80307199, -0.72916804, -1.09319265,
   7.08877909,-17.40372187,  0.31521109, -1.08550419,  0.68994407,
  -3.19945393,  0.73467765, -1.92821605, -0.64570672,  9.42389272,
  -2.18266627, 28.31380319]

qfrc_actuator:
[-6.58962974e-05,-1.32982698e-04,-1.29160090e-04, 2.68730107e-05,
 -8.52785678e-08,-3.86250249e-04,-2.68896594e-04,-5.71395238e-05,
  2.23473877e-05, 1.57135393e-05,-4.17162013e-05, 8.29444917e-07,
  6.39161868e-03,-1.54542813e-03, 0.00000000e+00,-2.68748487e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56789651, -2.27539356,  3.96084116, -2.27539356, 17.59961572,
        7.48636182,  3.96084116,  7.48636182,  8.86860407,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003081740028015728
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.80129248e-13,  9.00646238e-14,  1.00000000e+00, -1.62232729e-26,
        1.00000000e+00, -9.00646238e-14, -1.00000000e+00,  0.00000000e+00,
        1.80129248e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08130536, -0.03177019,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.06981861e-06,-1.65308283e-05,-3.02888739e-05,-1.95424487e-05,
 -5.93313475e-06,-1.07109015e-05, 2.62631846e-06,-2.40383960e-05,
 -4.23198130e-06, 5.66417493e-05, 2.26466604e-05,-2.53304921e-05,
 -7.19895441e-05,-6.69223594e-05,-3.30135915e-05,-2.53523607e-05,
  1.03236812e-07,-7.73830541e-09,-1.21644019e+00,-4.55667376e-04,
  1.14466099e-05,-5.49731346e-04]


--- Step 1329 ---
qpos:
[ 6.23114313e-03,-1.82830844e-03,-4.94460481e-03, 3.35510147e-02,
  4.49171469e-03,-3.72281680e-03,-1.85494382e-02, 2.85861861e-02,
  1.29888184e-02, 3.35938051e-03,-1.00314575e-02, 2.58748295e-02,
  1.28858088e+00, 4.67909225e-05, 1.02028306e+00, 6.38243348e-02,
  9.35489822e-02,-7.01644089e-02, 1.30954177e-01, 4.96742443e-01,
  4.85811573e-01, 5.03061440e-01, 5.13968139e-01]

qacc:
[ -2.75907307,  1.06063365, -4.39984528,  7.17855537, -3.69791494,
   0.34366965, -1.34046013,  2.26140052, -0.54959546,  2.0830097 ,
  -9.03898129, 16.77997601,  0.17664103, -0.59592275,-24.47962187,
  83.11542348,  0.71964608, -1.9084067 , -0.75308507,  9.39459893,
  -2.06853858, 27.97840243]

qfrc_actuator:
[-8.20550531e-05,-1.29539563e-04,-1.41124197e-04, 3.44880728e-05,
 -2.16430962e-05,-3.75778218e-04,-2.68721884e-04,-5.36676082e-05,
  1.93109810e-05,-2.07332040e-05,-7.81685805e-05, 1.82836795e-05,
  6.36502318e-03,-1.54963507e-03, 0.00000000e+00,-2.28425472e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56062664, -2.46188025,  3.83907033, -2.46188025, 23.88481012,
       12.39201722,  3.83907033, 12.39201722, 12.50725429,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030603808331908233
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81386416e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.81386416e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08130379, -0.0317693 ,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61017245e-05,-1.28693131e-05,-1.97696980e-05, 5.48108769e-06,
 -2.17301449e-05, 4.00582623e-06,-2.54118477e-06, 2.63820721e-06,
 -3.13362447e-06,-1.21577750e-06,-2.28582474e-05, 2.01688775e-05,
 -8.39015864e-05,-3.58863192e-05,-2.10947185e-05, 3.96876791e-04,
  2.09221471e-07, 4.63967799e-07,-1.21644123e+00,-4.56143629e-04,
  1.17043367e-05,-5.49896054e-04]


--- Step 1330 ---
qpos:
[ 6.22998230e-03,-1.82856509e-03,-4.94582463e-03, 3.35509758e-02,
  4.49103906e-03,-3.72315881e-03,-1.85491464e-02, 2.85863188e-02,
  1.29890536e-02, 3.35975044e-03,-1.00302162e-02, 2.58750063e-02,
  1.28878632e+00, 4.68480100e-05, 1.02050797e+00, 6.38239115e-02,
  9.35524009e-02,-7.01798702e-02, 1.30949929e-01, 4.96668208e-01,
  4.85874040e-01, 5.03022352e-01, 5.14019087e-01]

qacc:
[  1.42138128, -0.76507948,  4.09788675, -9.40288744, -2.22378349,
   0.7073074 , -5.64206676, 17.769767  , -0.31137372, -2.52810031,
   9.00593713,-12.45294231, -0.6882368 ,  0.93793616,  5.77385284,
 -18.81735638,  0.06456424,  1.10040465,  0.89504787,  1.88648329,
   0.36069665,-16.0057861 ]

qfrc_actuator:
[-7.32810669e-05,-1.09570637e-04,-1.29849641e-04, 2.11222173e-05,
 -3.41562672e-05,-3.69398988e-04,-2.50837729e-04,-1.58726735e-05,
  1.74162845e-05,-4.29286186e-05,-4.67828402e-05, 1.06229323e-05,
  6.34700558e-03,-1.53427563e-03, 0.00000000e+00,-2.38461291e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003047485732227406
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.55384833e-14, -3.64307866e-13,  1.00000000e+00,  1.65900277e-26,
        1.00000000e+00,  3.64307866e-13, -1.00000000e+00,  0.00000000e+00,
        4.55384833e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09214609, -0.08831584,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.31455241e-06, 8.94835453e-06, 6.39136157e-06,-1.44906806e-05,
 -1.31325188e-05, 8.21197136e-06, 1.84952887e-05, 3.79328736e-05,
 -1.98109144e-06,-2.67668407e-05, 2.90010243e-05,-8.11478842e-06,
 -7.37766113e-05,-1.25666720e-05, 3.25482994e-05,-8.13756739e-05,
  9.36596608e-08, 1.35983885e-06,-1.21644340e+00,-4.56486782e-04,
  1.25949897e-05,-5.50258861e-04]


--- Step 1331 ---
qpos:
[ 6.22962537e-03,-1.82860895e-03,-4.94724768e-03, 3.35504323e-02,
  4.49021859e-03,-3.72364957e-03,-1.85486042e-02, 2.85876092e-02,
  1.29896092e-02, 3.35960270e-03,-1.00278699e-02, 2.58740421e-02,
  1.28899119e+00, 4.73016865e-05, 1.02073339e+00, 6.38193284e-02,
  9.35560841e-02,-7.01910187e-02, 1.30948398e-01, 4.96607932e-01,
  4.85922175e-01, 5.03000711e-01, 5.14052999e-01]

qacc:
[  7.05820345, -0.20346269,  3.23979592,-11.77834122, -1.25646269,
   1.48725945,-10.47304102, 30.21363255,  2.86364408, -6.12649355,
  25.65923953,-46.77946133, -1.01013447,  1.6047291 , 13.39101864,
 -45.56810221,  0.06614497,  1.07818928,  0.6795136 ,  1.81861413,
   0.36672301,-15.66142358]

qfrc_actuator:
[-3.21439772e-05,-9.75255296e-05,-1.40400699e-04,-4.45662007e-06,
 -4.12408214e-05,-3.83165421e-04,-2.40382466e-04, 4.18220552e-05,
  3.39610077e-05,-7.39371820e-05, 6.68249144e-06,-4.72083699e-05,
  6.32883063e-03,-1.50742305e-03, 0.00000000e+00,-2.60346753e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58471927, -2.6929637 ,  3.7104713 , -2.6929637 , 10.44575475,
        4.25378733,  3.7104713 ,  4.25378733,  7.67200763,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031303754726587363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.86653242e-14, -1.77330648e-13,  1.00000000e+00,  1.57230794e-26,
        1.00000000e+00,  1.77330648e-13, -1.00000000e+00,  0.00000000e+00,
        8.86653242e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09214661, -0.08831357,  0.06199105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.13790386e-05, 1.77786059e-05,-8.39861378e-06,-2.52530163e-05,
 -7.45915553e-06,-3.72432285e-06, 1.57431058e-05, 5.94252131e-05,
  1.64807428e-05,-4.03621931e-05, 5.12087013e-05,-5.81367004e-05,
 -6.31096568e-05, 6.83193413e-06,-1.29673916e-06,-2.20858817e-04,
  4.32587844e-08, 8.94266801e-07,-1.21644211e+00,-4.56303227e-04,
  1.26238230e-05,-5.50601690e-04]


--- Step 1332 ---
qpos:
[ 6.23010948e-03,-1.82867030e-03,-4.94872600e-03, 3.35499515e-02,
  4.48931926e-03,-3.72391185e-03,-1.85485799e-02, 2.85888952e-02,
  1.29903591e-02, 3.35887499e-03,-1.00254140e-02, 2.58735063e-02,
  1.28919542e+00, 4.86001692e-05, 1.02095792e+00, 6.38191961e-02,
  9.35600369e-02,-7.01979288e-02, 1.30948861e-01, 4.96561373e-01,
  4.85956212e-01, 5.02996191e-01, 5.14070224e-01]

qacc:
[  7.39369727,  0.24607533, -1.20061214,  2.41398066, -0.71034755,
   1.74078576, -5.74841032,  6.33007131,  1.7225539 , -0.19459922,
  -2.23264751,  9.9035696 , -0.85623724,  1.65209457,-14.67950052,
  49.61397947,  0.06738216,  1.05959046,  0.49812362,  1.76426969,
   0.37047991,-15.37454788]

qfrc_actuator:
[ 9.95134069e-06,-1.08161224e-04,-1.46040181e-04,-1.53111666e-06,
 -4.50764673e-05,-3.73387094e-04,-2.69981641e-04, 3.97228942e-05,
  4.34732502e-05,-1.27677884e-04, 1.65489789e-06,-2.75790389e-05,
  6.31058092e-03,-1.45622567e-03, 0.00000000e+00,-2.35764583e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031745298697970215
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74864164e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.74864164e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09214699, -0.08831236,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.32811448e-05,-3.47572829e-06,-3.85814145e-06, 2.90809536e-06,
 -4.05313242e-06, 1.35001425e-05,-2.63761793e-05,-5.60219797e-07,
  9.96847514e-06,-6.82374672e-05,-9.09271286e-06, 1.85367431e-05,
 -5.32511086e-05, 3.84678510e-05,-3.12990392e-05, 2.31953920e-04,
  2.92826046e-09, 5.38952923e-07,-1.21644116e+00,-4.56138013e-04,
  1.25583079e-05,-5.50847629e-04]


--- Step 1333 ---
qpos:
[ 6.23074986e-03,-1.82888458e-03,-4.94993681e-03, 3.35498499e-02,
  4.48872597e-03,-3.72425836e-03,-1.85485168e-02, 2.85901482e-02,
  1.29912174e-02, 3.35763510e-03,-1.00233346e-02, 2.58739263e-02,
  1.28939914e+00, 5.05140345e-05, 1.02118263e+00, 6.38185876e-02,
  9.35642632e-02,-7.02006625e-02, 1.30950706e-01, 4.96528328e-01,
  4.85976346e-01, 5.03008520e-01, 5.14071045e-01]

qacc:
[  1.38534673, -0.17175014, -1.28657202,  7.53979194,  2.68105301,
  -0.29282544,  1.01277274, -1.57364877,  0.95098016,  2.34104343,
 -13.36839401, 30.89338162, -0.91168516,  1.62702937,  1.77448922,
  -5.65210315,  0.0683664 ,  1.04410882,  0.34576921,  1.72100583,
   0.37250883,-15.13655991]

qfrc_actuator:
[ 1.67576366e-05,-1.14507600e-04,-1.31046743e-04, 1.81315040e-05,
 -2.92181733e-05,-3.85304913e-04,-2.69687457e-04, 3.79515699e-05,
  4.87641293e-05,-1.59283241e-04,-2.01624413e-05, 1.96611731e-05,
  6.28698779e-03,-1.42653351e-03, 0.00000000e+00,-2.39029680e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003187437684076394
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.35390090e-14,  8.70780180e-14,  1.00000000e+00, -3.79129061e-27,
        1.00000000e+00, -8.70780180e-14, -1.00000000e+00,  0.00000000e+00,
        4.35390090e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09214726, -0.088312  ,  0.06199089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.03752778e-06,-8.92821519e-06, 1.39177417e-05, 1.94394029e-05,
  1.57483121e-05,-9.83570499e-06,-1.85713931e-07,-2.11850169e-06,
  5.54996714e-06,-7.08432907e-05,-3.64099155e-05, 4.43591480e-05,
 -4.49362199e-05, 2.61808641e-05, 9.08525863e-06,-2.42626901e-05,
 -2.87949577e-08, 2.87172148e-07,-1.21644055e+00,-4.55988178e-04,
  1.24038465e-05,-5.50998239e-04]


--- Step 1334 ---
qpos:
[ 6.23112213e-03,-1.82902135e-03,-4.95102362e-03, 3.35496195e-02,
  4.48901713e-03,-3.72467564e-03,-1.85484108e-02, 2.85906777e-02,
  1.29917871e-02, 3.35636196e-03,-1.00219923e-02, 2.58741818e-02,
  1.28960260e+00, 5.20383916e-05, 1.02140738e+00, 6.38172679e-02,
  9.35687661e-02,-7.01992709e-02, 1.30953424e-01, 4.96508627e-01,
  4.85982741e-01, 5.03037475e-01, 5.14055694e-01]

qacc:
[ -2.35485788, -0.50499094,  2.501157  , -4.99531722,  7.74284609,
  -1.71629867,  9.01385736,-21.52549389, -2.56177774,  1.68227374,
  -5.35845679,  3.70342574,  0.07052656, -0.47613336,  2.20184498,
  -7.63561125,  0.06916711,  1.03131395,  0.21809853,  1.68684864,
   0.37322489,-14.94025755]

qfrc_actuator:
[ 2.73887010e-06,-1.00385328e-04,-1.21726862e-04, 1.19895115e-05,
  1.58557629e-05,-3.92266456e-04,-2.69559500e-04, 9.02072946e-07,
  3.37777247e-05,-1.41937923e-04,-5.16113232e-05, 1.17585332e-05,
  6.25487417e-03,-1.46311089e-03, 0.00000000e+00,-2.42711085e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031753815562546306
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.74086314e-14,  8.74086314e-14,  1.00000000e+00, -7.64026885e-27,
        1.00000000e+00, -8.74086314e-14, -1.00000000e+00,  0.00000000e+00,
        8.74086314e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09214744, -0.08831232,  0.06199092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.37927880e-05, 1.28603872e-05, 9.87831266e-06,-5.66174378e-06,
  4.55204629e-05,-1.25762451e-05,-1.99992952e-06,-3.75214924e-05,
 -1.48555504e-05,-2.78663150e-05,-4.90424053e-05,-1.13379776e-05,
 -5.16920566e-05,-4.09170583e-05,-4.11629257e-06,-3.82799834e-05,
 -5.29906194e-08, 1.33584489e-07,-1.21644025e+00,-4.55851537e-04,
  1.21644355e-05,-5.51054840e-04]


--- Step 1335 ---
qpos:
[ 6.23097862e-03,-1.82909943e-03,-4.95168804e-03, 3.35489534e-02,
  4.48984642e-03,-3.72515536e-03,-1.85482952e-02, 2.85904151e-02,
  1.29921725e-02, 3.35511505e-03,-1.00205663e-02, 2.58739298e-02,
  1.28980567e+00, 5.34476807e-05, 1.02163216e+00, 6.38148366e-02,
  9.35735484e-02,-7.01937961e-02, 1.30956588e-01, 4.96502132e-01,
  4.85975531e-01, 5.03082871e-01, 5.14024358e-01]

qacc:
[ -4.52322817, -1.99123948,  9.06609945,-17.33835207,  4.71053977,
  -1.74717434,  9.43892352,-23.0980283 , -1.61925999, -1.24038319,
   6.62082505,-15.56131021, -0.27859861,  0.19312439,  3.40521268,
 -11.82746392,  0.06983717,  1.0208344 ,  0.11139375,  1.66019964,
   0.3729449 ,-14.77958417]

qfrc_actuator:
[-2.34130731e-05,-9.19037658e-05,-9.80219857e-05,-9.27879991e-06,
  4.22529847e-05,-3.96234008e-04,-2.69550851e-04,-3.88578558e-05,
  2.47311149e-05,-1.13248904e-04,-3.50700724e-05,-1.07391474e-05,
  6.23362062e-03,-1.46768072e-03, 0.00000000e+00,-2.48374994e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031436179313662493
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.82918224e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.82918224e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09214755, -0.08831317,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.65381985e-05, 1.74832700e-05, 2.73971495e-05,-2.04818893e-05,
  2.76948052e-05,-1.29926127e-05,-4.13302269e-06,-4.11007018e-05,
 -9.47853966e-06, 2.51623369e-06, 4.35194631e-06,-2.56094426e-05,
 -6.05935473e-05,-2.57479076e-05,-1.07761483e-05,-6.03720426e-05,
 -7.04514786e-08, 7.39553285e-08,-1.21644025e+00,-4.55726490e-04,
  1.18429902e-05,-5.51018537e-04]


--- Step 1336 ---
qpos:
[ 6.23121272e-03,-1.82923638e-03,-4.95199279e-03, 3.35480572e-02,
  4.49064131e-03,-3.72585693e-03,-1.85481212e-02, 2.85896954e-02,
  1.29927914e-02, 3.35376219e-03,-1.00186708e-02, 2.58737448e-02,
  1.29000834e+00, 5.47812577e-05, 1.02185738e+00, 6.38073728e-02,
  9.35786123e-02,-7.01842718e-02, 1.30959841e-01, 4.96508726e-01,
  4.85954825e-01, 5.03144558e-01, 5.13977185e-01]

qacc:
[ 3.33247823e+00,-1.56362492e+00, 6.42223516e+00,-1.09236999e+01,
 -2.95803464e-01,-1.39553767e+00, 6.48212854e+00,-1.43245241e+01,
  2.07068213e+00,-1.31866288e+00, 4.20929906e+00,-3.71708953e+00,
 -5.60991630e-01, 6.49739593e-01, 1.58813411e+01,-5.45255798e+01,
  7.04166743e-02, 1.01234948e+00, 2.24728245e-02, 1.63976122e+00,
  3.71909436e-01,-1.46494307e+01]

qfrc_actuator:
[-3.23209643e-06,-1.04571437e-04,-8.37867176e-05,-2.15119814e-05,
  3.96840937e-05,-4.16137823e-04,-2.69597716e-04,-6.21335892e-05,
  3.70121196e-05,-1.13305091e-04,-8.01325816e-06,-6.07991375e-06,
  6.21357948e-03,-1.47091730e-03, 0.00000000e+00,-2.74687807e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003096530643286882
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34451644e-13,  1.79268858e-13,  1.00000000e+00, -2.41029926e-26,
        1.00000000e+00, -1.79268858e-13, -1.00000000e+00,  0.00000000e+00,
        1.34451644e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0921476 , -0.08831443,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.94333240e-05, 1.89399339e-06, 2.05237984e-05,-1.09304308e-05,
 -1.78042190e-06,-2.97579823e-05,-4.65803027e-06,-2.47751802e-05,
  1.20109493e-05, 1.17933314e-06, 2.72257442e-05, 4.41987841e-06,
 -6.10053958e-05,-2.29713120e-05,-1.62493853e-05,-2.68925402e-04,
 -8.17546247e-08, 1.04932641e-07,-1.21644053e+00,-4.55611882e-04,
  1.14415888e-05,-5.50890248e-04]


--- Step 1337 ---
qpos:
[ 6.23237670e-03,-1.82953557e-03,-4.95233962e-03, 3.35474085e-02,
  4.49139935e-03,-3.72660779e-03,-1.85480080e-02, 2.85883431e-02,
  1.29935527e-02, 3.35222374e-03,-1.00169511e-02, 2.58736721e-02,
  1.29021071e+00, 5.55407591e-05, 1.02208217e+00, 6.37994791e-02,
  9.35839600e-02,-7.01707252e-02, 1.30962889e-01, 4.96528317e-01,
  4.85920709e-01, 5.03222415e-01, 5.13914288e-01]

qacc:
[  8.17796735,  0.3968904 , -2.7987486 ,  7.29878701, -0.32384894,
  -1.19514335,  6.83959406,-17.65529607,  1.25091148,  0.47502148,
  -2.5286119 ,  4.89688514,  0.22652725, -0.85731135,  0.62807243,
  -3.19690875,  0.07093579,  1.00558251, -0.05139027,  1.62447764,
   0.37030016,-14.54547772]

qfrc_actuator:
[ 4.40615485e-05,-1.29834577e-04,-9.30920932e-05,-1.06026675e-05,
  3.78454510e-05,-4.09913734e-04,-2.69730484e-04,-9.32895030e-05,
  4.39931171e-05,-1.48239350e-04,-2.83243437e-05,-3.25043716e-06,
  6.18895490e-03,-1.50885251e-03, 0.00000000e+00,-2.75672889e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030377622621577394
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.28421229e-13,  1.82736983e-13,  1.00000000e+00, -4.17410064e-26,
        1.00000000e+00, -1.82736983e-13, -1.00000000e+00,  0.00000000e+00,
        2.28421229e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09214761, -0.08831602,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.78474003e-05,-2.04163304e-05,-6.75836933e-06, 1.14899803e-05,
 -1.89866726e-06,-1.24159134e-05,-7.70252073e-06,-3.30716718e-05,
  7.31897773e-06,-2.84281319e-05,-1.65668841e-05, 3.90689640e-06,
 -6.56789608e-05,-5.68692168e-05,-4.27536046e-05,-2.81424182e-05,
 -8.73145376e-08, 2.23868359e-07,-1.21644110e+00,-4.55506893e-04,
  1.09616584e-05,-5.50670722e-04]


--- Step 1338 ---
qpos:
[ 6.23340879e-03,-1.83011149e-03,-4.95244315e-03, 3.35468910e-02,
  4.49212935e-03,-3.72739485e-03,-1.85474157e-02, 2.85872789e-02,
  1.29940471e-02, 3.35020885e-03,-1.00150322e-02, 2.58733011e-02,
  1.29041270e+00, 5.58623738e-05, 1.02230665e+00, 6.37917902e-02,
  9.35895933e-02,-7.01531774e-02, 1.30965486e-01, 4.96560828e-01,
  4.85873253e-01, 5.03316346e-01, 5.13835753e-01]

qacc:
[ -1.14722706, -0.77352452,  1.67718522,  0.40444368, -0.22962911,
  -0.79327248,  1.54346757,  2.70249704, -2.335066  , -1.79599657,
   6.75782749,-11.89812975,  0.07133601, -0.56449516, -1.0884788 ,
   3.10986286,  0.07141709,  1.00029502, -0.11253152,  1.61348817,
   0.36825335,-14.46406799]

qfrc_actuator:
[ 3.59089473e-05,-1.44775435e-04,-8.07587009e-05,-3.94612711e-06,
  3.64611482e-05,-3.88096739e-04,-2.34313597e-04,-7.55573186e-05,
  3.00391163e-05,-1.86225815e-04,-2.33407789e-05,-1.93437986e-05,
  6.16691026e-03,-1.53157299e-03, 0.00000000e+00,-2.74147139e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029703265363506537
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.67214215e-14, -3.73771372e-13,  1.00000000e+00,  1.74631298e-26,
        1.00000000e+00,  3.73771372e-13, -1.00000000e+00,  0.00000000e+00,
        4.67214215e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09214758, -0.08831784,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.79806338e-06,-2.72321568e-05, 7.68712910e-06, 5.77213313e-06,
 -1.44118474e-06, 1.18941125e-05, 3.07698028e-05, 1.62944880e-05,
 -1.37586104e-05,-5.70975905e-05,-2.79550749e-06,-1.78092262e-05,
 -7.34933810e-05,-5.06140814e-05,-2.53585589e-05, 7.62295358e-06,
 -8.74226987e-08, 4.28674360e-07,-1.21644193e+00,-4.55410967e-04,
  1.04041157e-05,-5.50360563e-04]


--- Step 1339 ---
qpos:
[ 6.23433536e-03,-1.83065569e-03,-4.95224415e-03, 3.35464131e-02,
  4.49249216e-03,-3.72820841e-03,-1.85463758e-02, 2.85860902e-02,
  1.29943702e-02, 3.34784745e-03,-1.00128268e-02, 2.58727174e-02,
  1.29061423e+00, 5.58886287e-05, 1.02253075e+00, 6.37859713e-02,
  9.35955897e-02,-7.01319264e-02, 1.30967646e-01, 4.96604931e-01,
  4.85813769e-01, 5.03425477e-01, 5.13742458e-01]

qacc:
[-9.18816427e-01,-7.20469856e-01, 2.46557829e+00,-2.29066638e+00,
 -3.19929156e+00,-1.53467485e+00, 5.95812395e+00,-8.82008010e+00,
 -1.49185769e+00,-1.69366333e+00, 6.27728305e+00,-1.01659003e+01,
  1.53760118e-02,-4.01501648e-01,-6.21950933e+00, 2.09154733e+01,
  9.07582368e-02, 9.25781099e-01,-1.09492736e-01, 1.81750805e+00,
  3.61078130e-01,-1.33629457e+01]

qfrc_actuator:
[ 3.06836878e-05,-1.17838278e-04,-5.57106106e-05, 1.76064301e-07,
  1.76027609e-05,-3.92422623e-04,-2.13587898e-04,-8.24177833e-05,
  2.16291670e-05,-1.90173228e-04,-3.48506672e-06,-2.86723671e-05,
  6.14643320e-03,-1.54507120e-03, 0.00000000e+00,-2.64060100e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002896575546900172
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.07558339e-07, -6.07558421e-07,  1.00000000e+00, -3.69127185e-13,
        1.00000000e+00,  6.07558421e-07, -1.00000000e+00, -5.04870979e-29,
       -6.07558339e-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([ 0.09187459, -0.08689835,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.42657616e-06, 1.35615390e-05, 2.05777050e-05, 3.33632188e-06,
 -1.88973255e-05, 9.40269460e-06, 2.75412928e-05,-4.96606815e-06,
 -8.82439686e-06,-3.71692442e-05, 7.10391548e-06,-1.22170602e-05,
 -7.46192585e-05,-4.19375623e-05,-1.42381643e-05, 9.72725769e-05,
 -8.22772635e-08, 7.17705894e-07,-1.21644304e+00,-4.55323747e-04,
  9.76947623e-06,-5.49960245e-04]


--- Step 1340 ---
qpos:
[ 6.23484700e-03,-1.83103678e-03,-4.95181041e-03, 3.35459753e-02,
  4.49228143e-03,-3.72932780e-03,-1.85449262e-02, 2.85848676e-02,
  1.29949346e-02, 3.34543835e-03,-1.00110887e-02, 2.58720400e-02,
  1.29081518e+00, 5.62429225e-05, 1.02275443e+00, 6.37837143e-02,
  9.36046528e-02,-7.01186910e-02, 1.30968646e-01, 4.96611456e-01,
  4.85795947e-01, 5.03513943e-01, 5.13666301e-01]

qacc:
[ -3.64372215, -0.35076513,  1.40616414, -1.21962016, -5.00142513,
  -1.60806228,  5.30687796, -6.3385311 ,  2.1093669 ,  1.04617701,
  -3.43326884,  2.60173763, -0.48109018,  0.73776337,-11.32748724,
  38.82669773,  0.7666762 , -2.00387114, -0.28993572,  9.85087199,
  -2.21107101, 29.414707  ]

qfrc_actuator:
[ 9.48858585e-06,-1.01477337e-04,-4.09428718e-05, 2.81681086e-06,
 -1.13897063e-05,-4.30182099e-04,-2.01836957e-04,-8.59838482e-05,
  3.43093154e-05,-1.91389222e-04,-2.81310382e-05,-3.39084430e-05,
  6.13224169e-03,-1.51749814e-03, 0.00000000e+00,-2.45460481e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029771080673300643
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.32299903e-14,  1.39844985e-13,  1.00000000e+00, -1.30377466e-26,
        1.00000000e+00, -1.39844985e-13, -1.00000000e+00,  0.00000000e+00,
        9.32299903e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08128795, -0.03176788,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.13440213e-05, 2.83518679e-05, 2.02233416e-05, 4.00066758e-06,
 -2.95299096e-05,-2.70121786e-05, 1.69146310e-05,-2.30385201e-06,
  1.24113588e-05,-2.09984254e-05,-3.18676783e-05,-6.81881879e-06,
 -6.66133625e-05, 6.91793893e-07, 6.52110056e-07, 1.88777077e-04,
 -7.15281994e-08, 1.05726085e-06,-1.21644433e+00,-4.55259945e-04,
  9.06961547e-06,-5.49474010e-04]


--- Step 1341 ---
qpos:
[ 6.23475568e-03,-1.83125650e-03,-4.95122940e-03, 3.35462694e-02,
  4.49206952e-03,-3.73061219e-03,-1.85433749e-02, 2.85839611e-02,
  1.29956462e-02, 3.34320000e-03,-1.00100718e-02, 2.58712948e-02,
  1.29101572e+00, 5.68313709e-05, 1.02297883e+00, 6.37773216e-02,
  9.36167074e-02,-7.01133382e-02, 1.30967832e-01, 4.96580898e-01,
  4.85819034e-01, 5.03582316e-01, 5.13606978e-01]

qacc:
[-5.29953691e+00, 1.31883011e+00,-7.46412964e+00, 1.97547459e+01,
 -4.25154845e-03, 1.47804544e-01,-2.17782445e+00, 7.60552864e+00,
  1.26988458e+00, 2.09893179e+00,-6.87397023e+00, 6.73024795e+00,
 -7.73311193e-01, 1.18555590e+00, 1.36041032e+01,-4.59148384e+01,
  7.47888461e-01,-1.97066556e+00,-4.53407365e-01, 9.76645251e+00,
 -2.07103298e+00, 2.88843502e+01]

qfrc_actuator:
[-2.09368130e-05,-9.16062094e-05,-3.23965637e-05, 4.00575451e-05,
 -1.06041495e-05,-4.34453895e-04,-1.95612120e-04,-6.98615969e-05,
  4.15468690e-05,-1.73373920e-04,-6.10860684e-05,-3.67229531e-05,
  6.12185012e-03,-1.50129285e-03, 0.00000000e+00,-2.68154145e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54840223,  2.48743573, -3.80796879,  2.48743573, 14.80469615,
        6.6996011 , -3.80796879,  6.6996011 ,  8.92470572,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030239827634774563
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.37677251e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.37677251e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08128753, -0.03177067,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.10225133e-05, 3.00752058e-05, 1.70327367e-05, 3.92348758e-05,
 -6.80051339e-08,-1.59657890e-05, 2.64932273e-06, 1.55082954e-05,
  7.57841826e-06,-5.27499721e-07,-4.14442374e-05,-4.94714217e-06,
 -4.78889839e-05, 7.76445695e-07, 1.71770614e-05,-2.17260356e-04,
 -4.32069917e-08, 3.06492136e-07,-1.21644233e+00,-4.56141695e-04,
  9.19612474e-06,-5.49159923e-04]


--- Step 1342 ---
qpos:
[ 6.23499001e-03,-1.83115440e-03,-4.95060020e-03, 3.35469934e-02,
  4.49186827e-03,-3.73187328e-03,-1.85420540e-02, 2.85822177e-02,
  1.29964387e-02, 3.34160330e-03,-1.00100600e-02, 2.58711708e-02,
  1.29121608e+00, 5.70399150e-05, 1.02320317e+00, 6.37692987e-02,
  9.36249293e-02,-7.01156480e-02, 1.30965576e-01, 4.96537818e-01,
  4.85851990e-01, 5.03608722e-01, 5.13591563e-01]

qacc:
[  2.85977027,  1.17032118, -5.38008011, 12.51628146,  0.08527707,
  -1.04668508,  7.31077124,-21.4434218 ,  0.66899807,  4.934496  ,
 -18.98890844, 30.87647946,  0.07581512, -0.44613624,  4.81540898,
 -17.0126562 , -0.95818766, -1.91563722, -0.36067593,-16.34078319,
   0.86383288, 26.79664996]

qfrc_actuator:
[-3.28847462e-06,-6.79398298e-05,-2.75895464e-05, 6.18452581e-05,
 -1.00473315e-05,-4.36404225e-04,-2.10311392e-04,-1.13273118e-04,
  4.55164116e-05,-1.08513957e-04,-9.85857757e-05,-2.56757849e-06,
  6.10841812e-03,-1.52745081e-03, 0.00000000e+00,-2.75940698e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030519976273939153
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81884647e-13, -4.54711618e-14,  1.00000000e+00,  8.27050624e-27,
        1.00000000e+00,  4.54711618e-14, -1.00000000e+00,  0.00000000e+00,
        1.81884647e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10892485, -0.03365658,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67744951e-05, 4.56742598e-05, 1.44713017e-05, 2.44292580e-05,
  5.48551012e-07,-9.63602983e-06,-1.71351911e-05,-4.37008176e-05,
  4.18034681e-06, 5.58678444e-05,-4.28682407e-05, 3.26066874e-05,
 -4.09489533e-05,-3.68224084e-05,-2.31258824e-05,-8.93282837e-05,
 -2.55742761e-07, 2.96040934e-08,-1.21644160e+00,-4.56860761e-04,
  9.98928600e-06,-5.49044436e-04]


--- Step 1343 ---
qpos:
[ 6.23577890e-03,-1.83095173e-03,-4.95004460e-03, 3.35473195e-02,
  4.49202010e-03,-3.73301001e-03,-1.85410128e-02, 2.85803037e-02,
  1.29969278e-02, 3.34029050e-03,-1.00104310e-02, 2.58714592e-02,
  1.29141615e+00, 5.72141419e-05, 1.02342669e+00, 6.37657230e-02,
  9.36293651e-02,-7.01254960e-02, 1.30961272e-01, 4.96482288e-01,
  4.85894662e-01, 5.03593948e-01, 5.13619364e-01]

qacc:
[  4.87176616, -0.49015439,  3.60376264,-10.42833958,  3.07899786,
   0.58868955, -1.15057688, -1.43558245, -2.68639763,  2.299291  ,
  -9.38587306, 16.91572171,  0.09458248, -0.28327266,-14.64586316,
  49.45512142, -0.94651126, -1.88455478, -0.51187635,-16.02011263,
   0.91491827, 26.3759075 ]

qfrc_actuator:
[ 2.47640266e-05,-8.94791956e-05,-4.27385652e-05, 3.88650653e-05,
  8.11348352e-06,-4.19331325e-04,-2.19521048e-04,-1.20367899e-04,
  2.97800184e-05,-1.04849552e-04,-1.20487238e-04, 1.76025085e-05,
  6.09848086e-03,-1.52524843e-03, 0.00000000e+00,-2.51789693e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56766888, -0.89924872,  4.47827542, -0.89924872, 37.47500199,
        6.60787344,  4.47827542,  6.60787344,  5.89454612,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030810744138827506
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.80168161e-13,  1.80168161e-13,  1.00000000e+00, -3.24605664e-26,
        1.00000000e+00, -1.80168161e-13, -1.00000000e+00,  0.00000000e+00,
        1.80168161e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10892346, -0.03365786,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.85426807e-05, 8.03055593e-06,-3.09781305e-06,-2.00508284e-05,
  1.81756337e-05, 6.30676307e-06,-1.48196764e-05,-8.94737519e-06,
 -1.56028257e-05, 2.75102803e-05,-1.44937020e-05, 2.17193538e-05,
 -4.25216716e-05,-1.53445820e-05,-2.43270648e-05, 2.32706449e-04,
 -1.99542299e-07, 1.68416750e-07,-1.21644063e+00,-4.57331283e-04,
  1.11400354e-05,-5.49106482e-04]


--- Step 1344 ---
qpos:
[ 6.23655317e-03,-1.83086347e-03,-4.94927895e-03, 3.35473765e-02,
  4.49273344e-03,-3.73413528e-03,-1.85403917e-02, 2.85790343e-02,
  1.29968798e-02, 3.33878477e-03,-1.00105362e-02, 2.58713132e-02,
  1.29161603e+00, 5.71019691e-05, 1.02364992e+00, 6.37656748e-02,
  9.36300544e-02,-7.01427792e-02, 1.30954411e-01, 4.96414367e-01,
  4.85946917e-01, 5.03538636e-01, 5.13689802e-01]

qacc:
[ -0.12005661, -1.29200548,  5.52284765,-10.42885429,  4.9014489 ,
   2.50415954,-11.64597952, 23.48239474, -4.7149921 , -1.88310379,
   8.19418051,-16.01150197,  0.30574176, -0.73424804,-11.09759236,
  38.1469225 , -0.93665634, -1.85881596, -0.63919001,-15.7571257 ,
   0.95391846, 26.02867059]

qfrc_actuator:
[ 2.31946130e-05,-1.02544233e-04,-3.42534217e-05, 2.51852785e-05,
  3.64900364e-05,-4.26460141e-04,-2.43048100e-04,-8.82515370e-05,
  2.57194102e-06,-1.37801392e-04,-1.15497334e-04,-6.16347556e-06,
  6.09065815e-03,-1.54172873e-03, 0.00000000e+00,-2.33872371e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56796672, -1.17800801,  4.41345864, -1.17800801, 35.79897428,
        8.33595147,  4.41345864,  8.33595147,  6.79293775,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003081945294474836
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.8011725e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.8011725e-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([ 0.10892287, -0.03365772,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.55373429e-07,-1.00804939e-05, 9.05713002e-06,-1.38368543e-05,
  2.88989291e-05,-7.00685146e-06,-2.43548099e-05, 3.17034756e-05,
 -2.76465531e-05,-1.95836954e-05, 9.65899159e-06,-2.26619926e-05,
 -3.55793548e-05,-2.98208979e-05, 1.24982548e-05, 1.88519111e-04,
 -6.19109789e-09, 4.37102712e-07,-1.21644090e+00,-4.57882707e-04,
  1.14283717e-05,-5.49412686e-04]


--- Step 1345 ---
qpos:
[ 6.23730254e-03,-1.83050761e-03,-4.94832196e-03, 3.35475662e-02,
  4.49309146e-03,-3.73490322e-03,-1.85404885e-02, 2.85777904e-02,
  1.29968507e-02, 3.33721149e-03,-1.00105856e-02, 2.58705374e-02,
  1.29181553e+00, 5.73403919e-05, 1.02387324e+00, 6.37671045e-02,
  9.36270299e-02,-7.01674129e-02, 1.30944565e-01, 4.96334100e-01,
  4.86008647e-01, 5.03443299e-01, 5.13802395e-01]

qacc:
[ -0.21751389,  0.09219762, -0.37438807,  2.16461235, -3.13840033,
   2.53550267, -8.45289518,  9.76658716,  0.16928752, -1.54198661,
   8.02755294,-18.96783495, -0.49563122,  0.8489261 , -4.28964281,
  15.29321291, -0.92840903, -1.83759417, -0.7463517 ,-15.54270804,
   0.98315939, 25.74436276]

qfrc_actuator:
[ 2.19520226e-05,-5.70920082e-05,-1.18419951e-05, 3.48685910e-05,
  1.73884520e-05,-3.94788938e-04,-2.74913362e-04,-8.66133579e-05,
  4.34118737e-06,-1.39101808e-04,-1.12620911e-04,-3.78567061e-05,
  6.07877822e-03,-1.51589494e-03, 0.00000000e+00,-2.26882225e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003060355798436831
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.06939501e-14, -1.36040925e-13,  1.00000000e+00,  1.23380889e-26,
        1.00000000e+00,  1.36040925e-13, -1.00000000e+00,  0.00000000e+00,
        9.06939501e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10892291, -0.03365646,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.26845219e-06, 4.10780985e-05, 2.09550537e-05, 9.29326696e-06,
 -1.82788405e-05, 2.41276431e-05,-3.52080550e-05, 1.11496382e-06,
  9.72618733e-07,-1.11814222e-05,-7.43031230e-07,-3.26342416e-05,
 -3.87592283e-05, 1.06325270e-05, 2.25079437e-05, 8.10341696e-05,
  3.21523352e-07, 8.30420982e-07,-1.21644234e+00,-4.58520009e-04,
  1.08990609e-05,-5.49961168e-04]


--- Step 1346 ---
qpos:
[ 6.23803106e-03,-1.82980808e-03,-4.94719452e-03, 3.35485515e-02,
  4.49287274e-03,-3.73490457e-03,-1.85412259e-02, 2.85765172e-02,
  1.29971875e-02, 3.33581739e-03,-1.00104682e-02, 2.58696933e-02,
  1.29201447e+00, 5.84428178e-05, 1.02409671e+00, 6.37687141e-02,
  9.36241510e-02,-7.01874889e-02, 1.30939053e-01, 4.96267924e-01,
  4.86056449e-01, 5.03366178e-01, 5.13896650e-01]

qacc:
[ -0.18324093,  1.61660293, -8.4632649 , 21.7070622 , -5.08074816,
   2.7512953 , -8.19909865,  8.13087201,  3.22119539, -0.37604375,
   1.96167568, -3.52950676, -1.0939338 ,  2.05937847, -0.22593049,
   1.3335183 ,  0.03636   ,  1.13939605,  1.08343161,  2.4156581 ,
   0.09519608,-16.10357799]

qfrc_actuator:
[ 2.09216687e-05,-3.01235861e-05, 1.10725578e-06, 7.60284658e-05,
 -1.17551392e-05,-3.22435542e-04,-2.93563079e-04,-8.51482238e-05,
  2.31556200e-05,-1.03706959e-04,-9.31561221e-05,-3.84317418e-05,
  6.05916397e-03,-1.46519513e-03, 0.00000000e+00,-2.26384529e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003133008398406162
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32886217e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.32886217e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09215246, -0.08831488,  0.06199104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05546142e-06, 5.46390940e-05, 2.43205213e-05, 4.38225810e-05,
 -2.96559503e-05, 7.86464228e-05,-1.79508457e-05, 1.30807329e-06,
  1.88343656e-05, 2.76496606e-05, 1.59550567e-05,-1.70972640e-06,
 -3.89197711e-05, 4.40860926e-05, 1.37788493e-05, 1.10947565e-05,
  7.81696209e-07, 1.34541232e-06,-1.21644491e+00,-4.59246303e-04,
  9.58578346e-06,-5.50750124e-04]


--- Step 1347 ---
qpos:
[ 6.23805157e-03,-1.82874374e-03,-4.94589033e-03, 3.35496735e-02,
  4.49196143e-03,-3.73434635e-03,-1.85421741e-02, 2.85752674e-02,
  1.29974019e-02, 3.33462035e-03,-1.00093346e-02, 2.58691315e-02,
  1.29221313e+00, 5.96389662e-05, 1.02432025e+00, 6.37700484e-02,
  9.36214497e-02,-7.02031272e-02, 1.30936884e-01, 4.96215586e-01,
  4.86090462e-01, 5.03306814e-01, 5.13973157e-01]

qacc:
[ -6.22619939,  0.28164476, -0.86042294,  2.65127165, -6.07757348,
   1.38803874, -3.95465023,  4.26247423, -1.04769236, -1.99634405,
   6.30737664, -3.1939145 , -0.31329424,  0.4322882 ,  0.94729125,
  -3.12469629,  0.04443578,  1.10944217,  0.83590371,  2.2453401 ,
   0.15322084,-15.74520942]

qfrc_actuator:
[-1.54807184e-05,-1.44285438e-05, 8.32356233e-06, 8.21001711e-05,
 -4.65603940e-05,-2.97235553e-04,-3.04073581e-04,-8.37422375e-05,
  1.63374667e-05,-6.42672826e-05,-2.83663687e-05,-2.06455381e-05,
  6.03493715e-03,-1.47123988e-03, 0.00000000e+00,-2.27936349e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.62440847,  0.54525796,  4.59215063,  0.54525796, 11.17464564,
       -0.77775519,  4.59215063, -0.77775519,  4.71675674,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003241005895981003
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.71277539e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.71277539e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09215406, -0.08831243,  0.06199073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.64196982e-05, 5.31078657e-05, 2.29902267e-05, 1.01010641e-05,
 -3.56242926e-05, 6.55283021e-05, 3.58087820e-06, 4.18647968e-06,
 -6.27844950e-06, 5.81826158e-05, 7.24236114e-05, 1.94939140e-05,
 -3.60208952e-05,-4.90023509e-06, 1.87242920e-06,-1.44383355e-05,
  5.97207531e-07, 8.70996967e-07,-1.21644325e+00,-4.58718492e-04,
  1.02427960e-05,-5.51147712e-04]


--- Step 1348 ---
qpos:
[ 6.23798072e-03,-1.82755305e-03,-4.94457352e-03, 3.35495210e-02,
  4.49132982e-03,-3.73365497e-03,-1.85424863e-02, 2.85736949e-02,
  1.29975329e-02, 3.33396408e-03,-1.00080794e-02, 2.58684588e-02,
  1.29241152e+00, 6.08055294e-05, 1.02454379e+00, 6.37708477e-02,
  9.36189512e-02,-7.02144275e-02, 1.30937225e-01, 4.96176868e-01,
  4.86110813e-01, 5.03264824e-01, 5.14032401e-01]

qacc:
[ -0.80576554, -2.49098334, 14.50652033,-36.67779404,  2.46531968,
  -2.26869953,  9.69911726,-16.38771952, -0.73960667,  0.1481211 ,
   0.97944342, -3.49321304, -0.21053604,  0.19898604,  1.64028722,
  -5.69027088,  0.05069105,  1.08450093,  0.62742888,  2.1087482 ,
   0.1986754 ,-15.44417609]

qfrc_actuator:
[-1.91529032e-05,-4.11614029e-05,-5.72701119e-06, 1.42018857e-05,
 -3.11582106e-05,-3.00427222e-04,-2.74368828e-04,-1.00165414e-04,
  1.22342092e-05,-4.02429023e-05,-2.60609336e-05,-2.76711053e-05,
  6.01859073e-03,-1.47540142e-03, 0.00000000e+00,-2.30679560e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.64787715,  0.41691461,  4.62914077,  0.41691461, 15.13071119,
       -0.94411617,  4.62914077, -0.94411617,  4.73290715,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003303900301194207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.10021286e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.10021286e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09215529, -0.0883111 ,  0.06199056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.69544380e-06, 8.07820505e-06, 7.19725331e-08,-6.46367809e-05,
  1.44070854e-05, 3.43518203e-05, 4.38345701e-05,-1.34044069e-05,
 -4.26779697e-06, 7.23857131e-05, 2.39213550e-05,-1.64517340e-06,
 -3.81828894e-05,-1.34849336e-05,-5.60581519e-06,-2.91268656e-05,
  4.35713306e-07, 5.02650908e-07,-1.21644196e+00,-4.58242171e-04,
  1.07680970e-05,-5.51453329e-04]


--- Step 1349 ---
qpos:
[ 6.23752129e-03,-1.82648698e-03,-4.94356018e-03, 3.35482665e-02,
  4.49157779e-03,-3.73362951e-03,-1.85414640e-02, 2.85719930e-02,
  1.29983038e-02, 3.33357539e-03,-1.00072322e-02, 2.58681256e-02,
  1.29260962e+00, 6.19421809e-05, 1.02476727e+00, 6.37712981e-02,
  9.36166749e-02,-7.02214725e-02, 1.30939375e-01, 4.96151587e-01,
  4.86117613e-01, 5.03239890e-01, 5.14074782e-01]

qacc:
[ -3.4248623 , -1.57867204, 10.05291991,-28.55763597,  7.75116594,
  -4.88778063, 16.67215555,-20.52556877,  5.61451429,  2.18152399,
  -8.71739745, 15.06759843, -0.21707022,  0.19799178,  0.96552429,
  -3.49374951,  0.0555311 ,  1.06381428,  0.45217444,  1.99920887,
   0.23429387,-15.19230439]

qfrc_actuator:
[-3.90256978e-05,-7.55058328e-05,-3.24442760e-05,-4.34639651e-05,
  1.36731905e-05,-3.73709193e-04,-2.21297499e-04,-1.09196764e-04,
  4.52751712e-05,-6.13954824e-05,-6.07579594e-05,-1.37982303e-05,
  6.00165501e-03,-1.47834722e-03, 0.00000000e+00,-2.32325357e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.65792433,  0.24224326,  4.65162093,  0.24224326, 22.42025635,
       -0.92501201,  4.65162093, -0.92501201,  4.70609634,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003330289512470802
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.3342831e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        8.3342831e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09215622, -0.08831068,  0.06199048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.00058804e-05,-3.26415291e-05,-2.73048418e-05,-5.85802471e-05,
  4.52537315e-05,-4.56057542e-05, 6.51011154e-05,-6.30126133e-06,
  3.29431559e-05, 2.42062009e-05,-1.68604816e-05, 1.77709715e-05,
 -4.21310827e-05,-1.46885358e-05,-1.03283018e-05,-1.98513498e-05,
  2.92498268e-07, 2.34977766e-07,-1.21644101e+00,-4.57805974e-04,
  1.11759095e-05,-5.51667237e-04]


--- Step 1350 ---
qpos:
[ 6.23648219e-03,-1.82549029e-03,-4.94323282e-03, 3.35470416e-02,
  4.49201658e-03,-3.73431129e-03,-1.85399493e-02, 2.85706066e-02,
  1.29991201e-02, 3.33300446e-03,-1.00063036e-02, 2.58679864e-02,
  1.29280742e+00, 6.30488462e-05, 1.02499135e+00, 6.37658335e-02,
  9.36146356e-02,-7.02243306e-02, 1.30942745e-01, 4.96139587e-01,
  4.86110959e-01, 5.03231747e-01, 5.14100626e-01]

qacc:
[-5.11735007e+00, 1.89668906e+00,-7.00275945e+00, 8.64198638e+00,
  1.69769230e+00,-1.66391415e+00, 3.23852928e+00, 1.96305119e+00,
  4.04398492e-01,-6.94411892e-02,-9.22686981e-01, 4.28715151e+00,
 -5.79932592e-01, 7.46741473e-01, 1.87905882e+01,-6.43440578e+01,
  5.92733302e-02, 1.04674289e+00, 3.05180130e-01, 1.91140821e+00,
  2.62218482e-01,-1.49826851e+01]

qfrc_actuator:
[-6.82850836e-05,-7.87115193e-05,-6.64505238e-05,-4.13952412e-05,
  2.21924578e-05,-4.35041643e-04,-2.08416905e-04,-9.61044700e-05,
  4.66547415e-05,-9.18447447e-05,-6.39176645e-05,-5.54488957e-06,
  5.98437772e-03,-1.48055141e-03, 0.00000000e+00,-2.63489386e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.65681688e+00,  9.88010014e-03,  4.65680640e+00,  9.88010014e-03,
        3.96299152e+01, -7.42005752e-02,  4.65680640e+00, -7.42005752e-02,
        4.65697431e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.00033273960815642656
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.34153041e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.34153041e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09215692, -0.08831099,  0.06199049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.98402304e-05,-2.96627177e-05,-4.61589247e-05,-1.41578194e-06,
  9.79370859e-06,-7.36516040e-05, 1.12515696e-05, 1.32673729e-05,
  2.32344956e-06,-1.96153597e-05, 3.73404377e-07, 9.05164148e-06,
 -4.50293014e-05,-1.51346258e-05,-1.12063570e-05,-3.15060257e-04,
  1.64047456e-07, 6.35539317e-08,-1.21644038e+00,-4.57401429e-04,
  1.14769736e-05,-5.51789826e-04]


--- Step 1351 ---
qpos:
[ 6.23544537e-03,-1.82479867e-03,-4.94329918e-03, 3.35465515e-02,
  4.49255397e-03,-3.73486921e-03,-1.85391744e-02, 2.85697124e-02,
  1.29992570e-02, 3.33214629e-03,-1.00050424e-02, 2.58675985e-02,
  1.29300506e+00, 6.35929967e-05, 1.02521499e+00, 6.37596886e-02,
  9.36128450e-02,-7.02230576e-02, 1.30946845e-01, 4.96140738e-01,
  4.86090934e-01, 5.03240177e-01, 5.14110198e-01]

qacc:
[ 1.32796365e-02, 2.21049784e+00,-1.15683913e+01, 2.51386696e+01,
  8.37963079e-01, 3.23992992e+00,-1.33964910e+01, 2.30074870e+01,
 -5.96339630e+00,-1.80974715e+00, 6.97255120e+00,-1.16203423e+01,
  2.99669665e-01,-9.09325517e-01, 1.36636328e+00,-5.81013888e+00,
  6.21659749e-02, 1.03274596e+00, 1.82211872e-01, 1.84110866e+00,
  2.84126563e-01,-1.48094491e+01]

qfrc_actuator:
[-6.73246437e-05,-9.87446076e-05,-8.65736340e-05,-4.17651623e-06,
  2.70140151e-05,-4.00133533e-04,-2.37095122e-04,-7.01312207e-05,
  1.16235376e-05,-1.09776585e-04,-4.84810686e-05,-1.84062960e-05,
  5.96690693e-03,-1.51780387e-03, 0.00000000e+00,-2.65636964e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003301271619088608
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.20377037e-14, -8.40754074e-14,  1.00000000e+00,  3.53433706e-27,
        1.00000000e+00,  8.40754074e-14, -1.00000000e+00,  0.00000000e+00,
        4.20377037e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09215743, -0.08831187,  0.06199056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00313008e-07,-4.62604904e-05,-3.19950247e-05, 3.43242392e-05,
  5.07461567e-06,-3.37149954e-06,-4.20531535e-05, 2.34652439e-05,
 -3.49733160e-05,-2.84223034e-05, 1.17408427e-05,-1.35133548e-05,
 -4.76162208e-05,-5.06362474e-05,-4.59299073e-05,-4.17869522e-05,
  4.77380740e-08,-1.52233031e-08,-1.21644006e+00,-4.57022203e-04,
  1.16793952e-05,-5.51821526e-04]


--- Step 1352 ---
qpos:
[ 6.23477274e-03,-1.82441989e-03,-4.94363626e-03, 3.35468490e-02,
  4.49279981e-03,-3.73499135e-03,-1.85386685e-02, 2.85687171e-02,
  1.29993178e-02, 3.33114935e-03,-1.00033728e-02, 2.58670349e-02,
  1.29320240e+00, 6.37246258e-05, 1.02543769e+00, 6.37586138e-02,
  9.36113121e-02,-7.02176992e-02, 1.30951263e-01, 4.96154931e-01,
  4.86057608e-01, 5.03265000e-01, 5.14103711e-01]

qacc:
[  3.19968309,  1.95837297,-10.91708513, 25.21786076, -2.56761901,
   1.12436165, -2.73825854,  1.08964669, -0.65434894, -1.68506234,
   6.48581078,-10.07827722,  0.43924132, -1.0673519 ,-16.73560642,
  56.43295   ,  0.06440286,  1.02136512,  0.07964648,  1.78492634,
   0.30133045,-14.66759343]

qfrc_actuator:
[-4.85823837e-05,-1.10858074e-04,-9.83847230e-05, 3.56624112e-05,
  1.18802004e-05,-3.43534545e-04,-2.36415526e-04,-7.22375097e-05,
  8.71033859e-06,-1.02267440e-04,-2.21705362e-05,-2.58186788e-05,
  5.94931827e-03,-1.54003549e-03, 0.00000000e+00,-2.38234677e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003256971177653528
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27828467e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.27828467e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0921578 , -0.08831321,  0.06199069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.87268040e-05,-4.31407469e-05,-2.41251146e-05, 3.74175342e-05,
 -1.49893095e-05, 4.70480331e-05,-4.38582380e-06,-3.24788815e-06,
 -3.91812805e-06,-6.53322717e-06, 2.14157986e-05,-8.48569815e-06,
 -5.73468635e-05,-4.44700646e-05,-2.80655797e-05, 2.65269356e-04,
 -5.83883359e-08,-4.26843994e-09,-1.21644003e+00,-4.56663548e-04,
  1.17892784e-05,-5.51762767e-04]


--- Step 1353 ---
qpos:
[ 6.23467484e-03,-1.82435221e-03,-4.94382574e-03, 3.35472466e-02,
  4.49320748e-03,-3.73501951e-03,-1.85377837e-02, 2.85677025e-02,
  1.29989973e-02, 3.33082213e-03,-1.00020618e-02, 2.58666803e-02,
  1.29339928e+00, 6.40958336e-05, 1.02566096e+00, 6.37543997e-02,
  9.36100436e-02,-7.02082920e-02, 1.30955658e-01, 4.96182078e-01,
  4.86011034e-01, 5.03306070e-01, 5.14081336e-01]

qacc:
[ 5.06351881e+00,-6.27400696e-01, 1.20030162e+00, 5.45337380e-01,
  1.42671025e+00,-9.76690155e-01, 3.73983767e+00,-4.74421102e+00,
 -3.37799730e+00, 2.32395208e+00,-7.87288532e+00, 1.15575962e+01,
 -7.56910382e-01, 1.13901301e+00, 1.03750564e+01,-3.49404227e+01,
  6.61351090e-02, 1.01221141e+00,-5.62092146e-03, 1.74015550e+00,
  3.14856057e-01,-1.45528437e+01]

qfrc_actuator:
[-1.95338663e-05,-1.18089951e-04,-8.74214762e-05, 4.12216745e-05,
  2.06291443e-05,-3.45293032e-04,-2.18296068e-04,-7.30425933e-05,
 -1.07688794e-05,-2.62693868e-05,-2.50497421e-05,-1.21826612e-05,
  5.93700223e-03,-1.51767434e-03, 0.00000000e+00,-2.55784517e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003198702395709324
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.3015704e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.3015704e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09215806, -0.0883149 ,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.95644226e-05,-3.47382912e-05, 3.73918439e-07, 3.60275059e-06,
  8.33748933e-06, 2.35010411e-05, 2.71830481e-05, 9.98203244e-07,
 -1.95948831e-05, 7.64213627e-05,-1.89090899e-06, 1.39318360e-05,
 -5.52785623e-05,-1.19308518e-06, 1.47818427e-05,-1.64738220e-04,
 -1.55794737e-07, 9.40769180e-08,-1.21644029e+00,-4.56321899e-04,
  1.18111993e-05,-5.51613945e-04]


--- Step 1354 ---
qpos:
[ 6.23527076e-03,-1.82439201e-03,-4.94367731e-03, 3.35473225e-02,
  4.49371726e-03,-3.73555297e-03,-1.85366911e-02, 2.85674667e-02,
  1.29984458e-02, 3.33106400e-03,-1.00007925e-02, 2.58661365e-02,
  1.29359583e+00, 6.41898586e-05, 1.02588407e+00, 6.37498192e-02,
  9.36090451e-02,-7.01948649e-02, 1.30959748e-01, 4.96222104e-01,
  4.85951257e-01, 5.03363269e-01, 5.14043207e-01]

qacc:
[  6.11299355, -1.76112975,  7.4104545 ,-13.41636137,  0.90922123,
   0.35161631, -5.51455788, 19.03572338, -2.04368461,  0.48332427,
   0.17397296, -3.808979  , -0.04448311, -0.24884303,  0.873174  ,
  -3.39682688,  0.0674804 ,  1.00495462, -0.07625257,  1.70463006,
   0.32550465,-14.46154296]

qfrc_actuator:
[ 1.53422031e-05,-1.04516868e-04,-6.31036653e-05, 2.65854301e-05,
  2.56183323e-05,-4.17403773e-04,-2.25758300e-04,-3.76029161e-05,
 -2.20994379e-05, 1.30586101e-06,-2.70865738e-05,-2.17372545e-05,
  5.91189884e-03,-1.54005515e-03, 0.00000000e+00,-2.57081183e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003129953241344241
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.86772852e-14,  1.77354570e-13,  1.00000000e+00, -1.57273218e-26,
        1.00000000e+00, -1.77354570e-13, -1.00000000e+00,  0.00000000e+00,
        8.86772852e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09215822, -0.08831684,  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:
[ 3.57042852e-05,-5.61170771e-06, 1.73122552e-05,-1.60435967e-05,
  5.23441997e-06,-5.33156995e-05, 7.66863283e-07, 3.74068213e-05,
 -1.18608470e-05, 7.05064053e-05, 1.39879108e-05,-6.07454827e-06,
 -5.71599057e-05,-3.52847494e-05,-1.80541979e-05,-2.17363455e-05,
 -2.45573993e-07, 2.77944377e-07,-1.21644082e+00,-4.55994569e-04,
  1.17485621e-05,-5.51375401e-04]


--- Step 1355 ---
qpos:
[ 6.23593513e-03,-1.82425851e-03,-4.94337072e-03, 3.35471980e-02,
  4.49359312e-03,-3.73650981e-03,-1.85356500e-02, 2.85676661e-02,
  1.29981080e-02, 3.33150584e-03,-9.99968714e-03, 2.58658842e-02,
  1.29379190e+00, 6.41038602e-05, 1.02610659e+00, 6.37487670e-02,
  9.36083207e-02,-7.01774406e-02, 1.30963300e-01, 4.96274954e-01,
  4.85878307e-01, 5.03436502e-01, 5.13989425e-01]

qacc:
[ 6.03730114e-01,-6.26825210e-01, 3.41111330e+00,-7.25701557e+00,
 -5.54215414e+00, 4.90445637e-01,-4.38004671e+00, 1.22865621e+01,
  1.87173231e+00, 1.31899707e+00,-5.55688810e+00, 1.07246676e+01,
  4.36395382e-03,-3.16519062e-01,-1.15285158e+01, 3.90508043e+01,
  6.85302293e-02, 9.99314426e-01,-1.34531015e-01, 1.67661396e+00,
  3.33901430e-01,-1.43905612e+01]

qfrc_actuator:
[ 1.78605515e-05,-7.85399681e-05,-4.87751005e-05, 1.79663947e-05,
 -7.15859161e-06,-4.42401022e-04,-2.30797376e-04,-1.67120163e-05,
 -1.07859778e-05,-1.80924465e-05,-4.65439466e-05,-9.38630027e-06,
  5.87912686e-03,-1.55335493e-03, 0.00000000e+00,-2.38126088e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030536014930593325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.36341836e-13,  1.81789115e-13,  1.00000000e+00, -2.47854617e-26,
        1.00000000e+00, -1.81789115e-13, -1.00000000e+00,  0.00000000e+00,
        1.36341836e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09215832, -0.08831898,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.53149424e-06, 2.57375131e-05, 1.47430630e-05,-8.57477707e-06,
 -3.26475919e-05,-5.30408287e-05,-1.46690345e-05, 1.93596308e-05,
  1.10027466e-05, 2.26300642e-05,-3.39715351e-06, 1.57364630e-05,
 -7.39692826e-05,-3.44461539e-05,-1.45863247e-05, 1.85139761e-04,
 -3.28542154e-07, 5.45853002e-07,-1.21644163e+00,-4.55679529e-04,
  1.16038688e-05,-5.51047419e-04]


--- Step 1356 ---
qpos:
[ 6.23593486e-03,-1.82388290e-03,-4.94291692e-03, 3.35466171e-02,
  4.49342188e-03,-3.73773522e-03,-1.85344587e-02, 2.85680803e-02,
  1.29979084e-02, 3.33217553e-03,-9.99912655e-03, 2.58664963e-02,
  1.29398750e+00, 6.38478493e-05, 1.02632919e+00, 6.37482767e-02,
  9.36078737e-02,-7.01560361e-02, 1.30966123e-01, 4.96340580e-01,
  4.85792204e-01, 5.03525697e-01, 5.13920068e-01]

qacc:
[-5.84390253e+00,-1.01957346e+00, 6.04518161e+00,-1.43754051e+01,
 -4.02756428e-01,-3.31882675e-01,-2.37517117e-01, 3.91192042e+00,
  1.19553181e+00, 3.60038152e+00,-1.60538784e+01, 3.17198642e+01,
 -1.95573028e-01, 6.90616829e-04,-1.58886666e+00, 5.72247776e+00,
  6.93556165e-02, 9.95052972e-01,-1.82412040e-01, 1.65471435e+00,
  3.40533699e-01,-1.43372196e+01]

qfrc_actuator:
[-1.64405182e-05,-6.31112195e-05,-4.03954868e-05,-4.78759312e-06,
 -8.64210104e-06,-4.39009977e-04,-2.16453687e-04,-4.51837751e-06,
 -3.99097202e-06,-1.22755193e-05,-7.63147697e-05, 3.34554981e-05,
  5.85775707e-03,-1.56119238e-03, 0.00000000e+00,-2.35798956e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002972008561915179
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.80169875e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.80169875e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09215837, -0.08832124,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.41926284e-05, 3.24903049e-05, 1.52095365e-05,-2.13088701e-05,
 -2.43484655e-06,-2.84587724e-05, 2.25074943e-06, 9.79048679e-06,
  7.11745483e-06, 1.84188426e-05,-2.49885388e-05, 4.39968926e-05,
 -7.14181387e-05,-3.29950789e-05, 1.06971302e-05, 3.09921207e-05,
 -4.05307983e-07, 8.96635913e-07,-1.21644270e+00,-4.55375247e-04,
  1.13789229e-05,-5.50630218e-04]


--- Step 1357 ---
qpos:
[ 6.23517869e-03,-1.82344704e-03,-4.94228199e-03, 3.35457893e-02,
  4.49392369e-03,-3.73922740e-03,-1.85330864e-02, 2.85682893e-02,
  1.29977918e-02, 3.33317830e-03,-9.99893417e-03, 2.58665552e-02,
  1.29418290e+00, 6.28762826e-05, 1.02655161e+00, 6.37494160e-02,
  9.36077068e-02,-7.01306637e-02, 1.30968059e-01, 4.96418950e-01,
  4.85692956e-01, 5.03630796e-01, 5.13835187e-01]

qacc:
[ -6.64194039, -0.92219798,  4.46847295, -9.09995729,  5.90060207,
  -1.29148417,  4.94023957, -8.56321064,  0.71295402,  0.32913335,
   1.79859131,-11.02700321,  0.50880676, -1.34728932, -5.20641102,
  17.7511498 ,  0.07001163,  0.99196861, -0.2215698 ,  1.63781265,
   0.34578082,-14.29922648]

qfrc_actuator:
[-5.43748979e-05,-7.19021005e-05,-3.56375684e-05,-1.79338881e-05,
  2.60698122e-05,-4.54076679e-04,-2.08414157e-04,-1.52494130e-05,
  8.29616847e-08, 8.56267946e-06,-9.40746517e-05, 5.13926005e-06,
  5.84857033e-03,-1.60119571e-03, 0.00000000e+00,-2.27315731e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002887099846477781
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92273057e-13, -1.92273057e-13,  1.00000000e+00,  3.69689283e-26,
        1.00000000e+00,  1.92273057e-13, -1.00000000e+00,  0.00000000e+00,
        1.92273057e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09215837, -0.08832358,  0.06199175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.88965034e-05, 1.15770418e-05, 1.25982594e-05,-1.16416601e-05,
  3.46319294e-05,-3.00675097e-05, 2.77688012e-06,-1.16829768e-05,
  4.28455917e-06, 2.78315430e-05,-1.55270165e-05,-2.75397368e-05,
 -5.74836055e-05,-6.42098205e-05, 3.07025740e-06, 8.67203824e-05,
 -4.76324829e-07, 1.32937773e-06,-1.21644404e+00,-4.55080562e-04,
  1.10749848e-05,-5.50123954e-04]


--- Step 1358 ---
qpos:
[ 6.23397335e-03,-1.82284667e-03,-4.94162279e-03, 3.35448081e-02,
  4.49449264e-03,-3.74082060e-03,-1.85319291e-02, 2.85676838e-02,
  1.29973803e-02, 3.33428879e-03,-9.99887392e-03, 2.58659418e-02,
  1.29437778e+00, 6.22151268e-05, 1.02677451e+00, 6.37475368e-02,
  9.36107075e-02,-7.01134277e-02, 1.30969490e-01, 4.96459305e-01,
  4.85636132e-01, 5.03714622e-01, 5.13767735e-01]

qacc:
[ -3.95168349, -0.15866637,  1.54225269, -4.37195488,  0.58202374,
  -1.20864672,  7.55366435,-21.22996647, -2.60194922, -0.86708838,
   6.14552125,-17.65801211, -0.84342245,  1.29679349,  9.86169224,
 -33.35418574,  0.79191407, -2.03411742, -0.12651334,  9.90725756,
  -2.37395164, 29.94144877]

qfrc_actuator:
[-7.63795248e-05,-5.96345015e-05,-3.31454658e-05,-2.53423625e-05,
  2.85397704e-05,-4.62359762e-04,-2.22000621e-04,-5.71537519e-05,
 -1.52284909e-05, 2.71200985e-06,-1.04586609e-04,-2.92947606e-05,
  5.83603465e-03,-1.57112185e-03, 0.00000000e+00,-2.43672294e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000297298874025409
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.80077505e-13,  9.33591683e-14,  1.00000000e+00, -2.61478029e-26,
        1.00000000e+00, -9.33591683e-14, -1.00000000e+00,  0.00000000e+00,
        2.80077505e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08126461, -0.03177777,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.31084173e-05, 2.08125238e-05, 6.02405280e-06,-6.70184293e-06,
  3.44913823e-06,-2.49741017e-05,-1.98596303e-05,-4.33258191e-05,
 -1.51748556e-05, 5.28781096e-06,-7.64277916e-06,-3.43175378e-05,
 -6.02236676e-05, 1.95094562e-06, 6.79859641e-06,-1.59332959e-04,
 -5.41929388e-07, 1.84336147e-06,-1.21644565e+00,-4.54794596e-04,
  1.06928903e-05,-5.49528720e-04]


--- Step 1359 ---
qpos:
[ 6.23251327e-03,-1.82203772e-03,-4.94126054e-03, 3.35441077e-02,
  4.49439717e-03,-3.74233127e-03,-1.85313710e-02, 2.85672748e-02,
  1.29971337e-02, 3.33515020e-03,-9.99855010e-03, 2.58656300e-02,
  1.29457200e+00, 6.24242177e-05, 1.02699738e+00, 6.37440636e-02,
  9.36167818e-02,-7.01041751e-02, 1.30969654e-01, 4.96462213e-01,
  4.85620849e-01, 5.03777865e-01, 5.13717360e-01]

qacc:
[ -2.25273986,  1.68847174, -6.79778933, 11.96958446, -5.83491684,
   2.19772023, -8.48832225, 12.76383731,  1.4649375 , -0.44796159,
  -0.15862505,  5.14508704, -1.269247  ,  2.28512586,  4.8776596 ,
 -16.87574577,  0.76839367, -1.99581986, -0.31644913,  9.81637555,
  -2.20324522, 29.31920431]

qfrc_actuator:
[-8.88306614e-05,-5.26127863e-05,-4.96810860e-05,-1.15502439e-05,
 -5.75137787e-06,-4.48879085e-04,-2.48238958e-04,-4.60601852e-05,
 -6.32114909e-06,-1.90598429e-05,-9.30859673e-05,-1.38012146e-05,
  5.81620030e-03,-1.51749405e-03, 0.00000000e+00,-2.51454691e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55667311,  2.24970172, -3.96258905,  2.24970172, 11.58381268,
        3.98955527, -3.96258905,  3.98955527,  6.82168451,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003048676150981394
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82082807e-13, -2.27603509e-14,  1.00000000e+00,  4.14426859e-27,
        1.00000000e+00,  2.27603509e-14, -1.00000000e+00,  0.00000000e+00,
        1.82082807e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08126431, -0.03178223,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31032570e-05, 1.95859052e-05,-1.17367866e-05, 1.47625318e-05,
 -3.41987295e-05,-6.39667959e-06,-3.53359523e-05, 8.49512454e-06,
  8.48326489e-06,-2.19103999e-05, 1.04519797e-05, 1.47871358e-05,
 -5.40244316e-05, 4.03417273e-05,-2.07564231e-05,-8.72374699e-05,
 -1.77462582e-07, 7.69156271e-07,-1.21644273e+00,-4.55787447e-04,
  9.96877357e-06,-5.49071190e-04]


--- Step 1360 ---
qpos:
[ 6.23057027e-03,-1.82120828e-03,-4.94133947e-03, 3.35443033e-02,
  4.49389137e-03,-3.74366503e-03,-1.85312871e-02, 2.85680164e-02,
  1.29969958e-02, 3.33575691e-03,-9.99809514e-03, 2.58662068e-02,
  1.29476578e+00, 6.30169813e-05, 1.02721973e+00, 6.37426640e-02,
  9.36224747e-02,-7.01027691e-02, 1.30968769e-01, 4.96439816e-01,
  4.85631398e-01, 5.03809560e-01, 5.13697948e-01]

qacc:
[ -4.25994241,  3.113476  ,-14.82918926, 31.00758724, -3.60834312,
   3.93099316,-18.52480111, 39.05309341,  0.96487286,  1.12415867,
  -8.25192463, 23.61248025, -0.49825037,  0.8518623 , -6.98282142,
  23.41332434, -0.09535945, -1.96167112, -0.26243948, -3.34618877,
  -0.57363593, 28.3528579 ]

qfrc_actuator:
[-1.13317092e-04,-6.66011286e-05,-7.73218071e-05, 3.23419610e-05,
 -2.58892327e-05,-4.22483304e-04,-2.63845709e-04, 1.38995529e-05,
 -9.77149070e-07,-3.23180751e-05,-8.64732639e-05, 3.09439815e-05,
  5.79201680e-03,-1.50367579e-03, 0.00000000e+00,-2.39912200e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030919376679626345
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20226130e-06, -2.24418945e-13,  1.00000000e+00,  2.69810214e-19,
        1.00000000e+00,  2.24418945e-13, -1.00000000e+00, -4.81482486e-35,
        1.20226130e-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([ 0.09507972, -0.03271812,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.48550915e-05,-4.85948210e-06,-2.45398638e-05, 4.46124987e-05,
 -2.11159402e-05, 1.59214425e-05,-2.09733483e-05, 5.86327427e-05,
  5.57932345e-06,-2.27500678e-05, 3.87210114e-06, 4.44533209e-05,
 -4.60014892e-05, 1.09085748e-05,-2.37491241e-05, 1.06884681e-04,
 -7.17603767e-08, 1.88923467e-07,-1.21644114e+00,-4.56582152e-04,
  9.93982508e-06,-5.48821092e-04]


--- Step 1361 ---
qpos:
[ 6.22869375e-03,-1.82051040e-03,-4.94138123e-03, 3.35446646e-02,
  4.49314774e-03,-3.74478195e-03,-1.85314241e-02, 2.85691020e-02,
  1.29969229e-02, 3.33649060e-03,-9.99771250e-03, 2.58672798e-02,
  1.29495922e+00, 6.37940019e-05, 1.02744211e+00, 6.37409317e-02,
  9.36243998e-02,-7.01089296e-02, 1.30965882e-01, 4.96405150e-01,
  4.85651666e-01, 5.03799947e-01, 5.13721714e-01]

qacc:
[  0.58810896,  0.06243449, -1.17665785,  4.08501109, -2.09188595,
   1.61476313, -6.78730944, 12.92508367,  0.56738355,  1.39042543,
  -6.81156542, 15.42507712, -0.42816895,  0.64692653,  1.07503017,
  -3.62903212, -0.94193483, -1.89161931, -0.50040719,-16.09480217,
   0.82468677, 26.3470153 ]

qfrc_actuator:
[-1.09189367e-04,-7.53381975e-05,-7.58573411e-05, 4.03088102e-05,
 -3.75234254e-05,-4.06218469e-04,-2.72958834e-04, 3.11356854e-05,
  2.21924189e-06,-4.85761680e-06,-8.27663051e-05, 5.70272406e-05,
  5.77588073e-03,-1.49585214e-03, 0.00000000e+00,-2.41931444e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58315709, -3.80315918,  2.5575983 , -3.80315918, 11.34467352,
       10.05440271,  2.5575983 , 10.05440271, 19.53409521,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031259045847854827
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.87921396e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.87921396e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10889947, -0.03365313,  0.06199107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.41587949e-06,-1.46439646e-05,-1.02444735e-06, 7.77713002e-06,
 -1.22334332e-05, 2.33871426e-05,-6.36543043e-06, 1.83358543e-05,
  3.34745099e-06, 1.74162762e-05, 1.00862777e-06, 2.61035169e-05,
 -3.99293588e-05,-1.85474566e-07,-2.10298988e-06,-1.79848770e-05,
 -8.86296494e-08, 7.37220530e-08,-1.21644033e+00,-4.57116522e-04,
  1.06578207e-05,-5.48803231e-04]


--- Step 1362 ---
qpos:
[ 6.22688098e-03,-1.81996983e-03,-4.94106935e-03, 3.35444093e-02,
  4.49227000e-03,-3.74539290e-03,-1.85318192e-02, 2.85703508e-02,
  1.29968888e-02, 3.33736374e-03,-9.99701168e-03, 2.58682824e-02,
  1.29515250e+00, 6.43624625e-05, 1.02766398e+00, 6.37426451e-02,
  9.36225928e-02,-7.01225470e-02, 1.30960475e-01, 4.96358246e-01,
  4.85681524e-01, 5.03749696e-01, 5.13788081e-01]

qacc:
[  0.57406085, -2.46742168, 11.09679375,-22.21486075, -1.19032998,
   1.72693153, -5.87238829,  8.73101608,  0.34997092, -0.85071603,
   3.5971739 , -5.42713595,  0.27275789, -0.61644122,-11.17771324,
  37.95513744, -0.93304644, -1.86421594, -0.62987795,-15.81768958,
   0.87773678, 26.00078504]

qfrc_actuator:
[-1.06002015e-04,-8.07806584e-05,-5.72316151e-05, 9.33964264e-06,
 -4.40637885e-05,-3.60637646e-04,-2.78239342e-04, 4.08367664e-05,
  4.12728858e-06, 1.12489966e-05,-6.28991574e-05, 5.41975708e-05,
  5.76990562e-03,-1.50933195e-03, 0.00000000e+00,-2.23525844e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58327512, -0.34989224,  4.56990003, -0.34989224, 31.75458987,
        2.08035891,  4.56990003,  2.08035891,  4.74255682,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031262427243364255
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.77565071e-13, -4.43912678e-14,  1.00000000e+00,  7.88233864e-27,
        1.00000000e+00,  4.43912678e-14, -1.00000000e+00,  0.00000000e+00,
        1.77565071e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10889871, -0.03365282,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.27685051e-06,-1.35282846e-05, 1.57370093e-05,-3.14828088e-05,
 -6.88217131e-06, 5.81653381e-05,-5.86718189e-07, 1.08408245e-05,
  2.01102364e-06, 2.71403873e-05, 2.44764950e-05,-1.54543027e-06,
 -2.89473847e-05,-2.26149675e-05,-7.68034152e-06, 1.81700536e-04,
  5.97247360e-08, 1.68097975e-07,-1.21644031e+00,-4.57599595e-04,
  1.09225384e-05,-5.49054303e-04]


--- Step 1363 ---
qpos:
[ 6.22512059e-03,-1.81968635e-03,-4.94047786e-03, 3.35438029e-02,
  4.49166533e-03,-3.74534757e-03,-1.85323633e-02, 2.85713331e-02,
  1.29965333e-02, 3.33817360e-03,-9.99624608e-03, 2.58692870e-02,
  1.29534549e+00, 6.48303942e-05, 1.02788545e+00, 6.37488617e-02,
  9.36170833e-02,-7.01435310e-02, 1.30952114e-01, 4.96299129e-01,
  4.85720862e-01, 5.03659345e-01, 5.13896568e-01]

qacc:
[  0.47358176, -1.84508882,  7.56555501,-13.89516015,  2.37384614,
   0.7306971 , -0.22976676, -4.61795777, -2.82619357, -0.2548803 ,
   0.7881526 , -0.81925768,  0.13666259, -0.38803832,-14.18291972,
  48.75090016, -0.92559393, -1.84164666, -0.73879269,-15.59228866,
   0.91740266, 25.71650603]

qfrc_actuator:
[-1.03402749e-04,-1.01920601e-04,-4.63931252e-05,-8.76971050e-06,
 -2.98038128e-05,-3.15595723e-04,-2.81094761e-04, 2.83073993e-05,
 -1.24902411e-05,-1.50252327e-05,-6.92027354e-05, 5.21410533e-05,
  5.74871890e-03,-1.51752208e-03, 0.00000000e+00,-2.00330922e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57547227, -0.65589552,  4.52821682, -0.65589552, 45.77180976,
        5.9671377 ,  4.52821682,  5.9671377 ,  5.43979018,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003103776555506005
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.94251732e-14, -2.68275520e-13,  1.00000000e+00,  2.39905848e-26,
        1.00000000e+00,  2.68275520e-13, -1.00000000e+00,  0.00000000e+00,
        8.94251732e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10889863, -0.03365139,  0.06199113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.68641490e-06,-2.68191958e-05, 8.88531306e-06,-1.87584204e-05,
  1.40832477e-05, 7.79328490e-05, 9.47090593e-06,-9.84625290e-06,
 -1.65481683e-05,-6.14891311e-06, 2.24321038e-06,-8.24388936e-08,
 -4.28329425e-05,-2.00986737e-05, 1.35435075e-05, 2.40349466e-04,
  3.40017160e-07, 3.89019729e-07,-1.21644147e+00,-4.58156881e-04,
  1.03663731e-05,-5.49544323e-04]


--- Step 1364 ---
qpos:
[ 6.22374986e-03,-1.81940199e-03,-4.94013553e-03, 3.35429879e-02,
  4.49123634e-03,-3.74484120e-03,-1.85328185e-02, 2.85711301e-02,
  1.29963263e-02, 3.33915645e-03,-9.99617431e-03, 2.58699369e-02,
  1.29553811e+00, 6.52487700e-05, 1.02810726e+00, 6.37551284e-02,
  9.36078962e-02,-7.01718075e-02, 1.30940431e-01, 4.96227818e-01,
  4.85769585e-01, 5.03529319e-01, 5.14046776e-01]

qacc:
[  3.41821041,  0.2613193 , -0.06066071, -3.14048573,  1.53168945,
  -2.07967374, 13.30008965,-34.28969698,  1.28244868,  1.43490157,
  -3.29079555, -1.86322143, -0.26460133,  0.22306903,  0.36289411,
  -0.50709033, -0.91942129, -1.82314671, -0.83039716,-15.41042961,
   0.94623948, 25.48548332]

qfrc_actuator:
[-8.34178319e-05,-9.68110761e-05,-5.80470169e-05,-1.91821634e-05,
 -2.11698052e-05,-3.06735098e-04,-2.82500942e-04,-3.27011827e-05,
 -4.37299295e-06,-1.33231081e-05,-1.08835257e-04, 3.27514048e-05,
  5.72374897e-03,-1.52256302e-03, 0.00000000e+00,-2.01134928e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003063376964455161
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81209012e-13, -2.71813518e-13,  1.00000000e+00,  4.92550589e-26,
        1.00000000e+00,  2.71813518e-13, -1.00000000e+00,  0.00000000e+00,
        1.81209012e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10889908, -0.03364909,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.00509841e-05,-8.86571861e-06,-1.67556468e-05,-1.16197197e-05,
  9.06353730e-06, 5.39821712e-05, 1.55200978e-05,-5.75343365e-05,
  7.64842395e-06,-1.32397425e-06,-4.06495756e-05,-1.95822815e-05,
 -5.35229798e-05,-1.98306703e-05, 2.88227671e-05, 6.11881993e-06,
  7.50957262e-07, 7.32758905e-07,-1.21644377e+00,-4.58794036e-04,
  9.02411214e-06,-5.50272184e-04]


--- Step 1365 ---
qpos:
[ 6.22297397e-03,-1.81871629e-03,-4.94040726e-03, 3.35416826e-02,
  4.49091473e-03,-3.74443479e-03,-1.85327704e-02, 2.85705872e-02,
  1.29962181e-02, 3.34030213e-03,-9.99630637e-03, 2.58696261e-02,
  1.29573042e+00, 6.55748613e-05, 1.02832906e+00, 6.37622931e-02,
  9.35988070e-02,-7.01954519e-02, 1.30933718e-01, 4.96170747e-01,
  4.85804351e-01, 5.03417784e-01, 5.14178235e-01]

qacc:
[ 5.20380023e+00, 1.22737498e+00,-1.55428973e+00,-6.22563165e+00,
  9.56969850e-01,-2.23808791e+00, 9.22087814e+00,-1.58297709e+01,
  8.59029870e-01,-1.19430907e+00, 8.62399322e+00,-2.50413299e+01,
 -1.11594307e-01,-1.24235921e-02,-2.72623826e+00, 9.51946006e+00,
  2.44752677e-02, 1.15803513e+00, 1.24263025e+00, 2.55156761e+00,
  3.61461542e-02,-1.63170510e+01]

qfrc_actuator:
[-5.33597513e-05,-5.83543714e-05,-8.27794229e-05,-4.27310632e-05,
 -1.59232143e-05,-3.37403164e-04,-2.65463353e-04,-5.07613317e-05,
  4.90997794e-07, 4.95386293e-06,-1.14474552e-04,-1.44347497e-05,
  5.71250481e-03,-1.52572519e-03, 0.00000000e+00,-1.96545222e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031829268848830583
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.36007119e-14, -3.48805695e-13,  1.00000000e+00,  1.52081766e-26,
        1.00000000e+00,  3.48805695e-13, -1.00000000e+00,  0.00000000e+00,
        4.36007119e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09216572, -0.0883173 ,  0.0619909 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.06251667e-05, 2.95387404e-05,-2.90344156e-05,-2.47348398e-05,
  5.52611026e-06, 2.49224931e-07, 2.81082806e-05,-1.63294637e-05,
  5.08659002e-06, 8.26483662e-06,-1.16115349e-05,-4.90346774e-05,
 -4.61209026e-05,-2.02394796e-05, 7.65929961e-06, 4.84748294e-05,
  1.29183584e-06, 1.19760380e-06,-1.21644717e+00,-4.59514493e-04,
  6.92143193e-06,-5.51236653e-04]


--- Step 1366 ---
qpos:
[ 6.22256453e-03,-1.81771486e-03,-4.94104907e-03, 3.35407896e-02,
  4.49134875e-03,-3.74450336e-03,-1.85322888e-02, 2.85698861e-02,
  1.29961693e-02, 3.34135953e-03,-9.99669569e-03, 2.58684430e-02,
  1.29592247e+00, 6.58183270e-05, 1.02855106e+00, 6.37682786e-02,
  9.35898546e-02,-7.02145979e-02, 1.30930879e-01, 4.96127644e-01,
  4.85825285e-01, 5.03324222e-01, 5.14291630e-01]

qacc:
[  3.20534434,  2.2944054 , -9.32602272, 16.83003549,  6.6347596 ,
  -2.17658802,  7.49608138,-10.55311785,  0.51643828, -1.19442334,
   7.77127334,-22.39161992, -0.21091693,  0.16452644,  3.8660442 ,
 -13.06933406,  0.03421217,  1.12459546,  0.96842468,  2.34289511,
   0.11165579,-15.9201289 ]

qfrc_actuator:
[-3.53714490e-05,-3.57954368e-05,-9.71417384e-05,-2.05388654e-05,
  2.27942262e-05,-3.91411854e-04,-2.55561936e-04,-6.11763350e-05,
  3.39345005e-06,-2.01411819e-05,-1.35435637e-04,-5.97983755e-05,
  5.70417770e-03,-1.52769757e-03, 0.00000000e+00,-2.03008182e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.65153543,  0.62043048,  4.60997265,  0.62043048,  9.5710452 ,
       -0.66208936,  4.60997265, -0.66208936,  4.74064234,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033135452323859726
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.09409965e-13,  8.37639859e-14,  1.00000000e+00,  1.75410133e-26,
        1.00000000e+00, -8.37639859e-14, -1.00000000e+00,  0.00000000e+00,
       -2.09409965e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09216767, -0.0883143 ,  0.06199053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.88699389e-05, 3.20142244e-05,-1.26948633e-05, 2.19728581e-05,
  3.88749335e-05,-4.87754793e-05, 1.28459785e-05,-9.74957199e-06,
  3.05579167e-06,-2.50109829e-05,-2.23922158e-05,-4.63673096e-05,
 -3.92565814e-05,-1.73202906e-05, 4.05420222e-06,-6.20907531e-05,
  1.00850130e-06, 7.13917571e-07,-1.21644516e+00,-4.58739153e-04,
  8.12789292e-06,-5.51678141e-04]


--- Step 1367 ---
qpos:
[ 6.22237425e-03,-1.81661610e-03,-4.94178906e-03, 3.35401784e-02,
  4.49224352e-03,-3.74502482e-03,-1.85316000e-02, 2.85683888e-02,
  1.29961559e-02, 3.34234542e-03,-9.99793325e-03, 2.58671104e-02,
  1.29611437e+00, 6.55014770e-05, 1.02877313e+00, 6.37727772e-02,
  9.35810690e-02,-7.02293571e-02, 1.30930989e-01, 4.96098278e-01,
  4.85832500e-01, 5.03248202e-01, 5.14387527e-01]

qacc:
[  1.9223874 ,  0.97965266, -4.50226944,  9.47103316,  4.04621251,
  -2.82199437, 12.54263875,-26.30471417,  0.28543636,  1.96789302,
  -6.52373408,  5.34666429,  0.23996232, -0.80626831,  4.56083373,
 -15.87644714,  0.04168049,  1.096705  ,  0.7373282 ,  2.1748991 ,
   0.17148046,-15.58605688]

qfrc_actuator:
[-2.46345637e-05,-4.06027055e-05,-1.05280360e-04,-7.11370070e-06,
  4.53977051e-05,-4.23504643e-04,-2.50073850e-04,-1.02555203e-04,
  5.11872199e-06,-3.55682120e-05,-1.83207462e-04,-6.82672479e-05,
  5.68695572e-03,-1.56443406e-03, 0.00000000e+00,-2.10605145e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.68251944,  0.4943391 ,  4.65635234,  0.4943391 , 12.49849071,
       -0.82977831,  4.65635234, -0.82977831,  4.7706124 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033935976754252695
  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([ 0.09216917, -0.08831256,  0.0619903 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12818425e-05, 1.13957024e-05,-2.33148452e-06, 1.47859152e-05,
  2.36968577e-05,-5.71203636e-05,-3.34641492e-06,-4.32153844e-05,
  1.80891295e-06,-3.60559469e-05,-5.73059695e-05,-1.12168668e-05,
 -4.38544841e-05,-4.96506115e-05,-1.02181773e-05,-8.01295226e-05,
  7.53262390e-07, 3.36477911e-07,-1.21644355e+00,-4.58028395e-04,
  9.18044928e-06,-5.52031347e-04]


--- Step 1368 ---
qpos:
[ 6.22231441e-03,-1.81568881e-03,-4.94217305e-03, 3.35390457e-02,
  4.49305759e-03,-3.74580636e-03,-1.85309477e-02, 2.85667450e-02,
  1.29958184e-02, 3.34304908e-03,-9.99890128e-03, 2.58663268e-02,
  1.29630597e+00, 6.48035104e-05, 1.02899491e+00, 6.37779880e-02,
  9.35724728e-02,-7.02398222e-02, 1.30933271e-01, 4.96082448e-01,
  4.85826103e-01, 5.03189363e-01, 5.14466391e-01]

qacc:
[ 1.16084423e+00,-2.29802818e+00, 1.00622165e+01,-1.95256545e+01,
 -7.03137824e-01,-5.41385881e-01, 2.05255217e+00,-4.34005970e+00,
 -2.83853229e+00, 9.20173504e-03,-2.88212815e+00, 1.21488221e+01,
  1.13889255e-01,-5.56034441e-01,-2.59117096e+00, 8.40824692e+00,
  4.73822308e-02, 1.07352169e+00, 5.42910007e-01, 2.03943231e+00,
  2.19043363e-01,-1.53058217e+01]

qfrc_actuator:
[-1.82478091e-05,-6.17376111e-05,-9.20559904e-05,-3.44884781e-05,
  4.05727952e-05,-4.24527376e-04,-2.47180846e-04,-1.08553249e-04,
 -1.16145942e-05,-2.74232435e-05,-1.57608703e-04,-3.72206447e-05,
  5.66439563e-03,-1.58601303e-03, 0.00000000e+00,-2.06377739e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.69803154,  0.35555787,  4.6845575 ,  0.35555787, 17.39522185,
       -0.96371662,  4.6845575 , -0.96371662,  4.77117762,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034326213673077643
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.21287375e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.21287375e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09217032, -0.08831184,  0.06199019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.70838141e-06,-1.46355786e-05, 1.57996534e-05,-2.66792214e-05,
 -4.16597800e-06,-3.54849951e-05,-1.08124494e-05,-9.40079623e-06,
 -1.66901329e-05,-2.43533843e-05, 1.07101583e-05, 2.73037612e-05,
 -5.95960037e-05,-4.29266051e-05,-1.79721975e-05, 3.54606992e-05,
  5.20070015e-07, 5.99543392e-08,-1.21644230e+00,-4.57367152e-04,
  1.00984475e-05,-5.52295633e-04]


--- Step 1369 ---
qpos:
[ 6.22198672e-03,-1.81495479e-03,-4.94237650e-03, 3.35379544e-02,
  4.49415244e-03,-3.74655270e-03,-1.85307391e-02, 2.85657225e-02,
  1.29952833e-02, 3.34300428e-03,-9.99880421e-03, 2.58662705e-02,
  1.29649722e+00, 6.38311065e-05, 1.02921647e+00, 6.37842973e-02,
  9.35640836e-02,-7.02460700e-02, 1.30937072e-01, 4.96079989e-01,
  4.85806183e-01, 5.03147406e-01, 5.14528605e-01]

qacc:
[ -2.34606676, -0.66998809,  1.85059268, -1.28588421,  2.44323435,
   2.55833951,-11.68686103, 23.13096107, -1.69198595, -2.46536776,
   4.28964274,  7.14136835,  0.02394489, -0.35831747, -3.64596621,
  12.26814949,  0.05171074,  1.05433634,  0.37970959,  1.93001969,
   0.25702699,-15.07182012]

qfrc_actuator:
[-3.22227191e-05,-7.46865804e-05,-8.41813758e-05,-3.23946498e-05,
  5.51532793e-05,-4.06919717e-04,-2.63436678e-04,-7.59014239e-05,
 -2.13251055e-05,-7.59062854e-05,-1.06518683e-04,-8.55929065e-07,
  5.64930475e-03,-1.59845256e-03, 0.00000000e+00,-2.00541934e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.70044635,  0.16779241,  4.69745054,  0.16779241, 27.15973256,
       -0.80224322,  4.69745054, -0.80224322,  4.72910239,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003438635480912111
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.21075245e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.21075245e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09217118, -0.08831194,  0.06199017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.37911292e-05,-1.90369132e-05, 5.87026827e-06, 1.49513300e-06,
  1.44499218e-05,-4.84867818e-06,-2.52371666e-05, 3.05781723e-05,
 -1.01936643e-05,-5.87384879e-05, 4.83286036e-05, 3.62259945e-05,
 -5.93036468e-05,-3.60168753e-05,-7.89890225e-06, 5.71799540e-05,
  3.04383651e-07,-1.20055335e-07,-1.21644138e+00,-4.56744116e-04,
  1.08966763e-05,-5.52470728e-04]


--- Step 1370 ---
qpos:
[ 6.22149410e-03,-1.81430753e-03,-4.94279342e-03, 3.35369106e-02,
  4.49506851e-03,-3.74721050e-03,-1.85307703e-02, 2.85647324e-02,
  1.29942908e-02, 3.34231451e-03,-9.99831428e-03, 2.58666841e-02,
  1.29668808e+00, 6.29303736e-05, 1.02943857e+00, 6.37862126e-02,
  9.35559142e-02,-7.02481636e-02, 1.30941845e-01, 4.96090759e-01,
  4.85772822e-01, 5.03122081e-01, 5.14574481e-01]

qacc:
[ -1.45554268,  0.58244785, -2.43801036,  3.65719137, -1.57366569,
   0.85624836, -3.0146989 ,  3.88674554, -4.00059447, -0.97507223,
   0.26887023,  7.69775864, -0.64125963,  0.87064134, 14.10246005,
 -48.07903682,  0.05497381,  1.03854954,  0.24306955,  1.84150801,
   0.28753197,-14.87760172]

qfrc_actuator:
[-4.03158873e-05,-8.26336125e-05,-9.72361897e-05,-3.07268025e-05,
  4.55425293e-05,-3.96077705e-04,-2.73007405e-04,-7.40267428e-05,
 -4.45714345e-05,-1.22281739e-04,-9.42951940e-05, 2.05490487e-05,
  5.63870962e-03,-1.58761002e-03, 0.00000000e+00,-2.23987688e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003418366348678231
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21793158e-13,  2.43586317e-13,  1.00000000e+00,  2.96671469e-26,
        1.00000000e+00, -2.43586317e-13, -1.00000000e+00,  0.00000000e+00,
       -1.21793158e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09217183, -0.0883127 ,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.49413591e-06,-1.73415013e-05,-1.62153033e-05, 1.08618750e-06,
 -9.19991627e-06, 4.26028898e-06,-1.26149462e-05, 1.39164774e-06,
 -2.35599479e-05,-6.76916332e-05, 7.29583612e-06, 2.12653460e-05,
 -5.28520951e-05,-1.11535393e-05,-1.31212124e-06,-2.33238467e-04,
  1.02783507e-07,-2.07153831e-07,-1.21644078e+00,-4.56150751e-04,
  1.15864751e-05,-5.52556575e-04]


--- Step 1371 ---
qpos:
[ 6.22159793e-03,-1.81359345e-03,-4.94342648e-03, 3.35355300e-02,
  4.49517254e-03,-3.74775509e-03,-1.85309138e-02, 2.85630697e-02,
  1.29930269e-02, 3.34162968e-03,-9.99819963e-03, 2.58673211e-02,
  1.29687846e+00, 6.24183475e-05, 1.02966099e+00, 6.37826347e-02,
  9.35479745e-02,-7.02461545e-02, 1.30947134e-01, 4.96114639e-01,
  4.85726083e-01, 5.03113185e-01, 5.14604275e-01]

qacc:
[ 5.23645582e+00,-1.10353149e-02, 1.57123966e+00,-7.08296449e+00,
 -7.11267115e+00,-9.06054245e-01, 6.31225004e+00,-1.78826224e+01,
 -2.40052662e+00, 1.51969855e+00,-6.34381066e+00, 1.07958346e+01,
 -1.00396298e+00, 1.60862195e+00, 1.71221194e+01,-5.90482716e+01,
  5.74119344e-02, 1.02565344e+00, 1.29005322e-01, 1.76979079e+00,
  3.12202068e-01,-1.47176711e+01]

qfrc_actuator:
[-9.37050791e-06,-6.98560471e-05,-1.04774222e-04,-4.70896150e-05,
  4.01165707e-06,-3.89362506e-04,-2.78593490e-04,-1.08030566e-04,
 -5.78478675e-05,-9.61862288e-05,-1.05145422e-04, 3.29445913e-05,
  5.62017734e-03,-1.56303457e-03, 0.00000000e+00,-2.52070204e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000337743937268542
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.10896726e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.10896726e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09217231, -0.08831396,  0.06199035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.06970050e-05,-2.40537126e-07,-1.30792731e-05,-1.76435522e-05,
 -4.17917420e-05, 6.57481179e-06,-6.20122125e-06,-3.42265112e-05,
 -1.39721859e-05,-9.33271060e-06,-2.31970372e-05, 1.01612749e-05,
 -5.18415654e-05, 1.01230361e-05,-3.24974397e-05,-2.95372132e-04,
 -8.73157855e-08,-2.04262169e-07,-1.21644048e+00,-4.55580573e-04,
  1.21765588e-05,-5.52553242e-04]


--- Step 1372 ---
qpos:
[ 6.22207163e-03,-1.81275883e-03,-4.94396716e-03, 3.35346260e-02,
  4.49512273e-03,-3.74803750e-03,-1.85315528e-02, 2.85620560e-02,
  1.29919584e-02, 3.34104018e-03,-9.99830414e-03, 2.58680785e-02,
  1.29706841e+00, 6.19808894e-05, 1.02988285e+00, 6.37786963e-02,
  9.35402716e-02,-7.02400846e-02, 1.30952560e-01, 4.96151534e-01,
  4.85666021e-01, 5.03120548e-01, 5.14618194e-01]

qacc:
[  3.25329302,  0.87589639, -4.91425793, 12.9355459 , -1.36591954,
   3.06744207,-13.17095642, 24.99600277,  1.71025142,  0.98323173,
  -3.83760666,  6.20973952, -0.37596981,  0.46000481,  0.29998885,
  -2.17299969,  0.05921277,  1.01521706,  0.0341016 ,  1.71159179,
   0.33232246,-14.58733346]

qfrc_actuator:
[ 8.79730968e-06,-4.47626005e-05,-9.11615021e-05,-2.06477811e-05,
 -2.70862417e-06,-3.67430845e-04,-2.99573041e-04,-7.41063279e-05,
 -4.73926708e-05,-8.02579595e-05,-1.11476248e-04, 3.99931496e-05,
  5.59157857e-03,-1.56607035e-03, 0.00000000e+00,-2.52469645e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003320543116436675
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.67174915e-13,  8.35874574e-14,  1.00000000e+00,  1.39737261e-26,
        1.00000000e+00, -8.35874574e-14, -1.00000000e+00,  0.00000000e+00,
       -1.67174915e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09217265, -0.08831563,  0.06199051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.90404543e-05, 2.14961818e-05, 1.13424549e-05, 2.56372032e-05,
 -7.91014805e-06, 2.28712296e-05,-2.15561790e-05, 3.33323357e-05,
  1.00535691e-05, 6.36631992e-06,-1.07597356e-05, 6.04391019e-06,
 -5.68293066e-05,-1.20804552e-05,-5.25281653e-05,-2.57078789e-05,
 -2.67877087e-07,-1.13725664e-07,-1.21644048e+00,-4.55028618e-04,
  1.26736356e-05,-5.52460850e-04]


--- Step 1373 ---
qpos:
[ 6.22275956e-03,-1.81173636e-03,-4.94438053e-03, 3.35340339e-02,
  4.49533735e-03,-3.74827713e-03,-1.85318574e-02, 2.85621173e-02,
  1.29910232e-02, 3.34048820e-03,-9.99820691e-03, 2.58688923e-02,
  1.29725772e+00, 6.21278265e-05, 1.03010437e+00, 6.37749889e-02,
  9.35328108e-02,-7.02299872e-02, 1.30957807e-01, 4.96201364e-01,
  4.85592675e-01, 5.03144035e-01, 5.14616402e-01]

qacc:
[  1.88473755,  0.53106662, -2.85656411,  7.92025508,  2.32452925,
   1.32854572, -9.20312082, 27.2521257 ,  1.17987177, -0.40069358,
   1.25899915, -0.63064282, -0.92023352,  1.55250242, -1.13804576,
   3.40618664,  0.06052254,  1.00687444, -0.04457162,  1.66429437,
   0.34889703,-14.48257109]

qfrc_actuator:
[ 1.92866044e-05,-3.01127082e-05,-8.28330224e-05,-4.70696444e-06,
  1.11240597e-05,-3.54316183e-04,-2.76102556e-04,-1.82304179e-05,
 -4.08093089e-05,-7.05223935e-05,-9.73488077e-05, 4.38469799e-05,
  5.56227800e-03,-1.53225631e-03, 0.00000000e+00,-2.50754881e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003251569877687627
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70721077e-13,  1.70721077e-13,  1.00000000e+00, -2.91456862e-26,
        1.00000000e+00, -1.70721077e-13, -1.00000000e+00,  0.00000000e+00,
        1.70721077e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09217289, -0.08831758,  0.06199071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10347299e-05, 3.00955221e-05, 1.50501878e-05, 1.77538412e-05,
  1.36141831e-05, 2.28974411e-05, 2.67060020e-05, 5.67635596e-05,
  6.86955870e-06, 1.13530922e-05, 1.43312440e-05, 3.87121179e-06,
 -6.52183731e-05, 1.82804904e-05,-2.92110523e-05, 8.47464609e-06,
 -4.40397961e-07, 6.25918819e-08,-1.21644075e+00,-4.54491055e-04,
  1.30828721e-05,-5.52279541e-04]


--- Step 1374 ---
qpos:
[ 6.22287827e-03,-1.81067662e-03,-4.94514392e-03, 3.35333451e-02,
  4.49571646e-03,-3.74909294e-03,-1.85312799e-02, 2.85628894e-02,
  1.29905188e-02, 3.34056135e-03,-9.99848694e-03, 2.58697097e-02,
  1.29744662e+00, 6.23864240e-05, 1.03032577e+00, 6.37707939e-02,
  9.35255958e-02,-7.02158885e-02, 1.30962616e-01, 4.96264065e-01,
  4.85506073e-01, 5.03183534e-01, 5.14599030e-01]

qacc:
[ -5.01684763,  0.8384134 , -2.49259005,  1.33251514,  1.47763523,
  -1.76574112,  2.18470109,  9.13724595,  3.76819334,  1.88071042,
  -5.53513903,  5.7548969 , -0.42272104,  0.56191134,  1.33398141,
  -4.8409139 ,  0.06145503,  1.00031479, -0.10952827,  1.62580659,
   0.36270918,-14.39994315]

qfrc_actuator:
[-1.03287974e-05,-5.73497342e-05,-1.13252245e-04,-1.28454527e-05,
  1.91791764e-05,-4.17387740e-04,-2.44346491e-04, 1.46255384e-05,
 -1.88126530e-05,-1.12248740e-05,-1.06784914e-04, 4.58000127e-05,
  5.54324319e-03,-1.53012993e-03, 0.00000000e+00,-2.53142115e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031737362245364
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.74539459e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.74539459e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09217304, -0.08831976,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.92951992e-05,-6.56696516e-06,-2.17415678e-05,-5.98322444e-06,
  8.44857359e-06,-4.23016639e-05, 4.17450893e-05, 3.58665204e-05,
  2.21935501e-05, 6.87889096e-05,-5.18955246e-06, 3.00950840e-06,
 -5.22195429e-05,-8.55125839e-06,-1.60216477e-05,-2.79390406e-05,
 -6.06027561e-07, 3.23225354e-07,-1.21644130e+00,-4.53964894e-04,
  1.34082453e-05,-5.52009441e-04]


--- Step 1375 ---
qpos:
[ 6.22195154e-03,-1.80985700e-03,-4.94644709e-03, 3.35333052e-02,
  4.49584451e-03,-3.75043213e-03,-1.85307641e-02, 2.85637641e-02,
  1.29902823e-02, 3.34099805e-03,-9.99908806e-03, 2.58705737e-02,
  1.29763528e+00, 6.23873123e-05, 1.03054684e+00, 6.37679895e-02,
  9.35193260e-02,-7.01977625e-02, 1.30966755e-01, 4.96336876e-01,
  4.85408650e-01, 5.03241757e-01, 5.14563779e-01]

qacc:
[ -9.20499246,  2.54543752,-12.24352764, 24.4762614 , -2.19024047,
  -0.30396694, -0.34583444,  2.59775813,  2.34042982,  1.4690612 ,
  -4.74529353,  5.80486544,  0.10972922, -0.43826277, -4.70387919,
  15.70809575,  0.23628169,  1.00683414, -0.16764166,  4.17674756,
   0.54622052,-14.30509126]

qfrc_actuator:
[-6.33092536e-05,-9.18908303e-05,-1.48741037e-04, 1.81102395e-05,
  6.00926647e-06,-4.72311270e-04,-2.61558286e-04, 1.58511942e-05,
 -5.67137711e-06,-1.15559725e-05,-1.29860844e-04, 4.66426614e-05,
  5.53036971e-03,-1.54677717e-03, 0.00000000e+00,-2.45501079e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030868433143501684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.15829161e-07, -1.74211718e-13,  1.00000000e+00,  1.24705828e-19,
        1.00000000e+00,  1.74211718e-13, -1.00000000e+00,  2.40741243e-35,
        7.15829161e-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([ 0.08947029, -0.08844657,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.38170092e-05,-4.29993343e-05,-3.97309838e-05, 2.98076680e-05,
 -1.29465055e-05,-6.83947713e-05,-1.95653072e-05, 1.55371153e-06,
  1.37959927e-05, 3.71979972e-05,-9.40256111e-06, 3.66717220e-06,
 -4.49254272e-05,-3.05158888e-05,-1.45677774e-05, 7.18667670e-05,
 -7.65653714e-07, 6.67036148e-07,-1.21644212e+00,-4.53447774e-04,
  1.36528094e-05,-5.51650652e-04]


--- Step 1376 ---
qpos:
[ 6.22108676e-03,-1.80951799e-03,-4.94750584e-03, 3.35336134e-02,
  4.49581342e-03,-3.75187017e-03,-1.85302840e-02, 2.85635550e-02,
  1.29902058e-02, 3.34108087e-03,-9.99935349e-03, 2.58714887e-02,
  1.29782347e+00, 6.27441592e-05, 1.03076733e+00, 6.37697710e-02,
  9.35133067e-02,-7.01756741e-02, 1.30970066e-01, 4.96422479e-01,
  4.85297988e-01, 5.03315844e-01, 5.14513117e-01]

qacc:
[  0.56091684, -0.60275911, -0.24420132,  6.23458666, -1.39282839,
  -2.25679021, 12.43933118,-31.07223033,  1.42535857, -1.30342522,
   3.7482341 , -3.1345692 , -0.33505468,  0.5783482 ,-14.66676473,
  50.1402183 ,  0.06265417,  0.99062251, -0.2067269 ,  1.5688692 ,
   0.38451057,-14.29733731]

qfrc_actuator:
[-5.85943042e-05,-1.12799275e-04,-1.33683914e-04, 3.63103133e-05,
 -1.79325513e-06,-4.51157781e-04,-2.54302060e-04,-3.70827667e-05,
  2.14732121e-06,-6.54053279e-05,-1.25520670e-04, 4.67747296e-05,
  5.51586734e-03,-1.52110598e-03, 0.00000000e+00,-2.21359823e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003001582365863148
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.24698117e-14, -1.84939623e-13,  1.00000000e+00,  1.71013321e-26,
        1.00000000e+00,  1.84939623e-13, -1.00000000e+00,  0.00000000e+00,
        9.24698117e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09217317, -0.08832449,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.16888169e-06,-5.19139231e-05, 2.32169041e-06, 1.55665557e-05,
 -8.19549982e-06,-2.10311991e-05,-9.21900858e-06,-5.65113600e-05,
  8.22478957e-06,-3.48397410e-05, 1.09918667e-05, 1.47001212e-06,
 -4.73511506e-05, 8.31895032e-06,-2.14169519e-06, 2.42756515e-04,
 -8.70268241e-07, 1.07941901e-06,-1.21644315e+00,-4.52926960e-04,
  1.36235500e-05,-5.51175891e-04]


--- Step 1377 ---
qpos:
[ 6.22062934e-03,-1.80935773e-03,-4.94792616e-03, 3.35337250e-02,
  4.49603351e-03,-3.75300769e-03,-1.85299977e-02, 2.85633624e-02,
  1.29898790e-02, 3.34058761e-03,-9.99939862e-03, 2.58724360e-02,
  1.29801124e+00, 6.36343697e-05, 1.03098761e+00, 6.37754082e-02,
  9.35089373e-02,-7.01495435e-02, 1.30972300e-01, 4.96515369e-01,
  4.85178973e-01, 5.03411319e-01, 5.14442315e-01]

qacc:
[  3.60499676, -2.4328602 ,  9.14905772,-13.42653727,  2.18709974,
   0.96783958, -2.9519925 ,  3.33434959, -2.18590659, -1.30652909,
   3.42520163, -2.80392754, -0.50860032,  0.97640161,-11.89355773,
  41.27971285,  0.41246155,  1.0105026 , -0.269561  ,  6.7290324 ,
   0.7362858 ,-14.16536824]

qfrc_actuator:
[-3.77039625e-05,-8.96863093e-05,-8.88675262e-05, 2.91455352e-05,
  1.13857812e-05,-4.02325910e-04,-2.50118955e-04,-3.26039342e-05,
 -1.09795445e-05,-1.15288380e-04,-1.23011799e-04, 4.64572920e-05,
  5.50574156e-03,-1.48830694e-03, 0.00000000e+00,-2.01895697e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002912676486278992
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.81169357e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.81169357e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08669004, -0.08857978,  0.06199167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.09615330e-05,-4.76780612e-06, 3.49258316e-05,-9.00510668e-06,
  1.29403063e-05, 3.27895083e-05,-3.23988428e-06, 2.16169689e-06,
 -1.29056945e-05,-6.70314285e-05,-3.28330378e-06,-1.40352491e-06,
 -3.47041736e-05, 2.35921680e-05, 2.25200887e-05, 2.07091876e-04,
 -1.01454927e-06, 1.58095409e-06,-1.21644451e+00,-4.52432826e-04,
  1.36666266e-05,-5.50640465e-04]


--- Step 1378 ---
qpos:
[ 6.22042571e-03,-1.80915789e-03,-4.94789829e-03, 3.35337339e-02,
  4.49640945e-03,-3.75335411e-03,-1.85305587e-02, 2.85642419e-02,
  1.29890524e-02, 3.33971149e-03,-9.99946164e-03, 2.58733642e-02,
  1.29819873e+00, 6.46544255e-05, 1.03120815e+00, 6.37816734e-02,
  9.35077769e-02,-7.01315952e-02, 1.30974225e-01, 4.96570494e-01,
  4.85102592e-01, 5.03484994e-01, 5.14389036e-01]

qacc:
[  2.24488453, -1.41625102,  5.55093457, -8.06357525,  1.32451518,
   5.61328588,-23.02990837, 42.35808162, -4.39241302, -0.48659102,
   1.0959241 , -1.13070988, -0.28982722,  0.42296848, -1.49112677,
   5.82499977,  0.80223445, -2.04553531, -0.07693614,  9.7278173 ,
  -2.6215228 , 30.08338307]

qfrc_actuator:
[-2.52312102e-05,-7.57753824e-05,-6.21926220e-05, 2.49200351e-05,
  1.90544559e-05,-3.37246826e-04,-2.83112640e-04, 2.34083654e-05,
 -3.63273865e-05,-1.26922624e-04,-1.21620610e-04, 4.58686153e-05,
  5.48760367e-03,-1.48705626e-03, 0.00000000e+00,-1.99550365e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003017909976115868
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.19695280e-14,  1.83939056e-13,  1.00000000e+00, -1.69167882e-26,
        1.00000000e+00, -1.83939056e-13, -1.00000000e+00,  0.00000000e+00,
        9.19695280e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08123445, -0.03179294,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30659514e-05, 1.80809271e-05, 2.96825351e-05,-3.39711018e-06,
  8.04981688e-06, 8.28812445e-05,-2.65353261e-05, 5.73492689e-05,
 -2.57391236e-05,-4.98462187e-05,-1.29036459e-05,-3.60262363e-06,
 -3.17567998e-05,-1.56192599e-06, 2.84459344e-05, 3.67363779e-05,
 -1.04024386e-06, 2.11007237e-06,-1.21644606e+00,-4.51898634e-04,
  1.30783715e-05,-5.49959499e-04]


--- Step 1379 ---
qpos:
[ 6.22037340e-03,-1.80905253e-03,-4.94717023e-03, 3.35333463e-02,
  4.49652959e-03,-3.75305302e-03,-1.85312168e-02, 2.85654058e-02,
  1.29882729e-02, 3.33878181e-03,-9.99941199e-03, 2.58745714e-02,
  1.29838599e+00, 6.54784597e-05, 1.03142909e+00, 6.37858621e-02,
  9.35097177e-02,-7.01216681e-02, 1.30975050e-01, 4.96588397e-01,
  4.85067927e-01, 5.03537637e-01, 5.14352913e-01]

qacc:
[  1.35400244, -2.90126015, 11.8319712 ,-19.73703862, -2.25257471,
   1.71580259, -6.07035864, 10.66473879,  0.41936714,  0.18770908,
  -1.95112676,  6.63944842, -0.16867138,  0.02958021,  6.85420423,
 -23.12134338,  0.7753222 , -2.00531026, -0.27530754,  9.6576053 ,
  -2.41930157, 29.43637869]

qfrc_actuator:
[-1.78183767e-05,-8.52851524e-05,-2.87151157e-05, 4.69011778e-06,
  5.65914664e-06,-2.98535463e-04,-2.84423359e-04, 3.82681478e-05,
 -3.31529177e-05,-9.78177403e-05,-1.02997328e-04, 6.29081598e-05,
  5.46466039e-03,-1.50454441e-03, 0.00000000e+00,-2.10858297e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57398014,  1.86651882, -4.17581152,  1.86651882, 11.74932615,
        3.20726122, -4.17581152,  3.20726122,  6.00757297,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030994538413102457
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79099784e-13, -1.34324838e-13,  1.00000000e+00,  2.40575494e-26,
        1.00000000e+00,  1.34324838e-13, -1.00000000e+00,  0.00000000e+00,
        1.79099784e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08123382, -0.03179773,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.78892691e-06, 6.58464003e-06, 4.07477050e-05,-1.84952782e-05,
 -1.31377477e-05, 8.20550994e-05, 1.45326507e-05, 1.86093658e-05,
  2.42382983e-06,-1.57042087e-06, 6.62196869e-06, 1.43877602e-05,
 -4.11052491e-05,-2.52816544e-05, 1.12211554e-05,-1.08772912e-04,
 -4.57101170e-07, 9.44061508e-07,-1.21644283e+00,-4.53025428e-04,
  1.18845007e-05,-5.49436854e-04]


--- Step 1380 ---
qpos:
[ 6.22041043e-03,-1.80897736e-03,-4.94600559e-03, 3.35323842e-02,
  4.49648875e-03,-3.75265699e-03,-1.85316186e-02, 2.85664404e-02,
  1.29875373e-02, 3.33766335e-03,-9.99907693e-03, 2.58756326e-02,
  1.29857303e+00, 6.60834841e-05, 1.03165035e+00, 6.37863371e-02,
  9.35146726e-02,-7.01196275e-02, 1.30974105e-01, 4.96569534e-01,
  4.85074212e-01, 5.03569871e-01, 5.14333639e-01]

qacc:
[  0.7994568 , -2.44485735, 11.08143444,-21.69537191, -1.40259768,
  -0.85351375,  3.77658769, -6.49990541,  0.39845607, -1.34841101,
   5.06073525, -7.90257047, -0.22135985,  0.10369509, 11.68792001,
 -40.18654536,  0.75350673, -1.97164778, -0.44231527,  9.59357518,
  -2.25614539, 28.89867572]

qfrc_actuator:
[-1.34405449e-05,-9.09764587e-05,-9.33994353e-06,-2.48074969e-05,
 -2.27261962e-06,-3.29075480e-04,-2.84888357e-04, 2.87950708e-05,
 -3.09647157e-05,-1.15456074e-04,-9.19108126e-05, 5.47290413e-05,
  5.45481755e-03,-1.51524930e-03, 0.00000000e+00,-2.30112852e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58874516,  2.0550397 , -4.10285194,  2.0550397 , 15.98671147,
        5.70902232, -4.10285194,  5.70902232,  7.44828475,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003141855328196719
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.83413548e-14,  1.76682710e-13,  1.00000000e+00, -1.56083899e-26,
        1.00000000e+00, -1.76682710e-13, -1.00000000e+00,  0.00000000e+00,
        8.83413548e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08123294, -0.03180031,  0.06199102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.59971442e-06, 5.60678756e-06, 2.51049601e-05,-2.81668849e-05,
 -8.27979244e-06, 1.91338045e-05, 1.89198872e-05,-5.09282650e-06,
  2.25298723e-06,-1.65033215e-05, 1.20822979e-05,-7.73826469e-06,
 -3.93847762e-05,-2.59256060e-05,-1.26781016e-05,-1.98511727e-04,
 -1.43129698e-07, 2.73771186e-07,-1.21644093e+00,-4.53909963e-04,
  1.13874679e-05,-5.49130119e-04]


--- Step 1381 ---
qpos:
[ 6.22015482e-03,-1.80885060e-03,-4.94545708e-03, 3.35311393e-02,
  4.49669848e-03,-3.75280262e-03,-1.85316900e-02, 2.85677772e-02,
  1.29868337e-02, 3.33634468e-03,-9.99879557e-03, 2.58755771e-02,
  1.29875983e+00, 6.65498844e-05, 1.03187172e+00, 6.37828140e-02,
  9.35225710e-02,-7.01253613e-02, 1.30970829e-01, 4.96514286e-01,
  4.85120808e-01, 5.03582199e-01, 5.14330957e-01]

qacc:
[ -2.59359465,  1.21349723, -3.02538014, -0.93017199,  2.21283386,
  -1.02127737,  1.3190954 ,  3.79054633,  0.28240318, -2.41369898,
  12.93634848,-32.02874432, -0.31976031,  0.29363876, 12.26440632,
 -42.60649935,  0.73587543, -1.94357873, -0.58282221,  9.53677015,
  -2.12386987, 28.45378096]

qfrc_actuator:
[-2.86348898e-05,-1.12155836e-04,-5.17005478e-05,-4.17764748e-05,
  1.08338829e-05,-4.00872769e-04,-2.85160390e-04, 4.05276433e-05,
 -2.93838952e-05,-1.43231046e-04,-1.03316812e-04,-3.77321855e-06,
  5.44218943e-03,-1.52178284e-03, 0.00000000e+00,-2.50338084e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59256667,  2.26530136, -3.99500668,  2.26530136, 24.89551863,
       11.5124475 , -3.99500668, 11.5124475 , 11.12050644,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003152696861894039
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.64112696e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.64112696e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08123186, -0.0318011 ,  0.06199099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.50626869e-05,-1.40779133e-05,-3.90975134e-05,-1.64091238e-05,
  1.28761031e-05,-5.74229099e-05, 5.83256678e-06, 1.31061337e-05,
  1.63590696e-06,-3.48069116e-05,-1.35885826e-05,-5.89428952e-05,
 -4.18184748e-05,-2.12506643e-05,-3.28166608e-05,-2.16089252e-04,
 -7.73954533e-08, 7.10697925e-08,-1.21644030e+00,-4.54601524e-04,
  1.15597513e-05,-5.49030179e-04]


--- Step 1382 ---
qpos:
[ 6.21971927e-03,-1.80886512e-03,-4.94539187e-03, 3.35304081e-02,
  4.49706372e-03,-3.75362365e-03,-1.85313446e-02, 2.85692566e-02,
  1.29864995e-02, 3.33466842e-03,-9.99834547e-03, 2.58755171e-02,
  1.29894626e+00, 6.72160259e-05, 1.03209229e+00, 6.37818748e-02,
  9.35333561e-02,-7.01387762e-02, 1.30964749e-01, 4.96422966e-01,
  4.85207184e-01, 5.03575028e-01, 5.14344649e-01]

qacc:
[ -1.59467976,  2.22482488,-10.36566133, 20.12262158,  1.385543  ,
  -1.76555634,  4.39337243, -2.08853674,  3.26238876, -0.959659  ,
   2.74360966, -2.81459528, -0.25372314,  0.3784191 , -8.97025754,
  29.69787072,  0.72168423, -1.92027202, -0.70095821,  9.48773898,
  -2.01596972, 28.08788424]

qfrc_actuator:
[-3.74736719e-05,-1.24945114e-04,-7.69666303e-05,-1.57850477e-05,
  1.84635403e-05,-4.43567894e-04,-2.67740696e-04, 4.68511360e-05,
 -1.04205045e-05,-1.59248436e-04,-9.24880961e-05,-2.67710690e-06,
  5.42790107e-03,-1.50805372e-03, 0.00000000e+00,-2.35463468e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58750337, -2.50447081,  3.84354174, -2.50447081, 25.14497123,
       13.39534776,  3.84354174, 13.39534776, 13.31597824,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031383207876047037
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.65322548e-13, -8.84408494e-14,  1.00000000e+00,  2.34653515e-26,
        1.00000000e+00,  8.84408494e-14, -1.00000000e+00,  0.00000000e+00,
        2.65322548e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08123062, -0.03180047,  0.06199103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.27042755e-06,-2.94537492e-05,-3.35615323e-05, 2.37180043e-05,
  7.97666262e-06,-7.30318166e-05, 6.72982822e-06, 4.31645361e-06,
  1.89968192e-05,-4.07715449e-05,-6.28615215e-08,-2.01058634e-06,
 -4.40267002e-05,-3.34576074e-07,-4.31037170e-05, 1.31571146e-04,
 -2.44276681e-07, 3.14768466e-07,-1.21644087e+00,-4.55136566e-04,
  1.23794837e-05,-5.49129932e-04]


--- Step 1383 ---
qpos:
[ 6.21952588e-03,-1.80889875e-03,-4.94571158e-03, 3.35299712e-02,
  4.49751733e-03,-3.75453390e-03,-1.85315747e-02, 2.85707938e-02,
  1.29863950e-02, 3.33270893e-03,-9.99781630e-03, 2.58758124e-02,
  1.29913254e+00, 6.74730678e-05, 1.03231232e+00, 6.37846487e-02,
  9.35469825e-02,-7.01597951e-02, 1.30955468e-01, 4.96295821e-01,
  4.85332898e-01, 5.03548682e-01, 5.14374535e-01]

qacc:
[  2.11763305,  1.6527015 , -7.17883853, 12.90914015,  0.75700909,
   1.60668944, -6.14680306,  8.13471543,  2.02925224,  0.13180186,
  -2.51959004,  8.75603468,  0.45677985, -1.02484826,-12.03984697,
  40.87667006,  0.71032508, -1.90101357, -0.80024068,  9.44666938,
  -1.92726777, 27.78937674]

qfrc_actuator:
[-2.47421269e-05,-1.14775483e-04,-9.18623864e-05,-2.05840684e-07,
  2.28019450e-05,-4.32946046e-04,-2.93182332e-04, 4.99679145e-05,
  8.69554177e-07,-1.67973815e-04,-8.62721508e-05, 1.57598141e-05,
  5.41796295e-03,-1.53570781e-03, 0.00000000e+00,-2.16004576e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57555555, -2.75515123,  3.65306041, -2.75515123, 32.62795581,
       21.15722064,  3.65306041, 21.15722064, 20.53240706,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003104017570921547
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.34127345e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.34127345e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08122924, -0.03179872,  0.06199113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24581707e-05,-1.22178729e-05,-2.42909895e-05, 1.36194721e-05,
  4.54033241e-06,-2.86170198e-05,-3.95462554e-05, 3.01263971e-07,
  1.18107531e-05,-3.15630612e-05,-2.26990391e-06, 1.66503928e-05,
 -3.53719099e-05,-3.77174640e-05,-6.99276166e-06, 1.95972038e-04,
 -6.32272546e-07, 9.89374319e-07,-1.21644258e+00,-4.55542203e-04,
  1.38296326e-05,-5.49423815e-04]


--- Step 1384 ---
qpos:
[ 6.21948631e-03,-1.80869861e-03,-4.94663928e-03, 3.35297070e-02,
  4.49801943e-03,-3.75550531e-03,-1.85321933e-02, 2.85726849e-02,
  1.29864262e-02, 3.33113514e-03,-9.99775924e-03, 2.58755872e-02,
  1.29931863e+00, 6.74124021e-05, 1.03253267e+00, 6.37863538e-02,
  9.35634141e-02,-7.01883548e-02, 1.30942652e-01, 4.96133041e-01,
  4.85497584e-01, 5.03503416e-01, 5.14420462e-01]

qacc:
[ 1.32950734e+00, 2.36142080e+00,-8.70416235e+00, 1.24949909e+01,
  4.13452666e-01, 1.73091984e+00,-7.78502764e+00, 1.45760094e+01,
  1.17223981e+00, 7.55557851e-01, 2.39316117e-01,-8.77225241e+00,
  1.27633054e-02,-3.16498770e-01, 3.68638990e+00,-1.22356502e+01,
  7.01299998e-01,-1.88518915e+00,-8.83671100e-01, 9.41349301e+00,
 -1.85363865e+00, 2.75484708e+01]

qfrc_actuator:
[-1.71711368e-05,-9.08961498e-05,-1.18193634e-04, 9.13980786e-06,
  2.51705142e-05,-4.26155310e-04,-3.08009978e-04, 6.89410464e-05,
  7.54753225e-06,-1.18997410e-04,-1.00554330e-04,-9.01448962e-06,
  5.40530113e-03,-1.55215762e-03, 0.00000000e+00,-2.22415625e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003054185789111291
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81754337e-13,  3.63508673e-13,  1.00000000e+00, -6.60692778e-26,
        1.00000000e+00, -3.63508673e-13, -1.00000000e+00,  0.00000000e+00,
        1.81754337e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08122776, -0.0317961 ,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.92187902e-06, 1.26238474e-05,-3.13708072e-05, 8.24799669e-06,
  2.48986762e-06,-1.73333643e-05,-2.55897865e-05, 1.63831772e-05,
  6.99629531e-06, 3.16387257e-05,-2.04899306e-05,-2.58793942e-05,
 -4.14259492e-05,-3.34331018e-05, 1.55301276e-05,-5.48109680e-05,
 -1.23310437e-06, 2.08411464e-06,-1.21644541e+00,-4.55838757e-04,
  1.58972861e-05,-5.49907439e-04]


--- Step 1385 ---
qpos:
[ 6.21884813e-03,-1.80859185e-03,-4.94720555e-03, 3.35291859e-02,
  4.49820110e-03,-3.75662631e-03,-1.85323862e-02, 2.85740521e-02,
  1.29868820e-02, 3.33024941e-03,-9.99812858e-03, 2.58757145e-02,
  1.29950424e+00, 6.77158673e-05, 1.03275373e+00, 6.37819433e-02,
  9.35802028e-02,-7.02123441e-02, 1.30934987e-01, 4.95985097e-01,
  4.85646728e-01, 5.03476453e-01, 5.14448735e-01]

qacc:
[ -5.25078174, -1.65230905,  6.81375343,-11.78518131, -2.78876944,
  -2.45814748, 10.70003323,-20.34656837,  3.71042215,  2.81945021,
 -10.23453433, 16.52446152, -1.03566477,  1.63707322, 19.59252842,
 -66.82851249,  0.08928373,  1.14259903,  1.28773371,  1.69573302,
   0.51785432,-16.55094778]

qfrc_actuator:
[-4.82102758e-05,-9.45414979e-05,-9.77512400e-05,-3.00332861e-06,
  8.60908997e-06,-4.21655611e-04,-2.80920775e-04, 4.38509246e-05,
  2.92130441e-05,-5.37082128e-05,-1.08863191e-04, 1.20285416e-05,
  5.38569028e-03,-1.52630735e-03, 0.00000000e+00,-2.54670529e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003209868094763979
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.64695209e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.64695209e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09217379, -0.08831863,  0.06199082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.08082027e-05,-2.70558041e-06, 1.94804378e-05,-1.25251799e-05,
 -1.64959957e-05,-9.73739915e-06, 2.09379436e-05,-2.64003206e-05,
  2.18722538e-05, 7.76996059e-05,-5.17471095e-06, 2.11898617e-05,
 -5.10722086e-05, 8.58001440e-06,-4.57868960e-06,-3.24920441e-04,
 -2.04103304e-06, 3.59216776e-06,-1.21644933e+00,-4.56041640e-04,
  1.85730357e-05,-5.50577307e-04]


--- Step 1386 ---
qpos:
[ 6.21715315e-03,-1.80866349e-03,-4.94742844e-03, 3.35278449e-02,
  4.49818266e-03,-3.75754494e-03,-1.85326690e-02, 2.85747526e-02,
  1.29872489e-02, 3.32981446e-03,-9.99824957e-03, 2.58757304e-02,
  1.29968947e+00, 6.80732333e-05, 1.03297427e+00, 6.37777291e-02,
  9.35973382e-02,-7.02318839e-02, 1.30931346e-01, 4.95851575e-01,
  4.85780814e-01, 5.03467327e-01, 5.14459782e-01]

qacc:
[ -9.27889109, -2.8658    , 13.36806622,-28.00742962, -1.75802617,
  -0.84926994,  6.23769817,-17.78769937, -0.78106207, -0.32631094,
   2.50145955, -5.1632216 , -0.29731755,  0.34091414, -1.35292792,
   3.64468446,  0.08665075,  1.11237556,  1.00576059,  1.68827673,
   0.48257575,-16.10326043]

qfrc_actuator:
[-1.01724576e-04,-1.14468012e-04,-8.54761638e-05,-4.54319655e-05,
 -1.20817290e-06,-4.00664998e-04,-2.82598104e-04, 1.08116829e-05,
  2.40227391e-05,-3.23458664e-05,-9.56923085e-05, 6.63925702e-06,
  5.36194126e-03,-1.52888969e-03, 0.00000000e+00,-2.52176970e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033463557741353345
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.90299422e-13,  1.65885384e-13,  1.00000000e+00, -4.81564310e-26,
        1.00000000e+00, -1.65885384e-13, -1.00000000e+00,  0.00000000e+00,
        2.90299422e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09217373, -0.08831501,  0.06199043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.43911272e-05,-1.79570552e-05, 1.36905804e-05,-4.21107400e-05,
 -1.02916408e-05, 1.87730735e-05,-2.00988941e-06,-3.32452883e-05,
 -4.54562409e-06, 6.46967629e-05, 2.93305552e-05,-1.82448587e-06,
 -5.16060282e-05,-1.19582045e-05,-4.45567246e-05, 4.80073341e-06,
 -1.86894699e-06, 2.73486475e-06,-1.21644737e+00,-4.56405444e-04,
  1.77055624e-05,-5.51149292e-04]


--- Step 1387 ---
qpos:
[ 6.21517457e-03,-1.80862454e-03,-4.94818957e-03, 3.35263758e-02,
  4.49804665e-03,-3.75836213e-03,-1.85332484e-02, 2.85754245e-02,
  1.29875511e-02, 3.32970274e-03,-9.99784062e-03, 2.58753330e-02,
  1.29987439e+00, 6.81670770e-05, 1.03319386e+00, 6.37791245e-02,
  9.36148125e-02,-7.02470758e-02, 1.30930776e-01, 4.95732130e-01,
  4.85900252e-01, 5.03475645e-01, 5.14453959e-01]

qacc:
[ -2.5126617 ,  1.39191443, -4.20127034,  2.7534976 , -1.03992475,
   0.90566146, -2.91047438,  2.81056187, -0.55947876, -1.90334759,
   9.15286907,-17.39102744,  0.3380254 , -0.81151951,-18.3539323 ,
  62.11884853,  0.08472718,  1.08696773,  0.76803453,  1.68281619,
   0.45218478,-15.72834572]

qfrc_actuator:
[-1.14768458e-04,-1.08535594e-04,-1.13733246e-04,-5.21081439e-05,
 -6.97108516e-06,-4.05577235e-04,-3.01190157e-04, 8.86057381e-06,
  2.08150281e-05,-1.96249487e-05,-7.01377501e-05,-1.42863536e-05,
  5.34104418e-03,-1.54836701e-03, 0.00000000e+00,-2.22119823e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.69725274, -3.52523177, -3.1043396 , -3.52523177,  7.24033976,
       -2.88788351, -3.1043396 , -2.88788351,  7.9766809 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034306783061370527
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.02260115e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.02260115e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09217366, -0.08831279,  0.06199019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45947173e-05,-3.09123355e-06,-3.17268130e-05,-7.78531485e-06,
 -6.04889265e-06, 3.77727302e-06,-1.60993898e-05,-1.86158574e-06,
 -3.31687625e-06, 5.48968461e-05, 4.24751266e-05,-1.71722463e-05,
 -5.36318396e-05,-3.38717556e-05,-2.23350254e-05, 2.94580116e-04,
 -1.69947408e-06, 2.00777123e-06,-1.21644582e+00,-4.56765624e-04,
  1.67762504e-05,-5.51621661e-04]


--- Step 1388 ---
qpos:
[ 6.21339943e-03,-1.80841345e-03,-4.94939468e-03, 3.35255143e-02,
  4.49784273e-03,-3.75939273e-03,-1.85336359e-02, 2.85760747e-02,
  1.29878127e-02, 3.32966660e-03,-9.99758884e-03, 2.58758042e-02,
  1.30005890e+00, 6.80685621e-05, 1.03341360e+00, 6.37813698e-02,
  9.36326202e-02,-7.02580049e-02, 1.30932479e-01, 4.95626472e-01,
  4.86005381e-01, 5.03501081e-01, 5.14431561e-01]

qacc:
[  1.77235733,  2.71615567,-11.92467165, 23.02701765, -0.58472634,
  -0.8611149 ,  2.75486918, -3.28181353, -0.36221704,  2.32796071,
 -11.82207339, 27.05019356, -0.11575379, -0.11054631, -2.35074136,
   8.53897701,  0.08338369,  1.06569571,  0.56796311,  1.67951716,
   0.42568823,-15.41519313]

qfrc_actuator:
[-1.03880559e-04,-8.73054500e-05,-1.30060101e-04,-1.99441027e-05,
 -1.03038922e-05,-4.26011202e-04,-2.94183016e-04, 7.43831678e-06,
  1.88084340e-05,-4.76469118e-05,-9.07918352e-05, 2.68230574e-05,
  5.31654012e-03,-1.55993282e-03, 0.00000000e+00,-2.18680039e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003472652698284229
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.99630744e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.99630744e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09217356, -0.08831171,  0.06199007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04744051e-05, 1.26261934e-05,-2.11280649e-05, 3.07882117e-05,
 -3.50355804e-06,-2.16939921e-05, 5.75490273e-06,-1.85179374e-06,
 -2.08267676e-06, 1.07145071e-05,-4.67899817e-06, 4.45978842e-05,
 -6.26458609e-05,-3.19826474e-05, 2.05377396e-05, 4.74903374e-05,
 -1.53108644e-06, 1.39966683e-06,-1.21644463e+00,-4.57125637e-04,
  1.57833593e-05,-5.51996783e-04]


--- Step 1389 ---
qpos:
[ 6.21176836e-03,-1.80804559e-03,-4.95028452e-03, 3.35253387e-02,
  4.49760038e-03,-3.76060840e-03,-1.85339087e-02, 2.85763593e-02,
  1.29873588e-02, 3.32907519e-03,-9.99726752e-03, 2.58771767e-02,
  1.30024283e+00, 6.83751697e-05, 1.03363344e+00, 6.37836999e-02,
  9.36507581e-02,-7.02647421e-02, 1.30935781e-01, 4.95534358e-01,
  4.86096490e-01, 5.03543362e-01, 5.14392831e-01]

qacc:
[  1.27434618,  0.73559913, -5.22157749, 16.47532129, -0.32977019,
  -1.31606652,  5.88269387,-12.25747742, -6.28427175,  0.9392573 ,
  -8.1980094 , 24.07094706, -0.76977876,  1.21648651, -0.03145084,
   0.49005676,  0.0825163 ,  1.04797758,  0.39994969,  1.67844693,
   0.40229267,-15.15461485]

qfrc_actuator:
[-9.67598389e-05,-5.70024510e-05,-1.03602523e-04, 1.70870001e-05,
 -1.21812587e-05,-4.37731290e-04,-2.89938796e-04,-1.14147194e-05,
 -1.79811316e-05,-1.17748876e-04,-1.03190687e-04, 6.85316407e-05,
  5.29521678e-03,-1.53121223e-03, 0.00000000e+00,-2.18532237e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003480535467251522
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.79107958e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.79107958e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09217344, -0.08831154,  0.06199005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.42325264e-06, 3.43363152e-05, 2.75436557e-05, 3.74444044e-05,
 -1.98517732e-06,-2.27026437e-05, 4.23425582e-07,-1.96177844e-05,
 -3.68464280e-05,-6.31682331e-05,-9.22203724e-06, 4.28724005e-05,
 -6.41511925e-05, 6.63314194e-06, 9.12008576e-06, 5.46679334e-06,
 -1.36256106e-06, 9.01631377e-07,-1.21644378e+00,-4.57488229e-04,
  1.47252212e-05,-5.52276655e-04]


--- Step 1390 ---
qpos:
[ 6.21023518e-03,-1.80725068e-03,-4.95094829e-03, 3.35252332e-02,
  4.49699221e-03,-3.76160574e-03,-1.85346087e-02, 2.85767468e-02,
  1.29871573e-02, 3.32805270e-03,-9.99651152e-03, 2.58786525e-02,
  1.30042614e+00, 6.95097421e-05, 1.03385338e+00, 6.37853672e-02,
  9.36692241e-02,-7.02673461e-02, 1.30940120e-01, 4.95455587e-01,
  4.86173816e-01, 5.03602263e-01, 5.14337965e-01]

qacc:
[  0.86056762,  0.07540828,  0.25068849,  0.29189378, -3.21864015,
   1.69935424, -6.06427254,  8.35429574,  2.2418589 , -1.57643391,
   4.35078556, -2.93346149, -1.15317057,  2.08053477,  2.23031545,
  -7.3838297 ,  0.0820411 ,  1.03331354,  0.25922066,  1.67960028,
   0.38136268,-14.93890007]

qfrc_actuator:
[-9.19214117e-05,-2.13092266e-05,-8.75611991e-05, 2.12117969e-05,
 -3.09403150e-05,-4.08660770e-04,-3.05104654e-04,-4.86842755e-06,
 -3.93873664e-06,-1.23735061e-04,-7.52949887e-05, 7.47144023e-05,
  5.28115926e-03,-1.47884032e-03, 0.00000000e+00,-2.22092374e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003461253883087073
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.01893665e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.01893665e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09217331, -0.08831208,  0.06199011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.05858875e-06, 6.21936794e-05, 2.78298356e-05, 7.27947885e-06,
 -1.88228889e-05, 1.56680611e-05,-2.04648793e-05, 5.20899974e-06,
  1.29708451e-05,-4.13775861e-05, 1.51961160e-05, 3.98998925e-06,
 -4.88775585e-05, 3.90093905e-05,-6.81259843e-07,-3.53827261e-05,
 -1.19290003e-06, 5.06563555e-07,-1.21644325e+00,-4.57855642e-04,
  1.36002008e-05,-5.52462954e-04]


--- Step 1391 ---
qpos:
[ 6.20911695e-03,-1.80600560e-03,-4.95193498e-03, 3.35245227e-02,
  4.49616413e-03,-3.76271968e-03,-1.85354163e-02, 2.85779211e-02,
  1.29878147e-02, 3.32722015e-03,-9.99591508e-03, 2.58791154e-02,
  1.30060913e+00, 7.09597360e-05, 1.03407369e+00, 6.37832405e-02,
  9.36880177e-02,-7.02658650e-02, 1.30945026e-01, 4.95389991e-01,
  4.86237560e-01, 5.03677598e-01, 5.14267119e-01]

qacc:
[  3.630419  ,  0.24481232,  2.53234762,-12.80513322, -1.92536619,
   1.76811845, -9.84456775, 23.71269736,  7.54988757, -1.40258919,
   9.61606911,-27.00175715, -0.74046092,  1.20790459, 12.05256849,
 -41.24293694,  0.08189025,  1.02127346,  0.14169128,  1.68292051,
   0.36238836,-14.7615488 ]

qfrc_actuator:
[-7.07111838e-05,-1.82201112e-05,-1.13311802e-04,-1.18185232e-05,
 -4.17329842e-05,-4.26455791e-04,-3.13667832e-04, 3.43478897e-05,
  3.99211695e-05,-9.11538731e-05,-7.68734080e-05, 2.45139530e-05,
  5.26615814e-03,-1.46612042e-03, 0.00000000e+00,-2.42008012e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034206030529075615
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.83998211e-13,  2.43427038e-13,  1.00000000e+00, -6.91328432e-26,
        1.00000000e+00, -2.43427038e-13, -1.00000000e+00,  0.00000000e+00,
        2.83998211e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09217317, -0.0883132 ,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.13725249e-05, 4.39147296e-05,-9.22398092e-06,-2.92606357e-05,
 -1.13243009e-05,-1.30003023e-05,-7.64775970e-06, 3.92847605e-05,
  4.42110093e-05, 1.27813360e-05,-8.11662286e-06,-5.13734834e-05,
 -3.37742676e-05, 1.05704928e-05,-9.45279025e-06,-2.02406780e-04,
 -1.02127238e-06, 2.08805524e-07,-1.21644303e+00,-4.58229766e-04,
  1.24066698e-05,-5.52557087e-04]


--- Step 1392 ---
qpos:
[ 6.20826191e-03,-1.80474404e-03,-4.95275646e-03, 3.35234449e-02,
  4.49521326e-03,-3.76443605e-03,-1.85355215e-02, 2.85795628e-02,
  1.29883030e-02, 3.32636737e-03,-9.99559135e-03, 2.58793534e-02,
  1.30079221e+00, 7.14726362e-05, 1.03429387e+00, 6.37790697e-02,
  9.37071393e-02,-7.02603379e-02, 1.30950107e-01, 4.95337429e-01,
  4.86287888e-01, 5.03769216e-01, 5.14180415e-01]

qacc:
[  2.3188393 , -1.20081426,  5.85546519,-12.47850755, -1.04212255,
  -1.79428373,  3.2723188 ,  4.1350543 , -1.49667946,  0.27539841,
  -0.06606373, -3.38107704,  0.69007238, -1.65037347,  5.92249236,
 -21.14074257,  0.08200869,  1.01148695,  0.04385936,  1.68831596,
   0.34495977,-14.61706378]

qfrc_actuator:
[-5.77867320e-05,-3.48874161e-05,-1.10421107e-04,-3.09894711e-05,
 -4.77454175e-05,-4.72122524e-04,-2.82912869e-04, 5.69358505e-05,
  2.99535049e-05,-1.06891364e-04,-9.57159372e-05, 1.25688023e-05,
  5.25591381e-03,-1.53026826e-03, 0.00000000e+00,-2.51869423e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003363414439902235
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23783031e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.23783031e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09217301, -0.08831476,  0.06199039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35462583e-05, 4.70998130e-06, 9.81230294e-06,-1.81774404e-05,
 -6.34179598e-06,-5.27891848e-05, 2.85073266e-05, 2.25328990e-05,
 -8.70663188e-06,-1.24286153e-05,-1.89790749e-05,-1.26802902e-05,
 -2.76315732e-05,-6.91149126e-05,-3.20962292e-05,-1.12313521e-04,
 -8.46971380e-07, 3.84737132e-09,-1.21644310e+00,-4.58612247e-04,
  1.11429927e-05,-5.52560229e-04]


--- Step 1393 ---
qpos:
[ 6.20722375e-03,-1.80373884e-03,-4.95289564e-03, 3.35231811e-02,
  4.49419739e-03,-3.76638127e-03,-1.85355914e-02, 2.85807704e-02,
  1.29886686e-02, 3.32523833e-03,-9.99540730e-03, 2.58798160e-02,
  1.30097532e+00, 7.09705281e-05, 1.03451422e+00, 6.37706851e-02,
  9.37265903e-02,-7.02507963e-02, 1.30955039e-01, 4.95297787e-01,
  4.86324936e-01, 5.03876994e-01, 5.14077945e-01]

qacc:
[-1.58373127e+00,-5.66908113e-01,-1.90142543e+00, 1.50812861e+01,
 -5.64043889e-01,-1.29268162e+00, 6.00604467e+00,-1.34106309e+01,
 -1.07915693e+00, 4.89456746e-01,-3.21913729e+00, 7.52691944e+00,
  5.60801235e-01,-1.53299611e+00, 1.29082254e+01,-4.49396458e+01,
  8.23516853e-02, 1.00363512e+00,-3.72807996e-02, 1.69567301e+00,
  3.28746807e-01,-1.45007852e+01]

qfrc_actuator:
[-6.76005845e-05,-4.54023020e-05,-7.29519572e-05, 1.14173533e-05,
 -5.08988461e-05,-4.80721929e-04,-2.82591870e-04, 3.40462313e-05,
  2.38790627e-05,-1.33733238e-04,-1.06987319e-04, 2.31940573e-05,
  5.24849684e-03,-1.58615249e-03, 0.00000000e+00,-2.73474160e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032937002498656387
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.21343375e-14,  1.68537350e-13,  1.00000000e+00,  7.10120960e-27,
        1.00000000e+00, -1.68537350e-13, -1.00000000e+00,  0.00000000e+00,
       -4.21343375e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09217284, -0.08831665,  0.06199059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.42963216e-06,-6.65931350e-06, 3.90192594e-05, 4.25953980e-05,
 -3.35510407e-06,-3.12073109e-05,-6.27352554e-06,-2.37263319e-05,
 -6.32716433e-06,-3.82307387e-05,-1.66086095e-05, 9.19026717e-06,
 -4.01396286e-05,-7.78800704e-05,-3.02484369e-05,-2.27136833e-04,
 -6.69383122e-07,-1.11907450e-07,-1.21644345e+00,-4.59004570e-04,
  9.80751766e-06,-5.52473359e-04]


--- Step 1394 ---
qpos:
[ 6.20642111e-03,-1.80295541e-03,-4.95281576e-03, 3.35234551e-02,
  4.49349613e-03,-3.76807488e-03,-1.85361219e-02, 2.85809762e-02,
  1.29889584e-02, 3.32374869e-03,-9.99503703e-03, 2.58803906e-02,
  1.30115797e+00, 7.06418498e-05, 1.03473404e+00, 6.37627539e-02,
  9.37463729e-02,-7.02372649e-02, 1.30959554e-01, 4.95270972e-01,
  4.86348816e-01, 5.04000837e-01, 5.13959775e-01]

qacc:
[  2.08197368,  0.19769957, -3.40733316, 12.53421808,  2.73396869,
  -0.44638663,  6.2950926 ,-23.07073965, -0.65455939, -0.76498204,
   1.5649326 ,  0.34072011, -0.44186035,  0.60733234, -2.1325748 ,
   6.37867429,  0.08288276,  0.99744366, -0.10430914,  1.70486585,
   0.31348328,-14.4087576 ]

qfrc_actuator:
[-5.52111298e-05,-6.97121398e-05,-6.85768040e-05, 3.64785464e-05,
 -3.45929294e-05,-4.49460910e-04,-3.00145136e-04,-1.54152906e-05,
  2.01617663e-05,-1.49220993e-04,-9.59873266e-05, 2.92495057e-05,
  5.23212688e-03,-1.56561529e-03, 0.00000000e+00,-2.69871419e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000321477726590344
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.63374763e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.63374763e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09217267, -0.08831878,  0.06199081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21126839e-05,-1.81826908e-05, 9.27106816e-06, 2.69541449e-05,
  1.62004231e-05, 1.15650194e-05,-2.55718857e-05,-5.14757965e-05,
 -3.91340483e-06,-3.98668358e-05, 1.38585447e-06, 4.02268922e-06,
 -5.84481963e-05,-6.31422794e-06,-4.29309744e-05, 1.86168968e-05,
 -4.87963279e-07,-1.41329538e-07,-1.21644408e+00,-4.59408113e-04,
  8.39857199e-06,-5.52297281e-04]


--- Step 1395 ---
qpos:
[ 6.20646309e-03,-1.80246416e-03,-4.95288006e-03, 3.35240624e-02,
  4.49334024e-03,-3.76905946e-03,-1.85371473e-02, 2.85805304e-02,
  1.29885112e-02, 3.32215397e-03,-9.99464389e-03, 2.58810115e-02,
  1.30134007e+00, 7.05743327e-05, 1.03495292e+00, 6.37605974e-02,
  9.37664897e-02,-7.02197628e-02, 1.30963431e-01, 4.95256907e-01,
  4.86359620e-01, 5.04140668e-01, 5.13825946e-01]

qacc:
[ 7.42734378e+00, 6.88780242e-01,-4.44847182e+00, 1.06902493e+01,
  4.74482605e+00, 9.69447681e-01, 6.38937468e-01,-1.16317386e+01,
 -6.48362725e+00,-9.50230149e-02,-3.58748985e-02, 8.52713559e-01,
 -2.32612325e-01, 3.26511009e-01,-1.87855973e+01, 6.37702575e+01,
  8.35721262e-02, 9.92676955e-01,-1.59439151e-01, 1.71576393e+00,
  2.98954221e-01,-1.43376207e+01]

qfrc_actuator:
[-1.20924518e-05,-1.02230975e-04,-8.38677301e-05, 5.10830078e-05,
 -6.96500898e-06,-3.76919919e-04,-3.10188558e-04,-4.45735310e-05,
 -1.76443569e-05,-1.39948791e-04,-8.96471677e-05, 3.25856652e-05,
  5.20510348e-03,-1.55326556e-03, 0.00000000e+00,-2.39015519e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003129373077526143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.43468627e-14,  1.77387451e-13,  1.00000000e+00, -7.86657691e-27,
        1.00000000e+00, -1.77387451e-13, -1.00000000e+00,  0.00000000e+00,
        4.43468627e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09217249, -0.08832109,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.34526180e-05,-3.96397823e-05,-1.69827340e-05, 1.46677951e-05,
  2.80979280e-05, 7.15931403e-05,-1.25607791e-05,-3.05453940e-05,
 -3.79356685e-05,-1.25150191e-05,-1.57271410e-06, 1.75536816e-06,
 -6.22249670e-05,-2.36915186e-06,-2.01535874e-05, 3.03540630e-04,
 -3.02219842e-07,-8.67140859e-08,-1.21644498e+00,-4.59824189e-04,
  6.91446014e-06,-5.52032657e-04]


--- Step 1396 ---
qpos:
[ 6.20667665e-03,-1.80227835e-03,-4.95308269e-03, 3.35244968e-02,
  4.49317178e-03,-3.76912739e-03,-1.85387553e-02, 2.85797167e-02,
  1.29879591e-02, 3.32072321e-03,-9.99482943e-03, 2.58809837e-02,
  1.30152171e+00, 7.06619651e-05, 1.03517220e+00, 6.37574072e-02,
  9.37855730e-02,-7.01981355e-02, 1.30966635e-01, 4.95261638e-01,
  4.86351955e-01, 5.04291684e-01, 5.13680429e-01]

qacc:
[  1.50943823, -0.37631098,  1.48142534, -4.02466298, -0.14423632,
   2.08223579, -4.11290125, -1.99833741, -0.94471525,  0.50072521,
   1.27087002,-11.69550186, -0.56403677,  0.77707662,  3.74753057,
 -12.1616752 , -0.2584028 ,  1.03128666, -0.16824963, -3.32442672,
  -0.06559902,-15.09819331]

qfrc_actuator:
[-4.49743966e-06,-1.21763474e-04,-9.29300638e-05, 4.16500528e-05,
 -8.40575491e-06,-3.15674289e-04,-3.33260189e-04,-6.14991464e-05,
 -2.19542670e-05,-1.33684538e-04,-1.21519320e-04,-1.19396268e-06,
  5.18236272e-03,-1.54598541e-03, 0.00000000e+00,-2.45615887e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030403659662725876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.61059101e-07,  4.07864135e-13,  1.00000000e+00, -6.56902310e-20,
        1.00000000e+00, -4.07864135e-13, -1.00000000e+00,  0.00000000e+00,
        1.61059101e-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([ 0.09750073, -0.08908743,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.81512035e-06,-4.45822277e-05,-1.88428465e-05,-1.14378164e-05,
 -6.11310529e-07, 9.74354299e-05,-1.08645977e-05,-1.48822215e-05,
 -5.39657355e-06,-9.46749315e-07,-3.45765323e-05,-3.43334168e-05,
 -5.82590503e-05,-7.87453995e-06, 2.21966711e-05,-5.21847204e-05,
 -1.11700241e-07, 5.00976862e-08,-1.21644615e+00,-4.60254083e-04,
  5.35346247e-06,-5.51680020e-04]


--- Step 1397 ---
qpos:
[ 6.20663486e-03,-1.80221839e-03,-4.95348534e-03, 3.35247959e-02,
  4.49298787e-03,-3.76869836e-03,-1.85402666e-02, 2.85794037e-02,
  1.29877043e-02, 3.31919693e-03,-9.99534535e-03, 2.58809135e-02,
  1.30170301e+00, 7.07866650e-05, 1.03539156e+00, 6.37534839e-02,
  9.38007200e-02,-7.01843958e-02, 1.30969483e-01, 4.95252700e-01,
  4.86354576e-01, 5.04400039e-01, 5.13580170e-01]

qacc:
[ -2.24945866,  0.11866532, -0.08579333, -1.85090383, -0.14029511,
   1.4157793 , -6.20902025, 14.35249231,  2.60780016,  0.70440532,
  -2.52393651,  2.39543624, -0.33019801,  0.39697797,  2.35086801,
  -8.00437911, -0.98404336, -1.97186403, -0.08894349,-16.49786714,
   1.24637759, 27.6853932 ]

qfrc_actuator:
[-1.78814324e-05,-1.15621399e-04,-9.82034085e-05, 3.59203734e-05,
 -9.19526876e-06,-2.97202353e-04,-3.28357661e-04,-3.56030762e-05,
 -6.50377663e-06,-1.47204693e-04,-1.40221181e-04,-3.30887301e-06,
  5.17285660e-03,-1.54174546e-03, 0.00000000e+00,-2.49386486e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003022890970060532
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.18179845e-14, -4.59089922e-14,  1.00000000e+00,  4.21527114e-27,
        1.00000000e+00,  4.59089922e-14, -1.00000000e+00,  0.00000000e+00,
        9.18179845e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10886357, -0.03363609,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31481447e-05,-2.31739683e-05,-1.72003335e-05,-8.51598754e-06,
 -7.71916728e-07, 7.00985955e-05, 2.31963226e-05, 2.94117355e-05,
  1.52949386e-05,-2.26127504e-05,-2.43256368e-05,-4.01626539e-06,
 -4.43549386e-05,-1.11280909e-05,-1.87518206e-06,-3.91927974e-05,
  1.69171926e-07, 3.35344906e-07,-1.21644715e+00,-4.60732153e-04,
  4.08800284e-06,-5.51271690e-04]


--- Step 1398 ---
qpos:
[ 6.20677798e-03,-1.80224345e-03,-4.95401911e-03, 3.35253588e-02,
  4.49314120e-03,-3.76828571e-03,-1.85411933e-02, 2.85797812e-02,
  1.29869464e-02, 3.31768450e-03,-9.99615447e-03, 2.58808016e-02,
  1.30188434e+00, 6.98551391e-05, 1.03561060e+00, 6.37511376e-02,
  9.38120079e-02,-7.01783842e-02, 1.30971198e-01, 4.95230334e-01,
  4.86367276e-01, 5.04466683e-01, 5.13524251e-01]

qacc:
[  1.623426  ,  0.79418344, -4.11375678,  8.95704549,  2.97043109,
  -0.24002669, -2.10158615, 13.14142579, -4.43620101,  0.76082461,
  -2.49573998,  2.21867436,  0.95203224, -2.14968866, -5.30851493,
  17.69631512, -0.9647871 , -1.93206246, -0.28349968,-16.13203552,
   1.25182779, 27.11329403]

qfrc_actuator:
[-7.98927337e-06,-1.11884629e-04,-1.01086346e-04, 5.01967141e-05,
  8.16648490e-06,-3.22094246e-04,-3.07117125e-04,-2.48798606e-06,
 -3.28152335e-05,-1.36896331e-04,-1.51037704e-04,-4.52419231e-06,
  5.16064399e-03,-1.61028414e-03, 0.00000000e+00,-2.40796338e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57452538, -2.83309196,  3.59163924, -2.83309196, 19.12703852,
       11.47905041,  3.59163924, 11.47905041, 13.62922247,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031010344023456315
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.95042493e-14, -8.95042493e-14,  1.00000000e+00,  8.01101064e-27,
        1.00000000e+00,  8.95042493e-14, -1.00000000e+00,  0.00000000e+00,
        8.95042493e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1088616 , -0.03364006,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.51144536e-06,-1.31427808e-05,-1.00790801e-05, 1.25230947e-05,
  1.73620036e-05, 2.03613169e-05, 3.96080797e-05, 3.74973655e-05,
 -2.58890474e-05,-7.46772252e-06,-1.85995250e-05,-3.10020183e-06,
 -4.02241204e-05,-8.12568251e-05,-9.98227434e-06, 8.23895544e-05,
 -8.66763634e-08, 1.29045604e-07,-1.21644359e+00,-4.60946927e-04,
  6.94514630e-06,-5.50793220e-04]


--- Step 1399 ---
qpos:
[ 6.20669354e-03,-1.80239560e-03,-4.95485578e-03, 3.35261056e-02,
  4.49350136e-03,-3.76776249e-03,-1.85418156e-02, 2.85802109e-02,
  1.29862239e-02, 3.31644247e-03,-9.99696602e-03, 2.58806222e-02,
  1.30206555e+00, 6.78907163e-05, 1.03582987e+00, 6.37471302e-02,
  9.38195012e-02,-7.01799683e-02, 1.30971123e-01, 4.95194737e-01,
  4.86389883e-01, 5.04492399e-01, 5.13511903e-01]

qacc:
[-2.00820399e+00, 1.06131823e+00,-4.79712626e+00, 8.54933949e+00,
  1.81782135e+00,-6.00081461e-01, 2.12490188e+00,-1.78120217e+00,
  3.05733766e-01, 2.24383979e-01, 2.99020993e-03,-1.36741852e+00,
  5.98205682e-01,-1.65972029e+00, 5.28041394e+00,-1.81432704e+01,
 -9.48668998e-01,-1.89889668e+00,-4.47287670e-01,-1.58283097e+01,
  1.25490608e+00, 2.66375792e+01]

qfrc_actuator:
[-1.99748084e-05,-1.27334160e-04,-1.20276565e-04, 5.83790500e-05,
  1.83198597e-05,-3.19431985e-04,-2.94352842e-04,-9.36861489e-07,
 -3.02445212e-05,-9.46093823e-05,-1.39275421e-04,-5.18373046e-06,
  5.14146099e-03,-1.66815363e-03, 0.00000000e+00,-2.49845128e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58834333, -3.03561049,  3.44063416, -3.03561049, 17.48793957,
       11.38108495,  3.44063416, 11.38108495, 14.6296727 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003140712202290702
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.83735084e-14,  4.41867542e-14,  1.00000000e+00, -3.90493849e-27,
        1.00000000e+00, -4.41867542e-14, -1.00000000e+00,  0.00000000e+00,
        8.83735084e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10886053, -0.03364205,  0.06199102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17192853e-05,-2.43356657e-05,-2.27084067e-05, 7.51371968e-06,
  1.06533021e-05, 2.38374533e-05, 2.31509239e-05, 4.52354632e-06,
  1.82783184e-06, 3.41891633e-05, 7.84918571e-06,-1.67709929e-06,
 -6.11867893e-05,-8.60175264e-05, 1.35263736e-06,-8.79359438e-05,
 -1.82729176e-07, 6.68558033e-08,-1.21644138e+00,-4.61298237e-04,
  8.86196081e-06,-5.50584696e-04]


--- Step 1400 ---
qpos:
[ 6.20612106e-03,-1.80241446e-03,-4.95606675e-03, 3.35272615e-02,
  4.49398033e-03,-3.76673173e-03,-1.85426919e-02, 2.85802985e-02,
  1.29855374e-02, 3.31539830e-03,-9.99707805e-03, 2.58803957e-02,
  1.30224627e+00, 6.57825817e-05, 1.03604879e+00, 6.37447512e-02,
  9.38232534e-02,-7.01890378e-02, 1.30968708e-01, 4.95146072e-01,
  4.86422250e-01, 5.04477829e-01, 5.13542483e-01]

qacc:
[-4.30519728e+00, 2.07309945e+00,-8.84779432e+00, 1.64095933e+01,
  1.02286908e+00, 6.74174691e-01, 1.11767127e-02,-5.89835760e+00,
  3.35760530e-01,-1.79095731e+00, 6.96258899e+00,-9.03885429e+00,
 -1.50391200e-01,-5.76187900e-02,-5.42653677e+00, 1.82464415e+01,
 -9.35240112e-01,-1.87136039e+00,-5.85072901e-01,-1.55772270e+01,
  1.25598788e+00, 2.62439026e+01]

qfrc_actuator:
[-4.47484476e-05,-1.00961507e-04,-1.31274289e-04, 8.06320048e-05,
  2.41437167e-05,-2.82604990e-04,-3.04380611e-04,-1.79620801e-05,
 -2.84342453e-05,-6.89026447e-05,-9.63867060e-05,-5.46710564e-06,
  5.12343441e-03,-1.66596456e-03, 0.00000000e+00,-2.40812335e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031494029254364175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.81296432e-14,  8.81296432e-14,  1.00000000e+00,  7.76683401e-27,
        1.00000000e+00, -8.81296432e-14, -1.00000000e+00,  0.00000000e+00,
       -8.81296432e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1088602 , -0.03364243,  0.061991  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51135486e-05, 8.40498336e-06,-1.85510750e-05, 2.05717243e-05,
  6.13538680e-06, 5.51236116e-05,-2.09600393e-06,-1.51157561e-05,
  1.86908856e-06, 4.64282091e-05, 5.08833117e-05, 1.42549639e-06,
 -7.32241497e-05,-3.18740061e-05,-1.40596562e-05, 8.44693191e-05,
 -1.27584616e-07, 1.39018369e-07,-1.21644042e+00,-4.61780604e-04,
  9.90181367e-06,-5.50639209e-04]


--- Step 1401 ---
qpos:
[ 6.20560066e-03,-1.80193812e-03,-4.95759346e-03, 3.35282781e-02,
  4.49418060e-03,-3.76524929e-03,-1.85436722e-02, 2.85798327e-02,
  1.29848779e-02, 3.31444201e-03,-9.99627558e-03, 2.58794756e-02,
  1.30242639e+00, 6.41668439e-05, 1.03626771e+00, 6.37424330e-02,
  9.38233092e-02,-7.02055016e-02, 1.30963489e-01, 4.95084467e-01,
  4.86464254e-01, 5.04423494e-01, 5.13615458e-01]

qacc:
[  0.43946552,  1.24947951, -2.91862323,  0.6490531 , -2.45046699,
  -0.24585533,  4.08791761,-13.83991426,  0.26485074, -3.86782972,
  16.88708117,-30.41607832, -0.83522314,  1.37059604, -0.11705752,
   0.5659228 , -0.92411516, -1.84859642, -0.70090573,-15.37089618,
   1.25532292, 25.92021386]

qfrc_actuator:
[-4.13381774e-05,-4.97050753e-05,-1.37163953e-04, 7.55233735e-05,
  9.62252911e-06,-2.61225624e-04,-3.09894336e-04,-4.57595219e-05,
 -2.70950986e-05,-7.09322810e-05,-5.32757508e-05,-4.10235715e-05,
  5.11146469e-03,-1.62821637e-03, 0.00000000e+00,-2.40720986e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031333594352493666
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.85808864e-14, -2.21452216e-13,  1.00000000e+00,  1.96164336e-26,
        1.00000000e+00,  2.21452216e-13, -1.00000000e+00,  0.00000000e+00,
        8.85808864e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10886045, -0.03364153,  0.06199105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.70012291e-06, 5.30114029e-05,-5.71316789e-06,-4.98861971e-06,
 -1.43259664e-05, 5.10983636e-05, 5.08873196e-06,-2.58026029e-05,
  1.40287099e-06, 3.45430959e-05, 5.90312811e-05,-3.17755827e-05,
 -6.10287785e-05, 1.33651461e-05,-7.55442533e-07, 2.98161317e-06,
  7.23110791e-08, 3.38694438e-07,-1.21644066e+00,-4.62389589e-04,
  1.01135478e-05,-5.50951148e-04]


--- Step 1402 ---
qpos:
[ 6.20581483e-03,-1.80097533e-03,-4.95923201e-03, 3.35292117e-02,
  4.49351587e-03,-3.76384527e-03,-1.85442460e-02, 2.85797611e-02,
  1.29849297e-02, 3.31348692e-03,-9.99517265e-03, 2.58788818e-02,
  1.30260599e+00, 6.32176122e-05, 1.03648684e+00, 6.37381274e-02,
  9.38197052e-02,-7.02292850e-02, 1.30955078e-01, 4.95010023e-01,
  4.86515790e-01, 5.04329811e-01, 5.13730381e-01]

qacc:
[  6.44705108,  0.77239202, -1.49294605, -0.09737748, -7.55569857,
  -0.41353839, -0.31517522,  6.51915001,  6.26859731, -0.17887451,
  -0.7585565 ,  5.94641397, -1.04937077,  1.83735193,  6.38375778,
 -21.69915622, -0.9149629 , -1.82987296, -0.79823829,-15.20271069,
   1.25306655, 25.65635211]

qfrc_actuator:
[-3.60984578e-06,-1.94388707e-05,-1.39897622e-04, 7.21351533e-05,
 -3.45083267e-05,-2.84767253e-04,-2.94995403e-04,-2.64143966e-05,
  9.46121676e-06,-8.95729052e-05,-4.60314889e-05,-2.60679941e-05,
  5.09783047e-03,-1.58746397e-03, 0.00000000e+00,-2.51228686e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003097795166663586
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79195680e-13, -2.68793520e-13,  1.00000000e+00,  4.81666378e-26,
        1.00000000e+00,  2.68793520e-13, -1.00000000e+00,  0.00000000e+00,
        1.79195680e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10886116, -0.03363964,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.78239002e-05, 5.85176050e-05, 7.35078990e-06,-1.41131149e-06,
 -4.45214057e-05, 4.93140344e-06, 2.51832056e-05, 2.12093908e-05,
  3.66047789e-05, 1.15337403e-05, 2.05542406e-05, 1.78622488e-05,
 -4.51833564e-05, 2.97869372e-05,-4.96709689e-06,-1.06127416e-04,
  4.12274681e-07, 6.61455144e-07,-1.21644204e+00,-4.63121580e-04,
  9.53445186e-06,-5.51515969e-04]


--- Step 1403 ---
qpos:
[ 6.20613462e-03,-1.79969573e-03,-4.96057421e-03, 3.35304361e-02,
  4.49232758e-03,-3.76290386e-03,-1.85444411e-02, 2.85806646e-02,
  1.29854196e-02, 3.31199054e-03,-9.99372211e-03, 2.58792301e-02,
  1.30278520e+00, 6.27506553e-05, 1.03670557e+00, 6.37352673e-02,
  9.38131486e-02,-7.02482700e-02, 1.30950195e-01, 4.94962696e-01,
  4.86542293e-01, 5.04243452e-01, 5.13835643e-01]

qacc:
[  0.93277348,  0.18697495, -1.28924247,  5.61542943, -4.56166442,
   0.34493352, -6.21930637, 22.81323332,  3.8765217 ,  0.24510035,
  -5.90338723, 22.06749807, -0.57066795,  1.04219403, -4.8917817 ,
  16.3890265 , -0.73815157,  1.19958815,  0.88223046, -8.47451514,
  -0.94519961,-17.45156568]

qfrc_actuator:
[ 7.48114566e-07,-1.95614195e-06,-1.23062669e-04, 8.75311106e-05,
 -6.02019572e-05,-3.34912045e-04,-2.86070446e-04, 2.04900242e-05,
  3.09475461e-05,-1.53633859e-04,-4.23063878e-05, 1.84524361e-05,
  5.08321298e-03,-1.56303274e-03, 0.00000000e+00,-2.43039722e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032081988958311547
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.86644120e-14, -1.73029020e-13,  1.00000000e+00,  8.42035554e-27,
        1.00000000e+00,  1.73029020e-13, -1.00000000e+00,  0.00000000e+00,
        4.86644120e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10290349, -0.08985685,  0.06199083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.45202771e-06, 5.16588940e-05, 2.97832322e-05, 1.81281849e-05,
 -2.69656550e-05,-4.13362484e-05, 1.37717616e-05, 4.84000515e-05,
  2.25267138e-05,-5.25640424e-05, 9.25547709e-06, 4.60730087e-05,
 -3.36416876e-05, 2.11650378e-05,-1.92941407e-05, 7.41598359e-05,
  8.89079240e-07, 1.10489644e-06,-1.21644454e+00,-4.63973604e-04,
  8.19257801e-06,-5.52329999e-04]


--- Step 1404 ---
qpos:
[ 6.20684953e-03,-1.79825606e-03,-4.96156934e-03, 3.35311613e-02,
  4.49084005e-03,-3.76225589e-03,-1.85445275e-02, 2.85821207e-02,
  1.29858182e-02, 3.31042994e-03,-9.99235354e-03, 2.58797329e-02,
  1.30296404e+00, 6.26322096e-05, 1.03692398e+00, 6.37347064e-02,
  9.38037539e-02,-7.02625728e-02, 1.30947901e-01, 4.94941965e-01,
  4.86544064e-01, 5.04164180e-01, 5.13931712e-01]

qacc:
[  3.48218385, -1.79304264,  8.79472856,-18.09030947, -2.61005026,
   0.45039313, -4.49363153, 14.0908123 , -0.80508062,  0.46375731,
  -2.42631758,  5.27543716, -0.39918177,  0.70253824, -7.37797839,
  25.20586984, -0.70950134,  1.1705649 ,  0.64727771, -8.45236435,
  -0.83355048,-17.06686333]

qfrc_actuator:
[ 2.09242364e-05,-9.92105405e-06,-1.12602619e-04, 6.05993197e-05,
 -7.48286785e-05,-3.47345284e-04,-2.80864706e-04, 4.76862647e-05,
  2.56278534e-05,-1.37889218e-04,-4.08601008e-05, 2.67074177e-05,
  5.06268645e-03,-1.54847658e-03, 0.00000000e+00,-2.30997622e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.64616681, -0.19536346,  4.64205764, -0.19536346, 12.43712955,
        0.32788681,  4.64205764,  0.32788681,  4.6599661 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032993765972423594
  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([ 0.10290431, -0.08985441,  0.06199057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.03442903e-05, 2.78196354e-05, 2.54238925e-05,-2.33377185e-05,
 -1.54140460e-05,-3.06729172e-05, 2.90710927e-08, 2.68406551e-05,
 -4.70353246e-06,-9.71733788e-06,-6.67797217e-06, 7.21777181e-06,
 -3.48370847e-05, 1.18777769e-05,-3.96107688e-06, 1.21317964e-04,
  6.86957810e-07, 4.35979024e-07,-1.21644319e+00,-4.63064380e-04,
  8.17188163e-06,-5.52822727e-04]


--- Step 1405 ---
qpos:
[ 6.20780090e-03,-1.79696763e-03,-4.96197412e-03, 3.35315821e-02,
  4.48884351e-03,-3.76178804e-03,-1.85445428e-02, 2.85831887e-02,
  1.29858047e-02, 3.30943482e-03,-9.99158528e-03, 2.58806303e-02,
  1.30314242e+00, 6.30295659e-05, 1.03714256e+00, 6.37335628e-02,
  9.37916136e-02,-7.02722901e-02, 1.30947405e-01, 4.94947387e-01,
  4.86521364e-01, 5.04091798e-01, 5.14018974e-01]

qacc:
[  2.10019735, -2.4810647 ,  9.83374656,-15.92529017, -4.44958066,
  -1.22574281,  5.67887107,-12.39126829, -3.65527408,  3.24441668,
 -12.13737419, 19.49595839, -0.79366405,  1.37519846,  2.08204084,
  -6.75693575, -0.68641846,  1.14635635,  0.44949439, -8.42783328,
  -0.74271856,-16.74495591]

qfrc_actuator:
[ 3.25068706e-05,-3.31245502e-05,-8.83841598e-05, 4.44496095e-05,
 -1.00582788e-04,-3.54888358e-04,-2.77771880e-04, 2.75847337e-05,
  4.57876538e-06,-7.45217563e-05,-5.82432118e-05, 4.91192175e-05,
  5.03862611e-03,-1.52215198e-03, 0.00000000e+00,-2.34539461e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.66477829, -0.30886946,  4.65454145, -0.30886946, 16.63372539,
        0.79424414,  4.65454145,  0.79424414,  4.71748332,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003348113404742642
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.31596601e-13,  1.24348725e-13,  1.00000000e+00, -4.12336147e-26,
        1.00000000e+00, -1.24348725e-13, -1.00000000e+00,  0.00000000e+00,
        3.31596601e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10290528, -0.08985316,  0.06199043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21670476e-05,-3.43219422e-06, 3.22805150e-05,-1.45357626e-05,
 -2.62062650e-05,-2.35701880e-05,-2.31967616e-06,-2.08965366e-05,
 -2.11895827e-05, 5.69023665e-05,-1.99614304e-05, 2.19043546e-05,
 -4.09466370e-05, 2.10451179e-05, 7.80974906e-06,-3.00527068e-05,
  4.20459579e-07,-2.54877333e-08,-1.21644235e+00,-4.62235946e-04,
  8.45178363e-06,-5.53177483e-04]


--- Step 1406 ---
qpos:
[ 6.20819397e-03,-1.79592093e-03,-4.96173156e-03, 3.35321593e-02,
  4.48724360e-03,-3.76170597e-03,-1.85441681e-02, 2.85843574e-02,
  1.29851941e-02, 3.30866075e-03,-9.99062621e-03, 2.58810872e-02,
  1.30332042e+00, 6.37744731e-05, 1.03736136e+00, 6.37303373e-02,
  9.37768016e-02,-7.02775024e-02, 1.30948043e-01, 4.94978593e-01,
  4.86474414e-01, 5.04026140e-01, 5.14097741e-01]

qacc:
[ -4.88451139, -1.79733779,  5.30049643, -3.46634122,  3.49007764,
  -1.39842428,  3.80989303, -2.39442416, -5.25202328, -1.13757015,
   6.35761332,-14.46801547, -0.6989932 ,  1.143107  ,  6.64611114,
 -22.67664077, -0.66790198,  1.12624695,  0.28329464, -8.40374507,
  -0.66821146,-16.47671449]

qfrc_actuator:
[ 3.42876305e-06,-4.74712721e-05,-5.62927448e-05, 5.25267698e-05,
 -7.94259707e-05,-3.77245904e-04,-2.58200120e-04, 3.30820206e-05,
 -2.55506108e-05,-7.19477862e-05,-5.08675663e-05, 2.64653209e-05,
  5.01779272e-03,-1.50682565e-03, 0.00000000e+00,-2.45460168e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.67039032, -0.46133114,  4.64754982, -0.46133114, 24.13931698,
        1.93254995,  4.64754982,  1.93254995,  4.86222161,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033626020404772805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.65083916e-13,  1.03177447e-14,  1.00000000e+00, -1.70329370e-27,
        1.00000000e+00, -1.03177447e-14, -1.00000000e+00,  0.00000000e+00,
        1.65083916e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10290637, -0.08985287,  0.06199039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.87378131e-05,-1.02625202e-05, 3.48426164e-05, 8.76046419e-06,
  2.04009231e-05,-3.69409516e-05, 1.36878393e-05, 3.99791955e-06,
 -3.07138119e-05, 3.12271020e-05, 1.74303020e-05,-2.04803921e-05,
 -3.92002936e-05, 1.08340481e-05,-5.13956013e-06,-1.11111073e-04,
  8.68229614e-08,-2.91906479e-07,-1.21644198e+00,-4.61467552e-04,
  9.02388297e-06,-5.53399034e-04]


--- Step 1407 ---
qpos:
[ 6.20858066e-03,-1.79531178e-03,-4.96091992e-03, 3.35321690e-02,
  4.48659926e-03,-3.76193607e-03,-1.85435822e-02, 2.85859310e-02,
  1.29838818e-02, 3.30835995e-03,-9.99022593e-03, 2.58809437e-02,
  1.30349813e+00, 6.47068614e-05, 1.03758046e+00, 6.37228069e-02,
  9.37593772e-02,-7.02782763e-02, 1.30949256e-01, 4.95035271e-01,
  4.86403397e-01, 5.03967070e-01, 5.14168268e-01]

qacc:
[-3.08821482e-02,-3.33756825e+00, 1.34560879e+01,-2.38624751e+01,
  8.37486936e+00,-1.86548933e-01,-1.67136918e+00, 8.60054136e+00,
 -6.20041570e+00, 9.63159879e-01, 2.98763790e-02,-9.90089609e+00,
 -6.36136958e-01, 9.74600560e-01, 1.35008864e+01,-4.64557570e+01,
 -6.53138854e-01, 1.10962962e+00, 1.43925313e-01,-8.38206371e+00,
 -6.06473185e-01,-1.62544453e+01]

qfrc_actuator:
[ 3.91228913e-06,-9.18582151e-05,-3.75233199e-05, 2.15430311e-05,
 -3.08246363e-05,-3.90461785e-04,-2.46840842e-04, 5.36051820e-05,
 -6.07784024e-05,-5.24737776e-05,-8.24455561e-05,-4.79812120e-06,
  5.00423145e-03,-1.49813634e-03, 0.00000000e+00,-2.67736033e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.66539756, -0.66471089,  4.61780184, -0.66471089, 41.30314659,
        5.27383196,  4.61780184,  5.27383196,  5.42454091,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003349716830196581
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.65718937e-13, -1.55361503e-13,  1.00000000e+00, -2.57463432e-26,
        1.00000000e+00,  1.55361503e-13, -1.00000000e+00,  0.00000000e+00,
       -1.65718937e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10290758, -0.08985336,  0.06199043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.42599896e-07,-4.26064718e-05, 2.12284479e-05,-3.00505118e-05,
  4.91705166e-05,-3.08774358e-05, 5.54465822e-06, 1.94869777e-05,
 -3.60907089e-05, 3.96623069e-05,-2.36919074e-05,-2.97209727e-05,
 -3.36712911e-05, 2.38967534e-06,-1.97531282e-05,-2.30760072e-04,
 -3.15788961e-07,-3.73108443e-07,-1.21644206e+00,-4.60743489e-04,
  9.88134995e-06,-5.53491188e-04]


--- Step 1408 ---
qpos:
[ 6.20896998e-03,-1.79521543e-03,-4.96009023e-03, 3.35322018e-02,
  4.48619748e-03,-3.76212310e-03,-1.85432440e-02, 2.85870334e-02,
  1.29818121e-02, 3.30899372e-03,-9.99102430e-03, 2.58804117e-02,
  1.30367556e+00, 6.57602779e-05, 1.03779940e+00, 6.37129785e-02,
  9.37422134e-02,-7.02748618e-02, 1.30951618e-01, 4.95105046e-01,
  4.86319243e-01, 5.03924755e-01, 5.14222159e-01]

qacc:
[  0.03245367, -0.6809106 ,  1.34710425, -0.5998307 ,  2.11414854,
  -0.22375283,  2.86252285,-10.64299863, -6.72052078,  3.79867902,
 -10.08940299,  4.57004932, -0.42877166,  0.62440282,  6.72318745,
 -23.80406488,  0.06518412,  1.04708201,  0.28704216,  2.06232625,
   0.17814747,-14.87067473]

qfrc_actuator:
[ 4.05154686e-06,-1.36224137e-04,-4.46804100e-05, 2.10420125e-05,
 -1.97320597e-05,-3.80359339e-04,-2.58139096e-04, 2.95415145e-05,
 -9.87218424e-05, 1.23048883e-05,-1.36722450e-04,-2.31384719e-05,
  4.98971290e-03,-1.49340820e-03, 0.00000000e+00,-2.78766771e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033273065970239324
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.17087738e-14, -1.66835095e-13,  1.00000000e+00, -6.95848723e-27,
        1.00000000e+00,  1.66835095e-13, -1.00000000e+00,  0.00000000e+00,
       -4.17087738e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09218838, -0.088321  ,  0.06199049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12277789e-07,-6.51273574e-05,-1.44002266e-05,-2.18038611e-06,
  1.24854165e-05,-5.16861783e-06,-1.63284780e-05,-2.48221980e-05,
 -3.89533194e-05, 8.07802800e-05,-5.00314013e-05,-1.80374869e-05,
 -3.39254324e-05,-2.01971729e-06,-3.94949282e-05,-1.26781833e-04,
 -7.88617509e-07,-2.76864317e-07,-1.21644258e+00,-4.60051765e-04,
  1.10188534e-05,-5.53456986e-04]


--- Step 1409 ---
qpos:
[ 6.20935779e-03,-1.79539943e-03,-4.95973277e-03, 3.35325782e-02,
  4.48593209e-03,-3.76209130e-03,-1.85431387e-02, 2.85874698e-02,
  1.29793037e-02, 3.30991587e-03,-9.99171177e-03, 2.58793107e-02,
  1.30385316e+00, 6.52932950e-05, 1.03801718e+00, 6.37092078e-02,
  9.37253190e-02,-7.02673163e-02, 1.30954646e-01, 4.95187814e-01,
  4.86221981e-01, 5.03898986e-01, 5.14259688e-01]

qacc:
[-2.30937641e-02, 1.65705532e+00,-7.89604532e+00, 1.48029497e+01,
  1.18207803e+00,-4.32652432e-01, 4.77141699e+00,-1.60847251e+01,
 -3.86158972e+00,-1.09266018e+00, 6.86482845e+00,-1.71174240e+01,
  1.71846485e+00,-3.56397409e+00,-2.01525513e+01, 6.76547980e+01,
  6.73453730e-02, 1.03274907e+00, 1.66791948e-01, 1.97248438e+00,
  2.13634999e-01,-1.47163538e+01]

qfrc_actuator:
[ 3.97780011e-06,-1.44821924e-04,-6.70699914e-05, 3.84671114e-05,
 -1.30613512e-05,-3.56496274e-04,-2.64904628e-04,-2.80768209e-06,
 -1.20205464e-04, 1.48525719e-05,-1.32744782e-04,-5.14495131e-05,
  4.96930298e-03,-1.59758109e-03, 0.00000000e+00,-2.45798408e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003297953760330319
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.41599902e-14, -8.41599902e-14,  1.00000000e+00,  7.08290395e-27,
        1.00000000e+00,  8.41599902e-14, -1.00000000e+00,  0.00000000e+00,
        8.41599902e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09218895, -0.08832208,  0.06199057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.37752202e-08,-4.80999723e-05,-3.77029505e-05, 1.40914113e-05,
  7.02726750e-06, 1.65410532e-05,-1.07081296e-05,-3.36220938e-05,
 -2.25582450e-05, 3.65802599e-05, 1.38798959e-05,-2.69286611e-05,
 -4.09999038e-05,-1.12008556e-04,-3.53959978e-05, 3.16846638e-04,
 -1.01646426e-06,-4.45796379e-08,-1.21644259e+00,-4.59435805e-04,
  1.21498816e-05,-5.53302577e-04]


--- Step 1410 ---
qpos:
[ 6.20974137e-03,-1.79547665e-03,-4.95982146e-03, 3.35324177e-02,
  4.48609399e-03,-3.76218435e-03,-1.85430203e-02, 2.85878874e-02,
  1.29772472e-02, 3.31070591e-03,-9.99159697e-03, 2.58778851e-02,
  1.30403062e+00, 6.36644163e-05, 1.03823490e+00, 6.37076563e-02,
  9.37086999e-02,-7.02556860e-02, 1.30957941e-01, 4.95283488e-01,
  4.86111634e-01, 5.03889588e-01, 5.14281080e-01]

qacc:
[ -0.05346137,  0.28279522,  1.46344584,-10.12160424,  3.74209189,
  -0.24726122,  0.70855239, -0.94752007,  4.00401793, -3.09265413,
  12.13046012,-18.91766147,  0.92113389, -2.2374093 , -6.87131957,
  23.71006626,  0.06879772,  1.02118116,  0.06650149,  1.89824476,
   0.24341467,-14.59066617]

qfrc_actuator:
[ 3.77932950e-06,-1.14233518e-04,-8.03633925e-05, 1.30601425e-05,
  8.71803646e-06,-3.77827720e-04,-2.68866368e-04,-4.23944148e-06,
 -9.63238490e-05,-1.91334107e-06,-9.46444685e-05,-6.76542933e-05,
  4.95065452e-03,-1.65898579e-03, 0.00000000e+00,-2.35106342e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032510693180193284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.53736814e-14,  1.70747363e-13,  1.00000000e+00,  1.45773310e-26,
        1.00000000e+00, -1.70747363e-13, -1.00000000e+00,  0.00000000e+00,
       -8.53736814e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09218936, -0.08832357,  0.06199071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.16848065e-07,-3.49334877e-06,-2.73885602e-05,-2.84996573e-05,
  2.19877397e-05,-1.57353320e-05,-3.03043006e-06,-1.74932095e-06,
  2.32560566e-05, 5.36432605e-06, 4.64323606e-05,-1.46785905e-05,
 -6.80965855e-05,-9.70988963e-05, 1.85007984e-05, 1.19908956e-04,
 -1.23387904e-06, 2.70826321e-07,-1.21644289e+00,-4.58842962e-04,
  1.31770480e-05,-5.53061674e-04]


--- Step 1411 ---
qpos:
[ 6.20977468e-03,-1.79554454e-03,-4.96007595e-03, 3.35316012e-02,
  4.48651593e-03,-3.76255978e-03,-1.85431789e-02, 2.85890162e-02,
  1.29758378e-02, 3.31129982e-03,-9.99123177e-03, 2.58766687e-02,
  1.30420727e+00, 6.28815034e-05, 1.03845252e+00, 6.37087552e-02,
  9.36923595e-02,-7.02400080e-02, 1.30961168e-01, 4.95391997e-01,
  4.85988216e-01, 5.03896421e-01, 5.14286516e-01]

qacc:
[-3.08574545e+00,-8.68897481e-01, 5.89552660e+00,-1.70007318e+01,
  2.27232770e+00, 1.85825447e+00,-1.01784721e+01, 2.31447090e+01,
  5.70623620e+00,-5.39518032e-01, 6.44989730e-01, 2.74060116e+00,
 -1.11048699e+00, 1.94577497e+00,-8.06494416e+00, 2.82034597e+01,
  6.97055631e-02, 1.01195346e+00,-1.68722490e-02, 1.83656133e+00,
  2.68734705e-01,-1.44898831e+01]

qfrc_actuator:
[-1.42432752e-05,-1.13666285e-04,-8.80362665e-05,-1.95502885e-05,
  2.14645284e-05,-4.08267081e-04,-2.89051258e-04, 3.02509267e-05,
 -6.36907865e-05,-2.99622672e-05,-9.00642019e-05,-5.88595571e-05,
  4.93841076e-03,-1.58796413e-03, 0.00000000e+00,-2.21661151e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003190751014652271
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.69875947e-14,  2.60962784e-13,  1.00000000e+00,  2.27005249e-26,
        1.00000000e+00, -2.60962784e-13, -1.00000000e+00,  0.00000000e+00,
       -8.69875947e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09218964, -0.08832538,  0.06199088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80273318e-05,-8.26213174e-06,-1.27519509e-05,-3.42617683e-05,
  1.33693177e-05,-3.99306929e-05,-2.38710092e-05, 3.36752167e-05,
  3.32967142e-05,-1.61121537e-05, 1.08891618e-05, 1.03453523e-05,
 -7.32625480e-05, 3.23266278e-05, 1.71123563e-05, 1.42415121e-04,
 -1.44243008e-06, 6.68190210e-07,-1.21644348e+00,-4.58268806e-04,
  1.41070991e-05,-5.52733970e-04]


--- Step 1412 ---
qpos:
[ 6.21028182e-03,-1.79581923e-03,-4.96038841e-03, 3.35311113e-02,
  4.48708746e-03,-3.76307408e-03,-1.85436142e-02, 2.85901860e-02,
  1.29751760e-02, 3.31142523e-03,-9.99093687e-03, 2.58759710e-02,
  1.30438326e+00, 6.30989320e-05, 1.03867008e+00, 6.37121356e-02,
  9.36762999e-02,-7.02203111e-02, 1.30964051e-01, 4.95513285e-01,
  4.85851730e-01, 5.03919369e-01, 5.14276143e-01]

qacc:
[  4.16837039,  0.55307463, -3.76129948,  9.67328996,  1.30281643,
   0.67130891, -2.83741311,  4.09542008,  6.58461953,  0.63198652,
  -5.36388426, 14.82109985, -1.14427054,  2.15635345, -6.86496231,
  24.13783973,  0.07019645,  1.00470817, -0.08593838,  1.78500141,
   0.29057191,-14.4107834 ]

qfrc_actuator:
[ 1.06452705e-05,-1.31057021e-04,-9.24387156e-05,-2.89106437e-06,
  2.87876264e-05,-4.08458469e-04,-3.00932605e-04, 3.23143019e-05,
 -2.61828636e-05,-8.24167735e-05,-1.05364986e-04,-3.54690343e-05,
  4.92474830e-03,-1.52779292e-03, 0.00000000e+00,-2.10246476e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031203936622481443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.11321343e-13,  1.77897910e-13,  1.00000000e+00, -5.53834165e-26,
        1.00000000e+00, -1.77897910e-13, -1.00000000e+00,  0.00000000e+00,
        3.11321343e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09218983, -0.08832742,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.43756725e-05,-2.61123888e-05,-8.85886148e-06, 1.52004336e-05,
  7.69064427e-06,-2.59903272e-05,-2.19012214e-05, 1.79653661e-07,
  3.84494044e-05,-5.87877752e-05,-1.69410514e-05, 2.32770731e-05,
 -4.70986502e-05, 5.04721073e-05, 1.82774138e-05, 1.23055467e-04,
 -1.64334016e-06, 1.14661696e-06,-1.21644434e+00,-4.57709818e-04,
  1.49453874e-05,-5.52319237e-04]


--- Step 1413 ---
qpos:
[ 6.21142791e-03,-1.79608653e-03,-4.96060758e-03, 3.35314769e-02,
  4.48739737e-03,-3.76360904e-03,-1.85439932e-02, 2.85913327e-02,
  1.29749693e-02, 3.31104722e-03,-9.99077246e-03, 2.58755686e-02,
  1.30455887e+00, 6.37581491e-05, 1.03888817e+00, 6.37128518e-02,
  9.36605218e-02,-7.01966177e-02, 1.30966363e-01, 4.95647311e-01,
  4.85702169e-01, 5.03958340e-01, 5.14250073e-01]

qacc:
[  5.62158027,  1.49963211, -8.96322418, 23.63446804, -2.28740841,
  -0.22780739,  0.87802393, -1.36124507,  4.00891713,  0.29949166,
  -3.29393974,  8.99967402, -0.81987024,  1.38860809,  8.89342008,
 -29.81805504,  0.07036922,  0.9991438 , -0.14293365,  1.74162056,
   0.30969009,-14.35058533]

qfrc_actuator:
[ 4.28438689e-05,-1.05752242e-04,-7.71677816e-05, 4.26097261e-05,
  1.51104948e-05,-3.90531633e-04,-2.89968544e-04, 3.30598422e-05,
 -3.86192663e-06,-1.13658544e-04,-1.14621237e-04,-2.14667853e-05,
  4.90492480e-03,-1.51013000e-03, 0.00000000e+00,-2.24972947e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003042796194748093
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.12173338e-14,  9.12173338e-14,  1.00000000e+00,  8.32060198e-27,
        1.00000000e+00, -9.12173338e-14, -1.00000000e+00,  0.00000000e+00,
       -9.12173338e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09218995, -0.08832962,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.28835593e-05, 9.54555770e-06, 9.31831396e-06, 4.43724592e-05,
 -1.34656274e-05,-1.09906721e-06, 2.91227686e-06,-1.12340873e-06,
  2.33930440e-05,-6.66132106e-05,-2.26864815e-05, 1.13486577e-05,
 -3.42604388e-05, 1.83724143e-05, 1.66772792e-05,-1.39297497e-04,
 -1.83757449e-06, 1.70543621e-06,-1.21644547e+00,-4.57163152e-04,
  1.56961773e-05,-5.51817286e-04]


--- Step 1414 ---
qpos:
[ 6.21226108e-03,-1.79612104e-03,-4.96045421e-03, 3.35319901e-02,
  4.48754078e-03,-3.76383056e-03,-1.85446706e-02, 2.85921148e-02,
  1.29746866e-02, 3.31060909e-03,-9.99066629e-03, 2.58756200e-02,
  1.30473417e+00, 6.46729362e-05, 1.03910628e+00, 6.37121620e-02,
  9.36450249e-02,-7.01689442e-02, 1.30967915e-01, 4.95794042e-01,
  4.85539519e-01, 5.04013263e-01, 5.14208396e-01]

qacc:
[ -2.74371715, -0.42460448,  1.34678792,  0.4293019 , -1.47210067,
   0.50075073,  0.35976038, -6.4275459 , -0.66853957,  1.0188022 ,
  -5.66179052, 13.65091163, -0.52504488,  0.84324144,  4.31255215,
 -14.95189214,  0.07030033,  0.9950063 , -0.18977429,  1.70486343,
   0.32668596,-14.30688887]

qfrc_actuator:
[ 2.58159576e-05,-7.27142633e-05,-5.02209018e-05, 5.14979583e-05,
  6.93721682e-06,-3.61796518e-04,-3.01024972e-04, 1.53097426e-05,
 -8.41230370e-06,-7.86924551e-05,-1.02409835e-04, 4.67093687e-06,
  4.88672941e-03,-1.50006101e-03, 0.00000000e+00,-2.31902359e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029602534140510395
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.68804047e-14, -3.75043238e-13,  1.00000000e+00,  1.75821788e-26,
        1.00000000e+00,  3.75043238e-13, -1.00000000e+00,  0.00000000e+00,
        4.68804047e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09219001, -0.08833194,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.60908394e-05, 4.22214519e-05, 3.16039807e-05, 1.04819603e-05,
 -8.55840374e-06, 2.86905389e-05,-1.09548717e-05,-1.77182561e-05,
 -3.90969432e-06,-6.46407529e-06,-3.94785918e-06, 2.27193042e-05,
 -3.35375427e-05, 6.59665326e-06,-1.41474138e-05,-7.63740751e-05,
 -2.02590599e-06, 2.34416166e-06,-1.21644687e+00,-4.56626458e-04,
  1.63628796e-05,-5.51227947e-04]


--- Step 1415 ---
qpos:
[ 6.21219386e-03,-1.79559315e-03,-4.96038054e-03, 3.35322488e-02,
  4.48792989e-03,-3.76376824e-03,-1.85455043e-02, 2.85926719e-02,
  1.29743513e-02, 3.31060125e-03,-9.99068053e-03, 2.58759238e-02,
  1.30490920e+00, 6.54990405e-05, 1.03932404e+00, 6.37126312e-02,
  9.36297074e-02,-7.01375652e-02, 1.30968787e-01, 4.95952965e-01,
  4.85364309e-01, 5.04082689e-01, 5.14152494e-01]

qacc:
[ -7.92932685,  0.45777915,  0.54715368, -5.2658426 ,  2.14042789,
   0.34452865,  0.25919085, -4.10643982, -0.47362289,  1.42563715,
  -5.32207842,  9.56401144, -0.04932731, -0.08723698, -4.02752625,
  13.32135638,  0.0448455 ,  0.9263826 , -0.17019108,  1.24027903,
   0.29876233,-13.3472551 ]

qfrc_actuator:
[-2.00515624e-05,-3.52647087e-05,-5.20902728e-05, 3.87845095e-05,
  1.98284191e-05,-3.44654904e-04,-3.07208857e-04, 4.56550702e-06,
 -1.09839108e-05,-2.19962129e-05,-9.50905085e-05, 2.00607201e-05,
  4.86419296e-03,-1.51229150e-03, 0.00000000e+00,-2.25296475e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028744344817878956
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.42651442e-07, -9.42651546e-07,  1.00000000e+00, -8.88591839e-13,
        1.00000000e+00,  9.42651546e-07, -1.00000000e+00,  0.00000000e+00,
       -9.42651442e-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([ 0.09259597, -0.08700178,  0.06199178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.63121529e-05, 6.80276021e-05, 1.11045356e-05,-9.60762272e-06,
  1.26579072e-05, 3.01744606e-05,-2.21115607e-06,-1.02379548e-05,
 -2.68699548e-06, 5.32518820e-05, 6.28756913e-06, 1.54190580e-05,
 -4.04650896e-05,-1.81720199e-05,-1.92864709e-05, 5.89958834e-05,
 -2.20896386e-06, 3.06245415e-06,-1.21644854e+00,-4.56097752e-04,
  1.69482317e-05,-5.50551042e-04]


--- Step 1416 ---
qpos:
[ 6.21123262e-03,-1.79490219e-03,-4.96017963e-03, 3.35327358e-02,
  4.48881554e-03,-3.76381470e-03,-1.85457296e-02, 2.85937838e-02,
  1.29739880e-02, 3.31085179e-03,-9.99084394e-03, 2.58764331e-02,
  1.30508416e+00, 6.54082417e-05, 1.03954172e+00, 6.37131759e-02,
  9.36104982e-02,-7.01140776e-02, 1.30969260e-01, 4.96099086e-01,
  4.85199244e-01, 5.04108836e-01, 5.14141685e-01]

qacc:
[ -7.85972607,  0.34529409, -1.85558604,  5.45416421,  4.3667529 ,
  -0.71044444, -0.0330259 ,  8.75926379, -0.25632697,  1.18205499,
  -4.58638354,  8.19173609,  0.67110636, -1.65925237, -0.40095773,
   1.09225834, -0.97291768, -1.97284274, -0.09974865,-16.86908455,
   0.82993253, 27.53325488]

qfrc_actuator:
[-6.47575909e-05,-4.88488368e-05,-5.31935480e-05, 4.89582474e-05,
  4.50127029e-05,-3.52317801e-04,-2.74986647e-04, 3.35364584e-05,
 -1.23612360e-05,-2.37387694e-05,-1.08373603e-04, 2.90216424e-05,
  4.84438443e-03,-1.57316493e-03, 0.00000000e+00,-2.24971774e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002991672679598517
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.78328333e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.78328333e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885234, -0.03363179,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.60009122e-05, 2.63030265e-05, 1.39784297e-05, 1.32860523e-05,
  2.55569275e-05, 8.32578913e-06, 3.78354980e-05, 2.99882833e-05,
 -1.43595373e-06, 2.99935234e-05,-9.75899171e-07, 1.17600507e-05,
 -4.72354121e-05,-7.43629530e-05,-5.54890602e-06, 3.30349898e-06,
 -2.38876563e-06, 3.81115489e-06,-1.21645037e+00,-4.55592039e-04,
  1.74590878e-05,-5.49794074e-04]


--- Step 1417 ---
qpos:
[ 6.21043274e-03,-1.79431775e-03,-4.95983129e-03, 3.35333750e-02,
  4.48965146e-03,-3.76404639e-03,-1.85454563e-02, 2.85949062e-02,
  1.29736110e-02, 3.31118311e-03,-9.99077680e-03, 2.58766975e-02,
  1.30525902e+00, 6.43298399e-05, 1.03975954e+00, 6.37120654e-02,
  9.35944480e-02,-7.00988723e-02, 1.30970075e-01, 4.96205748e-01,
  4.85077550e-01, 5.04113821e-01, 5.14148696e-01]

qacc:
[ 1.42533499e+00,-2.42444529e-01, 1.30481129e-02, 2.46790984e+00,
 -4.16453027e-01,-1.61483771e+00, 5.35987236e+00,-5.83933457e+00,
 -1.13919344e-01,-1.04161975e+00, 4.90362481e+00,-9.57185312e+00,
  5.76715782e-01,-1.58429050e+00, 5.13488615e+00,-1.78174364e+01,
  7.89736101e-01,-2.07060433e+00, 8.56290275e-02, 1.03992178e+01,
 -2.12999113e+00, 3.06294019e+01]

qfrc_actuator:
[-5.51550369e-05,-7.51261707e-05,-5.40122212e-05, 5.47307076e-05,
  4.17184609e-05,-3.74584318e-04,-2.55928213e-04, 3.23887734e-05,
 -1.30254286e-05,-2.50395492e-05,-9.84359659e-05, 1.63184564e-05,
  4.83152958e-03,-1.62685515e-03, 0.00000000e+00,-2.33679588e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003101361600520852
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.94948064e-14,  1.34242210e-13,  1.00000000e+00, -1.20139806e-26,
        1.00000000e+00, -1.34242210e-13, -1.00000000e+00,  0.00000000e+00,
        8.94948064e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08120905, -0.03181283,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.30019909e-06,-8.15317286e-06, 6.78727351e-06, 7.64083227e-06,
 -2.56402827e-06,-8.49982132e-06, 2.64761111e-05, 1.09894874e-06,
 -6.94245362e-07, 1.57642014e-05, 1.64174339e-05,-1.12240732e-05,
 -5.72834814e-05,-8.19353197e-05,-6.15807923e-06,-8.85421972e-05,
 -2.70191525e-06, 2.43216524e-06,-1.21644796e+00,-4.55256579e-04,
  1.74889015e-05,-5.49481536e-04]


--- Step 1418 ---
qpos:
[ 6.20975386e-03,-1.79392129e-03,-4.95999215e-03, 3.35344808e-02,
  4.49009673e-03,-3.76436528e-03,-1.85452223e-02, 2.85960315e-02,
  1.29732290e-02, 3.31180053e-03,-9.99094687e-03, 2.58768138e-02,
  1.30543348e+00, 6.31099761e-05, 1.03997693e+00, 6.37129244e-02,
  9.35814636e-02,-7.00917714e-02, 1.30970330e-01, 4.96273825e-01,
  4.84998183e-01, 5.04098278e-01, 5.14173103e-01]

qacc:
[ 1.05146828e+00, 2.13370074e+00,-9.94115828e+00, 1.89714451e+01,
 -3.41854815e+00, 7.48040685e-03,-1.94802093e-01, 3.60485031e-01,
 -5.75717051e-02, 7.36247735e-01,-1.45080832e+00,-9.44694155e-01,
 -5.99404105e-02,-1.57929221e-01,-6.58072620e+00, 2.20979402e+01,
  7.66462961e-01,-2.02606919e+00,-1.39993199e-01, 1.01979815e+01,
 -2.02936793e+00, 2.98832072e+01]

qfrc_actuator:
[-4.91703623e-05,-1.08815063e-04,-9.02364824e-05, 7.55998704e-05,
  2.16847580e-05,-3.87740410e-04,-2.62654299e-04, 3.12449033e-05,
 -1.32650072e-05,-8.24837749e-06,-1.10391199e-04, 8.73777752e-06,
  4.82285344e-03,-1.62254010e-03, 0.00000000e+00,-2.22783183e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003207905921946419
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.73044823e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.73044823e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08121005, -0.03181903,  0.06199083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.21490415e-06,-3.65400099e-05,-3.68199464e-05, 2.08996371e-05,
 -2.01110301e-05,-1.23915565e-05,-5.18523231e-06,-5.73140033e-07,
 -2.52826337e-07, 2.85020312e-05,-7.07073480e-06,-6.55701672e-06,
 -6.07562047e-05,-2.79528292e-05,-1.71573482e-05, 1.02194225e-04,
 -1.60438625e-06, 1.07563853e-06,-1.21644421e+00,-4.55630576e-04,
  1.45354860e-05,-5.48986808e-04]


--- Step 1419 ---
qpos:
[ 6.20915209e-03,-1.79380044e-03,-4.96052528e-03, 3.35354853e-02,
  4.48995350e-03,-3.76484898e-03,-1.85447269e-02, 2.85967784e-02,
  1.29728471e-02, 3.31264557e-03,-9.99178809e-03, 2.58765311e-02,
  1.30560747e+00, 6.21452853e-05, 1.04019405e+00, 6.37160456e-02,
  9.35714680e-02,-7.00926253e-02, 1.30969265e-01, 4.96304045e-01,
  4.84960270e-01, 5.04062722e-01, 5.14214550e-01]

qacc:
[ 6.70963033e-01, 4.66546023e-01,-1.76669056e+00, 8.14505246e-01,
 -5.13948918e+00,-1.71589038e+00, 7.41768655e+00,-1.42813771e+01,
 -2.31665454e-02, 1.35515726e+00,-2.71040027e+00,-3.29089322e+00,
 -4.08751957e-01, 6.12187374e-01,-7.18658938e+00, 2.46509998e+01,
  7.47192546e-01,-1.98871421e+00,-3.30131238e-01, 1.00267983e+01,
 -1.94916317e+00, 2.92626243e+01]

qfrc_actuator:
[-4.53806105e-05,-1.29074200e-04,-1.11601175e-04, 6.96464177e-05,
 -8.03181335e-06,-3.95454196e-04,-2.49007288e-04, 1.23540451e-05,
 -1.32528523e-05,-1.63449368e-05,-1.52859249e-04,-1.35208965e-05,
  4.81138879e-03,-1.60162561e-03, 0.00000000e+00,-2.11072074e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.63476035, -3.91919565,  2.47404709, -3.91919565, 15.0228255 ,
       16.45597607,  2.47404709, 16.45597607, 30.70305552,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032689689631468233
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.54718622e-13, -1.27359311e-13,  1.00000000e+00,  3.24407881e-26,
        1.00000000e+00,  1.27359311e-13, -1.00000000e+00,  0.00000000e+00,
        2.54718622e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08121044, -0.03182265,  0.06199066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.95301557e-06,-4.74133393e-05,-3.27291735e-05,-8.38954513e-06,
 -3.02951739e-05,-1.57393866e-05, 1.04282301e-05,-1.96139648e-05,
  1.72818216e-08, 6.07845990e-06,-3.76842452e-05,-2.14108255e-05,
 -5.25035901e-05, 3.19991393e-07, 1.74536890e-07, 1.19842091e-04,
 -7.87415705e-07, 2.44878258e-07,-1.21644186e+00,-4.55848535e-04,
  1.23842834e-05,-5.48706253e-04]


--- Step 1420 ---
qpos:
[ 6.20894529e-03,-1.79385309e-03,-4.96106679e-03, 3.35356816e-02,
  4.48945488e-03,-3.76534947e-03,-1.85438331e-02, 2.85969189e-02,
  1.29724688e-02, 3.31315719e-03,-9.99261124e-03, 2.58756638e-02,
  1.30578105e+00, 6.14135816e-05, 1.04041166e+00, 6.37161789e-02,
  9.35643975e-02,-7.01013092e-02, 1.30966239e-01, 4.96297011e-01,
  4.84963085e-01, 5.04007571e-01, 5.14272740e-01]

qacc:
[  3.47514264, -1.87704842,  9.7600509 ,-23.59348176, -3.09792759,
  -2.37584138, 11.01094108,-22.14175297,  0.03695785, -1.69441185,
   7.86998662,-17.76936844, -0.70079597,  1.05194583,  9.79038301,
 -33.08435441,  0.73126715, -1.95749863, -0.49024232,  9.88190904,
  -1.88522533, 28.74848684]

qfrc_actuator:
[-2.51596864e-05,-1.23360024e-04,-1.06230741e-04, 3.02279977e-05,
 -2.54513703e-05,-3.82037465e-04,-2.23421476e-04,-1.68048380e-05,
 -1.30929763e-05,-5.71827258e-05,-1.59848273e-04,-4.42762277e-05,
  4.79294558e-03,-1.58884415e-03, 0.00000000e+00,-2.27384415e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.64385285, -4.09721401,  2.18591094, -4.09721401, 11.9598017 ,
       13.71282228,  2.18591094, 13.71282228, 30.34680658,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032932416553424493
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.68560820e-13,  1.68560820e-13,  1.00000000e+00, -2.84127499e-26,
        1.00000000e+00, -1.68560820e-13, -1.00000000e+00,  0.00000000e+00,
        1.68560820e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08121033, -0.03182421,  0.06199059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.03184097e-05,-2.79170184e-05,-8.74182439e-06,-4.27472041e-05,
 -1.82900953e-05, 5.92825127e-06, 2.29401192e-05,-2.98547276e-05,
  1.66660857e-07,-4.61617423e-05,-1.11157176e-05,-3.22149001e-05,
 -4.79309756e-05, 6.22199120e-07, 9.19501344e-06,-1.57395382e-04,
 -2.28367979e-07,-9.65355121e-08,-1.21644083e+00,-4.55935260e-04,
  1.09829523e-05,-5.48632053e-04]


--- Step 1421 ---
qpos:
[ 6.20967246e-03,-1.79410064e-03,-4.96186149e-03, 3.35357688e-02,
  4.48944083e-03,-3.76579186e-03,-1.85426905e-02, 2.85970545e-02,
  1.29720954e-02, 3.31334407e-03,-9.99324986e-03, 2.58747677e-02,
  1.30595426e+00, 6.08412052e-05, 1.04062942e+00, 6.37133717e-02,
  9.35601995e-02,-7.01177193e-02, 1.30960713e-01, 4.96253222e-01,
  4.85006021e-01, 5.03933160e-01, 5.14347421e-01]

qacc:
[  8.20764044,  0.20957378, -0.68822293, -0.62123825,  4.24765565,
  -0.63647096,  2.38738946, -2.89737744,  0.05398275, -1.00438399,
   3.08007189, -3.63503662, -0.5838385 ,  0.84576614,  9.13887541,
 -31.55211144,  0.71814073, -1.93152774, -0.62495791,  9.76004795,
  -1.83422022, 28.32479182]

qfrc_actuator:
[ 2.23238726e-05,-1.37558987e-04,-1.20539487e-04, 2.47360620e-05,
  1.48491126e-08,-3.73777159e-04,-2.08666591e-04,-1.62398646e-05,
 -1.28478455e-05,-6.39373594e-05,-1.45970637e-04,-4.42791963e-05,
  4.77565341e-03,-1.58102238e-03, 0.00000000e+00,-2.42323656e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6418823 , -4.2514938 ,  1.86329594, -4.2514938 ,  9.48737183,
       11.05598323,  1.86329594, 11.05598323, 29.86838716,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032880037505425563
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.44146714e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.44146714e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08120982, -0.0318241 ,  0.0619906 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.80543395e-05,-3.34323507e-05,-2.26252310e-05,-7.82256895e-06,
  2.49461126e-05, 1.50352790e-05, 1.77679950e-05, 1.03132986e-06,
  2.36152301e-07,-3.62532925e-05, 1.86368778e-06,-2.99021955e-06,
 -4.46294077e-05,-2.93776505e-06,-1.93361409e-05,-1.58377413e-04,
  9.00383490e-08, 2.38679254e-08,-1.21644102e+00,-4.55908783e-04,
  1.02903126e-05,-5.48758079e-04]


--- Step 1422 ---
qpos:
[ 6.21130799e-03,-1.79425313e-03,-4.96299601e-03, 3.35361032e-02,
  4.48938713e-03,-3.76622289e-03,-1.85416202e-02, 2.85972240e-02,
  1.29717276e-02, 3.31339938e-03,-9.99353120e-03, 2.58738409e-02,
  1.30612722e+00, 6.03309492e-05, 1.04084667e+00, 6.37117826e-02,
  9.35588309e-02,-7.01417694e-02, 1.30952234e-01, 4.96173079e-01,
  4.85088574e-01, 5.03839754e-01, 5.14438386e-01]

qacc:
[ 7.97502337, 1.56894295,-6.48196616,11.2612992 ,-0.34944593, 0.28763521,
 -1.14628846, 1.84080339, 0.0631643 ,-1.23569737, 4.28301333,-5.28806179,
 -0.1453144 , 0.16501314,-4.40722109,14.36572742, 0.70735844,-1.91003031,
 -0.73822296, 9.65836678,-1.79346322,27.97811621]

qfrc_actuator:
[ 6.77153914e-05,-1.10357146e-04,-1.28654931e-04, 3.92240869e-05,
 -2.74318075e-06,-3.86431505e-04,-2.18172610e-04,-1.59521398e-05,
 -1.25542878e-05,-5.01174116e-05,-1.19746689e-04,-4.39052224e-05,
  4.76971377e-03,-1.57619597e-03, 0.00000000e+00,-2.35021123e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032593373684457194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.51571116e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.51571116e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.081209  , -0.03182268,  0.06199069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.67489818e-05, 3.52996458e-06,-1.80693762e-05, 1.21203260e-05,
 -2.04090765e-06,-5.21367172e-07,-4.18558306e-06, 1.56402054e-06,
  2.87425094e-07,-6.19467192e-06, 1.88683307e-05,-1.17042050e-06,
 -3.25896289e-05,-5.81557865e-06,-3.09954373e-05, 6.06879564e-05,
  1.80869142e-07, 5.85727359e-07,-1.21644239e+00,-4.55782177e-04,
  1.02741986e-05,-5.49079520e-04]


--- Step 1423 ---
qpos:
[ 6.21313043e-03,-1.79457604e-03,-4.96360747e-03, 3.35369274e-02,
  4.48895616e-03,-3.76662792e-03,-1.85409429e-02, 2.85974167e-02,
  1.29717111e-02, 3.31329026e-03,-9.99349640e-03, 2.58732777e-02,
  1.30629986e+00, 6.01470789e-05, 1.04106380e+00, 6.37103509e-02,
  9.35602565e-02,-7.01733889e-02, 1.30940421e-01, 4.96056905e-01,
  4.85210331e-01, 5.03727559e-01, 5.14545458e-01]

qacc:
[ 1.66313057,-0.68218592, 0.03223958, 7.73930921,-3.3145186 , 1.1858997 ,
 -4.26518922, 5.26164995, 3.10506132,-0.35840391,-0.583244  , 6.50356443,
 -0.4804693 , 0.82352757,-0.62383791, 2.0012326 , 0.6985405 ,-1.89234064,
 -0.83340594, 9.57437666,-1.76078736,27.69716035]

qfrc_actuator:
[ 7.59984373e-05,-1.11784710e-04,-9.73612413e-05, 6.53874473e-05,
 -2.21053618e-05,-3.93858522e-04,-2.42013573e-04,-1.58677395e-05,
  5.51821983e-06,-5.95212641e-05,-1.04114158e-04,-2.55390654e-05,
  4.75993711e-03,-1.55538066e-03, 0.00000000e+00,-2.34199649e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003212308386235513
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72807665e-13, -2.16009582e-13,  1.00000000e+00,  3.73281115e-26,
        1.00000000e+00,  2.16009582e-13, -1.00000000e+00,  0.00000000e+00,
        1.72807665e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08120793, -0.03182023,  0.06199082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.61527534e-06,-2.63752797e-06, 3.02274375e-05, 2.59251875e-05,
 -1.94205618e-05,-8.51406795e-06,-2.44179261e-05,-5.40578935e-08,
  1.80775038e-05,-9.01831108e-06, 1.66408125e-05, 1.87332635e-05,
 -2.99780036e-05, 1.21620626e-05,-1.00917193e-05, 7.01781976e-06,
  5.38460081e-08, 1.57451662e-06,-1.21644489e+00,-4.55564887e-04,
  1.09097567e-05,-5.49592588e-04]


--- Step 1424 ---
qpos:
[ 6.21469350e-03,-1.79502864e-03,-4.96407820e-03, 3.35377344e-02,
  4.48829648e-03,-3.76712022e-03,-1.85402057e-02, 2.85969016e-02,
  1.29719112e-02, 3.31337749e-03,-9.99396402e-03, 2.58729495e-02,
  1.30647228e+00, 5.99670669e-05, 1.04128112e+00, 6.37066622e-02,
  9.35620585e-02,-7.02004196e-02, 1.30933740e-01, 4.95955612e-01,
  4.85316447e-01, 5.03633582e-01, 5.14635008e-01]

qacc:
[ -2.27390538, -0.59570455,  1.95519553, -2.3892687 , -1.99867362,
  -1.73411543,  9.01184478,-21.3001926 ,  1.88639199,  2.14352991,
  -8.26467162, 12.99594853, -0.31975731,  0.3953843 ,  7.1197347 ,
 -24.44315932,  0.09409968,  1.14720957,  1.28285956,  1.61041144,
   0.5431249 ,-16.53378173]

qfrc_actuator:
[ 6.23745173e-05,-1.30162468e-04,-9.64069061e-05, 6.27093054e-05,
 -3.33239162e-05,-3.98168315e-04,-2.38600630e-04,-5.14133085e-05,
  1.61574807e-05,-4.72686350e-05,-1.30443499e-04,-1.45122531e-05,
  4.74254736e-03,-1.56076639e-03, 0.00000000e+00,-2.46085784e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031762389396093604
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31077555e-13, -3.49540147e-13,  1.00000000e+00,  4.58168678e-26,
        1.00000000e+00,  3.49540147e-13, -1.00000000e+00,  0.00000000e+00,
        1.31077555e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09219158, -0.08832731,  0.06199092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.33522707e-05,-1.24832458e-05, 5.03631479e-06,-1.24125098e-06,
 -1.17753248e-05,-1.41171739e-05,-1.35823022e-06,-3.67566168e-05,
  1.11478248e-05, 1.14607796e-05,-2.54929424e-05, 1.15813748e-05,
 -3.17567323e-05,-9.28292447e-06,-7.90865754e-06,-1.20697201e-04,
 -2.83981979e-07, 2.98050599e-06,-1.21644849e+00,-4.55263722e-04,
  1.21780840e-05,-5.50294298e-04]


--- Step 1425 ---
qpos:
[ 6.21539099e-03,-1.79507834e-03,-4.96503260e-03, 3.35384781e-02,
  4.48819683e-03,-3.76736117e-03,-1.85395839e-02, 2.85955875e-02,
  1.29722374e-02, 3.31354377e-03,-9.99442393e-03, 2.58723904e-02,
  1.30664450e+00, 5.92786477e-05, 1.04149808e+00, 6.37039109e-02,
  9.35642171e-02,-7.02229857e-02, 1.30931068e-01, 4.95868795e-01,
  4.85407404e-01, 5.03557365e-01, 5.14707460e-01]

qacc:
[ -7.63321138,  1.76917589, -5.24198278,  4.59409838,  4.89280319,
  -0.99802401,  7.39852791,-21.21010242,  1.10869748, -0.39435716,
   2.52857479, -6.58993936,  0.32001632, -0.89927436, -3.39801171,
  11.03093598,  0.089138  ,  1.11613513,  1.0022293 ,  1.60383928,
   0.51044559,-16.09162287]

qfrc_actuator:
[ 1.82252896e-05,-8.76723644e-05,-1.13483092e-04, 6.07898918e-05,
 -4.14868445e-06,-3.64999653e-04,-2.36883706e-04,-8.98625605e-05,
  2.23310845e-05,-4.00697604e-05,-1.27999978e-04,-2.56584657e-05,
  4.71526725e-03,-1.59943340e-03, 0.00000000e+00,-2.40507659e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003313792736261423
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.37577297e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.37577297e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09219134, -0.08832375,  0.06199053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.45316251e-05, 3.65069947e-05,-1.90694956e-05,-2.30373111e-06,
  2.88355052e-05, 2.34249053e-05,-2.63939483e-06,-3.98154927e-05,
  6.49459541e-06, 8.84578136e-06, 2.07654784e-06,-1.13106026e-05,
 -4.79500687e-05,-4.78838553e-05,-2.17588394e-05, 4.69590719e-05,
 -2.56534833e-07, 2.21582556e-06,-1.21644622e+00,-4.55381101e-04,
  1.24531001e-05,-5.50910996e-04]


--- Step 1426 ---
qpos:
[ 6.21555384e-03,-1.79483043e-03,-4.96593768e-03, 3.35395143e-02,
  4.48844750e-03,-3.76732918e-03,-1.85390040e-02, 2.85938143e-02,
  1.29729802e-02, 3.31361965e-03,-9.99424825e-03, 2.58720253e-02,
  1.30681622e+00, 5.85165415e-05, 1.04171472e+00, 6.37031444e-02,
  9.35667163e-02,-7.02411917e-02, 1.30931458e-01, 4.95796113e-01,
  4.85483604e-01, 5.03498523e-01, 5.14763171e-01]

qacc:
[ -4.70445614,  0.86688633, -3.73875385,  8.48444103,  3.05955936,
  -0.47254056,  4.13661181,-12.20426389,  3.68748797, -1.50365814,
   4.35634374, -1.93433571, -0.19710986,  0.05462548, -6.45587603,
  21.9200421 ,  0.08516572,  1.09003318,  0.76568592,  1.59685686,
   0.48369004,-15.72083168]

qfrc_actuator:
[-8.02389492e-06,-6.24001665e-05,-1.05304204e-04, 7.71313697e-05,
  1.30602917e-05,-3.45152881e-04,-2.36032959e-04,-1.11927028e-04,
  4.35817124e-05,-3.58643814e-05,-9.08492585e-05,-1.42314381e-05,
  4.68205780e-03,-1.60430056e-03, 0.00000000e+00,-2.30005916e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.68478856, -1.94565306, -4.26165202, -1.94565306,  9.64716016,
       -2.2655659 , -4.26165202, -2.2655659 ,  5.71913045,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033993488292038965
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.04124209e-13,  8.16496835e-14,  1.00000000e+00, -1.66666771e-26,
        1.00000000e+00, -8.16496835e-14, -1.00000000e+00,  0.00000000e+00,
        2.04124209e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09219111, -0.08832157,  0.06199028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75007464e-05, 4.16429336e-05, 1.33027058e-05, 1.72035208e-05,
  1.80426592e-05, 3.07088981e-05, 3.98374293e-06,-2.19258980e-05,
  2.14385630e-05, 9.10012500e-06, 3.88470997e-05, 1.16595319e-05,
 -7.18821970e-05,-2.70550229e-05,-7.82951025e-06, 1.04136555e-04,
 -2.28735797e-07, 1.57933575e-06,-1.21644436e+00,-4.55489874e-04,
  1.26425239e-05,-5.51426811e-04]


--- Step 1427 ---
qpos:
[ 6.21574550e-03,-1.79444843e-03,-4.96666762e-03, 3.35407502e-02,
  4.48855814e-03,-3.76740349e-03,-1.85383013e-02, 2.85925186e-02,
  1.29732817e-02, 3.31402422e-03,-9.99378528e-03, 2.58717694e-02,
  1.30698748e+00, 5.79014886e-05, 1.04193156e+00, 6.37012724e-02,
  9.35695436e-02,-7.02551249e-02, 1.30934116e-01, 4.95737281e-01,
  4.85545379e-01, 5.03456731e-01, 5.14802441e-01]

qacc:
[  0.2566625 ,  0.0983395 , -0.93740454,  4.01564649, -1.21947329,
   0.50105272, -4.00282977, 12.1445415 , -3.8796281 , -0.1361339 ,
   0.66779373,  0.50664395, -0.54220596,  0.73812496,  3.66642776,
 -12.31314133,  0.08199789,  1.06819056,  0.56665279,  1.59004392,
   0.46168867,-15.41066068]

qfrc_actuator:
[-5.76512858e-06,-6.52672081e-05,-1.00064430e-04, 8.63463103e-05,
  5.32258913e-06,-3.68926643e-04,-2.35729394e-04,-8.86757393e-05,
  2.02797713e-05, 2.18800095e-06,-6.90104594e-05,-7.34557955e-06,
  4.67195474e-03,-1.58911917e-03, 0.00000000e+00,-2.36220145e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003442681902406236
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.03109791e-14,  8.06219581e-14,  1.00000000e+00, -3.24995007e-27,
        1.00000000e+00, -8.06219581e-14, -1.00000000e+00,  0.00000000e+00,
        4.03109791e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0921909 , -0.0883205 ,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49006366e-06, 2.38942483e-05, 1.60817141e-05, 1.17947535e-05,
 -7.21080879e-06,-6.71592606e-06, 6.37469623e-06, 2.42803061e-05,
 -2.26913952e-05, 5.16711166e-05, 2.89046197e-05, 8.84640810e-06,
 -5.70545643e-05,-7.91602725e-06, 4.08302307e-06,-5.82302188e-05,
 -1.99492964e-07, 1.06037293e-06,-1.21644286e+00,-4.55593912e-04,
  1.27486788e-05,-5.51844199e-04]


--- Step 1428 ---
qpos:
[ 6.21630758e-03,-1.79405006e-03,-4.96750392e-03, 3.35417769e-02,
  4.48892022e-03,-3.76744376e-03,-1.85379649e-02, 2.85925638e-02,
  1.29729573e-02, 3.31425055e-03,-9.99311780e-03, 2.58720146e-02,
  1.30715846e+00, 5.73684517e-05, 1.04214808e+00, 6.37010179e-02,
  9.35726887e-02,-7.02648582e-02, 1.30938371e-01, 4.95692061e-01,
  4.85593007e-01, 5.03431720e-01, 5.14825519e-01]

qacc:
[  3.25330788, -0.11816014,  1.32488892, -4.77559999,  2.1892634 ,
   3.82058068,-19.22806611, 43.00282029, -5.49802026,  0.23510084,
  -3.27733258, 11.73429086, -0.17394525,  0.20799938, -5.32204252,
  17.9919083 ,  0.07948557,  1.04999903,  0.39954851,  1.58380313,
   0.44350599,-15.15213389]

qfrc_actuator:
[ 1.32488131e-05,-8.49733192e-05,-1.14486309e-04, 7.35084716e-05,
  1.84723564e-05,-3.65344761e-04,-2.53654580e-04,-2.12352863e-05,
 -1.13098744e-05,-4.63501390e-05,-7.40173660e-05, 1.45754253e-05,
  4.67040394e-03,-1.57985255e-03, 0.00000000e+00,-2.27380627e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003452012757813455
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.81414124e-13,  1.60808071e-13,  1.00000000e+00, -4.52536624e-26,
        1.00000000e+00, -1.60808071e-13, -1.00000000e+00,  0.00000000e+00,
        2.81414124e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0921907 , -0.08832033,  0.06199013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.90628022e-05,-2.52507141e-06,-7.09631662e-06,-1.10300459e-05,
  1.29401639e-05, 2.17844653e-06,-1.76911815e-05, 6.78475424e-05,
 -3.22161040e-05,-1.33200787e-05, 9.52442800e-06, 2.53072714e-05,
 -3.58588640e-05,-5.73660456e-06,-9.90877499e-06, 8.44629983e-05,
 -1.68012168e-07, 6.50511291e-07,-1.21644171e+00,-4.55696103e-04,
  1.27735219e-05,-5.52165202e-04]


--- Step 1429 ---
qpos:
[ 6.21709340e-03,-1.79396812e-03,-4.96806213e-03, 3.35426587e-02,
  4.48874704e-03,-3.76715069e-03,-1.85385395e-02, 2.85934162e-02,
  1.29729471e-02, 3.31377558e-03,-9.99249638e-03, 2.58729525e-02,
  1.30732907e+00, 5.72080019e-05, 1.04236476e+00, 6.36997864e-02,
  9.35761439e-02,-7.02704517e-02, 1.30943665e-01, 4.95660255e-01,
  4.85626717e-01, 5.03423264e-01, 5.14832614e-01]

qacc:
[  1.98144577, -1.49765026,  5.3373811 , -8.04684308, -4.71817332,
   4.65376481,-19.34748501, 34.50877856,  2.77581648,  0.62229792,
  -6.49785966, 19.08635754, -0.63084553,  1.06187958,  3.21399773,
 -10.81445245,  0.07750857,  1.03493804,  0.25961415,  1.57840193,
   0.42839196,-14.93771172]

qfrc_actuator:
[ 2.42100955e-05,-1.14718794e-04,-1.04988465e-04, 6.55206336e-05,
 -9.43874156e-06,-3.45447321e-04,-2.99829835e-04, 1.84063373e-05,
  5.74688904e-06,-1.28714504e-04,-9.51638430e-05, 4.50819303e-05,
  4.65800819e-03,-1.55637594e-03, 0.00000000e+00,-2.32815372e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003434238801598294
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.08201678e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.08201678e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0921905 , -0.08832088,  0.06199018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15025455e-05,-3.30980789e-05, 7.72208755e-06,-8.55846018e-06,
 -2.75427873e-05, 2.03710154e-05,-4.55610243e-05, 4.04419665e-05,
  1.61368599e-05,-8.67899261e-05,-2.18591476e-05, 3.07564947e-05,
 -3.41087067e-05, 1.39085689e-05, 1.22760124e-06,-5.17472106e-05,
 -1.33710967e-07, 3.43093452e-07,-1.21644089e+00,-4.55798625e-04,
  1.27186612e-05,-5.52391513e-04]


--- Step 1430 ---
qpos:
[ 6.21765974e-03,-1.79427570e-03,-4.96817989e-03, 3.35437816e-02,
  4.48824081e-03,-3.76661572e-03,-1.85396535e-02, 2.85943778e-02,
  1.29731407e-02, 3.31317801e-03,-9.99231955e-03, 2.58738573e-02,
  1.30749943e+00, 5.73045082e-05, 1.04258152e+00, 6.36969076e-02,
  9.35799030e-02,-7.02719549e-02, 1.30949530e-01, 4.95641701e-01,
  4.85646697e-01, 5.03431177e-01, 5.14823893e-01]

qacc:
[ -1.90912644, -1.24608619,  2.68465587,  1.06299604, -2.93568478,
   2.0558555 , -7.31815867,  9.88106749,  1.78112165,  1.00905435,
  -3.69948824,  3.93513563, -0.49437152,  0.81953209,  5.14804759,
 -17.72068613,  0.0759697 ,  1.02256116,  0.14277895,  1.57400608,
   0.41574386,-14.76103308]

qfrc_actuator:
[ 1.25856615e-05,-1.32408993e-04,-8.14806942e-05, 7.82147035e-05,
 -2.57949680e-05,-3.33826087e-04,-3.26758439e-04, 2.36134445e-05,
  1.57965151e-05,-1.06511830e-04,-1.08072668e-04, 4.48424426e-05,
  4.64977409e-03,-1.54244934e-03, 0.00000000e+00,-2.41294121e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033951304252473335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.86128963e-13,  2.45253397e-13,  1.00000000e+00, -7.01740999e-26,
        1.00000000e+00, -2.45253397e-13, -1.00000000e+00,  0.00000000e+00,
        2.86128963e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09219031, -0.08832198,  0.0619903 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13087557e-05,-3.49674100e-05, 1.73281831e-05, 1.13748456e-05,
 -1.71357776e-05, 1.53196180e-05,-2.69313804e-05, 5.29058155e-06,
  1.04766985e-05,-2.95145499e-05,-3.24691263e-05,-4.11968489e-06,
 -2.45003041e-05, 9.46209990e-06,-1.01904272e-05,-8.86615936e-05,
 -9.61571100e-08, 1.32864525e-07,-1.21644037e+00,-4.55903131e-04,
  1.25853803e-05,-5.52524530e-04]


--- Step 1431 ---
qpos:
[ 6.21842734e-03,-1.79476515e-03,-4.96833348e-03, 3.35447088e-02,
  4.48754238e-03,-3.76614737e-03,-1.85406820e-02, 2.85950454e-02,
  1.29737979e-02, 3.31281015e-03,-9.99224771e-03, 2.58746821e-02,
  1.30766951e+00, 5.78377980e-05, 1.04279741e+00, 6.36993798e-02,
  9.35839612e-02,-7.02694082e-02, 1.30955577e-01, 4.95636262e-01,
  4.85653098e-01, 5.03455305e-01, 5.14799495e-01]

qacc:
[ 1.77154060e+00,-5.46711408e-01, 2.42080552e+00,-5.61036914e+00,
 -1.67840120e+00,-9.27570814e-01, 4.42679741e+00,-9.60771808e+00,
  4.07283035e+00, 4.24320168e-01,-7.48331172e-01,-6.22987502e-01,
 -1.86412152e-01, 4.76360725e-01,-1.74194492e+01, 5.91193164e+01,
  7.47902862e-02, 1.01248516e+00, 4.55538290e-02, 1.57070624e+00,
  4.05076393e-01,-1.46167136e+01]

qfrc_actuator:
[ 2.32687823e-05,-1.42666365e-04,-8.53458378e-05, 6.74847340e-05,
 -3.52063808e-05,-3.44965104e-04,-3.24393863e-04, 8.53488365e-06,
  3.93792424e-05,-5.73723723e-05,-9.78692970e-05, 4.43566179e-05,
  4.64404017e-03,-1.51653353e-03, 0.00000000e+00,-2.12437378e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033394988750871935
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24669494e-13,  1.66225992e-13,  1.00000000e+00,  2.07233102e-26,
        1.00000000e+00, -1.66225992e-13, -1.00000000e+00,  0.00000000e+00,
       -1.24669494e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09219013, -0.08832352,  0.06199046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03490782e-05,-2.57403265e-05,-8.55804026e-06,-1.14086361e-05,
 -9.89471782e-06,-7.92285756e-06, 2.39980674e-06,-1.52510731e-05,
  2.38700168e-05, 2.57731011e-05,-3.24020777e-08,-2.95577230e-06,
 -1.78528626e-05, 2.27810517e-05,-1.89895099e-05, 2.81295777e-04,
 -5.50244910e-08, 1.56841525e-08,-1.21644014e+00,-4.56010895e-04,
  1.23746675e-05,-5.52565404e-04]


--- Step 1432 ---
qpos:
[ 6.21966174e-03,-1.79517882e-03,-4.96893087e-03, 3.35454955e-02,
  4.48639155e-03,-3.76584431e-03,-1.85413468e-02, 2.85955206e-02,
  1.29747329e-02, 3.31248308e-03,-9.99199866e-03, 2.58751531e-02,
  1.30783938e+00, 5.84713857e-05, 1.04301317e+00, 6.37048976e-02,
  9.35883151e-02,-7.02628440e-02, 1.30961484e-01, 4.95643829e-01,
  4.85646046e-01, 5.03495523e-01, 5.14759527e-01]

qacc:
[  4.08908505,  1.04355221, -2.99611514,  1.2332695 , -3.94513813,
  -1.62227944,  6.29391539,-10.0989698 ,  2.44852272, -1.17458692,
   5.75218295,-12.18109119, -0.06140298,  0.07743023, -9.38355178,
  32.55670302,  0.0739065 ,  1.0043811 , -0.03505469,  1.56853879,
   0.39599802,-14.50018567]

qfrc_actuator:
[ 4.70034901e-05,-1.30763260e-04,-1.05334618e-04, 6.07933360e-05,
 -5.82111705e-05,-3.51795881e-04,-3.04862282e-04,-6.02935872e-07,
  5.29877981e-05,-6.33846466e-05,-9.17130241e-05, 2.60305623e-05,
  4.62383977e-03,-1.51921206e-03, 0.00000000e+00,-1.97318555e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003271340042341614
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.12111667e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.12111667e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09218994, -0.08832538,  0.06199065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.40223209e-05,-4.72911561e-06,-2.67503613e-05,-8.31376453e-06,
 -2.32896786e-05,-1.14290180e-05, 1.76684799e-05,-9.69095935e-06,
  1.42948966e-05, 8.28788150e-06, 1.13751146e-05,-1.72822581e-05,
 -2.47341383e-05,-1.48451106e-06, 2.04603842e-05, 1.63933250e-04,
 -1.00616198e-08,-1.17018874e-08,-1.21644020e+00,-4.56122916e-04,
  1.20872460e-05,-5.52515068e-04]


--- Step 1433 ---
qpos:
[ 6.22082612e-03,-1.79544382e-03,-4.97009963e-03, 3.35458499e-02,
  4.48531872e-03,-3.76570532e-03,-1.85414567e-02, 2.85955235e-02,
  1.29751339e-02, 3.31222289e-03,-9.99197204e-03, 2.58757709e-02,
  1.30800890e+00, 5.91837142e-05, 1.04322932e+00, 6.37095207e-02,
  9.35929620e-02,-7.02522879e-02, 1.30966984e-01, 4.95664313e-01,
  4.85625637e-01, 5.03551732e-01, 5.14704073e-01]

qacc:
[ -0.63643422,  0.90485982, -1.11405525, -5.56560403,  0.70253348,
  -2.73887794, 11.44339087,-20.37915473, -4.70597623,  1.02139669,
  -4.1174189 ,  6.94680728, -0.39393177,  0.51426365,  3.29678396,
 -10.64129513,  0.07326653,  0.99796679, -0.10161538,  1.56750196,
   0.38819233,-14.4075689 ]

qfrc_actuator:
[ 4.27178517e-05,-1.23501399e-04,-1.34575279e-04, 3.87954595e-05,
 -5.35296392e-05,-3.55916406e-04,-2.75343025e-04,-2.39128228e-05,
  2.51070677e-05,-6.68856522e-05,-1.05977842e-04, 3.28115059e-05,
  4.59496474e-03,-1.52113279e-03, 0.00000000e+00,-2.02852803e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031939577545901654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73800518e-13,  1.73800518e-13,  1.00000000e+00, -3.02066201e-26,
        1.00000000e+00, -1.73800518e-13, -1.00000000e+00,  0.00000000e+00,
        1.73800518e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09218976, -0.08832749,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.60107918e-06,-1.23994986e-06,-3.37920594e-05,-2.32886197e-05,
  4.01191729e-06,-7.28984101e-06, 2.90038095e-05,-2.33762162e-05,
 -2.74721435e-05, 2.75851672e-06,-1.17494952e-05, 7.19207548e-06,
 -4.27878477e-05,-8.16629606e-06, 2.29291302e-05,-4.46871895e-05,
  3.89309288e-08, 4.81560019e-08,-1.21644053e+00,-4.56239994e-04,
  1.17236027e-05,-5.52374278e-04]


--- Step 1434 ---
qpos:
[ 6.22124062e-03,-1.79594618e-03,-4.97092935e-03, 3.35459244e-02,
  4.48465511e-03,-3.76574388e-03,-1.85414737e-02, 2.85956263e-02,
  1.29751980e-02, 3.31189099e-03,-9.99233402e-03, 2.58764949e-02,
  1.30817786e+00, 6.07134140e-05, 1.04344559e+00, 6.37131439e-02,
  9.35979002e-02,-7.02377598e-02, 1.30971859e-01, 4.95697643e-01,
  4.85591947e-01, 5.03623851e-01, 5.14633194e-01]

qacc:
[ -6.57902182, -1.82488097,  7.25482331,-12.48842574,  3.58737893,
  -0.29562529,  0.27951168,  1.44529567, -2.97645393,  1.21584366,
  -4.91144454,  7.41409745, -1.13636956,  2.04094473,  3.31060434,
 -11.07356886,  0.07282821,  0.99300047, -0.15633162,  1.56756813,
   0.38140317,-14.33556468]

qfrc_actuator:
[ 4.21746004e-06,-1.36880105e-04,-1.15804089e-04, 2.57143187e-05,
 -3.25857572e-05,-3.76098504e-04,-2.75673096e-04,-1.98639398e-05,
  8.53851267e-06,-8.66749447e-05,-1.32166545e-04, 3.65449025e-05,
  4.57688089e-03,-1.46935951e-03, 0.00000000e+00,-2.08079867e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003110069514594832
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.46221145e-14,  1.78488458e-13,  1.00000000e+00, -7.96453242e-27,
        1.00000000e+00, -1.78488458e-13, -1.00000000e+00,  0.00000000e+00,
        4.46221145e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09218958, -0.08832977,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.85989172e-05,-2.20327638e-05, 1.35622118e-05,-1.47543848e-05,
  2.10557492e-05,-1.92719043e-05, 9.27593955e-07, 4.28486345e-06,
 -1.73485789e-05,-2.03661029e-05,-2.68143770e-05, 3.58540077e-06,
 -4.41549251e-05, 3.99146948e-05,-5.09661433e-07,-5.32330758e-05,
  9.21166172e-08, 1.93264949e-07,-1.21644114e+00,-4.56362787e-04,
  1.12840169e-05,-5.52143630e-04]


--- Step 1435 ---
qpos:
[ 6.22153535e-03,-1.79652062e-03,-4.97164920e-03, 3.35468719e-02,
  4.48424773e-03,-3.76594963e-03,-1.85414565e-02, 2.85954347e-02,
  1.29754079e-02, 3.31129094e-03,-9.99286663e-03, 2.58762329e-02,
  1.30834661e+00, 6.22690532e-05, 1.04366232e+00, 6.37120890e-02,
  9.36031287e-02,-7.02192746e-02, 1.30975930e-01, 4.95743763e-01,
  4.85545033e-01, 5.03711818e-01, 5.14546934e-01]

qacc:
[ -1.04791898,  1.39687618, -8.79970028, 23.77781418,  2.24612048,
  -0.92599451,  4.21730871, -9.23720113,  1.28129751, -1.90970687,
  10.45404265,-27.04471688, -0.46989457,  0.64455213, 14.81966814,
 -50.80185112,  0.07255726,  0.98927528, -0.20109165,  1.56869312,
   0.37542286,-14.28136852]

qfrc_actuator:
[-8.46018868e-07,-1.26811341e-04,-1.04412910e-04, 7.12616351e-05,
 -1.99995197e-05,-3.88085805e-04,-2.75920114e-04,-3.52883289e-05,
  1.65265717e-05,-1.16125357e-04,-1.47501823e-04,-1.48263629e-05,
  4.56530494e-03,-1.47490311e-03, 0.00000000e+00,-2.32604186e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003021897148586805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.1848181e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        9.1848181e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09218941, -0.08833216,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.16615012e-06,-6.99517231e-08, 8.01643243e-06, 4.47896022e-05,
  1.31807956e-05,-2.23801477e-05,-3.96558504e-06,-1.61357885e-05,
  7.48772838e-06,-4.62156836e-05,-2.27136201e-05,-5.31014014e-05,
 -2.73831927e-05,-6.27861557e-06,-1.13652297e-05,-2.49475074e-04,
  1.49634415e-07, 4.22071762e-07,-1.21644201e+00,-4.56491853e-04,
  1.07685846e-05,-5.51823588e-04]


--- Step 1436 ---
qpos:
[ 6.22176671e-03,-1.79701312e-03,-4.97258431e-03, 3.35487053e-02,
  4.48399454e-03,-3.76623437e-03,-1.85417591e-02, 2.85950732e-02,
  1.29757114e-02, 3.31067175e-03,-9.99373224e-03, 2.58756823e-02,
  1.30851537e+00, 6.30000650e-05, 1.04387889e+00, 6.37087658e-02,
  9.36086469e-02,-7.01968429e-02, 1.30979051e-01, 4.95802630e-01,
  4.85484935e-01, 5.03815588e-01, 5.14445316e-01]

qacc:
[ -0.56486216,  2.5355262 ,-12.62124072, 28.23485445,  1.34070672,
   0.43672287, -0.99612119, -1.36925538,  0.81424714,  0.30945218,
   0.07620957, -4.52372356,  0.51225834, -1.32844916,  6.55557326,
 -23.40658189,  0.07242573,  0.98661462, -0.23751161,  1.57082303,
   0.37008277,-14.24259688]

qfrc_actuator:
[-3.93013547e-06,-1.20497060e-04,-1.15108818e-04, 1.15439970e-04,
 -1.24385595e-05,-3.95095576e-04,-2.93848263e-04,-4.42895977e-05,
  2.11480130e-05,-9.78894426e-05,-1.56387563e-04,-2.72000884e-05,
  4.54696895e-03,-1.53212499e-03, 0.00000000e+00,-2.43445379e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002931244448411974
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.36721776e-13,  2.84066131e-13,  1.00000000e+00, -6.72446388e-26,
        1.00000000e+00, -2.84066131e-13, -1.00000000e+00,  0.00000000e+00,
        2.36721776e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09218924, -0.08833462,  0.06199162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.25928054e-06, 9.87438750e-06,-8.16035107e-06, 4.53253977e-05,
  7.93051784e-06,-2.10229821e-05,-2.35955239e-05,-1.04113166e-05,
  4.81867012e-06,-1.45437611e-05,-2.30535027e-05,-1.61707816e-05,
 -3.61452935e-05,-6.45769439e-05,-3.81193447e-05,-1.24970142e-04,
  2.11606943e-07, 7.33367687e-07,-1.21644315e+00,-4.56627681e-04,
  1.01772417e-05,-5.51414500e-04]


--- Step 1437 ---
qpos:
[ 6.22161447e-03,-1.79765836e-03,-4.97325104e-03, 3.35510507e-02,
  4.48417913e-03,-3.76673831e-03,-1.85425486e-02, 2.85953274e-02,
  1.29757229e-02, 3.31022688e-03,-9.99486360e-03, 2.58753024e-02,
  1.30868394e+00, 6.31035747e-05, 1.04409515e+00, 6.37047807e-02,
  9.36144547e-02,-7.01704718e-02, 1.30981103e-01, 4.95874211e-01,
  4.85411681e-01, 5.03935127e-01, 5.14328352e-01]

qacc:
[ -3.36163275,  0.10845164, -2.82920041, 11.35913578,  3.82007638,
   2.32877391,-11.33712626, 22.9455498 , -2.5818178 ,  1.32975859,
  -5.11956484,  8.36293563,  0.31470033, -0.9705082 ,  1.50543356,
  -6.01567483,  0.07241084,  0.98486796, -0.26697265,  1.57389927,
   0.36524575,-14.21722535]

qfrc_actuator:
[-2.35877599e-05,-1.34313290e-04,-1.03270525e-04, 1.40681957e-04,
  9.85940273e-06,-4.16892775e-04,-3.22044914e-04,-1.39386097e-05,
  5.99060290e-06,-6.89360949e-05,-1.61172962e-04,-1.64782057e-05,
  4.52989188e-03,-1.56625574e-03, 0.00000000e+00,-2.46130541e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002839563589861066
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.9549184e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.9549184e-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([ 0.09218908, -0.08833711,  0.06199188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.97462490e-05,-8.01497788e-06, 1.44536502e-05, 2.62641102e-05,
  2.25185628e-05,-3.88556067e-05,-3.57984174e-05, 2.84327821e-05,
 -1.50269371e-05, 1.54018168e-05,-1.11699652e-05, 8.99063542e-06,
 -5.35887927e-05,-5.72321957e-05,-3.42437150e-05,-3.93746025e-05,
  2.78146237e-07, 1.12621126e-06,-1.21644455e+00,-4.56770718e-04,
  9.50978390e-06,-5.50916611e-04]


--- Step 1438 ---
qpos:
[ 6.22122791e-03,-1.79849114e-03,-4.97397456e-03, 3.35533625e-02,
  4.48462974e-03,-3.76769838e-03,-1.85432584e-02, 2.85952441e-02,
  1.29758974e-02, 3.31000474e-03,-9.99608943e-03, 2.58746899e-02,
  1.30885217e+00, 6.30371534e-05, 1.04431115e+00, 6.37007826e-02,
  9.36205525e-02,-7.01401651e-02, 1.30981994e-01, 4.95958486e-01,
  4.85325284e-01, 5.04070414e-01, 5.14196039e-01]

qacc:
[ -2.05885699, -0.15428711,  0.33930535, -0.69954361,  2.33815101,
  -1.52388721,  5.97645408,-11.60060208,  1.42868931,  0.07650648,
   1.13220895, -5.16806962, -0.12374341, -0.06225405, -0.33270115,
   0.62670607,  0.07249401,  0.9839073 , -0.29065301,  1.57786207,
   0.3608001 ,-14.2035363 ]

qfrc_actuator:
[-3.50912726e-05,-1.60005918e-04,-1.13814527e-04, 1.36829221e-04,
  2.29016819e-05,-4.47390633e-04,-3.20602320e-04,-3.17043708e-05,
  1.48194781e-05,-5.14907352e-05,-1.63432211e-04,-2.77482708e-05,
  4.51891314e-03,-1.56864646e-03, 0.00000000e+00,-2.45767248e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002748011862190869
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01002386e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.01002386e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09218892, -0.0883396 ,  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:
[-1.20671588e-05,-2.60440807e-05,-9.49964290e-06,-3.18638636e-06,
  1.36722679e-05,-5.83666882e-05,-9.99535574e-06,-2.01148591e-05,
  8.40476949e-06, 2.41611050e-05,-1.22640326e-07,-1.08165568e-05,
 -5.53348471e-05,-2.79934306e-05,-2.29474971e-05,-3.60837601e-06,
  3.49357794e-07, 1.59986573e-06,-1.21644622e+00,-4.56921380e-04,
  8.76588341e-06,-5.50330083e-04]


--- Step 1439 ---
qpos:
[ 6.22070626e-03,-1.79930111e-03,-4.97515847e-03, 3.35552664e-02,
  4.48488820e-03,-3.76882250e-03,-1.85438000e-02, 2.85949046e-02,
  1.29765213e-02, 3.30990503e-03,-9.99703022e-03, 2.58739334e-02,
  1.30902004e+00, 6.28959353e-05, 1.04452687e+00, 6.36978215e-02,
  9.36225845e-02,-7.01178395e-02, 1.30983089e-01, 4.96028993e-01,
  4.85249261e-01, 5.04162350e-01, 5.14109636e-01]

qacc:
[-1.20311083e+00, 4.79580490e-01, 5.98697157e-02,-6.40421387e+00,
 -1.67365212e+00,-1.20963227e+00, 5.08589083e+00,-9.67233448e+00,
  3.96029628e+00,-9.38758117e-01, 4.17618629e+00,-7.19788793e+00,
 -1.33931593e-01, 1.80152725e-02,-3.54445940e+00, 1.18041143e+01,
 -1.01642790e+00,-1.99529141e+00, 5.11799824e-02,-1.68024142e+01,
  1.19333530e+00, 2.80587256e+01]

qfrc_actuator:
[-4.16981726e-05,-1.57223228e-04,-1.37570068e-04, 1.15860400e-04,
  1.26345658e-05,-4.29526380e-04,-3.01748094e-04,-4.21279943e-05,
  3.77017167e-05,-4.10682930e-05,-1.46488110e-04,-3.41256375e-05,
  4.50628862e-03,-1.56995237e-03, 0.00000000e+00,-2.40062784e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002839726116807828
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -4.8870163e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  4.8870163e-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([ 0.10885112, -0.03362468,  0.06199188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.95564791e-06,-1.38497189e-05,-3.04016797e-05,-2.24766481e-05,
 -9.89566796e-06,-1.76526367e-05, 4.89041508e-06,-1.36589066e-05,
  2.31278306e-05, 2.34718326e-05, 2.15636665e-05,-5.55242709e-06,
 -5.08596434e-05,-2.05484400e-05,-1.43889956e-05, 5.31165617e-05,
  4.25343412e-07, 2.15374815e-06,-1.21644814e+00,-4.57080072e-04,
  7.94510397e-06,-5.49654998e-04]


--- Step 1440 ---
qpos:
[ 6.22045414e-03,-1.79981328e-03,-4.97679089e-03, 3.35568677e-02,
  4.48502148e-03,-3.76981577e-03,-1.85442911e-02, 2.85947574e-02,
  1.29774146e-02, 3.30979491e-03,-9.99713421e-03, 2.58730848e-02,
  1.30918754e+00, 6.27399813e-05, 1.04474247e+00, 6.36955341e-02,
  9.36206389e-02,-7.01033184e-02, 1.30983526e-01, 4.96086064e-01,
  4.85183382e-01, 5.04211940e-01, 5.14068112e-01]

qacc:
[  2.35063783,  1.01980683, -1.79557718, -2.93466685, -1.09606087,
   0.42923897, -2.08769388,  5.23350513,  2.39776635, -2.54667042,
   9.44111287,-12.35611693, -0.23535462,  0.19781331, -2.1991687 ,
   7.4659179 , -0.99441957, -1.95112851, -0.16436839,-16.42299846,
   1.16568781, 27.41545431]

qfrc_actuator:
[-2.76199547e-05,-1.19738051e-04,-1.51073603e-04, 1.02762282e-04,
  6.48619814e-06,-4.00507117e-04,-2.90319789e-04,-3.03400872e-05,
  5.09119625e-05,-3.48484063e-05,-1.00611099e-04,-3.75631196e-05,
  4.48736338e-03,-1.57063455e-03, 0.00000000e+00,-2.36583889e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52483376, -3.99497487,  2.12468735, -3.99497487,  9.21035234,
        8.81001574,  2.12468735,  8.81001574, 21.08999639,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002952021867729665
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.82066768e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.82066768e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10884859, -0.03363048,  0.06199156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38811862e-05, 2.25353909e-05,-2.08666240e-05,-1.51803385e-05,
 -6.43684643e-06, 1.96172562e-05, 7.93261341e-06, 1.09396919e-05,
  1.38734394e-05, 2.35881330e-05, 5.32029080e-05,-1.79037682e-06,
 -5.26618534e-05,-1.72333490e-05,-4.29946709e-06, 3.50834639e-05,
  4.20503049e-09, 1.34283547e-06,-1.21644434e+00,-4.56787382e-04,
  1.00338243e-05,-5.49069430e-04]


--- Step 1441 ---
qpos:
[ 6.22002757e-03,-1.79985716e-03,-4.97870153e-03, 3.35579195e-02,
  4.48542490e-03,-3.77082562e-03,-1.85443125e-02, 2.85947418e-02,
  1.29784596e-02, 3.30968778e-03,-9.99691823e-03, 2.58722357e-02,
  1.30935474e+00, 6.23058108e-05, 1.04495754e+00, 6.36973483e-02,
  9.36147887e-02,-7.00964540e-02, 1.30982579e-01, 4.96129977e-01,
  4.85127450e-01, 5.04220012e-01, 5.14070601e-01]

qacc:
[ -1.55113905,  0.2683663 ,  2.26606551,-11.68093727,  2.37928844,
  -1.06783214,  3.21202444, -1.66365938,  1.34452951, -0.89377257,
   3.18972772, -3.70561293,  0.25556875, -0.68198887,-13.18090225,
  44.92852254, -0.97616433, -1.91417701, -0.34600971,-16.10807063,
   1.13975741, 26.87898372]

qfrc_actuator:
[-3.69865355e-05,-7.94681149e-05,-1.58253646e-04, 7.66917828e-05,
  2.05716057e-05,-4.00529388e-04,-2.65544022e-04,-2.33237948e-05,
  5.83191085e-05,-4.88188152e-05,-9.12980060e-05,-3.92308820e-05,
  4.46999896e-03,-1.58872526e-03, 0.00000000e+00,-2.14917576e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54721765, -4.04356069,  2.08009743, -4.04356069,  8.98017897,
        8.61735985,  2.08009743,  8.61735985, 21.29874907,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003020422857666627
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83786025e-13,  4.59465064e-14,  1.00000000e+00, -8.44432579e-27,
        1.00000000e+00, -4.59465064e-14, -1.00000000e+00,  0.00000000e+00,
        1.83786025e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10884705, -0.03363399,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.95957949e-06, 4.79507997e-05,-5.59909463e-06,-2.61215659e-05,
  1.39075959e-05, 1.30949161e-05, 3.02014586e-05, 8.34830147e-06,
  7.80683469e-06, 1.01480182e-05, 2.06814379e-05, 1.15109321e-06,
 -5.12510956e-05,-3.43301330e-05,-2.33291937e-06, 2.17094822e-04,
 -2.48434722e-07, 6.92702609e-07,-1.21644193e+00,-4.56632801e-04,
  1.11681356e-05,-5.48755334e-04]


--- Step 1442 ---
qpos:
[ 6.21949223e-03,-1.79948195e-03,-4.98071550e-03, 3.35586444e-02,
  4.48599393e-03,-3.77178683e-03,-1.85440111e-02, 2.85944669e-02,
  1.29795857e-02, 3.30908404e-03,-9.99631420e-03, 2.58714340e-02,
  1.30952160e+00, 6.16592912e-05, 1.04517253e+00, 6.37017179e-02,
  9.36118640e-02,-7.00974666e-02, 1.30980106e-01, 4.96135773e-01,
  4.85112880e-01, 5.04208457e-01, 5.14090089e-01]

qacc:
[ -0.9669932 ,  0.17153473,  1.57537636, -7.37980971,  1.45834699,
  -1.37310982,  6.07971968,-11.11399084,  0.73531368, -1.64473092,
   4.7094518 , -4.1410959 ,  0.06353064, -0.36420413, -7.83865192,
  27.23376857,  0.73138239, -1.96923465, -0.38163282, 10.17578486,
  -1.76791746, 29.20274582]

qfrc_actuator:
[-4.23311802e-05,-5.55695894e-05,-1.61630483e-04, 6.09584432e-05,
  2.86993923e-05,-4.00128869e-04,-2.50951875e-04,-3.69393712e-05,
  6.22544245e-05,-1.10417892e-04,-8.59885214e-05,-3.98916634e-05,
  4.45357713e-03,-1.59923909e-03, 0.00000000e+00,-2.02236448e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5636742 ,  4.56123049, -0.14932741,  4.56123049,  4.60217666,
        1.17606394, -0.14932741,  1.17606394, 40.48674264,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030693603283281357
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.80855766e-13,  1.80855766e-13,  1.00000000e+00, -3.27088080e-26,
        1.00000000e+00, -1.80855766e-13, -1.00000000e+00,  0.00000000e+00,
        1.80855766e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08120467, -0.03181422,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.57945077e-06, 4.84568688e-05, 4.95601093e-06,-1.43782340e-05,
  8.52808958e-06, 1.43609603e-05, 2.13176601e-05,-1.18451449e-05,
  4.15948793e-06,-5.15936092e-05, 9.99426847e-06, 5.13637909e-07,
 -5.31190247e-05,-3.06622641e-05, 1.97625410e-05, 1.37841234e-04,
 -3.43961468e-07, 1.90143180e-07,-1.21644081e+00,-4.56603097e-04,
  1.14139617e-05,-5.48703172e-04]


--- Step 1443 ---
qpos:
[ 6.21889713e-03,-1.79900177e-03,-4.98235331e-03, 3.35591822e-02,
  4.48631130e-03,-3.77284426e-03,-1.85434446e-02, 2.85940540e-02,
  1.29807502e-02, 3.30812451e-03,-9.99562631e-03, 2.58702894e-02,
  1.30968801e+00, 6.13869780e-05, 1.04538791e+00, 6.37049100e-02,
  9.36118184e-02,-7.01062480e-02, 1.30975510e-01, 4.96104089e-01,
  4.85138967e-01, 5.04177627e-01, 5.14126284e-01]

qacc:
[ -0.51557213, -1.29705562,  5.61734478, -9.53527142, -2.19245842,
  -1.14706969,  4.4955694 , -7.24352272,  0.34635403, -1.41124209,
   5.79655559,-11.60329484, -0.73330191,  1.17431354,  4.17829134,
 -13.65907703,  0.7197947 , -1.94219973, -0.53086249, 10.01025152,
  -1.73036533, 28.70410411]

qfrc_actuator:
[-4.52585752e-05,-5.93846328e-05,-1.45036365e-04, 5.14246350e-05,
  1.54964656e-05,-4.17285888e-04,-2.42510756e-04,-4.48431280e-05,
  6.41164363e-05,-1.29085250e-04,-8.32772814e-05,-5.77485259e-05,
  4.44306049e-03,-1.56965611e-03, 0.00000000e+00,-2.09157992e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57281374, -4.52309044, -0.67251648, -4.52309044,  5.04833318,
       -3.19816311, -0.67251648, -3.19816311, 26.08244408,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030960687855695335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.96478003e-14,  8.96478003e-14,  1.00000000e+00, -8.03672810e-27,
        1.00000000e+00, -8.96478003e-14, -1.00000000e+00,  0.00000000e+00,
        8.96478003e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08120509, -0.03181611,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.06799095e-06, 2.36981141e-05, 2.67348486e-05,-7.56335526e-06,
 -1.29546590e-05,-5.19582785e-06, 1.36315327e-05,-6.77948362e-06,
  1.96030361e-06,-4.54107288e-05,-6.69454852e-06,-1.97102288e-05,
 -4.73107036e-05, 9.81206264e-06, 1.94813862e-05,-6.01454178e-05,
 -1.95688273e-08,-3.63773253e-08,-1.21644010e+00,-4.56881541e-04,
  1.07238679e-05,-5.48649559e-04]


--- Step 1444 ---
qpos:
[ 6.21792674e-03,-1.79866811e-03,-4.98333575e-03, 3.35592695e-02,
  4.48577814e-03,-3.77392497e-03,-1.85425064e-02, 2.85935329e-02,
  1.29819279e-02, 3.30716663e-03,-9.99564817e-03, 2.58692944e-02,
  1.30985398e+00, 6.19168242e-05, 1.04560327e+00, 6.37079462e-02,
  9.36146137e-02,-7.01227078e-02, 1.30968287e-01, 4.96035439e-01,
  4.85205124e-01, 5.04127806e-01, 5.14178944e-01]

qacc:
[ -3.2769904 , -2.94686944, 12.13845734,-20.88499439, -7.43147232,
  -1.27649239,  4.98867591, -7.46330651,  0.09266754,  2.29344748,
  -8.80609052, 12.52820843, -0.96242814,  1.81793251,  0.53427303,
  -1.70337112,  0.71020958, -1.91959937, -0.65654965,  9.87345053,
  -1.69893811, 28.2941373 ]

qfrc_actuator:
[-6.44937445e-05,-7.96813452e-05,-1.16897841e-04, 2.78488910e-05,
 -2.79065131e-05,-4.09346765e-04,-2.20079186e-04,-4.93374593e-05,
  6.47447950e-05,-1.21935740e-04,-1.17481262e-04,-5.00463680e-05,
  4.44143651e-03,-1.51651666e-03, 0.00000000e+00,-2.09817428e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5724109 , -4.50921364, -0.75758417, -4.50921364,  5.57182455,
       -5.94860587, -0.75758417, -5.94860587, 39.97908345,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030948984663838053
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79363400e-13,  8.96817001e-14,  1.00000000e+00, -1.60856147e-26,
        1.00000000e+00, -8.96817001e-14, -1.00000000e+00,  0.00000000e+00,
        1.79363400e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08120504, -0.03181638,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93148420e-05,-1.84478966e-06, 3.60779057e-05,-2.17808154e-05,
 -4.37751377e-05, 7.58691391e-06, 2.28101526e-05,-4.37470808e-06,
  6.66737316e-07,-2.04383120e-05,-4.50838990e-05, 5.14418625e-06,
 -2.60522577e-05, 4.44964350e-05,-3.86206242e-06,-8.86002664e-06,
  7.12222924e-08, 1.99161771e-07,-1.21644061e+00,-4.57070022e-04,
  1.07358197e-05,-5.48790524e-04]


--- Step 1445 ---
qpos:
[ 6.21707831e-03,-1.79839274e-03,-4.98423829e-03, 3.35591026e-02,
  4.48507339e-03,-3.77462347e-03,-1.85414597e-02, 2.85925823e-02,
  1.29827587e-02, 3.30641970e-03,-9.99651150e-03, 2.58683814e-02,
  1.31001972e+00, 6.27992299e-05, 1.04581870e+00, 6.37098616e-02,
  9.36202183e-02,-7.01467708e-02, 1.30958015e-01, 4.95930239e-01,
  4.85310863e-01, 5.04059219e-01, 5.14247866e-01]

qacc:
[  1.07573747, -0.82556263,  3.90034466, -8.37695932, -1.50512585,
  -0.67859105,  4.97230632,-12.86879037, -3.08190643,  2.80544786,
  -9.93451432, 12.53308198, -0.51567946,  0.9234117 ,  3.51369187,
 -12.06506921,  0.70233058, -1.90080844, -0.76236469,  9.76124505,
  -1.67233936, 27.95947183]

qfrc_actuator:
[-5.76688843e-05,-9.19049333e-05,-1.17767601e-04, 1.39388745e-05,
 -3.54720872e-05,-3.68631768e-04,-2.07218519e-04,-6.95134163e-05,
  4.68902961e-05,-9.95112459e-05,-1.55321695e-04,-4.51168143e-05,
  4.42918510e-03,-1.50307885e-03, 0.00000000e+00,-2.15650968e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030715471655311244
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.80727003e-13,  1.80727003e-13,  1.00000000e+00, -3.26622494e-26,
        1.00000000e+00, -1.80727003e-13, -1.00000000e+00,  0.00000000e+00,
        1.80727003e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0812046 , -0.03181537,  0.06199122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.27442709e-06,-6.74057716e-06, 2.44827713e-06,-1.31624600e-05,
 -8.81419814e-06, 4.94957551e-05, 1.70908079e-05,-1.91433881e-05,
 -1.78443325e-05, 1.94417435e-06,-4.74224546e-05, 2.59845633e-06,
 -1.67209166e-05, 1.80631650e-05,-7.37087345e-06,-6.03920439e-05,
 -6.04464877e-08, 8.76715425e-07,-1.21644230e+00,-4.57176641e-04,
  1.14188850e-05,-5.49122482e-04]


--- Step 1446 ---
qpos:
[ 6.21666295e-03,-1.79804547e-03,-4.98519245e-03, 3.35587631e-02,
  4.48462801e-03,-3.77499165e-03,-1.85405400e-02, 2.85914200e-02,
  1.29830238e-02, 3.30606808e-03,-9.99770903e-03, 2.58674750e-02,
  1.31018525e+00, 6.36710890e-05, 1.04603413e+00, 6.37103794e-02,
  9.36220707e-02,-7.01781950e-02, 1.30944912e-01, 4.95812296e-01,
  4.85426168e-01, 5.03950618e-01, 5.14359191e-01]

qacc:
[  3.80504335, -0.12375158,  1.29540768, -4.24101628,  2.26015883,
   0.35149282,  0.26592837, -3.95970011, -4.99550876,  1.47957299,
  -4.527952  ,  4.86512429, -0.2344757 ,  0.2638627 ,  4.24925279,
 -14.80799555, -0.93806745, -1.84029828, -0.70764726,-15.5117679 ,
   1.11917623, 25.9123656 ]

qfrc_actuator:
[-3.55551388e-05,-8.15616194e-05,-1.17976376e-04, 5.81200917e-06,
 -2.18739412e-05,-3.61905339e-04,-2.17738513e-04,-8.09809122e-05,
  1.83007195e-05,-5.03790868e-05,-1.59423109e-04,-4.18431582e-05,
  4.40522831e-03,-1.51333330e-03, 0.00000000e+00,-2.22710987e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030440239242686407
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82361087e-13, -2.73541631e-13,  1.00000000e+00,  4.98833492e-26,
        1.00000000e+00,  2.73541631e-13, -1.00000000e+00,  0.00000000e+00,
        1.82361087e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10884643, -0.03363528,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.22903285e-05, 6.52146442e-06,-1.74668938e-06,-8.58549884e-06,
  1.33637285e-05, 3.71262204e-05, 1.14478469e-06,-9.12582332e-06,
 -2.90974765e-05, 4.05705556e-05,-9.42858291e-06, 1.77321233e-06,
 -2.95645673e-05,-9.58552841e-06,-1.45150180e-05,-7.59428746e-05,
 -4.06380873e-07, 1.98217223e-06,-1.21644511e+00,-4.57207683e-04,
  1.27496449e-05,-5.49642487e-04]


--- Step 1447 ---
qpos:
[ 6.21651590e-03,-1.79762012e-03,-4.98616060e-03, 3.35583253e-02,
  4.48400419e-03,-3.77515762e-03,-1.85397153e-02, 2.85904894e-02,
  1.29829441e-02, 3.30581485e-03,-9.99833614e-03, 2.58669345e-02,
  1.31035051e+00, 6.44930704e-05, 1.04624946e+00, 6.37100233e-02,
  9.36242016e-02,-7.02049970e-02, 1.30937131e-01, 4.95709063e-01,
  4.85526433e-01, 5.03860497e-01, 5.14452338e-01]

qacc:
[  2.357301  , -0.06477283,  0.78774324, -2.51575707, -1.56791763,
   1.01189494, -4.19319239,  8.1989405 , -3.01769817, -0.70486018,
   1.16673218,  4.17248707, -0.21550428,  0.18524723,  2.49345775,
  -8.92230271,  0.06966135,  1.15554567,  1.3304034 ,  2.03468241,
   0.33085886,-16.56505481]

qfrc_actuator:
[-2.23805957e-05,-7.55376879e-05,-1.17689009e-04, 1.17534171e-06,
 -3.14451575e-05,-3.57920391e-04,-2.24342214e-04,-6.95169375e-05,
  1.38035565e-06,-3.87489538e-05,-1.25699159e-04,-2.17676544e-05,
  4.38490624e-03,-1.51982838e-03, 0.00000000e+00,-2.26883858e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003125376273592356
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.77614298e-13, -3.55228596e-13,  1.00000000e+00,  6.30936776e-26,
        1.00000000e+00,  3.55228596e-13, -1.00000000e+00,  0.00000000e+00,
        1.77614298e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09219449, -0.0883312 ,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38109676e-05, 8.95051625e-06, 1.12966773e-06,-4.58348024e-06,
 -9.17616166e-06, 2.46010435e-05, 8.85662036e-07, 1.29178486e-05,
 -1.77350740e-05, 3.24652520e-05, 4.10259394e-05, 2.15291431e-05,
 -3.97788456e-05,-1.53183485e-05,-1.92003992e-05,-4.87768875e-05,
  4.35708018e-08, 2.91545322e-06,-1.21644825e+00,-4.57736180e-04,
  1.15623392e-05,-5.50409139e-04]


--- Step 1448 ---
qpos:
[ 6.21618301e-03,-1.79697182e-03,-4.98719327e-03, 3.35578199e-02,
  4.48292593e-03,-3.77550651e-03,-1.85382578e-02, 2.85900478e-02,
  1.29830069e-02, 3.30566030e-03,-9.99822036e-03, 2.58662809e-02,
  1.31051560e+00, 6.49668292e-05, 1.04646497e+00, 6.37064574e-02,
  9.36266153e-02,-7.02273069e-02, 1.30933520e-01, 4.95620166e-01,
  4.85612025e-01, 5.03788354e-01, 5.14527848e-01]

qacc:
[ -1.63995621,  0.33927498, -0.49154984, -0.74390141, -3.95373045,
  -0.99555261,  1.14708787,  6.42687027,  1.27544233, -2.18103337,
   8.43895314,-11.65119172, -0.06269126, -0.20907777,  9.96917072,
 -34.47334026,  0.07066202,  1.12301841,  1.04266925,  1.95041291,
   0.33739297,-16.12006964]

qfrc_actuator:
[-3.23306600e-05,-5.43876788e-05,-1.17120942e-04,-1.37251843e-06,
 -5.45839264e-05,-3.73336997e-04,-1.93072014e-04,-4.46526431e-05,
  9.21952773e-06,-3.17286165e-05,-8.78035631e-05,-2.74783764e-05,
  4.37210390e-03,-1.54177693e-03, 0.00000000e+00,-2.43523004e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000327318073348945
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.11992385e-13,  1.69593908e-13,  1.00000000e+00, -3.59526171e-26,
        1.00000000e+00, -1.69593908e-13, -1.00000000e+00,  0.00000000e+00,
        2.11992385e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09219513, -0.08832745,  0.06199064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.55438154e-06, 2.61943302e-05, 2.40439692e-06,-2.21279767e-06,
 -2.33928955e-05,-9.28006198e-07, 3.69024071e-05, 2.62016181e-05,
  7.34254648e-06, 3.45834255e-05, 5.04120318e-05,-2.47701739e-06,
 -3.93422902e-05,-3.45377970e-05,-1.80236402e-05,-1.72449264e-04,
  1.89254638e-09, 2.17059300e-06,-1.21644601e+00,-4.57638823e-04,
  1.19045036e-05,-5.51007721e-04]


--- Step 1449 ---
qpos:
[ 6.21573371e-03,-1.79635402e-03,-4.98785365e-03, 3.35576353e-02,
  4.48123381e-03,-3.77598134e-03,-1.85369536e-02, 2.85899553e-02,
  1.29831630e-02, 3.30555915e-03,-9.99787201e-03, 2.58659510e-02,
  1.31068038e+00, 6.54569151e-05, 1.04668042e+00, 6.37005687e-02,
  9.36293145e-02,-7.02452339e-02, 1.30933110e-01, 4.95545290e-01,
  4.85683254e-01, 5.03733770e-01, 5.14586175e-01]

qacc:
[ -1.0110703 , -0.41842283,  0.08237218,  4.89360854, -5.37476164,
   0.98996093, -5.22716829, 11.58531652,  0.82858401,  0.08525439,
  -1.57103632,  6.76480923, -0.3933242 ,  0.47554712,  6.93145427,
 -24.34280605,  0.07139109,  1.09572418,  0.80006691,  1.88201778,
   0.34157509,-15.74648608]

qfrc_actuator:
[-3.80560395e-05,-5.98433990e-05,-9.85756844e-05, 1.50940574e-05,
 -8.55158569e-05,-4.00090284e-04,-2.10777841e-04,-2.98508875e-05,
  1.38124335e-05,-4.52664430e-05,-8.33108926e-05,-1.28228897e-05,
  4.35848837e-03,-1.53717399e-03, 0.00000000e+00,-2.54946531e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.67222726, -1.09944847,  4.54102639, -1.09944847,  9.93672205,
        1.27461069,  4.54102639,  1.27461069,  4.98082903,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003367324093931645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.24262080e-14, -8.24262080e-14,  1.00000000e+00, -6.79407976e-27,
        1.00000000e+00,  8.24262080e-14, -1.00000000e+00,  0.00000000e+00,
       -8.24262080e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0921956 , -0.08832511,  0.06199037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.98879730e-06, 9.58163905e-06, 2.41820078e-05, 1.76316094e-05,
 -3.16031061e-05,-1.85386566e-05,-1.24562556e-05, 1.65482605e-05,
  4.81114935e-06, 1.61170049e-05, 1.77616513e-05, 1.78348912e-05,
 -4.46950705e-05,-1.22831572e-05,-3.17974812e-05,-1.27160155e-04,
 -2.77850229e-08, 1.55038169e-06,-1.21644418e+00,-4.57563191e-04,
  1.21375661e-05,-5.51506852e-04]


--- Step 1450 ---
qpos:
[ 6.21556439e-03,-1.79606127e-03,-4.98811305e-03, 3.35576857e-02,
  4.47952840e-03,-3.77593970e-03,-1.85369588e-02, 2.85896938e-02,
  1.29830282e-02, 3.30566572e-03,-9.99834924e-03, 2.58661992e-02,
  1.31084491e+00, 6.57154045e-05, 1.04689567e+00, 6.36933085e-02,
  9.36323014e-02,-7.02588694e-02, 1.30935083e-01, 4.95484170e-01,
  4.85740385e-01, 5.03696391e-01, 5.14627692e-01]

qacc:
[  2.48013968, -1.0715795 ,  2.19681461,  1.47768631, -0.16612831,
   3.99181852,-12.52954512, 11.31657549, -2.59032025,  3.77683741,
 -15.50035676, 26.66263546, -0.07275988, -0.13784274,  3.84658984,
 -13.88503292,  0.07192969,  1.07290125,  0.59585465,  1.82666683,
   0.343978  ,-15.43361993]

qfrc_actuator:
[-2.34890756e-05,-9.88509141e-05,-8.74077439e-05, 2.48553348e-05,
 -8.52772087e-05,-3.62618861e-04,-2.75088898e-04,-3.88948509e-05,
 -1.30297262e-06,-5.33807100e-05,-1.34152057e-04, 1.36608090e-05,
  4.34440461e-03,-1.55237070e-03, 0.00000000e+00,-2.61425732e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.69211981, -1.5728115 ,  4.42066197, -1.5728115 , 12.97774568,
        2.94791318,  4.42066197,  2.94791318,  5.74094729,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034178295128330094
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.06040961e-14,  2.43624577e-13,  1.00000000e+00, -9.89215573e-27,
        1.00000000e+00, -2.43624577e-13, -1.00000000e+00,  0.00000000e+00,
        4.06040961e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09219594, -0.08832391,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.43970756e-05,-2.79136059e-05, 1.67372058e-05, 1.13525470e-05,
 -6.70821297e-07, 2.52320998e-05,-6.91103168e-05,-9.94772267e-06,
 -1.49745832e-05, 5.33415959e-06,-4.47093306e-05, 2.81360651e-05,
 -4.29857313e-05,-2.80609196e-05,-3.23283064e-05,-7.67688651e-05,
 -4.73291419e-08, 1.04512946e-06,-1.21644272e+00,-4.57505826e-04,
  1.22698420e-05,-5.51908581e-04]


--- Step 1451 ---
qpos:
[ 6.21557104e-03,-1.79623636e-03,-4.98808890e-03, 3.35575349e-02,
  4.47852867e-03,-3.77551602e-03,-1.85377628e-02, 2.85889626e-02,
  1.29834033e-02, 3.30588129e-03,-9.99968926e-03, 2.58667791e-02,
  1.31100909e+00, 6.60714349e-05, 1.04711063e+00, 6.36859462e-02,
  9.36355777e-02,-7.02682892e-02, 1.30938753e-01, 4.95436584e-01,
  4.85783637e-01, 5.03675924e-01, 5.14652710e-01]

qacc:
[  1.56418828, -1.82848641,  6.46637176,-10.05161145,  6.14380066,
   1.7578321 , -3.57224052, -3.54104361,  4.45876151,  3.2294494 ,
 -12.72137202, 19.77713241, -0.343974  ,  0.44294465, -0.08712022,
  -0.24809363,  0.07233911,  1.05390256,  0.42431711,  1.78207107,
   0.34504009,-15.17254211]

qfrc_actuator:
[-1.48491516e-05,-1.39930117e-04,-8.08438147e-05, 1.27983080e-05,
 -4.89386317e-05,-3.40462550e-04,-3.12887901e-04,-6.18679578e-05,
  2.53616061e-05,-5.84165293e-05,-1.81723158e-04, 2.91048706e-05,
  4.33004363e-03,-1.54370052e-03, 0.00000000e+00,-2.61390025e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003433129996512213
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.42538811e-13,  2.42538811e-13,  1.00000000e+00, -5.88250750e-26,
        1.00000000e+00, -2.42538811e-13, -1.00000000e+00,  0.00000000e+00,
        2.42538811e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09219617, -0.08832362,  0.06199019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.03771109e-06,-5.27470341e-05, 3.25128552e-06,-1.24538677e-05,
  3.63314226e-05, 2.15636911e-05,-4.14444332e-05,-2.44761466e-05,
  2.62415406e-05,-1.00869652e-05,-5.09984059e-05, 1.46741076e-05,
 -4.59142738e-05,-7.56782149e-06,-2.65516921e-05,-8.78389030e-06,
 -5.81246621e-08, 6.47103442e-07,-1.21644161e+00,-4.57464192e-04,
  1.23076664e-05,-5.52214665e-04]


--- Step 1452 ---
qpos:
[ 6.21568134e-03,-1.79684673e-03,-4.98796224e-03, 3.35572498e-02,
  4.47831734e-03,-3.77500506e-03,-1.85389569e-02, 2.85879713e-02,
  1.29840950e-02, 3.30592522e-03,-1.00009538e-02, 2.58675108e-02,
  1.31117284e+00, 6.67910327e-05, 1.04732508e+00, 6.36812764e-02,
  9.36391446e-02,-7.02735563e-02, 1.30943546e-01, 4.95402347e-01,
  4.85813198e-01, 5.03672126e-01, 5.14661482e-01]

qacc:
[  0.92194666, -1.14009401,  3.7937435 , -5.95651852,  6.88590072,
   0.65640706, -1.0980541 , -2.81971175,  2.79144304, -0.1308872 ,
  -0.51250181,  3.15429483, -0.42223334,  0.71660717, -8.84584923,
  29.93477108,  0.07266517,  1.03817631,  0.28058508,  1.74637228,
   0.34509504,-14.95574525]

qfrc_actuator:
[-9.77344348e-06,-1.64226904e-04,-7.70852534e-05, 5.74518761e-06,
 -9.40635950e-06,-3.45320095e-04,-3.34766349e-04,-7.50774814e-05,
  4.09043305e-05,-6.15896498e-05,-1.73706866e-04, 3.79402954e-05,
  4.31553612e-03,-1.52094672e-03, 0.00000000e+00,-2.46865879e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003420304420949233
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.05747153e-14,  1.62298861e-13,  1.00000000e+00, -6.58523008e-27,
        1.00000000e+00, -1.62298861e-13, -1.00000000e+00,  0.00000000e+00,
        4.05747153e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09219631, -0.08832407,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.31521263e-06,-5.36458656e-05,-7.16583600e-06,-9.44299649e-06,
  4.05803782e-05,-2.40022775e-06,-2.33719008e-05,-1.41948024e-05,
  1.62856014e-05,-1.87024380e-05, 1.70046589e-07, 6.92433297e-06,
 -4.26547370e-05, 1.05486824e-05,-1.64486567e-05, 1.40614003e-04,
 -6.11954828e-08, 3.50136591e-07,-1.21644082e+00,-4.57436437e-04,
  1.22558437e-05,-5.52426593e-04]


--- Step 1453 ---
qpos:
[ 6.21619638e-03,-1.79750148e-03,-4.98796565e-03, 3.35568480e-02,
  4.47858190e-03,-3.77458066e-03,-1.85400781e-02, 2.85868197e-02,
  1.29842779e-02, 3.30566403e-03,-1.00011841e-02, 2.58676018e-02,
  1.31133645e+00, 6.69838507e-05, 1.04753938e+00, 6.36783391e-02,
  9.36430033e-02,-7.02747225e-02, 1.30948981e-01, 4.95381302e-01,
  4.85829220e-01, 5.03684794e-01, 5.14654217e-01]

qacc:
[  3.55552382,  0.05763916,  0.19011394, -1.95654873,  4.16840589,
  -0.65588539,  2.83571281, -5.64805679, -4.44034559, -4.60381884,
  18.54979248,-31.08104751,  0.40362929, -1.01384744, -5.49456009,
  18.80213657,  0.07294181,  1.02525084,  0.16049595,  1.71805684,
   0.3443952 ,-14.77688805]

qfrc_actuator:
[ 1.09183096e-05,-1.42794403e-04,-7.49422801e-05, 1.70789648e-06,
  1.39244895e-05,-3.48491368e-04,-3.29429086e-04,-8.24506097e-05,
  1.42580608e-05,-6.34081201e-05,-1.15178655e-04, 7.35259539e-06,
  4.29563382e-03,-1.56105832e-03, 0.00000000e+00,-2.38126155e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000338527846546241
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.09945236e-14,  8.19890473e-14,  1.00000000e+00,  3.36110194e-27,
        1.00000000e+00, -8.19890473e-14, -1.00000000e+00,  0.00000000e+00,
       -4.09945236e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09219639, -0.08832509,  0.06199032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.08266977e-05,-1.04287658e-05,-1.01417085e-05,-6.76633263e-06,
  2.44908157e-05,-9.93749856e-06, 1.47992834e-06,-8.55888000e-06,
 -2.61914266e-05,-1.19256765e-05, 5.49382009e-05,-3.12479901e-05,
 -4.14985970e-05,-4.75054349e-05, 4.96814062e-06, 9.24265436e-05,
 -5.72943069e-08, 1.49318357e-07,-1.21644034e+00,-4.57421227e-04,
  1.21179875e-05,-5.52545622e-04]


--- Step 1454 ---
qpos:
[ 6.21661035e-03,-1.79797434e-03,-4.98812503e-03, 3.35570634e-02,
  4.47877966e-03,-3.77447078e-03,-1.85407669e-02, 2.85859383e-02,
  1.29844852e-02, 3.30489739e-03,-1.00002917e-02, 2.58673449e-02,
  1.31149990e+00, 6.64660045e-05, 1.04775423e+00, 6.36717781e-02,
  9.36471548e-02,-7.02718297e-02, 1.30954658e-01, 4.95373322e-01,
  4.85831830e-01, 5.03713763e-01, 5.14631081e-01]

qacc:
[ -0.89646089,  1.94898649, -9.20239413, 19.99439208, -0.56555952,
  -1.06623063,  2.05950427,  2.15620281,  0.25936877, -4.52203117,
  16.62225555,-24.06413422,  0.18223513, -0.81578934, 11.72083605,
 -39.89280178,  0.07319377,  1.01472244,  0.0604833 ,  1.69588812,
   0.34313005,-14.63059588]

qfrc_actuator:
[ 5.13186173e-06,-1.11893738e-04,-7.35770906e-05, 3.50215393e-05,
  9.77901059e-06,-3.68264589e-04,-3.08069395e-04,-6.85650001e-05,
  1.62550920e-05,-9.97169070e-05,-6.28375737e-05,-1.06520698e-05,
  4.27781047e-03,-1.60263897e-03, 0.00000000e+00,-2.57722458e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000333299627279543
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.32751475e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.32751475e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09219641, -0.08832656,  0.06199047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.19508106e-06, 2.27142371e-05,-2.26501631e-06, 3.23855666e-05,
 -3.44901488e-06,-2.53824910e-05, 1.92029964e-05, 1.33474937e-05,
  1.24680833e-06,-3.29652055e-05, 5.55700901e-05,-1.72209284e-05,
 -5.23051330e-05,-6.24916137e-05, 8.45848325e-06,-1.91120834e-04,
 -4.69693172e-08, 4.07477260e-08,-1.21644015e+00,-4.57417612e-04,
  1.18967801e-05,-5.52572802e-04]


--- Step 1455 ---
qpos:
[ 6.21660694e-03,-1.79820765e-03,-4.98831799e-03, 3.35576596e-02,
  4.47858136e-03,-3.77445809e-03,-1.85412761e-02, 2.85855649e-02,
  1.29847148e-02, 3.30358054e-03,-9.99923845e-03, 2.58672930e-02,
  1.31166302e+00, 6.56992638e-05, 1.04796902e+00, 6.36636098e-02,
  9.36516000e-02,-7.02649119e-02, 1.30960244e-01, 4.95378303e-01,
  4.85821131e-01, 5.03758898e-01, 5.14592206e-01]

qacc:
[ -3.67485222,  1.20173598, -5.42026669, 11.87334581, -3.45842632,
   0.42111116, -3.82152948, 12.38518854,  0.21038521, -0.7553919 ,
   0.77221272,  2.92343817, -0.15059383, -0.06801159,  4.76679563,
 -16.79694114,  0.07343885,  1.00624546, -0.02251198,  1.67885312,
   0.34144075,-14.51230283]

qfrc_actuator:
[-1.61975760e-05,-9.32733235e-05,-7.26006379e-05, 5.45532453e-05,
 -1.04999268e-05,-3.62231131e-04,-2.95237479e-04,-4.22905655e-05,
  1.73556766e-05,-1.56397523e-04,-6.79687007e-05,-3.39073556e-06,
  4.26656665e-03,-1.60920119e-03, 0.00000000e+00,-2.65449854e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032675674282492406
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.49426254e-14,  8.49426254e-14,  1.00000000e+00,  7.21524962e-27,
        1.00000000e+00, -8.49426254e-14, -1.00000000e+00,  0.00000000e+00,
       -8.49426254e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09219639, -0.08832837,  0.06199066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.14688607e-05, 3.22576621e-05, 6.51666105e-06, 2.10580468e-05,
 -2.03876550e-05,-3.61705332e-06, 1.04253135e-05, 2.61142873e-05,
  1.12141071e-06,-6.43552075e-05,-5.69245281e-06, 7.43655024e-06,
 -5.59052614e-05,-3.32595958e-05,-2.31385397e-05,-8.81600189e-05,
 -3.06139301e-08, 2.13345240e-08,-1.21644024e+00,-4.57424937e-04,
  1.15941707e-05,-5.52508999e-04]


--- Step 1456 ---
qpos:
[ 6.21703768e-03,-1.79804055e-03,-4.98855518e-03, 3.35581196e-02,
  4.47848620e-03,-3.77420916e-03,-1.85420271e-02, 2.85851499e-02,
  1.29853006e-02, 3.30187367e-03,-9.99827442e-03, 2.58673261e-02,
  1.31182575e+00, 6.48352729e-05, 1.04818357e+00, 6.36552101e-02,
  9.36563400e-02,-7.02539961e-02, 1.30965467e-01, 4.95396160e-01,
  4.85797203e-01, 5.03820090e-01, 5.14537694e-01]

qacc:
[  3.80903105,  0.36508904,  0.02805411, -2.59461815,  0.89095654,
   0.90054264, -2.58571537,  2.08271919,  3.13871186, -0.09709256,
  -0.77164947,  2.68555899, -0.22546803,  0.12305717,  0.35483918,
  -1.73040485,  0.07368956,  0.99952403, -0.09111476,  1.66612012,
   0.33943141,-14.41812443]

qfrc_actuator:
[ 6.76181055e-06,-6.43988554e-05,-7.19174377e-05, 4.80526874e-05,
 -4.59770997e-06,-3.40805181e-04,-3.05195114e-04,-4.44339583e-05,
  3.56634763e-05,-1.71796394e-04,-7.15652175e-05, 8.63882067e-07,
  4.24863965e-03,-1.61268249e-03, 0.00000000e+00,-2.66112592e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003192392957001716
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.34714272e-13, -8.69428544e-14,  1.00000000e+00, -3.77952997e-26,
        1.00000000e+00,  8.69428544e-14, -1.00000000e+00,  0.00000000e+00,
       -4.34714272e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09219633, -0.08833043,  0.06199088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.23599053e-05, 4.91635676e-05, 8.88224100e-06,-4.48244192e-06,
  5.31702702e-06, 2.26750523e-05,-8.50946050e-06,-1.42664929e-06,
  1.83140137e-05,-5.22072258e-05,-1.73303866e-05, 1.44518260e-06,
 -5.78636464e-05,-2.40362749e-05,-2.42428433e-05,-1.53636884e-05,
 -8.50407110e-09, 8.86385990e-08,-1.21644061e+00,-4.57442775e-04,
  1.12115285e-05,-5.52354920e-04]


--- Step 1457 ---
qpos:
[ 6.21739495e-03,-1.79734139e-03,-4.98883909e-03, 3.35581358e-02,
  4.47880737e-03,-3.77384341e-03,-1.85431590e-02, 2.85850831e-02,
  1.29864456e-02, 3.30056841e-03,-9.99801472e-03, 2.58673502e-02,
  1.31198797e+00, 6.42122693e-05, 1.04839791e+00, 6.36470874e-02,
  9.36613758e-02,-7.02391030e-02, 1.30970098e-01, 4.95426823e-01,
  4.85760111e-01, 5.03897254e-01, 5.14467622e-01]

qacc:
[ -0.65684923, -0.07870886,  3.17676248,-11.1770034 ,  3.6297343 ,
   1.92687178, -8.12930388, 14.69055407,  4.89143506,  2.47096009,
  -8.01829636,  8.70869128, -0.55499597,  0.79548614, -1.10173118,
   3.50576875,  0.07395451,  0.99430515, -0.14757659,  1.6570049 ,
   0.33717793,-14.34475362]

qfrc_actuator:
[ 2.35203018e-06,-2.96286287e-05,-7.13861094e-05, 2.62974119e-05,
  1.66724335e-05,-3.45943560e-04,-3.28476769e-04,-2.77764708e-05,
  6.39527242e-05,-1.09108426e-04,-9.18078429e-05, 3.35233503e-06,
  4.22672016e-03,-1.59661469e-03, 0.00000000e+00,-2.64385098e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031102733739879485
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.23095949e-13,  2.67715139e-13,  1.00000000e+00, -5.97261630e-26,
        1.00000000e+00, -2.67715139e-13, -1.00000000e+00,  0.00000000e+00,
        2.23095949e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09219625, -0.08833267,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.75741617e-06, 6.39076826e-05, 1.16241310e-05,-1.94303584e-05,
  2.14303522e-05, 5.72520282e-06,-1.96890343e-05, 1.73088638e-05,
  2.87875556e-05, 3.00342129e-05,-3.31028571e-05,-3.19441974e-07,
 -6.06307771e-05,-2.84446230e-06,-1.62986128e-05, 1.25411898e-05,
  1.91738005e-08, 2.40739068e-07,-1.21644126e+00,-4.57470871e-04,
  1.07497622e-05,-5.52111133e-04]


--- Step 1458 ---
qpos:
[ 6.21769680e-03,-1.79617065e-03,-4.98908871e-03, 3.35575478e-02,
  4.47938099e-03,-3.77339071e-03,-1.85443020e-02, 2.85855401e-02,
  1.29872306e-02, 3.29995404e-03,-9.99850879e-03, 2.58673689e-02,
  1.31214953e+00, 6.45606835e-05, 1.04861171e+00, 6.36425507e-02,
  9.36667086e-02,-7.02202485e-02, 1.30973955e-01, 4.95470240e-01,
  4.85709902e-01, 5.03990322e-01, 5.14382045e-01]

qacc:
[ -0.49468768, -0.7155154 ,  6.00737112,-16.86578439,  2.20792134,
   1.21835289, -6.39671939, 15.42227835, -3.20323336,  3.01475016,
  -9.39058067,  9.98089971, -1.0158272 ,  1.92347638,-11.53169618,
  39.39533233,  0.0742394 ,  0.99037272, -0.19382721,  1.65094366,
   0.33473486,-14.2893746 ]

qfrc_actuator:
[-3.92667997e-07,-9.36538964e-06,-7.09257087e-05,-4.24853247e-06,
  2.90562615e-05,-3.31490352e-04,-3.24011830e-04,-2.11542734e-07,
  4.46275238e-05,-5.34618728e-05,-1.21387320e-04, 4.84122106e-06,
  4.21308220e-03,-1.53361151e-03, 0.00000000e+00,-2.45287684e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003023501315668614
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.58997247e-14,  1.83598899e-13,  1.00000000e+00, -8.42713892e-27,
        1.00000000e+00, -1.83598899e-13, -1.00000000e+00,  0.00000000e+00,
        4.58997247e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09219616, -0.08833504,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.83081547e-06, 5.75449439e-05, 1.44157786e-05,-2.77842712e-05,
  1.29981064e-05, 1.43372969e-05, 3.82933794e-06, 2.74668512e-05,
 -1.84993719e-05, 6.56481814e-05,-2.74517223e-05, 1.62567564e-06,
 -4.87474402e-05, 4.83639049e-05,-9.98209051e-06, 1.88722022e-04,
  5.23015563e-08, 4.76127664e-07,-1.21644216e+00,-4.57509109e-04,
  1.02094114e-05,-5.51778080e-04]


--- Step 1459 ---
qpos:
[ 6.21865355e-03,-1.79493907e-03,-4.98912723e-03, 3.35562940e-02,
  4.48044380e-03,-3.77310969e-03,-1.85446927e-02, 2.85859583e-02,
  1.29874336e-02, 3.29937503e-03,-9.99887170e-03, 2.58677733e-02,
  1.31231082e+00, 6.52984518e-05, 1.04882551e+00, 6.36392953e-02,
  9.36723395e-02,-7.01974437e-02, 1.30976885e-01, 4.95526368e-01,
  4.85646608e-01, 5.04099244e-01, 5.14280996e-01]

qacc:
[  5.76370602, -1.8916842 ,  9.65194553,-21.5328084 ,  4.30760656,
  -2.41576611,  8.43386433,-10.16374532, -5.11807394,  0.48421004,
  -3.27006508,  9.69168418, -0.42785998,  0.80117038, -3.83247774,
  13.4924928 ,  0.07454779,  0.98754249, -0.23151861,  1.64747115,
   0.33214065,-14.24959073]

qfrc_actuator:
[ 3.33782878e-05,-3.34639563e-05,-7.05701967e-05,-3.97310293e-05,
  5.38582632e-05,-3.40804307e-04,-2.85363762e-04,-1.92222663e-06,
  1.51817358e-05,-7.35006233e-05,-1.20732492e-04, 2.34829577e-05,
  4.20977070e-03,-1.51428444e-03, 0.00000000e+00,-2.39188721e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029339408903221453
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.78406746e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.78406746e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09219605, -0.08833747,  0.06199161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.37077880e-05, 9.82809555e-06, 1.30468181e-05,-3.30592836e-05,
  2.51770272e-05, 6.71950510e-07, 4.30381216e-05,-4.29223428e-07,
 -2.99498490e-05, 1.10952464e-05, 1.09047702e-05, 2.05401816e-05,
 -1.92143656e-05, 1.93559726e-05, 1.28962816e-05, 6.94542512e-05,
  9.08134185e-08, 7.93621540e-07,-1.21644334e+00,-4.57557480e-04,
  9.59071926e-06,-5.51356099e-04]


--- Step 1460 ---
qpos:
[ 6.21966282e-03,-1.79394531e-03,-4.98901140e-03, 3.35550136e-02,
  4.48179582e-03,-3.77305514e-03,-1.85445165e-02, 2.85860274e-02,
  1.29872824e-02, 3.29828994e-03,-9.99891602e-03, 2.58681102e-02,
  1.31247210e+00, 6.57334629e-05, 1.04903927e+00, 6.36371381e-02,
  9.36782700e-02,-7.01706964e-02, 1.30978768e-01, 4.95595178e-01,
  4.85570250e-01, 5.04223983e-01, 5.14164493e-01]

qacc:
[  0.47071443, -0.80179361,  2.51384438, -3.04595811,  2.55246035,
  -2.60508281, 10.32001723,-17.08967715, -3.09858802, -1.69209375,
   5.35811178, -6.67382705,  0.28977986, -0.64099008, -3.38990893,
  11.72668608,  0.07488174,  0.98565759, -0.26206288,  1.64620308,
   0.32942174,-14.22336361]

qfrc_actuator:
[ 3.51125867e-05,-6.62048648e-05,-7.04681406e-05,-4.23669530e-05,
  6.80208289e-05,-3.64154716e-04,-2.62469997e-04,-2.08452909e-05,
 -2.21771519e-06,-1.38571389e-04,-1.20273124e-04, 1.65221710e-05,
  4.20199169e-03,-1.53872219e-03, 0.00000000e+00,-2.33700742e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002843095570568416
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46436736e-13, -3.90497961e-13,  1.00000000e+00,  5.71832467e-26,
        1.00000000e+00,  3.90497961e-13, -1.00000000e+00,  0.00000000e+00,
        1.46436736e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09219593, -0.08833995,  0.06199187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.69336572e-06,-2.59991994e-05, 2.58178485e-06,-2.40824147e-06,
  1.48803201e-05,-1.41011922e-05, 2.83185774e-05,-1.74151889e-05,
 -1.82498779e-05,-5.57189825e-05, 4.81663905e-06,-5.70575826e-06,
 -1.39393580e-05,-2.43133853e-05, 8.85668627e-06, 5.93091287e-05,
  1.34683851e-07, 1.19229189e-06,-1.21644478e+00,-4.57616063e-04,
  8.89368834e-06,-5.50845430e-04]


--- Step 1461 ---
qpos:
[ 6.22034042e-03,-1.79320047e-03,-4.98919326e-03, 3.35547809e-02,
  4.48296208e-03,-3.77275385e-03,-1.85442752e-02, 2.85865339e-02,
  1.29865783e-02, 3.29697888e-03,-9.99899933e-03, 2.58680056e-02,
  1.31263331e+00, 6.56800429e-05, 1.04925282e+00, 6.36373303e-02,
  9.36802598e-02,-7.01518497e-02, 1.30980332e-01, 4.95650679e-01,
  4.85504144e-01, 5.04305718e-01, 5.14093253e-01]

qacc:
[ -2.92090811,  2.66629736,-14.39680912, 33.17637137, -1.6275976 ,
   1.04639363, -5.09927521, 12.37616985, -4.86255889, -1.08911657,
   5.33087625,-12.76220641,  0.47156458, -1.05847784, -7.45260906,
  25.51048485, -0.98517017, -1.97516747, -0.0793635 ,-16.69524194,
   1.05257603, 27.6628981 ]

qfrc_actuator:
[ 1.79653153e-05,-8.61042165e-05,-8.82984853e-05, 9.83761626e-06,
  5.80514010e-05,-3.24792995e-04,-2.49144370e-04, 3.48788227e-06,
 -3.01369744e-05,-1.41370890e-04,-1.20170931e-04,-5.50120628e-06,
  4.18619313e-03,-1.57112982e-03, 0.00000000e+00,-2.21511233e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028453778710051114
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  9.7546185e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -9.7546185e-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([ 0.10884451, -0.03362379,  0.06199187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.70827900e-05,-3.40449324e-05,-2.29774595e-05, 5.11329992e-05,
 -9.54967651e-06, 3.65803075e-05, 1.32952859e-05, 2.43685001e-05,
 -2.84605617e-05,-3.31752355e-05,-1.09984136e-05,-2.43530605e-05,
 -2.93651306e-05,-4.13345480e-05, 6.36694529e-06, 1.25335227e-04,
  1.83918368e-07, 1.67140541e-06,-1.21644648e+00,-4.57685011e-04,
  8.11812490e-06,-5.50246230e-04]


--- Step 1462 ---
qpos:
[ 6.22080719e-03,-1.79268624e-03,-4.98956924e-03, 3.35548209e-02,
  4.48399983e-03,-3.77204789e-03,-1.85442395e-02, 2.85873258e-02,
  1.29858895e-02, 3.29581400e-03,-9.99929304e-03, 2.58679467e-02,
  1.31279442e+00, 6.52226187e-05, 1.04946701e+00, 6.36336167e-02,
  9.36783767e-02,-7.01407414e-02, 1.30980803e-01, 4.95693089e-01,
  4.85448084e-01, 5.04345415e-01, 5.14066360e-01]

qacc:
[-1.85571528e+00, 8.02782058e-01,-4.44901132e+00, 9.63987341e+00,
 -1.13787640e+00, 1.69787333e+00,-6.47930179e+00, 1.14439352e+01,
  1.25398413e-01, 8.75222963e-01,-3.03407367e+00, 4.05560816e+00,
 -2.73941185e-02,-2.71219168e-01, 1.27196907e+01,-4.31541109e+01,
 -9.68228252e-01,-1.93461605e+00,-2.73602745e-01,-1.63203061e+01,
  1.06565334e+00, 2.70933368e+01]

qfrc_actuator:
[ 7.60492384e-06,-9.81924183e-05,-9.87453295e-05, 2.28720966e-05,
  5.17146974e-05,-3.01444531e-04,-2.59037270e-04, 1.76227969e-05,
 -2.85225614e-05,-1.06885328e-04,-1.20052898e-04,-6.55805559e-07,
  4.18156581e-03,-1.59025997e-03, 0.00000000e+00,-2.42750397e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51928642, -1.82911659,  4.13258784, -1.82911659, 27.4070366 ,
       10.13030218,  4.13258784, 10.13030218,  9.00303958,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002934726878620758
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.83729050e-13,  4.72881750e-14,  1.00000000e+00, -1.34170289e-26,
        1.00000000e+00, -4.72881750e-14, -1.00000000e+00,  0.00000000e+00,
        2.83729050e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10884204, -0.03362826,  0.06199161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08613186e-05,-3.37140388e-05,-1.85462497e-05, 1.17756297e-05,
 -6.59829714e-06, 4.75763070e-05, 1.36665671e-07, 1.66349060e-05,
  7.91463536e-07, 1.26548003e-05,-8.91512028e-06, 2.57358457e-06,
 -3.07444434e-05,-3.57832383e-05, 1.29576814e-05,-2.05504844e-04,
 -1.18524611e-07, 9.64512975e-07,-1.21644316e+00,-4.57652523e-04,
  9.97596398e-06,-5.49808539e-04]


--- Step 1463 ---
qpos:
[ 6.22149080e-03,-1.79229279e-03,-4.98984959e-03, 3.35549824e-02,
  4.48460855e-03,-3.77089092e-03,-1.85445736e-02, 2.85872504e-02,
  1.29855698e-02, 3.29496990e-03,-9.99941404e-03, 2.58675508e-02,
  1.31295519e+00, 6.50656044e-05, 1.04968096e+00, 6.36297599e-02,
  9.36726772e-02,-7.01372363e-02, 1.30979524e-01, 4.95722592e-01,
  4.85401896e-01, 5.04343866e-01, 5.14083044e-01]

qacc:
[  1.91180544, -0.18051849, -0.10740432,  2.1532527 , -3.77450714,
  -0.14712886,  5.06448796,-19.82805597,  3.24786054, -0.75894456,
   4.73345828,-11.06755836, -0.49104921,  0.80463994,  0.12126474,
  -0.84196225, -0.95409083, -1.90077785, -0.43722993,-16.01100801,
   1.07209268, 26.61872902]

qfrc_actuator:
[ 1.90811041e-05,-8.77600311e-05,-8.69939447e-05, 3.05131998e-05,
  2.98220535e-05,-2.87960629e-04,-2.82616527e-04,-2.76420904e-05,
 -9.53493365e-06,-6.80631183e-05,-1.01985722e-04,-1.55051319e-05,
  4.17299448e-03,-1.56580743e-03, 0.00000000e+00,-2.42684165e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53556737, -2.13217384,  4.00314952, -2.13217384, 24.56339028,
       10.6673008 ,  4.00314952, 10.6673008 , 10.21722867,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002985093971043934
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.85961152e-13, -9.29805758e-14,  1.00000000e+00,  1.72907749e-26,
        1.00000000e+00,  9.29805758e-14, -1.00000000e+00,  0.00000000e+00,
        1.85961152e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10884054, -0.03363074,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11545999e-05,-1.17667429e-05, 2.90868425e-06, 5.78387228e-06,
 -2.20652340e-05, 4.07993971e-05,-1.31700335e-05,-4.29006801e-05,
  1.90107782e-05, 4.42114403e-05, 1.96886016e-05,-1.45621805e-05,
 -3.48026663e-05, 9.12651883e-06,-2.29014578e-05,-1.05138371e-05,
 -2.65599401e-07, 4.11397912e-07,-1.21644118e+00,-4.57727537e-04,
  1.09037324e-05,-5.49631976e-04]


--- Step 1464 ---
qpos:
[ 6.22230641e-03,-1.79184740e-03,-4.99035419e-03, 3.35552337e-02,
  4.48495007e-03,-3.76935261e-03,-1.85448937e-02, 2.85862705e-02,
  1.29851351e-02, 3.29443809e-03,-9.99903728e-03, 2.58666124e-02,
  1.31311565e+00, 6.49629655e-05, 1.04989424e+00, 6.36299148e-02,
  9.36632083e-02,-7.01412217e-02, 1.30975946e-01, 4.95739343e-01,
  4.85365433e-01, 5.04301718e-01, 5.14142662e-01]

qacc:
[ 1.15279723e+00, 8.78138657e-01,-3.41409407e+00, 5.29164308e+00,
 -2.34499463e+00,-1.39077659e+00, 9.51830913e+00,-2.54848913e+01,
 -1.00216930e+00,-2.09300875e+00, 1.03554207e+01,-2.07728076e+01,
 -9.07564897e-03,-6.50364830e-02,-1.30861608e+01, 4.43632562e+01,
 -9.42376893e-01,-1.87262670e+00,-5.75001616e-01,-1.57571647e+01,
  1.07308639e+00, 2.62249442e+01]

qfrc_actuator:
[ 2.55632654e-05,-8.15855056e-05,-9.76409821e-05, 3.49603582e-05,
  1.67003978e-05,-2.62851059e-04,-2.78655902e-04,-7.20031991e-05,
 -1.59885778e-05,-4.46246156e-05,-7.34480141e-05,-4.18067406e-05,
  4.15143089e-03,-1.56900597e-03, 0.00000000e+00,-2.21178396e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54176107, -2.42914824,  3.83755553, -2.42914824, 21.90466923,
       10.9906104 ,  3.83755553, 10.9906104 , 11.49874754,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030039483047304694
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.23969816e-14, -2.30992454e-13,  1.00000000e+00,  2.13430055e-26,
        1.00000000e+00,  2.30992454e-13, -1.00000000e+00,  0.00000000e+00,
        9.23969816e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10883983, -0.0336316 ,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.79385875e-06, 4.33549573e-07,-1.25220969e-05, 4.15493509e-06,
 -1.37354425e-05, 4.33199829e-05, 9.27251920e-06,-4.39040117e-05,
 -5.90117902e-06, 5.16431660e-05, 3.96024567e-05,-2.40069306e-05,
 -3.94759443e-05,-8.84689886e-06,-1.51409044e-05, 2.10749483e-04,
 -2.64853548e-07, 6.31683011e-10,-1.21644047e+00,-4.57907268e-04,
  1.09622087e-05,-5.49710347e-04]


--- Step 1465 ---
qpos:
[ 6.22319345e-03,-1.79141999e-03,-4.99067125e-03, 3.35551712e-02,
  4.48547658e-03,-3.76774547e-03,-1.85447894e-02, 2.85851234e-02,
  1.29846269e-02, 3.29388539e-03,-9.99818675e-03, 2.58661014e-02,
  1.31327570e+00, 6.49121599e-05, 1.05010780e+00, 6.36292517e-02,
  9.36500083e-02,-7.01526043e-02, 1.30969603e-01, 4.95743472e-01,
  4.85338569e-01, 5.04219493e-01, 5.14244675e-01]

qacc:
[  0.63407905, -1.1952408 ,  5.54909963,-11.2616887 ,  1.63088893,
  -1.44118859,  5.97150839, -9.58766871, -0.6314854 , -0.47053328,
  -0.16515084,  6.81932615, -0.41761038,  0.50090736,  2.90017411,
  -9.49383719, -0.93275574, -1.84929077, -0.69095491,-15.55031903,
   1.0695361 , 25.90012137]

qfrc_actuator:
[ 2.90471142e-05,-7.80901145e-05,-8.59401758e-05, 1.97216413e-05,
  2.66037421e-05,-2.66382070e-04,-2.58407266e-04,-7.99325410e-05,
 -1.96178689e-05,-6.60414263e-05,-5.67747392e-05,-2.13816022e-05,
  4.12208138e-03,-1.57091667e-03, 0.00000000e+00,-2.26274472e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029975389211503445
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.77783639e-13, -2.31486366e-13,  1.00000000e+00,  6.43031249e-26,
        1.00000000e+00,  2.31486366e-13, -1.00000000e+00,  0.00000000e+00,
        2.77783639e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10883975, -0.03363116,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.67655381e-06, 1.31825534e-06, 1.03908564e-05,-1.55734002e-05,
  9.52753258e-06, 2.06723830e-05, 2.88080238e-05,-6.60641731e-06,
 -3.78100116e-06, 1.46274596e-05, 3.13917991e-05, 2.35439467e-05,
 -5.35391508e-05,-1.32224888e-05, 1.38187949e-05,-4.17730561e-05,
 -1.22011280e-07,-2.76036684e-07,-1.21644096e+00,-4.58188632e-04,
  1.01977726e-05,-5.50038376e-04]


--- Step 1466 ---
qpos:
[ 6.22411552e-03,-1.79121163e-03,-4.99047354e-03, 3.35549297e-02,
  4.48577271e-03,-3.76610491e-03,-1.85444145e-02, 2.85842507e-02,
  1.29840791e-02, 3.29333497e-03,-9.99738292e-03, 2.58662184e-02,
  1.31343526e+00, 6.51404675e-05, 1.05032169e+00, 6.36256592e-02,
  9.36331085e-02,-7.01713069e-02, 1.30960107e-01, 4.95735085e-01,
  4.85321198e-01, 5.04097602e-01, 5.14388635e-01]

qacc:
[  0.32783776, -2.09786654,  7.81441878,-11.57293564, -2.00804781,
  -0.14361605, -0.57586005,  4.86074152, -0.34918321,  1.42668015,
  -7.7325036 , 18.67104114, -0.78630704,  1.16965758,  9.38968222,
 -32.00224953, -0.92493994, -1.83002755, -0.78852617,-15.38341951,
   1.06211818, 25.63426588]

qfrc_actuator:
[ 3.07397514e-05,-9.39056831e-05,-6.11527723e-05, 1.07916227e-05,
  1.44715266e-05,-2.69184838e-04,-2.46554411e-04,-6.63783492e-05,
 -2.15480309e-05,-7.86579011e-05,-6.51478852e-05, 8.57402126e-06,
  4.09873199e-03,-1.55432123e-03, 0.00000000e+00,-2.41683354e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029710805839491816
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.34191276e-14, -2.80257383e-13,  1.00000000e+00,  2.61814002e-26,
        1.00000000e+00,  2.80257383e-13, -1.00000000e+00,  0.00000000e+00,
        9.34191276e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10884017, -0.03362971,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79684065e-06,-1.36125033e-05, 2.57984640e-05,-8.81754518e-06,
 -1.18537140e-05, 1.43706763e-05, 1.94249392e-05, 1.53066729e-05,
 -2.03570488e-06, 3.06491369e-06,-6.73128600e-07, 3.21274007e-05,
 -5.66671658e-05, 1.02820990e-06,-3.91138911e-06,-1.55930034e-04,
  1.58727420e-07,-4.24233668e-07,-1.21644260e+00,-4.58568366e-04,
  8.64540184e-06,-5.50611562e-04]


--- Step 1467 ---
qpos:
[ 6.22505070e-03,-1.79116583e-03,-4.98996733e-03, 3.35545901e-02,
  4.48592134e-03,-3.76451767e-03,-1.85441047e-02, 2.85835821e-02,
  1.29835124e-02, 3.29283385e-03,-9.99693681e-03, 2.58663643e-02,
  1.31359448e+00, 6.55111757e-05, 1.05053565e+00, 6.36192409e-02,
  9.36162501e-02,-7.01854715e-02, 1.30954414e-01, 4.95740462e-01,
  4.85290528e-01, 5.03993757e-01, 5.14514131e-01]

qacc:
[ 1.27842019e-01,-1.27939859e+00, 4.66322214e+00,-6.73244984e+00,
 -1.29183129e+00, 5.33643046e-01,-2.86252590e+00, 6.53301265e+00,
 -1.78579337e-01, 1.12482923e+00,-4.03776069e+00, 5.07365841e+00,
 -5.39636968e-01, 7.70420300e-01, 8.67906823e+00,-3.01116765e+01,
  1.03399125e-02, 1.13452742e+00, 9.50851278e-01, 2.65840714e+00,
 -5.63456137e-02,-1.58476637e+01]

qfrc_actuator:
[ 3.13654939e-05,-1.03346944e-04,-4.66682696e-05, 5.63769223e-06,
  7.21196891e-06,-2.89295398e-04,-2.57507710e-04,-5.80613969e-05,
 -2.24632801e-05,-8.60089854e-05,-8.82179160e-05, 8.37126234e-06,
  4.08965670e-03,-1.54462276e-03, 0.00000000e+00,-2.55935001e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029446974088294386
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.71280606e-14, -5.65536728e-13,  1.00000000e+00,  2.66526492e-26,
        1.00000000e+00,  5.65536728e-13, -1.00000000e+00,  0.00000000e+00,
        4.71280606e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09220574, -0.08834003,  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:
[ 6.70588421e-07,-1.21138794e-05, 1.45398066e-05,-5.01686811e-06,
 -7.59459093e-06,-7.47248855e-06,-5.08377982e-06, 9.90076504e-06,
 -9.74225532e-07,-4.39158791e-06,-2.14119033e-05, 5.29697891e-07,
 -4.12455358e-05,-2.99535857e-06,-2.45330915e-05,-1.52931743e-04,
  5.74445937e-07,-4.47381337e-07,-1.21644536e+00,-4.59043079e-04,
  6.33099887e-06,-5.51426049e-04]


--- Step 1468 ---
qpos:
[ 6.22598610e-03,-1.79117441e-03,-4.98961310e-03, 3.35545549e-02,
  4.48598203e-03,-3.76344035e-03,-1.85434169e-02, 2.85830472e-02,
  1.29829391e-02, 3.29232277e-03,-9.99673579e-03, 2.58661616e-02,
  1.31375349e+00, 6.57115371e-05, 1.05074916e+00, 6.36134729e-02,
  9.35994808e-02,-7.01952130e-02, 1.30951629e-01, 4.95759430e-01,
  4.85246534e-01, 5.03907522e-01, 5.14621801e-01]

qacc:
[-1.79119214e-03, 9.79780456e-01,-4.88262119e+00, 1.04333791e+01,
 -7.49061008e-01,-1.45262802e+00, 3.63941280e+00,-1.55513519e+00,
 -6.55946135e-02,-4.55254395e-02, 1.61518887e+00,-7.24885139e+00,
  3.43387023e-02,-2.43331000e-01,-2.63256635e+00, 8.22997134e+00,
  2.22815933e-02, 1.10576947e+00, 7.27136291e-01, 2.42210005e+00,
  4.18700308e-02,-1.55456952e+01]

qfrc_actuator:
[ 3.13589913e-05,-1.08932479e-04,-5.61177814e-05, 2.04926480e-05,
  2.88527826e-06,-3.37469910e-04,-2.46411894e-04,-5.29262228e-05,
 -2.27743960e-05,-9.02487633e-05,-1.02023751e-04,-9.57876628e-06,
  4.07849780e-03,-1.55679003e-03, 0.00000000e+00,-2.51632874e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55423217,  0.75875852,  4.49058083,  0.75875852, 15.24353883,
       -1.80613662,  4.49058083, -1.80613662,  4.85940908,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030414178696555605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.56293361e-14, -3.65034688e-13,  1.00000000e+00,  1.66562905e-26,
        1.00000000e+00,  3.65034688e-13, -1.00000000e+00,  0.00000000e+00,
        4.56293361e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09220797, -0.08833805,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.35833685e-09,-9.58082527e-06,-1.03412750e-05, 1.47406024e-05,
 -4.54646096e-06,-5.30413535e-05, 9.24824081e-06, 4.82928294e-06,
 -3.40589195e-07,-1.10853225e-05,-1.73322139e-05,-1.88690660e-05,
 -3.58673996e-05,-2.20514185e-05,-3.23631133e-05, 3.04271803e-05,
  2.32550931e-07,-5.83617338e-07,-1.21644405e+00,-4.58093069e-04,
  7.91550034e-06,-5.51608016e-04]


--- Step 1469 ---
qpos:
[ 6.22656918e-03,-1.79117140e-03,-4.98968234e-03, 3.35547086e-02,
  4.48530049e-03,-3.76277525e-03,-1.85428692e-02, 2.85826021e-02,
  1.29820216e-02, 3.29173274e-03,-9.99673086e-03, 2.58664417e-02,
  1.31391213e+00, 6.60765267e-05, 1.05096217e+00, 6.36105490e-02,
  9.35828372e-02,-7.02006266e-02, 1.30951000e-01, 4.95791841e-01,
  4.85189208e-01, 5.03838534e-01, 5.14712166e-01]

qacc:
[-3.11136367e+00, 1.59405979e+00,-6.44786034e+00, 1.03724550e+01,
 -6.49290084e+00, 4.36233839e-02,-1.30314892e+00, 3.35984740e+00,
 -3.03367861e+00, 1.44331093e+00,-7.32572315e+00, 1.60412032e+01,
 -2.19020998e-01, 2.97440938e-01,-9.31032887e+00, 3.15337425e+01,
  3.14023520e-02, 1.08196738e+00, 5.38781586e-01, 2.23146997e+00,
  1.20681654e-01,-1.52918688e+01]

qfrc_actuator:
[ 1.32281695e-05,-1.12247745e-04,-7.95906320e-05, 2.92370244e-05,
 -3.51875037e-05,-3.66499588e-04,-2.58008907e-04,-4.97114330e-05,
 -4.04804434e-05,-9.25822319e-05,-1.10240603e-04, 1.54466616e-05,
  4.06076324e-03,-1.54631570e-03, 0.00000000e+00,-2.36433051e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57330193,  0.67204438,  4.52365415,  0.67204438, 22.05574349,
       -2.59723139,  4.52365415, -2.59723139,  4.95915255,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030974862117490176
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79213554e-13, -1.79213554e-13,  1.00000000e+00,  3.21174979e-26,
        1.00000000e+00,  1.79213554e-13, -1.00000000e+00,  0.00000000e+00,
        1.79213554e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09220969, -0.08833704,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.81344849e-05,-1.01841392e-05,-2.62205024e-05, 8.26203895e-06,
 -3.82217454e-05,-5.66206518e-05,-2.12658602e-05, 1.35310693e-06,
 -1.77195623e-05,-1.29065900e-05,-1.32908984e-05, 2.35844844e-05,
 -4.36085441e-05,-2.81757039e-06,-1.40264755e-05, 1.48964628e-04,
 -8.48406229e-08,-6.30189667e-07,-1.21644311e+00,-4.57205909e-04,
  9.34679242e-06,-5.51709950e-04]


--- Step 1470 ---
qpos:
[ 6.22693019e-03,-1.79081993e-03,-4.99049011e-03, 3.35549444e-02,
  4.48416785e-03,-3.76241887e-03,-1.85427859e-02, 2.85822086e-02,
  1.29805539e-02, 3.29121774e-03,-9.99692524e-03, 2.58673449e-02,
  1.31407037e+00, 6.65943930e-05, 1.05117493e+00, 6.36104347e-02,
  9.35663468e-02,-7.02017908e-02, 1.30951892e-01, 4.95837566e-01,
  4.85118548e-01, 5.03786492e-01, 5.14785656e-01]

qacc:
[ -1.98183199,  2.69792247, -9.29055279, 11.62641695, -3.95723759,
   1.00323551, -4.37409831,  6.22266736, -4.84895772,  1.94808351,
  -9.41624452, 20.44423169, -0.24347032,  0.31640337, -8.83764805,
  30.41680171,  0.03831735,  1.06234687,  0.38048   ,  2.07722311,
   0.18429222,-15.07964073]

qfrc_actuator:
[ 2.32783696e-06,-7.87397983e-05,-1.11145189e-04, 3.43088360e-05,
 -5.73132287e-05,-3.83936107e-04,-2.82854857e-04,-4.76583653e-05,
 -6.82831682e-05,-7.59462871e-05,-1.15055032e-04, 4.78128518e-05,
  4.03910583e-03,-1.54027588e-03, 0.00000000e+00,-2.22041063e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58132758,  0.55314387,  4.54781203,  0.55314387, 37.45412676,
       -3.9982715 ,  4.54781203, -3.9982715 ,  5.06763162,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003120656955273027
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.33412176e-13,  8.89414505e-14,  1.00000000e+00,  1.18658724e-26,
        1.00000000e+00, -8.89414505e-14, -1.00000000e+00,  0.00000000e+00,
       -1.33412176e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09221102, -0.08833682,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14187572e-05, 2.27428877e-05,-3.66012677e-05, 3.88944237e-06,
 -2.32365623e-05,-5.34760947e-05,-3.91255497e-05,-1.08304601e-06,
 -2.83129029e-05, 7.69538543e-06,-8.29547835e-06, 3.18134398e-05,
 -4.68528771e-05,-4.76911922e-06, 7.01476921e-06, 1.49718343e-04,
 -3.83249302e-07,-5.88816815e-07,-1.21644250e+00,-4.56365982e-04,
  1.06441660e-05,-5.51729415e-04]


--- Step 1471 ---
qpos:
[ 6.22715761e-03,-1.79026457e-03,-4.99141708e-03, 3.35555596e-02,
  4.48312308e-03,-3.76204859e-03,-1.85431835e-02, 2.85818022e-02,
  1.29794540e-02, 3.29084497e-03,-9.99718450e-03, 2.58679197e-02,
  1.31422839e+00, 6.68986188e-05, 1.05138803e+00, 6.36090254e-02,
  9.35500304e-02,-7.01987700e-02, 1.30953776e-01, 4.95896496e-01,
  4.85034558e-01, 5.03751147e-01, 5.14842622e-01]

qacc:
[ -1.18172364,  1.3861186 , -6.14835638, 12.7485611 ,  0.75380377,
   1.33319148, -4.67487127,  5.2106713 ,  3.23243134, -0.31269089,
   2.76269598, -8.43288563, -0.10969523, -0.07005844,  4.42376324,
 -14.72564419,  0.04350948,  1.04625981,  0.24771872,  1.95198855,
   0.23600092,-14.90342533]

qfrc_actuator:
[-4.22352761e-06,-5.89846898e-05,-1.11559071e-04, 5.49609680e-05,
 -5.21123040e-05,-3.58850068e-04,-2.97517055e-04,-4.63001326e-05,
 -4.85423338e-05,-6.58037482e-05,-1.17746356e-04, 3.09922492e-05,
  4.02576191e-03,-1.55470348e-03, 0.00000000e+00,-2.29547236e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58020848, -0.39312942, -4.5633057 , -0.39312942, 39.37516911,
       -2.9975907 , -4.5633057 , -2.9975907 ,  4.83845133,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031174407682046934
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.90332092e-14,  1.78066418e-13,  1.00000000e+00, -1.58538247e-26,
        1.00000000e+00, -1.78066418e-13, -1.00000000e+00,  0.00000000e+00,
        8.90332092e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09221204, -0.08833722,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.86711288e-06, 2.50703049e-05,-8.45335829e-08, 2.04369096e-05,
  4.52009020e-06,-1.29666917e-05,-3.05682193e-05,-2.30750643e-06,
  1.89364984e-05, 1.41000195e-05,-1.01681025e-06,-1.61582523e-05,
 -4.05641530e-05,-2.66014671e-05, 1.56358370e-05,-6.67878083e-05,
 -6.66818243e-07,-4.61040027e-07,-1.21644221e+00,-4.55561520e-04,
  1.18224524e-05,-5.51664723e-04]


--- Step 1472 ---
qpos:
[ 6.22730473e-03,-1.78978600e-03,-4.99163522e-03, 3.35557048e-02,
  4.48214836e-03,-3.76146422e-03,-1.85439321e-02, 2.85817247e-02,
  1.29789441e-02, 3.29037860e-03,-9.99708095e-03, 2.58679440e-02,
  1.31438601e+00, 6.75497037e-05, 1.05160110e+00, 6.36074204e-02,
  9.35339035e-02,-7.01916165e-02, 1.30956206e-01, 4.95968539e-01,
  4.84937239e-01, 5.03732290e-01, 5.14883348e-01]

qacc:
[ -0.6826515 , -3.04914006, 12.70984398,-21.91911695,  0.59850738,
   1.93841429, -7.89267152, 13.99146825,  5.20420948, -2.28113414,
  10.26111271,-20.28173931, -0.56956381,  0.93644996,  0.58855186,
  -2.0214417 ,  0.04735746,  1.03316215,  0.13664806,  1.84991534,
   0.27839649,-14.75843527]

qfrc_actuator:
[-8.16515620e-06,-6.52287412e-05,-7.58598267e-05, 3.13733077e-05,
 -4.86265732e-05,-3.26202273e-04,-3.05866799e-04,-2.75621975e-05,
 -1.87259759e-05,-7.74070805e-05,-1.01465884e-04, 3.11424861e-06,
  4.01740550e-03,-1.52784829e-03, 0.00000000e+00,-2.30366345e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003093290147472977
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34592494e-13, -7.17826632e-13,  1.00000000e+00,  9.66140764e-26,
        1.00000000e+00,  7.17826632e-13, -1.00000000e+00,  0.00000000e+00,
        1.34592494e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09221281, -0.08833812,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.12990929e-06, 8.61998014e-06, 4.15775950e-05,-2.21188356e-05,
  3.61166109e-06, 1.89777201e-05,-1.48723070e-05, 1.70804215e-05,
  3.03586434e-05,-4.60263591e-06, 1.85129021e-05,-2.76242783e-05,
 -3.75750743e-05, 1.11775621e-05,-5.83434726e-06,-1.11959272e-05,
 -9.38671018e-07,-2.48187988e-07,-1.21644222e+00,-4.54783586e-04,
  1.28931078e-05,-5.51514692e-04]


--- Step 1473 ---
qpos:
[ 6.22774819e-03,-1.78903062e-03,-4.99209874e-03, 3.35555871e-02,
  4.48122298e-03,-3.76071339e-03,-1.85445230e-02, 2.85818423e-02,
  1.29787954e-02, 3.29021333e-03,-9.99722323e-03, 2.58676255e-02,
  1.31454325e+00, 6.87609388e-05, 1.05181372e+00, 6.36087271e-02,
  9.35179772e-02,-7.01803727e-02, 1.30958812e-01, 4.96053621e-01,
  4.84826590e-01, 5.03729754e-01, 5.14908066e-01]

qacc:
[  2.59297178,  0.50529653, -0.16949277, -4.18327508,  0.43415344,
   0.17945419, -1.14567753,  4.14781095,  3.16543941,  0.37293727,
   0.68481624, -6.43665205, -0.53615362,  1.02813768, -9.39713881,
  32.03459739,  0.05015805,  1.02259635,  0.04397705,  1.76635535,
   0.31350927,-14.64055662]

qfrc_actuator:
[ 7.21182619e-06,-5.13678944e-05,-9.02835804e-05, 1.74445749e-05,
 -4.61872683e-05,-3.06975793e-04,-2.92613951e-04,-1.64858505e-05,
 -9.86168278e-07,-4.86211135e-05,-1.09709336e-04,-1.32919293e-05,
  4.00673760e-03,-1.49445109e-03, 0.00000000e+00,-2.14804500e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030527577415866147
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.54598399e-14, -1.81839359e-13,  1.00000000e+00, -8.26638816e-27,
        1.00000000e+00,  1.81839359e-13, -1.00000000e+00,  0.00000000e+00,
       -4.54598399e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0922134 , -0.08833942,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.52604880e-05, 2.63048385e-05,-8.29090658e-06,-1.25520496e-05,
  2.54899045e-06, 2.74878171e-05, 1.59337001e-05, 1.17078469e-05,
  1.85997285e-05, 2.88770157e-05,-7.86730683e-06,-1.65010770e-05,
 -2.94318351e-05, 2.74609929e-05,-8.31162943e-06, 1.53242985e-04,
 -1.20117636e-06, 4.86302480e-08,-1.21644252e+00,-4.54025327e-04,
  1.38650218e-05,-5.51278491e-04]


--- Step 1474 ---
qpos:
[ 6.22802753e-03,-1.78810231e-03,-4.99274166e-03, 3.35560031e-02,
  4.48033418e-03,-3.75992603e-03,-1.85448884e-02, 2.85821035e-02,
  1.29788609e-02, 3.29008499e-03,-9.99712050e-03, 2.58674578e-02,
  1.31470020e+00, 7.03633591e-05, 1.05202670e+00, 6.36081735e-02,
  9.35051423e-02,-7.01770415e-02, 1.30959973e-01, 4.96101764e-01,
  4.84757447e-01, 5.03706201e-01, 5.14949823e-01]

qacc:
[ -1.45134842,  1.83181675, -8.44737887, 17.83624661,  0.32651963,
  -0.2865933 ,  0.48454973,  1.61466077,  1.89189243, -0.32902757,
   0.60050504,  1.59903077, -0.64505631,  1.11487153,  6.18608698,
 -20.76544407,  0.77286218, -1.97816517, -0.36126001,  9.54643512,
  -2.46462486, 29.28447994]

qfrc_actuator:
[-1.66979638e-06,-4.35196179e-05,-9.86052045e-05, 4.47974538e-05,
 -4.43831496e-05,-3.13592741e-04,-2.84520558e-04,-1.00040781e-05,
  9.50047290e-06,-4.92167100e-05,-9.66983653e-05,-5.04983747e-06,
  3.99469762e-03,-1.47523336e-03, 0.00000000e+00,-2.25222253e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003064688023053791
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.71697237e-13, -3.62262983e-13,  1.00000000e+00,  9.84258515e-26,
        1.00000000e+00,  3.62262983e-13, -1.00000000e+00,  0.00000000e+00,
        2.71697237e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08118518, -0.03182952,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.43958398e-06, 2.02899128e-05,-4.34763672e-06, 2.79478086e-05,
  1.88539703e-06, 1.25273175e-05, 1.61366876e-05, 8.43822236e-06,
  1.10254133e-05, 1.32347350e-05, 1.74393207e-05, 8.88683582e-06,
 -2.20654594e-05, 1.88929915e-05, 9.80037691e-06,-9.74922403e-05,
 -1.45614405e-06, 4.28515283e-07,-1.21644311e+00,-4.53281425e-04,
  1.47451247e-05,-5.50955514e-04]


--- Step 1475 ---
qpos:
[ 6.22785353e-03,-1.78724821e-03,-4.99305292e-03, 3.35560492e-02,
  4.47981889e-03,-3.75920044e-03,-1.85448017e-02, 2.85824373e-02,
  1.29790520e-02, 3.28968284e-03,-9.99669652e-03, 2.58674250e-02,
  1.31485698e+00, 7.21931890e-05, 1.05223965e+00, 6.36067267e-02,
  9.34953104e-02,-7.01815102e-02, 1.30959077e-01, 4.96113392e-01,
  4.84729085e-01, 5.03662227e-01, 5.15008328e-01]

qacc:
[ -3.97470811, -1.77911235,  7.77566933,-14.6659307 ,  3.28415216,
  -1.20129467,  3.84679166, -3.25260532,  1.12013921, -0.98404614,
   2.40992107, -0.38172165, -0.3665475 ,  0.62862801,  2.69378164,
  -9.40113957,  0.75073546, -1.94997464, -0.51401532,  9.49059651,
  -2.30965809, 28.77677812]

qfrc_actuator:
[-2.47646690e-05,-5.70383750e-05,-8.54807279e-05, 2.52173131e-05,
 -2.52144615e-05,-3.17899776e-04,-2.61900935e-04,-6.30561866e-06,
  1.56377642e-05,-8.50501573e-05,-8.90798785e-05,-1.28024134e-07,
  3.98716426e-03,-1.46457840e-03, 0.00000000e+00,-2.29563883e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57232884,  2.47470933, -3.84473728,  2.47470933, 20.57967017,
       10.3033092 , -3.84473728, 10.3033092 , 11.20417221,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003094659988989029
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.69065833e-13,  8.96886111e-14,  1.00000000e+00, -2.41321409e-26,
        1.00000000e+00, -8.96886111e-14, -1.00000000e+00,  0.00000000e+00,
        2.69065833e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08118403, -0.03183167,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.33311056e-05,-1.90380782e-06, 1.77429448e-05,-1.83184473e-05,
  1.92259169e-05, 6.36864613e-06, 2.74812880e-05, 4.95628349e-06,
  6.45373588e-06,-2.44414705e-05, 1.28081202e-05, 6.26533546e-06,
 -1.57895854e-05, 1.01999749e-05,-1.18578077e-05,-4.88649279e-05,
 -6.24163596e-07,-1.25334857e-07,-1.21644139e+00,-4.53845084e-04,
  1.28795370e-05,-5.50672024e-04]


--- Step 1476 ---
qpos:
[ 6.22740409e-03,-1.78660577e-03,-4.99307402e-03, 3.35551907e-02,
  4.47953722e-03,-3.75832285e-03,-1.85444877e-02, 2.85824555e-02,
  1.29796595e-02, 3.28999573e-03,-9.99742627e-03, 2.58674269e-02,
  1.31501357e+00, 7.41748359e-05, 1.05245209e+00, 6.36080960e-02,
  9.34884094e-02,-7.01936847e-02, 1.30955612e-01, 4.96088858e-01,
  4.84740904e-01, 5.03598308e-01, 5.15083339e-01]

qacc:
[ -2.40961783, -2.94861006, 13.93347092,-29.90224382,  2.04893095,
  -1.08705167,  5.49378974,-11.42447242,  3.6165243 ,  4.23346528,
 -13.88162917, 15.81057765, -0.05700822,  0.12284359, -9.25398102,
  31.28522126,  0.73271696, -1.92645157, -0.64248221,  9.43892551,
  -2.18733971, 28.35858317]

qfrc_actuator:
[-3.82799859e-05,-8.31993649e-05,-7.76805457e-05,-2.18325213e-05,
 -1.37312413e-05,-3.02984546e-04,-2.48635172e-04,-2.20163686e-05,
  3.69209872e-05,-1.74619287e-05,-1.38129027e-04, 2.75718880e-06,
  3.97701029e-03,-1.45905380e-03, 0.00000000e+00,-2.14304771e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5728328 , -2.66195481,  3.71817112, -2.66195481, 17.09076485,
        8.96197844,  3.71817112,  8.96197844, 10.98899301,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003096124151838048
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.96461972e-14, -5.37877183e-13,  1.00000000e+00,  4.82186440e-26,
        1.00000000e+00,  5.37877183e-13, -1.00000000e+00,  0.00000000e+00,
        8.96461972e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08118274, -0.03183214,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.41816973e-05,-2.43804995e-05, 8.95309847e-06,-4.68743539e-05,
  1.20333517e-05, 2.43438635e-05, 1.81268692e-05,-1.43938444e-05,
  2.14564198e-05, 5.68471390e-05,-5.23037176e-05, 2.40269091e-06,
 -1.70944311e-05, 4.56243144e-06,-1.48839210e-05, 1.47418589e-04,
 -4.55158749e-08,-2.22530119e-07,-1.21644089e+00,-4.54215409e-04,
  1.17030954e-05,-5.50605077e-04]


--- Step 1477 ---
qpos:
[ 6.22679595e-03,-1.78618023e-03,-4.99295863e-03, 3.35534417e-02,
  4.47905075e-03,-3.75741712e-03,-1.85439335e-02, 2.85819551e-02,
  1.29798272e-02, 3.29124821e-03,-9.99842408e-03, 2.58677170e-02,
  1.31517011e+00, 7.57340969e-05, 1.05266434e+00, 6.36115758e-02,
  9.34832574e-02,-7.02014812e-02, 1.30954463e-01, 4.96072320e-01,
  4.84743656e-01, 5.03557760e-01, 5.15136316e-01]

qacc:
[ -1.38800917, -2.49910701, 12.25816193,-27.73138055, -1.78564314,
  -1.69660825,  8.29985664,-17.6865102 , -3.89519947,  2.59189206,
  -8.64353409, 13.35433896,  0.40988905, -0.91623432, -6.67594386,
  22.87881046,  0.43727856,  1.09449402,  0.57894387,  7.38014276,
   0.7788271 ,-15.47201184]

qfrc_actuator:
[-4.60441438e-05,-9.90259452e-05,-7.31660908e-05,-6.69289289e-05,
 -2.46214489e-05,-3.12230266e-04,-2.40937689e-04,-4.90133285e-05,
  1.36927302e-05, 7.57947310e-05,-1.31069121e-04, 2.22194395e-05,
  3.95996407e-03,-1.49212805e-03, 0.00000000e+00,-2.03597773e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031020019685074063
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.94763314e-14,  1.78952663e-13,  1.00000000e+00, -1.60120278e-26,
        1.00000000e+00, -1.78952663e-13, -1.00000000e+00,  0.00000000e+00,
        8.94763314e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08673419, -0.08860079,  0.06199113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.17614478e-06,-2.96442013e-05,-1.04512728e-06,-4.67424628e-05,
 -1.05380894e-05, 7.46317119e-06, 1.44461263e-05,-2.56098241e-05,
 -2.25965790e-05, 1.14351454e-04, 1.24478519e-05, 2.01355443e-05,
 -2.56489985e-05,-3.58913027e-05, 6.74068920e-06, 1.12713346e-04,
  2.96042641e-07, 1.18406088e-07,-1.21644157e+00,-4.54425725e-04,
  1.11903790e-05,-5.50746105e-04]


--- Step 1478 ---
qpos:
[ 6.22609961e-03,-1.78630211e-03,-4.99267741e-03, 3.35518975e-02,
  4.47843745e-03,-3.75615380e-03,-1.85437223e-02, 2.85814786e-02,
  1.29797156e-02, 3.29320721e-03,-9.99901666e-03, 2.58682196e-02,
  1.31532650e+00, 7.69259654e-05, 1.05287638e+00, 6.36179819e-02,
  9.34798333e-02,-7.02049764e-02, 1.30954941e-01, 4.96063660e-01,
  4.84737444e-01, 5.03540183e-01, 5.15167681e-01]

qacc:
[ -0.76076074, -0.76392833,  0.81183662,  2.86827622, -1.12678185,
   1.48176063, -4.69504194,  5.38951988, -2.45739174,  0.24350432,
  -0.40241088,  2.90392485,  0.36016889, -0.8332694 , -9.19557302,
  31.61466361,  0.43193217,  1.07534706,  0.40687902,  7.22505251,
   0.78393341,-15.21392678]

qfrc_actuator:
[-5.03641586e-05,-1.44067230e-04,-7.05854584e-05,-5.72475848e-05,
 -3.08381039e-05,-2.82651610e-04,-2.54437652e-04,-4.69475243e-05,
 -4.73875717e-08, 1.12931356e-04,-1.08520572e-04, 3.36078150e-05,
  3.94943029e-03,-1.51234288e-03, 0.00000000e+00,-1.88563082e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031394393002187604
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.65228020e-13,  1.76818680e-13,  1.00000000e+00, -4.68972683e-26,
        1.00000000e+00, -1.76818680e-13, -1.00000000e+00,  0.00000000e+00,
        2.65228020e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08673486, -0.0885999 ,  0.06199103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.56196454e-06,-6.38511918e-05,-5.29026730e-06, 7.46831484e-06,
 -6.51460720e-06, 3.55964259e-05,-1.10806368e-05, 2.38537408e-06,
 -1.43405139e-05, 1.04475079e-04, 4.83967510e-05, 1.71111691e-05,
 -3.32889540e-05,-3.47614260e-05, 1.16582109e-05, 1.56551626e-04,
  1.66279670e-07, 7.15624213e-09,-1.21644067e+00,-4.54096646e-04,
  1.19567420e-05,-5.50854622e-04]


--- Step 1479 ---
qpos:
[ 6.22570195e-03,-1.78711994e-03,-4.99230379e-03, 3.35511967e-02,
  4.47775421e-03,-3.75443755e-03,-1.85437756e-02, 2.85813577e-02,
  1.29804756e-02, 3.29515154e-03,-9.99896705e-03, 2.58689316e-02,
  1.31548278e+00, 7.75961461e-05, 1.05308870e+00, 6.36237957e-02,
  9.34781187e-02,-7.02042335e-02, 1.30956469e-01, 4.96062782e-01,
  4.84722358e-01, 5.03545241e-01, 5.15177778e-01]

qacc:
[  2.64158097,  0.55311823, -6.87565013, 21.84410851, -0.62791998,
   2.069337  , -8.00948053, 14.24941131,  7.69053657, -1.39790311,
   4.04558668, -1.40725574,  0.25343808, -0.775598  ,  2.19018275,
  -7.10330412,  0.42740495,  1.05950783,  0.2623996 ,  7.09781947,
   0.78713887,-14.99987523]

qfrc_actuator:
[-3.48720821e-05,-1.88467432e-04,-6.92490743e-05,-1.54387474e-05,
 -3.42466834e-05,-2.47871672e-04,-2.62416300e-04,-2.77791718e-05,
  4.51786934e-05, 6.29952795e-05,-9.49975607e-05, 4.01122887e-05,
  3.93748724e-03,-1.54248072e-03, 0.00000000e+00,-1.92400933e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003147339800094323
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.76374827e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.76374827e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08673518, -0.0885998 ,  0.061991  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.53403870e-05,-8.08738454e-05,-1.22437189e-05, 3.90384600e-05,
 -3.58191121e-06, 5.24492415e-05,-1.92448879e-06, 2.03549027e-05,
  4.48581621e-05, 1.91467655e-05, 4.16402689e-05, 1.29856786e-05,
 -3.85538104e-05,-4.62968346e-05, 1.86551113e-05,-2.91356240e-05,
  5.81418464e-08,-3.41037244e-08,-1.21644016e+00,-4.53786087e-04,
  1.24230455e-05,-5.50866522e-04]


--- Step 1480 ---
qpos:
[ 6.22583754e-03,-1.78798080e-03,-4.99246445e-03, 3.35509616e-02,
  4.47703591e-03,-3.75309577e-03,-1.85430106e-02, 2.85814986e-02,
  1.29810822e-02, 3.29644849e-03,-9.99781755e-03, 2.58701128e-02,
  1.31563884e+00, 7.78951678e-05, 1.05330167e+00, 6.36244419e-02,
  9.34780986e-02,-7.01993046e-02, 1.30958562e-01, 4.96069601e-01,
  4.84698468e-01, 5.03572658e-01, 5.15166890e-01]

qacc:
[ 4.67307988e+00, 2.38646380e+00,-1.05728631e+01, 1.95341255e+01,
 -2.74642832e-01,-2.24084557e+00, 6.16705388e+00,-2.66633780e+00,
 -1.30332087e+00,-2.96135418e+00, 7.34098881e+00,-5.07881326e-01,
 -2.17313259e-01,-1.00235215e-02, 1.65539643e+01,-5.65194427e+01,
  4.23617896e-01, 1.04649663e+00, 1.41354360e-01, 6.99400467e+00,
  7.88889914e-01,-1.48235583e+01]

qfrc_actuator:
[-7.84434075e-06,-1.61104953e-04,-8.64047631e-05, 9.42085556e-06,
 -3.59765704e-05,-2.98972489e-04,-2.31518199e-04,-1.64431127e-05,
  3.59821462e-05,-3.24055846e-06,-5.17836377e-05, 6.13570924e-05,
  3.92470233e-03,-1.56051848e-03, 0.00000000e+00,-2.19754339e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003131685679104157
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.86282292e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.86282292e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08673523, -0.08860033,  0.06199105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.74368985e-05,-1.86856391e-05,-3.40121207e-05, 2.17322130e-05,
 -1.81467778e-06,-2.13592863e-05, 4.21797704e-05, 1.39100315e-05,
 -7.91130892e-06,-4.64255299e-05, 5.27212290e-05, 2.37510859e-05,
 -4.53909294e-05,-3.80113114e-05,-9.36242406e-08,-2.74044471e-04,
 -3.00877686e-08,-7.99126664e-09,-1.21644001e+00,-4.53492100e-04,
  1.26039675e-05,-5.50782512e-04]


--- Step 1481 ---
qpos:
[ 6.22629606e-03,-1.78877951e-03,-4.99293693e-03, 3.35509967e-02,
  4.47630258e-03,-3.75213016e-03,-1.85423158e-02, 2.85814920e-02,
  1.29808842e-02, 3.29755261e-03,-9.99651689e-03, 2.58715473e-02,
  1.31579455e+00, 7.82297968e-05, 1.05351455e+00, 6.36224884e-02,
  9.34797605e-02,-7.01902321e-02, 1.30960816e-01, 4.96084051e-01,
  4.84665834e-01, 5.03622207e-01, 5.15135241e-01]

qacc:
[  2.8288008 ,  1.5043752 , -6.39404246, 11.53002567, -0.1274384 ,
  -0.60413656,  2.05633505, -4.22142338, -7.07197028, -0.14186086,
  -0.90994966,  5.16996227, -0.45113654,  0.55763756,  7.74618982,
 -27.22009868,  0.42049639,  1.03590411,  0.04019649,  6.90994228,
   0.78951563,-14.67964697]

qfrc_actuator:
[ 7.99811361e-06,-1.44317302e-04,-9.63133446e-05, 2.41511819e-05,
 -3.67061455e-05,-3.47697649e-04,-2.49281571e-04,-2.76076343e-05,
 -5.19168209e-06,-7.60714162e-06,-4.47276597e-05, 7.33500674e-05,
  3.91142433e-03,-1.55348542e-03, 0.00000000e+00,-2.32331650e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030974780605937113
  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([ 0.08673507, -0.08860134,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.66194425e-05, 2.86772206e-07,-1.71943410e-05, 1.31774252e-05,
 -7.91149994e-07,-5.14194453e-05,-1.65230504e-05,-1.03546560e-05,
 -4.14123928e-05,-1.84837797e-05, 4.75144793e-06, 1.22822367e-05,
 -4.85200275e-05,-1.21860178e-05,-3.63462365e-05,-1.42412450e-04,
 -9.97444308e-08, 8.33551949e-08,-1.21644023e+00,-4.53213227e-04,
  1.25107664e-05,-5.50603226e-04]


--- Step 1482 ---
qpos:
[ 6.22659609e-03,-1.78946399e-03,-4.99301038e-03, 3.35508058e-02,
  4.47522107e-03,-3.75114471e-03,-1.85425469e-02, 2.85813613e-02,
  1.29801945e-02, 3.29839291e-03,-9.99562142e-03, 2.58728174e-02,
  1.31595000e+00, 7.81301321e-05, 1.05372726e+00, 6.36186535e-02,
  9.34839780e-02,-7.01831271e-02, 1.30964260e-01, 4.96083127e-01,
  4.84649711e-01, 5.03672562e-01, 5.15102068e-01]

qacc:
[ -1.38319317, -1.42693658,  6.2649406 ,-10.90100936, -3.07659483,
   2.36285738, -7.85252652,  7.15648956, -4.33561695,  0.45367187,
  -1.41453495, -0.60554546,  0.02853237, -0.43456928,  5.40622088,
 -19.32225244,  0.63892633, -0.49185325,  0.29748643,  8.41250803,
  -0.55082438,  7.5434213 ]

qfrc_actuator:
[-6.26215111e-07,-1.16209888e-04,-6.63771447e-05, 1.50606797e-05,
 -5.45941683e-05,-3.41588017e-04,-2.95680679e-04,-3.42151739e-05,
 -2.93340479e-05,-4.60583144e-05,-7.66102915e-05, 6.20673757e-05,
  3.88721963e-03,-1.58492606e-03, 0.00000000e+00,-2.41419179e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030500889890769037
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.81998464e-13,  2.87755770e-07,  1.00000000e+00,  5.23711083e-20,
        1.00000000e+00, -2.87755770e-07, -1.00000000e+00, -6.01853108e-36,
       -1.81998464e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08401771, -0.06086789,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.14854243e-06, 2.53194225e-05, 2.83472703e-05,-9.41468281e-06,
 -1.79274687e-05,-2.65441118e-05,-5.94330038e-05,-9.58804315e-06,
 -2.53209430e-05,-4.73530606e-05,-3.47203340e-05,-1.16782466e-05,
 -5.52436097e-05,-4.51783210e-05,-3.59782616e-05,-1.04264964e-04,
 -1.51870844e-07, 2.38179816e-07,-1.21644079e+00,-4.52948383e-04,
  1.21519686e-05,-5.50329212e-04]


--- Step 1483 ---
qpos:
[ 6.22610052e-03,-1.78978852e-03,-4.99286010e-03, 3.35508323e-02,
  4.47462351e-03,-3.75043077e-03,-1.85429953e-02, 2.85811406e-02,
  1.29792208e-02, 3.29865079e-03,-9.99522508e-03, 2.58736460e-02,
  1.31610514e+00, 7.76644281e-05, 1.05393921e+00, 6.36180573e-02,
  9.34911456e-02,-7.01837236e-02, 1.30964996e-01, 4.96046409e-01,
  4.84673550e-01, 5.03702928e-01, 5.15085304e-01]

qacc:
[ -6.99462447,  0.31188254, -1.31628795,  4.43213126,  4.23320619,
   0.05491837, -0.35133219, -0.6416799 , -2.50508813, -0.27886124,
   1.75043927, -8.17567965,  0.27490068, -0.76827279,-10.91636132,
  36.50867371,  0.73749367, -1.92539232, -0.6769125 ,  9.30531897,
  -2.25988668, 28.19706496]

qfrc_actuator:
[-4.13309867e-05,-8.13875506e-05,-4.86254563e-05, 2.75709463e-05,
 -2.91802072e-05,-3.56080962e-04,-3.05119476e-04,-3.80528948e-05,
 -4.32485421e-05,-1.04812098e-04,-1.13607580e-04, 3.71357420e-05,
  3.87244050e-03,-1.60349000e-03, 0.00000000e+00,-2.23526986e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55623392, -0.08955277,  4.55535375, -0.08955277, 36.36589686,
        0.62533964,  4.55535375,  0.62533964,  4.56852734,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000304737198772137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.10803661e-14, -1.82160732e-13,  1.00000000e+00,  1.65912662e-26,
        1.00000000e+00,  1.82160732e-13, -1.00000000e+00,  0.00000000e+00,
        9.10803661e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08117146, -0.03183137,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.09260917e-05, 5.44555428e-05, 2.61567561e-05, 1.43951988e-05,
  2.48953690e-05,-4.20623441e-05,-2.25822440e-05,-7.21898075e-06,
 -1.46446812e-05,-9.29610478e-05,-5.14821555e-05,-2.83953445e-05,
 -5.72734486e-05,-4.17862359e-05,-3.12466583e-05, 1.67780077e-04,
 -1.10293480e-07, 1.59932235e-07,-1.21644066e+00,-4.53236385e-04,
  1.19063064e-05,-5.50095415e-04]


--- Step 1484 ---
qpos:
[ 6.22546607e-03,-1.78996210e-03,-4.99267268e-03, 3.35510484e-02,
  4.47502470e-03,-3.74987313e-03,-1.85433353e-02, 2.85804924e-02,
  1.29787775e-02, 3.29849561e-03,-9.99509303e-03, 2.58741316e-02,
  1.31625985e+00, 7.74463141e-05, 1.05415052e+00, 6.36228909e-02,
  9.35012045e-02,-7.01919417e-02, 1.30962619e-01, 4.95974105e-01,
  4.84736890e-01, 5.03713726e-01, 5.15084766e-01]

qacc:
[ -1.22245025,  0.48827671, -2.24728668,  5.35160029,  8.74661999,
  -1.40558066,  6.48843563,-13.91505298,  4.66564578, -0.52236502,
   2.50271639, -7.69474973, -0.16082893,  0.24812446,-17.30814123,
  59.23179956,  0.72282581, -1.9054043 , -0.77824767,  9.29500351,
  -2.13213293, 27.87934714]

qfrc_actuator:
[-4.73256318e-05,-9.60855780e-05,-5.59214293e-05, 3.49359752e-05,
  2.15220846e-05,-3.47146758e-04,-2.92720430e-04,-5.79659849e-05,
 -1.55321040e-05,-1.04312812e-04,-1.17912375e-04, 2.21102824e-05,
  3.86865612e-03,-1.57871720e-03, 0.00000000e+00,-1.95209520e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54787371, -2.07525123,  4.04678732, -2.07525123, 26.68054662,
       11.34995566,  4.04678732, 11.34995566, 10.36829557,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003022395174026582
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.83666093e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.83666093e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08116973, -0.03183018,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.14006413e-06, 2.17710635e-05, 7.67642641e-06, 1.08858271e-05,
  5.14000018e-05,-1.95722305e-05, 6.75810768e-07,-2.26386879e-05,
  2.72725760e-05,-6.33602603e-05,-3.08406983e-05,-2.13460900e-05,
 -4.59532384e-05, 1.54360563e-06, 2.28730073e-06, 2.88051106e-04,
 -1.53730178e-07, 1.41814733e-07,-1.21644051e+00,-4.53949602e-04,
  1.24303641e-05,-5.50065853e-04]


--- Step 1485 ---
qpos:
[ 6.22510963e-03,-1.79039645e-03,-4.99232887e-03, 3.35510517e-02,
  4.47534091e-03,-3.74944163e-03,-1.85438167e-02, 2.85792784e-02,
  1.29790143e-02, 3.29823517e-03,-9.99519153e-03, 2.58740449e-02,
  1.31641412e+00, 7.77486592e-05, 1.05436199e+00, 6.36293837e-02,
  9.35130090e-02,-7.01958891e-02, 1.30961710e-01, 4.95909690e-01,
  4.84791173e-01, 5.03747443e-01, 5.15062726e-01]

qacc:
[  2.45382912, -1.22493014,  4.7575115 , -8.4895816 , -0.7464347 ,
  -0.93363578,  5.47909201,-14.95516125,  5.97961427, -0.68450243,
   4.63495297,-14.07176959, -0.65381084,  1.1505824 , -4.72812716,
  16.99882371,  0.43641112,  1.0676845 ,  0.3669067 ,  7.15946563,
   0.81810754,-15.19976993]

qfrc_actuator:
[-3.28326810e-05,-1.40430786e-04,-6.03962630e-05, 2.14022248e-05,
  1.56784674e-05,-3.59668144e-04,-3.02962696e-04,-8.71506069e-05,
  1.87095135e-05,-8.59507014e-05,-1.20389499e-04,-4.64610016e-06,
  3.85551290e-03,-1.54616220e-03, 0.00000000e+00,-1.87614487e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030148012996425444
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.84128723e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.84128723e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08673503, -0.0886037 ,  0.06199138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.42970928e-05,-3.01153829e-05, 1.34470504e-06,-1.21234574e-05,
 -4.38120956e-06,-2.42936049e-05,-1.49882170e-05,-3.04417738e-05,
  3.49961899e-05,-2.43435261e-05,-2.01046962e-05,-3.09564500e-05,
 -3.80850401e-05, 2.19710976e-05, 2.97770991e-05, 9.15277509e-05,
 -4.19857324e-07, 5.48911467e-07,-1.21644151e+00,-4.54511168e-04,
  1.35701961e-05,-5.50231027e-04]


--- Step 1486 ---
qpos:
[ 6.22458464e-03,-1.79102462e-03,-4.99204974e-03, 3.35512456e-02,
  4.47524035e-03,-3.74933435e-03,-1.85443599e-02, 2.85780898e-02,
  1.29793149e-02, 3.29796685e-03,-9.99595528e-03, 2.58733101e-02,
  1.31656821e+00, 7.78850570e-05, 1.05457353e+00, 6.36371048e-02,
  9.35265424e-02,-7.01956224e-02, 1.30961722e-01, 4.95853053e-01,
  4.84836527e-01, 5.03803762e-01, 5.15019477e-01]

qacc:
[ -1.48070049,  0.32030545, -2.31394986,  5.85565642, -3.6438157 ,
  -0.19613178, -0.01762245,  0.78245124,  0.54000855,  0.51362554,
   0.88834585,-11.03455365,  0.06637445, -0.27353749, -3.62490653,
  12.79450722,  0.43223954,  1.05351413,  0.23033876,  7.06388921,
   0.80380525,-14.98912099]

qfrc_actuator:
[-4.19137757e-05,-1.48955087e-04,-6.33125285e-05, 3.11610311e-05,
 -5.65582315e-06,-3.85030528e-04,-3.08830651e-04,-8.60836555e-05,
  2.09990210e-05,-9.25187319e-05,-1.57203310e-04,-3.80745290e-05,
  3.84209775e-03,-1.56256767e-03, 0.00000000e+00,-1.81641472e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003022926266842557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.67267649e-13,  1.83633825e-13,  1.00000000e+00, -6.74427632e-26,
        1.00000000e+00, -1.83633825e-13, -1.00000000e+00,  0.00000000e+00,
        3.67267649e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08673521, -0.08860348,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.68362438e-06,-2.55889699e-05,-9.39004530e-06, 8.27856315e-06,
 -2.14660520e-05,-4.33565856e-05,-1.37819874e-05,-1.08220185e-06,
  3.27641514e-06,-2.56368359e-05,-4.53865264e-05,-3.57701785e-05,
 -2.92395570e-05,-2.02198894e-05, 1.80539362e-05, 6.73034733e-05,
 -4.67180924e-07, 3.40592255e-07,-1.21644143e+00,-4.54615696e-04,
  1.30154503e-05,-5.50272927e-04]


--- Step 1487 ---
qpos:
[ 6.22360982e-03,-1.79149227e-03,-4.99197500e-03, 3.35515187e-02,
  4.47488462e-03,-3.74940446e-03,-1.85445211e-02, 2.85775638e-02,
  1.29792959e-02, 3.29766835e-03,-9.99694496e-03, 2.58724982e-02,
  1.31672227e+00, 7.73170242e-05, 1.05478535e+00, 6.36434879e-02,
  9.35403396e-02,-7.01912376e-02, 1.30962612e-01, 4.95809876e-01,
  4.84867932e-01, 5.03876687e-01, 5.14960135e-01]

qacc:
[ -3.96448712,  0.95411982, -3.41444104,  4.9768949 , -2.21769057,
   0.06555922, -3.36449237, 14.34383633, -2.81933687,  0.43817921,
  -1.28488131,  0.32234876,  0.41615406, -1.10559536,  4.42431643,
 -14.95690631,  0.06591791,  1.02951444,  0.2192487 ,  1.60860493,
   0.41694455,-14.99586458]

qfrc_actuator:
[-6.48039335e-05,-1.18196836e-04,-6.51351238e-05, 3.68242544e-05,
 -1.81661131e-05,-3.64591074e-04,-2.76591760e-04,-4.94780636e-05,
  4.46158352e-06,-7.85948692e-05,-1.60834311e-04,-3.96961895e-05,
  3.82851036e-03,-1.60787121e-03, 0.00000000e+00,-1.89091779e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003012020493446954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.38224038e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.38224038e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09221703, -0.08833985,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.31442856e-05, 1.48814813e-05,-7.97393160e-06, 4.40374565e-06,
 -1.31380300e-05,-6.70085434e-06, 2.15569758e-05, 3.42541311e-05,
 -1.64517545e-05,-1.12981131e-05,-1.57407733e-05,-4.98301256e-06,
 -3.46106752e-05,-5.69793986e-05, 1.08299099e-05,-6.96091442e-05,
 -4.96473167e-07, 2.02381415e-07,-1.21644171e+00,-4.54733255e-04,
  1.21903011e-05,-5.50218134e-04]


--- Step 1488 ---
qpos:
[ 6.22271304e-03,-1.79171375e-03,-4.99196134e-03, 3.35511453e-02,
  4.47438147e-03,-3.74965449e-03,-1.85439697e-02, 2.85767661e-02,
  1.29790787e-02, 3.29738527e-03,-9.99803473e-03, 2.58716578e-02,
  1.31687599e+00, 7.67763320e-05, 1.05499729e+00, 6.36482754e-02,
  9.35544032e-02,-7.01827724e-02, 1.30963958e-01, 4.95780009e-01,
  4.84885550e-01, 5.03966039e-01, 5.14884859e-01]

qacc:
[  0.67971575, -0.83644403,  6.18133239,-17.45089405, -1.26506797,
  -2.78401635, 10.7335717 ,-16.44535988, -1.74686719,  0.24485895,
  -0.71726044,  0.3663245 , -0.39007376,  0.46388807,  5.01407509,
 -17.23092122,  0.06661476,  1.02012801,  0.11434019,  1.59952442,
   0.40606898,-14.83287474]

qfrc_actuator:
[-6.01255682e-05,-9.96511397e-05,-6.61359490e-05, 4.56022059e-06,
 -2.53769006e-05,-3.69945549e-04,-2.39660499e-04,-6.32071041e-05,
 -5.26149649e-06,-7.01030382e-05,-1.62481482e-04,-4.02981206e-05,
  3.81481367e-03,-1.59889820e-03, 0.00000000e+00,-1.97287538e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029891299123031845
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.28550328e-14, -3.71420131e-13,  1.00000000e+00,  3.44882285e-26,
        1.00000000e+00,  3.71420131e-13, -1.00000000e+00,  0.00000000e+00,
        9.28550328e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09221706, -0.08834038,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.02699708e-06, 2.54195687e-05, 1.24933612e-06,-3.18151055e-05,
 -7.59073074e-06,-3.17991784e-06, 3.93922797e-05,-1.26014241e-05,
 -1.01956934e-05,-1.27275395e-06,-6.07466298e-06,-1.72236052e-06,
 -4.67873564e-05,-1.25247814e-05,-7.86977843e-06,-8.56620636e-05,
 -4.09271455e-07, 1.11182654e-07,-1.21644195e+00,-4.54840555e-04,
  1.11905338e-05,-5.50136252e-04]


--- Step 1489 ---
qpos:
[ 6.22222420e-03,-1.79187837e-03,-4.99189604e-03, 3.35504047e-02,
  4.47379559e-03,-3.74988970e-03,-1.85432811e-02, 2.85754798e-02,
  1.29787465e-02, 3.29719503e-03,-9.99948813e-03, 2.58711702e-02,
  1.31702924e+00, 7.68314882e-05, 1.05520900e+00, 6.36533708e-02,
  9.35687361e-02,-7.01702570e-02, 1.30965412e-01, 4.95763327e-01,
  4.84889516e-01, 5.04071674e-01, 5.14793773e-01]

qacc:
[  3.58743141, -0.83207111,  4.61311912,-11.07656849, -0.72018748,
  -1.36663005,  6.96715792,-15.65531088, -1.02537557,  1.8672924 ,
  -7.96632271, 14.58232575, -0.78085805,  1.38370285, -1.20403292,
   3.87150116,  0.06734351,  1.01252293,  0.02676265,  1.59458859,
   0.39557022,-14.70124083]

qfrc_actuator:
[-3.92540348e-05,-1.06335465e-04,-6.67052540e-05,-1.42608761e-05,
 -2.94136495e-05,-3.72950277e-04,-2.35902528e-04,-8.87150890e-05,
 -1.08896190e-05,-6.49039617e-05,-1.80726457e-04,-2.25533864e-05,
  3.80640656e-03,-1.55780925e-03, 0.00000000e+00,-1.95199702e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002950719491825876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.40637553e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.40637553e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09221705, -0.08834135,  0.06199156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.09969425e-05, 6.43818109e-06, 3.73859245e-06,-1.83065096e-05,
 -4.25576488e-06, 2.81536853e-06, 7.51611495e-06,-2.45250565e-05,
 -5.92008705e-06, 3.17935666e-06,-1.92975830e-05, 1.74518034e-05,
 -3.80758399e-05, 2.74454436e-05,-1.77736761e-05, 1.40114577e-05,
 -3.18562909e-07, 1.11563748e-07,-1.21644248e+00,-4.54955365e-04,
  1.01191723e-05,-5.49962061e-04]


--- Step 1490 ---
qpos:
[ 6.22164472e-03,-1.79231032e-03,-4.99199763e-03, 3.35501926e-02,
  4.47316572e-03,-3.74992034e-03,-1.85429484e-02, 2.85745987e-02,
  1.29783491e-02, 3.29744366e-03,-1.00016110e-02, 2.58708757e-02,
  1.31718233e+00, 7.68025704e-05, 1.05542073e+00, 6.36573014e-02,
  9.35860602e-02,-7.01655376e-02, 1.30964640e-01, 4.95710090e-01,
  4.84933994e-01, 5.04157303e-01, 5.14719284e-01]

qacc:
[ -0.79744291,  1.20280096, -7.0289812 , 16.63361888, -0.39938295,
   2.09777605, -8.79731552, 16.22479655, -0.60279806,  2.84928582,
 -10.13033456, 14.21435233, -0.12954648,  0.07436595,  3.56487836,
 -12.39514099,  0.74778024, -1.94896462, -0.55650812,  9.57207879,
  -2.14988086, 28.58420303]

qfrc_actuator:
[-4.45329776e-05,-1.45819588e-04,-8.48565805e-05, 1.04682062e-05,
 -3.15517179e-05,-3.56915291e-04,-2.51758086e-04,-6.77069708e-05,
 -1.40645768e-05,-2.62588565e-05,-2.08626538e-04,-1.19232469e-05,
  3.79587021e-03,-1.56904072e-03, 0.00000000e+00,-2.01270346e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 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: -0.00029459034303842835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88435068e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.88435068e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08116082, -0.03182708,  0.06199158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.67848207e-06,-3.58803121e-05,-1.69918873e-05, 2.47791220e-05,
 -2.25794056e-06, 1.81126402e-05,-1.51990483e-05, 2.09135836e-05,
 -3.34417254e-06, 3.72065884e-05,-2.89962016e-05, 1.04432506e-05,
 -2.57950056e-05,-1.33446949e-05,-1.03585517e-05,-6.30802428e-05,
 -2.24222240e-07, 2.00529359e-07,-1.21644329e+00,-4.55078047e-04,
  8.97556874e-06,-5.49696437e-04]


--- Step 1491 ---
qpos:
[ 6.22100677e-03,-1.79315082e-03,-4.99194748e-03, 3.35502752e-02,
  4.47354985e-03,-3.74981163e-03,-1.85428413e-02, 2.85746660e-02,
  1.29782614e-02, 3.29823906e-03,-1.00041500e-02, 2.58703335e-02,
  1.31733519e+00, 7.67000484e-05, 1.05563239e+00, 6.36604569e-02,
  9.36063182e-02,-7.01685176e-02, 1.30961161e-01, 4.95620603e-01,
  4.85018432e-01, 5.04223380e-01, 5.14661172e-01]

qacc:
[ -0.50206445, -0.35654243, -0.75441483,  5.91004729,  8.8653448 ,
   2.74701449,-13.56300391, 30.26690895,  2.70340204,  1.37075126,
  -2.80256128, -1.2105239 , -0.16445178,  0.10602628,  2.22797652,
  -7.94892472,  0.73345889, -1.92487684, -0.67661796,  9.53428782,
  -2.02095592, 28.20190074]

qfrc_actuator:
[-4.74141575e-05,-1.69176892e-04,-7.78539666e-05, 2.50734354e-05,
  2.07016768e-05,-3.47404778e-04,-2.61191009e-04,-1.94874577e-05,
  1.98121723e-06, 1.43180630e-05,-2.24115793e-04,-2.32957496e-05,
  3.77871991e-03,-1.57571759e-03, 0.00000000e+00,-2.05000063e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52342173, -2.41518432,  3.82468676, -2.41518432, 23.21387725,
       11.80250774,  3.82468676, 11.80250774, 11.97638021,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029476328286176523
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.76649023e-13,  3.76649023e-13,  1.00000000e+00, -1.41864486e-25,
        1.00000000e+00, -3.76649023e-13, -1.00000000e+00,  0.00000000e+00,
        3.76649023e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08115974, -0.03182735,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.02555567e-06,-4.58524485e-05,-1.63696658e-06, 1.29640412e-05,
  5.21949564e-05, 1.73942957e-05,-6.84180818e-06, 4.88782338e-05,
  1.59630638e-05, 5.58550956e-05,-1.09916068e-05,-1.05731935e-05,
 -3.52470124e-05,-1.55762661e-05,-1.58999982e-05,-4.31169912e-05,
 -6.21809806e-07, 5.48420676e-08,-1.21644293e+00,-4.55973603e-04,
  1.03696351e-05,-5.49618878e-04]


--- Step 1492 ---
qpos:
[ 6.22068390e-03,-1.79399013e-03,-4.99196586e-03, 3.35501491e-02,
  4.47455710e-03,-3.74932267e-03,-1.85432008e-02, 2.85746054e-02,
  1.29783669e-02, 3.29917284e-03,-1.00061860e-02, 2.58699930e-02,
  1.31748761e+00, 7.70866786e-05, 1.05584385e+00, 6.36637834e-02,
  9.36269658e-02,-7.01675921e-02, 1.30959431e-01, 4.95543423e-01,
  4.85090039e-01, 5.04305501e-01, 5.14587535e-01]

qacc:
[  2.76812513, -0.24188004,  1.73612709, -5.22814086,  5.43218323,
   1.53188936, -4.21150112,  2.48359914,  1.7133533 , -0.81087963,
   2.29918091,  0.29213662, -0.69324288,  1.18907144, -0.74354949,
   2.32187816,  0.09742973,  0.97636547,  0.43741766,  1.8780506 ,
   0.4093701 ,-14.14009419]

qfrc_actuator:
[-3.10999779e-05,-1.47104678e-04,-7.37635099e-05, 1.58741245e-05,
  5.12916675e-05,-3.24072936e-04,-2.84510864e-04,-2.66569702e-05,
  1.14578923e-05, 2.02653589e-05,-1.96638773e-04,-1.20011881e-05,
  3.76293929e-03,-1.54413328e-03, 0.00000000e+00,-2.03767083e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029308626669964654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.25024213e-07, -3.25024060e-07,  1.00000000e+00, -1.05640689e-13,
        1.00000000e+00,  3.25024060e-07, -1.00000000e+00,  0.00000000e+00,
       -3.25024213e-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([ 0.09193951, -0.08692405,  0.06199162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.62142750e-05,-3.32080767e-06,-5.12427853e-06,-1.09666419e-05,
  3.20853322e-05, 3.37530338e-05,-1.88833501e-05,-5.71236669e-06,
  9.95038240e-06, 3.44656046e-05, 3.73157965e-05, 1.31065213e-05,
 -3.97098904e-05, 1.99298817e-05,-1.59253999e-05, 6.98747481e-06,
 -1.24406387e-06, 3.50748177e-07,-1.21644374e+00,-4.56727834e-04,
  1.23856316e-05,-5.49730374e-04]


--- Step 1493 ---
qpos:
[ 6.22055885e-03,-1.79450783e-03,-4.99239279e-03, 3.35498955e-02,
  4.47523378e-03,-3.74847542e-03,-1.85436091e-02, 2.85747785e-02,
  1.29778956e-02, 3.29985632e-03,-1.00068488e-02, 2.58701250e-02,
  1.31763963e+00, 7.80889904e-05, 1.05605515e+00, 6.36675355e-02,
  9.36438773e-02,-7.01740874e-02, 1.30956534e-01, 4.95454149e-01,
  4.85171108e-01, 5.04346926e-01, 5.14556470e-01]

qacc:
[  1.72100116,  1.30130805, -3.49048773,  1.70628898, -2.90052255,
   1.09565038, -4.19656332,  8.04364665, -5.02800791, -3.18622581,
   8.90212804, -2.75160199, -0.73871341,  1.35973292, -1.45905437,
   4.90673692, -0.93405008, -1.85517135, -0.29215815,-15.92765171,
   0.85778427, 25.91682414]

qfrc_actuator:
[-2.13713661e-05,-1.15773699e-04,-8.90133879e-05, 1.05301768e-05,
  3.33636279e-05,-2.92744931e-04,-2.80326384e-04,-1.31050978e-05,
 -1.85194517e-05, 5.62456333e-06,-1.26382004e-04, 1.25433772e-05,
  3.75333344e-03,-1.50787820e-03, 0.00000000e+00,-2.01395357e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002951323686337317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19365133e-06,  1.19365190e-06,  1.00000000e+00,  1.42480418e-12,
        1.00000000e+00, -1.19365190e-06, -1.00000000e+00,  0.00000000e+00,
       -1.19365133e-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([ 0.10835751, -0.03509633,  0.06199156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01918366e-05, 2.79831004e-05,-1.69364237e-05,-5.87540189e-06,
 -1.69986926e-05, 4.60551677e-05, 8.62982908e-06, 1.42323187e-05,
 -2.96838660e-05, 1.28968723e-05, 8.24392085e-05, 2.75706327e-05,
 -2.75378049e-05, 3.19547992e-05,-1.03827179e-05, 2.11726522e-05,
 -1.08423688e-06, 1.27798837e-07,-1.21644381e+00,-4.57092328e-04,
  1.10511588e-05,-5.49740420e-04]


--- Step 1494 ---
qpos:
[ 6.22020650e-03,-1.79472084e-03,-4.99248742e-03, 3.35495298e-02,
  4.47603558e-03,-3.74738914e-03,-1.85436880e-02, 2.85757916e-02,
  1.29770683e-02, 3.30092554e-03,-1.00068291e-02, 2.58701704e-02,
  1.31779139e+00, 7.95220829e-05, 1.05626643e+00, 6.36708490e-02,
  9.36609477e-02,-7.01766292e-02, 1.30955540e-01, 4.95377894e-01,
  4.85238909e-01, 5.04403870e-01, 5.14510135e-01]

qacc:
[ -1.9934961 , -0.75304841,  3.74887697, -6.45047111,  1.10173241,
   1.12102466, -7.09026579, 20.93117942, -3.11723004, -1.56974285,
   6.71335178, -9.59993445, -0.56581954,  1.02317656,  1.35361658,
  -4.64960451,  0.03975059,  0.98835258,  0.47610622,  1.39807739,
   0.27067737,-14.24306089]

qfrc_actuator:
[-3.33555090e-05,-7.92083796e-05,-6.22421548e-05, 7.50172691e-06,
  4.02871020e-05,-2.74502007e-04,-2.59870482e-04, 3.03218754e-05,
 -3.59712397e-05, 4.99747726e-05,-8.47868330e-05, 9.18113241e-06,
  3.74211817e-03,-1.48689549e-03, 0.00000000e+00,-2.03698455e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029840473202051815
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.89789556e-08, -3.89786990e-08,  1.00000000e+00, -1.51934898e-15,
        1.00000000e+00,  3.89786990e-08, -1.00000000e+00, -1.97215226e-31,
       -3.89789556e-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([ 0.092621  , -0.08700859,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16815391e-05, 4.84917036e-05, 3.02736201e-05,-2.52740381e-06,
  6.45301135e-06, 4.63569574e-05, 3.15193645e-05, 4.59756046e-05,
 -1.82935718e-05, 6.97434967e-05, 5.53675337e-05, 5.80299383e-07,
 -1.94039601e-05, 2.23699268e-05,-6.40811065e-06,-2.41120442e-05,
 -9.69637208e-07, 5.92623331e-07,-1.21644281e+00,-4.57782434e-04,
  1.27236517e-05,-5.49831559e-04]


--- Step 1495 ---
qpos:
[ 6.21936837e-03,-1.79451312e-03,-4.99261590e-03, 3.35494858e-02,
  4.47656913e-03,-3.74615634e-03,-1.85433856e-02, 2.85762894e-02,
  1.29767281e-02, 3.30246639e-03,-1.00068735e-02, 2.58702158e-02,
  1.31794296e+00, 8.09856503e-05, 1.05647798e+00, 6.36711673e-02,
  9.36742658e-02,-7.01867392e-02, 1.30952531e-01, 4.95289020e-01,
  4.85316518e-01, 5.04419609e-01, 5.14507067e-01]

qacc:
[ -4.27951714,  1.32142412, -5.24782293, 10.54213023, -2.33848754,
  -1.92624093,  9.33391076,-18.97896136,  4.27577125,  0.79437498,
  -1.94304889,  1.71642168, -0.3500248 ,  0.47048939,  9.44973717,
 -32.44411819, -0.93809138, -1.89202915, -0.50402501,-16.02121067,
   0.9505475 , 26.4338848 ]

qfrc_actuator:
[-5.80213041e-05,-5.73667858e-05,-6.40935806e-05, 2.36508042e-05,
  2.62927683e-05,-2.81886812e-04,-2.47763048e-04, 2.21086058e-06,
 -1.03925985e-05, 5.81731318e-05,-9.57523051e-05, 7.19769204e-06,
  3.72461495e-03,-1.49289020e-03, 0.00000000e+00,-2.19388649e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030182468191453093
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.83918528e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.83918528e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10880328, -0.03361922,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.49812813e-05, 5.51103586e-05, 1.18117067e-05, 1.92273266e-05,
 -1.37970024e-05, 2.69799967e-05, 2.71416742e-05,-2.41437996e-05,
  2.50844166e-05, 5.86130260e-05, 1.02678291e-05, 2.93050934e-06,
 -2.34583229e-05,-4.95380978e-06,-9.89970076e-06,-1.60067482e-04,
 -8.47781487e-07, 3.25617381e-07,-1.21644259e+00,-4.58001227e-04,
  1.16729597e-05,-5.49921186e-04]


--- Step 1496 ---
qpos:
[ 6.21858613e-03,-1.79396465e-03,-4.99327735e-03, 3.35496810e-02,
  4.47658630e-03,-3.74522995e-03,-1.85424125e-02, 2.85764855e-02,
  1.29770424e-02, 3.30402287e-03,-1.00067997e-02, 2.58699390e-02,
  1.31809450e+00, 8.18863465e-05, 1.05668982e+00, 6.36665784e-02,
  9.36878176e-02,-7.01925631e-02, 1.30951573e-01, 4.95213708e-01,
  4.85380425e-01, 5.04452553e-01, 5.14486975e-01]

qacc:
[  0.46891109,  2.43195394, -9.02893279, 13.77116774, -4.49318003,
  -2.88943446, 11.00399506,-17.08489156,  5.76240409, -0.98461725,
   4.88227115,-10.64055598,  0.09145058, -0.53141071, 15.22883342,
 -52.69033861,  0.05844077,  1.07150388,  0.51289272,  2.03595027,
   0.23407056,-15.33563194]

qfrc_actuator:
[-5.44414305e-05,-6.23499976e-05,-1.00637986e-04, 3.31648800e-05,
  9.10620007e-08,-3.22403994e-04,-2.23095618e-04,-1.45456079e-05,
  2.25510803e-05, 2.66875752e-05,-1.02275362e-04,-1.17632820e-05,
  3.70866563e-03,-1.53259600e-03, 0.00000000e+00,-2.44613158e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 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: -0.00030505536203753736
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.36478058e-13, -5.45912232e-13,  1.00000000e+00,  7.45050414e-26,
        1.00000000e+00,  5.45912232e-13, -1.00000000e+00,  0.00000000e+00,
        1.36478058e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09221851, -0.088339  ,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.88702817e-06, 2.90867331e-05,-2.30394671e-05, 1.26596445e-05,
 -2.65865133e-05,-2.09128413e-05, 3.27296142e-05,-1.51349555e-05,
  3.36810941e-05, 3.49001807e-06, 6.93138532e-06,-1.60413939e-05,
 -3.09616086e-05,-4.59747511e-05,-2.70048617e-05,-2.63521178e-04,
 -6.59457832e-07, 8.12789166e-07,-1.21644228e+00,-4.58740672e-04,
  1.28066519e-05,-5.50151008e-04]


--- Step 1497 ---
qpos:
[ 6.21854253e-03,-1.79308552e-03,-4.99433842e-03, 3.35492909e-02,
  4.47663422e-03,-3.74462493e-03,-1.85416262e-02, 2.85765419e-02,
  1.29774042e-02, 3.30569216e-03,-1.00065368e-02, 2.58694202e-02,
  1.31824587e+00, 8.23544342e-05, 1.05690168e+00, 6.36576329e-02,
  9.37016206e-02,-7.01941705e-02, 1.30952053e-01, 4.95151782e-01,
  4.85430771e-01, 5.04502434e-01, 5.14450166e-01]

qacc:
[  6.47614416,  0.33626404,  1.88434248,-11.59526867,  0.26870399,
  -0.19089954,  0.65417089, -2.53886111,  0.42317983, -0.87810295,
   4.36707713, -8.93691862, -0.06565505, -0.26229837, 13.16383758,
 -46.03979638,  0.06277582,  1.05413569,  0.35947426,  1.96645719,
   0.24908602,-15.11313553]

qfrc_actuator:
[-1.65088790e-05,-4.80111205e-05,-1.21980275e-04, 3.14639113e-06,
  2.42563027e-06,-3.64653638e-04,-2.44592164e-04,-2.44970317e-05,
  2.40462880e-05, 4.26695224e-05,-8.85370545e-05,-2.28357115e-05,
  3.69364267e-03,-1.55644204e-03, 0.00000000e+00,-2.66370924e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 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: -0.00030722810941043177
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.35512872e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.35512872e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09221918, -0.08833861,  0.06199122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.80240958e-05, 2.63786651e-05,-1.77320719e-05,-2.93229966e-05,
  1.56709599e-06,-4.78870770e-05,-2.23297870e-05,-1.00133037e-05,
  2.45865071e-06, 1.86340536e-05, 1.47384337e-05,-1.09995879e-05,
 -4.43435770e-05,-4.14580363e-05,-4.58162638e-05,-2.36681236e-04,
 -5.99916245e-07, 4.91576434e-07,-1.21644183e+00,-4.58799012e-04,
  1.20120133e-05,-5.50299603e-04]


--- Step 1498 ---
qpos:
[ 6.21860899e-03,-1.79199289e-03,-4.99563462e-03, 3.35485480e-02,
  4.47670931e-03,-3.74408089e-03,-1.85411893e-02, 2.85761116e-02,
  1.29777817e-02, 3.30747264e-03,-1.00061518e-02, 2.58694679e-02,
  1.31839671e+00, 8.31259517e-05, 1.05711332e+00, 6.36457543e-02,
  9.37156889e-02,-7.01916185e-02, 1.30953456e-01, 4.95103092e-01,
  4.85467677e-01, 5.04569028e-01, 5.14396889e-01]

qacc:
[  0.95648758,  0.2111993 ,  1.1424901 , -7.02577487,  0.22750498,
  -0.10556666,  2.31364995,-10.13144352,  0.13899789,  0.97167209,
  -5.64357837, 15.17097202, -0.80281465,  1.19016942,  8.6086069 ,
 -30.42052807,  0.06634974,  1.03984163,  0.23079991,  1.9130561 ,
   0.25899109,-14.92900904]

qfrc_actuator:
[-1.19277199e-05,-3.99578515e-05,-1.34121451e-04,-1.43574525e-05,
  3.78874850e-06,-3.54547357e-04,-2.57692523e-04,-4.81591234e-05,
  2.47700676e-05, 5.15232979e-05,-8.05126965e-05, 6.37872169e-06,
  3.66853757e-03,-1.53517207e-03, 0.00000000e+00,-2.80581634e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003068451962221913
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.71363958e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.71363958e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09221968, -0.08833888,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.67181031e-06, 1.78799235e-05,-9.88929803e-06,-1.75580032e-05,
  1.39249153e-06,-2.17442264e-05,-2.61051881e-05,-2.66851280e-05,
  8.05454351e-07, 2.17867217e-05, 1.32870643e-05, 3.03056924e-05,
 -6.10010619e-05, 1.66505995e-06,-5.05202394e-05,-1.61887326e-04,
 -5.30235348e-07, 2.67560042e-07,-1.21644169e+00,-4.58881660e-04,
  1.11308155e-05,-5.50354167e-04]


--- Step 1499 ---
qpos:
[ 6.21804069e-03,-1.79132904e-03,-4.99653559e-03, 3.35479858e-02,
  4.47680002e-03,-3.74350026e-03,-1.85407514e-02, 2.85757088e-02,
  1.29785099e-02, 3.30947424e-03,-1.00059463e-02, 2.58691813e-02,
  1.31854707e+00, 8.41398823e-05, 1.05732427e+00, 6.36355394e-02,
  9.37260403e-02,-7.01966417e-02, 1.30952841e-01, 4.95041834e-01,
  4.85514413e-01, 5.04594385e-01, 5.14386863e-01]

qacc:
[ -5.56144059, -1.28879986,  3.02907147, -0.23909254,  0.13617798,
   0.10161811, -0.40883819,  0.85695555,  3.0773674 ,  0.09951288,
   1.47057332, -7.12198806, -0.417093  ,  0.60090469, -6.02755509,
  19.65424474, -0.92924954, -1.89378861, -0.50451495,-16.03337368,
   0.9326421 , 26.42927439]

qfrc_actuator:
[-4.47769098e-05,-8.89489300e-05,-1.22993961e-04,-6.59828665e-06,
  4.56028665e-06,-3.30911972e-04,-2.47765139e-04,-4.41396622e-05,
  4.27966758e-05, 5.60566526e-05,-9.36779150e-05,-1.19568325e-05,
  3.64807281e-03,-1.52290075e-03, 0.00000000e+00,-2.70704293e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003081630140549796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.00678354e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.00678354e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10879874, -0.03362155,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.26825442e-05,-4.18086333e-05, 1.29990804e-05, 7.84331866e-06,
  8.05893394e-07, 4.91693298e-06, 1.28641645e-06, 1.66370657e-06,
  1.80613417e-05, 2.06923558e-05,-6.00475730e-06,-1.63572532e-05,
 -5.53759745e-05,-1.02625727e-06,-4.41886698e-05, 8.26298872e-05,
 -4.51832490e-07, 1.36719160e-07,-1.21644183e+00,-4.58985517e-04,
  1.01659461e-05,-5.50315878e-04]


--- Step 1500 ---
qpos:
[ 6.21708320e-03,-1.79116531e-03,-4.99690905e-03, 3.35471760e-02,
  4.47724465e-03,-3.74345780e-03,-1.85399941e-02, 2.85760995e-02,
  1.29787588e-02, 3.31159010e-03,-1.00058793e-02, 2.58690339e-02,
  1.31869714e+00, 8.50034488e-05, 1.05753447e+00, 6.36301877e-02,
  9.37327111e-02,-7.02091344e-02, 1.30949695e-01, 4.94968040e-01,
  4.85570849e-01, 5.04579191e-01, 5.14419508e-01]

qacc:
[-3.39707329e+00,-2.63855816e+00, 9.50444686e+00,-1.42731866e+01,
  3.11705850e+00, 2.25320254e-02,-4.47395032e+00, 1.81045114e+01,
 -4.22431858e+00, 8.32907449e-01,-3.32422341e+00, 5.85546539e+00,
  2.24280572e-01,-5.36369240e-01,-1.57980904e+01, 5.36265662e+01,
 -9.20133038e-01,-1.86736294e+00,-6.32716558e-01,-1.57510652e+01,
  9.89369031e-01, 2.60769318e+01]

qfrc_actuator:
[-6.38782504e-05,-1.18351852e-04,-9.84415837e-05,-1.95788814e-05,
  2.27301807e-05,-3.87995484e-04,-2.41984534e-04,-6.07812742e-06,
  1.76056057e-05, 5.78433504e-05,-1.01551575e-04,-4.89027039e-06,
  3.63573253e-03,-1.53384161e-03, 0.00000000e+00,-2.44941223e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56872246, -0.81711573,  4.49505804, -0.81711573, 30.77915755,
        4.76455667,  4.49505804,  4.76455667,  5.43482789,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030841534417914984
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.59976585e-13,  3.59976585e-13,  1.00000000e+00, -1.29583142e-25,
        1.00000000e+00, -3.59976585e-13, -1.00000000e+00,  0.00000000e+00,
        3.59976585e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10879794, -0.03362145,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.00471088e-05,-4.97832344e-05, 1.77945247e-05,-1.41664815e-05,
  1.81945102e-05,-5.40220267e-05, 7.00115587e-06, 3.83477283e-05,
 -2.46633023e-05, 1.13510044e-05,-4.93012989e-06, 7.42231315e-06,
 -4.41214486e-05,-2.38755174e-05,-1.30708224e-05, 2.56155110e-04,
 -3.18710275e-07, 3.80071070e-07,-1.21644108e+00,-4.59669553e-04,
  1.13132733e-05,-5.50470903e-04]


--- Step 1501 ---
qpos:
[ 6.21624859e-03,-1.79115075e-03,-4.99683229e-03, 3.35461770e-02,
  4.47790363e-03,-3.74394689e-03,-1.85391042e-02, 2.85769561e-02,
  1.29787043e-02, 3.31357668e-03,-1.00058378e-02, 2.58696865e-02,
  1.31884690e+00, 8.57494637e-05, 1.05774481e+00, 6.36255754e-02,
  9.37395677e-02,-7.02172970e-02, 1.30948854e-01, 4.94907708e-01,
  4.85613955e-01, 5.04581370e-01, 5.14434727e-01]

qacc:
[ 1.09712295e+00,-1.84757455e+00, 7.09637170e+00,-1.09765491e+01,
  1.88959601e+00,-1.17999863e-01,-2.57239463e+00, 1.08218988e+01,
 -2.66750552e+00, 1.55231863e+00,-9.15198655e+00, 2.31251598e+01,
 -1.23857378e-01,-1.78957451e-02,-2.00551049e+00, 7.35025964e+00,
  4.64509590e-02, 1.08250398e+00, 5.76165974e-01, 2.29792748e+00,
  1.01146811e-01,-1.53558125e+01]

qfrc_actuator:
[-5.69699116e-05,-1.00253767e-04,-6.61246498e-05,-2.68948475e-05,
  3.32419219e-05,-4.21939666e-04,-2.39010759e-04, 1.61264003e-05,
  2.67900227e-06, 4.02478482e-05,-1.06219464e-04, 3.48303679e-05,
  3.61761522e-03,-1.54066134e-03, 0.00000000e+00,-2.41987953e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003123243062046338
  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([ 0.09222251, -0.08833823,  0.06199107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.32086578e-06,-6.67612756e-06, 2.37410375e-05,-9.10598332e-06,
  1.10107602e-05,-6.10685851e-05,-6.00631734e-06, 2.08745321e-05,
 -1.56166951e-05,-1.20331544e-05,-2.69757043e-06, 4.01774739e-05,
 -4.82445725e-05,-2.29494616e-05, 2.00595610e-05, 4.15899669e-05,
 -5.20084005e-08, 7.50940277e-07,-1.21644151e+00,-4.60442078e-04,
  1.16279107e-05,-5.50867851e-04]


--- Step 1502 ---
qpos:
[ 6.21550307e-03,-1.79121214e-03,-4.99669544e-03, 3.35454605e-02,
  4.47868332e-03,-3.74447567e-03,-1.85386407e-02, 2.85777024e-02,
  1.29788164e-02, 3.31519707e-03,-1.00054200e-02, 2.58704675e-02,
  1.31899632e+00, 8.64041453e-05, 1.05795526e+00, 6.36210402e-02,
  9.37466387e-02,-7.02212090e-02, 1.30949660e-01, 4.94860678e-01,
  4.85643803e-01, 5.04600620e-01, 5.14432911e-01]

qacc:
[  0.786736  ,  0.31194411, -2.45333472,  7.30593477,  1.04362525,
   0.90925529, -2.85590843,  1.66035825,  1.4838208 , -1.27384615,
   3.29264151, -1.39692772, -0.18603157,  0.08863804, -0.0775981 ,
   0.5061147 ,  0.0535883 ,  1.06265732,  0.41160603,  2.1776014 ,
   0.14250688,-15.12658593]

qfrc_actuator:
[-5.25647933e-05,-1.07063865e-04,-6.47879642e-05,-1.30186159e-05,
  3.91567541e-05,-4.06286354e-04,-2.55414574e-04, 1.10743192e-05,
  1.16794583e-05, 1.12208396e-05,-9.12689534e-05, 4.01690099e-05,
  3.60137129e-03,-1.54498105e-03, 0.00000000e+00,-2.41851123e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59199368,  0.37818674,  4.57639386,  0.37818674, 30.18575596,
       -2.11503247,  4.57639386, -2.11503247,  4.76677698,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031510747084091684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.80828866e-14,  3.52331546e-13,  1.00000000e+00,  3.10343796e-26,
        1.00000000e+00, -3.52331546e-13, -1.00000000e+00,  0.00000000e+00,
       -8.80828866e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09222367, -0.08833782,  0.06199099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.58200249e-06,-6.02392664e-06, 2.56840304e-06, 1.42362749e-05,
  6.20743068e-06,-1.88328375e-05,-2.90423478e-05,-7.47404137e-06,
  8.55748262e-06,-3.46709598e-05, 1.34982212e-05, 5.50620620e-06,
 -4.85337241e-05,-2.11653764e-05, 8.52080999e-06, 5.05159319e-06,
 -9.95789898e-08, 4.58537273e-07,-1.21644087e+00,-4.60224342e-04,
  1.13639601e-05,-5.51038607e-04]


--- Step 1503 ---
qpos:
[ 6.21447124e-03,-1.79127877e-03,-4.99685750e-03, 3.35452773e-02,
  4.47952791e-03,-3.74507981e-03,-1.85381516e-02, 2.85787004e-02,
  1.29786905e-02, 3.31651561e-03,-1.00047929e-02, 2.58709647e-02,
  1.31914555e+00, 8.69172163e-05, 1.05816554e+00, 6.36179000e-02,
  9.37539468e-02,-7.02209357e-02, 1.30951559e-01, 4.94826815e-01,
  4.85660458e-01, 5.04636691e-01, 5.14414379e-01]

qacc:
[ -2.52651946,  1.93157451, -9.13930674, 18.83909987,  0.57016289,
   0.34556274, -2.44168413,  6.81500655, -2.08301718, -1.5644136 ,
   6.20469822,-11.23733294,  0.05400488, -0.24538522, -4.47254106,
  15.26035728,  0.05927415,  1.04632534,  0.27354278,  2.08281706,
   0.17396875,-14.9359943 ]

qfrc_actuator:
[-6.74296010e-05,-1.11079797e-04,-8.18293718e-05, 1.31767953e-05,
  4.23213549e-05,-3.96659039e-04,-2.47433852e-04, 2.55633873e-05,
 -8.17665450e-07,-6.62380109e-06,-8.26914248e-05, 2.52301381e-05,
  3.60224102e-03,-1.54777995e-03, 0.00000000e+00,-2.34491190e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5920613 , -0.19225308, -4.58803506, -0.19225308, 43.34866628,
       -1.62402351, -4.58803506, -1.62402351,  4.66011299,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031512662121360724
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.40387669e-14, -3.52310135e-13,  1.00000000e+00,  1.55153039e-26,
        1.00000000e+00,  3.52310135e-13, -1.00000000e+00,  0.00000000e+00,
        4.40387669e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09222455, -0.08833809,  0.06199099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47371308e-05,-6.23779071e-06,-1.74755398e-05, 2.63046036e-05,
  3.33683537e-06,-7.20875439e-06, 2.53478034e-07, 1.25298392e-05,
 -1.22611668e-05,-3.42705990e-05, 3.24309588e-06,-1.58570868e-05,
 -3.13777576e-05,-1.91721868e-05,-4.45335090e-07, 7.38565149e-05,
 -1.31213172e-07, 2.61303104e-07,-1.21644054e+00,-4.60044709e-04,
  1.09966698e-05,-5.51117192e-04]


--- Step 1504 ---
qpos:
[ 6.21395901e-03,-1.79106745e-03,-4.99736152e-03, 3.35453759e-02,
  4.48040387e-03,-3.74577087e-03,-1.85373177e-02, 2.85801881e-02,
  1.29784160e-02, 3.31757675e-03,-1.00046261e-02, 2.58713202e-02,
  1.31929456e+00, 8.76006975e-05, 1.05837534e+00, 6.36190002e-02,
  9.37615102e-02,-7.02165304e-02, 1.30954091e-01, 4.94806004e-01,
  4.85663980e-01, 5.04689377e-01, 5.14379383e-01]

qacc:
[ 4.55339141e+00, 1.89453793e+00,-7.42645298e+00, 1.26600714e+01,
  2.87262480e-01,-7.15110982e-02,-1.98064463e+00, 9.96994988e+00,
 -1.31741754e+00, 6.57298654e-01,-2.23467703e+00, 7.03507330e-01,
 -2.24661605e-02, 6.71224116e-02,-1.34891424e+01, 4.61938049e+01,
  6.38297498e-02, 1.03297531e+00, 1.57989825e-01, 2.00857185e+00,
  1.97641285e-01,-1.47787718e+01]

qfrc_actuator:
[-4.02587036e-05,-7.79543007e-05,-9.18100478e-05, 2.86473466e-05,
  4.38433480e-05,-3.90595777e-04,-2.25103756e-04, 5.14592230e-05,
 -8.12275057e-06,-3.54295249e-05,-1.13426680e-04, 1.62382589e-05,
  3.60272657e-03,-1.53182691e-03, 0.00000000e+00,-2.12280691e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003129491768020659
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.43451807e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.43451807e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09222521, -0.08833889,  0.06199105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.67497287e-05, 2.71574749e-05,-1.25067066e-05, 1.51123024e-05,
  1.61426650e-06, 2.63662223e-06, 2.13048603e-05, 2.58374075e-05,
 -7.65994251e-06,-4.80405453e-05,-3.79870126e-05,-1.06618792e-05,
 -2.16626001e-05, 4.09245731e-06, 4.09642112e-06, 2.25265511e-04,
 -1.49735079e-07, 1.55841678e-07,-1.21644050e+00,-4.59896467e-04,
  1.05329428e-05,-5.51104230e-04]


--- Step 1505 ---
qpos:
[ 6.21412129e-03,-1.79072755e-03,-4.99795231e-03, 3.35456603e-02,
  4.48129143e-03,-3.74665814e-03,-1.85363835e-02, 2.85813149e-02,
  1.29780563e-02, 3.31814601e-03,-1.00047565e-02, 2.58719301e-02,
  1.31944335e+00, 8.84655938e-05, 1.05858522e+00, 6.36217311e-02,
  9.37693436e-02,-7.02080366e-02, 1.30956868e-01, 4.94798150e-01,
  4.85654420e-01, 5.04758510e-01, 5.14328126e-01]

qacc:
[  5.92618158,  0.78346149, -3.35102671,  6.63133247,  0.10778215,
  -1.2814387 ,  5.71687878,-11.97866468, -0.75120781,  0.70562712,
  -4.53065868,  9.76716606, -0.21461389,  0.35643518, -4.7907714 ,
  16.9688344 ,  0.06750709,  1.02215752,  0.06153945,  1.95087533,
   0.21518012,-14.65041706]

qfrc_actuator:
[-6.31039765e-06,-7.60829306e-05,-9.73916717e-05, 3.77211842e-05,
  4.43873279e-05,-4.22134503e-04,-2.29998804e-04, 3.06025700e-05,
 -1.23068786e-05,-7.07356130e-05,-1.31658370e-04, 2.85385276e-05,
  3.59233975e-03,-1.52263074e-03, 0.00000000e+00,-2.04578608e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003090491717035182
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.79619156e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.79619156e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0922257 , -0.08834012,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.47180570e-05, 1.51311553e-05,-9.86715212e-07, 1.00983909e-05,
  5.89077871e-07,-2.45439288e-05,-8.37133326e-07,-1.95073671e-05,
 -4.41293758e-06,-7.05189732e-05,-3.32180702e-05, 8.71636574e-06,
 -2.12253136e-05, 4.99847934e-06, 2.35179581e-05, 8.93064021e-05,
 -1.57198412e-07, 1.39347856e-07,-1.21644075e+00,-4.59774755e-04,
  9.97769171e-06,-5.51000325e-04]


--- Step 1506 ---
qpos:
[ 6.21434453e-03,-1.79045606e-03,-4.99795916e-03, 3.35460299e-02,
  4.48217868e-03,-3.74777231e-03,-1.85354520e-02, 2.85818496e-02,
  1.29776489e-02, 3.31849650e-03,-1.00049448e-02, 2.58722852e-02,
  1.31959189e+00, 8.94772963e-05, 1.05879559e+00, 6.36220394e-02,
  9.37735113e-02,-7.02071510e-02, 1.30957707e-01, 4.94777922e-01,
  4.85654727e-01, 5.04786146e-01, 5.14320174e-01]

qacc:
[ 5.55532897e-01,-1.54833260e+00, 5.02741746e+00,-4.43258577e+00,
  6.47422266e-04,-1.50986199e+00, 7.44877891e+00,-1.75236070e+01,
 -4.17580240e-01,-6.51036179e-01, 2.97922328e+00,-7.13764647e+00,
 -4.71513417e-01, 6.99973650e-01, 8.06670772e+00,-2.70939311e+01,
 -9.16427605e-01,-1.90206293e+00,-4.84677365e-01,-1.61550491e+01,
  8.34685676e-01, 2.64621154e+01]

qfrc_actuator:
[-4.16367308e-06,-7.51732098e-05,-6.49470003e-05, 4.29402720e-05,
  4.43517304e-05,-4.40585107e-04,-2.33369616e-04, 1.01806988e-07,
 -1.46222841e-05,-5.63465661e-05,-1.24614248e-04, 1.77694833e-05,
  3.57543738e-03,-1.51756783e-03, 0.00000000e+00,-2.17917073e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003081955285037935
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.80116667e-13, -1.80116667e-13,  1.00000000e+00,  3.24420136e-26,
        1.00000000e+00,  1.80116667e-13, -1.00000000e+00,  0.00000000e+00,
        1.80116667e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10879155, -0.03361941,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.13822659e-06, 9.60565618e-06, 3.57988359e-05, 6.02832655e-06,
 -2.64889569e-08,-3.31654333e-05,-9.22162242e-06,-3.19638652e-05,
 -2.46262570e-06,-3.15567880e-05,-1.13191256e-05,-1.47730612e-05,
 -2.73515826e-05, 1.21577557e-06, 1.55959181e-05,-1.26586743e-04,
 -1.55084048e-07, 2.09517178e-07,-1.21644128e+00,-4.59676093e-04,
  9.33433201e-06,-5.50806027e-04]


--- Step 1507 ---
qpos:
[ 6.21459201e-03,-1.79010256e-03,-4.99788534e-03, 3.35464745e-02,
  4.48305867e-03,-3.74922501e-03,-1.85342998e-02, 2.85830496e-02,
  1.29772166e-02, 3.31897995e-03,-1.00055463e-02, 2.58728322e-02,
  1.31974026e+00, 9.03124640e-05, 1.05900576e+00, 6.36227819e-02,
  9.37740399e-02,-7.02137617e-02, 1.30956083e-01, 4.94745311e-01,
  4.85664767e-01, 5.04773031e-01, 5.14354935e-01]

qacc:
[  0.21437977,  0.037043  , -0.29244019,  1.40302085, -0.05037993,
   0.30477922, -4.5453946 , 15.95637795, -0.23393433,  1.72611027,
  -6.70929012, 10.5931637 ,  0.03913049, -0.24002103, -1.60879855,
   5.18889533, -0.90976425, -1.87407011, -0.61576604,-15.84500097,
   0.91359   , 26.10357959]

qfrc_actuator:
[-3.00150002e-06,-7.46949328e-05,-6.35804527e-05, 4.58727605e-05,
  4.39756634e-05,-4.51073664e-04,-2.18010541e-04, 3.52005707e-05,
 -1.58199689e-05,-2.99694469e-05,-1.38030336e-04, 2.90715635e-05,
  3.55996168e-03,-1.53277549e-03, 0.00000000e+00,-2.15135543e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57005859, -0.26847217,  4.56216595, -0.26847217, 23.60421096,
        1.12011272,  4.56216595,  1.12011272,  4.63597445,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003088051940314529
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.98805336e-14, -1.79761067e-13,  1.00000000e+00,  1.61570206e-26,
        1.00000000e+00,  1.79761067e-13, -1.00000000e+00,  0.00000000e+00,
        8.98805336e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1087903 , -0.03361938,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25213234e-06, 1.34927439e-05, 7.96421161e-06, 4.69845801e-06,
 -3.86694627e-07,-3.22807827e-05, 6.26768307e-06, 3.27355129e-05,
 -1.27660478e-06, 5.74574818e-06,-2.18429277e-05, 9.26944193e-06,
 -3.08123672e-05,-2.11167529e-05,-1.27959674e-05, 2.14006305e-05,
 -7.10983855e-08, 1.02465524e-07,-1.21644017e+00,-4.60285655e-04,
  1.02462205e-05,-5.50914003e-04]


--- Step 1508 ---
qpos:
[ 6.21485165e-03,-1.78978533e-03,-4.99802080e-03, 3.35473321e-02,
  4.48392698e-03,-3.75052297e-03,-1.85334778e-02, 2.85849801e-02,
  1.29767733e-02, 3.31968145e-03,-1.00066895e-02, 2.58738531e-02,
  1.31988849e+00, 9.07268428e-05, 1.05921586e+00, 6.36234869e-02,
  9.37709524e-02,-7.02277764e-02, 1.30951555e-01, 4.94700309e-01,
  4.85684427e-01, 5.04719768e-01, 5.14431917e-01]

qacc:
[ 1.01161746e-01, 1.38708314e+00,-6.75836163e+00, 1.42648697e+01,
 -1.14802044e-01, 2.62872468e+00,-1.21610968e+01, 2.52164720e+01,
 -1.17811035e-01, 2.77766686e+00,-1.14862379e+01, 2.03924054e+01,
  2.12582107e-01,-6.49302518e-01,-1.86702111e-02,-1.48277364e-01,
 -9.04056101e-01,-1.85099441e+00,-7.25957148e-01,-1.55930641e+01,
  9.73672253e-01, 2.58081630e+01]

qfrc_actuator:
[-2.41773654e-06,-9.23512069e-05,-8.05910882e-05, 6.51619854e-05,
  4.34023797e-05,-4.21077331e-04,-2.27140961e-04, 7.31332711e-05,
 -1.63507572e-05,-1.44163290e-05,-1.63344090e-04, 5.32714476e-05,
  3.54534404e-03,-1.55988086e-03, 0.00000000e+00,-2.15297646e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56410236, -0.51160552,  4.53533793, -0.51160552, 34.18055385,
        3.34086239,  4.53533793,  3.34086239,  4.94096593,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000307061891311855
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.80781637e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.80781637e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1087898 , -0.03361819,  0.06199122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.22274080e-07,-8.27957236e-06,-1.30863261e-05, 2.02323613e-05,
 -5.97211822e-07, 1.46789686e-05,-1.38924904e-05, 3.74012558e-05,
 -5.63534639e-07, 1.46379546e-05,-2.64968267e-05, 2.38697357e-05,
 -3.71695297e-05,-3.91725286e-05,-7.03156482e-06,-2.89656142e-06,
  1.43268889e-07, 1.27906329e-07,-1.21644028e+00,-4.60967816e-04,
  1.03196177e-05,-5.51260910e-04]


--- Step 1509 ---
qpos:
[ 6.21511628e-03,-1.78954589e-03,-4.99828994e-03, 3.35477241e-02,
  4.48478140e-03,-3.75132836e-03,-1.85331765e-02, 2.85862833e-02,
  1.29763270e-02, 3.32048135e-03,-1.00078133e-02, 2.58747869e-02,
  1.32003639e+00, 9.08859498e-05, 1.05942556e+00, 6.36268290e-02,
  9.37679897e-02,-7.02373965e-02, 1.30949746e-01, 4.94668723e-01,
  4.85691081e-01, 5.04684103e-01, 5.14490996e-01]

qacc:
[ 4.07749770e-02,-6.87906376e-01, 4.26876935e+00,-1.20546221e+01,
 -1.46689977e-01, 8.15248119e-01, 6.87427785e-01,-1.10764114e+01,
 -2.65484309e-02,-1.03441517e-01, 9.25495995e-01,-2.53699753e+00,
  1.18385820e-01,-4.68307514e-01,-8.57013698e+00, 2.90830905e+01,
  3.12156826e-02, 1.09863779e+00, 6.79694892e-01, 2.56965204e+00,
 -3.45765507e-02,-1.54350526e+01]

qfrc_actuator:
[-2.17862645e-06,-1.03050101e-04,-9.06177123e-05, 4.06394731e-05,
  4.27180983e-05,-3.84900567e-04,-2.50502565e-04, 4.14244861e-05,
 -1.64852674e-05,-5.49589518e-06,-1.59997448e-04, 4.93460392e-05,
  3.52059321e-03,-1.57605736e-03, 0.00000000e+00,-2.01218749e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.58827922,   1.22922678,   4.42055514,   1.22922678,
        46.74292793, -11.72197191,   4.42055514, -11.72197191,
         7.84781594,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003140529776409495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.41893209e-14, -1.76757284e-13,  1.00000000e+00,  7.81078433e-27,
        1.00000000e+00,  1.76757284e-13, -1.00000000e+00,  0.00000000e+00,
        4.41893209e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09223093, -0.08834032,  0.06199102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.52563804e-07,-1.71775064e-05,-1.26529756e-05,-2.49387028e-05,
 -6.97215716e-07, 4.31515067e-05,-2.07455187e-05,-3.08357544e-05,
 -1.44085862e-07, 1.26397983e-05, 3.93501603e-06,-3.75173873e-06,
 -5.50980794e-05,-3.40774259e-05,-7.47019484e-06, 1.38808910e-04,
  4.87603467e-07, 2.80311690e-07,-1.21644153e+00,-4.61733520e-04,
  9.59462091e-06,-5.51847115e-04]


--- Step 1510 ---
qpos:
[ 6.21538173e-03,-1.78940279e-03,-4.99866080e-03, 3.35474743e-02,
  4.48562134e-03,-3.75222464e-03,-1.85326101e-02, 2.85861813e-02,
  1.29765726e-02, 3.32131402e-03,-1.00085694e-02, 2.58753051e-02,
  1.32018386e+00, 9.08878067e-05, 1.05963495e+00, 6.36334785e-02,
  9.37651921e-02,-7.02427142e-02, 1.30949929e-01, 4.94650409e-01,
  4.85684724e-01, 5.04665689e-01, 5.14532667e-01]

qacc:
[ 5.22509281e-03,-1.16434206e+00, 6.67552483e+00,-1.75469098e+01,
 -1.17660123e-01,-3.74961375e+00, 1.91305980e+01,-4.38075197e+01,
  6.09870954e+00,-1.85163508e+00, 8.39936730e+00,-1.61825062e+01,
 -9.86903160e-04,-2.64887490e-01,-1.04266412e+01, 3.58295858e+01,
  4.12980135e-02, 1.07559758e+00, 4.98063269e-01, 2.38981849e+00,
  3.74542367e-02,-1.51921881e+01]

qfrc_actuator:
[-2.14401155e-06,-1.09518540e-04,-9.64458323e-05, 8.29589350e-06,
  4.19740965e-05,-4.16425783e-04,-2.46574980e-04,-3.10035480e-05,
  1.91195084e-05,-5.22628346e-07,-1.39798945e-04, 2.89169228e-05,
  3.49511033e-03,-1.58567374e-03, 0.00000000e+00,-1.84187008e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60362047,  0.67661904,  4.55362582,  0.67661904, 24.44709992,
       -2.94852421,  4.55362582, -2.94852421,  5.04173895,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031837572135667846
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74357363e-13, -1.74357363e-13,  1.00000000e+00,  3.04004900e-26,
        1.00000000e+00,  1.74357363e-13, -1.00000000e+00,  0.00000000e+00,
        1.74357363e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09223266, -0.08833965,  0.0619909 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.67894319e-08,-1.97636943e-05,-1.17984658e-05,-3.40036867e-05,
 -7.46738202e-07,-1.29789651e-05, 9.22123278e-06,-7.18984601e-05,
  3.56066565e-05, 1.26741932e-05, 2.31655426e-05,-1.98257478e-05,
 -6.43221612e-05,-3.06929305e-05, 8.59054447e-06, 1.76298469e-04,
  2.99504087e-07, 7.97861288e-08,-1.21644072e+00,-4.61136147e-04,
  1.00665912e-05,-5.51993387e-04]


--- Step 1511 ---
qpos:
[ 6.21530061e-03,-1.78945496e-03,-4.99881574e-03, 3.35471748e-02,
  4.48610092e-03,-3.75309702e-03,-1.85323350e-02, 2.85855819e-02,
  1.29772434e-02, 3.32181015e-03,-1.00091676e-02, 2.58756369e-02,
  1.32033109e+00, 9.04350125e-05, 1.05984533e+00, 6.36340755e-02,
  9.37625913e-02,-7.02438054e-02, 1.30951494e-01, 4.94645241e-01,
  4.85665362e-01, 5.04664239e-01, 5.14557332e-01]

qacc:
[-3.03722893e+00,-9.58124575e-01, 3.26179835e+00,-4.33443644e+00,
 -3.16370335e+00,-1.71301863e-01, 2.76734396e+00,-1.09375163e+01,
  3.75229682e+00,-1.27707482e+00, 4.68201382e+00,-7.89723514e+00,
 -2.53077187e-01,-2.69873928e-02, 1.97207127e+01,-6.68767722e+01,
  4.91619838e-02, 1.05662932e+00, 3.45522791e-01, 2.24628439e+00,
  9.42125147e-02,-1.49892607e+01]

qfrc_actuator:
[-1.99825426e-05,-1.13399031e-04,-8.19806929e-05, 7.12731902e-06,
  2.34477669e-05,-4.17175236e-04,-2.62356657e-04,-5.58237683e-05,
  3.99690442e-05,-5.11492977e-05,-1.45350591e-04, 1.67015970e-05,
  3.48518678e-03,-1.60910260e-03, 0.00000000e+00,-2.17038702e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6079599 ,  0.555998  ,  4.57429346,  0.555998  , 43.05459265,
       -4.67312627,  4.57429346, -4.67312627,  5.17597087,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003195831416866052
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.34246554e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.34246554e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09223398, -0.08833973,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.78425165e-05,-1.88278642e-05, 7.75593804e-06,-3.08448297e-06,
 -1.85495687e-05,-9.15791254e-06,-1.98102682e-05,-2.64556354e-05,
  2.18674050e-05,-3.96129190e-05,-7.69509054e-07,-1.12592331e-05,
 -5.28330581e-05,-4.60184114e-05, 1.93513895e-05,-3.18570136e-04,
  1.32550448e-07,-2.96341369e-08,-1.21644023e+00,-4.60592262e-04,
  1.04140792e-05,-5.52052760e-04]


--- Step 1512 ---
qpos:
[ 6.21500628e-03,-1.78957015e-03,-4.99914926e-03, 3.35472190e-02,
  4.48566470e-03,-3.75364623e-03,-1.85327574e-02, 2.85857153e-02,
  1.29774694e-02, 3.32174797e-03,-1.00091250e-02, 2.58758157e-02,
  1.32047817e+00, 8.93692648e-05, 1.06005572e+00, 6.36314485e-02,
  9.37602116e-02,-7.02407322e-02, 1.30953930e-01, 4.94653114e-01,
  4.85633006e-01, 5.04679517e-01, 5.14565317e-01]

qacc:
[ -1.87902539,  1.12719213, -5.58410713, 11.8559758 , -8.04179938,
   3.89704999,-16.34296369, 29.8693858 , -3.8845108 , -2.83636819,
   9.70203228,-12.97864203,  0.16186702, -0.7055421 ,  9.72629639,
 -34.05830026,  0.05529286,  1.04110133,  0.21770868,  2.13177546,
   0.13896262,-14.82095199]

qfrc_actuator:
[-3.04452715e-05,-1.15589305e-04,-9.11218142e-05, 2.43284414e-05,
 -2.31489056e-05,-3.81785037e-04,-2.89513570e-04,-1.69199093e-05,
  1.64500720e-05,-8.15218216e-05,-1.13031818e-04, 9.35144792e-06,
  3.47927124e-03,-1.64045863e-03, 0.00000000e+00,-2.32859923e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60335736, -0.39474558, -4.58640108, -0.39474558, 40.325242  ,
       -3.07453621, -4.58640108, -3.07453621,  4.86797869,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003183022978998501
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.05195769e-13,  2.61596374e-13,  1.00000000e+00,  7.98381065e-26,
        1.00000000e+00, -2.61596374e-13, -1.00000000e+00,  0.00000000e+00,
       -3.05195769e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09223499, -0.08834039,  0.0619909 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09764139e-05,-1.12506309e-05,-1.21778598e-05, 1.66045318e-05,
 -4.71278628e-05, 2.50668432e-05,-3.23950746e-05, 3.73145175e-05,
 -2.29100166e-05,-5.31677041e-05, 2.36520939e-05,-9.29477619e-06,
 -4.70016834e-05,-5.44013867e-05,-3.36063314e-05,-1.75120176e-04,
 -1.74546194e-08,-5.02826487e-08,-1.21644004e+00,-4.60090816e-04,
  1.06490626e-05,-5.52024532e-04]


--- Step 1513 ---
qpos:
[ 6.21458854e-03,-1.78945259e-03,-5.00030798e-03, 3.35478212e-02,
  4.48467318e-03,-3.75396797e-03,-1.85332413e-02, 2.85862810e-02,
  1.29774118e-02, 3.32120366e-03,-1.00078535e-02, 2.58758537e-02,
  1.32062490e+00, 8.84172574e-05, 1.06026529e+00, 6.36319205e-02,
  9.37580722e-02,-7.02335451e-02, 1.30956810e-01, 4.94673939e-01,
  4.85587668e-01, 5.04711326e-01, 5.14556886e-01]

qacc:
[ -1.11482328,  3.76546694,-15.33043702, 26.12820225, -4.8653877 ,
   1.37089146, -6.26181259, 13.65902252, -2.44852567, -4.35611856,
  15.20967209,-19.2622228 , -0.13260522,  0.1405068 ,-10.54915659,
  35.17845527,  0.06007163,  1.02848319,  0.1108928 ,  2.04050853,
   0.17426978,-14.68269184]

qfrc_actuator:
[-3.64772565e-05,-9.90669441e-05,-1.31871195e-04, 5.21778537e-05,
 -5.03829390e-05,-3.60525131e-04,-2.87467621e-04, 5.92947822e-06,
  2.51517260e-06,-8.16328473e-05,-4.07842216e-05, 4.96172023e-06,
  3.47576039e-03,-1.62297292e-03, 0.00000000e+00,-2.15425187e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031505781196616844
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32145155e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.32145155e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09223575, -0.08834151,  0.06199099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.34750299e-06, 8.43200651e-06,-4.39928542e-05, 2.72705470e-05,
 -2.85718097e-05, 3.01932201e-05, 4.53720673e-06, 2.35327677e-05,
 -1.46050169e-05,-2.53613000e-05, 6.38577519e-05,-6.03005532e-06,
 -4.36367070e-05,-6.01564220e-06,-3.83391008e-05, 1.59480467e-04,
 -1.53622487e-07, 1.58400887e-08,-1.21644014e+00,-4.59623590e-04,
  1.07804742e-05,-5.51908311e-04]


--- Step 1514 ---
qpos:
[ 6.21410156e-03,-1.78908405e-03,-5.00171383e-03, 3.35483644e-02,
  4.48370740e-03,-3.75411987e-03,-1.85333834e-02, 2.85867499e-02,
  1.29771875e-02, 3.32021483e-03,-1.00059740e-02, 2.58762218e-02,
  1.32077125e+00, 8.78854374e-05, 1.06047465e+00, 6.36340651e-02,
  9.37561879e-02,-7.02222846e-02, 1.30959777e-01, 4.94707640e-01,
  4.85529359e-01, 5.04759508e-01, 5.14532246e-01]

qacc:
[ -0.6209762 ,  0.90221083, -2.48408708,  1.67001316,  0.23301852,
  -0.93013058,  4.05109088, -6.39961228, -1.44005155, -1.60452831,
   3.47936224,  1.58501372, -0.50180427,  0.87895579, -5.32205275,
  18.25996505,  0.06379713,  1.01832875,  0.02188492,  1.96788155,
   0.2021493 ,-14.57054485]

qfrc_actuator:
[-3.98553053e-05,-7.15875743e-05,-1.37609583e-04, 5.05591821e-05,
 -4.82409385e-05,-3.47776973e-04,-2.68256985e-04, 1.40069396e-06,
 -5.65258509e-06,-1.16697728e-04,-1.64341355e-05, 2.01497403e-05,
  3.46839085e-03,-1.59441630e-03, 0.00000000e+00,-2.06944430e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003102871933909207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.47256223e-14, -3.57804978e-13,  1.00000000e+00, -1.60030503e-26,
        1.00000000e+00,  3.57804978e-13, -1.00000000e+00,  0.00000000e+00,
       -4.47256223e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09223632, -0.088343  ,  0.06199113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.55424668e-06, 2.42828761e-05,-8.45996435e-06,-2.24739205e-06,
  1.33517670e-06, 3.15839264e-05, 2.68296323e-05,-2.61813867e-06,
 -8.59428114e-06,-3.63153361e-05, 2.67601485e-05, 1.61922591e-05,
 -3.35009038e-05, 1.71054292e-05,-1.60330663e-06, 8.83780105e-05,
 -2.78257091e-07, 1.67049445e-07,-1.21644053e+00,-4.59184462e-04,
  1.08149505e-05,-5.51703891e-04]


--- Step 1515 ---
qpos:
[ 6.21392268e-03,-1.78840594e-03,-5.00298842e-03, 3.35491947e-02,
  4.48311956e-03,-3.75424442e-03,-1.85332081e-02, 2.85871809e-02,
  1.29768666e-02, 3.31940745e-03,-1.00048661e-02, 2.58767848e-02,
  1.32091717e+00, 8.77501139e-05, 1.06068400e+00, 6.36368612e-02,
  9.37545705e-02,-7.02069831e-02, 1.30962536e-01, 4.94754157e-01,
  4.85458085e-01, 5.04823934e-01, 5.14491562e-01]

qacc:
[  2.70800295,  0.6282065 , -2.86744505,  7.40844882,  3.31715514,
  -0.93410013,  3.53154312, -4.70012618, -0.87761541,  2.7991078 ,
 -10.45204919, 14.92031564, -0.58858334,  0.97379853, -1.93317663,
   6.85517221,  0.06670355,  1.01026227, -0.05204742,  1.91022904,
   0.22418392,-14.48111818]

qfrc_actuator:
[-2.38931659e-05,-3.76453214e-05,-1.22589368e-04, 6.71587606e-05,
 -2.88322372e-05,-3.57921859e-04,-2.56878885e-04,-1.44590950e-06,
 -1.03634909e-05,-1.01569147e-04,-5.61986476e-05, 2.89172029e-05,
  3.44274379e-03,-1.57732171e-03, 0.00000000e+00,-2.03817374e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030435394764699586
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.27987643e-13, -3.64780228e-13,  1.00000000e+00,  8.31653843e-26,
        1.00000000e+00,  3.64780228e-13, -1.00000000e+00,  0.00000000e+00,
        2.27987643e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09223673, -0.08834475,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58701590e-05, 4.56797733e-05, 1.89280290e-05, 1.73050279e-05,
  1.94568903e-05, 1.29528857e-05, 2.11185356e-05,-6.16127746e-07,
 -4.97063805e-06, 1.05170754e-06,-4.34206792e-05, 8.44975475e-06,
 -4.03785598e-05, 1.34334250e-05, 5.04714445e-06, 3.50558681e-05,
 -3.93062026e-07, 4.01947533e-07,-1.21644120e+00,-4.58768871e-04,
  1.07573911e-05,-5.51411175e-04]


--- Step 1516 ---
qpos:
[ 6.21393667e-03,-1.78778856e-03,-5.00365030e-03, 3.35505765e-02,
  4.48311386e-03,-3.75422205e-03,-1.85334707e-02, 2.85876121e-02,
  1.29764915e-02, 3.31902998e-03,-1.00049650e-02, 2.58774470e-02,
  1.32106285e+00, 8.75699848e-05, 1.06089329e+00, 6.36403438e-02,
  9.37493268e-02,-7.01993549e-02, 1.30963573e-01, 4.94788690e-01,
  4.85396713e-01, 5.04846245e-01, 5.14494366e-01]

qacc:
[  1.71669375, -0.66079551, -0.09450756,  8.710698  ,  5.07847496,
   1.40717887, -4.75381939,  5.36649726, -0.52252328,  4.14592138,
 -14.37480588, 17.70057106, -0.1099899 ,  0.04058889, -2.15584929,
   7.42603107, -0.906587  , -1.91832184, -0.43039846,-16.45242799,
   0.61472276, 26.56265985]

qfrc_actuator:
[-1.44291801e-05,-5.32422158e-05,-9.53935236e-05, 9.43667384e-05,
  5.73980784e-07,-3.63975377e-04,-2.85817745e-04,-3.30360948e-06,
 -1.30036901e-05,-7.45252812e-05,-1.15542783e-04, 3.38355676e-05,
  3.42745094e-03,-1.58500136e-03, 0.00000000e+00,-2.00316815e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030071188100791457
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.22995644e-14, -2.76898693e-13,  1.00000000e+00,  2.55576287e-26,
        1.00000000e+00,  2.76898693e-13, -1.00000000e+00,  0.00000000e+00,
        9.22995644e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10877863, -0.03361115,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.92867099e-06, 1.45935918e-05, 3.95663577e-05, 3.01559673e-05,
  2.99657275e-05, 5.53367829e-06,-2.36856414e-05,-5.85753392e-07,
 -2.78096374e-06, 1.90372519e-05,-6.41876253e-05, 3.62369656e-06,
 -3.47649273e-05,-1.38369966e-05, 1.49033459e-06, 3.65158586e-05,
 -4.99294637e-07, 7.19388392e-07,-1.21644214e+00,-4.58373414e-04,
  1.06113778e-05,-5.51030123e-04]


--- Step 1517 ---
qpos:
[ 6.21371930e-03,-1.78756559e-03,-5.00288509e-03, 3.35515695e-02,
  4.48346092e-03,-3.75416941e-03,-1.85340385e-02, 2.85880241e-02,
  1.29764327e-02, 3.31861326e-03,-1.00051161e-02, 2.58784884e-02,
  1.32120845e+00, 8.70082133e-05, 1.06110225e+00, 6.36465547e-02,
  9.37404707e-02,-7.01992760e-02, 1.30962333e-01, 4.94811165e-01,
  4.85345103e-01, 5.04827289e-01, 5.14540037e-01]

qacc:
[ -1.98282228, -5.30731371, 19.81394255,-28.53787514,  3.07718733,
   0.84720145, -2.89237569,  3.03737308,  2.78349662,  0.86886187,
  -4.78373123, 11.46872421,  0.40715527, -0.88422203, -8.75926742,
  29.85049059, -0.90308355, -1.88731238, -0.56938259,-16.09485039,
   0.72737775, 26.18697228]

qfrc_actuator:
[-2.66247471e-05,-8.05635073e-05,-2.59209979e-05, 7.43026361e-05,
  1.78707096e-05,-3.67704592e-04,-3.02813363e-04,-4.59082319e-06,
  3.34741301e-06,-7.61585599e-05,-1.14880364e-04, 5.42148508e-05,
  3.42369552e-03,-1.60726285e-03, 0.00000000e+00,-1.85970129e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.549377  ,  0.17402594,  4.5460473 ,  0.17402594, 16.80580013,
       -0.46918463,  4.5460473 , -0.46918463,  4.56733772,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000302690774601308
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.16961399e-14, -9.16961399e-14,  1.00000000e+00,  8.40818207e-27,
        1.00000000e+00,  9.16961399e-14, -1.00000000e+00,  0.00000000e+00,
        9.16961399e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10877652, -0.03361166,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.19125755e-05,-9.70948633e-06, 7.84006464e-05,-1.74862632e-05,
  1.81556579e-05,-5.54047342e-06,-1.87898981e-05,-1.88269401e-06,
  1.62800104e-05,-4.07986480e-06,-3.18208913e-06, 1.90443031e-05,
 -2.65748479e-05,-3.36187539e-05, 4.51934777e-07, 1.44688400e-04,
 -4.64524786e-07, 1.61434388e-07,-1.21644079e+00,-4.58892961e-04,
  1.10485128e-05,-5.51103653e-04]


--- Step 1518 ---
qpos:
[ 6.21301237e-03,-1.78728206e-03,-5.00194903e-03, 3.35523432e-02,
  4.48366802e-03,-3.75421573e-03,-1.85344886e-02, 2.85884048e-02,
  1.29765703e-02, 3.31814610e-03,-1.00052769e-02, 2.58801092e-02,
  1.32135382e+00, 8.64458537e-05, 1.06131153e+00, 6.36514067e-02,
  9.37280148e-02,-7.02066438e-02, 1.30958347e-01, 4.94821530e-01,
  4.85303137e-01, 5.04767749e-01, 5.14628058e-01]

qacc:
[ -4.30048337, -0.84049473,  4.05271429, -8.17928191, -1.2195807 ,
  -0.52174717,  1.80727211, -2.46994417,  1.72899198,  1.15037964,
  -6.65117266, 16.7398474 , -0.26959777,  0.31161915,  4.59647667,
 -15.34564147, -0.89994326, -1.86169475, -0.68630676,-15.80587125,
   0.81183339, 25.87557829]

qfrc_actuator:
[-5.14689554e-05,-7.90561809e-05,-2.09050861e-05, 6.21003107e-05,
  1.01456324e-05,-3.69981333e-04,-2.94847776e-04,-5.51647944e-06,
  1.29917416e-05,-7.69482837e-05,-1.14391236e-04, 8.35509976e-05,
  3.41620522e-03,-1.60241341e-03, 0.00000000e+00,-1.93751627e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54741326e+00, -1.81603965e-02,  4.54737700e+00, -1.81603965e-02,
        2.47818142e+01,  8.08080668e-02,  4.54737700e+00,  8.08080668e-02,
        4.54773597e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.00030210111068301737
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.18751194e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.18751194e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10877533, -0.03361095,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51904221e-05, 1.15004988e-05, 1.20484269e-05,-1.02499881e-05,
 -7.20752929e-06,-9.32658096e-06, 4.44585100e-06,-1.85041356e-06,
  1.01034847e-05,-2.89235069e-06,-8.30141448e-08, 2.94200897e-05,
 -3.01848171e-05,-9.43367833e-06, 1.28332494e-05,-7.05252650e-05,
 -3.04563850e-07,-2.57431593e-07,-1.21644068e+00,-4.59449346e-04,
  1.06316838e-05,-5.51411420e-04]


--- Step 1519 ---
qpos:
[ 6.21235796e-03,-1.78671643e-03,-5.00187464e-03, 3.35530085e-02,
  4.48343595e-03,-3.75411597e-03,-1.85347141e-02, 2.85894225e-02,
  1.29764774e-02, 3.31797420e-03,-1.00061172e-02, 2.58817256e-02,
  1.32149893e+00, 8.59519346e-05, 1.06152089e+00, 6.36549735e-02,
  9.37156418e-02,-7.02096589e-02, 1.30956531e-01, 4.94845126e-01,
  4.85248384e-01, 5.04725584e-01, 5.14698351e-01]

qacc:
[  0.42972208,  2.55747476, -8.12096533,  7.41449132, -3.83854522,
   0.88292177, -5.54516667, 16.08901669, -2.05506865,  2.28359124,
  -7.55009247,  8.33310204, -0.34253729,  0.44713747,  4.02383937,
 -13.84572608,  0.02072249,  1.08817898,  0.54241816,  2.57062952,
  -0.05210314,-15.23379845]

qfrc_actuator:
[-4.80463385e-05,-7.83015413e-05,-7.16303696e-05, 5.46009601e-05,
 -1.22409054e-05,-3.35764216e-04,-2.72206415e-04, 2.92999468e-05,
  8.52835103e-07,-5.94523558e-05,-1.49532756e-04, 8.24040150e-05,
  3.40116378e-03,-1.59927846e-03, 0.00000000e+00,-2.00308330e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54691805,  1.22344411,  4.37922918,  1.22344411, 39.37027364,
       -9.72875078,  4.37922918, -9.72875078,  7.26488104,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030195215628531225
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.37880663e-13, -1.83840884e-13,  1.00000000e+00,  2.53481029e-26,
        1.00000000e+00,  1.83840884e-13, -1.00000000e+00,  0.00000000e+00,
        1.37880663e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09224224, -0.08834705,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.70833413e-06, 9.20586724e-06,-4.72346313e-05,-6.79242404e-06,
 -2.25957893e-05, 2.98443213e-05, 2.12038186e-05, 3.45351121e-05,
 -1.18554249e-05, 1.71412829e-05,-3.47277716e-05,-7.03851655e-07,
 -3.43662628e-05,-6.02475556e-06,-7.36599368e-06,-6.91206999e-05,
 -1.81218832e-08,-5.44362134e-07,-1.21644174e+00,-4.60061318e-04,
  9.40529274e-06,-5.51954769e-04]


--- Step 1520 ---
qpos:
[ 6.21174961e-03,-1.78626219e-03,-5.00197713e-03, 3.35532373e-02,
  4.48328209e-03,-3.75373912e-03,-1.85347081e-02, 2.85904857e-02,
  1.29762401e-02, 3.31761737e-03,-1.00069208e-02, 2.58833282e-02,
  1.32164368e+00, 8.57815107e-05, 1.06173030e+00, 6.36567093e-02,
  9.37033952e-02,-7.02084040e-02, 1.30956254e-01, 4.94881858e-01,
  4.85180762e-01, 5.04700482e-01, 5.14751394e-01]

qacc:
[  0.4011207 , -0.55251564,  3.59797441,-10.7869278 ,  0.68701296,
  -0.18786621,  1.00637906, -0.78828664, -1.26626886, -0.37246093,
   1.03584387, -1.2012497 , -0.63251888,  1.01265412,  5.66133858,
 -19.5667642 ,  0.03157471,  1.06750023,  0.38456529,  2.37311538,
   0.03388122,-15.03628331]

qfrc_actuator:
[-4.57625145e-05,-9.59969030e-05,-8.38256639e-05, 3.21476341e-05,
 -7.56386684e-06,-3.15361492e-04,-2.58666193e-04, 3.16479130e-05,
 -6.25503601e-06,-8.45684687e-05,-1.52121340e-04, 8.10719559e-05,
  3.38692980e-03,-1.57948835e-03, 0.00000000e+00,-2.09633701e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55620659,  0.7378108 ,  4.49607091,  0.7378108 , 48.90364061,
       -7.27746883,  4.49607091, -7.27746883,  5.75044823,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000304729080481958
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.55413963e-14, -3.64331170e-13,  1.00000000e+00, -1.65921502e-26,
        1.00000000e+00,  3.64331170e-13, -1.00000000e+00,  0.00000000e+00,
       -4.55413963e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0922441 , -0.08834684,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.36423569e-06,-2.26152625e-05,-1.63547749e-05,-2.38282276e-05,
  4.03967536e-06, 4.29401519e-05, 2.35116465e-05, 5.03168425e-06,
 -7.43836019e-06,-2.27262444e-05,-3.34105204e-06,-1.81366944e-06,
 -3.53231693e-05, 1.05834365e-05,-1.54932984e-05,-9.90856037e-05,
 -3.00021110e-07,-4.77304739e-07,-1.21644133e+00,-4.59197190e-04,
  1.03899020e-05,-5.51903664e-04]


--- Step 1521 ---
qpos:
[ 6.21117330e-03,-1.78589603e-03,-5.00197376e-03, 3.35531724e-02,
  4.48353014e-03,-3.75298269e-03,-1.85348115e-02, 2.85908887e-02,
  1.29759196e-02, 3.31674217e-03,-1.00075594e-02, 2.58845916e-02,
  1.32178808e+00, 8.58770749e-05, 1.06193974e+00, 6.36562864e-02,
  9.36913082e-02,-7.02029467e-02, 1.30956985e-01, 4.94931644e-01,
  4.85100209e-01, 5.04692189e-01, 5.14787578e-01]

qacc:
[  0.28636188, -1.01741399,  4.69691719, -9.88043107,  3.50712983,
  -0.55753212,  5.49237824,-17.01128328, -0.71832562, -1.84333002,
   7.01305807,-12.7683958 , -0.60022421,  0.92927684,  6.5880428 ,
 -22.90229177,  0.03992831,  1.05059545,  0.25210709,  2.2143886 ,
   0.10279315,-14.87199633]

qfrc_actuator:
[-4.41765203e-05,-8.89763403e-05,-7.32430784e-05, 1.88460992e-05,
  1.30096075e-05,-3.03436854e-04,-2.68435948e-04,-2.90123955e-06,
 -1.03382119e-05,-1.34889700e-04,-1.53374948e-04, 6.18873191e-05,
  3.36787182e-03,-1.56774021e-03, 0.00000000e+00,-2.20514280e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55662391, -0.62461299, -4.51361054, -0.62461299, 29.27659834,
       -3.42085722, -4.51361054, -3.42085722,  5.03001696,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003048530108702152
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.8209153e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.8209153e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09224554, -0.08834724,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.64559864e-06,-1.00384625e-05, 3.06819156e-06,-1.53015285e-05,
  2.07027003e-05, 4.09939300e-05, 2.16293095e-06,-3.18008912e-05,
 -4.30386268e-06,-6.37823424e-05,-6.41224099e-06,-2.03101791e-05,
 -3.69200677e-05, 6.38626455e-06,-2.23996716e-05,-1.17303301e-04,
 -5.64120176e-07,-3.27086124e-07,-1.21644125e+00,-4.58381935e-04,
  1.12498447e-05,-5.51771549e-04]


--- Step 1522 ---
qpos:
[ 6.21062027e-03,-1.78524971e-03,-5.00258312e-03, 3.35529506e-02,
  4.48402301e-03,-3.75192238e-03,-1.85353229e-02, 2.85915963e-02,
  1.29755519e-02, 3.31623543e-03,-1.00088301e-02, 2.58848659e-02,
  1.32193225e+00, 8.58740396e-05, 1.06214891e+00, 6.36555343e-02,
  9.36794065e-02,-7.01933420e-02, 1.30958281e-01, 4.94994412e-01,
  4.85006678e-01, 5.04700491e-01, 5.14807215e-01]

qacc:
[ 1.80477925e-01, 1.75969928e+00,-5.07487315e+00, 3.13242759e+00,
  2.12472487e+00, 2.16282274e+00,-8.42269465e+00, 1.41292292e+01,
 -4.42341532e-01, 2.18213862e-01, 4.10668668e+00,-2.04890745e+01,
 -1.10461826e-01, 9.05706588e-03, 6.01747191e-01,-2.67127035e+00,
  4.63258002e-02, 1.03686850e+00, 1.41211625e-01, 2.08657493e+00,
  1.58291068e-01,-1.47367238e+01]

qfrc_actuator:
[-4.30136208e-05,-6.71049929e-05,-1.02463661e-04, 1.10672790e-05,
  2.50133218e-05,-2.96812394e-04,-2.91943430e-04, 1.21094817e-05,
 -1.26099938e-05,-7.56581766e-05,-1.71723379e-04, 1.45694312e-05,
  3.35125726e-03,-1.57864178e-03, 0.00000000e+00,-2.21570406e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54996483, -0.48007617, -4.52456703, -0.48007617, 41.67272238,
       -3.93888543, -4.52456703, -3.93888543,  4.96789764,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030286697319918676
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.16427939e-14, -1.83285588e-13,  1.00000000e+00,  1.67968034e-26,
        1.00000000e+00,  1.83285588e-13, -1.00000000e+00,  0.00000000e+00,
        9.16427939e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09224664, -0.08834812,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20554951e-06, 1.62250984e-05,-3.14493567e-05,-8.40126796e-06,
  1.26106622e-05, 2.86121079e-05,-1.58833941e-05, 1.62202423e-05,
 -2.41839241e-06, 2.14029891e-05,-3.30013503e-05,-5.06677020e-05,
 -3.64793789e-05,-1.75914106e-05,-2.73137465e-05,-2.08886217e-05,
 -8.14173675e-07,-9.42419044e-08,-1.21644146e+00,-4.57604256e-04,
  1.19975919e-05,-5.51556397e-04]


--- Step 1523 ---
qpos:
[ 6.20974066e-03,-1.78456607e-03,-5.00350048e-03, 3.35529929e-02,
  4.48465620e-03,-3.75070003e-03,-1.85360828e-02, 2.85928309e-02,
  1.29755044e-02, 3.31636518e-03,-1.00102891e-02, 2.58848495e-02,
  1.32207615e+00, 8.57734004e-05, 1.06235773e+00, 6.36559530e-02,
  9.36677096e-02,-7.01796339e-02, 1.30959771e-01, 4.95070104e-01,
  4.84900129e-01, 5.04725218e-01, 5.14810559e-01]

qacc:
[ -2.88174789,  1.4595054 , -6.23667281, 11.25865779,  1.21796439,
   1.98938877, -9.01252197, 18.41519719,  2.80057423,  0.76385593,
  -0.28548867, -4.90118461, -0.04267979, -0.10133574, -4.04304931,
  13.40480881,  0.05119335,  1.02582109,  0.04860526,  1.98342604,
   0.20325078,-14.62680898]

qfrc_actuator:
[-5.98612683e-05,-7.21614372e-05,-1.19384626e-04, 2.43354606e-05,
  3.18715197e-05,-2.93444161e-04,-3.05598604e-04, 3.84027722e-05,
  3.95497931e-06,-4.63238403e-06,-1.64092286e-04, 4.41511092e-06,
  3.33611095e-03,-1.58512234e-03, 0.00000000e+00,-2.15053191e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002992246120815667
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.63791655e-14, -3.71033324e-13,  1.00000000e+00,  1.72082159e-26,
        1.00000000e+00,  3.71033324e-13, -1.00000000e+00,  0.00000000e+00,
        4.63791655e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09224749, -0.08834937,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68074674e-05,-2.85318936e-06,-1.77329983e-05, 1.27122798e-05,
  7.22839164e-06, 1.67526819e-05,-9.14911628e-06, 2.72822183e-05,
  1.65043260e-05, 7.40368561e-05, 6.25406460e-06,-1.13616835e-05,
 -4.02711904e-05,-1.89115013e-05,-1.79304225e-05, 5.97937929e-05,
 -1.05297811e-06, 2.20671088e-07,-1.21644196e+00,-4.56855641e-04,
  1.26425998e-05,-5.51256761e-04]


--- Step 1524 ---
qpos:
[ 6.20901086e-03,-1.78390068e-03,-5.00404950e-03, 3.35531536e-02,
  4.48571191e-03,-3.74962946e-03,-1.85366012e-02, 2.85947228e-02,
  1.29760013e-02, 3.31637208e-03,-1.00113605e-02, 2.58847687e-02,
  1.32221976e+00, 8.53844138e-05, 1.06256629e+00, 6.36581156e-02,
  9.36524231e-02,-7.01735342e-02, 1.30959202e-01, 4.95134242e-01,
  4.84803349e-01, 5.04707950e-01, 5.14856952e-01]

qacc:
[  1.32926762, -0.81234675,  2.3563952 , -0.87528358,  3.70823143,
   0.46936182, -4.75293087, 15.86786709,  4.80476987, -1.38745217,
   4.96752157, -6.59501947,  0.10743198, -0.46142205, -5.66544328,
  19.2235828 , -0.89741039, -1.9020772 , -0.51471453,-16.45415947,
   0.44307974, 26.2767301 ]

qfrc_actuator:
[-5.16694369e-05,-5.77385286e-05,-9.34801955e-05, 3.21210736e-05,
  5.34015888e-05,-3.09762029e-04,-2.95586008e-04, 7.11213422e-05,
  3.14734908e-05,-5.12138588e-05,-1.58817050e-04,-1.49660382e-06,
  3.31120538e-03,-1.60666450e-03, 0.00000000e+00,-2.05904074e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53977824, -1.24251921, -4.36643247, -1.24251921, 39.04289474,
       -9.81826364, -4.36643247, -9.81826364,  7.33367951,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029979303357993703
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.25824569e-14,  1.38873685e-13,  1.00000000e+00, -1.28572670e-26,
        1.00000000e+00, -1.38873685e-13, -1.00000000e+00,  0.00000000e+00,
        9.25824569e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10876491, -0.03360645,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.71190704e-06, 9.69190745e-06, 2.35750265e-05, 7.29851318e-06,
  2.17416386e-05,-7.70615890e-06, 1.32814106e-05, 3.36467946e-05,
  2.80123780e-05,-4.35667527e-06, 2.09605937e-05,-2.74132756e-06,
 -5.21607046e-05,-3.53388214e-05,-4.75812490e-06, 9.17873088e-05,
 -1.28262156e-06, 6.17131837e-07,-1.21644274e+00,-4.56129638e-04,
  1.31920483e-05,-5.50871591e-04]


--- Step 1525 ---
qpos:
[ 6.20838466e-03,-1.78315851e-03,-5.00431807e-03, 3.35533997e-02,
  4.48701766e-03,-3.74885267e-03,-1.85368897e-02, 2.85970113e-02,
  1.29764795e-02, 3.31595943e-03,-1.00121742e-02, 2.58850115e-02,
  1.32236306e+00, 8.47394495e-05, 1.06277477e+00, 6.36613376e-02,
  9.36335478e-02,-7.01749281e-02, 1.30956072e-01, 4.95186703e-01,
  4.84716212e-01, 5.04649486e-01, 5.14945841e-01]

qacc:
[ 9.18462129e-01,-5.08663363e-01, 1.59764940e+00,-6.22954166e-01,
  2.20081744e+00,-2.18855251e-01,-1.46557478e+00, 8.18783967e+00,
 -1.48242328e-01,-6.08556449e-01,-8.43786676e-04, 5.49880534e+00,
  2.28577322e-02,-3.20359375e-01,-3.31347665e+00, 1.14175867e+01,
 -8.97190767e-01,-1.87341132e+00,-6.40316510e-01,-1.61115592e+01,
  5.66651572e-01, 2.59464781e+01]

qfrc_actuator:
[-4.65523054e-05,-4.93399806e-05,-7.79389365e-05, 3.66570294e-05,
  6.56438469e-05,-3.37642529e-04,-2.89515971e-04, 8.96013791e-05,
  2.97065981e-05,-9.68444272e-05,-1.55455812e-04, 1.27800350e-05,
  3.29643407e-03,-1.61926118e-03, 0.00000000e+00,-2.00605733e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54163524,  0.31287846,  4.53084514,  0.31287846, 17.71509484,
       -0.909696  ,  4.53084514, -0.909696  ,  4.60445448,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000300356688363701
  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([ 0.10876289, -0.03360616,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.33695422e-06, 1.89878268e-05, 2.06981290e-05, 5.90819884e-06,
  1.28587142e-05,-2.80339869e-05, 7.26696846e-06, 1.92577817e-05,
 -9.74398926e-07,-4.38308234e-05, 4.96021954e-06, 1.47633309e-05,
 -5.23008487e-05,-3.32754534e-05, 4.28867556e-06, 5.66205709e-05,
 -1.18744939e-06,-1.29968909e-07,-1.21644231e+00,-4.56594375e-04,
  1.25667239e-05,-5.51092470e-04]


--- Step 1526 ---
qpos:
[ 6.20816975e-03,-1.78246769e-03,-5.00431865e-03, 3.35537156e-02,
  4.48811550e-03,-3.74868854e-03,-1.85365758e-02, 2.85984833e-02,
  1.29762430e-02, 3.31529223e-03,-1.00124114e-02, 2.58853805e-02,
  1.32250600e+00, 8.41648540e-05, 1.06298336e+00, 6.36641618e-02,
  9.36110852e-02,-7.01837211e-02, 1.30949958e-01, 4.95227399e-01,
  4.84638611e-01, 5.04550460e-01, 5.15076764e-01]

qacc:
[  3.6258531 , -0.68015972,  2.01925289, -1.1868155 , -1.79066579,
  -4.1671331 , 17.1382288 ,-31.78697653, -6.2675189 , -1.67545704,
   4.97446657, -3.54850923, -0.360637  ,  0.44144664,  1.38002695,
  -4.54467811, -0.89682903, -1.84977153, -0.74600386,-15.83719126,
   0.65789242, 25.67317916]

qfrc_actuator:
[-2.55410693e-05,-6.23964207e-05,-6.86750223e-05, 3.92290277e-05,
  5.45642436e-05,-3.90010553e-04,-2.68143881e-04, 4.62780936e-05,
 -7.03893116e-06,-8.83007188e-05,-1.17763057e-04, 2.10546961e-05,
  3.28775510e-03,-1.60865499e-03, 0.00000000e+00,-2.02944968e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53606911,  0.13895477,  4.53394029,  0.13895477, 25.17844001,
       -0.63264088,  4.53394029, -0.63264088,  4.55545809,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002986627501531669
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.85865667e-13,  3.71731334e-13,  1.00000000e+00,  6.90920923e-26,
        1.00000000e+00, -3.71731334e-13, -1.00000000e+00,  0.00000000e+00,
       -1.85865667e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10876178, -0.03360482,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.11664037e-05, 2.06993750e-06, 1.59341773e-05, 4.21507677e-06,
 -1.07231540e-05,-6.57437245e-05, 1.71317225e-05,-4.39052122e-05,
 -3.67914160e-05,-1.42843725e-05, 2.97750319e-05, 6.85759635e-06,
 -4.57664617e-05,-9.62350829e-06, 3.86130138e-06,-2.07116686e-05,
 -9.71476023e-07,-7.40824164e-07,-1.21644306e+00,-4.57072477e-04,
  1.11102792e-05,-5.51543245e-04]


--- Step 1527 ---
qpos:
[ 6.20820835e-03,-1.78188496e-03,-5.00383150e-03, 3.35533615e-02,
  4.48907238e-03,-3.74949466e-03,-1.85351735e-02, 2.85984018e-02,
  1.29752224e-02, 3.31496135e-03,-1.00127056e-02, 2.58854673e-02,
  1.32264851e+00, 8.41851381e-05, 1.06319223e+00, 6.36643416e-02,
  9.35886344e-02,-7.01880831e-02, 1.30946588e-01, 4.95281521e-01,
  4.84548037e-01, 5.04469008e-01, 5.15189707e-01]

qacc:
[ 2.24589517e+00,-2.89022467e+00, 1.29179735e+01,-2.52027742e+01,
 -1.18403362e+00,-7.51338545e+00, 3.14945170e+01,-5.94083790e+01,
 -6.90668784e+00, 3.63340051e-02, 1.72970023e+00,-6.79323648e+00,
 -9.51512840e-01, 1.63484651e+00, 8.46846025e+00,-2.88507467e+01,
  2.94275443e-03, 1.10774996e+00, 6.85877618e-01, 2.59603127e+00,
 -5.16137272e-02,-1.54414017e+01]

qfrc_actuator:
[-1.30951399e-05,-7.04758115e-05,-4.55245958e-05, 5.09867328e-06,
  4.76020830e-05,-4.56634683e-04,-2.20302365e-04,-3.30726533e-05,
 -4.63153839e-05,-4.72496133e-05,-1.13150969e-04, 8.04364081e-06,
  3.28274722e-03,-1.56659840e-03, 0.00000000e+00,-2.16864448e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56046701,  1.23414683,  4.39030079,  1.23414683, 39.68531286,
       -9.87386042,  4.39030079, -9.87386042,  7.33608402,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003059909471151423
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.53535895e-14, -3.62828716e-13,  1.00000000e+00, -1.64555846e-26,
        1.00000000e+00,  3.62828716e-13, -1.00000000e+00,  0.00000000e+00,
       -4.53535895e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09225448, -0.08834959,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30454028e-05,-3.46745126e-06, 2.56769673e-05,-3.34113912e-05,
 -7.29028966e-06,-1.01747481e-04, 3.48446516e-05,-8.24338246e-05,
 -4.03304582e-05, 3.95200298e-05, 5.57718405e-06,-1.24568133e-05,
 -3.30424501e-05, 2.91552302e-05,-5.38567058e-06,-1.40978817e-04,
 -6.32118185e-07,-1.22130779e-06,-1.21644497e+00,-4.57584978e-04,
  8.86106094e-06,-5.52225085e-04]


--- Step 1528 ---
qpos:
[ 6.20770606e-03,-1.78144639e-03,-5.00274903e-03, 3.35525983e-02,
  4.49028288e-03,-3.75079011e-03,-1.85333623e-02, 2.85973554e-02,
  1.29740837e-02, 3.31506371e-03,-1.00133155e-02, 2.58857481e-02,
  1.32279078e+00, 8.46458286e-05, 1.06340075e+00, 6.36651907e-02,
  9.35662438e-02,-7.01881103e-02, 1.30945232e-01, 4.95348962e-01,
  4.84444386e-01, 5.04404769e-01, 5.15285233e-01]

qacc:
[-4.73500982e+00,-2.68755119e+00, 1.10481153e+01,-1.89874646e+01,
  2.24020679e+00,-3.77664104e+00, 1.65952762e+01,-3.35787511e+01,
 -1.05771499e+00, 1.85628943e+00,-6.60292323e+00, 1.01402802e+01,
 -4.64488963e-01, 8.85789940e-01,-2.48752516e+00, 8.05948287e+00,
  1.50725725e-02, 1.08370839e+00, 5.03667015e-01, 2.36158596e+00,
  5.22248126e-02,-1.52128040e+01]

qfrc_actuator:
[-4.13003888e-05,-7.54916728e-05,-1.43692179e-05,-1.48358943e-05,
  6.08792505e-05,-4.60199298e-04,-1.92811432e-04,-7.97183980e-05,
 -5.12500284e-05,-2.26883899e-05,-1.27984574e-04, 1.81241263e-05,
  3.27996064e-03,-1.54172948e-03, 0.00000000e+00,-2.12637823e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57704985,  0.81205827,  4.50443633,  0.81205827, 27.52953776,
       -4.13786681,  4.50443633, -4.13786681,  5.32302308,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031083374733954783
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.78587916e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.78587916e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09225666, -0.08834891,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.78374628e-05,-3.10423020e-06, 3.24333345e-05,-1.98471675e-05,
  1.30354283e-05,-5.67864914e-05, 7.90813391e-06,-5.14056427e-05,
 -6.06768473e-06, 4.72771775e-05,-6.40658735e-06, 1.17273187e-05,
 -1.49483842e-05, 2.45011796e-05,-2.32356976e-05, 3.25517928e-05,
 -1.03843102e-06,-1.05977282e-06,-1.21644438e+00,-4.56395466e-04,
  1.05880744e-05,-5.52149812e-04]


--- Step 1529 ---
qpos:
[ 6.20721440e-03,-1.78077705e-03,-5.00146163e-03, 3.35519259e-02,
  4.49129775e-03,-3.75202767e-03,-1.85318338e-02, 2.85967707e-02,
  1.29735845e-02, 3.31510682e-03,-1.00136344e-02, 2.58865142e-02,
  1.32293291e+00, 8.51705298e-05, 1.06360890e+00, 6.36681671e-02,
  9.35468521e-02,-7.01953610e-02, 1.30942991e-01, 4.95381692e-01,
  4.84379625e-01, 5.04321380e-01, 5.15396260e-01]

qacc:
[ 9.61077145e-02,-8.12488266e-02, 3.48910385e-01, 7.23932643e-01,
 -1.72158474e+00, 1.81892758e+00,-8.31899963e+00, 1.67131628e+01,
  5.63888578e+00, 9.65415587e-02,-2.52631408e+00, 1.05257825e+01,
 -4.23284181e-03, 5.69946127e-04,-6.97452313e+00, 2.35974566e+01,
  7.49696940e-01,-1.80586827e+00,-2.21175709e-01, 9.19731013e+00,
 -2.25366710e+00, 2.72288774e+01]

qfrc_actuator:
[-3.99454570e-05,-4.30848611e-05, 3.53383653e-06,-8.49333869e-06,
  5.04565476e-05,-4.26021022e-04,-1.95039286e-04,-5.34504531e-05,
 -1.81791098e-05,-4.37578150e-05,-1.18698670e-04, 4.16964150e-05,
  3.26785440e-03,-1.54500929e-03, 0.00000000e+00,-2.01299651e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58367939,  0.70247705, -4.52953008,  0.70247705, 28.93506128,
        3.77661404, -4.52953008,  3.77661404,  5.16938799,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031274004220596116
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.59632545e-07,  2.59632545e-07,  1.00000000e+00,  6.74090586e-14,
        1.00000000e+00, -2.59632545e-07, -1.00000000e+00,  0.00000000e+00,
       -2.59632545e-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([ 0.08178097, -0.03526854,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.59525721e-07, 3.64850463e-05, 2.05553428e-05, 6.94499631e-06,
 -1.00683238e-05, 1.88660464e-06,-1.47660450e-05, 2.31081819e-05,
  3.29145575e-05, 4.54451359e-06, 1.86726853e-05, 2.56054156e-05,
 -1.51142787e-05,-5.80255626e-07,-1.00631977e-05, 1.11512964e-04,
 -1.42698973e-06,-8.18248597e-07,-1.21644413e+00,-4.55258111e-04,
  1.21768957e-05,-5.52000244e-04]


--- Step 1530 ---
qpos:
[ 6.20743233e-03,-1.77973694e-03,-5.00031393e-03, 3.35513401e-02,
  4.49183490e-03,-3.75303426e-03,-1.85307647e-02, 2.85968397e-02,
  1.29731405e-02, 3.31513535e-03,-1.00135353e-02, 2.58875423e-02,
  1.32307467e+00, 8.62739407e-05, 1.06381691e+00, 6.36727849e-02,
  9.35275511e-02,-7.01983221e-02, 1.30942753e-01, 4.95427911e-01,
  4.84301448e-01, 5.04255199e-01, 5.15490045e-01]

qacc:
[ 6.22858937e+00, 1.04671805e+00,-3.40745169e+00, 4.87841593e+00,
 -4.19888917e+00, 2.94003491e+00,-1.27863529e+01, 2.46458265e+01,
  4.98872010e-01,-6.49062134e-01, 1.17800094e+00, 2.70233686e+00,
 -6.25783657e-01, 1.16445123e+00,-5.10323915e+00, 1.76864846e+01,
  2.26966713e-02, 1.07237724e+00, 5.00566983e-01, 2.19187405e+00,
  1.42105047e-01,-1.52968719e+01]

qfrc_actuator:
[-3.43695789e-06,-2.40469723e-05,-4.11488618e-06,-4.47325974e-06,
  2.61617151e-05,-4.05053771e-04,-2.14570365e-04,-1.99802565e-05,
 -1.62732812e-05,-3.86285310e-05,-9.54215194e-05, 5.52421353e-05,
  3.25015520e-03,-1.51172019e-03, 0.00000000e+00,-1.92968184e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003170079649953417
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.75548210e-14,  1.75109642e-13,  1.00000000e+00, -1.53316933e-26,
        1.00000000e+00, -1.75109642e-13, -1.00000000e+00,  0.00000000e+00,
        8.75548210e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0922601 , -0.08834805,  0.06199094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.65327185e-05, 4.39481751e-05, 2.63889531e-06, 6.42708717e-06,
 -2.45821564e-05, 1.99874167e-05,-2.01624376e-05, 3.34909251e-05,
  2.84065839e-06, 1.26353605e-05, 2.74014807e-05, 1.48823273e-05,
 -2.63895684e-05, 2.97326815e-05, 4.64387500e-06, 8.74955337e-05,
 -4.14017764e-07,-8.80414200e-07,-1.21644350e+00,-4.55787980e-04,
  1.01362960e-05,-5.51847710e-04]


--- Step 1531 ---
qpos:
[ 6.20843114e-03,-1.77846959e-03,-4.99946317e-03, 3.35504914e-02,
  4.49242160e-03,-3.75397440e-03,-1.85298712e-02, 2.85969652e-02,
  1.29727227e-02, 3.31572275e-03,-1.00138892e-02, 2.58876753e-02,
  1.32321600e+00, 8.83093161e-05, 1.06402498e+00, 6.36776911e-02,
  9.35098636e-02,-7.01969334e-02, 1.30944023e-01, 4.95481742e-01,
  4.84215003e-01, 5.04211951e-01, 5.15561813e-01]

qacc:
[  6.85279066,  0.57584445, -0.53091284, -3.68556934,  0.42701152,
   0.69361876, -2.58628381,  3.79874289,  0.20650562,  0.16156604,
   4.27516577,-19.45648673, -1.02136306,  1.96244327, -0.68668852,
   2.75032984,  0.40335455,  1.08745081,  0.37701935,  7.57101462,
   0.56169641,-15.0544603 ]

qfrc_actuator:
[ 3.57078532e-05,-3.10153820e-05,-2.68320097e-05,-1.96314556e-05,
  2.94092229e-05,-4.09961997e-04,-2.26441047e-04,-1.80704992e-05,
 -1.49852641e-05,-4.83558194e-08,-1.17250955e-04, 9.54316605e-06,
  3.23977875e-03,-1.45703006e-03, 0.00000000e+00,-1.91803022e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6048451 ,  3.04886291, -3.45094673,  3.04886291, 21.86580389,
       15.24981437, -3.45094673, 15.24981437, 18.07784165,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031871714061215695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74170586e-13,  8.70852931e-14,  1.00000000e+00, -1.51676966e-26,
        1.00000000e+00, -8.70852931e-14, -1.00000000e+00,  0.00000000e+00,
        1.74170586e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08678152, -0.08862202,  0.06199089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.01941437e-05, 1.83905376e-05,-1.31175624e-05,-1.30637064e-05,
  2.55167768e-06, 3.55464197e-06,-9.06695277e-06, 2.72119683e-06,
  1.37179592e-06, 5.19389489e-05,-1.53337552e-05,-4.39225192e-05,
 -1.80598581e-05, 5.56953692e-05, 7.50343818e-06, 1.61091630e-05,
 -7.65427888e-07,-7.56363920e-07,-1.21644306e+00,-4.54782349e-04,
  1.15623086e-05,-5.51799045e-04]


--- Step 1532 ---
qpos:
[ 6.20954672e-03,-1.77711090e-03,-4.99881506e-03, 3.35491340e-02,
  4.49304236e-03,-3.75482129e-03,-1.85288650e-02, 2.85970893e-02,
  1.29726687e-02, 3.31691166e-03,-1.00151342e-02, 2.58872848e-02,
  1.32335710e+00, 9.07588381e-05, 1.06423296e+00, 6.36833726e-02,
  9.34947567e-02,-7.01974809e-02, 1.30947172e-01, 4.95519721e-01,
  4.84145591e-01, 5.04169495e-01, 5.15632014e-01]

qacc:
[  1.01849594, -0.36230272,  3.61108091,-12.15458369,  0.30007853,
  -0.19509542,  0.87978592, -1.15310049,  3.16205186,  2.20159324,
  -4.49710772, -3.56865174, -0.44155146,  0.83849539, -2.42721695,
   8.39936782,  0.64516143, -0.48403617,  0.46982142,  8.65658537,
  -0.57834859,  7.80092512]

qfrc_actuator:
[ 4.05740597e-05,-3.58397098e-05,-4.06244208e-05,-4.59818290e-05,
  3.10933215e-05,-3.94818109e-04,-2.16062898e-04,-1.70088179e-05,
  3.69154030e-06, 2.25294673e-05,-1.65440446e-04,-1.73922247e-05,
  3.22316222e-03,-1.44334194e-03, 0.00000000e+00,-1.87766958e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60658147,  0.26206819, -4.59912091,  0.26206819, 28.34472411,
        1.35265242, -4.59912091,  1.35265242,  4.68365863,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031920032179283853
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.73906940e-13,  9.74709270e-07,  1.00000000e+00,  1.69508707e-19,
        1.00000000e+00, -9.74709270e-07, -1.00000000e+00,  2.40741243e-35,
       -1.73906940e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08400857, -0.06089694,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.01180311e-06, 2.14729409e-06,-1.20867185e-05,-2.62751306e-05,
  1.75848401e-06, 1.53997413e-05, 1.00898016e-05, 9.52964725e-07,
  1.87378770e-05, 4.65544427e-05,-4.08727752e-05,-2.60959058e-05,
 -1.36506345e-05, 2.29714612e-05, 2.91558696e-07, 4.10729918e-05,
 -9.61745173e-07,-5.08775571e-07,-1.21644247e+00,-4.53839157e-04,
  1.28144016e-05,-5.51594918e-04]


--- Step 1533 ---
qpos:
[ 6.21071234e-03,-1.77579403e-03,-4.99835039e-03, 3.35485234e-02,
  4.49367833e-03,-3.75528928e-03,-1.85281364e-02, 2.85968696e-02,
  1.29718043e-02, 3.31823607e-03,-1.00159917e-02, 2.58868911e-02,
  1.32349829e+00, 9.23803765e-05, 1.06444106e+00, 6.36881434e-02,
  9.34826691e-02,-7.02056856e-02, 1.30947675e-01, 4.95522076e-01,
  4.84116386e-01, 5.04106591e-01, 5.15718666e-01]

qacc:
[  0.43540472,  1.99441858,-10.34515447, 23.59416615,  0.11762254,
   0.56869711,  0.14994247, -5.93388571, -7.12142   , -0.8968701 ,
   3.49551978, -4.29710299,  0.6375267 , -1.45490728,  2.85715665,
  -9.89326714,  0.75484004, -1.9142957 , -0.66165876,  9.16636824,
  -2.4692518 , 28.34603165]

qfrc_actuator:
[ 4.29774904e-05,-3.93325874e-05,-4.90375250e-05,-7.68593909e-06,
  3.18350354e-05,-3.67696341e-04,-2.28058716e-04,-3.41731656e-05,
 -3.85568942e-05, 3.52396913e-05,-1.40063634e-04,-1.53306299e-05,
  3.20279948e-03,-1.50736790e-03, 0.00000000e+00,-1.92720140e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60539638,  0.03025186, -4.60529702,  0.03025186, 16.09129303,
        0.07545002, -4.60529702,  0.07545002,  4.60589201,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031887066199050296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.70433656e-14, -6.96346925e-13,  1.00000000e+00,  6.06123800e-26,
        1.00000000e+00,  6.96346925e-13, -1.00000000e+00,  0.00000000e+00,
        8.70433656e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08110242, -0.03187463,  0.06199088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.57198772e-06,-5.96989445e-06,-1.03891387e-05, 3.74564109e-05,
  7.96874934e-07, 3.78774813e-05,-7.54132048e-06,-1.61374296e-05,
 -4.16946883e-05, 2.91613427e-05, 2.90566419e-05, 2.13474993e-06,
 -2.27039701e-05,-6.15778087e-05, 5.21830440e-07,-4.81916709e-05,
 -5.80268280e-07,-5.02198988e-07,-1.21644177e+00,-4.53769797e-04,
  1.23924497e-05,-5.51412706e-04]


--- Step 1534 ---
qpos:
[ 6.21189768e-03,-1.77454330e-03,-4.99799841e-03, 3.35487198e-02,
  4.49431814e-03,-3.75514744e-03,-1.85282724e-02, 2.85968023e-02,
  1.29704408e-02, 3.31917999e-03,-1.00154537e-02, 2.58865209e-02,
  1.32363959e+00, 9.27551447e-05, 1.06464963e+00, 6.36882626e-02,
  9.34721995e-02,-7.02095864e-02, 1.30949704e-01, 4.95532175e-01,
  4.84078658e-01, 5.04066702e-01, 5.15783362e-01]

qacc:
[ 1.71493070e-01, 1.88870726e+00,-1.02675530e+01, 2.44599678e+01,
 -3.70265596e-03, 3.53380705e+00,-1.20746820e+01, 1.56438078e+01,
 -4.34135069e+00,-4.34546931e+00, 1.46794307e+01,-1.62370405e+01,
  7.23012266e-01,-1.85693323e+00, 1.46472077e+01,-5.04302722e+01,
  4.04487314e-01, 1.07596648e+00, 3.81605230e-01, 7.48279952e+00,
  6.33618591e-01,-1.51560983e+01]

qfrc_actuator:
[ 4.39232764e-05,-4.19299624e-05,-5.41611872e-05, 3.28403416e-05,
  3.20165602e-05,-3.33710802e-04,-2.70886396e-04,-2.64250491e-05,
 -6.30739570e-05, 6.74949493e-06,-7.14692240e-05,-1.39342203e-05,
  3.19081981e-03,-1.58144056e-03, 0.00000000e+00,-2.17131402e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032023466741630535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.66726137e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.66726137e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08678507, -0.0886226 ,  0.06199085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01115755e-06,-6.53131087e-06,-6.36121213e-06, 4.06370574e-05,
  2.18483576e-07, 5.29264883e-05,-3.64939163e-05, 8.79624198e-06,
 -2.56894575e-05,-6.14383672e-06, 7.82671122e-05, 3.69444063e-06,
 -3.95352485e-05,-9.40426718e-05,-9.33296976e-06,-2.47743220e-04,
  1.27919710e-07,-4.02273199e-07,-1.21644168e+00,-4.54349716e-04,
  1.11238046e-05,-5.51348258e-04]


--- Step 1535 ---
qpos:
[ 6.21308525e-03,-1.77353781e-03,-4.99783727e-03, 3.35483931e-02,
  4.49495553e-03,-3.75496236e-03,-1.85284643e-02, 2.85971907e-02,
  1.29691390e-02, 3.31961662e-03,-1.00147742e-02, 2.58866199e-02,
  1.32378053e+00, 9.28152246e-05, 1.06485806e+00, 6.36861236e-02,
  9.34633480e-02,-7.02092471e-02, 1.30952695e-01, 4.95549955e-01,
  4.84032386e-01, 5.04049476e-01, 5.15826537e-01]

qacc:
[ 1.74737381e-02,-8.67708207e-01, 4.83136265e+00,-1.33969268e+01,
 -2.34556878e-02, 1.14990986e+00,-5.94148371e+00, 1.38844266e+01,
  5.56712621e-01,-1.01498674e-01,-2.59389024e+00, 1.08634048e+01,
 -1.64453535e-01,-1.03370368e-01, 6.62247822e+00,-2.34484388e+01,
  4.04515905e-01, 1.06000879e+00, 2.40476691e-01, 7.29195743e+00,
  6.73298224e-01,-1.49517487e+01]

qfrc_actuator:
[ 4.40047782e-05,-7.94542634e-05,-7.50611917e-05, 3.33551955e-06,
  3.18672371e-05,-3.49247370e-04,-2.78257129e-04,-4.08807408e-06,
 -5.91867102e-05,-6.37517906e-05,-8.46228452e-05, 4.79021400e-06,
  3.17321370e-03,-1.58978074e-03, 0.00000000e+00,-2.27953311e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61061167,  0.26550273, -4.60296081,  0.26550273, 36.28010648,
        1.82672365, -4.60296081,  1.82672365,  4.71597866,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000320317727345365
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.66501391e-14, -1.73300278e-13,  1.00000000e+00,  1.50164932e-26,
        1.00000000e+00,  1.73300278e-13, -1.00000000e+00,  0.00000000e+00,
        8.66501391e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08678601, -0.08862276,  0.06199084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02170899e-07,-4.08025581e-05,-2.16470410e-05,-2.92181758e-05,
 -1.23504857e-07, 6.89548443e-06,-6.29596052e-07, 2.35137389e-05,
  3.15541393e-06,-5.76644549e-05,-4.67143524e-06, 2.12394920e-05,
 -6.27664939e-05,-3.98164552e-05,-3.65443921e-05,-1.24336784e-04,
 -6.26200741e-08,-3.47357224e-07,-1.21644092e+00,-4.53648392e-04,
  1.21090357e-05,-5.51300065e-04]


--- Step 1536 ---
qpos:
[ 6.21460945e-03,-1.77279811e-03,-4.99765577e-03, 3.35480495e-02,
  4.49593127e-03,-3.75502105e-03,-1.85282747e-02, 2.85971600e-02,
  1.29678938e-02, 3.31967650e-03,-1.00150902e-02, 2.58873520e-02,
  1.32392099e+00, 9.29948276e-05, 1.06506594e+00, 6.36853284e-02,
  9.34561134e-02,-7.02047201e-02, 1.30956175e-01, 4.95575366e-01,
  4.83977556e-01, 5.04054619e-01, 5.15848546e-01]

qacc:
[  2.96521606, -0.44886457,  1.15211222, -1.27089976,  2.97705858,
  -2.25469079,  9.33187728,-17.00347357,  0.47338869,  3.58651001,
 -16.18518155, 29.01257031, -0.35488948,  0.42015009, -4.83387299,
  15.8033974 ,  0.404241  ,  1.04693454,  0.12234951,  7.13695798,
   0.70465737,-14.78334778]

qfrc_actuator:
[ 6.13299463e-05,-8.44712654e-05,-6.97985212e-05, 3.82975907e-06,
  4.92767778e-05,-3.76421917e-04,-2.64816717e-04,-2.66198920e-05,
 -5.63706914e-05,-1.05922839e-04,-1.46129691e-04, 3.34564012e-05,
  3.15759520e-03,-1.57686743e-03, 0.00000000e+00,-2.20023293e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031812967162125894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.74492216e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.74492216e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08678655, -0.0886235 ,  0.06199091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73126320e-05,-3.35989479e-05,-6.85692585e-06,-2.57395071e-06,
  1.74074651e-05,-2.24463581e-05, 1.55999571e-05,-2.18013283e-05,
  2.88693470e-06,-7.44990798e-05,-7.32734156e-05, 2.64436360e-05,
 -6.09465915e-05,-1.09463666e-05,-3.38773575e-05, 6.69363800e-05,
 -2.30405601e-07,-2.31022617e-07,-1.21644054e+00,-4.52978241e-04,
  1.27950086e-05,-5.51162895e-04]


--- Step 1537 ---
qpos:
[ 6.21598425e-03,-1.77208794e-03,-4.99753410e-03, 3.35476889e-02,
  4.49710770e-03,-3.75474483e-03,-1.85283980e-02, 2.85961428e-02,
  1.29670371e-02, 3.31905626e-03,-1.00151806e-02, 2.58880315e-02,
  1.32406129e+00, 9.26930178e-05, 1.06527335e+00, 6.36874335e-02,
  9.34504941e-02,-7.01960479e-02, 1.30959750e-01, 4.95608362e-01,
  4.83914155e-01, 5.04081894e-01, 5.15849674e-01]

qacc:
[-1.31511861e+00, 9.58477456e-02,-3.22281082e-01, 1.41175496e-01,
  1.74028247e+00,-7.16101725e-01, 7.35605103e+00,-2.41708667e+01,
  3.43750010e+00,-1.64416056e+00, 4.76861656e+00,-5.52629853e+00,
  4.44600771e-01,-1.02892082e+00,-9.50215003e+00, 3.21192740e+01,
  4.03806226e-01, 1.03632010e+00, 2.37436838e-02, 7.01148038e+00,
  7.29484846e-01,-1.46459098e+01]

qfrc_actuator:
[ 5.31607530e-05,-6.98652413e-05,-6.67257309e-05, 4.27390115e-06,
  5.91291926e-05,-3.39299013e-04,-2.74809753e-04,-7.53805140e-05,
 -3.64643197e-05,-1.31023372e-04,-1.29052229e-04, 3.22307441e-05,
  3.15384526e-03,-1.60476826e-03, 0.00000000e+00,-2.04662521e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003141605047679713
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.76696785e-13, -1.76696785e-13,  1.00000000e+00, -3.12217539e-26,
        1.00000000e+00,  1.76696785e-13, -1.00000000e+00,  0.00000000e+00,
       -1.76696785e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08678678, -0.0886247 ,  0.06199102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.69075996e-06,-5.73638738e-06,-4.81342355e-06,-1.28526583e-06,
  1.03421302e-05, 2.68649298e-05,-1.34642753e-05,-4.96080288e-05,
  1.99642475e-05,-8.07662505e-05,-6.42158425e-06,-6.44039334e-06,
 -4.07794451e-05,-4.46026710e-05,-1.06963872e-05, 1.52409153e-04,
 -3.77736982e-07,-5.37420006e-08,-1.21644051e+00,-4.52333230e-04,
  1.31969384e-05,-5.50935566e-04]


--- Step 1538 ---
qpos:
[ 6.21725049e-03,-1.77126728e-03,-4.99774115e-03, 3.35473366e-02,
  4.49804831e-03,-3.75407314e-03,-1.85290081e-02, 2.85945531e-02,
  1.29667704e-02, 3.31788913e-03,-1.00148115e-02, 2.58879663e-02,
  1.32420128e+00, 9.23218756e-05, 1.06548102e+00, 6.36883164e-02,
  9.34479769e-02,-7.01951686e-02, 1.30961157e-01, 4.95605710e-01,
  4.83891378e-01, 5.04088199e-01, 5.15867427e-01]

qacc:
[ -0.96680601,  1.08396024, -3.68465819,  4.26873016, -2.08633109,
   0.70952458,  0.65252983,-10.07929007,  5.21568731, -3.55027591,
  14.73688839,-27.93907809, -0.28024564,  0.2443709 ,  4.09838679,
 -13.72768535,  0.77555788, -1.94824915, -0.54196078,  9.09337514,
  -2.6666683 , 28.6271862 ]

qfrc_actuator:
[ 4.77989622e-05,-6.13679771e-05,-8.26474583e-05, 4.69479560e-06,
  4.66970191e-05,-3.17336706e-04,-2.98321266e-04,-1.03638053e-04,
 -6.65828193e-06,-1.45427527e-04,-1.01152265e-04,-4.25014980e-06,
  3.14122692e-03,-1.60334656e-03, 0.00000000e+00,-2.11681648e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58906682,  0.4796393 , -4.56393256,  0.4796393 , 35.31184613,
        3.22876211, -4.56393256,  3.22876211,  4.92838849,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003142769928399791
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.53262584e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.53262584e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08109005, -0.03187443,  0.06199102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.58452243e-06, 4.20669966e-06,-1.77539979e-05,-1.74731529e-08,
 -1.21247503e-05, 3.20753411e-05,-2.13374828e-05,-2.85360639e-05,
  3.03436338e-05,-6.11453045e-05, 1.02079362e-05,-4.02905418e-05,
 -4.59042168e-05,-1.88687566e-05, 9.13818482e-06,-6.37531730e-05,
 -5.06366199e-07, 1.84006123e-07,-1.21644084e+00,-4.51708792e-04,
  1.33263991e-05,-5.50617248e-04]


--- Step 1539 ---
qpos:
[ 6.21844256e-03,-1.77053508e-03,-4.99753754e-03, 3.35473115e-02,
  4.49848775e-03,-3.75299791e-03,-1.85299935e-02, 2.85933189e-02,
  1.29675524e-02, 3.31700229e-03,-1.00144722e-02, 2.58870455e-02,
  1.32434075e+00, 9.24985136e-05, 1.06568897e+00, 6.36863569e-02,
  9.34484716e-02,-7.02019861e-02, 1.30959899e-01, 4.95567593e-01,
  4.83908651e-01, 5.04074141e-01, 5.15901579e-01]

qacc:
[ -0.63746918, -0.59007399,  0.55537396,  4.51235676, -4.40444505,
   2.32013382, -8.98480906, 15.42040331,  9.22216851, -1.32538185,
   8.84457533,-23.77698896, -1.00231294,  1.63708321,  9.06129443,
 -30.92992049,  0.7529407 , -1.92419531, -0.66633069,  9.11913108,
  -2.46990863, 28.23207118]

qfrc_actuator:
[ 4.41405274e-05,-5.66641735e-05,-5.64151805e-05, 2.28358617e-05,
  2.12503416e-05,-2.86912646e-04,-3.11891938e-04,-8.41080599e-05,
  4.64832511e-05,-8.22644982e-05,-8.48356398e-05,-4.34183636e-05,
  3.12330774e-03,-1.56679822e-03, 0.00000000e+00,-2.26506690e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58667339, -1.5802321 ,  4.30586104, -1.5802321 , 15.91748655,
        4.1583587 ,  4.30586104,  4.1583587 ,  6.11277278,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031359551992465873
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.85075642e-14, -3.54030257e-13,  1.00000000e+00,  3.13343557e-26,
        1.00000000e+00,  3.54030257e-13, -1.00000000e+00,  0.00000000e+00,
        8.85075642e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08108771, -0.03187438,  0.06199104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.81735578e-06, 3.35565293e-06, 2.49064936e-05, 1.77061136e-05,
 -2.57797959e-05, 4.27123372e-05,-1.05578788e-05, 1.96148578e-05,
  5.39801900e-05, 2.94000301e-05, 3.55746940e-06,-4.22188591e-05,
 -4.82174240e-05, 2.13804109e-05,-8.16519461e-06,-1.51848115e-04,
 -6.26261335e-08,-2.60325830e-08,-1.21644003e+00,-4.52648011e-04,
  1.27671712e-05,-5.50432179e-04]


--- Step 1540 ---
qpos:
[ 6.21889154e-03,-1.76987153e-03,-4.99726392e-03, 3.35471794e-02,
  4.49827380e-03,-3.75165701e-03,-1.85308308e-02, 2.85923090e-02,
  1.29693101e-02, 3.31691596e-03,-1.00145506e-02, 2.58859661e-02,
  1.32447994e+00, 9.27962849e-05, 1.06589668e+00, 6.36839660e-02,
  9.34515045e-02,-7.02107913e-02, 1.30960207e-01, 4.95513880e-01,
  4.83942622e-01, 5.04061025e-01, 5.15934120e-01]

qacc:
[-6.53065029,-0.49394541, 2.1030843 ,-4.03920775,-5.71816505, 0.41030308,
 -1.88201146, 5.31345448, 8.55814549, 1.8822254 ,-4.5354344 , 1.90045075,
 -0.31797515, 0.44345512, 0.97653453,-3.86858671, 0.63456116,-0.49692406,
  0.39129863, 8.56052922,-0.53288347, 7.60439643]

qfrc_actuator:
[ 6.00787226e-06,-7.18343252e-05,-5.87562849e-05, 1.57816508e-05,
 -1.16453803e-05,-2.69330424e-04,-3.01662455e-04,-7.21095589e-05,
  9.51787745e-05,-8.67486121e-06,-9.29161216e-05,-4.82850025e-05,
  3.11288933e-03,-1.56302117e-03, 0.00000000e+00,-2.28051735e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031066807826943716
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.45412017e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.45412017e-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([ 0.08400196, -0.060898  ,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.82442912e-05,-7.42405972e-06, 2.02033679e-06,-5.70616638e-06,
 -3.36176454e-05, 4.00929291e-05, 1.84327361e-05, 1.38490099e-05,
  5.02383430e-05, 8.90073996e-05,-3.02307341e-06,-4.30409449e-06,
 -3.28951472e-05,-2.01815441e-06,-2.57388997e-05,-2.61182743e-05,
  1.39969861e-07, 1.95044229e-07,-1.21644038e+00,-4.53373536e-04,
  1.28345518e-05,-5.50456861e-04]


--- Step 1541 ---
qpos:
[ 6.21853487e-03,-1.76906386e-03,-4.99735791e-03, 3.35466220e-02,
  4.49766739e-03,-3.75061651e-03,-1.85309898e-02, 2.85914871e-02,
  1.29709484e-02, 3.31726268e-03,-1.00146452e-02, 2.58852009e-02,
  1.32461897e+00, 9.28800454e-05, 1.06610416e+00, 6.36816970e-02,
  9.34561858e-02,-7.02153537e-02, 1.30961741e-01, 4.95467988e-01,
  4.83967776e-01, 5.04070742e-01, 5.15945105e-01]

qacc:
[ -7.09841962,  0.3562584 ,  0.82565881, -7.73065314, -3.40813787,
  -1.89833258,  5.41085042, -3.03339728, -1.05725513,  1.26615856,
  -5.00680878, 10.14628932,  0.0595537 , -0.28850319, -0.69914453,
   1.95586017,  0.41209507,  1.06071735,  0.30686533,  7.24554969,
   0.74410788,-15.105112  ]

qfrc_actuator:
[-3.43580927e-05,-6.34080244e-05,-7.80650419e-05,-6.08648710e-06,
 -3.09051921e-05,-3.12734756e-04,-2.77525997e-04,-6.46411923e-05,
  8.76024195e-05,-4.72114239e-07,-9.74824154e-05,-3.29254723e-05,
  3.10164225e-03,-1.57869936e-03, 0.00000000e+00,-2.27081986e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031240132439563917
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.88458961e-14, -1.77691792e-13,  1.00000000e+00,  1.57871865e-26,
        1.00000000e+00,  1.77691792e-13, -1.00000000e+00,  0.00000000e+00,
        8.88458961e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08678899, -0.0886253 ,  0.06199107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.14581427e-05, 4.40581988e-06,-2.08004815e-05,-2.22277145e-05,
 -2.02074792e-05,-1.66320315e-05, 3.51652481e-05, 1.00964145e-05,
 -6.11826975e-06, 5.71968356e-05, 1.33021852e-05, 1.89865444e-05,
 -3.06573689e-05,-2.35349621e-05,-1.79245317e-05, 4.20699814e-06,
  9.30366772e-08, 4.03713506e-07,-1.21644074e+00,-4.53597767e-04,
  1.32062204e-05,-5.50550595e-04]


--- Step 1542 ---
qpos:
[ 6.21838676e-03,-1.76818695e-03,-4.99770348e-03, 3.35461539e-02,
  4.49717965e-03,-3.75012023e-03,-1.85303828e-02, 2.85907873e-02,
  1.29721389e-02, 3.31790477e-03,-1.00147138e-02, 2.58846407e-02,
  1.32475772e+00, 9.30624448e-05, 1.06631169e+00, 6.36781880e-02,
  9.34625112e-02,-7.02157254e-02, 1.30963992e-01, 4.95429833e-01,
  4.83984170e-01, 5.04102971e-01, 5.15934878e-01]

qacc:
[  1.82475178,  0.97504649, -3.72671634,  5.62940706,  1.07194179,
  -2.60897798,  7.74003322, -6.44541229, -3.94564153,  0.74774303,
  -2.95260439,  6.22982579, -0.37060787,  0.50123986,  3.8195041 ,
 -13.22722249,  0.41104815,  1.04766769,  0.17905472,  7.11140462,
   0.75412218,-14.90609767]

qfrc_actuator:
[-2.24463481e-05,-5.87617801e-05,-8.93921219e-05,-9.76580410e-07,
 -2.42304140e-05,-3.56765938e-04,-2.45634926e-04,-5.99441430e-05,
  6.47201874e-05, 4.05101076e-06,-1.00174657e-04,-2.35921160e-05,
  3.08989722e-03,-1.57025874e-03, 0.00000000e+00,-2.33517741e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003116920489091707
  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([ 0.08678947, -0.08862548,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.07339324e-05, 1.82063604e-06,-1.37530185e-05, 4.14785645e-06,
  6.08987788e-06,-4.56767688e-05, 3.31290760e-05, 5.39824014e-06,
 -2.30365591e-05, 4.00626288e-05, 1.14186140e-05, 1.26159878e-05,
 -3.48315485e-05,-4.16711825e-06,-1.10463600e-05,-6.71815863e-05,
 -3.06930281e-08, 2.73832068e-07,-1.21644041e+00,-4.53357279e-04,
  1.31744191e-05,-5.50562977e-04]


--- Step 1543 ---
qpos:
[ 6.21872739e-03,-1.76763316e-03,-4.99807899e-03, 3.35468219e-02,
  4.49712038e-03,-3.74998708e-03,-1.85296591e-02, 2.85898263e-02,
  1.29733914e-02, 3.31809125e-03,-1.00144838e-02, 2.58849663e-02,
  1.32489607e+00, 9.36324607e-05, 1.06651908e+00, 6.36742517e-02,
  9.34704773e-02,-7.02119493e-02, 1.30966532e-01, 4.95399342e-01,
  4.83991854e-01, 5.04157449e-01, 5.15903716e-01]

qacc:
[  4.30279947,  1.98741263,-12.51576036, 32.47638447,  3.75951701,
  -1.35025634,  5.20852715, -9.63402506,  0.5639788 ,  0.38533486,
  -5.98935044, 21.17870836, -0.62129756,  1.01819598,  1.14991979,
  -4.18200024,  0.41015954,  1.0369445 ,  0.07213355,  7.00417682,
   0.76033981,-14.74282149]

qfrc_actuator:
[ 2.38744384e-06,-9.18716040e-05,-9.58992052e-05, 5.54809173e-05,
 -2.34902124e-06,-3.83056629e-04,-2.44955251e-04,-7.46718672e-05,
  6.85360373e-05,-6.46796935e-05,-1.01778150e-04, 1.76141133e-05,
  3.07254472e-03,-1.54757388e-03, 0.00000000e+00,-2.35389173e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030896772352853596
  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([ 0.08678965, -0.08862622,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51376704e-05,-3.47773108e-05,-7.68683562e-06, 5.61398374e-05,
  2.20378571e-05,-4.47802308e-05,-4.49890811e-06,-1.54350075e-05,
  3.17623457e-06,-4.34536090e-05, 8.51164239e-06, 4.35648728e-05,
 -3.82581358e-05, 1.38055498e-05,-1.67225928e-05,-2.48291475e-05,
 -1.33376026e-07, 2.11214063e-07,-1.21644044e+00,-4.53137790e-04,
  1.28640946e-05,-5.50480727e-04]


--- Step 1544 ---
qpos:
[ 6.21901821e-03,-1.76753176e-03,-4.99839386e-03, 3.35474813e-02,
  4.49732365e-03,-3.74989218e-03,-1.85291053e-02, 2.85893652e-02,
  1.29743349e-02, 3.31767202e-03,-1.00138379e-02, 2.58857956e-02,
  1.32503387e+00, 9.50464090e-05, 1.06672594e+00, 6.36734396e-02,
  9.34800813e-02,-7.02040602e-02, 1.30969003e-01, 4.95376455e-01,
  4.83990871e-01, 5.04233962e-01, 5.15851836e-01]

qacc:
[-4.28257195e-01,-7.84295895e-01, 1.96637884e+00,-1.87968356e+00,
  2.29338192e+00, 1.44750552e+00,-7.35374253e+00, 1.63137484e+01,
 -2.69572417e+00,-9.20689061e-01, 3.74813311e-03, 8.48442640e+00,
 -8.52058777e-01, 1.60418313e+00,-1.01441082e+01, 3.45194995e+01,
  4.09468064e-01, 1.02822619e+00,-1.70736234e-02, 6.91937930e+00,
  7.63559649e-01,-1.46101454e+01]

qfrc_actuator:
[-8.94409034e-07,-1.29517770e-04,-9.96352760e-05, 5.29013059e-05,
  1.05464471e-05,-3.63161167e-04,-2.44907021e-04,-4.74621254e-05,
  5.25346653e-05,-1.05719344e-04,-8.52588099e-05, 4.16761968e-05,
  3.05184840e-03,-1.49891828e-03, 0.00000000e+00,-2.18576302e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003046707149807204
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.11002412e-14,  1.82200482e-13,  1.00000000e+00, -1.65985079e-26,
        1.00000000e+00, -1.82200482e-13, -1.00000000e+00,  0.00000000e+00,
        9.11002412e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0867896 , -0.08862739,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.58279219e-06,-5.62855248e-05,-9.92912289e-06,-3.24619794e-06,
  1.35102081e-05,-6.73973282e-06,-1.02982957e-05, 2.48339293e-05,
 -1.59275658e-05,-6.17191098e-05, 1.00947634e-05, 2.33407191e-05,
 -3.92314523e-05, 4.32899016e-05,-1.42577825e-05, 1.63737999e-04,
 -2.16763366e-07, 2.13801647e-07,-1.21644082e+00,-4.52936840e-04,
  1.22854080e-05,-5.50304261e-04]


--- Step 1545 ---
qpos:
[ 6.21961248e-03,-1.76768626e-03,-4.99880014e-03, 3.35477451e-02,
  4.49802481e-03,-3.74959960e-03,-1.85287107e-02, 2.85895470e-02,
  1.29747337e-02, 3.31754658e-03,-1.00138975e-02, 2.58865234e-02,
  1.32517124e+00, 9.75070819e-05, 1.06693291e+00, 6.36725984e-02,
  9.34913213e-02,-7.01920863e-02, 1.30971109e-01, 4.95361121e-01,
  4.83981256e-01, 5.04332336e-01, 5.15779409e-01]

qacc:
[  2.66951386, -0.9024475 ,  4.38776431,-10.88902097,  4.34945834,
   2.01941668, -9.55125696, 20.80227735, -4.82022931,  2.16028943,
  -6.69459124,  5.83228225, -1.12740077,  2.18875635,  0.35654723,
  -0.76741029,  0.40899524,  1.02123492, -0.09128636,  6.85333908,
   0.76439379,-14.50372888]

qfrc_actuator:
[ 1.48026651e-05,-1.34121968e-04,-1.01787364e-04, 3.33422681e-05,
  3.57975252e-05,-3.33486265e-04,-2.44997655e-04,-1.34991703e-05,
  2.49892429e-05,-5.88014916e-05,-1.11360323e-04, 3.77269499e-05,
  3.05047750e-03,-1.43529159e-03, 0.00000000e+00,-2.19295131e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029916876948248017
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.27756452e-14, -1.85551290e-13,  1.00000000e+00,  1.72146407e-26,
        1.00000000e+00,  1.85551290e-13, -1.00000000e+00,  0.00000000e+00,
        9.27756452e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08678936, -0.0886289 ,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56044009e-05,-3.82728863e-05,-1.51131001e-05,-2.23786119e-05,
  2.56340454e-05, 2.48389867e-05,-1.89915271e-06, 3.38001146e-05,
 -2.80213496e-05, 1.54928433e-05,-3.68023004e-05,-5.79214948e-06,
 -1.30242056e-05, 6.49140708e-05, 8.48152931e-06,-6.05804404e-07,
 -2.82195105e-07, 2.79844410e-07,-1.21644153e+00,-4.52752719e-04,
  1.14457952e-05,-5.50033995e-04]


--- Step 1546 ---
qpos:
[ 6.22039010e-03,-1.76795973e-03,-4.99905876e-03, 3.35480832e-02,
  4.49902344e-03,-3.74927281e-03,-1.85285013e-02, 2.85894663e-02,
  1.29751442e-02, 3.31754793e-03,-1.00139582e-02, 2.58864795e-02,
  1.32530864e+00, 9.98981738e-05, 1.06713979e+00, 6.36723531e-02,
  9.35056494e-02,-7.01878924e-02, 1.30970914e-01, 4.95310091e-01,
  4.84012090e-01, 5.04410028e-01, 5.15723506e-01]

qacc:
[ 1.61884906e+00,-4.20458915e-01, 9.52295679e-01, 1.89138383e-01,
  2.59687784e+00, 1.74123376e-02, 1.10316042e+00,-5.36573374e+00,
  9.95195384e-02,-1.41752888e+00, 8.55519911e+00,-2.20009274e+01,
  1.21867574e-01,-2.10325528e-01,-1.93940074e+00, 6.57135754e+00,
  7.72052234e-01,-1.94501849e+00,-5.75310866e-01, 9.15592124e+00,
 -2.55391638e+00, 2.85027635e+01]

qfrc_actuator:
[ 2.38011298e-05,-1.18916514e-04,-8.51086200e-05, 3.94912953e-05,
  5.03689755e-05,-3.51422226e-04,-2.62866909e-04,-2.90851187e-05,
  2.63818760e-05,-4.85295046e-05,-1.08821543e-04,-3.78127146e-07,
  3.04473262e-03,-1.45198578e-03, 0.00000000e+00,-2.16140512e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52715341,  0.51731994, -4.49749909,  0.51731994, 41.16042252,
        4.21370192, -4.49749909,  4.21370192,  5.01182988,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002959212510587894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.37937898e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.37937898e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08107014, -0.03186658,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.43117353e-06,-1.02645012e-05, 6.14195242e-06, 3.55043009e-06,
  1.53110596e-05,-2.99656164e-06,-1.18126183e-05,-1.39323876e-05,
  6.03363058e-07, 1.10805488e-05, 1.00768693e-06,-3.88272311e-05,
  2.19471716e-06,-3.94376174e-06,-1.21147757e-06, 3.14502912e-05,
 -3.30699635e-07, 4.07838250e-07,-1.21644258e+00,-4.52584290e-04,
  1.03505348e-05,-5.49670321e-04]


--- Step 1547 ---
qpos:
[ 6.22161452e-03,-1.76822847e-03,-4.99918626e-03, 3.35484766e-02,
  4.49984427e-03,-3.74893730e-03,-1.85282149e-02, 2.85891852e-02,
  1.29755682e-02, 3.31714090e-03,-1.00134462e-02, 2.58853179e-02,
  1.32544597e+00, 1.01965608e-04, 1.06734662e+00, 6.36724756e-02,
  9.35229864e-02,-7.01913843e-02, 1.30967949e-01, 4.95223515e-01,
  4.84082835e-01, 5.04467619e-01, 5.15683915e-01]

qacc:
[  3.93293465, -0.25391976,  0.66728519,  0.09257217, -1.55391475,
  -0.61267858,  3.05328356, -6.658102  ,  0.14418072, -4.44159528,
  19.77269937,-39.73212992,  0.20824691, -0.5498219 , -1.2099233 ,
   4.06891107,  0.75218785, -1.92144423, -0.69241675,  9.18875189,
  -2.35695988, 28.13557612]

qfrc_actuator:
[ 4.65317913e-05,-1.09612469e-04,-7.50865261e-05, 4.30009949e-05,
  4.07812771e-05,-3.44582417e-04,-2.55808526e-04,-3.82469411e-05,
  2.70463064e-05,-9.57008263e-05,-8.95205940e-05,-5.82659302e-05,
  3.02035972e-03,-1.48066961e-03, 0.00000000e+00,-2.14273677e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52617701, -1.48080027,  4.27709117, -1.48080027, 18.42250712,
        4.81114116,  4.27709117,  4.81114116,  6.19187429,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002956188725973946
  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([ 0.08106804, -0.03186664,  0.06199155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.29958979e-05, 4.99791049e-06, 8.78541965e-06, 3.35134900e-06,
 -9.15030577e-06, 2.11832396e-06, 4.49552159e-06,-9.97177740e-06,
  6.86951214e-07,-4.24285103e-05, 2.03716261e-05,-5.81334422e-05,
 -2.42924645e-05,-2.89623002e-05,-8.03294281e-07, 1.93829121e-05,
 -5.08705323e-07, 2.77602774e-07,-1.21644213e+00,-4.53817848e-04,
  1.14812166e-05,-5.49558323e-04]


--- Step 1548 ---
qpos:
[ 6.22310208e-03,-1.76868629e-03,-4.99884218e-03, 3.35492554e-02,
  4.50054372e-03,-3.74828452e-03,-1.85280368e-02, 2.85894596e-02,
  1.29759969e-02, 3.31643938e-03,-1.00127527e-02, 2.58841754e-02,
  1.32558314e+00, 1.03732022e-04, 1.06755386e+00, 6.36691279e-02,
  9.35428430e-02,-7.01968607e-02, 1.30966336e-01, 4.95121498e-01,
  4.84170047e-01, 5.04526087e-01, 5.15642799e-01]

qacc:
[  2.33196972, -0.77912923,  0.78034682,  5.28384947, -1.07084628,
   1.86581163, -8.38696505, 17.93678205,  0.05146626, -0.85737314,
   2.41155927, -2.15450235, -0.12468546, -0.07980879, 11.07860323,
 -37.87956224,  0.62992838, -0.49612858,  0.33799724,  8.42623577,
  -0.50346346,  7.54597922]

qfrc_actuator:
[ 5.94123265e-05,-1.21678018e-04,-5.13483097e-05, 6.26688595e-05,
  3.48070032e-05,-3.05112700e-04,-2.51734240e-04,-8.00601736e-06,
  2.72671716e-05,-1.05843143e-04,-7.84884795e-05,-5.63580433e-05,
  3.00612231e-03,-1.49851269e-03, 0.00000000e+00,-2.32708443e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029298879746334286
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.18750834e-07,  1.05390548e-06,  1.00000000e+00,  4.41323799e-13,
        1.00000000e+00, -1.05390548e-06, -1.00000000e+00, -5.04870979e-29,
       -4.18750834e-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([ 0.08413074, -0.06089009,  0.06199162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35365189e-05,-7.29781992e-06, 2.59701965e-05, 2.02500371e-05,
 -6.23469171e-06, 4.11373768e-05, 4.71426478e-06, 3.02928062e-05,
  2.26181450e-07,-3.21388926e-05, 2.76744810e-06,-3.34438289e-07,
 -3.48182081e-05,-3.04304544e-05,-2.19683903e-06,-1.84302462e-04,
 -9.21420933e-07, 5.81813187e-07,-1.21644286e+00,-4.54852170e-04,
  1.32135024e-05,-5.49638843e-04]


--- Step 1549 ---
qpos:
[ 6.22404282e-03,-1.76933146e-03,-4.99842823e-03, 3.35499463e-02,
  4.50151121e-03,-3.74763939e-03,-1.85279194e-02, 2.85894418e-02,
  1.29764244e-02, 3.31613054e-03,-1.00122835e-02, 2.58836940e-02,
  1.32572013e+00, 1.05261046e-04, 1.06776090e+00, 6.36649395e-02,
  9.35629217e-02,-7.01981756e-02, 1.30966146e-01, 4.95033109e-01,
  4.84243237e-01, 5.04601467e-01, 5.15585171e-01]

qacc:
[-4.80273358e+00,-6.14426647e-01, 2.21839989e+00,-3.72951565e+00,
  2.34399288e+00,-4.45556466e-01, 2.79987938e+00,-7.74470059e+00,
 -2.43672872e-02, 2.50695470e+00,-1.09773265e+01, 2.24898139e+01,
 -1.07519858e-03,-2.24844972e-01, 2.23866626e+00,-8.27174219e+00,
  5.55152537e-02, 1.04039886e+00, 3.55797946e-01, 1.75493603e+00,
  3.67130894e-01,-1.52333821e+01]

qfrc_actuator:
[ 3.08824907e-05,-1.46373406e-04,-5.52785912e-05, 5.61741738e-05,
  4.87681270e-05,-3.35140243e-04,-2.67048620e-04,-2.58098047e-05,
  2.72254440e-05,-4.04607122e-05,-7.22555457e-05,-1.92624789e-05,
  2.99797602e-03,-1.50974449e-03, 0.00000000e+00,-2.36326124e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029514698392661687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41059762e-13, -5.64239050e-13,  1.00000000e+00,  7.95914263e-26,
        1.00000000e+00,  5.64239050e-13, -1.00000000e+00,  0.00000000e+00,
        1.41059762e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09227184, -0.0883509 ,  0.06199156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.81484553e-05,-2.25332896e-05,-1.54096562e-06,-5.51707402e-06,
  1.37959259e-05,-4.78030120e-06,-5.19857770e-06,-1.52903825e-05,
 -4.83513109e-08, 4.79887818e-05,-7.34071137e-08, 3.58101633e-05,
 -3.53971796e-05,-2.64205210e-05,-2.65728396e-05,-4.78973700e-05,
 -1.25672502e-06, 7.92278801e-07,-1.21644379e+00,-4.55444958e-04,
  1.38417369e-05,-5.49710539e-04]


--- Step 1550 ---
qpos:
[ 6.22463434e-03,-1.76992365e-03,-4.99839002e-03, 3.35498641e-02,
  4.50298360e-03,-3.74726404e-03,-1.85278020e-02, 2.85885510e-02,
  1.29765030e-02, 3.31610436e-03,-1.00114655e-02, 2.58836340e-02,
  1.32585672e+00, 1.07176684e-04, 1.06796715e+00, 6.36653273e-02,
  9.35832342e-02,-7.01953735e-02, 1.30966874e-01, 4.94958168e-01,
  4.84302584e-01, 5.04693526e-01, 5.15511265e-01]

qacc:
[ -3.08387516, -0.46567542,  5.03642145,-17.86674178,  4.42276825,
  -2.16053602, 10.85856844,-25.75384476, -3.06303643,  0.27205249,
  -2.19639963,  8.71079995, -0.27943755,  0.52222435,-14.95728621,
  50.6885031 ,  0.05845528,  1.0292326 ,  0.22936013,  1.72402666,
   0.36282635,-15.02667947]

qfrc_actuator:
[ 1.37163798e-05,-1.43067522e-04,-7.55968872e-05, 1.65484134e-05,
  7.43496025e-05,-3.71162855e-04,-2.76247686e-04,-7.18149458e-05,
  9.27754644e-06,-1.90959548e-05,-5.08162429e-05, 2.79068670e-06,
  2.98816643e-03,-1.48144748e-03, 0.00000000e+00,-2.11649812e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029536192389750804
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40957111e-13, -3.75885629e-13,  1.00000000e+00,  5.29837522e-26,
        1.00000000e+00,  3.75885629e-13, -1.00000000e+00,  0.00000000e+00,
        1.40957111e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09227217, -0.08835067,  0.06199156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.79725346e-05,-9.84545011e-06,-2.53522240e-05,-4.07520718e-05,
  2.59747528e-05,-4.04447672e-05,-1.13653545e-05,-4.66896983e-05,
 -1.79346013e-05, 4.97279199e-05, 3.25816867e-05, 2.48048793e-05,
 -3.64217984e-05, 1.39414119e-05,-2.06511278e-05, 2.39970031e-04,
 -1.13235025e-06, 4.97479136e-07,-1.21644366e+00,-4.55607116e-04,
  1.24980589e-05,-5.49772801e-04]


--- Step 1551 ---
qpos:
[ 6.22501537e-03,-1.77061188e-03,-4.99833015e-03, 3.35499900e-02,
  4.50440634e-03,-3.74708010e-03,-1.85278460e-02, 2.85874628e-02,
  1.29763663e-02, 3.31597962e-03,-1.00104682e-02, 2.58838998e-02,
  1.32599322e+00, 1.08829581e-04, 1.06817317e+00, 6.36689461e-02,
  9.36037908e-02,-7.01884912e-02, 1.30968096e-01, 4.94896524e-01,
  4.84348239e-01, 5.04802073e-01, 5.15421266e-01]

qacc:
[ -1.84837966,  0.24464663, -1.92879273,  5.55981792, -0.43644093,
  -0.20678487,  1.20496567, -4.22244332, -1.88741553,  0.043004  ,
  -1.71215558,  7.13201278,  0.33366737, -0.69499155,-10.11193311,
  34.82886145,  0.06103319,  1.02002993,  0.12347981,  1.70265135,
   0.35671185,-14.85774936]

qfrc_actuator:
[ 3.38963348e-06,-1.40878914e-04,-6.98250760e-05, 2.87750442e-05,
  7.10539680e-05,-3.75012063e-04,-2.81814162e-04,-8.07852250e-05,
 -1.31336634e-06,-5.96941177e-05,-5.62417279e-05, 1.57938646e-05,
  2.98271047e-03,-1.50097276e-03, 0.00000000e+00,-1.95358845e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029354731001346446
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.45523078e-14, -3.78209231e-13,  1.00000000e+00,  3.57605557e-26,
        1.00000000e+00,  3.78209231e-13, -1.00000000e+00,  0.00000000e+00,
        9.45523078e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0922724 , -0.08835103,  0.06199161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08366167e-05,-1.02871635e-05,-7.87638440e-07, 1.01364799e-05,
 -2.56534361e-06,-3.08182086e-05,-1.69408189e-05,-1.20056550e-05,
 -1.10846855e-05,-5.01134892e-06, 9.70957617e-06, 1.67434688e-05,
 -2.23773798e-05,-2.47249838e-05, 1.49761744e-05, 1.73126464e-04,
 -1.00333149e-06, 2.99312474e-07,-1.21644383e+00,-4.55782666e-04,
  1.10840706e-05,-5.49741463e-04]


--- Step 1552 ---
qpos:
[ 6.22526966e-03,-1.77159112e-03,-4.99785952e-03, 3.35506043e-02,
  4.50543391e-03,-3.74718874e-03,-1.85279145e-02, 2.85859337e-02,
  1.29764489e-02, 3.31547959e-03,-1.00099049e-02, 2.58843994e-02,
  1.32612952e+00, 1.10512929e-04, 1.06838021e+00, 6.36664584e-02,
  9.36246008e-02,-7.01775588e-02, 1.30969457e-01, 4.94848053e-01,
  4.84380330e-01, 5.04926952e-01, 5.15315314e-01]

qacc:
[-1.09619907e+00,-5.25121337e-01,-7.43896565e-01, 8.74987267e+00,
 -3.45440156e+00,-1.21832061e+00, 5.65731598e+00,-1.30483716e+01,
  1.92265074e+00, 1.19455495e+00,-5.97244396e+00, 1.09952651e+01,
 -5.96972963e-01, 8.13987172e-01, 1.99742239e+01,-6.76011348e+01,
  6.33348498e-02, 1.01254218e+00, 3.50354454e-02, 1.68912466e+00,
  3.49176680e-01,-1.47210016e+01]

qfrc_actuator:
[-2.83253336e-06,-1.56985460e-04,-4.86463047e-05, 5.36884140e-05,
  5.07846507e-05,-3.95032956e-04,-2.85039560e-04,-1.03366387e-04,
  1.02686011e-05,-1.19449241e-04,-9.55088465e-05, 2.32938867e-05,
  2.97452792e-03,-1.49543882e-03, 0.00000000e+00,-2.28529191e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002901383738865282
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.78316178e-14, -5.73979414e-13,  1.00000000e+00, -2.74543639e-26,
        1.00000000e+00,  5.73979414e-13, -1.00000000e+00,  0.00000000e+00,
       -4.78316178e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09227256, -0.08835185,  0.06199171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.53216767e-06,-2.15685915e-05, 1.93146271e-05, 2.46440805e-05,
 -2.03521712e-05,-4.12726465e-05,-1.20923014e-05,-2.47194774e-05,
  1.12648887e-05,-5.98463673e-05,-3.85374809e-05, 7.94497508e-06,
 -2.61572362e-05,-5.85032925e-06, 2.21096010e-05,-3.21082764e-04,
 -8.69998167e-07, 1.93676938e-07,-1.21644430e+00,-4.55970842e-04,
  9.59926307e-06,-5.49617760e-04]


--- Step 1553 ---
qpos:
[ 6.22510222e-03,-1.77267187e-03,-4.99688846e-03, 3.35511360e-02,
  4.50621056e-03,-3.74760066e-03,-1.85280619e-02, 2.85848418e-02,
  1.29766695e-02, 3.31455466e-03,-1.00094957e-02, 2.58849732e-02,
  1.32626563e+00, 1.12244917e-04, 1.06858719e+00, 6.36614062e-02,
  9.36456725e-02,-7.01626002e-02, 1.30970665e-01, 4.94812651e-01,
  4.84398964e-01, 5.05068041e-01, 5.15193516e-01]

qacc:
[-3.69081501e+00,-1.69579137e+00, 6.21230406e+00,-8.37853163e+00,
 -2.19314950e+00, 7.23194695e-01,-4.99963594e+00, 1.29090813e+01,
  1.21730355e+00, 1.91994592e-02,-1.20041192e+00, 3.04688297e+00,
 -3.43336165e-01, 4.57524609e-01, 7.68365245e+00,-2.69430858e+01,
  6.54273610e-02, 1.00655033e+00,-3.86433504e-02, 1.68208212e+00,
  3.40521068e-01,-1.46117475e+01]

qfrc_actuator:
[-2.43441365e-05,-1.48330449e-04,-1.86211215e-05, 5.03450427e-05,
  3.84491238e-05,-4.06826490e-04,-2.86932723e-04,-8.05335254e-05,
  1.70531714e-05,-1.37124506e-04,-1.01281359e-04, 2.74537878e-05,
  2.96472204e-03,-1.49281006e-03, 0.00000000e+00,-2.40864446e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002854974734727983
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94436576e-13, -3.88873152e-13,  1.00000000e+00,  7.56111643e-26,
        1.00000000e+00,  3.88873152e-13, -1.00000000e+00,  0.00000000e+00,
        1.94436576e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09227266, -0.08835303,  0.06199184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.17041635e-05, 1.66494261e-06, 2.88060139e-05,-3.11971465e-06,
 -1.29297988e-05,-3.84290558e-05,-1.27566934e-05, 2.01692909e-05,
  7.08403281e-06,-5.87470426e-05,-2.26086254e-05, 4.14699736e-07,
 -2.64398397e-05,-4.55640178e-06,-3.26490268e-05,-1.40045008e-04,
 -7.32496924e-07, 1.77281815e-07,-1.21644504e+00,-4.56171357e-04,
  8.04270297e-06,-5.49402714e-04]


--- Step 1554 ---
qpos:
[ 6.22502301e-03,-1.77351445e-03,-4.99599476e-03, 3.35519649e-02,
  4.50683295e-03,-3.74810533e-03,-1.85283520e-02, 2.85843542e-02,
  1.29766248e-02, 3.31323042e-03,-1.00088894e-02, 2.58852189e-02,
  1.32640168e+00, 1.13479571e-04, 1.06879330e+00, 6.36602213e-02,
  9.36629534e-02,-7.01555294e-02, 1.30971213e-01, 4.94764806e-01,
  4.84427784e-01, 5.05165935e-01, 5.15116381e-01]

qacc:
[  0.76943032,  1.14139903, -4.86974816,  9.96263495, -1.35246568,
   1.52109528, -8.14918314, 18.89920043, -2.32254302, -1.7491432 ,
   6.86369833,-12.56980346,  0.61684308, -1.24698055,-13.00985546,
  43.52350426, -0.94769983, -1.97193577, -0.16480885,-16.87180688,
   0.64890813, 27.28964435]

qfrc_actuator:
[-1.91784509e-05,-1.24891609e-04,-1.90473226e-05, 6.59284904e-05,
  3.08877104e-05,-3.95803233e-04,-2.87962302e-04,-4.89067956e-05,
  3.20019813e-06,-1.47104745e-04,-8.70634860e-05, 1.19231163e-05,
  2.95394952e-03,-1.52746004e-03, 0.00000000e+00,-2.19505437e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002923579708081492
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.89873911e-13,  9.49369553e-14,  1.00000000e+00, -1.80260510e-26,
        1.00000000e+00, -9.49369553e-14, -1.00000000e+00,  0.00000000e+00,
        1.89873911e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10871016, -0.03357788,  0.06199164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.55045557e-06, 3.02060593e-05, 3.35882021e-06, 1.65907396e-05,
 -7.94450570e-06,-1.22220885e-05,-9.83118753e-06, 2.99352097e-05,
 -1.36737234e-05,-4.74536561e-05,-6.82813462e-07,-1.88228303e-05,
 -2.75132524e-05,-4.14524758e-05,-3.38767507e-05, 2.00841759e-04,
 -5.90840897e-07, 2.47479645e-07,-1.21644606e+00,-4.56384293e-04,
  6.41314926e-06,-5.49097166e-04]


--- Step 1555 ---
qpos:
[ 6.22535093e-03,-1.77391965e-03,-4.99517495e-03, 3.35522571e-02,
  4.50701461e-03,-3.74843204e-03,-1.85287552e-02, 2.85835213e-02,
  1.29760692e-02, 3.31175170e-03,-1.00079189e-02, 2.58845422e-02,
  1.32653754e+00, 1.14350042e-04, 1.06899926e+00, 6.36608607e-02,
  9.36764901e-02,-7.01561876e-02, 1.30970376e-01, 4.94704523e-01,
  4.84466613e-01, 5.05221670e-01, 5.15083100e-01]

qacc:
[  3.56978153, -0.32733081,  4.25923343,-13.73729205, -3.86406724,
  -0.15140888,  2.35278892, -8.29467486, -4.48217065, -3.112056  ,
  14.71011957,-31.16017206,  0.23720282, -0.6629746 , -5.76206461,
  19.76507673, -0.93606335, -1.93226298, -0.34617449,-16.44681143,
   0.75680285, 26.79177654]

qfrc_actuator:
[ 1.65234156e-06,-9.28815391e-05,-1.96141028e-05, 3.92634500e-05,
  8.44182169e-06,-3.71179137e-04,-2.88378449e-04,-6.56035914e-05,
 -2.26870827e-05,-1.34570985e-04,-6.11409017e-05,-3.28020521e-05,
  2.93726489e-03,-1.54844550e-03, 0.00000000e+00,-2.10425198e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53849104, -0.16955814, -4.53532259, -0.16955814, 15.86238657,
       -0.42335657, -4.53532259, -0.42335657,  4.5543187 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029940145887968894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.78110625e-13, -4.63517708e-14,  1.00000000e+00,  1.28909200e-26,
        1.00000000e+00,  4.63517708e-14, -1.00000000e+00,  0.00000000e+00,
        2.78110625e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10870726, -0.03358103,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.09714830e-05, 5.03263261e-05, 6.65789503e-06,-2.49336967e-05,
 -2.26779488e-05, 1.70618317e-05,-3.10514535e-06,-1.69749560e-05,
 -2.62950306e-05,-1.49148766e-05, 1.53933636e-05,-4.71470979e-05,
 -4.19930256e-05,-3.73625530e-05, 5.51086918e-06, 9.73457267e-05,
 -5.92267863e-07, 2.39030881e-07,-1.21644313e+00,-4.57267426e-04,
  9.08716727e-06,-5.48973832e-04]


--- Step 1556 ---
qpos:
[ 6.22523609e-03,-1.77384506e-03,-4.99467059e-03, 3.35518935e-02,
  4.50658157e-03,-3.74957096e-03,-1.85284511e-02, 2.85825658e-02,
  1.29748621e-02, 3.31049521e-03,-1.00065566e-02, 2.58832833e-02,
  1.32667320e+00, 1.14698095e-04, 1.06920512e+00, 6.36632490e-02,
  9.36863228e-02,-7.01644432e-02, 1.30967543e-01, 4.94631810e-01,
  4.84515296e-01, 5.05236092e-01, 5.15092994e-01]

qacc:
[ -3.91178648,  0.17321611,  3.0843245 ,-14.29742199, -5.34379597,
  -3.28987014, 10.70856518,-13.37955786, -5.72438763, -1.98848073,
   9.99358392,-20.87959309,  0.35813488, -0.94056059, -5.46894617,
  18.82507131, -0.9259813 , -1.89936738, -0.49892372,-16.09727622,
   0.84156369, 26.37747057]

qfrc_actuator:
[-2.17298986e-05,-7.37758500e-05,-3.79903964e-05, 5.71692704e-06,
 -2.25865633e-05,-4.62896557e-04,-2.70646278e-04,-7.50812583e-05,
 -5.54432997e-05,-9.08612834e-05,-2.84414096e-05,-5.88129715e-05,
  2.92237433e-03,-1.57891908e-03, 0.00000000e+00,-2.01561556e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54997417,  0.05220132, -4.54967471,  0.05220132, 26.01438735,
        0.24627492, -4.54967471,  0.24627492,  4.55279984,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030286977061774745
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83283895e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.83283895e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10870543, -0.03358242,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.27672444e-05, 4.75661123e-05,-8.03000126e-06,-3.16474053e-05,
 -3.16694236e-05,-8.35347774e-05, 2.02978330e-05,-9.17983389e-06,
 -3.35109497e-05, 3.65612344e-05, 2.98912634e-05,-2.70313877e-05,
 -4.70288207e-05,-4.94134420e-05, 9.29836082e-06, 9.38265003e-05,
 -4.62140094e-07, 3.74085897e-07,-1.21644154e+00,-4.58196672e-04,
  1.08197547e-05,-5.49083845e-04]


--- Step 1557 ---
qpos:
[ 6.22484244e-03,-1.77361641e-03,-4.99484304e-03, 3.35515438e-02,
  4.50578000e-03,-3.75176690e-03,-1.85274431e-02, 2.85815374e-02,
  1.29739615e-02, 3.30940123e-03,-1.00048409e-02, 2.58824226e-02,
  1.32680843e+00, 1.15202754e-04, 1.06941139e+00, 6.36633344e-02,
  9.36924862e-02,-7.01801876e-02, 1.30962201e-01, 4.94546673e-01,
  4.84573705e-01, 5.05209890e-01, 5.15145493e-01]

qacc:
[ -2.4756095 ,  2.12911279, -7.34603286,  8.54562067, -3.18514231,
  -3.50590069, 10.79284416,-12.4125459 ,  2.705741  ,  0.04131044,
  -1.52602559,  7.74253532, -0.61102771,  0.83380626,  7.61278174,
 -25.63165367, -0.91732443, -1.87218394, -0.62750432,-15.81074221,
   0.90791498, 26.0347475 ]

qfrc_actuator:
[-3.54476491e-05,-9.81354127e-05,-8.45339126e-05, 3.88062177e-06,
 -4.06615541e-05,-5.34736746e-04,-2.42800405e-04,-8.03121808e-05,
 -3.87180806e-05,-8.20188388e-05,-9.60172800e-06,-3.80614112e-05,
  2.90856647e-03,-1.56152374e-03, 0.00000000e+00,-2.14196477e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55194464, -0.31226104,  4.54122154, -0.31226104, 30.05240388,
        1.7534489 ,  4.54122154,  1.7534489 ,  4.67251435,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003034593527960344
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.14638991e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.14638991e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10870447, -0.0335824 ,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43475199e-05,-7.90448938e-07,-3.88069552e-05,-6.91319444e-07,
 -1.90092576e-05,-1.14724504e-04, 1.27874589e-05,-8.28182472e-06,
  1.57830139e-05, 3.43205745e-05, 2.91400261e-05, 2.28302961e-05,
 -5.15528186e-05,-5.67256122e-06, 1.04420914e-05,-1.20922754e-04,
 -2.01696715e-07, 6.43292177e-07,-1.21644120e+00,-4.59189019e-04,
  1.16745193e-05,-5.49429207e-04]


--- Step 1558 ---
qpos:
[ 6.22463246e-03,-1.77361378e-03,-4.99541274e-03, 3.35512054e-02,
  4.50476689e-03,-3.75384397e-03,-1.85268807e-02, 2.85807279e-02,
  1.29736132e-02, 3.30830276e-03,-1.00033722e-02, 2.58822261e-02,
  1.32694322e+00, 1.16130719e-04, 1.06961770e+00, 6.36619245e-02,
  9.36950098e-02,-7.02033313e-02, 1.30953916e-01, 4.94449120e-01,
  4.84641730e-01, 5.05143619e-01, 5.15240124e-01]

qacc:
[  1.60649061,  0.8319637 , -3.45288032,  4.45589346, -1.8672355 ,
   1.8550402 , -7.30446895, 11.70900662,  4.85293175,  2.04253388,
 -10.11262163, 22.02544987, -0.75883548,  1.22015733,  4.62045058,
 -15.95573058, -0.90996188, -1.84981309, -0.73569777,-15.57697591,
   0.95953965, 25.75346707]

qfrc_actuator:
[-2.56009137e-05,-1.30687667e-04,-1.11984954e-04, 2.91033895e-06,
 -5.09648097e-05,-4.69812487e-04,-2.44671050e-04,-6.52429769e-05,
 -1.07539861e-05,-1.11878544e-04,-3.47015435e-05,-7.75243994e-06,
  2.89543653e-03,-1.53362972e-03, 0.00000000e+00,-2.21642670e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54625386, -0.59339817,  4.50736095, -0.59339817, 43.07895494,
        5.07286517,  4.50736095,  5.07286517,  5.21410118,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003017522119588417
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83962699e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.83962699e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1087042 , -0.03358124,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.43963836e-06,-4.10492943e-05,-3.24168027e-05,-2.35897612e-06,
 -1.08864864e-05, 3.12067885e-06,-2.42616564e-05, 1.04396929e-05,
  2.84204620e-05,-3.64568367e-06,-1.36381710e-05, 3.32320475e-05,
 -4.35116934e-05, 1.46002224e-05,-1.44136964e-05,-8.11816790e-05,
  1.88060806e-07, 1.04032790e-06,-1.21644206e+00,-4.60256470e-04,
  1.17000656e-05,-5.50010908e-04]


--- Step 1559 ---
qpos:
[ 6.22419702e-03,-1.77385546e-03,-4.99605211e-03, 3.35511834e-02,
  4.50398255e-03,-3.75544888e-03,-1.85266160e-02, 2.85803930e-02,
  1.29732578e-02, 3.30740254e-03,-1.00022585e-02, 2.58820313e-02,
  1.32707791e+00, 1.16555904e-04, 1.06982401e+00, 6.36586031e-02,
  9.36975511e-02,-7.02219353e-02, 1.30949468e-01, 4.94365275e-01,
  4.84696619e-01, 5.05095434e-01, 5.15316179e-01]

qacc:
[-1.98033115e+00, 5.26791623e-01,-3.67494464e+00, 9.43122793e+00,
  1.98503890e+00, 2.42737215e+00,-9.76128859e+00, 1.81117948e+01,
 -7.76789811e-02, 1.25740536e+00,-4.10971694e+00, 4.55856956e+00,
  1.95265850e-01,-6.53585199e-01, 5.75610630e+00,-2.01795730e+01,
  4.44209068e-03, 1.13490990e+00, 9.59237976e-01, 2.78155166e+00,
 -1.08089926e-01,-1.58237388e+01]

qfrc_actuator:
[-3.74717247e-05,-1.32331839e-04,-1.10236710e-04, 2.02093198e-05,
 -3.88619620e-05,-4.12345792e-04,-2.45751052e-04,-3.82563017e-05,
 -1.19202355e-05,-9.38470309e-05,-5.02006486e-05,-7.63968697e-06,
  2.88273060e-03,-1.57077638e-03, 0.00000000e+00,-2.31290054e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.56056058,   1.23605478,   4.3898612 ,   1.23605478,
        46.52573907, -11.81615025,   4.3898612 , -11.81615025,
         7.88763821,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003060185761038503
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81397979e-13, -3.62795958e-13,  1.00000000e+00,  6.58104535e-26,
        1.00000000e+00,  3.62795958e-13, -1.00000000e+00,  0.00000000e+00,
        1.81397979e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09228231, -0.08834986,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16146966e-05,-3.13852213e-05,-1.07981144e-05, 1.43741204e-05,
  1.17934940e-05, 5.47147641e-05,-3.04276872e-06, 2.64897636e-05,
 -3.62944689e-07, 1.46316755e-05,-1.67875381e-05, 1.29734598e-07,
 -3.40385072e-05,-4.35140746e-05,-1.99370768e-05,-1.03823190e-04,
  7.06490296e-07, 1.56134526e-06,-1.21644405e+00,-4.61407461e-04,
  1.09331671e-05,-5.50829313e-04]


--- Step 1560 ---
qpos:
[ 6.22293272e-03,-1.77418718e-03,-4.99649417e-03, 3.35516749e-02,
  4.50369408e-03,-3.75651962e-03,-1.85264268e-02, 2.85800143e-02,
  1.29725459e-02, 3.30737634e-03,-1.00019653e-02, 2.58817841e-02,
  1.32721252e+00, 1.16294994e-04, 1.07003047e+00, 6.36517767e-02,
  9.37001682e-02,-7.02361173e-02, 1.30947951e-01, 4.94294959e-01,
  4.84738363e-01, 5.05064895e-01, 5.15374297e-01]

qacc:
[-7.28006769e+00, 4.01199111e-01,-3.74665868e+00, 1.23591233e+01,
  4.32821844e+00, 8.17903296e-01,-1.72152359e+00, 7.05916982e-01,
 -3.17780841e+00, 3.34644951e+00,-1.00236699e+01, 9.77229592e+00,
  2.28602592e-01,-8.25639631e-01, 1.07760426e+01,-3.74430986e+01,
  1.89437828e-02, 1.10551666e+00, 7.32954788e-01, 2.54857684e+00,
 -1.49668259e-02,-1.55164812e+01]

qfrc_actuator:
[-7.97900184e-05,-1.15322450e-04,-9.11375914e-05, 4.81604265e-05,
 -1.36711476e-05,-3.77507099e-04,-2.46326309e-04,-3.99678092e-05,
 -3.02261414e-05,-1.17764470e-05,-7.74852740e-05,-7.49507845e-06,
  2.87026271e-03,-1.61068542e-03, 0.00000000e+00,-2.49257791e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59236577,  0.74675441,  4.531245  ,  0.74675441, 15.03677908,
       -1.72125137,  4.531245  , -1.72125137,  4.87602998,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003152128233151197
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.3208017e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.3208017e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09228469, -0.08834803,  0.06199099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.26582214e-05,-2.14242159e-06, 1.17946889e-05, 2.65149434e-05,
  2.55458255e-05, 6.60018536e-05, 1.12839899e-05, 1.04682174e-06,
 -1.83121900e-05, 8.68093272e-05,-2.63279334e-05, 1.93201571e-07,
 -4.23968403e-05,-5.80685024e-05,-2.43234606e-05,-1.88859792e-04,
  5.10124684e-07, 1.09036102e-06,-1.21644261e+00,-4.60765013e-04,
  1.12421737e-05,-5.51182351e-04]


--- Step 1561 ---
qpos:
[ 6.22151581e-03,-1.77444606e-03,-4.99674028e-03, 3.35517852e-02,
  4.50370989e-03,-3.75695935e-03,-1.85268412e-02, 2.85792971e-02,
  1.29719651e-02, 3.30829393e-03,-1.00027113e-02, 2.58818912e-02,
  1.32734694e+00, 1.15317733e-04, 1.07023617e+00, 6.36478416e-02,
  9.37029068e-02,-7.02459746e-02, 1.30948605e-01, 4.94238015e-01,
  4.84766966e-01, 5.05051636e-01, 5.15414995e-01]

qacc:
[-1.33722310e+00,-1.23370879e+00, 6.15184758e+00,-1.31193350e+01,
  2.63307719e+00, 1.81797133e+00,-3.85154908e+00,-1.49865013e+00,
  1.10467576e+00, 4.87894511e+00,-1.70860255e+01, 2.41882579e+01,
  6.09368796e-01,-1.43301153e+00,-9.92098078e+00, 3.29205635e+01,
  3.03574334e-02, 1.08116063e+00, 5.42497593e-01, 2.36352677e+00,
  5.76822827e-02,-1.52577253e+01]

qfrc_actuator:
[-8.64253262e-05,-1.04930104e-04,-7.96196826e-05, 2.89210452e-05,
  1.26120614e-06,-3.56496102e-04,-2.82207128e-04,-5.85695751e-05,
 -2.29584126e-05, 3.69519630e-05,-1.28986321e-04, 1.04746577e-05,
  2.85261505e-03,-1.65186745e-03, 0.00000000e+00,-2.32926127e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61063437,  0.66525941,  4.56238745,  0.66525941, 21.52872828,
       -2.46689288,  4.56238745, -2.46689288,  4.97034159,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032032400544547424
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.29972661e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.29972661e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09228654, -0.08834717,  0.06199084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.84910934e-06, 1.27720554e-05, 1.34564230e-05,-1.84043938e-05,
  1.56846416e-05, 6.03410974e-05,-2.08115875e-05,-1.53606655e-05,
  6.77899724e-06, 9.18319955e-05,-3.68081670e-05, 2.07832576e-05,
 -5.59007842e-05,-6.47195075e-05,-3.59979565e-05, 1.48796217e-04,
  3.43445111e-07, 7.18268063e-07,-1.21644152e+00,-4.60196192e-04,
  1.14122200e-05,-5.51447343e-04]


--- Step 1562 ---
qpos:
[ 6.22072003e-03,-1.77475999e-03,-4.99678426e-03, 3.35516804e-02,
  4.50390507e-03,-3.75707835e-03,-1.85278735e-02, 2.85787498e-02,
  1.29721662e-02, 3.30914082e-03,-1.00025626e-02, 2.58822091e-02,
  1.32748101e+00, 1.14084378e-04, 1.07044166e+00, 6.36454847e-02,
  9.37058027e-02,-7.02515876e-02, 1.30950788e-01, 4.94194310e-01,
  4.84782449e-01, 5.05055356e-01, 5.15438695e-01]

qacc:
[  5.46883685, -1.09151876,  4.67596337, -8.66184394,  1.54498769,
   2.49595288, -9.00746835, 12.70394058,  6.91103798, -2.17320219,
   6.69931132, -4.40216003,  0.03334136, -0.34605865, -5.07351046,
  17.29183246,  0.03935101,  1.06105552,  0.38250235,  2.21674299,
   0.11423325,-15.04087951]

qfrc_actuator:
[-5.42429144e-05,-1.16387473e-04,-7.27280600e-05, 1.75619928e-05,
  1.00317249e-05,-3.61844844e-04,-3.20960352e-04,-5.14879919e-05,
  1.70611746e-05, 1.19978074e-05,-8.79544713e-05, 2.10010471e-05,
  2.84252338e-03,-1.65800332e-03, 0.00000000e+00,-2.24918461e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61721638,  0.55358513,  4.58390996,  0.55358513, 36.11543058,
       -3.80394539,  4.58390996, -3.80394539,  5.07660751,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003221367442869938
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72321699e-13,  1.72321699e-13,  1.00000000e+00, -2.96947681e-26,
        1.00000000e+00, -1.72321699e-13, -1.00000000e+00,  0.00000000e+00,
        1.72321699e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09228796, -0.0883471 ,  0.06199079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.19649777e-05,-2.31041188e-06, 1.05578878e-05,-1.07028828e-05,
  9.24111158e-06, 2.34647713e-05,-2.93737284e-05, 8.65133491e-06,
  4.02470132e-05, 1.96620362e-05, 5.61832438e-05, 1.35916456e-05,
 -5.67947099e-05,-3.47919647e-05,-1.58110379e-06, 8.33886997e-05,
  1.99913676e-07, 4.41571149e-07,-1.21644075e+00,-4.59684555e-04,
  1.14598767e-05,-5.51623523e-04]


--- Step 1563 ---
qpos:
[ 6.22031610e-03,-1.77506879e-03,-4.99703043e-03, 3.35514609e-02,
  4.50385923e-03,-3.75707862e-03,-1.85292929e-02, 2.85783022e-02,
  1.29725008e-02, 3.30959978e-03,-1.00011350e-02, 2.58826651e-02,
  1.32761464e+00, 1.13227203e-04, 1.07064739e+00, 6.36417485e-02,
  9.37088845e-02,-7.02530226e-02, 1.30953965e-01, 4.94163727e-01,
  4.84784833e-01, 5.05075805e-01, 5.15445737e-01]

qacc:
[  3.43895192,  0.32923571, -0.6918043 , -0.95981488, -2.12340037,
   1.44689212, -5.34558189,  7.59460767,  1.22127827, -3.80526643,
  12.23704322,-11.60224105, -0.72964073,  1.14357031,  4.57082998,
 -15.34704002,  0.04645018,  1.04454268,  0.24840392,  2.10055592,
   0.15812527,-14.86031347]

qfrc_actuator:
[-3.49878402e-05,-1.23103302e-04,-8.64494013e-05, 1.09176157e-05,
 -2.64428283e-06,-3.65198929e-04,-3.43428518e-04,-4.71220363e-05,
  2.27706349e-05,-2.10236536e-05,-2.84263548e-05, 2.70631917e-05,
  2.83698607e-03,-1.62553258e-03, 0.00000000e+00,-2.32541119e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61420643, -0.40299116, -4.59657471, -0.40299116, 36.27750306,
       -2.77598634, -4.59657471, -2.77598634,  4.85758286,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003213096332832649
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.72765288e-13,  8.63826438e-14,  1.00000000e+00,  1.49239223e-26,
        1.00000000e+00, -8.63826438e-14, -1.00000000e+00,  0.00000000e+00,
       -1.72765288e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09228905, -0.08834765,  0.06199082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.01641987e-05,-6.25978078e-06,-1.32645951e-05,-6.58653467e-06,
 -1.24030070e-05, 4.09177142e-06,-2.09260658e-05, 4.52696804e-06,
  6.85980905e-06,-9.85691625e-06, 7.09662803e-05, 9.10869466e-06,
 -4.53862041e-05, 1.07304933e-05, 4.61181441e-06,-7.26774911e-05,
  7.46829054e-08, 2.57227694e-07,-1.21644029e+00,-4.59217922e-04,
  1.13973818e-05,-5.51710548e-04]


--- Step 1564 ---
qpos:
[ 6.22049127e-03,-1.77520482e-03,-4.99782300e-03, 3.35515115e-02,
  4.50331704e-03,-3.75698299e-03,-1.85312588e-02, 2.85779248e-02,
  1.29725564e-02, 3.31031051e-03,-1.00000363e-02, 2.58835651e-02,
  1.32774805e+00, 1.12181365e-04, 1.07085302e+00, 6.36378027e-02,
  9.37121745e-02,-7.02503332e-02, 1.30957688e-01, 4.94146166e-01,
  4.84774143e-01, 5.05112778e-01, 5.15436396e-01]

qacc:
[  5.07193532,  2.30182939, -9.03233272, 14.46832618, -4.36265029,
   1.80572983, -6.53670792,  8.53837125, -2.46965744,  2.17070532,
  -9.12363537, 17.14046637, -0.0270047 , -0.16413145,  0.48564933,
  -1.91533095,  0.05206825,  1.03106887,  0.13630473,  2.00886899,
   0.19206081,-14.71119841]

qfrc_actuator:
[-5.75569882e-06,-1.09259717e-04,-1.12215062e-04, 2.48401675e-05,
 -2.78395735e-05,-3.67282507e-04,-3.73862082e-04,-4.43832691e-05,
  8.22978186e-06,-5.28208934e-06,-4.73057704e-05, 4.81879554e-05,
  2.82355196e-03,-1.64143824e-03, 0.00000000e+00,-2.33331984e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031839401403960244
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.30760509e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.30760509e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09228988, -0.08834869,  0.0619909 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.98053619e-05, 7.34369732e-06,-2.89137585e-05, 1.30681413e-05,
 -2.55475181e-05,-3.91045888e-06,-3.19913150e-05, 2.28285567e-06,
 -1.43496440e-05, 2.52480151e-05,-1.18822871e-05, 2.33296821e-05,
 -3.64592075e-05,-2.37528601e-05,-1.11818829e-05,-1.25477314e-05,
 -3.58343649e-08, 1.62634358e-07,-1.21644012e+00,-4.58787277e-04,
  1.12337304e-05,-5.51708333e-04]


--- Step 1565 ---
qpos:
[ 6.22101553e-03,-1.77515042e-03,-4.99871159e-03, 3.35520399e-02,
  4.50316697e-03,-3.75711621e-03,-1.85331811e-02, 2.85775844e-02,
  1.29731275e-02, 3.31107300e-03,-9.99908599e-03, 2.58847249e-02,
  1.32788127e+00, 1.10944628e-04, 1.07105855e+00, 6.36337680e-02,
  9.37156906e-02,-7.02435632e-02, 1.30961582e-01, 4.94141546e-01,
  4.84750402e-01, 5.05166106e-01, 5.15410890e-01]

qacc:
[ 3.06363120e+00, 1.49795195e+00,-7.00298459e+00, 1.52956671e+01,
  3.43704114e+00,-3.54749439e-01, 6.58266637e-01, 9.32354133e-02,
  4.53101554e+00, 1.00919001e+00,-4.61134397e+00, 9.32335699e+00,
 -2.33643048e-03,-1.93999426e-01, 1.12126840e-01,-6.23463144e-01,
  5.65299583e-02, 1.02016852e+00, 4.28702640e-02, 1.93683130e+00,
  2.18162847e-01,-1.45893822e+01]

qfrc_actuator:
[ 1.13660635e-05,-8.32501964e-05,-1.09276951e-04, 5.07640977e-05,
 -6.93679692e-06,-3.86381081e-04,-3.73255371e-04,-4.26312078e-05,
  3.51557012e-05,-1.40251422e-05,-5.88756158e-05, 6.02363580e-05,
  2.81602570e-03,-1.65045010e-03, 0.00000000e+00,-2.33636098e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000313850000570437
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.76871598e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.76871598e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0922905 , -0.08835013,  0.06199103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79736240e-05, 2.47275256e-05, 1.35540396e-06, 2.54932436e-05,
  2.01728026e-05,-2.77838248e-05,-4.03895367e-06, 5.28065871e-07,
  2.65301160e-05, 3.87568686e-06,-7.03339871e-06, 1.31678450e-05,
 -3.38061091e-05,-2.30905525e-05,-1.02826740e-05,-6.03247263e-06,
 -1.34285589e-07, 1.55594264e-07,-1.21644025e+00,-4.58385952e-04,
  1.09754842e-05,-5.51616932e-04]


--- Step 1566 ---
qpos:
[ 6.22105136e-03,-1.77507350e-03,-4.99918299e-03, 3.35521695e-02,
  4.50361327e-03,-3.75752978e-03,-1.85347549e-02, 2.85769079e-02,
  1.29740172e-02, 3.31129208e-03,-9.99769925e-03, 2.58857114e-02,
  1.32801410e+00, 1.10135720e-04, 1.07126349e+00, 6.36337243e-02,
  9.37194471e-02,-7.02327473e-02, 1.30965336e-01, 4.94149797e-01,
  4.84713631e-01, 5.05235654e-01, 5.15369390e-01]

qacc:
[-4.28229259e+00,-1.94906831e+00, 8.68989832e+00,-1.62881835e+01,
  5.23477236e+00,-2.04500761e+00, 8.15636131e+00,-1.43056038e+01,
  2.82684608e+00,-2.30019561e+00, 7.88162048e+00,-1.11682565e+01,
 -3.52179068e-01, 6.54851704e-01,-1.28813040e+01, 4.38810643e+01,
  6.00902605e-02, 1.01144933e+00,-3.47555029e-02, 1.88057944e+00,
  2.38098588e-01,-1.44912897e+01]

qfrc_actuator:
[-1.42853100e-05,-8.55331281e-05,-8.93484085e-05, 3.03151421e-05,
  2.31822559e-05,-3.97649626e-04,-3.54395969e-04,-5.92186406e-05,
  5.07735108e-05,-7.28649160e-05,-4.83559454e-05, 4.90929635e-05,
  2.80672409e-03,-1.61974272e-03, 0.00000000e+00,-2.12348687e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030806018323858986
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.2524475e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.2524475e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09229096, -0.08835185,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51321905e-05, 1.29291409e-05, 2.60926805e-05,-1.88464557e-05,
  3.06857667e-05,-2.75815986e-05, 1.26653953e-05,-1.79030651e-05,
  1.63762369e-05,-5.75912539e-05, 1.08864447e-05,-1.09718047e-05,
 -3.39252268e-05, 1.74065938e-05,-9.12916752e-06, 2.10364111e-04,
 -2.22617561e-07, 2.34274372e-07,-1.21644065e+00,-4.58009036e-04,
  1.06273733e-05,-5.51436473e-04]


--- Step 1567 ---
qpos:
[ 6.22077977e-03,-1.77503418e-03,-4.99961498e-03, 3.35517422e-02,
  4.50407220e-03,-3.75798266e-03,-1.85361894e-02, 2.85760211e-02,
  1.29743971e-02, 3.31154745e-03,-9.99608869e-03, 2.58858062e-02,
  1.32814659e+00, 1.09698113e-04, 1.07146836e+00, 6.36358602e-02,
  9.37234554e-02,-7.02179132e-02, 1.30968695e-01, 4.94170862e-01,
  4.84663844e-01, 5.05321314e-01, 5.15312029e-01]

qacc:
[ -2.70158361, -1.30135207,  6.92787964,-16.61054626,  0.1154737 ,
  -0.8731923 ,  3.92546618, -7.75624438, -4.48070606, -2.40425852,
  12.42218261,-28.25517031, -0.41313288,  0.72019673, -6.64852793,
  23.1915116 ,  0.06294917,  1.00458051, -0.09901971,  1.83703372,
   0.25317688,-14.41384062]

qfrc_actuator:
[-2.93974033e-05,-1.04699791e-04,-9.52056655e-05, 4.80533102e-07,
  2.29647125e-05,-3.86324481e-04,-3.42659885e-04,-6.86987576e-05,
  2.40918732e-05,-3.69198444e-05,-2.51080734e-05, 6.61106312e-06,
  2.79105653e-03,-1.60125142e-03, 0.00000000e+00,-2.01589211e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030134136187330574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.21067571e-14,  1.84213514e-13,  1.00000000e+00, -1.69673094e-26,
        1.00000000e+00, -1.84213514e-13, -1.00000000e+00,  0.00000000e+00,
        9.21067571e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09229129, -0.08835379,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.58222098e-05,-7.36080336e-06,-6.19615020e-07,-2.87429586e-05,
  6.49654565e-07,-2.20384590e-06, 7.00331822e-06,-1.05676292e-05,
 -2.62341620e-05, 5.50044964e-06, 1.22921715e-05,-4.47930763e-05,
 -3.02778949e-05, 1.47425964e-05, 1.62491717e-05, 1.17474545e-04,
 -3.02254698e-07, 3.97159076e-07,-1.21644132e+00,-4.57652921e-04,
  1.01927458e-05,-5.51167105e-04]


--- Step 1568 ---
qpos:
[ 6.22067386e-03,-1.77494775e-03,-5.00014188e-03, 3.35509597e-02,
  4.50452508e-03,-3.75837744e-03,-1.85369536e-02, 2.85746322e-02,
  1.29744546e-02, 3.31168917e-03,-9.99415555e-03, 2.58850576e-02,
  1.32827891e+00, 1.08991111e-04, 1.07167355e+00, 6.36369354e-02,
  9.37277248e-02,-7.01990819e-02, 1.30971446e-01, 4.94204698e-01,
  4.84601051e-01, 5.05422999e-01, 5.15238905e-01]

qacc:
[ 1.45278719e+00,-4.06637897e-01, 3.03472619e+00,-9.05931572e+00,
 -3.33047478e-02,-2.82788985e+00, 1.23155969e+01,-2.21194921e+01,
 -2.82562297e+00,-2.78234237e+00, 1.32733633e+01,-2.83124889e+01,
 -1.09471122e-03,-2.37757459e-01, 3.66588217e+00,-1.21555697e+01,
  6.52634863e-02, 9.99283060e-01,-1.52018742e-01, 1.80373708e+00,
  2.64424814e-01,-1.43543822e+01]

qfrc_actuator:
[-2.04189390e-05,-9.84403334e-05,-9.85708792e-05,-1.69151394e-05,
  2.26430318e-05,-3.61572027e-04,-2.99622682e-04,-9.16586355e-05,
  8.23684643e-06,-5.09819821e-05,-1.19378626e-05,-3.61336345e-05,
  2.77157963e-03,-1.62570965e-03, 0.00000000e+00,-2.07776580e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029395459548396674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.7210651e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -4.7210651e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09229151, -0.08835589,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.52765217e-06, 7.83495779e-07,-5.95003740e-06,-1.82894023e-05,
 -3.03733880e-07, 2.45492565e-05, 4.31031371e-05,-2.30114766e-05,
 -1.65945756e-05,-1.04029688e-05, 1.42499778e-05,-4.29586129e-05,
 -3.25928255e-05,-2.80506562e-05, 1.58258133e-05,-5.43269808e-05,
 -3.74232021e-07, 6.43003759e-07,-1.21644226e+00,-4.57314984e-04,
  9.67390400e-06,-5.50808970e-04]


--- Step 1569 ---
qpos:
[ 6.22102122e-03,-1.77485205e-03,-5.00074660e-03, 3.35506690e-02,
  4.50497075e-03,-3.75889884e-03,-1.85370955e-02, 2.85730057e-02,
  1.29743220e-02, 3.31097639e-03,-9.99203117e-03, 2.58845988e-02,
  1.32841110e+00, 1.07770804e-04, 1.07187945e+00, 6.36319249e-02,
  9.37283831e-02,-7.01880478e-02, 1.30972965e-01, 4.94226757e-01,
  4.84548324e-01, 5.05481694e-01, 5.15209754e-01]

qacc:
[ 3.98332194e+00, 1.23471756e+00,-6.47408152e+00, 1.51169939e+01,
 -4.15348576e-02,-2.39349108e+00, 9.29515823e+00,-1.43073134e+01,
 -1.65106464e+00,-1.06403655e+00, 9.37238386e-01, 4.39553983e+00,
 -1.23709360e-01,-2.16068463e-01, 1.94124093e+01,-6.64009191e+01,
 -9.02761484e-01,-1.94931051e+00,-3.07906367e-01,-1.68472624e+01,
  4.14822065e-01, 2.68596166e+01]

qfrc_actuator:
[ 2.66372968e-06,-9.47474920e-05,-1.00322297e-04, 8.67886132e-06,
  2.22725061e-05,-3.82102758e-04,-2.73896915e-04,-1.04577713e-04,
 -1.10570533e-06,-1.48170924e-04,-2.27551792e-05,-2.54697064e-05,
  2.75513839e-03,-1.65769278e-03, 0.00000000e+00,-2.39872577e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029136369254002814
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.52609276e-14, -2.85782783e-13,  1.00000000e+00,  2.72239330e-26,
        1.00000000e+00,  2.85782783e-13, -1.00000000e+00,  0.00000000e+00,
        9.52609276e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10868482, -0.03356931,  0.06199167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.33268262e-05, 2.12627600e-06,-2.94855268e-06, 2.50681420e-05,
 -3.71416551e-07, 1.14036815e-06, 3.53265265e-05,-1.08177117e-05,
 -9.81414103e-06,-1.01935460e-04,-1.27192702e-05, 9.87287779e-06,
 -4.13524289e-05,-4.63272589e-05,-4.08865979e-06,-3.23193544e-04,
 -4.39294345e-07, 9.70790569e-07,-1.21644347e+00,-4.56993336e-04,
  9.07235643e-06,-5.50362190e-04]


--- Step 1570 ---
qpos:
[ 6.22129748e-03,-1.77449161e-03,-5.00174712e-03, 3.35503308e-02,
  4.50540834e-03,-3.75925252e-03,-1.85370466e-02, 2.85719200e-02,
  1.29740780e-02, 3.31007057e-03,-9.99053995e-03, 2.58838990e-02,
  1.32854294e+00, 1.06699369e-04, 1.07208532e+00, 6.36231178e-02,
  9.37254424e-02,-7.01846676e-02, 1.30972622e-01, 4.94236909e-01,
  4.84505505e-01, 5.05498413e-01, 5.15223881e-01]

qacc:
[-6.42239571e-01, 1.35980021e+00,-4.13783645e+00, 3.75079624e+00,
 -6.73650411e-02, 8.00875272e-01,-4.81765724e+00, 1.37487163e+01,
 -9.98197654e-01, 1.02022201e+00,-2.98679918e+00,-3.41093200e-02,
 -6.19101779e-01, 8.63359366e-01, 1.14712449e+01,-4.00764361e+01,
 -8.99753241e-01,-1.91344392e+00,-4.65546021e-01,-1.64178852e+01,
  5.69360244e-01, 2.64364112e+01]

qfrc_actuator:
[-1.65021108e-06,-7.48230055e-05,-1.18837199e-04, 6.10379849e-06,
  2.18762439e-05,-3.58631411e-04,-2.58778054e-04,-7.60307649e-05,
 -6.54422368e-06,-1.34675952e-04,-4.79626894e-05,-3.68143206e-05,
  2.74584779e-03,-1.64058129e-03, 0.00000000e+00,-2.58564618e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52740882, -0.39757174, -4.50991877, -0.39757174, 31.77184164,
       -2.40173211, -4.50991877, -2.40173211,  4.73913343,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002960002778037568
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.87537497e-13,  9.37687485e-14,  1.00000000e+00, -1.75851564e-26,
        1.00000000e+00, -9.37687485e-14, -1.00000000e+00,  0.00000000e+00,
        1.87537497e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10868165, -0.03357107,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.65050965e-06, 2.15899478e-05,-1.75662011e-05,-2.09733006e-06,
 -4.07449691e-07, 3.09663610e-05, 1.93431484e-05, 2.96127751e-05,
 -5.75299031e-06,-4.57140038e-05,-4.75038976e-05,-1.59626921e-05,
 -4.42284550e-05,-3.31137445e-06,-4.34534878e-05,-2.06751278e-04,
 -4.09050194e-07, 4.11379286e-07,-1.21644121e+00,-4.57787459e-04,
  1.03456864e-05,-5.50363741e-04]


--- Step 1571 ---
qpos:
[ 6.22083046e-03,-1.77429071e-03,-5.00250375e-03, 3.35496296e-02,
  4.50583748e-03,-3.75913723e-03,-1.85366698e-02, 2.85711358e-02,
  1.29737702e-02, 3.30937330e-03,-9.98962181e-03, 2.58830120e-02,
  1.32867419e+00, 1.06609363e-04, 1.07229008e+00, 6.36191107e-02,
  9.37189144e-02,-7.01888223e-02, 1.30969886e-01, 4.94235056e-01,
  4.84472462e-01, 5.05473975e-01, 5.15280703e-01]

qacc:
[ -6.52547148, -1.62747159,  7.05132235,-13.63005924, -0.07139963,
   0.32342618, -1.52644825,  5.87327599, -0.58290348,  1.49299202,
  -4.13093338,  1.65090611, -0.83833019,  1.65986616,-16.05097301,
  53.95223622, -0.89682822, -1.88376227, -0.59826283,-16.0694706 ,
   0.6876962 , 26.08396395]

qfrc_actuator:
[-3.98116832e-05,-9.86765878e-05,-1.11555821e-04,-1.30301162e-05,
  2.14683091e-05,-3.09002496e-04,-2.32088132e-04,-5.87928068e-05,
 -9.64279664e-06,-9.05955569e-05,-6.33037894e-05,-4.31965717e-05,
  2.73554686e-03,-1.57671725e-03, 0.00000000e+00,-2.31919235e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53258445,  0.22237014,  4.52712639,  0.22237014, 17.92043421,
       -0.65760436,  4.52712639, -0.65760436,  4.56488564,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002975954218002175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.86532276e-13,  4.66330689e-14,  1.00000000e+00, -8.69857246e-27,
        1.00000000e+00, -4.66330689e-14, -1.00000000e+00,  0.00000000e+00,
        1.86532276e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10867961, -0.03357137,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.82569873e-05,-1.55014961e-05, 9.51309255e-06,-1.88550748e-05,
 -4.10781615e-07, 7.22242256e-05, 3.64995044e-05, 1.98137725e-05,
 -3.27687113e-06, 8.03437892e-06,-3.11927038e-05,-1.02951923e-05,
 -3.68739883e-05, 5.33373996e-05,-4.62265709e-05, 2.48630473e-04,
 -2.59933348e-07,-1.49139051e-09,-1.21644023e+00,-4.58585771e-04,
  1.07174789e-05,-5.50590394e-04]


--- Step 1572 ---
qpos:
[ 6.21990976e-03,-1.77436818e-03,-5.00283066e-03, 3.35490525e-02,
  4.50625882e-03,-3.75910395e-03,-1.85356938e-02, 2.85702709e-02,
  1.29730827e-02, 3.30867193e-03,-9.98919637e-03, 2.58827671e-02,
  1.32880493e+00, 1.07543704e-04, 1.07249482e+00, 6.36158866e-02,
  9.37088098e-02,-7.02004142e-02, 1.30964310e-01, 4.94221130e-01,
  4.84449083e-01, 5.05409039e-01, 5.15379728e-01]

qacc:
[ -3.97076373, -1.30565945,  3.6103345 , -1.95653333, -0.04812235,
  -1.94711481,  7.12612802, -9.41743527, -3.35574537,  2.69982825,
 -12.33409949, 24.22526656, -1.11191648,  2.11086429, -2.29425851,
   8.21450473, -0.89414069, -1.85927973, -0.70994794,-15.78810466,
   0.77723629, 25.79240909]

qfrc_actuator:
[-6.20757864e-05,-1.12973377e-04,-8.92780406e-05,-6.25947501e-06,
  2.10569546e-05,-3.50563174e-04,-2.16421724e-04,-6.60697943e-05,
 -2.90931829e-05,-9.94988000e-05,-9.02844860e-05,-1.10535364e-05,
  2.71934686e-03,-1.52119904e-03, 0.00000000e+00,-2.28486564e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52985262,  0.03570241,  4.52971192,  0.03570241, 25.93916981,
       -0.16874457,  4.52971192, -0.16874457,  4.53118264,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002967549463948199
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.87060576e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.87060576e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10867847, -0.03357051,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.33565829e-05,-2.18169735e-05, 1.96051123e-05, 6.07304951e-06,
 -4.00182830e-07, 7.20808657e-06, 3.57621852e-05,-2.53258976e-06,
 -1.95404346e-05,-1.12804600e-05,-2.95201625e-05, 3.12092446e-05,
 -2.43017242e-05, 5.99973792e-05, 5.35178537e-06, 4.20372513e-05,
  1.09435978e-08,-2.77301807e-07,-1.21644046e+00,-4.59416350e-04,
  1.02436818e-05,-5.51046503e-04]


--- Step 1573 ---
qpos:
[ 6.21907383e-03,-1.77448305e-03,-5.00296722e-03, 3.35485464e-02,
  4.50632720e-03,-3.75926324e-03,-1.85344189e-02, 2.85697073e-02,
  1.29718226e-02, 3.30775841e-03,-9.98899859e-03, 2.58825725e-02,
  1.32893548e+00, 1.08656601e-04, 1.07269958e+00, 6.36127640e-02,
  9.36951918e-02,-7.02191281e-02, 1.30955889e-01, 4.94195572e-01,
  4.84434833e-01, 5.05305251e-01, 5.15519381e-01]

qacc:
[ 7.52095789e-01,-4.36925401e-01, 1.18399345e+00,-2.29869341e-01,
 -3.07622011e+00,-4.63812047e-01, 2.27552760e-02, 4.84406973e+00,
 -5.04280399e+00, 4.69391646e-01,-2.27603595e+00, 3.64920007e+00,
 -2.82929204e-01, 4.56157119e-01,-2.52273675e-01, 9.82156616e-01,
 -8.78365872e-01,-1.78049635e+00,-7.11125563e-01,-1.52045259e+01,
  8.27097584e-01, 2.47549685e+01]

qfrc_actuator:
[-5.70411305e-05,-1.03600808e-04,-7.60384390e-05,-2.04079604e-06,
  2.89365149e-06,-3.75463683e-04,-2.07771743e-04,-5.22890525e-05,
 -5.80132916e-05,-1.22310365e-04,-1.06347466e-04,-9.80766225e-06,
  2.69962139e-03,-1.52438173e-03, 0.00000000e+00,-2.28120233e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52088352,  0.29508715,  4.51124277,  0.29508715, 37.51719009,
       -2.15833788,  4.51124277, -2.15833788,  4.66206363,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029397205470607933
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.29441292e-07,  5.29441859e-07,  1.00000000e+00,  2.80308382e-13,
        1.00000000e+00, -5.29441859e-07, -1.00000000e+00, -5.04870979e-29,
       -5.29441292e-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([ 0.10823177, -0.03506162,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.36260385e-06, 1.48499566e-06, 1.13656780e-05, 4.08365806e-06,
 -1.81735575e-05,-1.36023955e-05, 1.44465780e-05, 1.52774668e-05,
 -2.94811374e-05,-3.38680195e-05,-2.09454296e-05, 3.50253644e-07,
 -1.91156623e-05, 5.79115796e-06, 2.41735011e-06, 5.63084082e-06,
  4.05565717e-07,-4.22509522e-07,-1.21644186e+00,-4.60298605e-04,
  8.96621008e-06,-5.51734467e-04]


--- Step 1574 ---
qpos:
[ 6.21795951e-03,-1.77454575e-03,-5.00296040e-03, 3.35477410e-02,
  4.50583208e-03,-3.75902558e-03,-1.85338697e-02, 2.85699994e-02,
  1.29702252e-02, 3.30693232e-03,-9.98911934e-03, 2.58820170e-02,
  1.32906616e+00, 1.08739030e-04, 1.07290405e+00, 6.36117127e-02,
  9.36815218e-02,-7.02332913e-02, 1.30951170e-01, 4.94183542e-01,
  4.84407855e-01, 5.05219497e-01, 5.15640297e-01]

qacc:
[-2.44450445e+00,-9.43375994e-01, 4.73526901e+00,-1.01911369e+01,
 -4.96049736e+00, 4.32046649e+00,-1.82413101e+01, 3.38993621e+01,
 -2.97979646e+00, 2.68433031e-01, 7.45018711e-01,-6.55955451e+00,
  1.01382607e+00,-2.10970870e+00,-6.77373709e+00, 2.28575193e+01,
 -1.29875660e-02, 1.13766302e+00, 9.25384122e-01, 2.95994844e+00,
 -2.18829728e-01,-1.57010056e+01]

qfrc_actuator:
[-7.14894622e-05,-9.79088840e-05,-6.81542717e-05,-1.71023506e-05,
 -2.55725312e-05,-3.36966838e-04,-2.38776358e-04,-8.47064587e-06,
 -7.45177251e-05,-9.99993490e-05,-1.15927772e-04,-2.67651808e-05,
  2.68309709e-03,-1.59785416e-03, 0.00000000e+00,-2.17130046e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.56388093,   1.23684977,   4.39308681,   1.23684977,
        40.53255109, -10.12678405,   4.39308681, -10.12678405,
         7.41502206,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00030699680895861226
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.04099808e-14, -1.80819962e-13,  1.00000000e+00,  1.63479293e-26,
        1.00000000e+00,  1.80819962e-13, -1.00000000e+00,  0.00000000e+00,
        9.04099808e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09230357, -0.08835586,  0.06199122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43237965e-05, 9.05613960e-06, 9.73681240e-06,-1.45235244e-05,
 -2.89913089e-05, 3.45148735e-05,-3.15171411e-05, 4.40321862e-05,
 -1.73557199e-05,-9.22799019e-07,-1.91352577e-05,-1.91238140e-05,
 -2.59767843e-05,-7.64111816e-05,-2.60072653e-06, 1.09531291e-04,
  9.06697091e-07,-4.45827496e-07,-1.21644429e+00,-4.61205322e-04,
  6.98994359e-06,-5.52636913e-04]


--- Step 1575 ---
qpos:
[ 6.21668071e-03,-1.77447096e-03,-5.00317356e-03, 3.35467757e-02,
  4.50499944e-03,-3.75843992e-03,-1.85337450e-02, 2.85711446e-02,
  1.29687872e-02, 3.30620040e-03,-9.98998157e-03, 2.58816363e-02,
  1.32919677e+00, 1.07993504e-04, 1.07310825e+00, 6.36136408e-02,
  9.36678667e-02,-7.02430241e-02, 1.30949269e-01, 4.94184911e-01,
  4.84368022e-01, 5.05151336e-01, 5.15743173e-01]

qacc:
[-1.45556144e+00, 4.70453391e-01,-7.34035111e-01,-1.78693796e+00,
 -2.97259914e+00, 3.40502704e+00,-1.50667361e+01, 3.02420283e+01,
  1.37702842e+00, 2.55389081e+00,-9.66828517e+00, 1.38147950e+01,
  7.72662888e-01,-1.69248320e+00,-9.47233035e+00, 3.23785457e+01,
  3.74112412e-03, 1.10762758e+00, 7.04356905e-01, 2.67216862e+00,
 -9.32663831e-02,-1.54199745e+01]

qfrc_actuator:
[-7.95456926e-05,-9.44999429e-05,-8.12651579e-05,-2.56375154e-05,
 -4.21160990e-05,-3.14201961e-04,-2.57163326e-04, 3.49427686e-05,
 -6.58264348e-05,-1.04087394e-04,-1.56941798e-04,-1.87482371e-05,
  2.67379723e-03,-1.64135231e-03, 0.00000000e+00,-2.01741847e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.593664  ,  0.89348076,  4.50593399,  0.89348076, 17.16432191,
       -2.49263329,  4.50593399, -2.49263329,  5.08792777,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003155800040918616
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.79509958e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.79509958e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09230641, -0.08835435,  0.06199098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.45976802e-06, 9.86465237e-06,-1.05393060e-05,-8.09013923e-06,
 -1.73602726e-05, 3.74166987e-05,-1.36253352e-05, 4.46577567e-05,
  8.19660460e-06,-9.35481132e-06,-4.42118936e-05, 6.94688116e-06,
 -4.18264176e-05,-6.81554084e-05, 7.89060081e-06, 1.58917534e-04,
  5.26549131e-07,-5.93149937e-07,-1.21644305e+00,-4.60049470e-04,
  8.36884357e-06,-5.52782878e-04]


--- Step 1576 ---
qpos:
[ 6.21600524e-03,-1.77440236e-03,-5.00376775e-03, 3.35457459e-02,
  4.50466478e-03,-3.75785409e-03,-1.85336617e-02, 2.85721287e-02,
  1.29678093e-02, 3.30519982e-03,-9.99041194e-03, 2.58820106e-02,
  1.32932707e+00, 1.07212515e-04, 1.07331264e+00, 6.36157183e-02,
  9.36542785e-02,-7.02484254e-02, 1.30949441e-01, 4.94199560e-01,
  4.84315250e-01, 5.05100401e-01, 5.15828574e-01]

qacc:
[ 5.29305492e+00, 9.13567911e-01,-3.01418179e+00, 2.52861061e+00,
  4.35670351e+00,-2.23542666e-01, 1.46292772e+00,-4.16850308e+00,
  4.06851437e+00,-1.59473443e-02,-3.65968838e+00, 1.62478173e+01,
 -2.22328446e-01, 1.80274685e-01,-1.49544444e-01, 9.74402578e-01,
  1.66874829e-02, 1.08284564e+00, 5.18349524e-01, 2.44147160e+00,
  6.78904988e-03,-1.51830238e+01]

qfrc_actuator:
[-4.82639685e-05,-1.10319627e-04,-1.06667063e-04,-3.02766214e-05,
 -1.60014075e-05,-3.36491361e-04,-2.67990744e-04, 2.45156001e-05,
 -4.23793872e-05,-1.06303956e-04,-1.27502541e-04, 2.16145533e-05,
  2.66884417e-03,-1.63115096e-03, 0.00000000e+00,-2.01641125e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61018432,  0.82744239,  4.53532121,  0.82744239, 25.32028075,
       -3.77843396,  4.53532121, -3.77843396,  5.29953713,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032019950939222996
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.66821304e-14,  8.66821304e-14,  1.00000000e+00,  7.51379172e-27,
        1.00000000e+00, -8.66821304e-14, -1.00000000e+00,  0.00000000e+00,
       -8.66821304e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09230861, -0.08835375,  0.06199085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.10455698e-05,-1.28239798e-05,-2.49367841e-05,-4.73543629e-06,
  2.56305122e-05,-2.29799700e-06,-3.24228811e-06,-8.42943900e-06,
  2.36748634e-05,-1.62469314e-05, 2.23192965e-05, 3.85711008e-05,
 -4.40734441e-05,-1.63116132e-05, 1.76550223e-05, 1.00179242e-05,
  1.75377772e-07,-6.55736688e-07,-1.21644216e+00,-4.58975399e-04,
  9.58792490e-06,-5.52854970e-04]


--- Step 1577 ---
qpos:
[ 6.21570980e-03,-1.77428292e-03,-5.00470379e-03, 3.35446588e-02,
  4.50499093e-03,-3.75784086e-03,-1.85334225e-02, 2.85730415e-02,
  1.29674647e-02, 3.30425268e-03,-9.99003508e-03, 2.58824514e-02,
  1.32945699e+00, 1.06752538e-04, 1.07351705e+00, 6.36181475e-02,
  9.36407968e-02,-7.02495768e-02, 1.30951061e-01, 4.94227390e-01,
  4.84249474e-01, 5.05066388e-01, 5.15896964e-01]

qacc:
[  3.3299426 ,  0.89840657, -2.87518399,  2.40512317,  5.7979284 ,
  -1.34997121,  3.99702621, -5.03724599,  5.59705146, -2.05921027,
   7.14447968, -7.30052575, -0.50641024,  0.81172894, -1.00163667,
   3.62857925,  0.02666741,  1.06247849,  0.36211687,  2.256184  ,
   0.08681397,-14.98444623]

qfrc_actuator:
[-2.95867395e-05,-1.02082531e-04,-1.21441914e-04,-3.26093920e-05,
  1.72551215e-05,-4.03357340e-04,-2.74495576e-04, 1.79622889e-05,
 -1.04435077e-05,-7.15671992e-05,-7.44206824e-05, 2.74769604e-05,
  2.66119903e-03,-1.60694384e-03, 0.00000000e+00,-1.99897495e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61533608,  0.7363925 ,  4.55621041,  0.7363925 , 45.45845733,
       -6.60122456,  4.55621041, -6.60122456,  5.68225175,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032162041845536227
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.62991714e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.62991714e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09231032, -0.08835388,  0.06199081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.95572584e-05,-4.26841240e-06,-2.06511372e-05,-3.83494619e-06,
  3.39883892e-05,-6.91974913e-05,-7.68164276e-06,-6.93280132e-06,
  3.25967664e-05, 3.19602622e-05, 5.38234924e-05, 6.69026482e-06,
 -3.59627658e-05, 9.90325878e-06, 3.93774417e-06, 1.90380016e-05,
 -1.53506692e-07,-6.34016549e-07,-1.21644160e+00,-4.57963377e-04,
  1.06684781e-05,-5.52849252e-04]


--- Step 1578 ---
qpos:
[ 6.21564097e-03,-1.77439040e-03,-5.00547791e-03, 3.35442435e-02,
  4.50536858e-03,-3.75846386e-03,-1.85332017e-02, 2.85742354e-02,
  1.29675055e-02, 3.30372224e-03,-9.98969827e-03, 2.58826251e-02,
  1.32958659e+00, 1.06795429e-04, 1.07372126e+00, 6.36221038e-02,
  9.36274525e-02,-7.02465449e-02, 1.30953606e-01, 4.94268312e-01,
  4.84170651e-01, 5.05049045e-01, 5.15948717e-01]

qacc:
[  2.00190337,  0.62679821, -5.51269749, 17.05409378,  0.46109644,
  -0.21215944, -1.65202906,  7.01553487,  3.38290278,  0.10620992,
   1.53682858, -6.39024062, -0.52410041,  0.97680874, -4.83894916,
  16.636863  ,  0.03432271,  1.04582699,  0.23119318,  2.10705454,
   0.15111356,-14.81931368]

qfrc_actuator:
[-1.84902475e-05,-1.14971182e-04,-1.11974666e-04, 1.96538762e-06,
  1.89294532e-05,-4.43138651e-04,-2.78587740e-04, 3.14605839e-05,
  8.47592453e-06,-5.03783505e-05,-7.87119196e-05, 1.30254938e-05,
  2.65728040e-03,-1.57467555e-03, 0.00000000e+00,-1.91868541e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61121574, -0.61221157, -4.57039469, -0.61221157, 31.21428853,
       -3.5635235 , -4.57039469, -3.5635235 ,  5.08855533,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003204847234516556
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.73209976e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.73209976e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09231164, -0.08835459,  0.06199084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16528523e-05,-1.96888998e-05, 5.92084392e-06, 3.36062096e-05,
  2.62171891e-06,-8.03535845e-05,-1.95775951e-05, 1.01280728e-05,
  1.98516843e-05, 5.05050629e-05, 9.17562520e-06,-1.10904137e-05,
 -2.16848965e-05, 2.63457819e-05,-6.70978809e-07, 8.07938224e-05,
 -4.65105948e-07,-5.28612421e-07,-1.21644135e+00,-4.56998586e-04,
  1.16266582e-05,-5.52762940e-04]


--- Step 1579 ---
qpos:
[ 6.21570587e-03,-1.77483284e-03,-5.00552485e-03, 3.35445654e-02,
  4.50610815e-03,-3.75916562e-03,-1.85332785e-02, 2.85755290e-02,
  1.29674281e-02, 3.30343723e-03,-9.98963339e-03, 2.58830084e-02,
  1.32971593e+00, 1.07236061e-04, 1.07392539e+00, 6.36273127e-02,
  9.36142688e-02,-7.02393838e-02, 1.30956638e-01, 4.94322250e-01,
  4.84078745e-01, 5.05048165e-01, 5.15984140e-01]

qacc:
[  1.20505401, -0.96002734, -0.33540621, 12.18110995,  3.15954393,
   0.92580478, -3.8839714 ,  6.15430997, -1.05179741,  1.51786792,
  -5.82287106,  9.7006285 , -0.42162175,  0.77937598, -3.88025843,
  13.46378135,  0.04015785,  1.03230679,  0.1217648 ,  1.98674594,
   0.20307088,-14.68335671]

qfrc_actuator:
[-1.19407785e-05,-1.22525231e-04,-7.05765642e-05, 4.02258915e-05,
  3.75047322e-05,-4.13118608e-04,-2.81120335e-04, 3.89133874e-05,
  1.82740092e-06,-5.54555227e-05,-9.91499886e-05, 2.21980318e-05,
  2.64495507e-03,-1.55563345e-03, 0.00000000e+00,-1.85525779e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59988023, -0.45295133, -4.57752479, -0.45295133, 44.72331286,
       -3.97025966, -4.57752479, -3.97025966,  4.99274197,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031732966168862564
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.06131214e-13,  1.74932122e-13,  1.00000000e+00,  5.35521831e-26,
        1.00000000e+00, -1.74932122e-13, -1.00000000e+00,  0.00000000e+00,
       -3.06131214e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09231265, -0.08835575,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.87349358e-06,-1.58829664e-05, 3.92339020e-05, 3.82781534e-05,
  1.86224997e-05,-1.85049110e-05,-2.11890722e-05, 3.52704500e-06,
 -6.06811737e-06, 2.46075583e-05,-9.25802297e-06, 1.14377732e-05,
 -1.82050149e-05, 2.04604581e-05, 4.70055372e-06, 6.69175072e-05,
 -7.63167287e-07,-3.40201015e-07,-1.21644140e+00,-4.56069834e-04,
  1.24747566e-05,-5.52594045e-04]


--- Step 1580 ---
qpos:
[ 6.21619357e-03,-1.77523534e-03,-5.00513244e-03, 3.35442785e-02,
  4.50706463e-03,-3.76004967e-03,-1.85331338e-02, 2.85772234e-02,
  1.29672719e-02, 3.30343252e-03,-9.98980865e-03, 2.58831470e-02,
  1.32984515e+00, 1.07669093e-04, 1.07412961e+00, 6.36322324e-02,
  9.36012634e-02,-7.02281370e-02, 1.30959793e-01, 4.94389143e-01,
  4.83973727e-01, 5.05063580e-01, 5.16003476e-01]

qacc:
[  3.73049661, -2.43623448, 11.31997335,-22.572545  ,  1.90868671,
  -0.03879983, -1.91049716,  8.63545333, -0.70723091,  0.53923998,
  -0.3495286 , -3.71083658, -0.11558334,  0.11519938,  1.02969198,
  -3.36725037,  0.0445691 ,  1.02142852,  0.03056864,  1.88943488,
   0.24534365,-14.5728697 ]

qfrc_actuator:
[ 9.63533354e-06,-1.08927074e-04,-4.61552252e-05, 9.35326845e-06,
  4.81369164e-05,-4.12531254e-04,-2.64678026e-04, 6.05604449e-05,
 -2.05994051e-06,-4.07824437e-05,-1.11275621e-04, 9.66982726e-06,
  2.63291787e-03,-1.56237573e-03, 0.00000000e+00,-1.87329416e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003126033775496667
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.878847e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
       -8.878847e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09231342, -0.08835728,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.17642090e-05, 1.44789362e-05, 2.73017928e-05,-2.94506925e-05,
  1.11584179e-05,-1.39560359e-05, 1.01374781e-05, 2.01875690e-05,
 -4.05201334e-06, 2.70178990e-05,-7.78529881e-06,-1.15715301e-05,
 -1.73457073e-05,-5.95894362e-06, 5.34922701e-06,-1.47016670e-05,
 -1.05050671e-06,-6.94312115e-08,-1.21644175e+00,-4.55168614e-04,
  1.32221480e-05,-5.52341133e-04]


--- Step 1581 ---
qpos:
[ 6.21659123e-03,-1.77557351e-03,-5.00468439e-03, 3.35429570e-02,
  4.50745177e-03,-3.76154302e-03,-1.85322840e-02, 2.85788399e-02,
  1.29670700e-02, 3.30394914e-03,-9.99026509e-03, 2.58831060e-02,
  1.32997430e+00, 1.08011383e-04, 1.07433424e+00, 6.36335520e-02,
  9.35884495e-02,-7.02128390e-02, 1.30962767e-01, 4.94468940e-01,
  4.83855569e-01, 5.05095150e-01, 5.16006923e-01]

qacc:
[ -0.79175425, -2.19904761, 12.33355621,-30.37465385, -4.95031329,
  -2.92428311,  9.60456758,-11.64833474, -0.41953574,  1.10588333,
  -2.18340626, -0.86159876, -0.21597254,  0.22921976, 11.4758505 ,
 -39.25158624,  0.04786753,  1.01278179, -0.04519016,  1.81049674,
   0.28001908,-14.48463458]

qfrc_actuator:
[ 4.37960474e-06,-1.18383776e-04,-4.96756387e-05,-4.41954866e-05,
  1.84982198e-05,-4.64973737e-04,-2.37250778e-04, 5.48777662e-05,
 -4.28248069e-06, 3.36037626e-06,-1.18336810e-04, 2.24427677e-06,
  2.63170234e-03,-1.56658974e-03, 0.00000000e+00,-2.06343671e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030667831873970597
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.07267429e-13,  9.05038730e-14,  1.00000000e+00, -3.68592796e-26,
        1.00000000e+00, -9.05038730e-14, -1.00000000e+00,  0.00000000e+00,
        4.07267429e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.092314  , -0.08835908,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.63080830e-06, 3.03429372e-06, 1.81346199e-06,-5.25572154e-05,
 -2.93260577e-05,-5.72570573e-05, 2.64962958e-05,-5.53972035e-06,
 -2.32759980e-06, 5.71473365e-05,-2.83780199e-06,-6.76206619e-06,
 -1.24731554e-05,-9.58089683e-06,-3.70266805e-06,-1.91344472e-04,
 -1.32924939e-06, 2.83119230e-07,-1.21644237e+00,-4.54288409e-04,
  1.38759976e-05,-5.52003150e-04]


--- Step 1582 ---
qpos:
[ 6.21657819e-03,-1.77596701e-03,-5.00428517e-03, 3.35420633e-02,
  4.50782537e-03,-3.76314817e-03,-1.85315055e-02, 2.85796754e-02,
  1.29668432e-02, 3.30471023e-03,-9.99044240e-03, 2.58829725e-02,
  1.33010332e+00, 1.08333554e-04, 1.07453871e+00, 6.36335890e-02,
  9.35758367e-02,-7.01935170e-02, 1.30965309e-01, 4.94561600e-01,
  4.83724245e-01, 5.05142767e-01, 5.15994636e-01]

qacc:
[ -3.61158673,  0.95134182, -5.29186186, 12.8010212 , -0.11929172,
  -1.55465586,  8.62793382,-21.95002466, -0.21487779, -0.64687039,
   3.16627036, -5.39293205, -0.16215994,  0.16952919,  3.64620625,
 -13.07507333,  0.05029718,  1.00602212, -0.10790614,  1.74625663,
   0.30873569,-14.41585766]

qfrc_actuator:
[-1.66314996e-05,-1.23961129e-04,-5.20004854e-05,-2.19175161e-05,
  1.86543891e-05,-4.59971054e-04,-2.39309939e-04, 1.53630470e-05,
 -5.50786929e-06, 1.15739828e-05,-1.04469608e-04,-2.08687308e-06,
  2.62100066e-03,-1.56920062e-03, 0.00000000e+00,-2.12263214e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002998627065643744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.38841418e-13, -5.55365673e-13,  1.00000000e+00,  7.71077576e-26,
        1.00000000e+00,  5.55365673e-13, -1.00000000e+00,  0.00000000e+00,
        1.38841418e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09231443, -0.08836108,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.11387257e-05,-5.75102287e-06,-3.29171537e-06, 2.14506564e-05,
 -7.02400265e-07,-2.17493670e-05,-1.08084483e-05,-4.11604527e-05,
 -1.27001273e-06, 3.92800200e-05, 2.50875050e-05,-2.11191569e-06,
 -2.06244607e-05,-7.44485102e-06,-2.78508449e-05,-7.14774575e-05,
 -1.60100852e-06, 7.16962283e-07,-1.21644327e+00,-4.53424173e-04,
  1.44417915e-05,-5.51579305e-04]


--- Step 1583 ---
qpos:
[ 6.21665848e-03,-1.77649953e-03,-5.00414959e-03, 3.35414693e-02,
  4.50888750e-03,-3.76479937e-03,-1.85313484e-02, 2.85797155e-02,
  1.29669489e-02, 3.30514138e-03,-9.98986696e-03, 2.58824843e-02,
  1.33023212e+00, 1.08671555e-04, 1.07474341e+00, 6.36295223e-02,
  9.35634322e-02,-7.01701915e-02, 1.30967212e-01, 4.94667092e-01,
  4.83579726e-01, 5.05206340e-01, 5.15966734e-01]

qacc:
[ 8.14920790e-01, 1.16868096e+00,-5.70105550e+00, 1.14130619e+01,
  6.00666589e+00, 2.73312570e-02, 3.15238853e+00,-1.58680109e+01,
  2.95507701e+00,-3.27584006e+00, 1.25353787e+01,-1.96245282e+01,
 -4.42906999e-01, 5.68914293e-01, 1.27683866e+01,-4.40888145e+01,
  5.20494174e-02, 1.00086024e+00,-1.59630349e-01, 1.69379280e+00,
  3.32779247e-01,-1.43641161e+01]

qfrc_actuator:
[-1.12338949e-05,-1.44869569e-04,-7.12784175e-05,-8.44998558e-06,
  5.41120380e-05,-4.74012930e-04,-2.76319375e-04,-2.59639512e-05,
  1.16152175e-05,-3.72068623e-05,-7.84932114e-05,-2.23293461e-05,
  2.60461674e-03,-1.57088395e-03, 0.00000000e+00,-2.33492095e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002924103602034295
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.79679784e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.79679784e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09231475, -0.08836322,  0.06199164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.79481958e-06,-2.38809800e-05,-2.01263424e-05, 1.35275512e-05,
  3.54321438e-05,-3.01534246e-05,-4.42495785e-05,-4.34340999e-05,
  1.71019939e-05,-2.17499349e-05, 3.71004954e-05,-1.77331974e-05,
 -3.03397425e-05,-7.91312181e-06,-2.38383359e-05,-2.20571116e-04,
 -1.86701812e-06, 1.23170279e-06,-1.21644444e+00,-4.52571955e-04,
  1.49237349e-05,-5.51068983e-04]


--- Step 1584 ---
qpos:
[ 6.21714763e-03,-1.77713042e-03,-5.00451989e-03, 3.35407083e-02,
  4.51036633e-03,-3.76652717e-03,-1.85314142e-02, 2.85795819e-02,
  1.29669140e-02, 3.30536032e-03,-9.98897467e-03, 2.58821186e-02,
  1.33036067e+00, 1.09020933e-04, 1.07494761e+00, 6.36259299e-02,
  9.35544088e-02,-7.01549958e-02, 1.30968878e-01, 4.94735230e-01,
  4.83478124e-01, 5.05247525e-01, 5.15956291e-01]

qacc:
[ 3.58077389e+00, 9.33092050e-01,-2.82226681e+00, 8.24842854e-01,
  3.64092141e+00, 1.57168713e-01, 1.42079762e-02,-2.59569381e+00,
 -1.22333871e+00,-9.11420930e-01, 2.32967790e+00,-5.64233338e-01,
 -1.47000687e-01, 1.28415765e-01,-2.17501703e+00, 6.53643305e+00,
  8.45292493e-01,-2.03243742e+00,-5.95217574e-02, 9.46137175e+00,
 -2.95227582e+00, 3.02095924e+01]

qfrc_actuator:
[ 9.66918466e-06,-1.57118220e-04,-1.00493850e-04,-1.80643226e-05,
  7.45486504e-05,-4.63997307e-04,-2.80462481e-04,-3.25464136e-05,
  3.89467567e-06,-4.86972352e-05,-6.35892054e-05,-1.63140363e-05,
  2.59016136e-03,-1.57203864e-03, 0.00000000e+00,-2.29843170e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55547426,  0.90255902, -4.46516886,  0.90255902, 47.25532464,
        8.63105884, -4.46516886,  8.63105884,  6.30009809,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003045114345200245
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82295786e-13, -1.36721839e-13,  1.00000000e+00,  2.49238151e-26,
        1.00000000e+00,  1.36721839e-13, -1.00000000e+00,  0.00000000e+00,
        1.82295786e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08099437, -0.03190649,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10329866e-05,-2.91603536e-05,-3.61535300e-05,-1.10687495e-05,
  2.14418661e-05,-1.77768850e-05,-1.73090003e-05,-1.02493035e-05,
 -7.24116247e-06,-1.67643535e-05, 1.43561538e-05, 6.01998158e-06,
 -3.41886089e-05,-9.65562414e-06,-3.96529944e-05, 2.01820247e-05,
 -2.12823164e-06, 1.82703227e-06,-1.21644588e+00,-4.51728613e-04,
  1.53250527e-05,-5.50471687e-04]


--- Step 1585 ---
qpos:
[ 6.21753849e-03,-1.77779382e-03,-5.00480608e-03, 3.35408245e-02,
  4.51138859e-03,-3.76768257e-03,-1.85319132e-02, 2.85799908e-02,
  1.29664417e-02, 3.30580416e-03,-9.98838039e-03, 2.58821593e-02,
  1.33048895e+00, 1.09376990e-04, 1.07515097e+00, 6.36274195e-02,
  9.35486332e-02,-7.01477766e-02, 1.30969499e-01, 4.94766456e-01,
  4.83418481e-01, 5.05267237e-01, 5.15962930e-01]

qacc:
[ -0.86059188,  1.52966297, -9.21592677, 24.2806896 , -4.01867807,
   3.0892098 ,-12.19495272, 21.8391507 , -3.86135958,  1.97439604,
  -8.31183054, 15.64363827,  0.13897517, -0.29300055,-16.57573209,
  56.18453288,  0.81194213, -1.99413742, -0.2610982 ,  9.4471438 ,
  -2.68186513, 29.53816808]

qfrc_actuator:
[ 4.01741990e-06,-1.28650768e-04,-8.20662086e-05, 2.98295971e-05,
  5.04638116e-05,-3.86240340e-04,-2.82788226e-04,-8.32926861e-07,
 -1.83919744e-05,-2.00464447e-05,-7.29464562e-05, 5.12059113e-06,
  2.57687392e-03,-1.57287804e-03, 0.00000000e+00,-2.02684888e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58398822,  1.77863692, -4.22485488,  1.77863692, 13.16411903,
        3.61218027, -4.22485488,  3.61218027,  6.10469305,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003128284395203379
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.87245919e-14,  1.33086888e-13,  1.00000000e+00, -1.18080798e-26,
        1.00000000e+00, -1.33086888e-13, -1.00000000e+00,  0.00000000e+00,
        8.87245919e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0809929 , -0.0319117 ,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.05947442e-06, 4.25307130e-06, 7.58036781e-06, 4.51810048e-05,
 -2.34773915e-05, 6.38730828e-05,-8.46392511e-06, 3.01566967e-05,
 -2.24975187e-05, 2.24793209e-05,-1.08555009e-05, 2.13287300e-05,
 -3.52120619e-05,-1.08566625e-05,-1.81065534e-05, 2.67134784e-04,
 -1.14290364e-06, 7.23094655e-07,-1.21644262e+00,-4.53115871e-04,
  1.33861661e-05,-5.49872849e-04]


--- Step 1586 ---
qpos:
[ 6.21716906e-03,-1.77876900e-03,-5.00453330e-03, 3.35425515e-02,
  4.51142475e-03,-3.76845337e-03,-1.85327401e-02, 2.85814829e-02,
  1.29663960e-02, 3.30654870e-03,-9.98826392e-03, 2.58828043e-02,
  1.33061704e+00, 1.09458349e-04, 1.07535426e+00, 6.36314281e-02,
  9.35459972e-02,-7.01484054e-02, 1.30968397e-01, 4.94761154e-01,
  4.83399995e-01, 5.05266214e-01, 5.15986335e-01]

qacc:
[ -6.66118025,  1.35513935,-12.20703805, 39.39478387, -8.64614847,
   3.6680724 ,-16.88698017, 35.84253399,  3.73274931,  2.96929909,
 -12.57445385, 23.58795753,  0.22491741, -0.57305909, -7.74688257,
  26.87484931,  0.78491396, -1.96199155, -0.43081323,  9.42593586,
  -2.46662889, 28.98097176]

qfrc_actuator:
[-3.49762663e-05,-1.46790697e-04,-5.31929701e-05, 1.11251108e-04,
  3.72676907e-07,-3.74972697e-04,-3.01476802e-04, 5.32113834e-05,
  4.19257615e-06,-3.16844479e-06,-9.63723404e-05, 3.54738000e-05,
  2.56429805e-03,-1.59128073e-03, 0.00000000e+00,-1.90304948e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59929952,  1.91509936, -4.18162056,  1.91509936, 18.22501362,
        6.24030706, -4.18162056,  6.24030706,  7.4572365 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003171668028716379
  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([ 0.08099134, -0.0319146 ,  0.06199094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.91358736e-05,-1.22355705e-05, 3.22592954e-05, 8.27473724e-05,
 -5.07404337e-05, 4.65681510e-05,-5.47512011e-06, 5.70794144e-05,
  2.19548094e-05, 2.80877831e-05,-1.93933843e-05, 3.13544625e-05,
 -3.45294582e-05,-2.93787096e-05, 1.93872496e-05, 1.35897355e-04,
 -4.47236838e-07, 1.08219310e-07,-1.21644070e+00,-4.54201661e-04,
  1.21490788e-05,-5.49504865e-04]


--- Step 1587 ---
qpos:
[ 6.21702501e-03,-1.77991998e-03,-5.00388212e-03, 3.35448903e-02,
  4.51086024e-03,-3.76924058e-03,-1.85330193e-02, 2.85832567e-02,
  1.29666210e-02, 3.30775075e-03,-9.98933936e-03, 2.58834924e-02,
  1.33074509e+00, 1.08789491e-04, 1.07555759e+00, 6.36369035e-02,
  9.35464134e-02,-7.01567747e-02, 1.30965000e-01, 4.94719648e-01,
  4.83422001e-01, 5.05245047e-01, 5.16026241e-01]

qacc:
[  1.99701481, -0.03421922, -2.80478575, 12.9251133 , -5.2391936 ,
  -0.96181813,  2.22623749,  1.76725706,  2.33797533,  4.01967659,
 -13.64456708, 15.96566825,  0.60822761, -1.39812902, -4.41989648,
  15.42285037,  0.7630448 , -1.93512178, -0.57360165,  9.40157149,
  -2.29500858, 28.52056734]

qfrc_actuator:
[-2.22632747e-05,-1.57097513e-04,-3.63135264e-05, 1.40694062e-04,
 -2.91048082e-05,-3.85887179e-04,-2.76657158e-04, 6.66385810e-05,
  1.75057584e-05, 6.48010870e-06,-1.63445665e-04, 3.53125436e-05,
  2.55215070e-03,-1.63769534e-03, 0.00000000e+00,-1.83188464e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60333807,  2.06585623, -4.11375248,  2.06585623, 29.31065859,
       12.40759434, -4.11375248, 12.40759434, 10.83422002,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031829691601654997
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.72002656e-14, -1.30800398e-13,  1.00000000e+00,  1.14058295e-26,
        1.00000000e+00,  1.30800398e-13, -1.00000000e+00,  0.00000000e+00,
        8.72002656e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08098971, -0.03191562,  0.0619909 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15937100e-05,-6.92379305e-06, 2.11945550e-05, 3.16446914e-05,
 -3.09128880e-05, 1.64582150e-05, 3.57564565e-05, 1.63466525e-05,
  1.39488042e-05, 2.26708696e-05,-6.25876836e-05, 9.77319504e-07,
 -3.79426988e-05,-6.18358810e-05, 1.94994834e-05, 8.01671323e-05,
 -1.57388700e-08,-4.44603748e-08,-1.21644003e+00,-4.55052188e-04,
  1.15875965e-05,-5.49355208e-04]


--- Step 1588 ---
qpos:
[ 6.21737849e-03,-1.78042310e-03,-5.00358647e-03, 3.35464726e-02,
  4.51029124e-03,-3.77006111e-03,-1.85325984e-02, 2.85841334e-02,
  1.29670046e-02, 3.30865786e-03,-9.99061579e-03, 2.58835116e-02,
  1.33087287e+00, 1.07838486e-04, 1.07576135e+00, 6.36401941e-02,
  9.35498112e-02,-7.01727950e-02, 1.30958829e-01, 4.94642207e-01,
  4.83483944e-01, 5.05204209e-01, 5.16082426e-01]

qacc:
[ 4.35195543e+00, 2.83840774e-01, 3.40948000e+00,-1.63952694e+01,
 -1.73771120e-02,-3.84386292e+00, 1.74307628e+01,-3.40498317e+01,
  1.39361730e+00,-1.20745963e+00, 6.55890258e+00,-1.75904904e+01,
 -1.47470014e-01,-7.28526258e-02, 7.23389835e+00,-2.43756825e+01,
  7.45391399e-01,-1.91276840e+00,-6.93654508e-01, 9.37679233e+00,
 -2.15783717e+00, 2.81423894e+01]

qfrc_actuator:
[ 3.03954923e-06,-9.17052014e-05,-4.44260028e-05, 1.03799285e-04,
 -2.84524637e-05,-3.92111137e-04,-2.44229682e-04, 2.05584758e-05,
  2.52411389e-05,-4.17439696e-05,-1.84791717e-04,-5.90532473e-07,
  2.54025564e-03,-1.64707380e-03, 0.00000000e+00,-1.95202977e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59821835, -2.24655819,  4.01205537, -2.24655819, 19.70641713,
        8.4598652 ,  4.01205537,  8.4598652 ,  9.33533628,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031686326715636703
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.75189607e-13, -2.18987009e-13,  1.00000000e+00,  3.83642480e-26,
        1.00000000e+00,  2.18987009e-13, -1.00000000e+00,  0.00000000e+00,
        1.75189607e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08098801, -0.03191517,  0.06199094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.56303979e-05, 6.72878849e-05,-5.83706374e-06,-3.58468227e-05,
 -2.27123401e-07, 1.10826874e-05, 4.08069309e-05,-4.38197310e-05,
  8.14490784e-06,-4.84597386e-05,-2.43416560e-05,-3.70804662e-05,
 -4.73833031e-05,-3.34637453e-05, 1.32220165e-05,-1.14277838e-04,
  1.70631966e-07, 2.44826383e-07,-1.21644057e+00,-4.55715648e-04,
  1.16801558e-05,-5.49414216e-04]


--- Step 1589 ---
qpos:
[ 6.21803253e-03,-1.78013986e-03,-5.00407924e-03, 3.35476123e-02,
  4.50973419e-03,-3.77080483e-03,-1.85320766e-02, 2.85844790e-02,
  1.29674784e-02, 3.30888116e-03,-9.99171940e-03, 2.58838162e-02,
  1.33100041e+00, 1.06711847e-04, 1.07596519e+00, 6.36417071e-02,
  9.35561338e-02,-7.01963924e-02, 1.30949480e-01, 4.94529050e-01,
  4.83585367e-01, 5.05144072e-01, 5.16154703e-01]

qacc:
[  2.60423768,  2.32701515, -4.92914727, -2.03996887,  0.10609098,
  -1.27238126,  6.92673377,-16.33541038,  0.81086286, -0.80108001,
   0.33761504,  4.83013149, -0.16965836,  0.03760635,  5.49826256,
 -19.03663838,  0.73118725, -1.89427301, -0.79454159,  9.35351544,
  -2.04783694, 27.83422186]

qfrc_actuator:
[ 1.77813357e-05,-5.26572793e-05,-8.47037013e-05, 8.14834669e-05,
 -2.78307607e-05,-3.95497316e-04,-2.43114291e-04,-6.90202212e-06,
  2.96337858e-05,-8.86169367e-05,-1.79215541e-04, 1.37664528e-05,
  2.53385847e-03,-1.65215119e-03, 0.00000000e+00,-2.04187479e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58600045, -2.43642565,  3.88525806, -2.43642565, 26.47358108,
       13.72559097,  3.88525806, 13.72559097, 13.19324904,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003134035326628204
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.65685349e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.65685349e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08098626, -0.03191354,  0.06199104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54967222e-05, 7.39530599e-05,-2.83400968e-05,-2.03362804e-05,
  6.19259943e-07, 9.38494062e-06, 6.91776080e-06,-2.64274400e-05,
  4.61123039e-06,-8.06029832e-05,-8.71071604e-06, 1.07168987e-05,
 -4.09129417e-05,-2.41995133e-05,-1.22545654e-05,-9.58248039e-05,
  1.25961521e-07, 9.61299471e-07,-1.21644225e+00,-4.56227153e-04,
  1.24093676e-05,-5.49674436e-04]


--- Step 1590 ---
qpos:
[ 6.21851379e-03,-1.77951298e-03,-5.00517137e-03, 3.35481747e-02,
  4.50849893e-03,-3.77122790e-03,-1.85316906e-02, 2.85851685e-02,
  1.29680009e-02, 3.30902037e-03,-9.99385219e-03, 2.58846420e-02,
  1.33112778e+00, 1.05225768e-04, 1.07616869e+00, 6.36441208e-02,
  9.35626631e-02,-7.02155372e-02, 1.30944255e-01, 4.94430391e-01,
  4.83671945e-01, 5.05101968e-01, 5.16209298e-01]

qacc:
[ -1.54444415,  0.943989  , -0.26430488, -9.02745443, -5.94498572,
   1.52152021, -6.24270896, 12.15376656,  0.39791931,  3.83732058,
 -16.04562016, 26.77496833,  0.21597739, -0.61079976, -3.24947139,
  10.57588648,  0.05169218,  1.11317348,  1.03127106,  1.94393837,
   0.35225699,-16.22295529]

qfrc_actuator:
[ 8.43181904e-06,-6.53189009e-05,-1.25952786e-04, 5.01510042e-05,
 -6.27473518e-05,-3.61772357e-04,-2.42714262e-04, 1.23073547e-05,
  3.20257582e-05,-8.09144813e-05,-2.28789981e-04, 3.98402865e-05,
  2.52544196e-03,-1.67239421e-03, 0.00000000e+00,-1.98880463e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003095643965911471
  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([ 0.09231952, -0.08835817,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.88171919e-06, 2.19642905e-05,-3.01685167e-05,-2.95426729e-05,
 -3.48948044e-05, 3.92896662e-05, 2.27804281e-06, 1.93363097e-05,
  2.49438957e-06,-3.87039857e-05,-6.69162398e-05, 2.25280001e-05,
 -3.74257480e-05,-3.54257093e-05,-2.04552565e-05, 4.51872801e-05,
 -1.39504030e-07, 2.09470370e-06,-1.21644505e+00,-4.56612315e-04,
  1.37615518e-05,-5.50130113e-04]


--- Step 1591 ---
qpos:
[ 6.21853461e-03,-1.77879853e-03,-5.00666006e-03, 3.35483770e-02,
  4.50685472e-03,-3.77124362e-03,-1.85316428e-02, 2.85860852e-02,
  1.29685479e-02, 3.30915021e-03,-9.99639807e-03, 2.58857211e-02,
  1.33125467e+00, 1.04082163e-04, 1.07637189e+00, 6.36484505e-02,
  9.35694095e-02,-7.02303270e-02, 1.30942202e-01, 4.94345906e-01,
  4.83743990e-01, 5.05077456e-01, 5.16246686e-01]

qacc:
[ -4.06276258,  0.49081175, -0.04819061, -5.62881141, -3.5963043 ,
   1.95658183, -7.14245532, 11.30018805,  0.20245376,  1.66299171,
  -7.01737498, 12.06794348, -0.49580329,  0.76850282, -6.19582618,
  21.11259821,  0.05428122,  1.08873662,  0.79284385,  1.86609035,
   0.35957271,-15.83762354]

qfrc_actuator:
[-1.50193537e-05,-7.33728183e-05,-1.49905768e-04, 3.14729561e-05,
 -8.27962706e-05,-3.41560534e-04,-2.60299816e-04, 2.33508179e-05,
  3.32227219e-05,-5.85456080e-05,-2.39311397e-04, 5.48414931e-05,
  2.50516386e-03,-1.64822467e-03, 0.00000000e+00,-1.88745792e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60863659, -2.58919347,  3.81255929, -2.58919347,  9.05271511,
        3.01807217,  3.81255929,  3.01807217,  6.65827626,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031977083044130994
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.30197502e-13, -5.20790009e-13,  1.00000000e+00,  6.78055584e-26,
        1.00000000e+00,  5.20790009e-13, -1.00000000e+00,  0.00000000e+00,
        1.30197502e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09232016, -0.08835535,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.36945700e-05,-3.28482124e-06,-2.41497526e-05,-1.93555799e-05,
 -2.10329465e-05, 4.34788098e-05,-8.52019510e-06, 1.31823642e-05,
  1.25450457e-06,-1.21110450e-05,-2.59570366e-05, 1.14682362e-05,
 -4.97931390e-05, 6.96213886e-06,-7.26978217e-06, 1.00555837e-04,
 -1.63917045e-07, 1.49668193e-06,-1.21644346e+00,-4.56469702e-04,
  1.36457640e-05,-5.50564151e-04]


--- Step 1592 ---
qpos:
[ 6.21896419e-03,-1.77836350e-03,-5.00749075e-03, 3.35490185e-02,
  4.50601754e-03,-3.77107579e-03,-1.85316818e-02, 2.85864480e-02,
  1.29687597e-02, 3.30941527e-03,-9.99889926e-03, 2.58869200e-02,
  1.33138111e+00, 1.03241184e-04, 1.07657500e+00, 6.36539372e-02,
  9.35763814e-02,-7.02408439e-02, 1.30942518e-01, 4.94275322e-01,
  4.83801764e-01, 5.05070173e-01, 5.16267256e-01]

qacc:
[  3.61994653, -1.31147499,  2.2736746 ,  4.49476513,  7.0566132 ,
  -0.66740285,  5.04671049,-14.60207672, -2.94959212,  0.30626545,
  -1.32871162,  3.2209884 , -0.5050995 ,  0.76368254, -3.57365252,
  12.42124756,  0.05635773,  1.0682083 ,  0.59204839,  1.80409037,
   0.36396071,-15.51603796]

qfrc_actuator:
[ 6.68313374e-06,-7.85434882e-05,-1.10186246e-04, 5.59065056e-05,
 -4.06646785e-05,-3.47424199e-04,-2.70667381e-04,-6.03130824e-06,
  1.59548215e-05,-2.74179639e-05,-2.26605402e-04, 6.32586428e-05,
  2.48312900e-03,-1.63347099e-03, 0.00000000e+00,-1.82953132e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.63007416, -2.791979  ,  3.69356738, -2.791979  , 11.62352851,
        5.28637377,  3.69356738,  5.28637377,  8.62606043,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032563542125139955
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27852686e-13,  1.70470249e-13,  1.00000000e+00, -2.17950793e-26,
        1.00000000e+00, -1.70470249e-13, -1.00000000e+00,  0.00000000e+00,
        1.27852686e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09232063, -0.08835372,  0.06199069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10286416e-05,-1.28427154e-05, 3.54064298e-05, 2.30827733e-05,
  4.15457100e-05, 1.72452366e-05,-1.98189512e-06,-2.75583376e-05,
 -1.72378980e-05, 1.95096059e-05, 7.43028917e-06, 7.22622690e-06,
 -4.80762139e-05, 4.82633499e-06, 4.11370146e-06, 6.17366511e-05,
 -1.78376459e-07, 1.01507160e-06,-1.21644225e+00,-4.56348493e-04,
  1.34356751e-05,-5.50900133e-04]


--- Step 1593 ---
qpos:
[ 6.21965024e-03,-1.77821442e-03,-5.00724029e-03, 3.35499183e-02,
  4.50569148e-03,-3.77049570e-03,-1.85319155e-02, 2.85857436e-02,
  1.29691078e-02, 3.30983571e-03,-1.00009676e-02, 2.58878346e-02,
  1.33150740e+00, 1.02243351e-04, 1.07677841e+00, 6.36573924e-02,
  9.35835854e-02,-7.02471567e-02, 1.30944526e-01, 4.94218411e-01,
  4.83845488e-01, 5.05079815e-01, 5.16271330e-01]

qacc:
[  2.29426393, -2.87279553,  8.59591095, -5.633705  ,  4.45920108,
  -1.11511007,  9.25891554,-27.7067206 ,  1.20997542, -1.5918053 ,
   7.16984579,-12.89155809, -0.13945111,  0.04010958,  6.58811836,
 -22.38065116,  0.05804606,  1.05105295,  0.42326478,  1.75504971,
   0.36610271,-15.24856248]

qfrc_actuator:
[ 1.92875434e-05,-8.16522475e-05,-5.09118045e-05, 7.00465141e-05,
 -1.55350726e-05,-3.15614399e-04,-2.76820163e-04,-5.89786957e-05,
  2.34630240e-05,-8.92853735e-06,-2.00255509e-04, 5.00048392e-05,
  2.48135836e-03,-1.64221659e-03, 0.00000000e+00,-1.93968541e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032798792400436094
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.11559432e-13,  1.69247546e-13,  1.00000000e+00, -3.58059148e-26,
        1.00000000e+00, -1.69247546e-13, -1.00000000e+00,  0.00000000e+00,
        2.11559432e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09232097, -0.08835305,  0.06199062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31947826e-05,-1.98914878e-06, 6.17829880e-05, 1.52624642e-05,
  2.63236901e-05, 3.98709441e-05,-3.79241883e-06,-5.28160759e-05,
  7.02319626e-06, 3.12554387e-05, 3.15694852e-05,-1.20169279e-05,
 -2.73134514e-05,-1.88217069e-05, 4.26261000e-06,-1.07227668e-04,
 -1.84564275e-07, 6.41869034e-07,-1.21644138e+00,-4.56245038e-04,
  1.31370817e-05,-5.51139854e-04]


--- Step 1594 ---
qpos:
[ 6.21944715e-03,-1.77797954e-03,-5.00689273e-03, 3.35503101e-02,
  4.50497976e-03,-3.76958120e-03,-1.85322538e-02, 2.85847590e-02,
  1.29698880e-02, 3.31047017e-03,-1.00026998e-02, 2.58882368e-02,
  1.33163347e+00, 1.01611189e-04, 1.07698220e+00, 6.36564959e-02,
  9.35910272e-02,-7.02493222e-02, 1.30947661e-01, 4.94174982e-01,
  4.83875349e-01, 5.05106132e-01, 5.16259169e-01]

qacc:
[ -7.81683418, -1.18859762,  6.57287831,-15.6091172 , -3.38421867,
   0.16448086,  1.24939468, -6.18963342,  3.80848062, -1.71901674,
   8.69035933,-18.23960949, -0.72555049,  1.20910298, 13.74218627,
 -47.14398266,  0.05944268,  1.03680833,  0.2817112 ,  1.71663926,
   0.36652391,-15.02714617]

qfrc_actuator:
[-2.68360066e-05,-8.34055622e-05,-5.16012669e-05, 4.25103793e-05,
 -3.61388113e-05,-2.97007908e-04,-2.80301565e-04,-7.20723424e-05,
  4.54995650e-05, 1.90372055e-06,-1.83877913e-04, 2.41046548e-05,
  2.48640943e-03,-1.61146545e-03, 0.00000000e+00,-2.16571465e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032752514989750625
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.11858354e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.11858354e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09232121, -0.08835314,  0.06199064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.57531168e-05, 1.05426373e-05, 7.02932385e-06,-2.51902556e-05,
 -1.98354822e-05, 3.78478443e-05, 2.45583799e-06,-1.25443703e-05,
  2.22456022e-05, 3.43270705e-05, 2.63237979e-05,-2.37008725e-05,
 -1.49770715e-05, 2.00060953e-05,-1.49294265e-05,-2.32622296e-04,
 -1.83702148e-07, 3.70702786e-07,-1.21644083e+00,-4.56156678e-04,
  1.27541887e-05,-5.51284842e-04]


--- Step 1595 ---
qpos:
[ 6.21869299e-03,-1.77767736e-03,-5.00651526e-03, 3.35500313e-02,
  4.50402705e-03,-3.76856260e-03,-1.85325442e-02, 2.85836441e-02,
  1.29709263e-02, 3.31136966e-03,-1.00045088e-02, 2.58883479e-02,
  1.33175945e+00, 1.01061072e-04, 1.07718626e+00, 6.36498703e-02,
  9.35987115e-02,-7.02473874e-02, 1.30951450e-01, 4.94144878e-01,
  4.83891500e-01, 5.05148915e-01, 5.16230984e-01]

qacc:
[-4.84622127e+00,-1.36602344e+00, 7.84680939e+00,-1.95669301e+01,
 -2.10946688e+00,-2.60274444e-01, 1.68507437e+00,-4.10104577e+00,
  2.26433414e+00,-3.85637765e-02, 1.86731865e+00,-6.96989311e+00,
 -4.96755760e-01, 7.34649466e-01, 1.77393428e+01,-6.13807100e+01,
  6.06221354e-02, 1.02507473e+00, 1.63304618e-01, 1.68697583e+00,
  3.65627364e-01,-1.48450315e+01]

qfrc_actuator:
[-5.38954221e-05,-8.46029916e-05,-5.22122370e-05, 8.38409057e-06,
 -4.79849785e-05,-3.04163095e-04,-2.82192307e-04,-7.93665907e-05,
  5.81502059e-05, 8.02086965e-06,-1.91312871e-04, 8.71111114e-06,
  2.47958731e-03,-1.61073393e-03, 0.00000000e+00,-2.45813624e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032483075183833976
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56338805e-13,  1.70892537e-13,  1.00000000e+00, -4.38063887e-26,
        1.00000000e+00, -1.70892537e-13, -1.00000000e+00,  0.00000000e+00,
        2.56338805e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09232138, -0.08835385,  0.06199072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.83570294e-05, 5.04189824e-06, 1.55533648e-06,-3.39218101e-05,
 -1.23991775e-05, 1.39448963e-05, 5.79154127e-06,-5.82968625e-06,
  1.32948661e-05, 2.97415041e-05, 2.08986868e-06,-1.34721284e-05,
 -1.13531038e-05, 2.67219800e-06,-3.74235665e-05,-3.08387802e-04,
 -1.76669549e-07, 1.96504179e-07,-1.21644058e+00,-4.56081497e-04,
  1.22899888e-05,-5.51336384e-04]


--- Step 1596 ---
qpos:
[ 6.21796509e-03,-1.77759389e-03,-5.00576303e-03, 3.35497042e-02,
  4.50293950e-03,-3.76734439e-03,-1.85328687e-02, 2.85820987e-02,
  1.29717636e-02, 3.31212146e-03,-1.00056702e-02, 2.58886221e-02,
  1.33188534e+00, 1.00327994e-04, 1.07738950e+00, 6.36447711e-02,
  9.36066424e-02,-7.02413906e-02, 1.30955496e-01, 4.94127966e-01,
  4.83894072e-01, 5.05207998e-01, 5.16186942e-01]

qacc:
[  0.24646493, -1.4368136 ,  4.90664656, -6.18016149, -1.18476479,
  -0.52377362,  4.07229978,-11.61900623, -1.74532692, -1.66600029,
   4.97405768, -3.08328094,  0.20323312, -0.44699764, -5.84362401,
  18.62882396,  0.06164187,  1.01550634,  0.06455064,  1.66453283,
   0.36372119,-14.69652617]

qfrc_actuator:
[-5.17461276e-05,-1.03235328e-04,-3.49951098e-05, 6.17486357e-06,
 -5.45669954e-05,-2.91173474e-04,-2.83239403e-04,-1.00971633e-04,
  4.74177692e-05,-6.58027742e-06,-1.59498838e-04, 1.73578616e-05,
  2.46563790e-03,-1.62787683e-03, 0.00000000e+00,-2.36121211e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000320392103618769
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.33150120e-14,  1.73260048e-13,  1.00000000e+00,  7.50476105e-27,
        1.00000000e+00, -1.73260048e-13, -1.00000000e+00,  0.00000000e+00,
       -4.33150120e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09232147, -0.08835503,  0.06199084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34485173e-06,-1.69674280e-05, 1.72710857e-05,-2.59913500e-06,
 -6.93134947e-06, 2.16985457e-05, 2.33941157e-06,-2.09191081e-05,
 -1.03428466e-05, 1.88108598e-06, 3.77597123e-05, 9.73285600e-06,
 -2.10220013e-05,-1.83576070e-05,-5.52205275e-05, 7.40801252e-05,
 -1.64090804e-07, 1.15245789e-07,-1.21644063e+00,-4.56018138e-04,
  1.17465469e-05,-5.51295560e-04]


--- Step 1597 ---
qpos:
[ 6.21692350e-03,-1.77786623e-03,-5.00473202e-03, 3.35497228e-02,
  4.50178144e-03,-3.76603802e-03,-1.85328894e-02, 2.85802972e-02,
  1.29721209e-02, 3.31285205e-03,-1.00061688e-02, 2.58889801e-02,
  1.33201083e+00, 1.00015883e-04, 1.07759191e+00, 6.36447924e-02,
  9.36148234e-02,-7.02313626e-02, 1.30959473e-01, 4.94124140e-01,
  4.83883166e-01, 5.05283242e-01, 5.16127175e-01]

qacc:
[-2.74312308e+00,-5.32108079e-01,-2.35824874e-01, 6.02731344e+00,
 -6.09250731e-01,-1.25725109e+00, 5.73557494e+00,-1.07196988e+01,
 -4.20316776e+00,-1.69928280e+00, 5.67821977e+00,-5.28533913e+00,
 -2.68043196e-01, 5.23183552e-01,-1.66535243e+01, 5.65459209e+01,
  6.25459415e-02, 1.00780407e+00,-1.75452610e-02, 1.64806982e+00,
  3.61039857e-01,-1.45768229e+01]

qfrc_actuator:
[-6.79337799e-05,-1.32069518e-04,-2.51905932e-05, 2.27618615e-05,
 -5.80002866e-05,-2.83986751e-04,-2.65964750e-04,-1.13058234e-04,
  2.30113162e-05, 2.19955383e-06,-1.22581835e-04, 2.23383644e-05,
  2.44741537e-03,-1.60225430e-03, 0.00000000e+00,-2.08890210e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031461473365140824
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.08772935e-13,  3.52883354e-13,  1.00000000e+00, -1.08960829e-25,
        1.00000000e+00, -3.52883354e-13, -1.00000000e+00,  0.00000000e+00,
        3.08772935e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09232152, -0.08835658,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61568927e-05,-3.48745973e-05, 8.32856130e-06, 1.64058553e-05,
 -3.62295048e-06, 1.88677751e-05, 2.13141454e-05,-1.14811294e-05,
 -2.47003170e-05, 1.80333970e-05, 4.22987188e-05, 6.55795524e-06,
 -3.49715899e-05, 1.66403973e-05,-1.79364227e-05, 2.69168923e-04,
 -1.46399422e-07, 1.23732352e-07,-1.21644097e+00,-4.55965674e-04,
  1.11252134e-05,-5.51163261e-04]


--- Step 1598 ---
qpos:
[ 6.21569598e-03,-1.77837173e-03,-5.00388327e-03, 3.35499567e-02,
  4.50059130e-03,-3.76479114e-03,-1.85326223e-02, 2.85783851e-02,
  1.29721827e-02, 3.31367714e-03,-1.00062126e-02, 2.58890490e-02,
  1.33213590e+00, 1.00287894e-04, 1.07779445e+00, 6.36456804e-02,
  9.36232580e-02,-7.02173277e-02, 1.30963107e-01, 4.94133311e-01,
  4.83858869e-01, 5.05374538e-01, 5.16051782e-01]

qacc:
[ -1.63649833,  0.64761178, -3.65901494,  7.84004031, -0.27082907,
  -1.10942628,  4.31041404, -6.64365235, -2.58701382, -1.73652089,
   7.60243365,-13.4124888 , -0.71511935,  1.26654239, -2.36062627,
   8.68489686,  0.06336804,  1.00170955, -0.08555056,  1.63657669,
   0.35776093,-14.48185405]

qfrc_actuator:
[-7.70415245e-05,-1.49047612e-04,-3.76401767e-05, 3.24990920e-05,
 -5.95547295e-05,-2.98002788e-04,-2.55773936e-04,-1.19435970e-04,
  8.51257026e-06, 7.18794641e-06,-1.00629801e-04, 7.38049906e-06,
  2.43198578e-03,-1.56925588e-03, 0.00000000e+00,-2.05286542e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003078346842974172
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.70491699e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.70491699e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09232153, -0.0883584 ,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.58051154e-06,-3.40614112e-05,-1.80672197e-05, 8.84941382e-06,
 -1.65173785e-06, 4.00764017e-07, 1.63053611e-05,-5.05379196e-06,
 -1.51942948e-05, 2.40622543e-05, 3.11118458e-05,-1.25940652e-05,
 -3.07129178e-05, 2.88104594e-05, 1.95386019e-05, 4.82478847e-05,
 -1.23885814e-07, 2.19432554e-07,-1.21644158e+00,-4.55923505e-04,
  1.04267864e-05,-5.50940214e-04]


--- Step 1599 ---
qpos:
[ 6.21436867e-03,-1.77900719e-03,-5.00349507e-03, 3.35499666e-02,
  4.49904673e-03,-3.76339296e-03,-1.85325796e-02, 2.85764201e-02,
  1.29724151e-02, 3.31468678e-03,-1.00062803e-02, 2.58889601e-02,
  1.33226073e+00, 1.01152986e-04, 1.07799734e+00, 6.36446711e-02,
  9.36319490e-02,-7.01993049e-02, 1.30966174e-01, 4.94155410e-01,
  4.83821244e-01, 5.05481800e-01, 5.15960837e-01]

qacc:
[-8.89911557e-01, 6.56076910e-01,-1.63954862e+00,-1.40928316e+00,
 -3.11145408e+00, 7.23892371e-01,-2.05755809e+00, 1.37921290e+00,
  1.49673404e+00,-1.69911401e-02, 1.07594747e+00,-3.90002108e+00,
 -7.66352707e-01, 1.40885968e+00, 6.30434493e+00,-2.11575613e+01,
  6.41337961e-02, 9.96999895e-01,-1.41666219e-01, 1.62922924e+00,
  3.54018088e-01,-1.44081742e+01]

qfrc_actuator:
[-8.19036046e-05,-1.58892376e-04,-6.30927071e-05, 2.03661065e-05,
 -7.77447182e-05,-2.89122843e-04,-2.67691571e-04,-1.22431297e-04,
  1.77184515e-05, 9.79424759e-06,-1.05466641e-04,-1.44829506e-06,
  2.43422539e-03,-1.53216348e-03, 0.00000000e+00,-2.15638699e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003003291006505038
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.24172035e-14,  9.24172035e-14,  1.00000000e+00, -8.54093951e-27,
        1.00000000e+00, -9.24172035e-14, -1.00000000e+00,  0.00000000e+00,
        9.24172035e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0923215 , -0.08836042,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.14531546e-06,-3.22366029e-05,-3.44103797e-05,-1.40460926e-05,
 -1.82374817e-05, 1.22106374e-05,-1.00146096e-05,-2.51136039e-06,
  8.78446019e-06, 2.19142755e-05, 3.52125832e-06,-6.96747297e-06,
 -7.84791672e-06, 3.69023734e-05, 9.05654583e-06,-9.95360410e-05,
 -9.67327900e-08, 4.00343069e-07,-1.21644246e+00,-4.55891285e-04,
  9.65163377e-06,-5.50627007e-04]


--- Step 1600 ---
qpos:
[ 6.21333832e-03,-1.77987378e-03,-5.00312458e-03, 3.35498133e-02,
  4.49729639e-03,-3.76220107e-03,-1.85325304e-02, 2.85744649e-02,
  1.29731009e-02, 3.31599725e-03,-1.00067908e-02, 2.58898164e-02,
  1.33238561e+00, 1.01909170e-04, 1.07820056e+00, 6.36397632e-02,
  9.36408995e-02,-7.01773081e-02, 1.30968491e-01, 4.94190380e-01,
  4.83770341e-01, 5.05604959e-01, 5.15854388e-01]

qacc:
[  2.61449617, -0.59690409,  2.36454776, -4.97850922, -1.79701558,
  -0.26680106,  0.52018889, -0.21463042,  3.97110909,  3.57299908,
 -16.16749577, 33.02791077, -0.13526422,  0.13897137, 12.27647433,
 -42.2039692 ,  0.06486261,  0.99348327, -0.18777785,  1.62535383,
   0.34991131,-14.35286311]

qfrc_actuator:
[-6.64774183e-05,-1.64467075e-04,-6.04905440e-05, 1.32167802e-05,
 -8.78282283e-05,-3.19950193e-04,-2.74724639e-04,-1.23410820e-04,
  4.07993237e-05, 2.85960683e-05,-1.26079918e-04, 4.66426112e-05,
  2.43108843e-03,-1.54611519e-03, 0.00000000e+00,-2.35897893e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029232530146171276
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.74737826e-14, -1.89895130e-13,  1.00000000e+00, -9.01504013e-27,
        1.00000000e+00,  1.89895130e-13, -1.00000000e+00,  0.00000000e+00,
       -4.74737826e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09232145, -0.08836259,  0.06199164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.52722325e-05,-3.12906586e-05,-8.77649574e-06,-9.99365503e-06,
 -1.05997289e-05,-2.62286519e-05,-5.84321997e-06,-8.49691926e-07,
  2.33413490e-05, 3.14534149e-05,-1.59048882e-05, 4.90140446e-05,
  8.73254867e-07,-6.51131761e-06,-1.21798553e-05,-2.08190935e-04,
 -6.50420279e-08, 6.64878257e-07,-1.21644361e+00,-4.55868872e-04,
  8.79978688e-06,-5.50224098e-04]


--- Step 1601 ---
qpos:
[ 6.21284563e-03,-1.78075117e-03,-5.00284336e-03, 3.35495517e-02,
  4.49578386e-03,-3.76152695e-03,-1.85326963e-02, 2.85729151e-02,
  1.29744030e-02, 3.31762623e-03,-1.00072947e-02, 2.58912084e-02,
  1.33251033e+00, 1.02631783e-04, 1.07840354e+00, 6.36337936e-02,
  9.36460657e-02,-7.01631868e-02, 1.30970116e-01, 4.94212726e-01,
  4.83729684e-01, 5.05685022e-01, 5.15792625e-01]

qacc:
[ 4.72497135e+00, 2.76007569e-03, 4.11233499e-01,-2.11982961e+00,
  2.08343651e+00, 7.45992392e-01,-5.37167199e+00, 1.31187145e+01,
  5.41864041e+00, 1.49450732e+00,-6.99794319e+00, 1.60430972e+01,
 -1.52155909e-01, 1.37147774e-01, 2.84957842e+00,-1.04773884e+01,
 -9.46082319e-01,-1.96888984e+00,-1.72767781e-01,-1.68273082e+01,
  7.08564981e-01, 2.73121484e+01]

qfrc_actuator:
[-3.92351123e-05,-1.49573943e-04,-5.90668144e-05, 9.08631809e-06,
 -7.53021135e-05,-3.74304848e-04,-2.96720664e-04,-1.05469761e-04,
  7.18541428e-05, 5.69251100e-05,-1.20225405e-04, 7.45874619e-05,
  2.40873046e-03,-1.55472334e-03, 0.00000000e+00,-2.40522121e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028910413385883904
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.80027304e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.80027304e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10862524, -0.03354753,  0.06199173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.76687859e-05,-4.81001263e-06,-6.45996869e-06,-5.96845789e-06,
  1.22144322e-05,-7.03082037e-05,-2.81725631e-05, 1.66003442e-05,
  3.17313260e-05, 4.46999915e-05, 1.20770280e-05, 2.96917982e-05,
 -2.43054220e-05,-9.47704630e-06,-3.30698832e-05,-6.04107173e-05,
 -2.88538512e-08, 1.01178045e-06,-1.21644503e+00,-4.55856277e-04,
  7.87101141e-06,-5.49731840e-04]


--- Step 1602 ---
qpos:
[ 6.21233844e-03,-1.78157663e-03,-5.00260196e-03, 3.35492306e-02,
  4.49443301e-03,-3.76124082e-03,-1.85331438e-02, 2.85712357e-02,
  1.29757226e-02, 3.31951819e-03,-1.00079395e-02, 2.58922509e-02,
  1.33263472e+00, 1.03584130e-04, 1.07860635e+00, 6.36269267e-02,
  9.36474923e-02,-7.01567856e-02, 1.30970332e-01, 4.94222506e-01,
  4.83699086e-01, 5.05722988e-01, 5.15774726e-01]

qacc:
[-1.29761885e-01, 5.78108242e-02, 1.44937603e-01,-1.14905672e+00,
  1.41281251e+00, 4.56791449e-03,-2.17693456e-01,-1.28525555e+00,
  1.44606040e-01, 2.21716716e-02, 1.90003313e+00,-7.91468539e+00,
 -4.67373349e-01, 7.07621753e-01, 2.50185647e+00,-9.02115981e+00,
 -9.34908325e-01,-1.92999790e+00,-3.52349284e-01,-1.64222283e+01,
  7.89732746e-01, 2.68054539e+01]

qfrc_actuator:
[-4.07678852e-05,-1.40280631e-04,-5.82715098e-05, 6.77775664e-06,
 -6.73241042e-05,-3.89123993e-04,-3.09722879e-04,-1.12081019e-04,
  7.18437709e-05, 5.53272089e-05,-1.34267739e-04, 5.49709419e-05,
  2.39083456e-03,-1.54240450e-03, 0.00000000e+00,-2.44769443e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52806857, -0.21933651,  4.5227532 , -0.21933651, 48.56406821,
        2.13558031,  4.5227532 ,  2.13558031,  4.63163619,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029620427968624075
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.87408336e-13, -1.87408336e-13,  1.00000000e+00,  3.51218845e-26,
        1.00000000e+00,  1.87408336e-13, -1.00000000e+00,  0.00000000e+00,
        1.87408336e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10862246, -0.03355083,  0.06199153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.44700107e-07, 5.05364309e-06,-1.19347949e-06,-2.85349151e-06,
  8.30284868e-06,-5.92578082e-05,-3.04235172e-05,-1.02742467e-05,
  9.09916743e-07, 2.71246764e-05,-2.31025345e-06,-1.67118879e-05,
 -3.43862903e-05, 4.71631450e-06,-2.46556287e-05,-5.07062361e-05,
 -1.62903917e-07, 5.08420979e-07,-1.21644207e+00,-4.56300247e-04,
  9.78251280e-06,-5.49488520e-04]


--- Step 1603 ---
qpos:
[ 6.21147213e-03,-1.78225896e-03,-5.00268446e-03, 3.35488922e-02,
  4.49353315e-03,-3.76121136e-03,-1.85335770e-02, 2.85697977e-02,
  1.29766876e-02, 3.32113838e-03,-1.00082396e-02, 2.58934317e-02,
  1.33275894e+00, 1.04188265e-04, 1.07880887e+00, 6.36205668e-02,
  9.36452173e-02,-7.01579750e-02, 1.30968534e-01, 4.94219774e-01,
  4.83678391e-01, 5.05719672e-01, 5.15800002e-01]

qacc:
[ -3.17036463,  1.06514263, -3.43937826,  3.54027824,  3.95183568,
   0.10981986, -1.91671759,  6.27567188, -3.10444952, -1.03243099,
   2.5871453 , -0.5583701 ,  0.16825037, -0.53905061, -1.98223285,
   6.25981692, -0.92536548, -1.89767044, -0.5035868 ,-16.09012227,
   0.85083886, 26.38338366]

qfrc_actuator:
[-5.92285974e-05,-1.34405622e-04,-7.56196155e-05, 5.55674236e-06,
 -4.43413448e-05,-3.80144505e-04,-2.99423617e-04,-9.75455808e-05,
  5.35465996e-05, 1.79486247e-05,-1.24597950e-04, 6.07462583e-05,
  2.37031035e-03,-1.57103725e-03, 0.00000000e+00,-2.41663529e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53965188, -0.46102615,  4.51618136, -0.46102615, 43.81264622,
        4.00911213,  4.51618136,  4.00911213,  4.94891479,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029975462431644506
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.2594320e-14,  9.2594320e-14,  1.0000000e+00, -8.5737081e-27,
        1.0000000e+00, -9.2594320e-14, -1.0000000e+00,  0.0000000e+00,
        9.2594320e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10862072, -0.03355236,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.84775226e-05, 8.36137001e-06,-1.65418297e-05,-1.09913896e-06,
  2.32009228e-05,-3.08801531e-05,-6.03841664e-06, 1.07470614e-05,
 -1.82555218e-05,-2.34625013e-05, 1.43943458e-05, 6.52765817e-06,
 -3.91011324e-05,-3.52144998e-05,-2.03080818e-05, 2.43227639e-05,
 -1.60472012e-07, 1.53950899e-07,-1.21644044e+00,-4.56794863e-04,
  1.07664546e-05,-5.49487087e-04]


--- Step 1604 ---
qpos:
[ 6.21073620e-03,-1.78263895e-03,-5.00336822e-03, 3.35488860e-02,
  4.49257067e-03,-3.76115594e-03,-1.85340566e-02, 2.85688571e-02,
  1.29774262e-02, 3.32222534e-03,-1.00079711e-02, 2.58946910e-02,
  1.33288298e+00, 1.04224454e-04, 1.07901099e+00, 6.36165965e-02,
  9.36392732e-02,-7.01666480e-02, 1.30964212e-01, 4.94204580e-01,
  4.83667465e-01, 5.05675737e-01, 5.15867876e-01]

qacc:
[  1.12255002,  2.762194  ,-10.67438423, 17.1641575 , -0.54953803,
   1.18784304, -6.28486131, 14.94797701, -1.96585767, -2.12804521,
   6.23973145, -5.40212525,  0.45572286, -1.0968838 , -7.85141538,
  26.50097736, -0.91730457, -1.87088524, -0.63088916,-15.81906383,
   0.89590313, 26.03366486]

qfrc_actuator:
[-5.19903992e-05,-1.12940925e-04,-1.03553781e-04, 2.27224987e-05,
 -4.82149655e-05,-3.56861961e-04,-2.93079321e-04,-7.06413291e-05,
  4.23950232e-05,-2.27161668e-05,-1.01130316e-04, 6.36562703e-05,
  2.35353368e-03,-1.60600225e-03, 0.00000000e+00,-2.28924419e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54192892, -0.74291617,  4.48075818, -0.74291617, 32.21021034,
        4.58744099,  4.48075818,  4.58744099,  5.30253326,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003004456957023255
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.23813388e-14, -1.38572008e-13,  1.00000000e+00,  1.28014676e-26,
        1.00000000e+00,  1.38572008e-13, -1.00000000e+00,  0.00000000e+00,
        9.23813388e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10861982, -0.03355246,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.71877931e-06, 2.26991043e-05,-2.82710783e-05, 1.69337240e-05,
 -3.22182439e-06, 5.24310400e-06,-3.99022359e-07, 2.55842528e-05,
 -1.16742001e-05,-5.05931840e-05, 2.06036363e-05, 2.52500784e-06,
 -4.71857202e-05,-5.25668397e-05,-9.60320185e-06, 1.25468133e-04,
 -2.41539769e-08,-6.18794494e-08,-1.21644006e+00,-4.57352847e-04,
  1.08832393e-05,-5.49726630e-04]


--- Step 1605 ---
qpos:
[ 6.21009254e-03,-1.78272046e-03,-5.00416915e-03, 3.35493973e-02,
  4.49122436e-03,-3.76084053e-03,-1.85346030e-02, 2.85685621e-02,
  1.29780252e-02, 3.32280303e-03,-1.00070770e-02, 2.58956232e-02,
  1.33300682e+00, 1.04030151e-04, 1.07921342e+00, 6.36108040e-02,
  9.36296868e-02,-7.01827161e-02, 1.30956938e-01, 4.94176967e-01,
  4.83666195e-01, 5.05591714e-01, 5.15977864e-01]

qacc:
[  0.80272872,  1.78607958, -7.9830975 , 16.90903521, -3.36540503,
   1.86401722, -8.86267756, 19.93746828, -1.19934633, -3.09241464,
  11.43473307,-17.72516406, -0.11220135, -0.06709026,  5.95541337,
 -20.17155592, -0.91057978, -1.84877677, -0.73800424,-15.59923959,
   0.92805766, 25.74593494]

qfrc_actuator:
[-4.74313438e-05,-8.23388903e-05,-1.01927381e-04, 5.05777457e-05,
 -6.78692132e-05,-3.25177553e-04,-2.89053086e-04,-3.66684416e-05,
  3.55445483e-05,-4.72298915e-05,-6.97456544e-05, 4.70987429e-05,
  2.35498913e-03,-1.60890233e-03, 0.00000000e+00,-2.39018160e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53669716, -1.04619181,  4.41441998, -1.04619181, 45.23862097,
        9.64611877,  4.41441998,  9.64611877,  6.8227711 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002988545541792176
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.28731894e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.28731894e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10861958, -0.03355142,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.76035344e-06, 3.82078176e-05, 3.43205211e-06, 2.81815983e-05,
 -1.97455046e-05, 3.56349348e-05, 5.95252193e-06, 3.46848787e-05,
 -7.19676867e-06,-4.84886037e-05, 2.35416901e-05,-1.79688219e-05,
 -3.71672101e-05,-2.68524650e-05, 6.53454831e-06,-9.58629121e-05,
  2.43994348e-07,-1.46262247e-07,-1.21644086e+00,-4.57982591e-04,
  1.01787382e-05,-5.50205795e-04]


--- Step 1606 ---
qpos:
[ 6.20916389e-03,-1.78289740e-03,-5.00452161e-03, 3.35505949e-02,
  4.48999765e-03,-3.76008801e-03,-1.85352116e-02, 2.85689980e-02,
  1.29788822e-02, 3.32326074e-03,-1.00062101e-02, 2.58959995e-02,
  1.33313030e+00, 1.04260783e-04, 1.07941614e+00, 6.36015144e-02,
  9.36201008e-02,-7.01943050e-02, 1.30952874e-01, 4.94162980e-01,
  4.83651777e-01, 5.05525460e-01, 5.16069682e-01]

qacc:
[-2.48965188e+00, 3.80001216e-02,-3.20675325e+00, 1.44258376e+01,
  1.03786869e+00, 2.25182193e+00,-1.02813160e+01, 2.27122112e+01,
  2.27058949e+00,-1.23138142e+00, 6.50018248e+00,-1.59817902e+01,
 -8.21990454e-01, 1.33354964e+00, 1.10584132e+01,-3.78990817e+01,
  1.13092430e-04, 1.11980333e+00, 8.02460070e-01, 2.63370815e+00,
 -5.58814061e-02,-1.56261686e+01]

qfrc_actuator:
[-6.22464329e-05,-9.96294092e-05,-8.28082445e-05, 8.45284598e-05,
 -6.11402965e-05,-2.88696424e-04,-2.86378662e-04, 1.19861283e-06,
  4.90309825e-05,-4.41110037e-05,-6.94004840e-05, 1.92349800e-05,
  2.35141518e-03,-1.57492109e-03, 0.00000000e+00,-2.57160208e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.52982262,   1.20532913,   4.36651745,   1.20532913,
        45.8170725 , -11.39689132,   4.36651745, -11.39689132,
         7.67580914,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00029674569737085654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.35332032e-14,  1.87066406e-13,  1.00000000e+00, -1.74969202e-26,
        1.00000000e+00, -1.87066406e-13, -1.00000000e+00,  0.00000000e+00,
        9.35332032e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09233012, -0.08836379,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.46667364e-05, 6.00702028e-06, 2.84189436e-05, 3.62559596e-05,
  6.17560106e-06, 5.91127361e-05, 1.19724683e-05, 4.02771899e-05,
  1.32677768e-05,-1.99374768e-05,-7.41124822e-06,-2.94817939e-05,
 -3.08749045e-05, 1.88682855e-05,-1.26924393e-05,-1.87070237e-04,
  6.42498434e-07,-1.03875797e-07,-1.21644280e+00,-4.58689361e-04,
  8.68737123e-06,-5.50923010e-04]


--- Step 1607 ---
qpos:
[ 6.20841009e-03,-1.78333134e-03,-5.00452593e-03, 3.35525635e-02,
  4.48920607e-03,-3.75919417e-03,-1.85356113e-02, 2.85692129e-02,
  1.29798940e-02, 3.32387204e-03,-1.00063226e-02, 2.58960700e-02,
  1.33325348e+00, 1.04879607e-04, 1.07961823e+00, 6.35944617e-02,
  9.36105674e-02,-7.02015190e-02, 1.30951221e-01, 4.94162478e-01,
  4.83624158e-01, 5.05476585e-01, 5.16143915e-01]

qacc:
[ 1.55319645e+00, 2.71660024e-01,-4.72165182e+00, 1.77034665e+01,
  3.81202391e+00,-8.58711753e-01, 4.25370569e+00,-8.50359589e+00,
  1.32903659e+00, 2.30829120e+00,-6.64903028e+00, 2.81339723e+00,
 -3.59562990e-01, 6.63633954e-01,-7.64927467e+00, 2.54847577e+01,
  1.31618969e-02, 1.09372003e+00, 6.02816906e-01, 2.40667717e+00,
  3.95675701e-02,-1.53634040e+01]

qfrc_actuator:
[-5.28404059e-05,-1.27628327e-04,-7.14648506e-05, 1.21760801e-04,
 -3.89314018e-05,-3.02876289e-04,-2.84493320e-04,-1.21993377e-05,
  5.66253028e-05,-4.23507729e-05,-1.22781731e-04, 2.69976769e-06,
  2.33951876e-03,-1.55487957e-03, 0.00000000e+00,-2.44385611e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55355759,  0.74400123,  4.49236562,  0.74400123, 20.67246058,
       -2.66952529,  4.49236562, -2.66952529,  4.99566989,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030394076422082805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36978544e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.36978544e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09233233, -0.08836246,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.98914203e-06,-1.72100996e-05, 1.73439524e-05, 3.91779652e-05,
  2.24037792e-05, 2.30558050e-05, 1.69607574e-05,-9.66809086e-06,
  7.96824090e-06,-1.22034396e-05,-5.94485442e-05,-1.82240021e-05,
 -2.53381724e-05, 1.78603451e-05,-3.13429085e-05, 1.14640200e-04,
  3.64854652e-07,-2.63467598e-07,-1.21644179e+00,-4.57862509e-04,
  9.69255135e-06,-5.51072553e-04]


--- Step 1608 ---
qpos:
[ 6.20777449e-03,-1.78360812e-03,-5.00480263e-03, 3.35549530e-02,
  4.48937684e-03,-3.75841158e-03,-1.85352780e-02, 2.85692623e-02,
  1.29809892e-02, 3.32442475e-03,-1.00067702e-02, 2.58959246e-02,
  1.33337637e+00, 1.05999079e-04, 1.07982009e+00, 6.35889285e-02,
  9.36011272e-02,-7.02044441e-02, 1.30951308e-01, 4.94175335e-01,
  4.83583306e-01, 5.05444764e-01, 5.16201041e-01]

qacc:
[  1.02841872,  1.83388362, -8.01739852, 15.62437048,  8.44702228,
  -2.5503612 ,  9.55064232,-13.47133125,  0.72413482,  0.41281085,
  -0.6747743 , -2.4819113 , -0.48789403,  0.93214798, -4.87209721,
  16.67011047,  0.02327528,  1.07220281,  0.43489387,  2.22472546,
   0.11547195,-15.14286684]

qfrc_actuator:
[-4.70001691e-05,-1.08594626e-04,-8.26186120e-05, 1.42850131e-04,
  9.95475985e-06,-3.11826542e-04,-2.47822322e-04,-2.01913966e-05,
  6.06842507e-05,-4.16312974e-05,-1.36425123e-04,-7.06609280e-06,
  2.33328910e-03,-1.52558246e-03, 0.00000000e+00,-2.36572947e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56588371,  0.65459287,  4.51871688,  0.65459287, 33.50760793,
       -4.19257213,  4.51871688, -4.19257213,  5.17323042,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030758473602351954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.51185842e-14, -1.80474337e-13,  1.00000000e+00,  8.14274656e-27,
        1.00000000e+00,  1.80474337e-13, -1.00000000e+00,  0.00000000e+00,
        4.51185842e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09233404, -0.08836197,  0.06199121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.08848146e-06, 1.46880552e-05,-1.12159153e-05, 2.17108080e-05,
  4.95339298e-05, 7.01098444e-06, 4.31807874e-05,-6.60781102e-06,
  4.28606369e-06,-1.91806082e-05,-2.41224081e-05,-1.27018869e-05,
 -1.63939158e-05, 2.79437948e-05,-3.75483162e-06, 8.00331831e-05,
  1.10105254e-07,-3.33342563e-07,-1.21644110e+00,-4.57095215e-04,
  1.05598157e-05,-5.51139443e-04]


--- Step 1609 ---
qpos:
[ 6.20755884e-03,-1.78370251e-03,-5.00522128e-03, 3.35572189e-02,
  4.49013217e-03,-3.75735277e-03,-1.85346155e-02, 2.85688480e-02,
  1.29814347e-02, 3.32483235e-03,-1.00071013e-02, 2.58956425e-02,
  1.33349924e+00, 1.06933121e-04, 1.08002217e+00, 6.35820116e-02,
  9.35918113e-02,-7.02031512e-02, 1.30952570e-01, 4.94201444e-01,
  4.83529202e-01, 5.05429728e-01, 5.16241449e-01]

qacc:
[  3.68484709,  0.37613219, -0.48187601, -1.55158088,  5.12111404,
  -1.51837684,  7.88487708,-16.62114646, -5.71119699, -0.78754314,
   3.12600176, -5.59109064,  0.0273922 , -0.17065893,  4.48390711,
 -15.24609853,  0.03108764,  1.05453451,  0.29392607,  2.07869077,
   0.1760378 ,-14.9589672 ]

qfrc_actuator:
[-2.55600857e-05,-9.71580003e-05,-8.90367539e-05, 1.36542718e-04,
  3.86407317e-05,-2.81937714e-04,-2.26392744e-04,-4.26597651e-05,
  2.71262374e-05,-4.13855474e-05,-1.26478507e-04,-1.27378533e-05,
  2.32514240e-03,-1.54425764e-03, 0.00000000e+00,-2.44182046e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56856106, -0.53207439, -4.53747143, -0.53207439, 29.78735614,
       -2.95721421, -4.53747143, -2.95721421,  4.91533083,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003083682036852803
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.00079038e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.00079038e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09233537, -0.08836215,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.16185657e-05, 1.82758858e-05,-4.01279418e-06,-5.64775240e-06,
  3.01019763e-05, 4.24300964e-05, 2.79529820e-05,-2.08070745e-05,
 -3.34401695e-05,-1.60167783e-05, 2.57394966e-06,-7.57546775e-06,
 -1.07213521e-05,-1.55762338e-05, 3.49010134e-06,-7.29424465e-05,
 -1.26991252e-07,-3.15107008e-07,-1.21644074e+00,-4.56372947e-04,
  1.13054043e-05,-5.51121760e-04]


--- Step 1610 ---
qpos:
[ 6.20829180e-03,-1.78363578e-03,-5.00569966e-03, 3.35590432e-02,
  4.49088118e-03,-3.75612971e-03,-1.85341805e-02, 2.85678756e-02,
  1.29814744e-02, 3.32558457e-03,-1.00081388e-02, 2.58959788e-02,
  1.33362197e+00, 1.07722133e-04, 1.08022366e+00, 6.35789278e-02,
  9.35826438e-02,-7.01976978e-02, 1.30954536e-01, 4.94240714e-01,
  4.83461835e-01, 5.05431255e-01, 5.16265452e-01]

qacc:
[ 8.33617462e+00,-5.45531734e-01, 4.08978521e+00,-1.17235817e+01,
 -6.55309823e-02,-2.94978706e-01, 3.72379146e+00,-1.31400696e+01,
 -3.59953081e+00, 3.71005013e+00,-1.51665834e+01, 2.67322060e+01,
  2.63438771e-01,-5.25377742e-01,-1.24741542e+01, 4.23074307e+01,
  3.70978794e-02, 1.04011517e+00, 1.75854500e-01, 1.96130522e+00,
  2.24569258e-01,-1.48069027e+01]

qfrc_actuator:
[ 2.26435236e-05,-9.03677005e-05,-9.26350093e-05, 1.14173449e-04,
  3.74468226e-05,-3.00098932e-04,-2.49502886e-04,-7.34494512e-05,
  7.20303978e-06,-5.80880830e-06,-1.55953298e-04, 1.95591774e-05,
  2.31050624e-03,-1.55572511e-03, 0.00000000e+00,-2.23534116e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56345026, -0.37368429, -4.54812471, -0.37368429, 43.21201987,
       -3.17545456, -4.54812471, -3.17545456,  4.82435284,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003068701766122395
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.04472892e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.04472892e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09233639, -0.08836286,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.88253453e-05, 1.59508844e-05,-5.12456394e-07,-2.18396538e-05,
 -3.19447200e-07, 1.04128063e-05,-1.16432189e-05,-2.84132463e-05,
 -2.08777156e-05, 2.68065889e-05,-3.27268106e-05, 3.15542114e-05,
 -2.46362333e-05,-1.75772619e-05,-1.10063764e-05, 2.01832141e-04,
 -3.50337639e-07,-2.10229424e-07,-1.21644069e+00,-4.55684825e-04,
  1.19415999e-05,-5.51018206e-04]


--- Step 1611 ---
qpos:
[ 6.20925219e-03,-1.78368512e-03,-5.00582334e-03, 3.35605923e-02,
  4.49126582e-03,-3.75515421e-03,-1.85341077e-02, 2.85666056e-02,
  1.29819644e-02, 3.32681848e-03,-1.00096263e-02, 2.58963181e-02,
  1.33374427e+00, 1.08968510e-04, 1.08042452e+00, 6.35823209e-02,
  9.35736430e-02,-7.01881306e-02, 1.30956811e-01, 4.94293069e-01,
  4.83381194e-01, 5.05449163e-01, 5.16273306e-01]

qacc:
[ 2.01275953e+00,-1.71568421e+00, 7.04965310e+00,-1.22867816e+01,
 -3.19623979e+00, 7.89825475e-02, 5.11169579e-01,-4.91244350e+00,
  3.94108393e+00, 1.89233235e+00,-5.84923118e+00, 6.27885298e+00,
 -2.45648471e-01, 5.03161324e-01,-2.04335371e+01, 7.02264242e+01,
  4.16980935e-02, 1.02844178e+00, 7.72127610e-02, 1.86679906e+00,
  2.63661186e-01,-1.46825351e+01]

qfrc_actuator:
[ 3.29507061e-05,-1.04169511e-04,-7.68141376e-05, 1.00287091e-04,
  1.86820274e-05,-3.47088703e-04,-2.81159093e-04,-9.11994600e-05,
  3.09820571e-05, 3.27821987e-05,-1.72799243e-04, 2.06791452e-05,
  2.29198828e-03,-1.52732891e-03, 0.00000000e+00,-1.89948838e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030357476568461383
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.20001942e-13, -7.31433011e-13,  1.00000000e+00,  2.34059984e-25,
        1.00000000e+00,  7.31433011e-13, -1.00000000e+00,  0.00000000e+00,
        3.20001942e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09233718, -0.088364  ,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17018367e-05,-5.90984209e-06, 1.82950292e-05,-1.36509592e-05,
 -1.87686338e-05,-4.48370496e-05,-3.19400554e-05,-1.82611261e-05,
  2.31966291e-05, 4.81504636e-05,-1.42444325e-05, 1.75122416e-06,
 -3.62324728e-05, 1.82716766e-05, 1.49013636e-05, 3.45118402e-04,
 -5.62844258e-07,-1.99991152e-08,-1.21644092e+00,-4.55022672e-04,
  1.24777058e-05,-5.50827902e-04]


--- Step 1612 ---
qpos:
[ 6.20998415e-03,-1.78389910e-03,-5.00540975e-03, 3.35616110e-02,
  4.49107775e-03,-3.75461227e-03,-1.85340106e-02, 2.85644401e-02,
  1.29827355e-02, 3.32833223e-03,-1.00106894e-02, 2.58962876e-02,
  1.33386641e+00, 1.10222512e-04, 1.08062617e+00, 6.35833412e-02,
  9.35677892e-02,-7.01863692e-02, 1.30957295e-01, 4.94308834e-01,
  4.83341797e-01, 5.05446271e-01, 5.16297929e-01]

qacc:
[ -1.98908525, -2.80748289, 11.93913454,-21.8593949 , -5.00454581,
  -2.47236685, 11.78286229,-27.0185095 ,  2.48167292, -1.58234514,
   7.73185931,-15.00816792, -0.31185544,  0.39506031,  8.33613558,
 -27.43720816,  0.78671341, -1.95144847, -0.44761936,  9.42951627,
  -2.48697931, 29.04013353]

qfrc_actuator:
[ 2.08617727e-05,-1.12361222e-04,-4.97323345e-05, 7.37481981e-05,
 -1.02647093e-05,-3.75524232e-04,-2.82211931e-04,-1.36668173e-04,
  4.47832064e-05, 5.51542378e-05,-1.46536610e-04, 3.46099887e-06,
  2.28714956e-03,-1.52881680e-03, 0.00000000e+00,-2.04052002e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55647145,  0.85668641, -4.47521178,  0.85668641, 44.18147612,
        7.5853847 , -4.47521178,  7.5853847 ,  6.00853591,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030480774442247227
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.82118572e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.82118572e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08095355, -0.0319233 ,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17584736e-05,-8.30157632e-06, 2.76391469e-05,-2.64285703e-05,
 -2.94964922e-05,-6.09281773e-05,-1.48890574e-05,-4.88494962e-05,
  1.44799305e-05, 4.64123260e-05, 3.45166031e-05,-1.56145428e-05,
 -1.98281523e-05,-5.89300113e-06, 4.17299740e-05,-1.20689115e-04,
 -7.66686239e-07, 2.54485914e-07,-1.21644145e+00,-4.54380300e-04,
  1.29207732e-05,-5.50550242e-04]


--- Step 1613 ---
qpos:
[ 6.21056535e-03,-1.78380844e-03,-5.00512111e-03, 3.35619438e-02,
  4.49054391e-03,-3.75440340e-03,-1.85337290e-02, 2.85620678e-02,
  1.29833215e-02, 3.32988343e-03,-1.00110487e-02, 2.58964077e-02,
  1.33398847e+00, 1.11426062e-04, 1.08082834e+00, 6.35800529e-02,
  9.35649952e-02,-7.01923162e-02, 1.30955435e-01, 4.94288337e-01,
  4.83342971e-01, 5.05423182e-01, 5.16339055e-01]

qacc:
[ -1.33524611, -0.65785894,  5.83000059,-17.73029717, -3.01477499,
  -1.37436423,  5.14561103, -8.78571178, -1.60727126, -1.60402089,
   5.1601061 , -3.70995918, -0.31787475,  0.39051773, 13.79592001,
 -47.09742754,  0.76497452, -1.92709551, -0.58620828,  9.40670143,
  -2.3124287 , 28.57393206]

qfrc_actuator:
[ 1.34526827e-05,-8.15866105e-05,-5.17236872e-05, 3.99829151e-05,
 -2.72139006e-05,-3.74789555e-04,-2.65144485e-04,-1.44793296e-04,
  3.48341847e-05, 5.00514179e-05,-1.12855789e-04, 1.11168847e-05,
  2.28518327e-03,-1.53021570e-03, 0.00000000e+00,-2.26614455e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56181908,  2.42706374, -3.86258397,  2.42706374, 35.79103595,
       19.62295208, -3.86258397, 19.62295208, 16.8919473 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003063898732804521
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.71767229e-13, -2.71767229e-13,  1.00000000e+00,  7.38574267e-26,
        1.00000000e+00,  2.71767229e-13, -1.00000000e+00,  0.00000000e+00,
        2.71767229e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08095199, -0.03192477,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.74627405e-06, 3.07032963e-05,-1.22127740e-06,-3.36814611e-05,
 -1.78104346e-05,-3.85312912e-05, 9.56788612e-07,-1.21974413e-05,
 -9.51848405e-06, 2.72771062e-05, 4.69740985e-05, 1.05338916e-05,
 -1.43429309e-05,-7.48457602e-06,-1.19455785e-06,-2.28605276e-04,
 -1.87036407e-07,-8.81976410e-08,-1.21644027e+00,-4.55183934e-04,
  1.18999501e-05,-5.50326017e-04]


--- Step 1614 ---
qpos:
[ 6.21105311e-03,-1.78349297e-03,-5.00458063e-03, 3.35618530e-02,
  4.48946565e-03,-3.75418534e-03,-1.85337340e-02, 2.85602950e-02,
  1.29841295e-02, 3.33071536e-03,-1.00100306e-02, 2.58966698e-02,
  1.33411024e+00, 1.12932515e-04, 1.08102974e+00, 6.35801202e-02,
  9.35651908e-02,-7.02058902e-02, 1.30950763e-01, 4.94231850e-01,
  4.83384160e-01, 5.05380380e-01, 5.16396460e-01]

qacc:
[ -0.81771184, -1.27731125,  6.77574395,-14.67538799, -4.77329444,
   2.05427355, -9.82312685, 20.632529  ,  2.00904318, -4.51159516,
  14.10063374,-13.30747604, -0.20864974,  0.39513984,-11.24012965,
  37.72561779,  0.74739912, -1.90676026, -0.70272831,  9.38284848,
  -2.17351301, 28.19120799]

qfrc_actuator:
[ 8.86520765e-06,-6.33408931e-05,-3.52063447e-05, 2.00022402e-05,
 -5.47150460e-05,-3.56479824e-04,-2.72879885e-04,-1.13090066e-04,
  4.64940662e-05,-2.46637499e-05,-5.74205743e-05, 1.55719542e-05,
  2.26896215e-03,-1.51375356e-03, 0.00000000e+00,-2.07807145e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55862199, -2.59658706,  3.74683468, -2.59658706, 17.80132769,
        9.17730329,  3.74683468,  9.17730329, 10.91856818,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030544538462354276
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81738386e-13, -1.81738386e-13,  1.00000000e+00,  3.30288410e-26,
        1.00000000e+00,  1.81738386e-13, -1.00000000e+00,  0.00000000e+00,
        1.81738386e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08095037, -0.03192474,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.79620376e-06, 3.37077206e-05, 2.15383239e-05,-1.93641636e-05,
 -2.80229064e-05,-3.57374688e-06,-1.59980499e-05, 2.98526421e-05,
  1.14012186e-05,-4.93608155e-05, 6.72068100e-05, 7.45195469e-06,
 -2.67164255e-05, 1.16846737e-05,-3.11396663e-05, 1.73985381e-04,
  1.43045960e-07, 1.47505471e-08,-1.21644031e+00,-4.55793987e-04,
  1.15409691e-05,-5.50313300e-04]


--- Step 1615 ---
qpos:
[ 6.21148230e-03,-1.78335480e-03,-5.00340042e-03, 3.35618934e-02,
  4.48772088e-03,-3.75374122e-03,-1.85339616e-02, 2.85588829e-02,
  1.29850709e-02, 3.33089143e-03,-1.00082544e-02, 2.58973644e-02,
  1.33423173e+00, 1.14437443e-04, 1.08123092e+00, 6.35823710e-02,
  9.35655810e-02,-7.02151434e-02, 1.30948773e-01, 4.94189353e-01,
  4.83411072e-01, 5.05354968e-01, 5.16436806e-01]

qacc:
[-4.91857953e-01,-1.75146754e+00, 5.35221488e+00,-3.97417863e+00,
 -5.84381802e+00, 1.67351837e+00,-7.03704325e+00, 1.34463531e+01,
  1.21021348e+00,-2.09771411e+00, 4.39113383e+00, 2.37130931e+00,
 -7.07223278e-02,-8.92978028e-04,-6.91801307e+00, 2.37308300e+01,
  4.86360212e-02, 1.08022458e+00, 6.70207803e-01, 1.89253745e+00,
  3.25547321e-01,-1.56385797e+01]

qfrc_actuator:
[ 5.97367405e-06,-8.81598013e-05,-7.91061169e-06, 2.60569082e-05,
 -8.82104172e-05,-3.27834094e-04,-2.77347267e-04,-9.37187433e-05,
  5.30336436e-05,-6.93940557e-05,-2.53930717e-05, 3.58076300e-05,
  2.24421022e-03,-1.52241323e-03, 0.00000000e+00,-1.96726783e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003097853680595758
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34394222e-13, -3.58384591e-13,  1.00000000e+00,  4.81648182e-26,
        1.00000000e+00,  3.58384591e-13, -1.00000000e+00,  0.00000000e+00,
        1.34394222e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09233996, -0.0883627 ,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.01773689e-06,-2.37077760e-06, 3.62312312e-05, 7.86581971e-06,
 -3.42977353e-05, 2.46085294e-05,-6.14068708e-06, 1.92502593e-05,
  6.84696731e-06,-5.81674246e-05, 3.03453534e-05, 2.05857735e-05,
 -3.69943165e-05,-1.19392523e-05, 3.23730008e-06, 1.16088424e-04,
  2.38497202e-07, 5.47755462e-07,-1.21644150e+00,-4.56246918e-04,
  1.18253014e-05,-5.50504102e-04]


--- Step 1616 ---
qpos:
[ 6.21187329e-03,-1.78307292e-03,-5.00253862e-03, 3.35620316e-02,
  4.48593280e-03,-3.75305290e-03,-1.85342785e-02, 2.85577018e-02,
  1.29853935e-02, 3.33070445e-03,-1.00067102e-02, 2.58983279e-02,
  1.33435282e+00, 1.15930959e-04, 1.08143231e+00, 6.35839153e-02,
  9.35661761e-02,-7.02201503e-02, 1.30948745e-01, 4.94160617e-01,
  4.83423904e-01, 5.05346621e-01, 5.16460460e-01]

qacc:
[ -0.34823948,  1.28201107, -4.7067305 ,  6.79982513, -0.38577557,
   1.04774317, -4.24226278,  8.20294441, -5.44644808,  0.7325925 ,
  -4.42486607,  9.69526389, -0.35154416,  0.35273409,  2.48078751,
  -8.15129771,  0.05122023,  1.06154721,  0.49072303,  1.81850144,
   0.34046801,-15.3598237 ]

qfrc_actuator:
[ 4.10223321e-06,-8.52474009e-05,-2.78943546e-05, 2.95948125e-05,
 -8.94571866e-05,-3.10959938e-04,-2.79803024e-04,-8.17474796e-05,
  2.09954491e-05,-9.59091555e-05,-4.28472671e-05, 4.74116419e-05,
  2.21434918e-03,-1.52821009e-03, 0.00000000e+00,-2.00951182e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58888159, -1.8599865 ,  4.19503093, -1.8599865 , 18.45626274,
        6.14849857,  4.19503093,  6.14849857,  7.31499363,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003142243306735182
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.20826118e-13, -3.53321788e-13,  1.00000000e+00,  7.80226788e-26,
        1.00000000e+00,  3.53321788e-13, -1.00000000e+00,  0.00000000e+00,
        2.20826118e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09234053, -0.08836152,  0.06199102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.96151509e-06, 9.38648992e-06,-1.57547064e-05, 4.83998988e-06,
 -2.21850615e-06, 3.01694943e-05, 2.53886519e-06, 1.31921425e-05,
 -3.18635419e-05,-5.19155536e-05,-2.50431586e-05, 1.05558904e-05,
 -5.30783641e-05,-1.74755765e-05, 1.05191538e-05,-3.62585486e-05,
  1.49063996e-07, 2.78490564e-07,-1.21644069e+00,-4.55945755e-04,
  1.19775576e-05,-5.50693868e-04]


--- Step 1617 ---
qpos:
[ 6.21189369e-03,-1.78248034e-03,-5.00228856e-03, 3.35622104e-02,
  4.48483345e-03,-3.75246556e-03,-1.85344691e-02, 2.85567032e-02,
  1.29853297e-02, 3.33021044e-03,-1.00053678e-02, 2.58987234e-02,
  1.33447364e+00, 1.17081925e-04, 1.08163373e+00, 6.35849543e-02,
  9.35669841e-02,-7.02209731e-02, 1.30950077e-01, 4.94145450e-01,
  4.83422821e-01, 5.05355064e-01, 5.16467723e-01]

qacc:
[ -3.28316251,  2.21058186, -7.44558414,  8.88290321,  6.03324429,
  -0.12269685, -0.54670495,  3.59782611, -3.4020842 , -1.00392875,
   5.400308  ,-14.6933823 ,  0.0157261 , -0.34830632,  1.54413397,
  -5.38304053,  0.05322848,  1.04603019,  0.33995208,  1.7591882 ,
   0.35170011,-15.12864527]

qfrc_actuator:
[-1.49067465e-05,-6.59462997e-05,-5.77909017e-05, 3.16036141e-05,
 -5.39587749e-05,-3.36762552e-04,-2.81096182e-04,-7.42309573e-05,
  2.01476795e-06,-1.11525597e-04,-5.37982623e-05, 1.83221208e-05,
  2.19742030e-03,-1.55003140e-03, 0.00000000e+00,-2.03505211e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003155689072243534
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31931133e-13, -1.75908177e-13,  1.00000000e+00,  2.32077651e-26,
        1.00000000e+00,  1.75908177e-13, -1.00000000e+00,  0.00000000e+00,
        1.31931133e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09234095, -0.08836117,  0.06199098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.90628438e-05, 2.14806141e-05,-2.97446049e-05, 1.95726564e-06,
  3.54449123e-05,-7.86158857e-06, 5.70601513e-06, 9.15593934e-06,
 -1.99022999e-05,-4.93920794e-05,-2.44106143e-05,-3.19792018e-05,
 -5.05902538e-05,-3.85463042e-05,-4.40250012e-06,-2.74074905e-05,
  6.93500335e-08, 1.10284218e-07,-1.21644020e+00,-4.55664424e-04,
  1.20344046e-05,-5.50789186e-04]


--- Step 1618 ---
qpos:
[ 6.21168639e-03,-1.78214335e-03,-5.00164804e-03, 3.35627604e-02,
  4.48485785e-03,-3.75182540e-03,-1.85350079e-02, 2.85561614e-02,
  1.29843484e-02, 3.32971345e-03,-1.00040179e-02, 2.58980225e-02,
  1.33459433e+00, 1.17421341e-04, 1.08183504e+00, 6.35860014e-02,
  9.35680112e-02,-7.02176630e-02, 1.30952263e-01, 4.94143695e-01,
  4.83407959e-01, 5.05380074e-01, 5.16458841e-01]

qacc:
[ -1.98529556, -0.66082311,  0.30496562,  5.67862935,  9.8233542 ,
   1.96243108, -8.85912905, 17.32035508, -8.07437082, -2.26640639,
  12.73216674,-31.74787671,  0.51030593, -1.31874683, -0.23343001,
   0.46516697,  0.05479608,  1.0332316 ,  0.21358811,  1.71183891,
   0.36007981,-14.93809549]

qfrc_actuator:
[-2.60979422e-05,-9.02943610e-05,-3.99565500e-05, 5.04657080e-05,
  2.87205065e-06,-3.34665840e-04,-2.99624189e-04,-5.16783678e-05,
 -4.46215188e-05,-8.50083684e-05,-4.30320080e-05,-3.44543073e-05,
  2.18292784e-03,-1.59888430e-03, 0.00000000e+00,-2.03273605e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031444035365572887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.41348817e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.41348817e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09234126, -0.08836149,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17267563e-05,-1.84277527e-05, 1.86662027e-05, 1.87900260e-05,
  5.78400114e-05,-7.32994371e-07,-1.91360000e-05, 2.25911764e-05,
 -4.72167498e-05,-7.52172285e-06,-3.55961385e-06,-5.63620529e-05,
 -5.19298582e-05,-7.00830596e-05,-9.27838763e-06,-7.50464003e-07,
 -2.25838811e-09, 3.84028323e-08,-1.21644002e+00,-4.55399276e-04,
  1.20014636e-05,-5.50791109e-04]


--- Step 1619 ---
qpos:
[ 6.21203631e-03,-1.78206369e-03,-5.00079224e-03, 3.35642353e-02,
  4.48556345e-03,-3.75108365e-03,-1.85355257e-02, 2.85558621e-02,
  1.29831606e-02, 3.32915661e-03,-1.00025739e-02, 2.58966951e-02,
  1.33471474e+00, 1.17178604e-04, 1.08203689e+00, 6.35820250e-02,
  9.35692625e-02,-7.02102618e-02, 1.30954881e-01, 4.94155218e-01,
  4.83379432e-01, 5.05421466e-01, 5.16434011e-01]

qacc:
[  4.9114056 ,  0.95256847, -7.8100241 , 23.67598835,  5.96076953,
   0.56232416, -2.85422315,  6.96325253, -1.81344051, -1.6278828 ,
   8.34076961,-19.29575247, -0.12210686, -0.31763238, 15.95115076,
 -54.66479602,  0.0560282 ,  1.02277129,  0.10795238,  1.67423762,
   0.36625557,-14.78232149]

qfrc_actuator:
[ 2.91215010e-06,-1.04884637e-04,-2.97464254e-05, 9.68453807e-05,
  3.62865268e-05,-3.15942941e-04,-2.92563967e-04,-3.82042945e-05,
 -5.39076331e-05,-8.66500884e-05,-3.71167997e-05,-6.51819400e-05,
  2.16456874e-03,-1.62784488e-03, 0.00000000e+00,-2.29805961e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003113584733171887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.91434729e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.91434729e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09234147, -0.08836234,  0.0619911 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.86668716e-05,-2.02586166e-05, 9.34077754e-06, 4.65986813e-05,
  3.50663438e-05, 1.53330254e-05, 5.33097496e-06, 1.32187708e-05,
 -1.06280141e-05,-9.01436817e-06, 1.96535693e-06,-3.22685991e-05,
 -6.39995866e-05,-5.82578825e-05,-7.97171867e-06,-2.67404752e-04,
 -6.69612107e-08, 5.90881067e-08,-1.21644014e+00,-4.55147583e-04,
  1.18829286e-05,-5.50700537e-04]


--- Step 1620 ---
qpos:
[ 6.21273087e-03,-1.78195153e-03,-5.00021186e-03, 3.35665964e-02,
  4.48597501e-03,-3.75058587e-03,-1.85355263e-02, 2.85557364e-02,
  1.29825602e-02, 3.32873942e-03,-1.00015078e-02, 2.58960526e-02,
  1.33483471e+00, 1.16812679e-04, 1.08223873e+00, 6.35745670e-02,
  9.35707418e-02,-7.01988034e-02, 1.30957579e-01, 4.94179912e-01,
  4.83337328e-01, 5.05479090e-01, 5.16393388e-01]

qacc:
[ 3.02178231e+00, 2.63182915e+00,-1.30725864e+01, 2.88361209e+01,
 -2.55291701e+00,-1.40463754e+00, 3.81632766e+00,-1.46781644e+00,
  5.15455262e+00, 2.64027550e+00,-1.20554345e+01, 2.44284885e+01,
 -4.59096524e-01, 4.16026932e-01, 1.05301630e+01,-3.67842085e+01,
  5.70063953e-02, 1.01432213e+00, 1.98969432e-02, 1.64460108e+00,
  3.70729143e-01,-1.46563786e+01]

qfrc_actuator:
[ 1.98439035e-05,-9.57636434e-05,-4.18444699e-05, 1.41281023e-04,
  2.01389867e-05,-3.40572110e-04,-2.70380714e-04,-3.01455897e-05,
 -2.33750306e-05,-6.96238372e-05,-5.19543092e-05,-2.94538047e-05,
  2.14923390e-03,-1.62702221e-03, 0.00000000e+00,-2.47040164e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003067568071909582
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.04807162e-14,  1.80961432e-13,  1.00000000e+00, -1.63735200e-26,
        1.00000000e+00, -1.80961432e-13, -1.00000000e+00,  0.00000000e+00,
        9.04807162e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09234162, -0.0883636 ,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.77360243e-05, 1.71122324e-06,-1.35357619e-05, 4.47910107e-05,
 -1.51412294e-05,-1.43953422e-05, 2.64610243e-05, 9.15623175e-06,
  3.02282282e-05, 1.10072548e-05,-1.75821958e-05, 3.47830278e-05,
 -6.54229768e-05,-2.81182000e-05,-3.86779081e-05,-1.89472871e-04,
 -1.25649697e-07, 1.69365046e-07,-1.21644054e+00,-4.54907306e-04,
  1.16818968e-05,-5.50518223e-04]


--- Step 1621 ---
qpos:
[ 6.21327829e-03,-1.78189453e-03,-4.99968625e-03, 3.35684317e-02,
  4.48584525e-03,-3.75028363e-03,-1.85352094e-02, 2.85553708e-02,
  1.29823304e-02, 3.32820702e-03,-1.00008297e-02, 2.58962221e-02,
  1.33495411e+00, 1.16935532e-04, 1.08243969e+00, 6.35704060e-02,
  9.35724522e-02,-7.01833145e-02, 1.30960064e-01, 4.94217689e-01,
  4.83281721e-01, 5.05552823e-01, 5.16337096e-01]

qacc:
[ -1.29503215, -1.00009447,  5.68428851,-14.66121797, -4.72440653,
  -1.62895857,  6.4623122 ,-10.99364125,  3.25241487,  2.5969316 ,
 -12.91967929, 27.68854823, -0.56594904,  0.92604393,-11.20246281,
  37.41597533,  0.05779376,  1.00760266, -0.05327449,  1.62149179,
   0.37388788,-14.55608042]

qfrc_actuator:
[ 1.17657066e-05,-1.08108041e-04,-4.91701944e-05, 1.13208275e-04,
 -7.29036644e-06,-3.55402344e-04,-2.57380808e-04,-4.31168556e-05,
 -5.16767868e-06,-9.48302659e-05,-7.88091811e-05, 9.58177492e-06,
  2.13573749e-03,-1.59080306e-03, 0.00000000e+00,-2.28469270e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030099562263724566
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.38318834e-13, -3.68850223e-13,  1.00000000e+00, -5.10189326e-26,
        1.00000000e+00,  3.68850223e-13, -1.00000000e+00,  0.00000000e+00,
       -1.38318834e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0923417 , -0.08836516,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.57604868e-06,-1.22762539e-05,-7.10443557e-06,-2.76036875e-05,
 -2.78683590e-05,-1.70451669e-05, 1.35979151e-05,-1.24946045e-05,
  1.90688827e-05,-2.11796195e-05,-2.55512687e-05, 3.95744693e-05,
 -5.74304354e-05, 1.44661079e-05,-4.23090063e-05, 1.69417781e-04,
 -1.78984180e-07, 3.66886345e-07,-1.21644122e+00,-4.54676920e-04,
  1.14006180e-05,-5.50244783e-04]


--- Step 1622 ---
qpos:
[ 6.21372478e-03,-1.78196154e-03,-4.99888664e-03, 3.35688666e-02,
  4.48504293e-03,-3.75052481e-03,-1.85342710e-02, 2.85548769e-02,
  1.29819761e-02, 3.32734013e-03,-1.00003472e-02, 2.58965283e-02,
  1.33507330e+00, 1.17086659e-04, 1.08264040e+00, 6.35680812e-02,
  9.35772772e-02,-7.01757137e-02, 1.30960940e-01, 4.94218426e-01,
  4.83267410e-01, 5.05606128e-01, 5.16297589e-01]

qacc:
[-8.77448871e-01,-3.81138511e+00, 1.92652190e+01,-4.38458979e+01,
 -5.85732186e+00,-2.70620173e+00, 9.16950710e+00,-1.20054207e+01,
 -1.09634811e+00, 3.88613282e-01,-2.60093985e+00, 5.52342367e+00,
 -4.98067397e-02, 1.84662071e-02,-5.90377676e+00, 2.01329349e+01,
  7.78623572e-01,-1.97203628e+00,-4.02246527e-01, 9.63803222e+00,
 -2.29062170e+00, 2.90856271e+01]

qfrc_actuator:
[ 6.78811687e-06,-1.15504378e-04,-3.59903726e-05, 4.26881703e-05,
 -4.11239085e-05,-3.99809319e-04,-2.32145486e-04,-5.06094747e-05,
 -1.21264157e-05,-1.27424669e-04,-9.49605956e-05, 1.46955491e-05,
  2.13935027e-03,-1.58716661e-03, 0.00000000e+00,-2.19133365e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003039870136197498
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.13051360e-14, -2.73915408e-13,  1.00000000e+00,  2.50098836e-26,
        1.00000000e+00,  2.73915408e-13, -1.00000000e+00,  0.00000000e+00,
        9.13051360e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08093815, -0.03192703,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.19692400e-06,-1.69283769e-05, 8.80272785e-06,-7.18343950e-05,
 -3.46356217e-05,-5.16889665e-05, 2.29519695e-05,-7.99516301e-06,
 -6.42595863e-06,-4.80032833e-05,-2.23073113e-05, 4.09067575e-06,
 -2.50539223e-05,-6.13746600e-06,-2.20707199e-06, 9.70324886e-05,
 -2.27451769e-07, 6.49805716e-07,-1.21644218e+00,-4.54455292e-04,
  1.10406839e-05,-5.49880714e-04]


--- Step 1623 ---
qpos:
[ 6.21376315e-03,-1.78210673e-03,-4.99829875e-03, 3.35695170e-02,
  4.48384133e-03,-3.75157753e-03,-1.85328871e-02, 2.85550351e-02,
  1.29811960e-02, 3.32652380e-03,-1.00004937e-02, 2.58965290e-02,
  1.33519245e+00, 1.17193769e-04, 1.08284101e+00, 6.35672115e-02,
  9.35851409e-02,-7.01758865e-02, 1.30959623e-01, 4.94182524e-01,
  4.83293717e-01, 5.05639550e-01, 5.16274599e-01]

qacc:
[-3.59387677, 0.93909735,-4.39540093, 8.50597137,-3.4661838 ,-0.96845793,
 -0.84553684,12.0062581 ,-3.76735834, 1.2029312 ,-2.88912899,-1.44540544,
  0.09589557,-0.1809137 ,-4.55772836,15.69793147, 0.75969164,-1.94337357,
 -0.54816209, 9.58223158,-2.14550462,28.61235332]

qfrc_actuator:
[-1.40691162e-05,-1.19840975e-04,-4.63193635e-05, 5.43002175e-05,
 -6.06995760e-05,-4.61536249e-04,-2.17752576e-04,-1.93251530e-05,
 -3.38378371e-05,-1.10928593e-04,-1.22479624e-04,-1.93394285e-07,
  2.14788936e-03,-1.58506216e-03, 0.00000000e+00,-2.11773744e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56176924,  2.37746399, -3.89325103,  2.37746399, 22.41309241,
       10.9011409 , -3.89325103, 10.9011409 , 11.21869164,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030637518222247084
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.3589013e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.3589013e-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([ 0.0809372 , -0.03192863,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.10089591e-05,-1.50740619e-05,-1.52368160e-05, 9.79065030e-06,
 -2.05837183e-05,-8.62463180e-05, 6.26137212e-06, 2.97087306e-05,
 -2.19122023e-05,-1.47584963e-05,-4.00371246e-05,-1.76379645e-05,
 -6.81287286e-06,-5.23991710e-06, 6.22002189e-06, 7.79049374e-05,
 -8.23663565e-08, 1.50507806e-07,-1.21644078e+00,-4.55250469e-04,
  1.09682597e-05,-5.49656856e-04]


--- Step 1624 ---
qpos:
[ 6.21355132e-03,-1.78244540e-03,-4.99811309e-03, 3.35710202e-02,
  4.48275871e-03,-3.75294419e-03,-1.85317778e-02, 2.85555532e-02,
  1.29805069e-02, 3.32545874e-03,-1.00008768e-02, 2.58960173e-02,
  1.33531147e+00, 1.17350298e-04, 1.08304152e+00, 6.35678972e-02,
  9.35959825e-02,-7.01837372e-02, 1.30955622e-01, 4.94110312e-01,
  4.83360077e-01, 5.05653530e-01, 5.16267898e-01]

qacc:
[ -2.20874932,  2.62878338,-13.33574688, 28.86871535,  1.03828398,
   1.09044349, -6.0137683 , 12.91641905,  0.7964666 , -0.72414491,
   4.26605513,-12.57106156, -0.03761039,  0.03968328, -4.83947654,
  16.7239752 ,  0.74444523, -1.91950265, -0.67085882,  9.53357518,
  -2.02717434, 28.2221499 ]

qfrc_actuator:
[-2.63539227e-05,-1.40090574e-04,-7.03775153e-05, 9.63832888e-05,
 -5.39721353e-05,-4.62159134e-04,-2.27690342e-04,-1.00915395e-06,
 -2.85445962e-05,-1.36240017e-04,-1.38555065e-04,-2.66963341e-05,
  2.13807403e-03,-1.58381592e-03, 0.00000000e+00,-2.03859965e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56073951, -2.59855261,  3.74804872, -2.59855261, 21.54150027,
       11.77289931,  3.74804872, 11.77289931, 12.7229862 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030607140623412077
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81366668e-13,  4.53416671e-14,  1.00000000e+00, -8.22346710e-27,
        1.00000000e+00, -4.53416671e-14, -1.00000000e+00,  0.00000000e+00,
        1.81366668e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08093605, -0.03192869,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28874708e-05,-3.14174986e-05,-2.87156371e-05, 4.10989239e-05,
  6.10784903e-06,-4.62706058e-05,-2.59563347e-05, 1.54144814e-05,
  4.66517365e-06,-4.25693676e-05,-2.46543981e-05,-2.88610879e-05,
 -1.48314856e-05,-1.58250771e-06, 7.63615505e-06, 8.33718872e-05,
 -1.79610255e-07, 1.05986327e-07,-1.21644060e+00,-4.55877478e-04,
  1.15506287e-05,-5.49633780e-04]


--- Step 1625 ---
qpos:
[ 6.21319344e-03,-1.78264675e-03,-4.99831506e-03, 3.35719362e-02,
  4.48176443e-03,-3.75400755e-03,-1.85310686e-02, 2.85555246e-02,
  1.29795415e-02, 3.32386214e-03,-1.00010785e-02, 2.58955450e-02,
  1.33543038e+00, 1.17302102e-04, 1.08324255e+00, 6.35651714e-02,
  9.36097529e-02,-7.01991869e-02, 1.30948526e-01, 4.94002058e-01,
  4.83466021e-01, 5.05648421e-01, 5.16277297e-01]

qacc:
[ -1.29916411,  0.05874824,  2.53674124,-12.18331099,  0.75501924,
   0.39226493,  1.48916519,-10.53266413, -2.41627143, -1.12318352,
   2.82694768, -2.05098524, -0.17042045,  0.06608405, 11.08116226,
 -37.62194127,  0.73223174, -1.89971458, -0.77398289,  9.49243828,
  -1.92994125, 27.90268411]

qfrc_actuator:
[-3.34899617e-05,-1.16483520e-04,-8.46453310e-05, 6.72623173e-05,
 -4.95740133e-05,-4.08539931e-04,-2.33931879e-04,-2.59480183e-05,
 -4.29001702e-05,-1.68604243e-04,-1.30152582e-04,-2.43333047e-05,
  2.12258141e-03,-1.60091307e-03, 0.00000000e+00,-2.22310870e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5525116 , -2.82907049,  3.56675231, -2.82907049, 28.04024574,
       18.62996076,  3.56675231, 18.62996076, 19.32939198,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003036286928846943
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82825775e-13,  1.82825775e-13,  1.00000000e+00, -3.34252642e-26,
        1.00000000e+00, -1.82825775e-13, -1.00000000e+00,  0.00000000e+00,
        1.82825775e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08093476, -0.03192754,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.51339291e-06, 1.87056622e-06,-2.28731627e-05,-3.06633369e-05,
  4.55686127e-06, 2.30816870e-05,-1.84612409e-05,-2.75207727e-05,
 -1.42395649e-05,-6.24551375e-05,-4.40895187e-06,-8.71959651e-07,
 -2.40357924e-05,-2.09426178e-05, 8.72226478e-06,-1.79827699e-04,
 -5.06076674e-07, 4.98481485e-07,-1.21644160e+00,-4.56367413e-04,
  1.27697734e-05,-5.49805497e-04]


--- Step 1626 ---
qpos:
[ 6.21206250e-03,-1.78237412e-03,-4.99888217e-03, 3.35721053e-02,
  4.48083053e-03,-3.75467792e-03,-1.85305430e-02, 2.85548245e-02,
  1.29780662e-02, 3.32220949e-03,-1.00016611e-02, 2.58950822e-02,
  1.33554891e+00, 1.17864486e-04, 1.08344399e+00, 6.35572633e-02,
  9.36238237e-02,-7.02102576e-02, 1.30944638e-01, 4.93908059e-01,
  4.83557133e-01, 5.05660812e-01, 5.16269766e-01]

qacc:
[ -6.81760425,  0.12257185,  3.64808832,-16.36434883,  0.51552991,
  -0.35022538,  4.83683708,-16.45423417, -4.49803841,  1.01880365,
  -3.76509728,  4.56347964, -1.0894185 ,  1.82406633, 16.32754859,
 -56.0479245 ,  0.07510549,  1.09473067,  0.80207638,  1.68820795,
   0.45400523,-15.84189718]

qfrc_actuator:
[-7.30460656e-05,-6.68158743e-05,-9.28926498e-05, 3.20229559e-05,
 -4.65904279e-05,-3.76125054e-04,-2.37720449e-04,-5.83245118e-05,
 -6.87142208e-05,-1.51559956e-04,-1.42891808e-04,-2.27502569e-05,
  2.11433684e-03,-1.55777135e-03, 0.00000000e+00,-2.49045057e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000309432654537492
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.96982759e-14, -1.79396552e-13,  1.00000000e+00,  1.60915614e-26,
        1.00000000e+00,  1.79396552e-13, -1.00000000e+00,  0.00000000e+00,
        8.96982759e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09234183, -0.08836295,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.97662099e-05, 4.46810478e-05,-1.17356948e-05,-3.65481527e-05,
  3.12370505e-06, 4.03614400e-05,-2.24330089e-06,-3.25610349e-05,
 -2.62455423e-05,-1.87758717e-05,-2.61917194e-05,-1.25747756e-06,
 -2.70326823e-05, 3.26427733e-05,-2.14406084e-05,-2.77502259e-04,
 -1.05223513e-06, 1.31527743e-06,-1.21644372e+00,-4.56743587e-04,
  1.46119010e-05,-5.50167288e-04]


--- Step 1627 ---
qpos:
[ 6.21081114e-03,-1.78164846e-03,-4.99960817e-03, 3.35718383e-02,
  4.47959492e-03,-3.75497947e-03,-1.85309886e-02, 2.85548356e-02,
  1.29766374e-02, 3.32079690e-03,-1.00023212e-02, 2.58949274e-02,
  1.33566694e+00, 1.19482899e-04, 1.08364460e+00, 6.35518851e-02,
  9.36381897e-02,-7.02170340e-02, 1.30943153e-01, 4.93828026e-01,
  4.83633751e-01, 5.05690372e-01, 5.16245604e-01]

qacc:
[ -1.07187859,  0.1471332 ,  2.18863251, -9.81870145, -2.67675552,
   4.66764742,-18.93110311, 32.51117456,  0.40284986,  1.16663212,
  -5.00053739, 10.27702266, -0.97483417,  1.91607953, -8.76243671,
  29.09709157,  0.07376378,  1.0735724 ,  0.60084588,  1.68080311,
   0.43001812,-15.52795676]

qfrc_actuator:
[-7.81108817e-05,-3.74087325e-05,-9.73951144e-05, 1.12598666e-05,
 -6.22155742e-05,-3.74396399e-04,-2.93351623e-04,-2.38094941e-05,
 -6.55539658e-05,-1.05133421e-04,-1.32321124e-04,-3.86842070e-06,
  2.09981774e-03,-1.49697236e-03, 0.00000000e+00,-2.34278841e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003159814321483795
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.19598153e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.19598153e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09234177, -0.08836122,  0.06199097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.17819910e-06, 5.03888925e-05, 2.02291918e-06,-1.99636619e-05,
 -1.55203817e-05, 2.24607350e-05,-4.86942572e-05, 3.55351690e-05,
  2.40324556e-06, 3.05166833e-05, 3.44940897e-06, 1.71533018e-05,
 -2.28624495e-05, 6.30955860e-05,-4.54543967e-05, 1.28381907e-04,
 -9.25519538e-07, 8.39112564e-07,-1.21644281e+00,-4.56981415e-04,
  1.37941228e-05,-5.50442896e-04]


--- Step 1628 ---
qpos:
[ 6.20985369e-03,-1.78095231e-03,-4.99993224e-03, 3.35716929e-02,
  4.47818177e-03,-3.75510402e-03,-1.85320307e-02, 2.85549141e-02,
  1.29759468e-02, 3.31995253e-03,-1.00027859e-02, 2.58952825e-02,
  1.33578474e+00, 1.21572595e-04, 1.08384520e+00, 6.35458849e-02,
  9.36528470e-02,-7.02195866e-02, 1.30943395e-01, 4.93761714e-01,
  4.83696154e-01, 5.05736828e-01, 5.16205057e-01]

qacc:
[  2.597616  , -0.91711895,  2.69092737, -1.19648313, -1.57543124,
   2.04088191, -7.21689653,  9.19872399,  6.49311849,  1.24218724,
  -5.51486872, 13.63503814, -0.56622403,  1.03945098,  1.91109607,
  -6.59319871,  0.0728556 ,  1.05594244,  0.4315979 ,  1.67594892,
   0.40898052,-15.26688938]

qfrc_actuator:
[-6.28243453e-05,-5.58317815e-05,-8.19582304e-05, 1.69230993e-05,
 -7.09153936e-05,-3.73459881e-04,-3.25969278e-04,-2.12843539e-05,
 -2.76089325e-05,-4.13512378e-05,-1.07915581e-04, 2.50905611e-05,
  2.08688411e-03,-1.47952658e-03, 0.00000000e+00,-2.37782609e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003189801143054366
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.61040495e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.61040495e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09234169, -0.08836044,  0.06199088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.51277104e-05, 9.30181464e-06, 2.54060043e-05, 7.50500705e-06,
 -9.13486002e-06, 4.97218379e-06,-3.27376704e-05, 2.49668824e-06,
  3.80179218e-05, 8.23504292e-05, 3.17505853e-05, 3.07245311e-05,
 -1.11364248e-05, 2.79058236e-05,-8.14701837e-06,-3.40403999e-05,
 -7.98161404e-07, 4.71973844e-07,-1.21644223e+00,-4.57223532e-04,
  1.29060922e-05,-5.50622209e-04]


--- Step 1629 ---
qpos:
[ 6.20908702e-03,-1.78051190e-03,-4.99995503e-03, 3.35723438e-02,
  4.47702016e-03,-3.75534345e-03,-1.85324690e-02, 2.85539405e-02,
  1.29760611e-02, 3.31993733e-03,-1.00030520e-02, 2.58952561e-02,
  1.33590255e+00, 1.23389630e-04, 1.08404584e+00, 6.35384903e-02,
  9.36677936e-02,-7.02179739e-02, 1.30944795e-01, 4.93708922e-01,
  4.83744578e-01, 5.05799950e-01, 5.16148326e-01]

qacc:
[  1.69180446,  0.45588026, -5.48270757, 18.97431606,  2.22162066,
  -4.00546863, 18.49768089,-37.57750839,  7.07412664, -0.25829586,
   4.09785369,-11.60214188,  0.11635951, -0.34751482,  4.25289909,
 -14.82750603,  0.07230417,  1.04134445,  0.2895452 ,  1.67355081,
   0.3902982 ,-15.05090506]

qfrc_actuator:
[-5.34457934e-05,-8.48990095e-05,-7.28076286e-05, 5.58114631e-05,
 -5.77108720e-05,-3.72954350e-04,-2.91507336e-04,-7.30989685e-05,
  1.27440050e-05, 1.46675180e-05,-9.32035793e-05, 6.51263446e-06,
  2.07489540e-03,-1.50568302e-03, 0.00000000e+00,-2.44933335e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031912581486517877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.47895085e-13,  8.69737712e-14,  1.00000000e+00, -3.02577475e-26,
        1.00000000e+00, -8.69737712e-14, -1.00000000e+00,  0.00000000e+00,
        3.47895085e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0923416 , -0.08836043,  0.06199088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.80874023e-06,-1.83087807e-05, 1.44571758e-05, 4.03111082e-05,
  1.29465224e-05,-3.35570364e-06, 3.15565296e-05,-5.26828864e-05,
  4.14561288e-05, 1.09991063e-04, 3.67087292e-05,-1.33518896e-05,
 -1.19677183e-05,-2.16521718e-05,-1.14823975e-05,-7.53442317e-05,
 -6.69378567e-07, 2.07094447e-07,-1.21644197e+00,-4.57471675e-04,
  1.19470551e-05,-5.50706903e-04]


--- Step 1630 ---
qpos:
[ 6.20912851e-03,-1.78001598e-03,-4.99997518e-03, 3.35737817e-02,
  4.47602552e-03,-3.75541289e-03,-1.85323747e-02, 2.85530117e-02,
  1.29770036e-02, 3.32050369e-03,-1.00030492e-02, 2.58953797e-02,
  1.33602037e+00, 1.24449277e-04, 1.08424580e+00, 6.35349632e-02,
  9.36830283e-02,-7.02122437e-02, 1.30946877e-01, 4.93669479e-01,
  4.83779216e-01, 5.05879552e-01, 5.16075570e-01]

qacc:
[  7.10576457,  1.67270064, -9.20378749, 22.80419685,  1.47510975,
  -1.17347362,  4.31585007, -4.50967261,  7.28698687,  0.3114748 ,
  -0.6532166 ,  2.41746862,  0.85112428, -1.71155817,-12.75363603,
  42.98141361,  0.07204742,  1.02935231,  0.17060433,  1.67348497,
   0.37349339,-14.87345618]

qfrc_actuator:
[-1.21211903e-05,-6.68567954e-05,-6.74889227e-05, 9.61590309e-05,
 -4.94744386e-05,-3.36981067e-04,-2.53264443e-04,-6.76617655e-05,
  5.41798071e-05, 3.00347176e-05,-8.43891053e-05, 1.33579454e-05,
  2.05813539e-03,-1.55744537e-03, 0.00000000e+00,-2.23990642e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031700276312417175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.75562577e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.75562577e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0923415 , -0.08836103,  0.06199094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.15933431e-05, 1.25062492e-05, 4.70617017e-06, 4.08451386e-05,
  8.60602082e-06, 3.83776756e-05, 3.96236908e-05, 5.36315288e-06,
  4.26507148e-05, 8.39038628e-05, 3.55958701e-05, 1.25681984e-05,
 -2.90675292e-05,-5.96083019e-05,-1.73283724e-05, 2.02914064e-04,
 -5.38522958e-07, 3.91010977e-08,-1.21644202e+00,-4.57727296e-04,
  1.09161341e-05,-5.50698372e-04]


--- Step 1631 ---
qpos:
[ 6.20931995e-03,-1.77937910e-03,-4.99994783e-03, 3.35753321e-02,
  4.47479245e-03,-3.75524005e-03,-1.85315498e-02, 2.85517858e-02,
  1.29784359e-02, 3.32158221e-03,-1.00031478e-02, 2.58956196e-02,
  1.33613812e+00, 1.24881896e-04, 1.08444564e+00, 6.35335879e-02,
  9.36985512e-02,-7.02024352e-02, 1.30949245e-01, 4.93643248e-01,
  4.83800228e-01, 5.05975481e-01, 5.15986914e-01]

qacc:
[  1.31769883,  0.28254391, -1.21634569,  2.98780814, -2.06815503,
  -2.3273988 , 10.02540295,-16.52096388,  4.29833053,  1.19142797,
  -3.77138352,  5.58437554,  0.55717668, -1.23436693, -6.72179548,
  23.14014676,  0.07203509,  1.01959976,  0.07128369,  1.67560978,
   0.35818114,-14.72901934]

qfrc_actuator:
[-5.58055519e-06,-5.62631448e-05,-6.42912173e-05, 1.01567530e-04,
 -6.19875388e-05,-3.15471321e-04,-2.12923359e-04,-8.18074973e-05,
  7.81673531e-05, 3.86795560e-05,-9.70155474e-05, 1.73257166e-05,
  2.05448853e-03,-1.58847220e-03, 0.00000000e+00,-2.13291255e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003130991534605193
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.86478782e-14, -3.54591513e-13,  1.00000000e+00,  3.14337852e-26,
        1.00000000e+00,  3.54591513e-13, -1.00000000e+00,  0.00000000e+00,
        8.86478782e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09234139, -0.08836211,  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:
[ 7.72388819e-06, 2.03030905e-05, 7.76341390e-06, 6.89618053e-06,
 -1.22556857e-05, 5.13911480e-05, 5.33360475e-05,-1.10239746e-05,
  2.52284067e-05, 6.34528057e-05, 9.51660516e-06, 9.03652922e-06,
 -3.38076659e-05,-5.25695421e-05, 1.27017055e-05, 1.15634512e-04,
 -4.05044998e-07,-3.62754521e-08,-1.21644236e+00,-4.57991654e-04,
  9.81233922e-06,-5.50597777e-04]


--- Step 1632 ---
qpos:
[ 6.20924389e-03,-1.77881497e-03,-5.00001547e-03, 3.35762824e-02,
  4.47341902e-03,-3.75468336e-03,-1.85305302e-02, 2.85500735e-02,
  1.29798000e-02, 3.32309767e-03,-1.00030500e-02, 2.58955492e-02,
  1.33625566e+00, 1.25384840e-04, 1.08464559e+00, 6.35328414e-02,
  9.37103095e-02,-7.02003292e-02, 1.30950182e-01, 4.93603936e-01,
  4.83831362e-01, 5.06029663e-01, 5.15942194e-01]

qacc:
[ -2.35432506, -1.06160663,  6.18666938,-16.37410789, -1.22910952,
  -1.03405536,  6.48146179,-15.49696837, -0.60110672, -0.60902335,
   4.32113331,-10.3273449 , -0.19436589,  0.24245801, -1.73826091,
   6.32694307, -0.94115087, -1.925632  , -0.35761626,-16.22300487,
   1.02262482, 26.87763701]

qfrc_actuator:
[-1.95753576e-05,-8.57515389e-05,-8.01646652e-05, 6.86197199e-05,
 -6.88591076e-05,-3.02779966e-04,-2.07239696e-04,-1.07378913e-04,
  7.39404483e-05, 6.08803901e-05,-8.67384284e-05, 1.78804514e-06,
  2.05871611e-03,-1.57137987e-03, 0.00000000e+00,-2.10496242e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003092507248669968
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.79502089e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.79502089e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10858425, -0.03354641,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.37710548e-05,-1.62603467e-05,-1.04964948e-05,-3.16802704e-05,
 -7.20543324e-06, 5.19559031e-05, 2.24787872e-05,-2.17370633e-05,
 -3.48540926e-06, 6.00119423e-05, 2.48574408e-05,-1.23167868e-05,
 -2.67067900e-05,-3.91914376e-06, 1.46598061e-05, 3.50879591e-05,
 -2.68467578e-07,-2.24293184e-08,-1.21644299e+00,-4.58265883e-04,
  8.63457930e-06,-5.50406074e-04]


--- Step 1633 ---
qpos:
[ 6.20934580e-03,-1.77851212e-03,-4.99989731e-03, 3.35768361e-02,
  4.47266370e-03,-3.75371334e-03,-1.85300406e-02, 2.85488060e-02,
  1.29807586e-02, 3.32450237e-03,-1.00020312e-02, 2.58956589e-02,
  1.33637283e+00, 1.26332477e-04, 1.08484540e+00, 6.35337888e-02,
  9.37183549e-02,-7.02058015e-02, 1.30949080e-01, 4.93551664e-01,
  4.83872454e-01, 5.06042876e-01, 5.15940705e-01]

qacc:
[  1.57507772, -1.68444853,  7.1734579 ,-14.13491405,  5.38609415,
   2.92998548,-11.55144071, 19.81067781, -3.53765149, -2.34255062,
   7.39178014, -5.67875949, -0.49446458,  0.87377302, -5.26361861,
  18.23468646, -0.92820504, -1.89458663, -0.50970487,-15.91399701,
   1.05599979, 26.44372906]

qfrc_actuator:
[-1.00286738e-05,-1.03626587e-04,-7.18520545e-05, 4.88309590e-05,
 -3.68432014e-05,-2.95618153e-04,-2.39859336e-04,-8.62397625e-05,
  5.31468932e-05, 3.78272731e-05,-4.52239414e-05, 1.04323120e-05,
  2.04638218e-03,-1.54361521e-03, 0.00000000e+00,-2.01726049e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58119478, -1.68889452,  4.25851863, -1.68889452, 29.23104817,
        9.77593525,  4.25851863,  9.77593525,  8.45825273,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003120275550545226
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.44761611e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.44761611e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10858313, -0.03354772,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.14930039e-06,-3.05200281e-05, 2.55758260e-06,-2.14679318e-05,
  3.18281994e-05, 3.98960252e-05,-1.98855212e-05, 2.37210947e-05,
 -2.08672280e-05, 1.50599451e-05, 5.65291382e-05, 1.18333956e-05,
 -2.79913481e-05, 2.05270555e-05, 5.84962904e-06, 9.04364983e-05,
 -3.02697488e-07, 6.90854744e-08,-1.21644124e+00,-4.58687100e-04,
  1.03857950e-05,-5.50298676e-04]


--- Step 1634 ---
qpos:
[ 6.20956108e-03,-1.77831203e-03,-4.99978488e-03, 3.35778317e-02,
  4.47195337e-03,-3.75281413e-03,-1.85297341e-02, 2.85478408e-02,
  1.29818058e-02, 3.32556786e-03,-1.00000678e-02, 2.58962447e-02,
  1.33648986e+00, 1.27096453e-04, 1.08504518e+00, 6.35357742e-02,
  9.37227311e-02,-7.02187493e-02, 1.30945428e-01, 4.93486532e-01,
  4.83923371e-01, 5.06015749e-01, 5.15981856e-01]

qacc:
[  0.99866927,  0.78801461, -4.87515396, 12.60952897,  0.38942198,
   1.03851756, -5.11655241, 10.69328108,  0.81548704, -2.10974851,
   4.85865156,  2.12526427,  0.0843056 , -0.29692082, -3.18132947,
  11.05125144, -0.91733425, -1.86886896, -0.63763272,-15.65964136,
   1.08149709, 26.08545051]

qfrc_actuator:
[-4.44821755e-06,-9.65633480e-05,-6.70232340e-05, 7.24794472e-05,
 -3.54550230e-05,-3.27462329e-04,-2.59309010e-04,-7.33161426e-05,
  5.82832668e-05, 5.74735198e-06,-3.52266408e-06, 3.32196151e-05,
  2.02945680e-03,-1.56310755e-03, 0.00000000e+00,-1.96603464e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58099745, -1.96864661,  4.13641973, -1.96864661, 36.88952102,
       15.37659851,  4.13641973, 15.37659851, 11.89918335,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031197086919335093
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.66905455e-13, -2.22421213e-13,  1.00000000e+00,  5.93654350e-26,
        1.00000000e+00,  2.22421213e-13, -1.00000000e+00,  0.00000000e+00,
        2.66905455e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10858275, -0.03354757,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.82954560e-06,-1.04061286e-05,-1.90994471e-06, 2.20087572e-05,
  2.31114016e-06,-1.26523262e-05,-1.28533848e-05, 1.44052077e-05,
  4.55153290e-06,-1.15416328e-05, 5.21575922e-05, 2.56143550e-05,
 -2.74826982e-05,-2.10135971e-05, 8.52331503e-06, 5.60472237e-05,
 -1.95305614e-07, 2.93164555e-07,-1.21644073e+00,-4.59209338e-04,
  1.12668726e-05,-5.50442672e-04]


--- Step 1635 ---
qpos:
[ 6.21018650e-03,-1.77812280e-03,-4.99964356e-03, 3.35787428e-02,
  4.47126588e-03,-3.75245287e-03,-1.85294624e-02, 2.85477796e-02,
  1.29835962e-02, 3.32653438e-03,-9.99762897e-03, 2.58971009e-02,
  1.33660674e+00, 1.27642394e-04, 1.08524534e+00, 6.35353469e-02,
  9.37272699e-02,-7.02273500e-02, 1.30944249e-01, 4.93435006e-01,
  4.83960772e-01, 5.06006010e-01, 5.16005604e-01]

qacc:
[  3.60742696, -0.27617411,  1.30839733, -2.79583957,  0.20859232,
   1.24516423, -9.290209  , 25.38925436,  6.55639855, -0.9158138 ,
   1.91167948,  2.10516622, -0.11947825, -0.02835622,  7.83314343,
 -26.60130682,  0.04068918,  1.08678392,  0.61844682,  2.26190026,
   0.1244261 ,-15.43095179]

qfrc_actuator:
[ 1.64985570e-05,-9.23437913e-05,-6.41674781e-05, 6.82525716e-05,
 -3.43649789e-05,-3.82391297e-04,-2.70991558e-04,-2.98519465e-05,
  9.63983186e-05, 4.02936405e-06, 2.01459738e-05, 4.63719998e-05,
  2.02042267e-03,-1.57499835e-03, 0.00000000e+00,-2.09648980e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003153163822186833
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32036792e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.32036792e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09234407, -0.08836235,  0.06199099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.11071084e-05,-1.06048264e-06, 1.22613485e-06,-4.31373043e-06,
  1.15156922e-06,-6.40749847e-05,-1.53928730e-05, 4.27569481e-05,
  3.82426632e-05, 3.64144776e-06, 2.85593511e-05, 1.49529279e-05,
 -2.91936999e-05,-2.35261492e-05, 5.88322786e-06,-1.27233800e-04,
  4.95230095e-08, 6.43910668e-07,-1.21644141e+00,-4.59834308e-04,
  1.13243089e-05,-5.50834895e-04]


--- Step 1636 ---
qpos:
[ 6.21071301e-03,-1.77773289e-03,-4.99953215e-03, 3.35788820e-02,
  4.47128654e-03,-3.75248631e-03,-1.85293550e-02, 2.85482308e-02,
  1.29851397e-02, 3.32748898e-03,-9.99545271e-03, 2.58978032e-02,
  1.33672331e+00, 1.28547388e-04, 1.08544559e+00, 6.35327024e-02,
  9.37319981e-02,-7.02316854e-02, 1.30944857e-01, 4.93396912e-01,
  4.83984745e-01, 5.06013346e-01, 5.16012352e-01]

qacc:
[ -0.87461923, -1.23854804,  8.06167782,-21.52039073,  6.19949476,
   0.97877365, -6.43186244, 15.87562352, -2.1805169 ,  0.40547025,
  -0.81107458, -1.43321592, -0.64388937,  1.04649732,  6.88050959,
 -23.75221131,  0.04732599,  1.06631897,  0.44656974,  2.14334269,
   0.16421234,-15.18899715]

qfrc_actuator:
[ 1.08177337e-05,-7.21285982e-05,-6.25278838e-05, 2.98974753e-05,
  2.05559973e-06,-3.97417775e-04,-2.78088864e-04,-4.29139431e-06,
  8.26000693e-05,-1.50812883e-05,-2.41893311e-06, 3.60060874e-05,
  2.01612827e-03,-1.54671512e-03, 0.00000000e+00,-2.20864960e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60448578,  0.30491457,  4.59437878,  0.30491457, 25.42892284,
       -1.38205285,  4.59437878, -1.38205285,  4.69620831,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031861701904942197
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74225317e-13,  1.74225317e-13,  1.00000000e+00, -3.03544612e-26,
        1.00000000e+00, -1.74225317e-13, -1.00000000e+00,  0.00000000e+00,
        1.74225317e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09234518, -0.08836177,  0.06199089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.08185573e-06, 1.96854375e-05, 1.41491049e-06,-3.84458448e-05,
  3.64299558e-05,-5.22198761e-05,-2.07561906e-05, 2.31127800e-05,
 -1.27065456e-05,-1.05806365e-05,-1.78190687e-05,-8.94142322e-06,
 -2.64405992e-05, 1.58538450e-05,-1.65179729e-05,-1.19671267e-04,
 -4.05193776e-09, 3.64433929e-07,-1.21644071e+00,-4.59619647e-04,
  1.12335901e-05,-5.51012802e-04]


--- Step 1637 ---
qpos:
[ 6.21082245e-03,-1.77695068e-03,-4.99983551e-03, 3.35792530e-02,
  4.47174327e-03,-3.75264341e-03,-1.85288911e-02, 2.85485678e-02,
  1.29858164e-02, 3.32839408e-03,-9.99383719e-03, 2.58987475e-02,
  1.33683974e+00, 1.29485728e-04, 1.08564563e+00, 6.35293789e-02,
  9.37369366e-02,-7.02318230e-02, 1.30946674e-01, 4.93372105e-01,
  4.83995371e-01, 5.06037496e-01, 5.16002423e-01]

qacc:
[ -3.68697935,  2.16229112, -7.92277843, 12.29265168,  3.82949818,
  -1.40100328,  5.22775028, -7.66815061, -7.64406725,  2.01486403,
  -8.2752123 , 13.36903331, -0.16553579,  0.20702853,  1.76500776,
  -6.57853961,  0.05258605,  1.04945183,  0.30231025,  2.04946888,
   0.19469614,-14.98770449]

qfrc_actuator:
[-1.04946461e-05,-4.25232252e-05,-7.93233732e-05, 4.27970692e-05,
  2.34747892e-05,-3.70678207e-04,-2.46786428e-04,-7.19563035e-06,
  3.83465786e-05,-2.69223772e-05,-3.44234554e-05, 4.73506508e-05,
  2.00937129e-03,-1.54807524e-03, 0.00000000e+00,-2.23805211e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60589556,  0.11098893,  4.60455811,  0.11098893, 48.42550481,
       -1.05623419,  4.60455811, -1.05623419,  4.63135518,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031900958046146566
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.35027305e-14, -1.74010922e-13,  1.00000000e+00,  7.56995025e-27,
        1.00000000e+00,  1.74010922e-13, -1.00000000e+00,  0.00000000e+00,
        4.35027305e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09234602, -0.08836192,  0.06199088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.14498338e-05, 3.92392608e-05,-1.38916136e-05, 1.30425175e-05,
  2.24415195e-05,-5.74671604e-06, 1.87558664e-05,-5.41320445e-06,
 -4.46116934e-05,-2.18829145e-05,-3.67303725e-05, 1.00928397e-05,
 -1.83169951e-05,-3.27774528e-06,-2.49725969e-05,-3.91216532e-05,
 -4.28530096e-08, 1.81090564e-07,-1.21644031e+00,-4.59440833e-04,
  1.10381964e-05,-5.51098302e-04]


--- Step 1638 ---
qpos:
[ 6.21102063e-03,-1.77606960e-03,-4.99996273e-03, 3.35797720e-02,
  4.47279814e-03,-3.75257621e-03,-1.85282295e-02, 2.85488324e-02,
  1.29859574e-02, 3.32925842e-03,-9.99237073e-03, 2.58997905e-02,
  1.33695620e+00, 1.29894772e-04, 1.08584509e+00, 6.35290330e-02,
  9.37421023e-02,-7.02278180e-02, 1.30949217e-01, 4.93360459e-01,
  4.83992720e-01, 5.06078245e-01, 5.15976080e-01]

qacc:
[  0.78432851, -0.05841906, -0.22965328,  2.43989409,  5.23714328,
  -0.41527101,  2.19931248, -3.91568389, -4.71820157,  0.5751324 ,
  -2.52969751,  4.48922679,  0.62119333, -1.22996205, -9.90909279,
  33.27859464,  0.05677413,  1.03564052,  0.18152051,  1.97545673,
   0.21786973,-14.82148279]

qfrc_actuator:
[-5.32297210e-06,-4.30608878e-05,-7.12778329e-05, 5.02493908e-05,
  5.36346090e-05,-3.36744797e-04,-2.28404362e-04,-9.00446827e-06,
  1.20438453e-05,-1.66067290e-05,-3.61833003e-05, 5.36344275e-05,
  2.00113311e-03,-1.58479192e-03, 0.00000000e+00,-2.07643048e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003170871694546662
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.75065902e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.75065902e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09234665, -0.08836265,  0.06199094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.57326991e-06, 1.90611638e-05, 1.48856120e-05, 8.90595116e-06,
  3.07983592e-05, 3.43692951e-05, 1.93128935e-05,-1.51386562e-06,
 -2.75720254e-05,-9.14322566e-06,-1.04840679e-05, 4.26576975e-06,
 -1.97735460e-05,-4.14766676e-05,-1.88118585e-05, 1.55549356e-04,
 -6.95878965e-08, 9.02840292e-08,-1.21644022e+00,-4.59291374e-04,
  1.07454154e-05,-5.51092032e-04]


--- Step 1639 ---
qpos:
[ 6.21127929e-03,-1.77554976e-03,-4.99916502e-03, 3.35796929e-02,
  4.47386137e-03,-3.75183408e-03,-1.85284030e-02, 2.85490864e-02,
  1.29857818e-02, 3.33017664e-03,-9.99185458e-03, 2.59012894e-02,
  1.33707251e+00, 1.30139141e-04, 1.08604440e+00, 6.35305790e-02,
  9.37475084e-02,-7.02197153e-02, 1.30952083e-01, 4.93361872e-01,
  4.83976852e-01, 5.06135419e-01, 5.15933531e-01]

qacc:
[  0.56671353, -4.29542826, 17.14435642,-28.70136551,  0.03543623,
   3.20229365,-10.07974801, 10.73390632, -2.81671624,  3.67079099,
 -14.89994317, 24.25676343,  0.14015713, -0.35836818, -5.95208031,
  20.46071967,  0.06012924,  1.02442677,  0.08065513,  1.91745799,
   0.23529589,-14.68556078]

qfrc_actuator:
[-2.35249284e-06,-7.93005086e-05,-3.10000396e-05, 1.89191092e-05,
  5.31970334e-05,-2.98793582e-04,-2.71016333e-04,-1.01520972e-05,
 -3.47277098e-06,-2.84912532e-05,-9.09942548e-05, 7.46808792e-05,
  1.99732288e-03,-1.58891534e-03, 0.00000000e+00,-1.98110567e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031334553942298504
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.42890868e-14, -5.31469042e-13,  1.00000000e+00, -2.35382786e-26,
        1.00000000e+00,  5.31469042e-13, -1.00000000e+00,  0.00000000e+00,
       -4.42890868e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09234712, -0.08836382,  0.06199104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.10342744e-06,-2.21546070e-05, 4.63463258e-05,-2.98281899e-05,
  4.53504803e-07, 6.10946219e-05,-3.31966660e-05, 9.60556583e-07,
 -1.62984436e-05,-1.90402371e-05,-5.78716793e-05, 2.03685300e-05,
 -2.46747204e-05,-1.89304894e-05, 6.57508569e-06, 1.01083474e-04,
 -8.62292501e-08, 8.90666789e-08,-1.21644042e+00,-4.59166544e-04,
  1.03605222e-05,-5.50994602e-04]


--- Step 1640 ---
qpos:
[ 6.21157155e-03,-1.77528061e-03,-4.99816145e-03, 3.35796207e-02,
  4.47422188e-03,-3.75082862e-03,-1.85292341e-02, 2.85493659e-02,
  1.29854214e-02, 3.33123563e-03,-9.99236078e-03, 2.59030230e-02,
  1.33718862e+00, 1.30549685e-04, 1.08624365e+00, 6.35335874e-02,
  9.37530652e-02,-7.02078243e-02, 1.30955118e-01, 4.93375729e-01,
  4.83948398e-01, 5.06207446e-01, 5.15876303e-01]

qacc:
[  0.30629423, -0.89338615,  2.67469619, -2.69979029, -6.17507789,
   2.24859879, -7.59976289,  8.87472386, -1.66108824,  3.52969144,
 -13.30089082, 18.88780011, -0.18644529,  0.30390018, -4.47948154,
  15.59132163,  0.03767378,  0.94708729,  0.04241207,  1.43038946,
   0.20984659,-13.61039006]

qfrc_actuator:
[-7.09950722e-07,-1.01035473e-04,-2.54600391e-05, 1.82640075e-05,
  1.69989176e-05,-3.12229922e-04,-3.13765604e-04,-1.09359381e-05,
 -1.25225411e-05,-1.82689543e-05,-1.41269726e-04, 8.64357418e-05,
  1.99618276e-03,-1.57363570e-03, 0.00000000e+00,-1.90791172e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030819606785712443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64435409e-08, -7.64432946e-08,  1.00000000e+00, -5.84359612e-15,
        1.00000000e+00,  7.64432946e-08, -1.00000000e+00,  7.88860905e-31,
       -7.64435409e-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([ 0.0927407 , -0.08703717,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.71997223e-06,-2.58563636e-05, 5.62423855e-06,-5.84381005e-07,
 -3.61625399e-05, 1.38865477e-05,-3.41932798e-05, 7.02573245e-07,
 -9.51424062e-06,-1.15552674e-05,-6.06515146e-05, 9.32698787e-06,
 -1.91738215e-05, 4.78762977e-06, 1.03598542e-05, 7.87599058e-05,
 -9.42042953e-08, 1.75035855e-07,-1.21644090e+00,-4.59062938e-04,
  9.88727315e-06,-5.50806567e-04]


--- Step 1641 ---
qpos:
[ 6.21153615e-03,-1.77509339e-03,-4.99716685e-03, 3.35798799e-02,
  4.47414615e-03,-3.75015464e-03,-1.85300216e-02, 2.85493173e-02,
  1.29849551e-02, 3.33237768e-03,-9.99292409e-03, 2.59041331e-02,
  1.33730453e+00, 1.31359742e-04, 1.08644254e+00, 6.35404669e-02,
  9.37549498e-02,-7.02035997e-02, 1.30956449e-01, 4.93376884e-01,
  4.83929995e-01, 5.06237849e-01, 5.15862627e-01]

qacc:
[ -2.87981242,  0.60470568, -3.70221274,  9.50063091, -3.8111213 ,
  -1.22674386,  5.13671222,-10.65324044, -0.93506075, -1.01217381,
   6.40390963,-17.16764219, -0.19581981,  0.47264121,-12.20348885,
  41.95969251, -0.91808184, -1.91662317, -0.42613778,-16.20637278,
   0.892162  , 26.63568006]

qfrc_actuator:
[-1.76141260e-05,-9.62810643e-05,-2.26609799e-05, 3.56483841e-05,
 -4.44252953e-06,-3.56357169e-04,-3.20935603e-04,-2.92859786e-05,
 -1.76973272e-05, 5.10899827e-06,-1.35113860e-04, 5.71490878e-05,
  1.99665534e-03,-1.54697921e-03, 0.00000000e+00,-1.70630247e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003127320665358424
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.77503867e-13, -8.87519336e-14,  1.00000000e+00,  1.57538114e-26,
        1.00000000e+00,  8.87519336e-14, -1.00000000e+00,  0.00000000e+00,
        1.77503867e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10857677, -0.03354629,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68663653e-05,-8.58958521e-06,-1.88455273e-06, 1.64568114e-05,
 -2.24682883e-05,-4.34345722e-05,-8.49060626e-06,-1.89238959e-05,
 -5.44388686e-06, 4.74675013e-06,-3.38918116e-06,-3.17037122e-05,
 -8.91740299e-06, 2.33341397e-05, 9.21006849e-06, 2.06322397e-04,
 -9.44390622e-08, 3.32972183e-07,-1.21644159e+00,-4.58992760e-04,
  9.37604252e-06,-5.50537884e-04]


--- Step 1642 ---
qpos:
[ 6.21129823e-03,-1.77475714e-03,-4.99623615e-03, 3.35799736e-02,
  4.47381355e-03,-3.74972835e-03,-1.85303729e-02, 2.85493568e-02,
  1.29844308e-02, 3.33308726e-03,-9.99295412e-03, 2.59052539e-02,
  1.33742022e+00, 1.32523897e-04, 1.08664162e+00, 6.35480273e-02,
  9.37531961e-02,-7.02069222e-02, 1.30955511e-01, 4.93365386e-01,
  4.83921496e-01, 5.06227393e-01, 5.15891857e-01]

qacc:
[ -1.78548507,  0.03844273,  0.85318525, -3.73045527, -2.23011554,
  -1.35988523,  4.01013018, -3.01023927, -0.48672297, -2.03909251,
   6.39785183, -6.74931625, -0.40203643,  0.72851335, -1.73200075,
   6.56147228, -0.90955168, -1.88676214, -0.56726114,-15.89431914,
   0.95095564, 26.24165413]

qfrc_actuator:
[-2.75458724e-05,-7.57015213e-05,-2.13740072e-05, 2.80238875e-05,
 -1.70153555e-05,-3.47398966e-04,-2.89443526e-04,-2.23271432e-05,
 -2.05521796e-05,-3.46287815e-05,-1.13408120e-04, 5.72597474e-05,
  1.98212552e-03,-1.53154904e-03, 0.00000000e+00,-1.67917451e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58851367, -0.60002446,  4.54911292, -0.60002446, 42.4088739 ,
        4.98847613,  4.54911292,  4.98847613,  5.24648979,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031411968510065835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.76719747e-13, -1.32539810e-13,  1.00000000e+00,  2.34224017e-26,
        1.00000000e+00,  1.32539810e-13, -1.00000000e+00,  0.00000000e+00,
        1.76719747e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10857554, -0.03354674,  0.06199102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04165705e-05, 1.60673314e-05,-1.63731127e-07,-7.73998933e-06,
 -1.32286930e-05,-1.79180144e-05, 2.08222151e-05, 4.43665736e-06,
 -3.00314295e-06,-3.91827150e-05, 2.11623077e-05,-4.23830455e-07,
 -1.36022394e-05, 1.89815198e-05, 2.35783475e-05, 3.89545625e-05,
 -8.70939699e-08, 8.38962112e-08,-1.21644023e+00,-4.59410185e-04,
  1.02739932e-05,-5.50547566e-04]


--- Step 1643 ---
qpos:
[ 6.21128786e-03,-1.77426440e-03,-4.99533997e-03, 3.35803172e-02,
  4.47333240e-03,-3.74931279e-03,-1.85301887e-02, 2.85497860e-02,
  1.29842215e-02, 3.33308965e-03,-9.99253894e-03, 2.59064092e-02,
  1.33753573e+00, 1.33908366e-04, 1.08684148e+00, 6.35501902e-02,
  9.37478329e-02,-7.02176931e-02, 1.30951829e-01, 4.93341275e-01,
  4.83922775e-01, 5.06176696e-01, 5.15963455e-01]

qacc:
[  1.99735793,  0.81396509, -3.66362852,  7.93499194, -1.28280699,
  -0.7059468 ,  0.85487552,  5.03908303,  2.79892402, -2.11316227,
   6.02294124, -5.60506232, -0.67727531,  1.04398742, 17.50676687,
 -59.43562651, -0.90235645, -1.86207916, -0.68590735,-15.64013874,
   0.99451297, 25.91623736]

qfrc_actuator:
[-1.55356012e-05,-6.35777146e-05,-2.09357625e-05, 4.12636122e-05,
 -2.42718874e-05,-3.24293313e-04,-2.52916750e-04,-4.67741906e-07,
 -4.26788185e-06,-9.40010601e-05,-1.00692632e-04, 5.68714622e-05,
  1.96925471e-03,-1.52296906e-03, 0.00000000e+00,-1.96812520e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58437081, -0.88165768,  4.49879267, -0.88165768, 34.90942389,
        5.94299804,  4.49879267,  5.94299804,  5.74905882,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031293790036864
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.86935574e-14,  1.33040336e-13,  1.00000000e+00, -1.17998207e-26,
        1.00000000e+00, -1.33040336e-13, -1.00000000e+00,  0.00000000e+00,
        8.86935574e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10857507, -0.0335459 ,  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:
[ 1.17180023e-05, 2.07171396e-05, 3.45486215e-06, 1.37693689e-05,
 -7.64170716e-06, 1.75608961e-05, 3.55437706e-05, 2.18986335e-05,
  1.61869000e-05,-7.69608365e-05, 7.20285074e-06,-1.34743999e-06,
 -1.57578142e-05, 1.00402991e-05, 9.91868833e-06,-2.84989251e-04,
  5.43409711e-08,-2.97067137e-08,-1.21644009e+00,-4.59906784e-04,
  1.03243380e-05,-5.50801024e-04]


--- Step 1644 ---
qpos:
[ 6.21176637e-03,-1.77371410e-03,-4.99414365e-03, 3.35811512e-02,
  4.47276817e-03,-3.74929789e-03,-1.85290840e-02, 2.85504968e-02,
  1.29842090e-02, 3.33253913e-03,-9.99224084e-03, 2.59072255e-02,
  1.33765119e+00, 1.35139268e-04, 1.08704114e+00, 6.35509122e-02,
  9.37388843e-02,-7.02358309e-02, 1.30945004e-01, 4.93304588e-01,
  4.83933726e-01, 5.06086251e-01, 5.16076970e-01]

qacc:
[ 4.30733204e+00, 2.38487344e-01,-2.82478045e+00, 1.08053539e+01,
 -6.91280955e-01,-2.51958538e+00, 7.02887808e+00,-3.33246087e+00,
  1.73683867e+00,-1.10474531e+00, 4.30428684e+00,-9.57097378e+00,
  1.85300467e-03,-1.20881883e-01, 4.04234846e+00,-1.45929940e+01,
 -8.96370569e-01,-1.84176687e+00,-7.85602142e-01,-1.54345445e+01,
  1.02580743e+00, 2.56496444e+01]

qfrc_actuator:
[ 9.29079818e-06,-5.65944153e-05,-3.25794369e-06, 6.66727068e-05,
 -2.83442212e-05,-3.63847601e-04,-2.13643108e-04, 1.22423392e-05,
  5.39735191e-06,-1.29201065e-04,-1.11249164e-04, 3.84029861e-05,
  1.96270932e-03,-1.53625968e-03, 0.00000000e+00,-2.03260655e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030972387566885473
  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([ 0.1085752 , -0.03354404,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51635460e-05, 1.98472019e-05, 2.28417075e-05, 2.66800224e-05,
 -4.28684890e-06,-2.14750502e-05, 4.80292840e-05, 1.51167132e-05,
  1.00986663e-05,-7.68093720e-05,-2.56215760e-05,-2.15478044e-05,
 -1.36440385e-05,-1.40937280e-05,-3.32926136e-05,-8.05243385e-05,
  3.28024689e-07,-1.40934745e-08,-1.21644111e+00,-4.60489917e-04,
  9.56930496e-06,-5.51296891e-04]


--- Step 1645 ---
qpos:
[ 6.21253870e-03,-1.77305248e-03,-4.99272140e-03, 3.35819358e-02,
  4.47215945e-03,-3.74962668e-03,-1.85274634e-02, 2.85517210e-02,
  1.29843122e-02, 3.33173520e-03,-9.99193771e-03, 2.59077671e-02,
  1.33776642e+00, 1.36533660e-04, 1.08724044e+00, 6.35521413e-02,
  9.37299976e-02,-7.02494855e-02, 1.30941652e-01, 4.93281594e-01,
  4.83931444e-01, 5.06013669e-01, 5.16172252e-01]

qacc:
[ 2.58883576e+00,-5.91235322e-01, 2.52121384e+00,-3.80952941e+00,
 -3.66896951e-01,-8.38066676e-01, 1.62212793e-01, 8.15170782e+00,
  1.02317558e+00,-9.16604599e-01, 3.93898120e+00,-8.51234958e+00,
 -2.53304884e-01, 3.84463521e-01,-2.05227891e+00, 6.43998992e+00,
  1.54643877e-02, 1.12084334e+00, 8.67903951e-01, 2.64621114e+00,
 -5.65204648e-02,-1.57017505e+01]

qfrc_actuator:
[ 2.37019187e-05,-5.26590933e-05, 6.69014389e-06, 6.35376740e-05,
 -3.05120760e-05,-3.87345735e-04,-1.91073124e-04, 3.71677207e-05,
  1.10834640e-05,-1.14263863e-04,-9.98794468e-05, 2.71987649e-05,
  1.94930190e-03,-1.52688165e-03, 0.00000000e+00,-1.99970897e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031932386020147585
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.34599150e-14, -5.21518979e-13,  1.00000000e+00,  2.26651705e-26,
        1.00000000e+00,  5.21518979e-13, -1.00000000e+00,  0.00000000e+00,
        4.34599150e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09235455, -0.08836436,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.51283488e-05, 2.08670806e-05, 1.77604434e-05,-9.81883345e-07,
 -2.30037719e-06,-2.49551056e-05, 2.45591109e-05, 2.59572087e-05,
  5.94685935e-06,-3.42128131e-05,-8.39700035e-06,-1.58034065e-05,
 -2.51255965e-05, 3.14244083e-06,-2.69005288e-05, 2.35076100e-05,
  7.32680489e-07, 1.26828660e-07,-1.21644327e+00,-4.61164146e-04,
  8.04045159e-06,-5.52033643e-04]


--- Step 1646 ---
qpos:
[ 6.21313308e-03,-1.77236932e-03,-4.99140288e-03, 3.35827115e-02,
  4.47187433e-03,-3.75016180e-03,-1.85259010e-02, 2.85539476e-02,
  1.29851725e-02, 3.33092327e-03,-9.99137467e-03, 2.59081195e-02,
  1.33788148e+00, 1.38021494e-04, 1.08743996e+00, 6.35503569e-02,
  9.37212172e-02,-7.02587645e-02, 1.30940918e-01, 4.93272119e-01,
  4.83915933e-01, 5.05958542e-01, 5.16249882e-01]

qacc:
[-1.56841996e+00, 3.03366259e-01,-9.97789048e-01, 9.89346766e-01,
  2.83431349e+00, 1.94517524e+00,-1.15741138e+01, 2.91762899e+01,
  6.67037381e+00,-1.13922497e+00, 4.82250887e+00,-8.48034407e+00,
 -4.03288228e-01, 5.71831948e-01, 9.47132103e+00,-3.25639327e+01,
  2.65794080e-02, 1.09386410e+00, 6.54765862e-01, 2.43693855e+00,
  2.77525749e-02,-1.54126987e+01]

qfrc_actuator:
[ 1.41107263e-05,-6.83819751e-05,-5.79810328e-06, 6.13724655e-05,
 -1.37899858e-05,-4.01106881e-04,-1.96241466e-04, 8.68304512e-05,
  4.98896294e-05,-8.70752828e-05,-7.54292539e-05, 2.04244758e-05,
  1.94244765e-03,-1.52191067e-03, 0.00000000e+00,-2.15829270e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.63275646,  0.70698917,  4.57849306,  0.70698917, 16.13148051,
       -1.77557839,  4.57849306, -1.77557839,  4.90693285,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003263583492363886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27569475e-13, -8.50463170e-14,  1.00000000e+00, -1.08493140e-26,
        1.00000000e+00,  8.50463170e-14, -1.00000000e+00,  0.00000000e+00,
       -1.27569475e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09235652, -0.08836302,  0.06199067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.15815334e-06,-4.66754484e-07,-6.05186943e-06,-6.82819819e-07,
  1.66455958e-05,-2.15414273e-05,-6.41729528e-06, 4.99426773e-05,
  3.89620416e-05, 5.67158669e-06, 1.58065081e-05,-8.83888017e-06,
 -2.04913210e-05, 1.13828947e-07,-1.24423399e-05,-1.61354927e-04,
  4.72256905e-07,-9.55560166e-08,-1.21644209e+00,-4.60394037e-04,
  9.03385395e-06,-5.52238696e-04]


--- Step 1647 ---
qpos:
[ 6.21360801e-03,-1.77167431e-03,-4.99050287e-03, 3.35834791e-02,
  4.47144673e-03,-3.75061490e-03,-1.85247779e-02, 2.85563961e-02,
  1.29861462e-02, 3.33024408e-03,-9.99060324e-03, 2.59083725e-02,
  1.33799652e+00, 1.38822578e-04, 1.08763895e+00, 6.35503553e-02,
  9.37125774e-02,-7.02637574e-02, 1.30942087e-01, 4.93276011e-01,
  4.83887208e-01, 5.05920529e-01, 5.16310338e-01]

qacc:
[ -1.06363118,  1.17064152, -4.11253419,  4.62543069, -1.26197346,
   1.79404345, -7.17248057, 11.64892912,  1.00145744, -0.61370391,
   2.85939291, -5.00817709,  0.63870318, -1.36836744, -6.24478894,
  20.53870446,  0.03516773,  1.07155617,  0.47550963,  2.26892286,
   0.09475082,-15.17018646]

qfrc_actuator:
[ 8.22503460e-06,-7.81018896e-05,-3.15088491e-05, 5.97683119e-05,
 -2.15894675e-05,-3.91273096e-04,-2.17685225e-04, 9.73834228e-05,
  5.46223292e-05,-7.04325642e-05,-6.11402993e-05, 1.63323836e-05,
  1.92355094e-03,-1.57283718e-03, 0.00000000e+00,-2.05564212e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6450136 ,  0.60471732,  4.60548241,  0.60471732, 23.8547719 ,
       -2.52231418,  4.60548241, -2.52231418,  4.97620302,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003296321232574284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.52605013e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.52605013e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09235804, -0.08836258,  0.06199058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.14963920e-06,-1.13072580e-05,-2.66015443e-05,-1.85276798e-06,
 -7.33331449e-06,-1.39538468e-06,-2.49733344e-05, 1.03717453e-05,
  5.83940120e-06, 2.27389159e-05, 1.71030102e-05,-3.47582357e-06,
 -3.09421909e-05,-5.53138582e-05,-2.79805516e-05, 9.10640308e-05,
  2.35337168e-07,-2.25466356e-07,-1.21644125e+00,-4.59685021e-04,
  9.88679889e-06,-5.52359405e-04]


--- Step 1648 ---
qpos:
[ 6.21400888e-03,-1.77149289e-03,-4.98911713e-03, 3.35838814e-02,
  4.47023890e-03,-3.75057385e-03,-1.85238261e-02, 2.85581890e-02,
  1.29864796e-02, 3.32933502e-03,-9.98923413e-03, 2.59089394e-02,
  1.33811137e+00, 1.38858427e-04, 1.08783745e+00, 6.35538701e-02,
  9.37041048e-02,-7.02645374e-02, 1.30944555e-01, 4.93293142e-01,
  4.83845288e-01, 5.05899349e-01, 5.16354009e-01]

qacc:
[ -0.62735306, -2.78754191, 10.4977014 ,-17.21809635, -6.84258661,
  -0.20341716,  4.46440473,-15.92478476, -5.61068461, -1.31705486,
   2.94876751,  1.6774448 ,  0.66385399, -1.51908438,-11.39298593,
  38.66975789,  0.04178049,  1.05319638,  0.3250725 ,  2.13385276,
   0.14819234,-14.96791234]

qfrc_actuator:
[ 4.57530873e-06,-1.19724212e-04,-1.15389279e-05, 4.07511141e-05,
 -6.15178925e-05,-3.31982907e-04,-2.12984468e-04, 6.70974367e-05,
  2.14992365e-05,-9.57601694e-05,-3.52479078e-05, 3.15882623e-05,
  1.89742052e-03,-1.62105411e-03, 0.00000000e+00,-1.87085240e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.64596041,  0.46653778,  4.62247668,  0.46653778, 42.7553266 ,
       -3.84630587,  4.62247668, -3.84630587,  5.03416075,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003298830061783803
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.10344085e-13,  8.41376339e-14,  1.00000000e+00,  1.76978536e-26,
        1.00000000e+00, -8.41376339e-14, -1.00000000e+00,  0.00000000e+00,
       -2.10344085e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09235921, -0.08836286,  0.06199057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.83064626e-06,-5.35608176e-05, 1.42731471e-05,-2.04632938e-05,
 -4.01378224e-05, 5.37913118e-05, 1.68208585e-06,-3.10147234e-05,
 -3.29511130e-05,-9.20784493e-06, 3.25748749e-05, 1.67536532e-05,
 -5.66718465e-05,-6.89989967e-05,-4.70082784e-06, 1.85802499e-04,
  1.68620124e-08,-2.65427939e-07,-1.21644074e+00,-4.59023414e-04,
  1.06152320e-05,-5.52394402e-04]


--- Step 1649 ---
qpos:
[ 6.21436292e-03,-1.77198313e-03,-4.98708823e-03, 3.35837169e-02,
  4.46821699e-03,-3.75023364e-03,-1.85225198e-02, 2.85595926e-02,
  1.29871033e-02, 3.32853986e-03,-9.98821294e-03, 2.59097063e-02,
  1.33822602e+00, 1.38037747e-04, 1.08803591e+00, 6.35592106e-02,
  9.36958195e-02,-7.02611648e-02, 1.30947821e-01, 4.93323402e-01,
  4.83790191e-01, 5.05894768e-01, 5.16381211e-01]

qacc:
[ -0.38037829, -3.85174087, 14.83824491,-25.17815543, -7.11895115,
  -1.38142592,  7.16788728,-14.71893544,  2.54142741,  1.5298445 ,
  -6.08981166, 10.03454684,  0.59475028, -1.48596701, -5.63161339,
  19.47327719,  0.04685045,  1.03817738,  0.19913632,  2.02512588,
   0.19099698,-14.80048283]

qfrc_actuator:
[ 2.26956471e-06,-1.62214654e-04, 1.73499175e-05, 1.16464227e-05,
 -1.02276314e-04,-3.14474331e-04,-1.92689331e-04, 4.86019864e-05,
  3.73813839e-05,-9.27025463e-05,-5.61239822e-05, 4.03267277e-05,
  1.88294363e-03,-1.66729209e-03, 0.00000000e+00,-1.78124693e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.63786815, -0.28306106, -4.62922212, -0.28306106, 45.1097958 ,
       -2.47471957, -4.62922212, -2.47471957,  4.78918877,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003277295304860983
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.23452467e-14,  2.54071480e-13,  1.00000000e+00, -1.07587195e-26,
        1.00000000e+00, -2.54071480e-13, -1.00000000e+00,  0.00000000e+00,
        4.23452467e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0923601 , -0.08836372,  0.06199063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.43514922e-06,-7.03968877e-05, 1.88555282e-05,-3.13085835e-05,
 -4.18850207e-05, 4.65761249e-05, 3.05258824e-05,-1.67401732e-05,
  1.49394093e-05, 5.36048120e-06,-1.81910497e-05, 9.79619361e-06,
 -6.19121147e-05,-7.67643730e-05, 1.55666712e-05, 9.86651242e-05,
 -1.86945489e-07,-2.17609640e-07,-1.21644054e+00,-4.58398962e-04,
  1.12312561e-05,-5.52342809e-04]


--- Step 1650 ---
qpos:
[ 6.21468628e-03,-1.77262016e-03,-4.98573615e-03, 3.35828841e-02,
  4.46572205e-03,-3.74970074e-03,-1.85211933e-02, 2.85608004e-02,
  1.29879120e-02, 3.32813054e-03,-9.98812309e-03, 2.59102326e-02,
  1.33834026e+00, 1.37119712e-04, 1.08823495e+00, 6.35612432e-02,
  9.36877372e-02,-7.02536882e-02, 1.30951462e-01, 4.93366701e-01,
  4.83721934e-01, 5.05906596e-01, 5.16392201e-01]

qacc:
[ -0.2889417 ,  0.32215503,  1.39278119,-11.77203369, -4.14270917,
  -0.19635942,  1.91049401, -5.48806148,  1.59198808,  2.61426277,
  -7.57055204,  4.61540562, -0.48297083,  0.47199457, 10.87031372,
 -36.71500362,  0.05071714,  1.02598792,  0.09400823,  1.93749218,
   0.22545694,-14.66326594]

qfrc_actuator:
[ 7.72607738e-07,-1.69357198e-04,-1.97721249e-05,-2.31632287e-05,
 -1.25434152e-04,-3.22037390e-04,-1.99000056e-04, 3.71769105e-05,
  4.64870390e-05,-7.28656232e-05,-1.04354612e-04, 2.73903201e-05,
  1.87546673e-03,-1.65868743e-03, 0.00000000e+00,-1.96149950e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003236887003551653
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.57477434e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.57477434e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09236077, -0.08836503,  0.06199075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.59071317e-06,-4.39633246e-05,-5.04423583e-05,-3.77862420e-05,
 -2.43386250e-05, 2.40245089e-05, 6.46993790e-06,-8.70368977e-06,
  9.53096005e-06, 1.95190714e-05,-4.90293378e-05,-1.31481840e-05,
 -5.95810927e-05,-2.51062353e-05, 1.36572577e-05,-1.73805772e-04,
 -3.78910352e-07,-8.38344091e-08,-1.21644063e+00,-4.57803937e-04,
  1.17440698e-05,-5.52204066e-04]


--- Step 1651 ---
qpos:
[ 6.21464405e-03,-1.77312922e-03,-4.98557976e-03, 3.35816415e-02,
  4.46400336e-03,-3.74908379e-03,-1.85198824e-02, 2.85618789e-02,
  1.29888239e-02, 3.32765968e-03,-9.98792240e-03, 2.59105852e-02,
  1.33845411e+00, 1.36449044e-04, 1.08843392e+00, 6.35621330e-02,
  9.36798694e-02,-7.02421468e-02, 1.30955129e-01, 4.93422962e-01,
  4.83640529e-01, 5.05934676e-01, 5.16387183e-01]

qacc:
[-3.25465905e+00, 2.67430351e+00,-7.54875579e+00, 2.26227372e+00,
  6.79172190e+00,-1.24824695e-01, 1.12942509e+00,-3.37984693e+00,
  9.12407340e-01,-7.50547701e-01, 3.28862646e+00,-6.42412909e+00,
 -5.53620531e-01, 8.09919089e-01, 3.39134830e+00,-1.19109797e+01,
  5.36466389e-02, 1.01619698e+00, 6.52502083e-03, 1.86677318e+00,
  2.53370955e-01,-1.45522754e+01]

qfrc_actuator:
[-1.79891364e-05,-1.55547210e-04,-7.76853535e-05,-4.33148112e-05,
 -8.47891586e-05,-3.26904011e-04,-2.03329211e-04, 2.99562138e-05,
  5.15159354e-05,-7.87838722e-05,-9.72648632e-05, 1.95623293e-05,
  1.87221609e-03,-1.63534637e-03, 0.00000000e+00,-2.01522144e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031819117582339296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.61687731e-13,  1.74458487e-13,  1.00000000e+00, -4.56536457e-26,
        1.00000000e+00, -1.74458487e-13, -1.00000000e+00,  0.00000000e+00,
        2.61687731e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09236127, -0.08836668,  0.0619909 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.88179106e-05,-2.28059041e-05,-7.45213950e-05,-2.45158950e-05,
  3.99582116e-05, 9.48505834e-06, 1.10544937e-06,-6.14249769e-06,
  5.30791168e-06,-5.67570504e-06, 4.63070157e-06,-8.94456657e-06,
 -4.24780962e-05, 3.31813204e-06,-1.91281181e-05,-6.30533725e-05,
 -5.61150710e-07, 1.34393912e-07,-1.21644100e+00,-4.57232490e-04,
  1.21606679e-05,-5.51977815e-04]


--- Step 1652 ---
qpos:
[ 6.21437778e-03,-1.77421016e-03,-4.98570092e-03, 3.35815749e-02,
  4.46313049e-03,-3.74918537e-03,-1.85180310e-02, 2.85639638e-02,
  1.29901356e-02, 3.32496871e-03,-9.98587282e-03, 2.59123811e-02,
  1.33856745e+00, 1.36555626e-04, 1.08863243e+00, 6.35650190e-02,
  9.36722250e-02,-7.02265716e-02, 1.30958533e-01, 4.93492125e-01,
  4.83545982e-01, 5.05978882e-01, 5.16366321e-01]

qacc:
[ -1.9682877 ,  2.44503527,-14.771346  , 35.97735281,  7.4321955 ,
  -0.40350692, -4.21470741, 21.32697173,  3.61564088, -5.13727058,
   7.95310266, 15.72029714, -0.82069817,  1.50080755, -6.62870683,
  22.3782976 ,  0.05584737,  1.00844075, -0.06602478,  1.80964034,
   0.27614989,-14.4640775 ]

qfrc_actuator:
[-2.90099474e-05,-2.00392263e-04,-9.40257990e-05, 1.63475917e-05,
 -4.24278161e-05,-4.01131713e-04,-1.88689146e-04, 7.85278955e-05,
  7.18592402e-05,-2.95141136e-04,-3.98999061e-05, 8.58392783e-05,
  1.86086249e-03,-1.58571663e-03, 0.00000000e+00,-1.90510383e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003115942735491678
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.90760132e-14,  8.90760132e-14,  1.00000000e+00, -7.93453612e-27,
        1.00000000e+00, -8.90760132e-14, -1.00000000e+00,  0.00000000e+00,
        8.90760132e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09236163, -0.0883686 ,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.15580890e-05,-7.40293716e-05,-3.10703196e-05, 5.56339560e-05,
  4.35063243e-05,-6.89848702e-05, 1.64962081e-05, 4.88884744e-05,
  2.04910937e-05,-2.18939273e-04, 5.64565368e-05, 6.60196447e-05,
 -3.45889115e-05, 4.07882405e-05,-1.95584296e-05, 1.03286176e-04,
 -7.35259603e-07, 4.35855551e-07,-1.21644165e+00,-4.56680160e-04,
  1.24863658e-05,-5.51663823e-04]


--- Step 1653 ---
qpos:
[ 6.21467147e-03,-1.77611415e-03,-4.98567028e-03, 3.35832623e-02,
  4.46208324e-03,-3.75063428e-03,-1.85156599e-02, 2.85673890e-02,
  1.29913364e-02, 3.31968799e-03,-9.98311202e-03, 2.59175042e-02,
  1.33868043e+00, 1.37469476e-04, 1.08883128e+00, 6.35651400e-02,
  9.36648105e-02,-7.02069868e-02, 1.30961432e-01, 4.93574141e-01,
  4.83438294e-01, 5.06039111e-01, 5.16329741e-01]

qacc:
[ 4.94365764e+00, 2.08939951e+00,-1.64482320e+01, 4.71800872e+01,
 -1.48592721e+00,-4.72299653e-01,-6.55449538e+00, 2.99063042e+01,
 -9.06904708e-01, 1.44037987e+00,-2.41478481e+01, 8.24996768e+01,
 -1.06999766e+00, 1.92371709e+00, 8.94995421e+00,-3.03522674e+01,
  5.74824185e-02, 1.00241214e+00,-1.25965535e-01, 1.76344011e+00,
  2.94899769e-01,-1.43957139e+01]

qfrc_actuator:
[ 1.23769239e-07,-2.44276429e-04,-8.58624487e-05, 1.04723988e-04,
 -5.26746068e-05,-5.16207113e-04,-1.80969958e-04, 1.41738292e-04,
  6.55480257e-05,-4.75804938e-04,-2.51627217e-05, 2.48289546e-04,
  1.85532303e-03,-1.53869513e-03, 0.00000000e+00,-2.05441695e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003041931064694109
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.12432761e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.12432761e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09236189, -0.08837071,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.87817509e-05,-8.92784821e-05,-9.01544456e-06, 8.52152771e-05,
 -9.03074977e-06,-1.48156592e-04,-2.83314235e-06, 6.17658669e-05,
 -5.81657757e-06,-2.88524029e-04,-2.12454111e-05, 1.56302902e-04,
 -1.51811529e-05, 4.91403240e-05,-5.27415618e-07,-1.46759268e-04,
 -9.02439922e-07, 8.19576550e-07,-1.21644258e+00,-4.56143519e-04,
  1.27251948e-05,-5.51261925e-04]


--- Step 1654 ---
qpos:
[ 6.21496622e-03,-1.77780555e-03,-4.98571909e-03, 3.35862224e-02,
  4.46092142e-03,-3.75292633e-03,-1.85136013e-02, 2.85715389e-02,
  1.29921060e-02, 3.31359713e-03,-9.98178189e-03, 2.59265262e-02,
  1.33879368e+00, 1.37586285e-04, 1.08903014e+00, 6.35631382e-02,
  9.36576308e-02,-7.01834106e-02, 1.30963630e-01, 4.93668973e-01,
  4.83317458e-01, 5.06115286e-01, 5.16277539e-01]

qacc:
[ 4.00213125e-03, 3.12371096e+00,-1.61023031e+01, 3.80970927e+01,
 -9.97568067e-01, 1.25090901e+00,-9.13467979e+00, 2.27942177e+01,
 -3.82324824e+00, 1.09608711e+01,-5.70848135e+01, 1.27432678e+02,
  6.65404442e-01,-1.37894040e+00, 6.34931903e+00,-2.23544233e+01,
  5.86792969e-02, 9.97851833e-01,-1.75288764e-01, 1.72605549e+00,
  3.10487191e-01,-1.43446372e+01]

qfrc_actuator:
[-6.02078931e-07,-1.62835711e-04,-6.33151354e-05, 1.73775181e-04,
 -5.82991581e-05,-5.48359127e-04,-1.95351256e-04, 1.77490331e-04,
  4.35948837e-05,-4.38516027e-04,-7.11093653e-05, 4.48229941e-04,
  1.85327746e-03,-1.60009529e-03, 0.00000000e+00,-2.16014684e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002962301292785685
  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([ 0.09236207, -0.08837295,  0.06199153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.38162171e-08, 3.33787612e-05, 5.96021391e-06, 6.65712383e-05,
 -5.93668507e-06,-1.12924927e-04,-4.32133887e-05, 3.04974190e-05,
 -2.22376489e-05,-1.21596340e-04,-1.02734196e-04, 1.89877353e-04,
  6.31411309e-07,-5.24482062e-05,-2.16838854e-05,-1.15151820e-04,
 -1.06360461e-06, 1.28479044e-06,-1.21644378e+00,-4.55619905e-04,
  1.28801996e-05,-5.50771990e-04]


--- Step 1655 ---
qpos:
[ 6.21524896e-03,-1.77755766e-03,-4.98669100e-03, 3.35908558e-02,
  4.46073556e-03,-3.75566780e-03,-1.85120775e-02, 2.85788119e-02,
  1.29926071e-02, 3.30532787e-03,-9.98043665e-03, 2.59424383e-02,
  1.33890708e+00, 1.36785620e-04, 1.08922869e+00, 6.35611906e-02,
  9.36467922e-02,-7.01676592e-02, 1.30964765e-01, 4.93751741e-01,
  4.83206774e-01, 5.06148419e-01, 5.16269512e-01]

qacc:
[-1.66941806e-01, 8.58954091e+00,-3.39689992e+01, 6.29699088e+01,
  8.53419435e+00, 7.30493855e+00,-4.01268388e+01, 9.53924948e+01,
 -2.32075962e+00, 1.12664042e+01,-7.34333873e+01, 1.94253737e+02,
  8.22941359e-01,-1.71986994e+00,-6.97963982e-01, 1.59534803e+00,
 -9.14714530e-01,-1.95621998e+00,-2.65779232e-01,-1.68676490e+01,
  4.83811435e-01, 2.69884521e+01]

qfrc_actuator:
[-1.15612839e-06, 4.63514162e-05,-6.74721925e-05, 2.66516082e-04,
 -7.88253034e-06,-5.30722373e-04,-2.04616032e-04, 3.38867774e-04,
  3.03738706e-05,-5.90746567e-04,-8.05983662e-05, 7.93030226e-04,
  1.84795900e-03,-1.65425652e-03, 0.00000000e+00,-2.15049990e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029782702302738606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.86387221e-13,  4.65968053e-14,  1.00000000e+00, -8.68504906e-27,
        1.00000000e+00, -4.65968053e-14, -1.00000000e+00,  0.00000000e+00,
        1.86387221e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10855946, -0.03353253,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.38769330e-07, 2.31990920e-04, 5.78867142e-06, 9.56703122e-05,
  5.02081069e-05,-5.30816151e-05,-3.68639170e-05, 1.55627780e-04,
 -1.39151623e-05,-2.33132400e-04,-4.06531156e-05, 3.39721533e-04,
 -1.82030315e-05,-6.65519847e-05,-2.57530851e-05,-2.70131513e-07,
 -1.21945109e-06, 1.83090170e-06,-1.21644524e+00,-4.55107229e-04,
  1.29536640e-05,-5.50193895e-04]


--- Step 1656 ---
qpos:
[ 6.21517335e-03,-1.76950417e-03,-4.99206788e-03, 3.35974241e-02,
  4.46115474e-03,-3.75808867e-03,-1.85113885e-02, 2.85889175e-02,
  1.29932891e-02, 3.29637916e-03,-9.97986109e-03, 2.59646362e-02,
  1.33902032e+00, 1.35861629e-04, 1.08942773e+00, 6.35539695e-02,
  9.36323142e-02,-7.01595842e-02, 1.30964175e-01, 4.93822401e-01,
  4.83106071e-01, 5.06139503e-01, 5.16304914e-01]

qacc:
[ -3.42278379, 26.62145996,-88.10229422,122.85500924,  5.26537324,
   8.56890478,-41.91951149, 92.05851088,  1.58261575, 14.18896579,
 -78.44059546,188.96522682, -0.38536456,  0.40571219, 16.66913137,
 -57.20369198, -0.90984345, -1.91906965, -0.43140627,-16.45578654,
   0.59896986, 26.53250565]

qfrc_actuator:
[-1.93470860e-05, 7.91943074e-04,-1.57786952e-04, 3.90313769e-04,
  2.18562241e-05,-4.65516183e-04,-2.28216144e-04, 4.84169130e-04,
  4.01545698e-05,-5.35449099e-04,-8.68389287e-05, 1.11367988e-03,
  1.84600266e-03,-1.65037724e-03, 0.00000000e+00,-2.42800723e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54992751, -0.20691817, -4.54522004, -0.20691817, 22.9724007 ,
       -0.83867105, -4.54522004, -0.83867105,  4.58810746,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003028557904787843
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.16461778e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.16461778e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10855653, -0.0335346 ,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.81302220e-05, 8.80609043e-04,-3.83726663e-05, 1.35792321e-04,
  3.11494962e-05, 3.46612296e-05,-3.37243591e-05, 1.44764109e-04,
  9.26977492e-06,-6.86654566e-05,-4.76032086e-05, 3.15844431e-04,
 -2.83262366e-05,-1.65750908e-05,-1.41772717e-05,-2.81382560e-04,
 -1.30211031e-06, 8.82452505e-07,-1.21644321e+00,-4.55454497e-04,
  1.33957608e-05,-5.50102463e-04]


--- Step 1657 ---
qpos:
[ 6.21004185e-03,-1.74270104e-03,-5.00762717e-03, 3.36047430e-02,
  4.46123667e-03,-3.75893390e-03,-1.85116369e-02, 2.86057080e-02,
  1.29940795e-02, 3.29023456e-03,-9.98145097e-03, 2.59884204e-02,
  1.33913338e+00, 1.34941307e-04, 1.08962645e+00, 6.35454805e-02,
  9.36209847e-02,-7.01593861e-02, 1.30962395e-01, 4.93855266e-01,
  4.83047388e-01, 5.06109941e-01, 5.16357361e-01]

qacc:
[-4.50988794e+01, 5.48807554e+01,-1.62730234e+02, 1.78004964e+02,
 -3.00364488e+00, 1.84511940e+01,-9.09909596e+01, 2.07011407e+02,
  8.39431876e-01, 1.30213948e+01,-4.77515794e+01, 7.66041370e+01,
 -2.06242727e-01, 2.28790568e-01, 3.35255748e+00,-1.24070335e+01,
  7.87114499e-01,-1.96925011e+00,-2.97310699e-01, 9.86114657e+00,
 -2.26301881e+00, 2.95860065e+01]

qfrc_actuator:
[-2.78553245e-04, 2.40306702e-03,-4.20213658e-04, 4.78556814e-04,
  3.66351451e-06,-2.65842792e-04,-2.24398348e-04, 8.31897642e-04,
  4.56417206e-05,-1.96488718e-04,-1.25856941e-04, 1.20465590e-03,
  1.84076078e-03,-1.64760608e-03, 0.00000000e+00,-2.48194335e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55989392,  4.51455711,  0.64140985,  4.51455711,  5.17645442,
       -4.33965528,  0.64140985, -4.33965528, 35.10451636,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030582163307758814
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81514796e-13, -1.13446747e-13,  1.00000000e+00,  2.05922631e-26,
        1.00000000e+00,  1.13446747e-13, -1.00000000e+00,  0.00000000e+00,
        1.81514796e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08089828, -0.03194816,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.59439702e-04, 2.10121017e-03,-8.05969408e-05, 1.27273620e-04,
 -1.72954547e-05, 2.18362033e-04, 1.18283671e-05, 3.50844317e-04,
  5.69188061e-06, 3.04537667e-04,-4.80878947e-05, 9.25020262e-05,
 -2.58347226e-05,-7.42547772e-06,-4.26102211e-05,-7.25297234e-05,
 -1.25846349e-06, 8.42584326e-08,-1.21644246e+00,-4.55813248e-04,
  1.29443556e-05,-5.50245941e-04]


--- Step 1658 ---
qpos:
[ 6.19320805e-03,-1.68452415e-03,-5.03904324e-03, 3.36097300e-02,
  4.46005994e-03,-3.75138848e-03,-1.85153229e-02, 2.86299634e-02,
  1.29949266e-02, 3.29035494e-03,-9.98750946e-03, 2.60152341e-02,
  1.33924616e+00, 1.34323970e-04, 1.08982420e+00, 6.35420340e-02,
  9.36127222e-02,-7.01669564e-02, 1.30958774e-01, 4.93850886e-01,
  4.83029919e-01, 5.06060310e-01, 5.16426532e-01]

qacc:
[-1.03938833e+02, 8.11970344e+01,-2.19136620e+02, 1.80615472e+02,
 -1.12618808e+01, 3.60562263e+01,-1.43961859e+02, 2.72423081e+02,
  2.52192268e-01, 2.70038690e+01,-9.70611962e+01, 1.52020053e+02,
 -7.93576334e-02, 2.14534506e-01,-1.66285954e+01, 5.61380651e+01,
  7.66764539e-01,-1.94208958e+00,-4.60376943e-01, 9.75912938e+00,
 -2.13220527e+00, 2.90222159e+01]

qfrc_actuator:
[-8.72806602e-04, 4.76798089e-03,-9.20389162e-04, 4.21608847e-04,
 -6.03404285e-05, 6.16717121e-04,-2.21445841e-04, 1.24283914e-03,
  4.85527260e-05, 3.27210257e-04,-2.71600961e-04, 1.37304447e-03,
  1.83355545e-03,-1.62782483e-03, 0.00000000e+00,-2.20835398e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5743624 , -3.55747864,  2.87561074, -3.55747864, 22.03880525,
       21.6056302 ,  2.87561074, 21.6056302 , 31.30314272,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003100562074857399
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.79035768e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.79035768e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08089782, -0.03195129,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.00969041e-04, 3.52785271e-03,-7.17948329e-05, 3.27504312e-05,
 -6.44368964e-05, 1.02213602e-03, 6.16283812e-05, 4.27502306e-04,
  3.16064722e-06, 6.88221582e-04,-8.55221949e-05, 1.81539774e-04,
 -2.41331524e-05, 1.23851677e-05,-2.99023831e-05, 2.63578660e-04,
 -4.25458506e-07,-2.96458291e-07,-1.21644111e+00,-4.56512422e-04,
  1.12485164e-05,-5.50008680e-04]


--- Step 1659 ---
qpos:
[ 6.16143241e-03,-1.58179640e-03,-5.08834806e-03, 3.36158569e-02,
  4.45432055e-03,-3.72291678e-03,-1.85251510e-02, 2.86530127e-02,
  1.29954483e-02, 3.30825352e-03,-1.00053302e-02, 2.60480445e-02,
  1.33935845e+00, 1.35415235e-04, 1.09002189e+00, 6.35404817e-02,
  9.36074601e-02,-7.01822037e-02, 1.30952762e-01, 4.93809715e-01,
  4.83052996e-01, 5.05991068e-01, 5.16512156e-01]

qacc:
[-132.71437379, 111.49999742,-316.46895849, 331.46496615, -40.48273526,
   42.39627693,-105.81223307,  79.18803186,  -3.53707004,  68.71889747,
 -236.23494825, 345.7117987 ,  -1.52409873,   3.12025494,  -5.65459039,
   20.00143327,   0.75008905,  -1.91924127,  -0.59773841,   9.67029734,
   -2.02879056,  28.5581671 ]

qfrc_actuator:
[-1.62391425e-03, 7.99110792e-03,-1.42919817e-03, 5.64370822e-04,
 -2.92795865e-04, 2.50515316e-03,-2.16137319e-04, 1.24443875e-03,
  3.21738267e-05, 1.91581199e-03,-6.02479651e-04, 1.72782395e-03,
  1.85181635e-03,-1.50937514e-03, 0.00000000e+00,-2.11685776e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57823787, -3.68455064,  2.71741578, -3.68455064, 19.02478826,
       19.5881127 ,  2.71741578, 19.5881127 , 31.13780737,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003111765860314003
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.67586736e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.67586736e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08089705, -0.03195255,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.67115208e-04, 5.18059545e-03, 2.11928949e-04, 2.92045732e-04,
 -2.33959773e-04, 2.49075391e-03, 2.38720092e-04, 5.57955567e-05,
 -1.60535848e-05, 1.96358359e-03,-1.92959525e-04, 3.84800105e-04,
  7.89045995e-06, 1.15898087e-04, 1.42648942e-05, 1.02059899e-04,
  1.47225076e-07,-2.12309341e-07,-1.21644102e+00,-4.57044256e-04,
  1.02672815e-05,-5.49984457e-04]


--- Step 1660 ---
qpos:
[ 6.11570037e-03,-1.41596803e-03,-5.15617923e-03, 3.36295372e-02,
  4.44134296e-03,-3.65936334e-03,-1.85425596e-02, 2.86737949e-02,
  1.29943751e-02, 3.36316120e-03,-1.00432804e-02, 2.60918965e-02,
  1.33947009e+00, 1.40776104e-04, 1.09022003e+00, 6.35367010e-02,
  9.36051438e-02,-7.02050515e-02, 1.30943896e-01, 4.93732127e-01,
  4.83116065e-01, 5.05902580e-01, 5.16614009e-01]

qacc:
[-124.38708949, 150.99019806,-448.79635725, 562.15724859, -64.18795665,
   62.97835214,-147.49429904,  94.2910011 , -15.29808875, 127.92581025,
 -431.7212509 , 627.67319694,  -3.83348182,   8.03082187,   7.75068302,
  -25.3070847 ,   0.73645436,  -1.90013419,  -0.71338715,   9.59389159,
   -1.94703798,  28.17853258]

qfrc_actuator:
[-2.31919296e-03, 1.26265731e-02,-1.77503894e-03, 1.07295635e-03,
 -6.58019977e-04, 5.31852298e-03,-1.87583190e-04, 1.21914976e-03,
 -4.86774016e-05, 5.05247302e-03,-1.12412124e-03, 2.38553782e-03,
  1.91201458e-03,-1.22673542e-03, 0.00000000e+00,-2.24000195e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57350398, -3.81781075,  2.51818579, -3.81781075, 13.25202906,
       13.1574749 ,  2.51818579, 13.1574749 , 24.52149562,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030980725821573574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79179634e-13,  8.95898172e-14,  1.00000000e+00, -1.60526707e-26,
        1.00000000e+00, -8.95898172e-14, -1.00000000e+00,  0.00000000e+00,
        1.79179634e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08089605, -0.03195232,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.15578817e-04, 7.58546118e-03, 7.59919798e-04, 7.43502316e-04,
 -3.71050425e-04, 4.25683875e-03, 5.74101959e-04, 9.07152165e-05,
 -8.05853315e-05, 4.21082323e-03,-1.26562965e-04, 7.42601542e-04,
  9.21345712e-05, 3.13277495e-04, 1.31617113e-05,-1.16696822e-04,
  4.76711409e-07, 3.15678280e-07,-1.21644212e+00,-4.57437458e-04,
  9.96903161e-06,-5.50165265e-04]


--- Step 1661 ---
qpos:
[ 6.06058193e-03,-1.17308824e-03,-5.23761850e-03, 3.36545983e-02,
  4.42303725e-03,-3.54385576e-03,-1.85693012e-02, 2.86937363e-02,
  1.29902619e-02, 3.46880995e-03,-1.01004618e-02, 2.61503835e-02,
  1.33958058e+00, 1.54285317e-04, 1.09041823e+00, 6.35314999e-02,
  9.36029804e-02,-7.02234311e-02, 1.30939094e-01, 4.93668898e-01,
  4.83164665e-01, 5.05832137e-01, 5.16697953e-01]

qacc:
[-8.42869692e+01, 1.63485224e+02,-4.82889722e+02, 6.44508302e+02,
 -4.78160150e+01, 9.30616707e+01,-2.28485060e+02, 1.90399079e+02,
 -2.82217843e+01, 1.50986393e+02,-5.02741836e+02, 7.49297286e+02,
 -7.02145657e+00, 1.49423780e+01, 5.04900890e+00,-1.59649277e+01,
  3.82199114e-02, 1.11705786e+00, 1.01589307e+00, 2.15060526e+00,
  2.33833802e-01,-1.61489093e+01]

qfrc_actuator:
[-0.0027807 , 0.01775352,-0.0019443 , 0.00175866,-0.00092088, 0.00919691,
 -0.00015894, 0.00128579,-0.00020232, 0.00871882,-0.00164063, 0.00321757,
  0.0019761 ,-0.00072456, 0.        ,-0.00231104, 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: -0.00031414503308774266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.41763719e-14, -1.76705488e-13,  1.00000000e+00,  7.80620733e-27,
        1.00000000e+00,  1.76705488e-13, -1.00000000e+00,  0.00000000e+00,
        4.41763719e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09237051, -0.08836953,  0.06199102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.79729999e-04, 9.55228418e-03, 1.51585303e-03, 1.05130411e-03,
 -2.71999990e-04, 6.37898321e-03, 9.81191629e-04, 2.70560879e-04,
 -1.54342289e-04, 6.02507226e-03, 3.63102118e-04, 1.02242359e-03,
  1.88578747e-04, 6.02043020e-04,-1.29925027e-05,-7.72104288e-05,
  5.75743522e-07, 1.27240048e-06,-1.21644437e+00,-4.57712703e-04,
  1.03289519e-05,-5.50544933e-04]


--- Step 1662 ---
qpos:
[ 6.00619072e-03,-8.37402605e-04,-5.33099352e-03, 3.37041188e-02,
  4.40307816e-03,-3.35150616e-03,-1.86090764e-02, 2.87116498e-02,
  1.29812227e-02, 3.64419973e-03,-1.01761021e-02, 2.62341275e-02,
  1.33968720e+00, 1.86589792e-04, 1.09061596e+00, 6.35291650e-02,
  9.36009893e-02,-7.02374437e-02, 1.30937409e-01, 4.93619737e-01,
  4.83199024e-01, 5.05779292e-01, 5.16764517e-01]

qacc:
[ 4.43958450e+00, 2.06388931e+02,-6.61155841e+02, 1.03513787e+03,
 -1.61961958e+01, 1.33771911e+02,-3.21011609e+02, 2.50076296e+02,
 -4.51130404e+01, 1.95835385e+02,-6.71010877e+02, 1.08611822e+03,
 -1.67261381e+01, 3.47766385e+01,-7.75493423e+00, 2.98302972e+01,
  4.30729986e-02, 1.09174158e+00, 7.79371285e-01, 2.02816588e+00,
  2.66423938e-01,-1.57782781e+01]

qfrc_actuator:
[-0.00272814, 0.02377527,-0.00198736, 0.00311187,-0.00099706, 0.01487282,
 -0.0001077 , 0.00133605,-0.00045081, 0.01379286,-0.00193388, 0.0046255 ,
  0.00200532, 0.00041858, 0.        ,-0.00215545, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.62351873, -1.07205167,  4.49751383, -1.07205167, 11.05893783,
        1.53398123,  4.49751383,  1.53398123,  4.98916677,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032385858719181926
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.14256907e-13,  8.57027626e-14,  1.00000000e+00, -1.83624088e-26,
        1.00000000e+00, -8.57027626e-14, -1.00000000e+00,  0.00000000e+00,
        2.14256907e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09237154, -0.08836696,  0.06199074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.14649642e-05, 1.17137363e-02, 2.15131316e-03, 1.83506184e-03,
 -8.17813051e-05, 9.45326013e-03, 1.49798597e-03, 3.62619873e-04,
 -2.50540222e-04, 8.55876198e-03, 1.03071714e-03, 1.69836140e-03,
  2.74886100e-04, 1.33765167e-03,-1.97364066e-05, 1.48498713e-04,
  4.37182737e-07, 8.08601270e-07,-1.21644281e+00,-4.57309317e-04,
  1.08735689e-05,-5.50927553e-04]


--- Step 1663 ---
qpos:
[ 5.95695448e-03,-3.93918250e-04,-5.43402793e-03, 3.37952802e-02,
  4.38440753e-03,-3.05913580e-03,-1.86622115e-02, 2.87276697e-02,
  1.29671960e-02, 3.90989538e-03,-1.02687831e-02, 2.63571655e-02,
  1.33979032e+00, 2.41563775e-04, 1.09081368e+00, 6.35276696e-02,
  9.35991855e-02,-7.02471741e-02, 1.30938046e-01, 4.93584400e-01,
  4.83219334e-01, 5.05743675e-01, 5.16814136e-01]

qacc:
[ 4.32055864e+01, 2.55142844e+02,-8.78892838e+02, 1.53565467e+03,
  9.15099794e+00, 1.65528933e+02,-3.90450222e+02, 3.05381357e+02,
 -4.59558758e+01, 2.47945824e+02,-8.76643120e+02, 1.51727725e+03,
 -1.94562577e+01, 4.13389254e+01,-6.62723995e-01, 6.68226404e+00,
  4.68136516e-02, 1.07054343e+00, 5.80219417e-01, 1.92959674e+00,
  2.91751969e-01,-1.54686288e+01]

qfrc_actuator:
[-2.46224464e-03, 3.05358535e-02,-1.91542257e-03, 5.32728045e-03,
 -9.27283512e-04, 2.16880944e-02,-7.09842984e-05, 1.39576415e-03,
 -6.99844107e-04, 2.00627840e-02,-2.08625096e-03, 6.75305609e-03,
  2.02454123e-03, 1.68385729e-03, 0.00000000e+00,-2.11613988e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.64371651, -1.26574429,  4.46788478, -1.26574429, 14.41394422,
        2.76788918,  4.46788478,  2.76788918,  5.42785489,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003292879639284624
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.21448377e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.21448377e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09237233, -0.08836555,  0.06199059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.70017791e-04, 1.38230292e-02, 2.81715026e-03, 2.82685988e-03,
  7.06654894e-05, 1.24198729e-02, 2.18456690e-03, 5.23347475e-04,
 -2.52786115e-04, 1.13359501e-02, 1.79992622e-03, 2.56265076e-03,
  4.87054695e-04, 1.66260641e-03, 5.58630713e-08, 4.35897152e-05,
  3.14502639e-07, 4.54542755e-07,-1.21644162e+00,-4.56940505e-04,
  1.13007326e-05,-5.51215215e-04]


--- Step 1664 ---
qpos:
[ 5.90298413e-03, 1.53668702e-04,-5.53531968e-03, 3.39481643e-02,
  4.36705609e-03,-2.66113865e-03,-1.87213705e-02, 2.87523005e-02,
  1.29506472e-02, 4.26839390e-03,-1.03678665e-02, 2.65319275e-02,
  1.33989460e+00, 3.08943507e-04, 1.09101102e+00, 6.35286455e-02,
  9.35975804e-02,-7.02526930e-02, 1.30940333e-01, 4.93562680e-01,
  4.83225762e-01, 5.05724976e-01, 5.16847166e-01]

qacc:
[-4.33345368e+01, 2.59899623e+02,-9.87421919e+02, 1.97588200e+03,
  9.56336959e+00, 1.74045383e+02,-4.54429070e+02, 5.35316944e+02,
 -2.39578964e+01, 2.47056618e+02,-9.21245596e+02, 1.75825539e+03,
 -8.12163250e+00, 2.01408205e+01,-7.16383415e+00, 2.62413738e+01,
  4.96938562e-02, 1.05288218e+00, 4.12860587e-01, 1.85028213e+00,
  3.11431404e-01,-1.52108973e+01]

qfrc_actuator:
[-2.71217103e-03, 3.59478680e-02,-1.70098492e-03, 8.45910173e-03,
 -8.60967568e-04, 2.77128626e-02,-5.51881643e-05, 1.90564203e-03,
 -8.22910810e-04, 2.53152688e-02,-2.13037612e-03, 9.41251333e-03,
  2.03787784e-03, 2.19439923e-03, 0.00000000e+00,-1.98594362e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.65115991, -1.50760815,  4.40004615, -1.50760815, 20.6581221 ,
        5.48453945,  4.40004615,  5.48453945,  6.53035301,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033125571083066074
  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([ 0.09237292, -0.08836506,  0.06199053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.38974408e-04, 1.38302117e-02, 3.51043142e-03, 3.87567669e-03,
  7.25559344e-05, 1.34335691e-02, 2.86552982e-03, 1.12733453e-03,
 -1.25700193e-04, 1.20642889e-02, 2.60553998e-03, 3.25675134e-03,
  6.74735884e-04, 1.03867017e-03,-3.57539580e-06, 1.30901065e-04,
  2.04543499e-07, 2.03744103e-07,-1.21644077e+00,-4.56598990e-04,
  1.16212265e-05,-5.51408947e-04]


--- Step 1665 ---
qpos:
[ 5.83399481e-03, 7.98611843e-04,-5.63364959e-03, 3.41747515e-02,
  4.34891132e-03,-2.15980406e-03,-1.87810244e-02, 2.88037840e-02,
  1.29331152e-02, 4.71939877e-03,-1.04688710e-02, 2.67734912e-02,
  1.34000318e+00, 3.76464017e-04, 1.09120868e+00, 6.35271138e-02,
  9.35961829e-02,-7.02540589e-02, 1.30943711e-01, 4.93554406e-01,
  4.83218445e-01, 5.05722940e-01, 5.16863900e-01]

qacc:
[-1.33640821e+02, 2.72414808e+02,-1.09524653e+03, 2.29370222e+03,
 -8.71640733e+00, 1.93123258e+02,-6.03819876e+02, 9.93200595e+02,
 -1.02607674e+01, 2.65147656e+02,-1.05002942e+03, 2.14109523e+03,
  3.06604131e+00,-2.70528183e+00, 7.83793602e+00,-2.72109645e+01,
  5.19104553e-02, 1.03825959e+00, 2.72547058e-01, 1.78653341e+00,
  3.26720997e-01,-1.49974831e+01]

qfrc_actuator:
[-3.47679300e-03, 4.04225540e-02,-1.69262491e-03, 1.21217862e-02,
 -9.03792096e-04, 3.30046802e-02,-6.79919568e-07, 3.27946040e-03,
 -8.70865503e-04, 3.01672101e-02,-2.11337645e-03, 1.27890274e-02,
  1.99945738e-03, 1.96925536e-03, 0.00000000e+00,-2.12273059e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003304524192904029
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.19963268e-14,  2.51977961e-13,  1.00000000e+00,  1.05821488e-26,
        1.00000000e+00, -2.51977961e-13, -1.00000000e+00,  0.00000000e+00,
       -4.19963268e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09237336, -0.08836531,  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:
[-7.68550954e-04, 1.30809614e-02, 3.42616613e-03, 4.45089385e-03,
 -3.62295865e-05, 1.34302249e-02, 3.21722347e-03, 2.06979151e-03,
 -4.64870910e-05, 1.22638267e-02, 2.93922768e-03, 4.04608966e-03,
  5.78371801e-04, 1.92117076e-04, 1.14874422e-05,-1.30369182e-04,
  1.04947680e-07, 5.10225433e-08,-1.21644024e+00,-4.56279328e-04,
  1.18432287e-05,-5.51509688e-04]


--- Step 1666 ---
qpos:
[ 5.72770573e-03, 1.54144183e-03,-5.73711371e-03, 3.44805520e-02,
  4.32936257e-03,-1.55831836e-03,-1.88393902e-02, 2.89033598e-02,
  1.29151655e-02, 5.26918517e-03,-1.05734937e-02, 2.70839900e-02,
  1.34011694e+00, 4.34195871e-04, 1.09140634e+00, 6.35236216e-02,
  9.35950000e-02,-7.02513198e-02, 1.30947710e-01, 4.93559433e-01,
  4.83197500e-01, 5.05737356e-01, 5.16864575e-01]

qacc:
[-3.29895139e+02, 3.07471958e+02,-1.24181199e+03, 2.54742029e+03,
 -1.39485358e+01, 2.27615115e+02,-8.22598129e+02, 1.57904616e+03,
 -5.44512575e+00, 2.82562343e+02,-1.10911211e+03, 2.23520261e+03,
  1.11474070e+01,-2.04132420e+01, 4.91464492e+00,-1.95320479e+01,
  5.36169361e-02, 1.02624759e+00, 1.55223167e-01, 1.73539739e+00,
  3.38601406e-01,-1.48219837e+01]

qfrc_actuator:
[-5.37242751e-03, 4.51698274e-02,-2.02285932e-03, 1.60663192e-02,
 -9.75010799e-04, 3.79765398e-02, 7.39361775e-05, 5.70028858e-03,
 -8.92035618e-04, 3.55763744e-02,-2.11488010e-03, 1.62759662e-02,
  1.91367985e-03, 1.22123952e-03, 0.00000000e+00,-2.22043827e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003274563511132256
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.23805730e-14,  1.69522292e-13,  1.00000000e+00,  7.18445189e-27,
        1.00000000e+00, -1.69522292e-13, -1.00000000e+00,  0.00000000e+00,
       -4.23805730e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09237367, -0.08836615,  0.06199064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.91522141e-03, 1.29379454e-02, 2.94102750e-03, 4.70855056e-03,
 -6.77842168e-05, 1.32175787e-02, 3.31131636e-03, 3.14688270e-03,
 -1.71243134e-05, 1.30319341e-02, 3.02914456e-03, 4.19161795e-03,
  2.77036632e-04,-5.63957624e-04,-8.44203967e-06,-1.03605691e-04,
  1.39531325e-08,-7.75308291e-09,-1.21644001e+00,-4.55977438e-04,
  1.19729339e-05,-5.51518269e-04]


--- Step 1667 ---
qpos:
[ 5.55669803e-03, 2.38100252e-03,-5.84842243e-03, 3.48664338e-02,
  4.30876991e-03,-8.60126313e-04,-1.88972052e-02, 2.90775694e-02,
  1.29002361e-02, 5.92038698e-03,-1.06775797e-02, 2.74570149e-02,
  1.34023410e+00, 4.79138883e-04, 1.09160358e+00, 6.35216402e-02,
  9.35940367e-02,-7.02445147e-02, 1.30951938e-01, 4.93577644e-01,
  4.83163020e-01, 5.05768052e-01, 5.16849381e-01]

qacc:
[-5.71139063e+02, 3.15774859e+02,-1.27647567e+03, 2.60138499e+03,
 -1.07455439e+01, 2.79688191e+02,-1.12698023e+03, 2.34649570e+03,
  2.48883733e+01, 2.61178262e+02,-1.00085605e+03, 2.00755267e+03,
  1.22183543e+01,-2.45526495e+01,-6.33666606e+00, 1.85779796e+01,
  5.49327638e-02, 1.01647810e+00, 5.74167776e-02, 1.69450565e+00,
  3.47835505e-01,-1.46789878e+01]

qfrc_actuator:
[-8.64623908e-03, 4.98636536e-02,-2.47832853e-03, 2.00562065e-02,
 -1.02683277e-03, 4.27182759e-02, 8.80213052e-05, 9.44519979e-03,
 -7.37533425e-04, 4.09570475e-02,-1.96524655e-03, 1.94275005e-02,
  1.80990601e-03, 4.17910458e-04, 0.00000000e+00,-2.13446850e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003227501904304181
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.59970852e-14,  8.59970852e-14,  1.00000000e+00, -7.39549866e-27,
        1.00000000e+00, -8.59970852e-14, -1.00000000e+00,  0.00000000e+00,
        8.59970852e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0923739 , -0.08836744,  0.06199077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.32634408e-03, 1.27114113e-02, 2.73423808e-03, 4.73567504e-03,
 -4.94100102e-05, 1.29303624e-02, 3.25443059e-03, 4.48573660e-03,
  1.59963702e-04, 1.34541032e-02, 3.35379040e-03, 3.89470534e-03,
 -8.58485747e-05,-8.78623018e-04,-1.22051725e-05, 7.95107402e-05,
 -6.97586949e-08, 2.41374126e-08,-1.21644008e+00,-4.55690243e-04,
  1.20150178e-05,-5.51435410e-04]


--- Step 1668 ---
qpos:
[ 5.33219510e-03, 3.31333146e-03,-5.96635008e-03, 3.53241116e-02,
  4.28737372e-03,-6.90131490e-05,-1.89537421e-02, 2.93492348e-02,
  1.28911121e-02, 6.66736404e-03,-1.07712155e-02, 2.78887293e-02,
  1.34035331e+00, 5.08498537e-04, 1.09180065e+00, 6.35210003e-02,
  9.35932973e-02,-7.02336751e-02, 1.30956071e-01, 4.93608943e-01,
  4.83115079e-01, 5.05814888e-01, 5.16818471e-01]

qacc:
[-4.72276667e+02, 2.89856619e+02,-1.15702158e+03, 2.33986874e+03,
 -8.53997038e+00, 3.19571863e+02,-1.37283870e+03, 2.98894897e+03,
  4.97923056e+01, 2.18071434e+02,-8.41857343e+02, 1.77055374e+03,
  1.32214748e+01,-2.82991127e+01,-5.57924761e+00, 1.61643616e+01,
  5.59507545e-02, 1.00863457e+00,-2.38482921e-02, 1.66195571e+00,
  3.55015799e-01,-1.45639099e+01]

qfrc_actuator:
[-0.01130216, 0.05420337,-0.00293316, 0.02361469,-0.00106682, 0.04726757,
  0.00013702, 0.01432934,-0.00044539, 0.04560388,-0.0014791 , 0.02235663,
  0.00168466,-0.00050045, 0.        ,-0.00206525, 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: -0.0003167353743084994
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31445259e-13,  2.62890519e-13,  1.00000000e+00, -3.45557124e-26,
        1.00000000e+00, -2.62890519e-13, -1.00000000e+00,  0.00000000e+00,
        1.31445259e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09237404, -0.08836908,  0.06199095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.74893108e-03, 1.21851968e-02, 2.66245408e-03, 4.28762915e-03,
 -3.71984999e-05, 1.26192536e-02, 3.26803412e-03, 5.63635903e-03,
  3.03113508e-04, 1.30069291e-02, 3.80588769e-03, 3.69546899e-03,
 -3.80826010e-04,-1.15807482e-03, 5.16006481e-06, 7.23006379e-05,
 -1.47175247e-07, 1.44101935e-07,-1.21644043e+00,-4.55415423e-04,
  1.19729874e-05,-5.51261715e-04]


--- Step 1669 ---
qpos:
[ 5.08717871e-03, 4.33788133e-03,-6.09114021e-03, 3.58554553e-02,
  4.26531968e-03, 8.14507616e-04,-1.90091937e-02, 2.97250138e-02,
  1.28866452e-02, 7.50729559e-03,-1.08531851e-02, 2.83924853e-02,
  1.34047365e+00, 5.19579632e-04, 1.09199795e+00, 6.35191785e-02,
  9.35927848e-02,-7.02188258e-02, 1.30959840e-01, 4.93653251e-01,
  4.83053735e-01, 5.05877750e-01, 5.16771960e-01]

qacc:
[-1.82150589e+02, 2.93092866e+02,-1.17847764e+03, 2.39551184e+03,
 -7.25891732e+00, 3.33113781e+02,-1.45023005e+03, 3.18224405e+03,
  3.97776341e+01, 2.38443143e+02,-9.76245261e+02, 2.13611246e+03,
  1.43249696e+01,-3.19698477e+01, 2.46970869e+00,-1.14901999e+01,
  5.67428892e-02, 1.00244494e+00,-9.11241752e-02, 1.63621718e+00,
  3.60601665e-01,-1.44728586e+01]

qfrc_actuator:
[-0.01227674, 0.05881072,-0.00327919, 0.02729889,-0.00109952, 0.05191504,
  0.00020602, 0.01954255,-0.00021669, 0.05018379,-0.00090769, 0.02596551,
  0.00155185,-0.00153319, 0.        ,-0.00213078, 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: -0.00030974436749743595
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.68824023e-13,  3.58432030e-13,  1.00000000e+00, -9.63551402e-26,
        1.00000000e+00, -3.58432030e-13, -1.00000000e+00,  0.00000000e+00,
        2.68824023e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09237414, -0.08837098,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05162815e-03, 1.21214698e-02, 2.63708618e-03, 4.37922856e-03,
 -2.97249290e-05, 1.25919694e-02, 3.26394348e-03, 5.97452710e-03,
  2.43908939e-04, 1.27711390e-02, 3.84620103e-03, 4.36745190e-03,
 -6.16393138e-04,-1.41187545e-03, 9.57943973e-06,-6.11792490e-05,
 -2.19036163e-07, 3.50101886e-07,-1.21644106e+00,-4.55151220e-04,
  1.18494450e-05,-5.50997682e-04]


--- Step 1670 ---
qpos:
[ 4.84333939e-03, 5.45166230e-03,-6.21917727e-03, 3.64607382e-02,
  4.24511159e-03, 1.79396154e-03,-1.90648790e-02, 3.01882499e-02,
  1.28853515e-02, 8.44447201e-03,-1.09278925e-02, 2.89729107e-02,
  1.34059100e+00, 5.19215292e-04, 1.09219557e+00, 6.35149402e-02,
  9.35925018e-02,-7.01999857e-02, 1.30963022e-01, 4.93710507e-01,
  4.82979030e-01, 5.05956550e-01, 5.16709940e-01]

qacc:
[ 8.75866415e+00, 2.79220158e+02,-1.13654303e+03, 2.35541104e+03,
  1.46185898e+01, 3.07159414e+02,-1.28065289e+03, 2.72397397e+03,
  2.65077179e+01, 2.65966971e+02,-1.08564599e+03, 2.32941339e+03,
  5.97379935e+00,-1.71061405e+01, 7.07920587e+00,-2.56829572e+01,
  5.73648874e-02, 9.97675678e-01,-1.46598905e-01, 1.61605725e+00,
  3.64948582e-01,-1.44025282e+01]

qfrc_actuator:
[-1.21830904e-02, 6.31870338e-02,-3.46827942e-03, 3.09924384e-02,
 -1.00340541e-03, 5.68687967e-02, 2.33445002e-04, 2.39134090e-02,
 -6.27155044e-05, 5.53094030e-02,-4.50297051e-04, 2.98211474e-02,
  1.34527480e-03,-2.07528258e-03, 0.00000000e+00,-2.25742516e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030205118104158213
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83780613e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.83780613e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09237418, -0.08837308,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.45292654e-05, 1.18507209e-02, 2.77969620e-03, 4.38631601e-03,
  9.92788282e-05, 1.28930492e-02, 3.22660348e-03, 5.13700657e-03,
  1.67697579e-04, 1.32184399e-02, 3.71032486e-03, 4.61818401e-03,
 -8.79888509e-04,-1.03993155e-03,-5.39677017e-06,-1.29600298e-04,
 -2.85895184e-07, 6.40541768e-07,-1.21644196e+00,-4.54896300e-04,
  1.16462901e-05,-5.50643704e-04]


--- Step 1671 ---
qpos:
[ 4.61520135e-03, 6.65596916e-03,-6.34791372e-03, 3.71624897e-02,
  4.22999838e-03, 2.87984150e-03,-1.91260446e-02, 3.07496295e-02,
  1.28873478e-02, 9.48706538e-03,-1.09991140e-02, 2.96469982e-02,
  1.34070050e+00, 5.16028712e-04, 1.09239297e+00, 6.35119236e-02,
  9.35924502e-02,-7.01771692e-02, 1.30965435e-01, 4.93780662e-01,
  4.82890992e-01, 5.06051217e-01, 5.16632474e-01]

qacc:
[ 1.36458225e+02, 3.19935389e+02,-1.37474294e+03, 2.97884476e+03,
  4.28433462e+01, 3.57580010e+02,-1.48553676e+03, 3.11452618e+03,
  2.72750553e+01, 3.22285556e+02,-1.34252678e+03, 2.88037246e+03,
 -3.91659184e+00, 8.60529505e-01,-3.81257067e+00, 1.33335004e+01,
  5.78598005e-02, 9.94126601e-01,-1.92147042e-01, 1.60048167e+00,
  3.68331055e-01,-1.43501096e+01]

qfrc_actuator:
[-1.13732233e-02, 6.80831819e-02,-3.33329035e-03, 3.58690247e-02,
 -7.43484061e-04, 6.29599899e-02, 2.54561252e-04, 2.88900410e-02,
  9.92906240e-05, 6.12535423e-02,-8.31259345e-06, 3.45725115e-02,
  9.13698578e-04,-2.16274234e-03, 0.00000000e+00,-2.18824578e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029388038435497477
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41667718e-13, -1.88890291e-13,  1.00000000e+00,  2.67596564e-26,
        1.00000000e+00,  1.88890291e-13, -1.00000000e+00,  0.00000000e+00,
        1.41667718e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09237419, -0.0883753 ,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.12087375e-04, 1.22459392e-02, 3.06443749e-03, 5.56242031e-03,
  2.66905392e-04, 1.41516069e-02, 3.24758673e-03, 5.73767223e-03,
  1.74050058e-04, 1.42659863e-02, 3.77786473e-03, 5.53285354e-03,
 -1.16173621e-03,-5.54884836e-04,-2.51664254e-05, 5.95415512e-05,
 -3.48166262e-07, 1.01417824e-06,-1.21644312e+00,-4.54649649e-04,
  1.13648721e-05,-5.50200082e-04]


--- Step 1672 ---
qpos:
[ 4.40708358e-03, 7.96054899e-03,-6.47540900e-03, 3.79847968e-02,
  4.22052657e-03, 4.08003998e-03,-1.91931430e-02, 3.14290877e-02,
  1.28923650e-02, 1.06444608e-02,-1.10693152e-02, 3.04231014e-02,
  1.34080126e+00, 5.09859809e-04, 1.09259080e+00, 6.35057216e-02,
  9.35955910e-02,-7.01624011e-02, 1.30967036e-01, 4.93812918e-01,
  4.82845124e-01, 5.06125133e-01, 5.16572103e-01]

qacc:
[ 1.74209716e+02, 3.76898868e+02,-1.66093000e+03, 3.67161283e+03,
  4.75330987e+01, 4.10233959e+02,-1.74234571e+03, 3.71122177e+03,
  2.46604013e+01, 3.58768742e+02,-1.48986566e+03, 3.16926438e+03,
 -4.80062109e+00, 1.68329348e+00, 1.05140189e+01,-3.52485789e+01,
  7.98081238e-01,-2.01211880e+00,-2.03241825e-01, 9.87565180e+00,
 -2.29911444e+00, 2.96905702e+01]

qfrc_actuator:
[-0.01036165, 0.07412412,-0.00284533, 0.04200692,-0.00046027, 0.06945399,
  0.00027723, 0.03487682, 0.00024698, 0.06774824, 0.00033653, 0.03974264,
  0.0003956 ,-0.00235427, 0.        ,-0.0023593 , 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: -0.0003023964557403863
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.17853867e-14,  9.17853867e-14,  1.00000000e+00, -8.42455720e-27,
        1.00000000e+00, -9.17853867e-14, -1.00000000e+00,  0.00000000e+00,
        9.17853867e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08087898, -0.03195295,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03482992e-03, 1.37176860e-02, 3.57349716e-03, 6.87295138e-03,
  2.95376452e-04, 1.52843139e-02, 3.53106894e-03, 6.81371571e-03,
  1.60594703e-04, 1.54514407e-02, 3.93560332e-03, 6.01619233e-03,
 -1.28780762e-03,-6.05119710e-04,-1.79025267e-05,-1.73460458e-04,
 -4.06157987e-07, 1.47004511e-06,-1.21644456e+00,-4.54410496e-04,
  1.10061082e-05,-5.49667027e-04]


--- Step 1673 ---
qpos:
[ 4.21642201e-03, 9.37038526e-03,-6.59516198e-03, 3.89120708e-02,
  4.21728842e-03, 5.38861127e-03,-1.92568613e-02, 3.22109454e-02,
  1.28995325e-02, 1.19171080e-02,-1.11356491e-02, 3.12737675e-02,
  1.34089422e+00, 4.98698345e-04, 1.09278827e+00, 6.35002022e-02,
  9.36018380e-02,-7.01555381e-02, 1.30967112e-01, 4.93807825e-01,
  4.82840600e-01, 5.06178915e-01, 5.16528502e-01]

qacc:
[ 1.51670821e+02, 3.33260465e+02,-1.42990065e+03, 3.15668352e+03,
  5.31470240e+01, 3.44118776e+02,-1.45180002e+03, 3.13883342e+03,
  1.70657663e+01, 2.94918342e+02,-1.14539922e+03, 2.34476889e+03,
 -2.30081023e+00,-2.84418453e+00,-2.56238382e+00, 8.26771889e+00,
  7.76569267e-01,-1.97627371e+00,-3.81223786e-01, 9.78137187e+00,
 -2.15024727e+00, 2.91111279e+01]

qfrc_actuator:
[-0.0094882 , 0.07991835,-0.00225376, 0.04729445,-0.00014792, 0.07463025,
  0.00035674, 0.03997253, 0.00034953, 0.07349208, 0.0004999 , 0.04344946,
  0.        ,-0.00262471, 0.        ,-0.00231551, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.56850556,  2.44444647, -3.85952386,  2.44444647, 10.97503928,
        4.05760641, -3.85952386,  4.05760641,  7.13840849,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003083519913269217
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.50063181e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.50063181e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08087869, -0.03195647,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.03167502e-04, 1.44514042e-02, 4.08767098e-03, 6.12824974e-03,
  3.25662284e-04, 1.47003018e-02, 3.89249478e-03, 6.00142941e-03,
  1.15842405e-04, 1.54123954e-02, 4.03357398e-03, 4.61806130e-03,
 -1.24680163e-03,-7.26216443e-04,-4.32801799e-05, 2.87390815e-05,
 -1.07145773e-07, 5.41150524e-07,-1.21644204e+00,-4.55260366e-04,
  1.04266859e-05,-5.49281025e-04]


--- Step 1674 ---
qpos:
[ 4.05039951e-03, 1.08782450e-02,-6.70189998e-03, 3.99294652e-02,
  4.22024274e-03, 6.79786857e-03,-1.93147994e-02, 3.30906763e-02,
  1.29086490e-02, 1.33014701e-02,-1.11981683e-02, 3.21909419e-02,
  1.34098242e+00, 4.82134368e-04, 1.09298477e+00, 6.35008779e-02,
  9.36111216e-02,-7.01564604e-02, 1.30965063e-01, 4.93765839e-01,
  4.82876735e-01, 5.06213063e-01, 5.16501395e-01]

qacc:
[ 2.14729900e+02, 2.78271031e+02,-1.18525052e+03, 2.65225599e+03,
  5.30025764e+01, 3.17946304e+02,-1.35409493e+03, 2.96458616e+03,
  1.53361964e+01, 2.73812781e+02,-1.04290843e+03, 2.10554119e+03,
  7.43017284e-01,-6.32500744e+00,-2.03080873e+01, 6.85490245e+01,
  7.59132918e-01,-1.94632005e+00,-5.31022994e-01, 9.70016258e+00,
 -2.02863989e+00, 2.86306126e+01]

qfrc_actuator:
[-0.00824148, 0.08436553,-0.00178456, 0.05175508, 0.00016131, 0.07915359,
  0.00044566, 0.04482159, 0.0004424 , 0.07879228, 0.00056887, 0.04674427,
  0.        ,-0.00277951, 0.        ,-0.00198565, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.57714704,  2.67218601, -3.71614005,  2.67218601, 15.82503936,
        8.08808605, -3.71614005,  8.08808605, 10.39309317,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031086181448948536
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.67857688e-13, -3.57143584e-13,  1.00000000e+00,  9.56636545e-26,
        1.00000000e+00,  3.57143584e-13, -1.00000000e+00,  0.00000000e+00,
        2.67857688e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08087806, -0.03195804,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.27260648e-03, 1.35847239e-02, 4.15286070e-03, 5.33559240e-03,
  3.23217005e-04, 1.37564598e-02, 3.79614798e-03, 5.72596737e-03,
  1.05323696e-04, 1.49028551e-02, 3.89325382e-03, 4.18011490e-03,
 -8.57183721e-04,-6.31051776e-04,-2.87751222e-05, 3.23616334e-04,
 -6.38674648e-08, 9.31329153e-08,-1.21644081e+00,-4.55930443e-04,
  1.05340515e-05,-5.49099958e-04]


--- Step 1675 ---
qpos:
[ 3.91639794e-03, 1.24727982e-02,-6.79589392e-03, 4.10349033e-02,
  4.22688618e-03, 8.30504180e-03,-1.93704565e-02, 3.40795273e-02,
  1.29189022e-02, 1.47920404e-02,-1.12564922e-02, 3.31794031e-02,
  1.34106798e+00, 4.59191412e-04, 1.09318159e+00, 6.35010804e-02,
  9.36233854e-02,-7.01650682e-02, 1.30960387e-01, 4.93687333e-01,
  4.82952954e-01, 5.06227984e-01, 5.16490551e-01]

qacc:
[ 2.79198882e+02, 2.59644438e+02,-1.13199972e+03, 2.57202880e+03,
  3.09226019e+01, 3.47207072e+02,-1.51115058e+03, 3.32375959e+03,
  8.31267154e+00, 2.75313470e+02,-1.07896209e+03, 2.22767774e+03,
  2.60984318e+00,-8.85988538e+00, 1.55772881e+00,-5.55367249e+00,
  7.45063302e-01,-1.92138597e+00,-6.57022234e-01, 9.63145539e+00,
 -1.92854706e+00, 2.82342003e+01]

qfrc_actuator:
[-0.00662521, 0.08784535,-0.0014859 , 0.056083  , 0.00034195, 0.08385312,
  0.00048321, 0.05026735, 0.00049331, 0.08376598, 0.00065073, 0.05028491,
  0.        ,-0.00304005, 0.        ,-0.0020225 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.57625965,  2.91685289, -3.52620498,  2.91685289, 27.76826969,
       19.18427374, -3.52620498, 19.18427374, 20.44536103,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031060541237085126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78719201e-13, -4.46798003e-14,  1.00000000e+00,  7.98513823e-27,
        1.00000000e+00,  4.46798003e-14, -1.00000000e+00,  0.00000000e+00,
        1.78719201e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08087716, -0.03195807,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.65210143e-03, 1.21083516e-02, 3.78234364e-03, 5.15208288e-03,
  1.94237292e-04, 1.33691993e-02, 3.52696002e-03, 6.27305675e-03,
  6.32755099e-05, 1.42394356e-02, 3.76694896e-03, 4.39033452e-03,
 -6.19881769e-04,-6.20984192e-04, 1.56342130e-05,-2.38738312e-05,
 -2.59838557e-07, 1.01271852e-07,-1.21644082e+00,-4.56455025e-04,
  1.13023250e-05,-5.49116958e-04]


--- Step 1676 ---
qpos:
[ 3.81065872e-03, 1.41460037e-02,-6.87929093e-03, 4.22154549e-02,
  4.23599373e-03, 9.90658117e-03,-1.94227042e-02, 3.51624950e-02,
  1.29294435e-02, 1.63817614e-02,-1.13090394e-02, 3.42364713e-02,
  1.34115251e+00, 4.27886501e-04, 1.09337861e+00, 6.34995239e-02,
  9.36385843e-02,-7.01812789e-02, 1.30952658e-01, 4.93572608e-01,
  4.83068780e-01, 5.06224006e-01, 5.16495779e-01]

qacc:
[ 2.45915892e+02, 2.28460806e+02,-9.81536076e+02, 2.20703155e+03,
  2.02265584e+01, 3.08535429e+02,-1.31666254e+03, 2.87036291e+03,
  1.05034184e+00, 2.56059843e+02,-1.01249790e+03, 2.11744594e+03,
  5.26638110e+00,-1.33410950e+01, 5.04315839e+00,-1.85265739e+01,
  7.33778584e-01,-1.90072267e+00,-7.62949763e-01, 9.57454424e+00,
 -1.84539128e+00, 2.79094541e+01]

qfrc_actuator:
[-0.00521275, 0.09105418,-0.001259  , 0.05976473, 0.00046322, 0.08828356,
  0.00052663, 0.05493782, 0.00050132, 0.08825607, 0.00075616, 0.0536754 ,
  0.        ,-0.00344965, 0.        ,-0.00211542, 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: -0.00030815030234278284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.60286203e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.60286203e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08087606, -0.03195686,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.45834809e-03, 1.09239067e-02, 3.35222194e-03, 4.42579845e-03,
  1.31046309e-04, 1.28475306e-02, 3.43720133e-03, 5.48203560e-03,
  1.92979068e-05, 1.33636935e-02, 3.64375442e-03, 4.21105106e-03,
 -4.87484438e-04,-7.11016849e-04,-3.84498681e-06,-9.40233102e-05,
 -6.82856488e-07, 5.47219389e-07,-1.21644199e+00,-4.56859838e-04,
  1.27114606e-05,-5.49326598e-04]


--- Step 1677 ---
qpos:
[ 3.72775356e-03, 1.58954627e-02,-6.95614938e-03, 4.34563127e-02,
  4.24683476e-03, 1.15971179e-02,-1.94690594e-02, 3.63100134e-02,
  1.29397568e-02, 1.80713682e-02,-1.13587813e-02, 3.53456490e-02,
  1.34123607e+00, 3.89246557e-04, 1.09357505e+00, 6.35012155e-02,
  9.36500756e-02,-7.02050308e-02, 1.30942785e-01, 4.93445004e-01,
  4.83194531e-01, 5.06179038e-01, 5.16544146e-01]

qacc:
[ 1.97959848e+02, 2.06244624e+02,-8.44258561e+02, 1.82160377e+03,
  1.39434163e+01, 2.33743437e+02,-9.35393303e+02, 1.97740278e+03,
 -3.56894144e+00, 2.31391518e+02,-8.53457974e+02, 1.67707977e+03,
  4.89998148e+00,-1.21214031e+01,-1.11753755e+01, 3.66525440e+01,
 -9.26920141e-01,-1.88529661e+00,-5.36362675e-01,-1.59447215e+01,
  1.00107027e+00, 2.63845776e+01]

qfrc_actuator:
[-0.00407364, 0.09451758,-0.00109586, 0.06273467, 0.00054861, 0.09225063,
  0.00060705, 0.05810257, 0.00048399, 0.09316618, 0.00083697, 0.0562576 ,
  0.        ,-0.0037844 , 0.        ,-0.00193871, 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: -0.0003064753031118417
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.71691474e-13, -1.81127649e-13,  1.00000000e+00,  4.92108380e-26,
        1.00000000e+00,  1.81127649e-13, -1.00000000e+00,  0.00000000e+00,
        2.71691474e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10853201, -0.03352791,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17887364e-03, 1.03928740e-02, 2.96445668e-03, 3.63386439e-03,
  9.32276904e-05, 1.20363157e-02, 3.32665317e-03, 3.93502668e-03,
 -7.26220865e-06, 1.32570393e-02, 3.41548003e-03, 3.35709179e-03,
 -4.36555215e-04,-6.26849429e-04,-1.76986805e-05, 1.69766240e-04,
 -1.32407426e-06, 1.41787156e-06,-1.21644430e+00,-4.57164380e-04,
  1.47462847e-05,-5.49724550e-04]


--- Step 1678 ---
qpos:
[ 3.66732121e-03, 1.77233844e-02,-7.03126573e-03, 4.47572361e-02,
  4.25827519e-03, 1.33720675e-02,-1.95104974e-02, 3.75129974e-02,
  1.29492035e-02, 1.98584137e-02,-1.14055825e-02, 3.64939188e-02,
  1.34131811e+00, 3.46114915e-04, 1.09377120e+00, 6.35063091e-02,
  9.36618508e-02,-7.02242797e-02, 1.30937169e-01, 4.93331921e-01,
  4.83305280e-01, 5.06152017e-01, 5.16575027e-01]

qacc:
[ 1.94104779e+02, 2.22075983e+02,-8.95413026e+02, 1.87453559e+03,
  4.00998168e+00, 2.11749846e+02,-8.27356907e+02, 1.71701736e+03,
 -9.07720435e+00, 2.01001267e+02,-6.94811716e+02, 1.29471975e+03,
  2.37233644e+00,-6.86179019e+00,-1.09728345e+01, 3.71266193e+01,
  7.09913434e-02, 1.12574611e+00, 1.06451597e+00, 1.85104177e+00,
  4.02550933e-01,-1.61971856e+01]

qfrc_actuator:
[-0.00294465, 0.09853074,-0.00098891, 0.06574161, 0.00057672, 0.09608484,
  0.00068805, 0.06083513, 0.00043409, 0.09782634, 0.00088592, 0.05818411,
  0.        ,-0.00394763, 0.        ,-0.0017643 , 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: -0.00031433386382517803
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32449501e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.32449501e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09237389, -0.08837008,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16042843e-03, 1.05284923e-02, 2.72229555e-03, 3.61896595e-03,
  3.46520778e-05, 1.13572246e-02, 3.09127924e-03, 3.43377582e-03,
 -4.02442282e-05, 1.28599226e-02, 3.30260216e-03, 2.67195919e-03,
 -3.88207809e-04,-4.22385241e-04, 7.42314873e-06, 1.80873674e-04,
 -1.00198459e-06, 2.35253313e-06,-1.21644587e+00,-4.57788347e-04,
  1.49152757e-05,-5.50220149e-04]


--- Step 1679 ---
qpos:
[ 3.63423024e-03, 1.96299496e-02,-7.10470601e-03, 4.61229461e-02,
  4.26996650e-03, 1.52292895e-02,-1.95493109e-02, 3.87731928e-02,
  1.29570701e-02, 2.17299833e-02,-1.14463661e-02, 3.76915330e-02,
  1.34139838e+00, 3.01146351e-04, 1.09396756e+00, 6.35117781e-02,
  9.36739084e-02,-7.02391336e-02, 1.30934833e-01, 4.93233021e-01,
  4.83401396e-01, 5.06142532e-01, 5.16588826e-01]

qacc:
[ 2.35679723e+02, 2.32127176e+02,-9.50937147e+02, 2.01177263e+03,
  9.12814927e-01, 2.18908417e+02,-8.64334751e+02, 1.78937312e+03,
 -1.49177818e+01, 1.96436656e+02,-7.46554167e+02, 1.52840721e+03,
 -1.35646897e-02,-1.83266084e+00,-8.60847802e-01, 3.37029724e+00,
  7.06001587e-02, 1.09877888e+00, 8.19836319e-01, 1.81594501e+00,
  3.87775579e-01,-1.58179662e+01]

qfrc_actuator:
[-0.00156422, 0.10257474,-0.00086023, 0.06899542, 0.00058865, 0.10003909,
  0.00075028, 0.0636822 , 0.00034764, 0.10126936, 0.00089674, 0.06059701,
  0.        ,-0.00397237, 0.        ,-0.0017525 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.62696321, -4.21786837,  1.90220267, -4.21786837,  5.53970951,
        2.02388726,  1.90220267,  2.02388726,  9.11465014,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032479398927148795
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.7091188e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.7091188e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09237408, -0.0883674 ,  0.06199071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.41120509e-03, 1.05814541e-02, 2.74059386e-03, 3.86263857e-03,
  1.66021961e-05, 1.10241645e-02, 2.88471972e-03, 3.50095341e-03,
 -7.75351051e-05, 1.13643811e-02, 3.14356970e-03, 3.12377283e-03,
 -3.12866169e-04,-2.21524039e-04, 1.81813641e-05, 2.16703415e-05,
 -9.10497392e-07, 1.69360998e-06,-1.21644431e+00,-4.57952999e-04,
  1.44060059e-05,-5.50676098e-04]


--- Step 1680 ---
qpos:
[ 3.63781729e-03, 2.16255923e-02,-7.18107739e-03, 4.75614333e-02,
  4.27997899e-03, 1.71775729e-02,-1.95927718e-02, 4.01073596e-02,
  1.29636098e-02, 2.36937625e-02,-1.14903332e-02, 3.89479913e-02,
  1.34147729e+00, 2.55107152e-04, 1.09416415e+00, 6.35160316e-02,
  9.36862476e-02,-7.02496825e-02, 1.30934951e-01, 4.93148020e-01,
  4.83483190e-01, 5.06150242e-01, 5.16585877e-01]

qacc:
[ 3.15110114e+02, 2.75074571e+02,-1.11799549e+03, 2.31689124e+03,
 -1.63614452e+01, 2.85281120e+02,-1.15482582e+03, 2.37481440e+03,
 -1.30831969e+01, 2.51836829e+02,-9.69432211e+02, 1.92462171e+03,
 -3.44269815e-01,-7.04704616e-01, 4.00730914e+00,-1.35294397e+01,
  7.03938957e-02, 1.07621756e+00, 6.13759088e-01, 1.78827359e+00,
  3.74213246e-01,-1.55007325e+01]

qfrc_actuator:
[ 0.00029053, 0.10783062,-0.0007014 , 0.0727059 , 0.00050221, 0.10524093,
  0.00076607, 0.06744392, 0.00027581, 0.10633489, 0.00089818, 0.06357765,
  0.        ,-0.00398587, 0.        ,-0.00181884, 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: -0.0003308041786947852
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.39033404e-14,  1.67806681e-13,  1.00000000e+00,  1.40795411e-26,
        1.00000000e+00, -1.67806681e-13, -1.00000000e+00,  0.00000000e+00,
       -8.39033404e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0923742 , -0.0883659 ,  0.06199054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.89253958e-03, 1.18341651e-02, 2.79124714e-03, 4.32659784e-03,
 -8.23836437e-05, 1.20425698e-02, 2.74523201e-03, 4.39516731e-03,
 -6.42294261e-05, 1.21338399e-02, 2.82013824e-03, 3.63039703e-03,
 -2.24147504e-04,-1.42156493e-04, 3.64243452e-06,-6.43606549e-05,
 -8.15552444e-07, 1.15269616e-06,-1.21644311e+00,-4.58127777e-04,
  1.38164387e-05,-5.51033693e-04]


--- Step 1681 ---
qpos:
[ 3.67485511e-03, 2.37230798e-02,-7.26240314e-03, 4.90746785e-02,
  4.28438961e-03, 1.92220001e-02,-1.96406696e-02, 4.15344443e-02,
  1.29693517e-02, 2.57643462e-02,-1.15413081e-02, 4.02607330e-02,
  1.34155550e+00, 2.07594908e-04, 1.09436077e+00, 6.35191272e-02,
  9.36988682e-02,-7.02560017e-02, 1.30936832e-01, 4.93076680e-01,
  4.83550924e-01, 5.06174861e-01, 5.16566454e-01]

qacc:
[ 2.85752450e+02, 3.01727488e+02,-1.19675685e+03, 2.42350860e+03,
 -5.06888874e+01, 3.30385224e+02,-1.38575557e+03, 2.92923120e+03,
 -8.84123371e+00, 2.76526091e+02,-1.01865836e+03, 1.92484400e+03,
  4.60952717e-01,-1.87983665e+00, 3.46907321e+00,-1.22331180e+01,
  7.03508038e-02, 1.05742885e+00, 4.40522403e-01, 1.76697403e+00,
  3.61645692e-01,-1.52363017e+01]

qfrc_actuator:
[ 0.00196577, 0.11394926,-0.00055604, 0.0765322 , 0.00021657, 0.11065254,
  0.00079571, 0.0721586 , 0.0002309 , 0.1127585 , 0.00095405, 0.06647914,
  0.        ,-0.00404593, 0.        ,-0.00187737, 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: -0.00033321466438814007
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.32963809e-14,  2.49889143e-13,  1.00000000e+00,  2.08148612e-26,
        1.00000000e+00, -2.49889143e-13, -1.00000000e+00,  0.00000000e+00,
       -8.32963809e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09237426, -0.08836535,  0.06199047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72713717e-03, 1.34245053e-02, 3.05759243e-03, 4.50647831e-03,
 -2.84087060e-04, 1.28279139e-02, 2.98203525e-03, 5.40398533e-03,
 -3.63826653e-05, 1.38736867e-02, 3.01002389e-03, 3.58254633e-03,
 -1.57040932e-04,-1.47636122e-04,-1.17056125e-05,-6.30269115e-05,
 -7.17092937e-07, 7.21272008e-07,-1.21644226e+00,-4.58312911e-04,
  1.31483239e-05,-5.51294965e-04]


--- Step 1682 ---
qpos:
[ 3.73018348e-03, 2.59250896e-02,-7.34337528e-03, 5.06504615e-02,
  4.27913556e-03, 2.13600674e-02,-1.96872787e-02, 4.30484716e-02,
  1.29739577e-02, 2.79357616e-02,-1.15910531e-02, 4.16343223e-02,
  1.34163295e+00, 1.59583520e-04, 1.09455768e+00, 6.35184659e-02,
  9.37117706e-02,-7.02581534e-02, 1.30939894e-01, 4.93018802e-01,
  4.83604816e-01, 5.06216152e-01, 5.16530784e-01]

qacc:
[ 1.54771055e+02, 2.65533437e+02,-1.01056370e+03, 2.01497780e+03,
 -8.57549883e+01, 2.98866132e+02,-1.25280081e+03, 2.68539284e+03,
 -1.13395153e+01, 2.55001985e+02,-9.72612668e+02, 1.94896132e+03,
 -4.61756562e-01, 5.28402526e-02, 1.17883844e+01,-4.05726630e+01,
  7.04519846e-02, 1.04187231e+00, 2.95224208e-01, 1.75115860e+00,
  3.49890787e-01,-1.50169706e+01]

qfrc_actuator:
[ 0.00286502, 0.11954301,-0.00039781, 0.0796868 ,-0.00027277, 0.11534965,
  0.00087082, 0.0765089 , 0.00016663, 0.11769089, 0.00099441, 0.06952519,
  0.        ,-0.00404432, 0.        ,-0.0020728 , 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: -0.0003327395619307921
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.34153157e-14,  8.34153157e-14,  1.00000000e+00,  6.95811490e-27,
        1.00000000e+00, -8.34153157e-14, -1.00000000e+00,  0.00000000e+00,
       -8.34153157e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09237428, -0.08836556,  0.06199049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.46721772e-04, 1.38477216e-02, 3.43664827e-03, 3.91522003e-03,
 -4.93312623e-04, 1.26410114e-02, 3.25252165e-03, 5.10065962e-03,
 -5.39992093e-05, 1.33886781e-02, 3.37434371e-03, 3.80693676e-03,
 -1.21714429e-04,-7.12957424e-05,-1.69248573e-05,-2.01477023e-04,
 -6.15017595e-07, 3.92547868e-07,-1.21644173e+00,-4.58508709e-04,
  1.24027448e-05,-5.51461622e-04]


--- Step 1683 ---
qpos:
[ 3.79332427e-03, 2.82273469e-02,-7.41939967e-03, 5.22753400e-02,
  4.26288594e-03, 2.35882194e-02,-1.97304609e-02, 4.46233894e-02,
  1.29779006e-02, 3.02039709e-02,-1.16390695e-02, 4.30665302e-02,
  1.34170978e+00, 1.11593254e-04, 1.09475457e+00, 6.35147819e-02,
  9.37249557e-02,-7.02561888e-02, 1.30943650e-01, 4.92974220e-01,
  4.83645049e-01, 5.06273919e-01, 5.16479045e-01]

qacc:
[ 6.49713817e+01, 2.19553921e+02,-7.97810757e+02, 1.56520271e+03,
 -9.69243315e+01, 2.34688622e+02,-9.20747667e+02, 1.90175700e+03,
 -7.16780393e+00, 2.43670856e+02,-9.30541447e+02, 1.87045810e+03,
 -6.92867716e-01, 7.65060734e-01, 9.14904314e+00,-3.19297851e+01,
  7.06809331e-02, 1.02908560e+00, 1.73678755e-01, 1.74007552e+00,
  3.38795797e-01,-1.48362463e+01]

qfrc_actuator:
[ 0.00324719, 0.12435235,-0.0002352 , 0.08211891,-0.00082476, 0.11954659,
  0.00089825, 0.0795087 , 0.0001269 , 0.12229539, 0.00098453, 0.07243563,
  0.        ,-0.00402385, 0.        ,-0.00222305, 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: -0.00032997710007093284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.41136419e-14,  8.41136419e-14,  1.00000000e+00,  7.07510475e-27,
        1.00000000e+00, -8.41136419e-14, -1.00000000e+00,  0.00000000e+00,
       -8.41136419e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09237426, -0.08836637,  0.06199057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.06958505e-04, 1.33486791e-02, 3.55331820e-03, 3.21208367e-03,
 -5.62020610e-04, 1.20755229e-02, 3.18775271e-03, 3.74520194e-03,
 -2.98281130e-05, 1.28706357e-02, 3.27521621e-03, 3.66712778e-03,
 -8.46229632e-05,-2.47895268e-05,-3.52114685e-05,-1.64775125e-04,
 -5.09191172e-07, 1.61111552e-07,-1.21644151e+00,-4.58715544e-04,
  1.15802594e-05,-5.51535092e-04]


--- Step 1684 ---
qpos:
[ 3.85766717e-03, 3.06188148e-02,-7.48574923e-03, 5.39408057e-02,
  4.23876696e-03, 2.59032579e-02,-1.97701288e-02, 4.62329738e-02,
  1.29825183e-02, 3.25664646e-02,-1.16856573e-02, 4.45454646e-02,
  1.34178610e+00, 6.39511039e-05, 1.09495110e+00, 6.35106165e-02,
  9.37384250e-02,-7.02501495e-02, 1.30947696e-01, 4.92942797e-01,
  4.83671773e-01, 5.06348004e-01, 5.16411381e-01]

qacc:
[ 9.00642615e+00, 1.74353754e+02,-6.21736614e+02, 1.24235128e+03,
 -6.94406510e+01, 1.76291087e+02,-6.08037696e+02, 1.13769127e+03,
  4.23047320e+00, 2.16702298e+02,-7.89029516e+02, 1.52553292e+03,
 -6.58430991e-01, 9.78915817e-01, 9.62490792e-01,-4.03443690e+00,
  7.10231917e-02, 1.01867259e+00, 7.23033584e-02, 1.73308567e+00,
  3.28232189e-01,-1.46886362e+01]

qfrc_actuator:
[ 3.30453293e-03, 1.28120929e-01,-2.14226608e-05, 8.40881867e-02,
 -1.21386318e-03, 1.23551555e-01, 9.12177523e-04, 8.11924161e-02,
  1.55147793e-04, 1.26808885e-01, 9.61266414e-04, 7.47455101e-02,
  0.00000000e+00,-3.99238411e-03, 0.00000000e+00,-2.23890009e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003254268828574852
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27934616e-13,  1.70579489e-13,  1.00000000e+00,  2.18230214e-26,
        1.00000000e+00, -1.70579489e-13, -1.00000000e+00,  0.00000000e+00,
       -1.27934616e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09237421, -0.08836764,  0.0619907 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.59925706e-05, 1.20188082e-02, 3.49009053e-03, 2.71787680e-03,
 -4.01271152e-04, 1.14923848e-02, 3.00132137e-03, 2.37589646e-03,
  3.89858825e-05, 1.24598301e-02, 3.13648585e-03, 3.03785601e-03,
 -5.33977290e-05, 6.69607079e-06,-3.82172798e-05,-3.03748039e-05,
 -3.99452410e-07, 2.26498120e-08,-1.21644158e+00,-4.58933860e-04,
  1.06810092e-05,-5.51516569e-04]


--- Step 1685 ---
qpos:
[ 3.92136453e-03, 3.30906790e-02,-7.54200189e-03, 5.56420496e-02,
  4.20913526e-03, 2.83030936e-02,-1.98071958e-02, 4.78700798e-02,
  1.29875957e-02, 3.50173406e-02,-1.17295594e-02, 4.60714877e-02,
  1.34186178e+00, 1.76627964e-05, 1.09514723e+00, 6.35075706e-02,
  9.37521800e-02,-7.02400691e-02, 1.30951693e-01, 4.92924419e-01,
  4.83685112e-01, 5.06438275e-01, 5.16327902e-01]

qacc:
[-6.40716706e+00, 1.51655477e+02,-5.37361731e+02, 1.08053697e+03,
 -4.88105995e+01, 1.61359318e+02,-5.28699867e+02, 9.37788065e+02,
  2.52590422e+00, 2.06131264e+02,-7.64162442e+02, 1.50921228e+03,
 -1.40625751e+00, 2.64958863e+00,-3.83188131e+00, 1.28596525e+01,
  7.14660799e-02, 1.01029373e+00,-1.19726801e-02, 1.72964417e+00,
  3.18091510e-01,-1.45694820e+01]

qfrc_actuator:
[ 0.00327697, 0.13152003, 0.00023409, 0.0858219 ,-0.00148622, 0.12763928,
  0.0009698 , 0.08254991, 0.00016984, 0.13089427, 0.00096509, 0.07707406,
  0.        ,-0.0039014 , 0.        ,-0.00217544, 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: -0.0003195046552988273
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73741291e-13, -3.47482582e-13,  1.00000000e+00,  6.03720723e-26,
        1.00000000e+00,  3.47482582e-13, -1.00000000e+00,  0.00000000e+00,
        1.73741291e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09237414, -0.08836928,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.96039753e-05, 1.08678681e-02, 3.23099783e-03, 2.41320974e-03,
 -2.80075471e-04, 1.11486453e-02, 2.85306742e-03, 1.99128510e-03,
  2.76448287e-05, 1.17428673e-02, 3.03861787e-03, 3.02153739e-03,
 -2.85380378e-05, 8.13469916e-05,-2.36136136e-05, 5.62693606e-05,
 -2.85620072e-07,-2.62735311e-08,-1.21644193e+00,-4.59164163e-04,
  9.70480415e-06,-5.51407039e-04]


--- Step 1686 ---
qpos:
[ 3.98477037e-03, 3.56369389e-02,-7.58867738e-03, 5.73766986e-02,
  4.17336821e-03, 3.07834806e-02,-1.98422682e-02, 4.95401502e-02,
  1.29926290e-02, 3.75504768e-02,-1.17696260e-02, 4.76448323e-02,
  1.34193664e+00,-2.60004226e-05, 1.09534279e+00, 6.35086125e-02,
  9.37662231e-02,-7.02259739e-02, 1.30955364e-01, 4.92918995e-01,
  4.83685168e-01, 5.06544629e-01, 5.16228691e-01]

qacc:
[-3.32803561e+00, 1.40284065e+02,-4.98309464e+02, 1.00566024e+03,
 -5.38194575e+01, 1.68622643e+02,-5.85678843e+02, 1.09292176e+03,
 -1.56094893e+00, 1.95307669e+02,-7.38259441e+02, 1.48993259e+03,
 -2.28407491e+00, 4.66627098e+00,-1.29657602e+01, 4.46402806e+01,
  7.19984750e-02, 1.00365807e+00,-8.17826273e-02, 1.72928560e+00,
  3.08282085e-01,-1.44748264e+01]

qfrc_actuator:
[ 0.00327085, 0.13483035, 0.00054587, 0.08745611,-0.00179424, 0.1314422 ,
  0.00098213, 0.08418427, 0.0001586 , 0.13465546, 0.00101883, 0.07941251,
  0.        ,-0.00374034, 0.        ,-0.0019593 , 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: -0.0003125549512699166
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.77604453e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.77604453e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09237405, -0.08837119,  0.06199107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16336479e-05, 1.00657671e-02, 3.00592120e-03, 2.24920428e-03,
 -3.12383208e-04, 1.06213940e-02, 2.70410913e-03, 2.24052966e-03,
  1.42399827e-06, 1.09935122e-02, 2.92665101e-03, 2.99668984e-03,
  3.16967632e-06, 1.75753390e-04,-7.76584482e-06, 2.15555403e-04,
 -1.67497538e-07, 1.16044922e-08,-1.21644257e+00,-4.59407024e-04,
  8.65118865e-06,-5.51207313e-04]


--- Step 1687 ---
qpos:
[ 4.04366092e-03, 3.82529857e-02,-7.62684158e-03, 5.91507429e-02,
  4.13074361e-03, 3.33394536e-02,-1.98750566e-02, 5.12490339e-02,
  1.29976533e-02, 4.01648317e-02,-1.18074752e-02, 4.92537270e-02,
  1.34201056e+00,-6.56324048e-05, 1.09553838e+00, 6.35112006e-02,
  9.37765149e-02,-7.02196116e-02, 1.30957713e-01, 4.92900259e-01,
  4.83695437e-01, 5.06609252e-01, 5.16173541e-01]

qacc:
[-3.80922549e+01, 1.49554136e+02,-5.65299968e+02, 1.18108059e+03,
 -5.95319792e+01, 1.73267097e+02,-6.36403172e+02, 1.24790007e+03,
 -1.29425998e+00, 1.74237972e+02,-6.15448735e+02, 1.16681925e+03,
 -3.62096460e+00, 7.42766255e+00,-4.27584676e+00, 1.58287516e+01,
 -9.37811898e-01,-1.93318522e+00,-3.30381068e-01,-1.61948775e+01,
  1.10669567e+00, 2.69741197e+01]

qfrc_actuator:
[ 0.00304671, 0.13806124, 0.00087012, 0.08940923,-0.0021386 , 0.13497356,
  0.00100236, 0.08611033, 0.00014987, 0.13860123, 0.00106481, 0.08116975,
  0.        ,-0.00350355, 0.        ,-0.00188574, 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: -0.00030815322905111686
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.80141391e-13, -2.70212086e-13,  1.00000000e+00,  4.86763810e-26,
        1.00000000e+00,  2.70212086e-13, -1.00000000e+00,  0.00000000e+00,
        1.80141391e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10852656, -0.033528  ,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.29641884e-04, 9.48141806e-03, 2.81825968e-03, 2.52249656e-03,
 -3.49864610e-04, 1.00318844e-02, 2.59232730e-03, 2.50905138e-03,
  3.17664615e-06, 1.07317216e-02, 2.74831955e-03, 2.37869959e-03,
  4.34924619e-05, 2.82278702e-04, 1.69875873e-05, 8.38247179e-05,
 -4.48762936e-08, 1.34102547e-07,-1.21644347e+00,-4.59663070e-04,
  7.51949340e-06,-5.50918049e-04]


--- Step 1688 ---
qpos:
[ 4.09201121e-03, 4.09358109e-02,-7.65884531e-03, 6.09658427e-02,
  4.07950095e-03, 3.59666873e-02,-1.99049110e-02, 5.30022287e-02,
  1.30033907e-02, 4.28609921e-02,-1.18442768e-02, 5.08854983e-02,
  1.34208409e+00,-1.01878202e-04, 1.09573475e+00, 6.35086378e-02,
  9.37831095e-02,-7.02208540e-02, 1.30958116e-01, 4.92868361e-01,
  4.83715749e-01, 5.06632930e-01, 5.16161725e-01]

qacc:
[-8.69505465e+01, 1.55650346e+02,-5.99598314e+02, 1.24975763e+03,
 -7.38900761e+01, 1.77044209e+02,-6.81292642e+02, 1.38988176e+03,
  4.58019492e+00, 1.52205136e+02,-4.82305147e+02, 8.15907853e+02,
 -3.15355355e+00, 6.54450706e+00, 1.69990067e+01,-5.71021107e+01,
 -9.24330728e-01,-1.90118982e+00,-4.86487919e-01,-1.58847882e+01,
  1.13097540e+00, 2.65233342e+01]

qfrc_actuator:
[ 0.00251858, 0.14120158, 0.00109259, 0.09144558,-0.00257258, 0.13835023,
  0.0010795 , 0.08831663, 0.00017813, 0.14271463, 0.0011062 , 0.08230482,
  0.        ,-0.00333029, 0.        ,-0.00216311, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.57920324, -1.97305494,  4.13233064, -1.97305494, 27.22918076,
       10.81463557,  4.13233064, 10.81463557,  9.7428438 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003114547769541981
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.91159092e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.91159092e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1085254, -0.0335296,  0.0619911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.40627812e-04, 9.03427685e-03, 2.58110953e-03, 2.57925404e-03,
 -4.40838749e-04, 9.53310530e-03, 2.52198459e-03, 2.76512259e-03,
  4.04290262e-05, 1.06866120e-02, 2.64525156e-03, 1.72682642e-03,
  9.08510797e-05, 2.54879847e-04, 1.15352276e-05,-2.71771327e-04,
 -1.47976731e-07, 5.40566264e-08,-1.21644128e+00,-4.59975016e-04,
  9.38344319e-06,-5.50709007e-04]


--- Step 1689 ---
qpos:
[ 4.12486896e-03, 4.36931501e-02,-7.69194971e-03, 6.28305966e-02,
  4.02172305e-03, 3.86746882e-02,-1.99389551e-02, 5.48070129e-02,
  1.30099378e-02, 4.56425088e-02,-1.18830763e-02, 5.25560744e-02,
  1.34215883e+00,-1.36885399e-04, 1.09593151e+00, 6.34997819e-02,
  9.37860518e-02,-7.02295950e-02, 1.30956048e-01, 4.92823421e-01,
  4.83745966e-01, 5.06616306e-01, 5.16192633e-01]

qacc:
[-1.26367078e+02, 2.03916035e+02,-7.92878757e+02, 1.59718019e+03,
 -5.61982451e+01, 2.24379064e+02,-8.62554846e+02, 1.70122208e+03,
  5.18082771e+00, 1.98147724e+02,-7.06461317e+02, 1.31764919e+03,
 -3.89466532e-01, 1.79472991e+00, 1.96183327e+01,-6.76808665e+01,
 -9.13047752e-01,-1.87465542e+00,-6.17769820e-01,-1.56293952e+01,
  1.14875644e+00, 2.61504845e+01]

qfrc_actuator:
[ 1.74486245e-03, 1.45469849e-01, 1.23517163e-03, 9.39760268e-02,
 -2.89606585e-03, 1.43063893e-01, 1.11821387e-03, 9.09540943e-02,
  2.10115414e-04, 1.47374872e-01, 1.16287922e-03, 8.42899672e-02,
  9.96830462e-05,-3.26712081e-03, 0.00000000e+00,-2.48519532e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58048316, -2.24615493,  3.99194364, -2.24615493, 25.71550772,
       11.89208664,  3.99194364, 11.89208664, 11.27182739,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003118230618087692
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78021314e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.78021314e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10852497, -0.03352969,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.96046821e-04, 9.86297621e-03, 2.38069291e-03, 3.04683217e-03,
 -3.33240657e-04, 1.05848915e-02, 2.37975119e-03, 3.17719061e-03,
  4.55568618e-05, 1.11559884e-02, 2.61493950e-03, 2.55846201e-03,
  2.09112876e-04, 1.49577127e-04,-3.12823135e-05,-3.37196442e-04,
 -1.06200364e-07, 1.09999590e-07,-1.21644035e+00,-4.60398839e-04,
  1.03725874e-05,-5.50755912e-04]


--- Step 1690 ---
qpos:
[ 4.14181311e-03, 4.65298081e-02,-7.72734460e-03, 6.47535780e-02,
  3.96498232e-03, 4.14726080e-02,-1.99783605e-02, 5.66611948e-02,
  1.30166454e-02, 4.85190209e-02,-1.19276109e-02, 5.42825190e-02,
  1.34223899e+00,-1.73211083e-04, 1.09612738e+00, 6.34917643e-02,
  9.37853794e-02,-7.02457470e-02, 1.30951068e-01, 4.92765539e-01,
  4.83785966e-01, 5.06559899e-01, 5.16265757e-01]

qacc:
[-1.28367351e+02, 2.31215480e+02,-9.17048059e+02, 1.86767508e+03,
  7.03682815e+00, 2.35099789e+02,-8.74154672e+02, 1.67013294e+03,
 -3.23471599e-01, 2.56408444e+02,-9.67606083e+02, 1.87253471e+03,
  5.28042434e+00,-6.37513998e+00,-4.22458062e+00, 1.19737721e+01,
 -9.03670834e-01,-1.85274652e+00,-7.28102973e-01,-1.54202748e+01,
  1.16121453e+00, 2.58441936e+01]

qfrc_actuator:
[ 0.00095724, 0.14993662, 0.00131687, 0.09693768,-0.00283234, 0.14832871,
  0.00113982, 0.09348796, 0.00020845, 0.15298378, 0.00121361, 0.0871684 ,
  0.00061283,-0.00323371, 0.        ,-0.00242259, 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: -0.00030985470977050455
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.95760972e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.95760972e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10852513, -0.03352857,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.17875457e-04, 1.05007110e-02, 2.48151479e-03, 3.51541148e-03,
  5.74309130e-05, 1.17095468e-02, 2.57560821e-03, 3.12144167e-03,
  1.24742046e-05, 1.23933953e-02, 2.72991276e-03, 3.48669551e-03,
  6.61733824e-04, 1.21897433e-04,-5.41586374e-05, 3.92058586e-05,
  7.54780284e-08, 2.95090154e-07,-1.21644060e+00,-4.60934417e-04,
  1.05348833e-05,-5.51054747e-04]


--- Step 1691 ---
qpos:
[ 4.14830350e-03, 4.94391583e-02,-7.75919196e-03, 6.67211524e-02,
  3.91598910e-03, 4.43543263e-02,-2.00154811e-02, 5.85482789e-02,
  1.30238069e-02, 5.14939450e-02,-1.19740093e-02, 5.60504995e-02,
  1.34232451e+00,-2.07774290e-04, 1.09632256e+00, 6.34867881e-02,
  9.37848322e-02,-7.02574946e-02, 1.30948997e-01, 4.92721268e-01,
  4.83812659e-01, 5.06521102e-01, 5.16321059e-01]

qacc:
[-8.34342490e+01, 1.78011118e+02,-6.82765683e+02, 1.39350727e+03,
  6.24746967e+01, 1.71699953e+02,-5.90440287e+02, 1.09379131e+03,
  2.04860743e+00, 2.20629500e+02,-7.73030111e+02, 1.42140707e+03,
  3.09574064e+00,-1.27968214e+00,-1.03639337e+01, 3.43889533e+01,
  3.12801316e-02, 1.10110388e+00, 7.27449375e-01, 2.48829515e+00,
  1.57053722e-02,-1.55354025e+01]

qfrc_actuator:
[ 0.00045193, 0.1532452 , 0.00136367, 0.09913547,-0.00243473, 0.15226727,
  0.00115401, 0.09510685, 0.00022242, 0.1583015 , 0.0012653 , 0.08927202,
  0.00100807,-0.00305633, 0.        ,-0.00225805, 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: -0.00031373501578443874
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.42341056e-14, -3.53872845e-13,  1.00000000e+00, -1.56532488e-26,
        1.00000000e+00,  3.53872845e-13, -1.00000000e+00,  0.00000000e+00,
       -4.42341056e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09237872, -0.08837227,  0.06199103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.36532448e-04, 9.73713550e-03, 2.60593674e-03, 2.79114275e-03,
  4.03270727e-04, 1.10470929e-02, 2.82155621e-03, 2.25999313e-03,
  2.77970156e-05, 1.28542111e-02, 3.03157529e-03, 2.78659445e-03,
  7.85842873e-04, 3.66145592e-04,-1.39178463e-05, 1.60957253e-04,
  3.93438492e-07, 6.04902661e-07,-1.21644200e+00,-4.61581206e-04,
  9.90682386e-06,-5.51602131e-04]


--- Step 1692 ---
qpos:
[ 4.14848827e-03, 5.24164661e-02,-7.78719802e-03, 6.87191458e-02,
  3.87834493e-03, 4.73134656e-02,-2.00490036e-02, 6.04578878e-02,
  1.30312740e-02, 5.45640457e-02,-1.20188416e-02, 5.78506231e-02,
  1.34241238e+00,-2.29711703e-04, 1.09651759e+00, 6.34841125e-02,
  9.37844450e-02,-7.02649309e-02, 1.30949079e-01, 4.92690437e-01,
  4.83826093e-01, 5.06499561e-01, 5.16359022e-01]

qacc:
[-4.99597262e+01, 1.41718742e+02,-5.02846269e+02, 9.71802905e+02,
  9.12181311e+01, 1.38252227e+02,-4.39730234e+02, 7.66390163e+02,
  1.00530864e+00, 1.87460164e+02,-6.21347363e+02, 1.10421157e+03,
 -7.33417968e+00, 1.95022914e+01,-6.37595662e+00, 2.38305441e+01,
  4.00131985e-02, 1.07780584e+00, 5.38086073e-01, 2.32857719e+00,
  7.56230037e-02,-1.52732651e+01]

qfrc_actuator:
[ 1.52421883e-04, 1.56295325e-01, 1.40236174e-03, 1.00616758e-01,
 -1.86167046e-03, 1.55717527e-01, 1.15825054e-03, 9.61912372e-02,
  2.27671860e-04, 1.62959263e-01, 1.29823675e-03, 9.08672330e-02,
  1.33239049e-03,-2.22702257e-03, 0.00000000e+00,-2.14141418e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60528891,  0.52655306,  4.57508774,  0.52655306, 18.89957512,
       -1.6451488 ,  4.57508774, -1.6451488 ,  4.79463132,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003188407428872525
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.35257668e-14, -3.48206134e-13,  1.00000000e+00,  1.51559390e-26,
        1.00000000e+00,  3.48206134e-13, -1.00000000e+00,  0.00000000e+00,
        4.35257668e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09238022, -0.08837131,  0.06199089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.22692056e-04, 9.04372631e-03, 2.42936566e-03, 2.03182561e-03,
  5.88922123e-04, 1.01991994e-02, 2.67414324e-03, 1.68854102e-03,
  2.00422908e-05, 1.24806382e-02, 3.11969876e-03, 2.29439430e-03,
  8.41555584e-04, 1.10822011e-03, 1.65466284e-05, 1.24647558e-04,
  2.60393964e-07, 3.18524992e-07,-1.21644103e+00,-4.61158151e-04,
  1.02570362e-05,-5.51820281e-04]


--- Step 1693 ---
qpos:
[ 4.14488263e-03, 5.54577712e-02,-7.81192281e-03, 7.07359282e-02,
  3.85199996e-03, 5.03475452e-02,-2.00806365e-02, 6.23897055e-02,
  1.30389522e-02, 5.77191620e-02,-1.20590651e-02, 5.96823141e-02,
  1.34249962e+00,-2.27349622e-04, 1.09671274e+00, 6.34825356e-02,
  9.37842452e-02,-7.02681330e-02, 1.30950677e-01, 4.92672898e-01,
  4.83826319e-01, 5.06494980e-01, 5.16380039e-01]

qacc:
[-2.99129627e+01, 1.14095880e+02,-3.63037784e+02, 6.34944982e+02,
  8.97089460e+01, 1.39092105e+02,-4.46120628e+02, 7.71788091e+02,
  4.98356170e-01, 1.64343011e+02,-5.55967727e+02, 1.03147600e+03,
 -1.83386125e+01, 4.16368204e+01,-1.30746686e+00, 9.08814564e+00,
  4.68475121e-02, 1.05856385e+00, 3.78985196e-01, 2.20114884e+00,
  1.22552431e-01,-1.50541669e+01]

qfrc_actuator:
[-2.35740721e-05, 1.59201546e-01, 1.43447354e-03, 1.01522454e-01,
 -1.29655373e-03, 1.59326984e-01, 1.18979673e-03, 9.72894439e-02,
  2.27650133e-04, 1.66616843e-01, 1.29948860e-03, 9.23987225e-02,
  1.54499413e-03,-7.87350620e-04, 0.00000000e+00,-2.08949310e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61186938,  0.38690873,  4.59561103,  0.38690873, 31.75995084,
       -2.28562203,  4.59561103, -2.28562203,  4.80429801,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003206652772679147
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.32781121e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.32781121e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09238138, -0.08837116,  0.06199083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93033521e-04, 8.44058579e-03, 2.23062209e-03, 1.40538670e-03,
  5.86451222e-04, 9.82648698e-03, 2.48736372e-03, 1.64954567e-03,
  1.47297698e-05, 1.12651352e-02, 3.00345035e-03, 2.20781038e-03,
  9.36540834e-04, 1.91716584e-03, 2.05540924e-05, 6.06315577e-05,
  1.46711046e-07, 1.27276690e-07,-1.21644039e+00,-4.60784057e-04,
  1.04860343e-05,-5.51948686e-04]


--- Step 1694 ---
qpos:
[ 4.13865264e-03, 5.85593026e-02,-7.83593092e-03, 7.27756139e-02,
  3.83574374e-03, 5.34497692e-02,-2.01089901e-02, 6.43526878e-02,
  1.30467829e-02, 6.09485075e-02,-1.20931174e-02, 6.15426820e-02,
  1.34258521e+00,-1.93864743e-04, 1.09690822e+00, 6.34796100e-02,
  9.37842542e-02,-7.02671641e-02, 1.30953257e-01, 4.92668525e-01,
  4.83813383e-01, 5.06507115e-01, 5.16384428e-01]

qacc:
[-2.06594471e+01, 1.24712618e+02,-4.25430697e+02, 7.75183341e+02,
  7.90837031e+01, 1.44620589e+02,-5.16562517e+02, 9.99672555e+02,
  2.47017896e-01, 1.39779339e+02,-4.76872042e+02, 9.07838111e+02,
 -2.43194944e+01, 5.41878501e+01, 6.97133698e+00,-1.80820994e+01,
  5.21998128e-02, 1.04275839e+00, 2.45611162e-01, 2.09960188e+00,
  1.59272866e-01,-1.48722311e+01]

qfrc_actuator:
[-1.43207769e-04, 1.61980448e-01, 1.37289861e-03, 1.02650343e-01,
 -7.93951529e-04, 1.62417637e-01, 1.23799644e-03, 9.88310628e-02,
  2.24439183e-04, 1.69628652e-01, 1.33131636e-03, 9.37731784e-02,
  1.66412401e-03, 9.30806984e-04, 0.00000000e+00,-2.16488466e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60897023, -0.20099093, -4.60458568, -0.20099093, 44.28359741,
       -1.73180409, -4.60458568, -1.73180409,  4.68456377,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003198633120574529
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.60319717e-13,  8.67732390e-14,  1.00000000e+00, -2.25887850e-26,
        1.00000000e+00, -8.67732390e-14, -1.00000000e+00,  0.00000000e+00,
        2.60319717e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09238226, -0.08837164,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.33025151e-04, 7.90576539e-03, 1.96536388e-03, 1.58245788e-03,
  5.23916803e-04, 9.05623710e-03, 2.40171424e-03, 2.06952533e-03,
  1.12399400e-05, 9.90874849e-03, 2.76451306e-03, 1.99270567e-03,
  1.08674147e-03, 2.42035439e-03, 1.06491233e-05,-7.06127162e-05,
  4.85578660e-08, 2.78907438e-08,-1.21644006e+00,-4.60449233e-04,
  1.06048413e-05,-5.51987315e-04]


--- Step 1695 ---
qpos:
[ 4.12911736e-03, 6.17210942e-02,-7.86426859e-03, 7.48548614e-02,
  3.82874773e-03, 5.66133825e-02,-2.01331796e-02, 6.63470996e-02,
  1.30543853e-02, 6.42453807e-02,-1.21224594e-02, 6.34255031e-02,
  1.34267104e+00,-1.31011352e-04, 1.09710336e+00, 6.34784920e-02,
  9.37844887e-02,-7.02620757e-02, 1.30956373e-01, 4.92677212e-01,
  4.83787328e-01, 5.06535765e-01, 5.16372447e-01]

qacc:
[-2.55007192e+01, 1.73097898e+02,-6.67874825e+02, 1.31302792e+03,
  7.16144422e+01, 1.33777325e+02,-4.91923108e+02, 9.83088575e+02,
 -2.53443450e+00, 1.22214693e+02,-4.00837573e+02, 7.31446659e+02,
 -2.13221164e+01, 4.94773390e+01,-3.80884756e+00, 1.75971342e+01,
  5.63971912e-02, 1.02986749e+00, 1.34091636e-01, 2.01883434e+00,
  1.87967007e-01,-1.47224363e+01]

qfrc_actuator:
[-0.00029968, 0.16506944, 0.00118535, 0.10464553,-0.00033217, 0.16510281,
  0.00129404, 0.10037235, 0.00020154, 0.17251382, 0.00136033, 0.0948484 ,
  0.00175924, 0.00242671, 0.        ,-0.00206612, 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: -0.00031698293375578834
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.7512347e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.7512347e-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([ 0.09238292, -0.08837263,  0.06199094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68376101e-04, 7.86739847e-03, 1.70161659e-03, 2.42091739e-03,
  4.81070611e-04, 8.21777527e-03, 2.25352953e-03, 2.04116469e-03,
 -8.76908348e-06, 8.96224291e-03, 2.44364843e-03, 1.62265260e-03,
  1.26382896e-03, 2.35948100e-03,-1.00306796e-05, 9.46755360e-05,
 -3.68957686e-08, 1.76456942e-08,-1.21644002e+00,-4.60146507e-04,
  1.06216609e-05,-5.51936288e-04]


--- Step 1696 ---
qpos:
[ 4.11345270e-03, 6.49488900e-02,-7.90171000e-03, 7.69774578e-02,
  3.83044283e-03, 5.98396936e-02,-2.01566614e-02, 6.83657331e-02,
  1.30618710e-02, 6.76045661e-02,-1.21487294e-02, 6.53344239e-02,
  1.34276091e+00,-4.95811179e-05, 1.09729808e+00, 6.34801893e-02,
  9.37849621e-02,-7.02529095e-02, 1.30959654e-01, 4.92698872e-01,
  4.83748189e-01, 5.06580767e-01, 5.16344301e-01]

qacc:
[-4.58652538e+01, 2.01840116e+02,-7.75105630e+02, 1.48867768e+03,
  6.60273540e+01, 1.30371322e+02,-4.46835270e+02, 8.17876550e+02,
 -1.64029954e+00, 1.27384868e+02,-4.44612161e+02, 8.44606264e+02,
 -1.03443571e+01, 2.82579755e+01,-7.96926077e+00, 2.96514553e+01,
  5.96961272e-02, 1.01945052e+00, 4.11137656e-02, 1.95477963e+00,
  2.10348486e-01,-1.46004799e+01]

qfrc_actuator:
[-6.00804911e-04, 1.68817437e-01, 8.91479811e-04, 1.06851231e-01,
  1.01919216e-04, 1.68305322e-01, 1.33484800e-03, 1.01581168e-01,
  1.84890432e-04, 1.75317764e-01, 1.38665078e-03, 9.61293883e-02,
  1.82385656e-03, 3.19272236e-03, 0.00000000e+00,-1.91873393e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003124815532937475
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.88230851e-14,  1.77646170e-13,  1.00000000e+00, -1.57790809e-26,
        1.00000000e+00, -1.77646170e-13, -1.00000000e+00,  0.00000000e+00,
        8.88230851e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09238341, -0.08837402,  0.06199107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.14479891e-04, 8.48421777e-03, 1.58314881e-03, 2.63676276e-03,
  4.51933410e-04, 8.23207988e-03, 2.04502424e-03, 1.66685966e-03,
 -3.24810122e-06, 8.26706684e-03, 2.19222542e-03, 1.76934760e-03,
  1.31596234e-03, 1.65591559e-03, 3.39938415e-06, 1.50774504e-04,
 -1.11735798e-07, 9.42972794e-08,-1.21644027e+00,-4.59870578e-04,
  1.05425668e-05,-5.51795802e-04]


--- Step 1697 ---
qpos:
[ 4.08860100e-03, 6.82422547e-02,-7.94796912e-03, 7.91346313e-02,
  3.83939793e-03, 6.31296330e-02,-2.01805727e-02, 7.04039432e-02,
  1.30700028e-02, 7.10232172e-02,-1.21737108e-02, 6.72776141e-02,
  1.34285566e+00, 4.33433012e-05, 1.09749294e+00, 6.34815998e-02,
  9.37856847e-02,-7.02396988e-02, 1.30962791e-01, 4.92733432e-01,
  4.83695994e-01, 5.06641988e-01, 5.16300152e-01]

qacc:
[-6.69186536e+01, 1.82470721e+02,-6.69873066e+02, 1.23170263e+03,
  5.40693252e+01, 1.25265210e+02,-4.07206537e+02, 6.99013316e+02,
  3.85862553e+00, 1.45370085e+02,-5.48588229e+02, 1.09456266e+03,
 -4.70916753e+00, 1.59440965e+01, 1.66769349e+00,-4.14813836e+00,
  6.22975452e-02, 1.01113516e+00,-3.61598601e-02, 1.90419293e+00,
  2.27762140e-01,-1.45026692e+01]

qfrc_actuator:
[-0.00105558, 0.17213212, 0.00045155, 0.10857779, 0.00046299, 0.17161484,
  0.00135055, 0.10256738, 0.00020748, 0.1781932 , 0.00141111, 0.09784076,
  0.00183787, 0.00359086, 0.        ,-0.00193919, 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: -0.00030673952922490033
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.80971626e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.80971626e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09238376, -0.0883757 ,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.73118771e-04, 8.37822426e-03, 1.55660363e-03, 2.18388419e-03,
  3.78215746e-04, 8.28565037e-03, 1.98343382e-03, 1.43015369e-03,
  3.61352108e-05, 7.90185880e-03, 2.02005514e-03, 2.16389117e-03,
  1.12734637e-03, 1.12381318e-03, 2.06091512e-05,-1.13626373e-05,
 -1.77495006e-07, 2.56011261e-07,-1.21644079e+00,-4.59617531e-04,
  1.03720185e-05,-5.51566075e-04]


--- Step 1698 ---
qpos:
[ 4.05243736e-03, 7.16075160e-02,-8.00593282e-03, 8.13190318e-02,
  3.85330709e-03, 6.64847287e-02,-2.02062010e-02, 7.24712665e-02,
  1.30789013e-02, 7.45069815e-02,-1.22033452e-02, 6.92653575e-02,
  1.34295543e+00, 1.40908553e-04, 1.09768784e+00, 6.34824272e-02,
  9.37866647e-02,-7.02224696e-02, 1.30965526e-01, 4.92780834e-01,
  4.83630763e-01, 5.06719320e-01, 5.16240124e-01]

qacc:
[-8.07240032e+01, 1.83813844e+02,-6.31510970e+02, 1.06619719e+03,
  3.59198091e+01, 1.50452384e+02,-5.34144827e+02, 9.91346405e+02,
  4.41009656e+00, 1.90542193e+02,-7.42051234e+02, 1.47073989e+03,
  4.57141095e-01, 4.21378449e+00, 1.90744377e+00,-6.38950914e+00,
  6.43587042e-02, 1.00460659e+00,-1.00160381e-01, 1.86448249e+00,
  2.41262912e-01,-1.44258326e+01]

qfrc_actuator:
[-1.61478008e-03, 1.76208253e-01, 3.38640306e-05, 1.09972799e-01,
  7.07206429e-04, 1.75140070e-01, 1.36978792e-03, 1.04054084e-01,
  2.35152392e-04, 1.81906076e-01, 1.34623749e-03, 1.00111297e-01,
  1.81597573e-03, 3.62590322e-03, 0.00000000e+00,-1.96960322e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003000718307788197
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.84992877e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.84992877e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09238401, -0.08837761,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.83364864e-04, 9.05316324e-03, 1.53727211e-03, 1.83782239e-03,
  2.59195462e-04, 8.50610742e-03, 1.98147064e-03, 1.92599105e-03,
  4.26071021e-05, 8.51423438e-03, 1.84695017e-03, 2.70891081e-03,
  8.61795195e-04, 5.82580895e-04, 9.89089546e-06,-2.83453433e-05,
 -2.35294974e-07, 5.01300108e-07,-1.21644159e+00,-4.59384489e-04,
  1.01132473e-05,-5.51247313e-04]


--- Step 1699 ---
qpos:
[ 4.00584129e-03, 7.50532223e-02,-8.07478842e-03, 8.35379962e-02,
  3.87004178e-03, 6.99081245e-02,-2.02349897e-02, 7.45850051e-02,
  1.30882858e-02, 7.80578664e-02,-1.22370911e-02, 7.12967583e-02,
  1.34306016e+00, 2.36208421e-04, 1.09788257e+00, 6.34838796e-02,
  9.37839921e-02,-7.02129906e-02, 1.30966879e-01, 4.92815546e-01,
  4.83575707e-01, 5.06754553e-01, 5.16223979e-01]

qacc:
[-7.31354965e+01, 2.07889150e+02,-7.31753108e+02, 1.28526977e+03,
  1.96347294e+01, 1.94113558e+02,-7.56525976e+02, 1.51214956e+03,
  2.37460756e+00, 1.89834831e+02,-7.31851379e+02, 1.44257742e+03,
  5.56315381e+00,-7.55271657e+00,-2.57762660e+00, 7.63129664e+00,
 -9.13146713e-01,-1.93755004e+00,-3.45703631e-01,-1.64100663e+01,
  8.27805058e-01, 2.68459160e+01]

qfrc_actuator:
[-2.12432902e-03, 1.81099258e-01,-1.68788175e-04, 1.11783733e-01,
  8.45197653e-04, 1.78998542e-01, 1.39261420e-03, 1.06427304e-01,
  2.47733987e-04, 1.85559401e-01, 1.25095061e-03, 1.02320537e-01,
  1.76702037e-03, 3.30332359e-03, 0.00000000e+00,-1.93457627e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003048907670805956
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.55172452e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.55172452e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10851695, -0.03352333,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.37790278e-04, 1.02241275e-02, 1.87657839e-03, 2.27499591e-03,
  1.49293156e-04, 8.98105211e-03, 2.04668365e-03, 2.83130573e-03,
  2.81670134e-05, 8.78237949e-03, 1.93974463e-03, 2.67820277e-03,
  5.60804853e-04, 2.63471110e-05, 3.80544054e-06, 3.49315345e-05,
 -2.85951576e-07, 8.28964969e-07,-1.21644266e+00,-4.59169342e-04,
  9.76854659e-06,-5.50839695e-04]


--- Step 1700 ---
qpos:
[ 3.94983945e-03, 7.85708309e-02,-8.14388946e-03, 8.57932632e-02,
  3.88591012e-03, 7.33965924e-02,-2.02634579e-02, 7.67445005e-02,
  1.30983239e-02, 8.16696021e-02,-1.22696832e-02, 7.33638910e-02,
  1.34316796e+00, 3.27862615e-04, 1.09807730e+00, 6.34853924e-02,
  9.37776979e-02,-7.02111294e-02, 1.30966237e-01, 4.92837602e-01,
  4.83530662e-01, 5.06748538e-01, 5.16251020e-01]

qacc:
[-6.43080627e+01, 1.70400252e+02,-6.21832395e+02, 1.19477659e+03,
 -7.07716215e+00, 1.78821063e+02,-7.05289895e+02, 1.44618106e+03,
  3.65498264e+00, 1.50553675e+02,-5.70449003e+02, 1.14052353e+03,
  5.06879384e+00,-8.43887103e+00,-6.10401540e-01, 1.13154464e+00,
 -9.05390268e-01,-1.90443121e+00,-4.98856095e-01,-1.60613476e+01,
  9.00517082e-01, 2.64179102e+01]

qfrc_actuator:
[-0.00258269, 0.18448909,-0.00023855, 0.11359521, 0.00079533, 0.18222888,
  0.00140197, 0.10871765, 0.00026899, 0.18835008, 0.00120974, 0.10408552,
  0.00170698, 0.003002  , 0.        ,-0.00193227, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.56764949, -0.28312731,  4.55886618, -0.28312731, 48.93424154,
        2.75537673,  4.55886618,  2.75537673,  4.73877152,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030810177193371646
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.00857384e-14,  1.35128608e-13,  1.00000000e+00, -1.21731604e-26,
        1.00000000e+00, -1.35128608e-13, -1.00000000e+00,  0.00000000e+00,
        9.00857384e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10851506, -0.03352465,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.85213024e-04, 9.46378030e-03, 2.30729966e-03, 2.34561143e-03,
 -4.19847275e-05, 8.66823854e-03, 2.16978114e-03, 2.78837750e-03,
  3.66566090e-05, 8.08508247e-03, 2.05873022e-03, 2.24776604e-03,
  2.53098315e-04,-1.63233305e-04, 8.60276121e-06, 5.08736778e-06,
 -3.34764973e-07, 2.94212379e-07,-1.21644091e+00,-4.59502409e-04,
  1.05679525e-05,-5.50779776e-04]


--- Step 1701 ---
qpos:
[ 3.88375445e-03, 8.21484373e-02,-8.20822274e-03, 8.80781592e-02,
  3.89695525e-03, 7.69430327e-02,-2.02882587e-02, 7.89427112e-02,
  1.31087725e-02, 8.53422700e-02,-1.23028995e-02, 7.54704999e-02,
  1.34327757e+00, 4.14319170e-04, 1.09827228e+00, 6.34849125e-02,
  9.37678086e-02,-7.02167761e-02, 1.30963083e-01, 4.92847036e-01,
  4.83495493e-01, 5.06701966e-01, 5.16320661e-01]

qacc:
[-6.70909360e+01, 1.26951238e+02,-4.61715498e+02, 9.20370565e+02,
 -3.45487399e+01, 1.45714739e+02,-5.71112735e+02, 1.19023357e+03,
  1.93366392e+00, 1.63308138e+02,-6.31458266e+02, 1.26876632e+03,
  5.10131485e+00,-9.95108510e+00, 5.90373869e+00,-2.12327450e+01,
 -8.98799590e-01,-1.87698596e+00,-6.27722709e-01,-1.57776174e+01,
  9.53800473e-01, 2.60628458e+01]

qfrc_actuator:
[-0.00307819, 0.18679481,-0.00027037, 0.11501865, 0.00054656, 0.18475645,
  0.00143653, 0.11062081, 0.00027734, 0.19150796, 0.00121512, 0.10607147,
  0.00162963, 0.00264472, 0.        ,-0.00203804, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.56878503, -0.53681492,  4.53713856, -0.53681492, 27.4835902 ,
        2.7111822 ,  4.53713856,  2.7111822 ,  4.88956056,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030843361553734017
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.99888152e-14, -8.99888152e-14,  1.00000000e+00,  8.09798685e-27,
        1.00000000e+00,  8.99888152e-14, -1.00000000e+00,  0.00000000e+00,
        8.99888152e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10851405, -0.03352453,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.21331464e-04, 8.04388145e-03, 2.24275710e-03, 1.94101444e-03,
 -2.47452573e-04, 7.81163165e-03, 2.14317493e-03, 2.39094980e-03,
  2.40397439e-05, 8.06624559e-03, 1.96023500e-03, 2.43437650e-03,
  2.23691004e-05,-3.39712183e-04, 4.52746250e-06,-1.04602203e-04,
 -2.49992489e-07,-9.83935987e-08,-1.21644041e+00,-4.59902984e-04,
  1.05017400e-05,-5.50963882e-04]


--- Step 1702 ---
qpos:
[ 3.80652679e-03, 8.57845313e-02,-8.27356834e-03, 9.03865307e-02,
  3.90048100e-03, 8.05442125e-02,-2.03103647e-02, 8.11686317e-02,
  1.31191391e-02, 8.90714970e-02,-1.23342090e-02, 7.76136637e-02,
  1.34338978e+00, 4.89117179e-04, 1.09846734e+00, 6.34821608e-02,
  9.37543460e-02,-7.02298401e-02, 1.30956985e-01, 4.92843882e-01,
  4.83470083e-01, 5.06615388e-01, 5.16432411e-01]

qacc:
[-7.24951078e+01, 1.28467440e+02,-4.44076051e+02, 8.06699955e+02,
 -5.23358945e+01, 1.21634605e+02,-4.45047627e+02, 8.78020037e+02,
 -1.16419464e+00, 1.44458294e+02,-5.60305701e+02, 1.14628824e+03,
  1.04541065e+01,-2.14538641e+01, 5.96321209e+00,-2.30409816e+01,
 -8.93294994e-01,-1.85432814e+00,-7.36097300e-01,-1.55482711e+01,
  9.91515741e-01, 2.57703060e+01]

qfrc_actuator:
[-3.62705673e-03, 1.89516118e-01,-4.26365304e-04, 1.16165904e-01,
  1.64983499e-04, 1.87269502e-01, 1.46498588e-03, 1.11978615e-01,
  2.60165921e-04, 1.94187161e-01, 1.24975431e-03, 1.07887942e-01,
  1.55254682e-03, 1.90180805e-03, 0.00000000e+00,-2.15337522e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56209604, -0.81530821,  4.48865156, -0.81530821, 39.36126249,
        6.32083954,  4.48865156,  6.32083954,  5.71019861,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003064715006739771
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.05649483e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.05649483e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10851374, -0.03352327,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.77044073e-04, 7.63257715e-03, 1.80257970e-03, 1.59373312e-03,
 -3.87702488e-04, 7.29329789e-03, 1.94230979e-03, 1.80000418e-03,
 -1.73542738e-06, 7.56243639e-03, 1.97913701e-03, 2.26405734e-03,
 -1.45809255e-04,-8.24125681e-04,-1.15880930e-05,-1.21185687e-04,
 -3.31239112e-08,-3.56717593e-07,-1.21644110e+00,-4.60381704e-04,
  9.61711454e-06,-5.51390757e-04]


--- Step 1703 ---
qpos:
[ 3.72339725e-03, 8.94745698e-02,-8.34586954e-03, 9.27125144e-02,
  3.89221425e-03, 8.41974752e-02,-2.03302448e-02, 8.34095242e-02,
  1.31294652e-02, 9.28494829e-02,-1.23607727e-02, 7.97828608e-02,
  1.34350489e+00, 5.46859795e-04, 1.09866193e+00, 6.34806990e-02,
  9.37408198e-02,-7.02387752e-02, 1.30953885e-01, 4.92853604e-01,
  4.83432300e-01, 5.06544909e-01, 5.16527629e-01]

qacc:
[-3.79074275e+01, 1.26951251e+02,-4.22804522e+02, 6.97066281e+02,
 -7.98846569e+01, 9.33885603e+01,-2.95739768e+02, 5.11518652e+02,
 -7.24199080e-01, 1.04613302e+02,-3.88936285e+02, 7.94548402e+02,
  1.49093831e+01,-3.11593898e+01,-6.01807173e+00, 1.67006266e+01,
 -1.59249298e-02, 1.03223929e+00, 7.49489883e-01, 2.18315746e+00,
 -9.57832808e-02,-1.44244376e+01]

qfrc_actuator:
[-0.00390105, 0.19177194,-0.00097254, 0.11699973,-0.00043367, 0.18970062,
  0.00148929, 0.11270292, 0.00024577, 0.19616858, 0.00129967, 0.10914603,
  0.00149679, 0.00090056, 0.        ,-0.00207809, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  4.55204255,   1.19057897,   4.39358773,   1.19057897,
        45.33063173, -11.05022446,   4.39358773, -11.05022446,
         7.54644385,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003034886055737687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.24048966e-07, -9.24049624e-07,  1.00000000e+00, -8.53867100e-13,
        1.00000000e+00,  9.24049624e-07, -1.00000000e+00,  1.00974196e-28,
       -9.24048966e-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([ 0.0927812 , -0.08705157,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.04974022e-04, 6.82919899e-03, 1.26052552e-03, 1.24052026e-03,
 -6.10068047e-04, 6.85261315e-03, 1.78517926e-03, 1.12565444e-03,
  9.05680575e-08, 6.57742941e-03, 1.88602309e-03, 1.68120882e-03,
 -3.31619692e-04,-1.24356921e-03,-1.89854130e-05, 6.68223731e-05,
  3.14717476e-07,-4.86010346e-07,-1.21644292e+00,-4.60945214e-04,
  7.94936279e-06,-5.52058782e-04]


--- Step 1704 ---
qpos:
[ 3.63669722e-03, 9.32031296e-02,-8.42379388e-03, 9.50610653e-02,
  3.87134722e-03, 8.79002923e-02,-2.03481851e-02, 8.56586812e-02,
  1.31404663e-02, 9.66721929e-02,-1.23887276e-02, 8.19692704e-02,
  1.34362177e+00, 5.87127815e-04, 1.09885625e+00, 6.34811080e-02,
  9.37273807e-02,-7.02433738e-02, 1.30952939e-01, 4.92876691e-01,
  4.83381475e-01, 5.06491708e-01, 5.16605329e-01]

qacc:
[-2.24685167e+01, 1.12981956e+02,-4.23387576e+02, 7.92273444e+02,
 -8.33304005e+01, 7.71142635e+01,-2.14335791e+02, 3.16708472e+02,
  3.57866266e+00, 9.83000691e+01,-3.37024741e+02, 6.03021478e+02,
  1.43620456e+01,-3.10644326e+01,-7.47427521e+00, 2.22499985e+01,
  2.17886954e-02, 1.08411359e+00, 5.38305944e-01, 2.45459726e+00,
  6.32412579e-03,-1.52482142e+01]

qfrc_actuator:
[-4.06415029e-03, 1.92699954e-01,-1.63995172e-03, 1.18050293e-01,
 -1.06651418e-03, 1.92063342e-01, 1.52823375e-03, 1.13102047e-01,
  2.68525386e-04, 1.97982810e-01, 1.03560141e-03, 1.09958471e-01,
  1.47501441e-03,-3.26013695e-05, 0.00000000e+00,-1.97985136e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57117038,  0.65611138,  4.52383869,  0.65611138, 20.71520213,
       -2.34143693,  4.52383869, -2.34143693,  4.91075884,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030912905630581244
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34679554e-13, -3.59145477e-13,  1.00000000e+00,  4.83695527e-26,
        1.00000000e+00,  3.59145477e-13, -1.00000000e+00,  0.00000000e+00,
        1.34679554e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09239319, -0.08837777,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.84443662e-04, 4.92331901e-03, 8.93816623e-04, 1.39708676e-03,
 -6.52728477e-04, 6.47444070e-03, 1.66546380e-03, 7.62866710e-04,
  3.71642952e-05, 5.81337876e-03, 1.33628347e-03, 1.17863129e-03,
 -4.98425589e-04,-1.32472416e-03, 3.26032128e-07, 9.96981463e-05,
  3.24859042e-08,-5.34756449e-07,-1.21644216e+00,-4.60096019e-04,
  9.07542289e-06,-5.52142567e-04]


--- Step 1705 ---
qpos:
[ 3.53690053e-03, 9.69584608e-02,-8.50505522e-03, 9.74344152e-02,
  3.84370756e-03, 9.16486652e-02,-2.03647074e-02, 8.79271905e-02,
  1.31525881e-02, 1.00533422e-01,-1.24233903e-02, 8.41721291e-02,
  1.34374076e+00, 6.06709914e-04, 1.09905110e+00, 6.34776467e-02,
  9.37140647e-02,-7.02437161e-02, 1.30953513e-01, 4.92913030e-01,
  4.83317571e-01, 5.06455480e-01, 5.16665963e-01]

qacc:
[-7.87023041e+01, 9.57481455e+01,-3.93628133e+02, 8.05736181e+02,
 -4.39404161e+01, 9.59073335e+01,-3.35711143e+02, 6.33078548e+02,
  6.10105542e+00, 1.03371070e+02,-3.63740710e+02, 6.29442070e+02,
  1.65891663e+01,-3.61816248e+01, 1.08305004e+01,-4.05752418e+01,
  3.07556515e-02, 1.06407168e+00, 3.80225856e-01, 2.27987981e+00,
  8.03520173e-02,-1.50429940e+01]

qfrc_actuator:
[-0.00472878, 0.19333997,-0.00207687, 0.11923664,-0.00139481, 0.1942247 ,
  0.00155762, 0.11407014, 0.00031288, 0.19939721, 0.00048087, 0.11073272,
  0.00147362,-0.00114845, 0.        ,-0.00218848, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.57923967,  0.62063782,  4.5369863 ,  0.62063782, 37.97592884,
       -4.56850581,  4.5369863 , -4.56850581,  5.2041892 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003114652671483975
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.45564539e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.45564539e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09239477, -0.0883776 ,  0.0619911 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.82235928e-04, 3.49928335e-03, 6.90582645e-04, 1.44160899e-03,
 -3.50336863e-04, 6.01951861e-03, 1.54987266e-03, 1.30428903e-03,
  6.01503459e-05, 4.84964345e-03, 8.02192586e-04, 1.07878948e-03,
 -5.88224428e-04,-1.56728801e-03, 1.04677417e-05,-2.03344378e-04,
 -2.46518220e-07,-4.99182216e-07,-1.21644164e+00,-4.59268090e-04,
  1.01519650e-05,-5.52134055e-04]


--- Step 1706 ---
qpos:
[ 3.40719863e-03, 1.00737452e-01,-8.59161656e-03, 9.98293673e-02,
  3.81164198e-03, 9.54389593e-02,-2.03795569e-02, 9.02195405e-02,
  1.31603084e-02, 1.04425809e-01,-1.24599172e-02, 8.63937414e-02,
  1.34386141e+00, 6.04248524e-04, 1.09924561e+00, 6.34747451e-02,
  9.37008991e-02,-7.02398678e-02, 1.30955078e-01, 4.92962523e-01,
  4.83240561e-01, 5.06435970e-01, 5.16709898e-01]

qacc:
[-1.74686740e+02, 9.07333657e+01,-3.67933078e+02, 7.29885193e+02,
 -2.81337065e+01, 9.95443158e+01,-3.74524856e+02, 7.51495589e+02,
 -2.58949190e+01, 8.49022893e+01,-3.21596290e+02, 6.24678812e+02,
  1.75597321e+01,-3.85915414e+01,-3.95669223e+00, 9.01022456e+00,
  3.76117667e-02, 1.04765985e+00, 2.47638380e-01, 2.13895598e+00,
  1.39947017e-01,-1.48724619e+01]

qfrc_actuator:
[-6.25145587e-03, 1.94336092e-01,-2.42877843e-03, 1.20297926e-01,
 -1.61217552e-03, 1.96213911e-01, 1.59875486e-03, 1.15258710e-01,
  6.76833721e-05, 2.00684287e-01, 2.90184293e-04, 1.11655455e-01,
  1.46306413e-03,-2.31045691e-03, 0.00000000e+00,-2.15018208e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57820259, -0.48662267, -4.55226728, -0.48662267, 33.68921122,
       -3.11187284, -4.55226728, -3.11187284,  4.91085175,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031116641446990445
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.91984942e-14,  1.78396988e-13,  1.00000000e+00, -1.59127427e-26,
        1.00000000e+00, -1.78396988e-13, -1.00000000e+00,  0.00000000e+00,
        8.91984942e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09239599, -0.08837804,  0.0619911 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56125665e-03, 3.01800430e-03, 4.57766081e-04, 1.24941110e-03,
 -2.28635494e-04, 5.59076937e-03, 1.47156352e-03, 1.51166202e-03,
 -2.28624013e-04, 4.06755227e-03, 8.97590896e-04, 1.16551001e-03,
 -7.04597139e-04,-1.69503352e-03,-2.01762837e-05, 2.76216225e-05,
 -5.09188758e-07,-3.78778253e-07,-1.21644143e+00,-4.58484978e-04,
  1.11053631e-05,-5.52042870e-04]


--- Step 1707 ---
qpos:
[ 3.25071373e-03, 1.04555225e-01,-8.69162301e-03, 1.02250941e-01,
  3.76119187e-03, 9.92802955e-02,-2.03993507e-02, 9.25432266e-02,
  1.31489735e-02, 1.08355080e-01,-1.25009472e-02, 8.86421494e-02,
  1.34398134e+00, 5.85795717e-04, 1.09943976e+00, 6.34742974e-02,
  9.36879047e-02,-7.02318822e-02, 1.30957189e-01, 4.93025087e-01,
  4.83150426e-01, 5.06432971e-01, 5.16737434e-01]

qacc:
[-1.52765996e+02, 1.43710908e+02,-5.48736705e+02, 9.98478714e+02,
 -1.12764923e+02, 1.45536590e+02,-5.52082064e+02, 1.06127943e+03,
 -1.08009932e+02, 1.16485684e+02,-4.56651802e+02, 8.97854850e+02,
  1.13649655e+01,-2.67512948e+01,-9.10936505e+00, 2.83641303e+01,
  4.28167679e-02, 1.03431325e+00, 1.36700418e-01, 2.02500015e+00,
  1.88212732e-01,-1.47321045e+01]

qfrc_actuator:
[-0.00757456, 0.19738457,-0.00269088, 0.12172126,-0.00256149, 0.19946995,
  0.00161062, 0.11688688,-0.00093201, 0.20309411, 0.00028027, 0.11304896,
  0.00148425,-0.00302895, 0.        ,-0.00201986, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.5699606 , -0.31436754, -4.55913511, -0.31436754, 48.34463574,
       -3.0184096 , -4.55913511, -3.0184096 ,  4.77808999,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003087766266930275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.98888491e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.98888491e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09239692, -0.08837897,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39921105e-03, 4.74395861e-03, 4.12707840e-04, 1.57905026e-03,
 -9.56308401e-04, 6.60906963e-03, 1.35070398e-03, 1.93407361e-03,
 -9.95327922e-04, 4.77518257e-03, 9.31215416e-04, 1.60769261e-03,
 -7.66632897e-04,-1.31097258e-03,-6.38336975e-06, 1.29112781e-04,
 -7.58971856e-07,-1.74563943e-07,-1.21644153e+00,-4.57736553e-04,
  1.19474714e-05,-5.51867469e-04]


--- Step 1708 ---
qpos:
[ 3.09410434e-03, 1.08423656e-01,-8.80335288e-03, 1.04700891e-01,
  3.68506574e-03, 1.03182017e-01,-2.04261827e-02, 9.49115373e-02,
  1.31130346e-02, 1.12329796e-01,-1.25508170e-02, 9.09204423e-02,
  1.34409871e+00, 5.59345332e-04, 1.09963462e+00, 6.34693730e-02,
  9.36750973e-02,-7.02198024e-02, 1.30959478e-01, 4.93100652e-01,
  4.83047148e-01, 5.06446312e-01, 5.16748810e-01]

qacc:
[-1.43946601e+00, 1.57895990e+02,-5.84308544e+02, 1.05308085e+03,
 -1.53287493e+02, 1.90964546e+02,-7.51665731e+02, 1.48569958e+03,
 -1.35712640e+02, 1.46282822e+02,-5.59249955e+02, 1.05388597e+03,
  3.57680033e+00,-1.11995438e+01, 1.41285763e+01,-4.89197135e+01,
  4.67315762e-02, 1.02355798e+00, 4.41268037e-02, 1.93259151e+00,
  2.27587217e-01,-1.46180248e+01]

qfrc_actuator:
[-7.50864002e-03, 2.01054025e-01,-2.83558248e-03, 1.23241660e-01,
 -3.86322456e-03, 2.03389189e-01, 1.61087393e-03, 1.19205595e-01,
 -2.19045677e-03, 2.06070633e-01, 9.81518676e-05, 1.14602861e-01,
  1.54061613e-03,-3.26555098e-03, 0.00000000e+00,-2.26250851e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003047502521100476
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.55382324e-14, -1.82152930e-13,  1.00000000e+00,  8.29492244e-27,
        1.00000000e+00,  1.82152930e-13, -1.00000000e+00,  0.00000000e+00,
        4.55382324e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09239763, -0.08838028,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.36809933e-06, 6.33377235e-03, 8.92030660e-04, 1.75461742e-03,
 -1.33760014e-03, 7.83278688e-03, 1.54852891e-03, 2.67207695e-03,
 -1.28695082e-03, 5.76187731e-03, 9.24173783e-04, 1.80802764e-03,
 -6.73884220e-04,-7.47370012e-04, 7.70548275e-06,-2.37097543e-04,
 -9.98450707e-07, 1.12558568e-07,-1.21644191e+00,-4.57015132e-04,
  1.26873593e-05,-5.51606756e-04]


--- Step 1709 ---
qpos:
[ 2.95140062e-03, 1.12338442e-01,-8.91631624e-03, 1.07172662e-01,
  3.59450736e-03, 1.07141848e-01,-2.04533272e-02, 9.73115278e-02,
  1.30556531e-02, 1.16345048e-01,-1.26011828e-02, 9.32163184e-02,
  1.34421128e+00, 5.35484423e-04, 1.09982915e+00, 6.34653057e-02,
  9.36624884e-02,-7.02036626e-02, 1.30961634e-01, 4.93189164e-01,
  4.82930710e-01, 5.06475853e-01, 5.16744219e-01]

qacc:
[ 7.43359301e+01, 1.09310091e+02,-3.92253829e+02, 7.35276579e+02,
 -8.40585773e+01, 1.42565609e+02,-5.29385335e+02, 1.03176703e+03,
 -1.14885805e+02, 9.12217661e+01,-3.20839129e+02, 5.94060196e+02,
 -5.56599423e+00, 7.80807936e+00,-2.63741547e+00, 9.54692196e+00,
  4.96393440e-02, 1.01499588e+00,-3.28941478e-02, 1.85742182e+00,
  2.59985052e-01,-1.45268543e+01]

qfrc_actuator:
[-6.76727591e-03, 2.03453195e-01,-2.85292311e-03, 1.24346318e-01,
 -4.56290641e-03, 2.06380644e-01, 1.62598070e-03, 1.20794399e-01,
 -3.27144028e-03, 2.08032407e-01, 4.96397788e-05, 1.15475833e-01,
  1.55969649e-03,-2.91280903e-03, 0.00000000e+00,-2.20816244e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002994653559389021
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.26837615e-14,  1.85367523e-13,  1.00000000e+00, -1.71805593e-26,
        1.00000000e+00, -1.85367523e-13, -1.00000000e+00,  0.00000000e+00,
        9.26837615e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09239817, -0.08838189,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.31206215e-04, 6.05768320e-03, 1.41213050e-03, 1.42656272e-03,
 -7.51656976e-04, 7.65951019e-03, 1.86526192e-03, 2.01549860e-03,
 -1.12300808e-03, 5.30430527e-03, 1.26710675e-03, 1.17280699e-03,
 -5.27449425e-04, 5.95591166e-06,-3.17531507e-05, 4.02255417e-05,
 -1.22956990e-06, 4.81823511e-07,-1.21644258e+00,-4.56314846e-04,
  1.33319814e-05,-5.51259942e-04]


--- Step 1710 ---
qpos:
[ 2.81646340e-03, 1.16297765e-01,-9.02708971e-03, 1.09663369e-01,
  3.50433272e-03, 1.11151994e-01,-2.04763953e-02, 9.97264717e-02,
  1.29814983e-02, 1.20392026e-01,-1.26451522e-02, 9.55158905e-02,
  1.34431797e+00, 5.22339118e-04, 1.10002305e+00, 6.34658998e-02,
  9.36499910e-02,-7.01837603e-02, 1.30963596e-01, 4.93290065e-01,
  4.82801647e-01, 5.06520070e-01, 5.16725169e-01]

qacc:
[ 4.02558203e+01, 9.14909633e+01,-3.20031205e+02, 6.09230590e+02,
  1.70539077e+00, 8.56508391e+01,-2.71557588e+02, 4.85162629e+02,
 -8.72311843e+01, 3.18026841e+01,-6.77926087e+01, 9.76290485e+01,
 -1.21224948e+01, 2.19757858e+01,-1.38976381e+01, 4.98339527e+01,
  2.78579445e-02, 9.40621213e-01,-4.87701661e-02, 1.34878402e+00,
  2.51725212e-01,-1.35077890e+01]

qfrc_actuator:
[-6.38023516e-03, 2.05766587e-01,-2.71088626e-03, 1.25303254e-01,
 -4.51176967e-03, 2.08456251e-01, 1.64609016e-03, 1.21496535e-01,
 -4.11499650e-03, 2.09194539e-01, 2.00750106e-04, 1.15621048e-01,
  1.51941952e-03,-2.17834685e-03, 0.00000000e+00,-1.96141063e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002932293107542757
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.82760579e-07, -2.82760822e-07,  1.00000000e+00, -7.99536138e-14,
        1.00000000e+00,  2.82760822e-07, -1.00000000e+00,  1.26217745e-29,
       -2.82760579e-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([ 0.0927881 , -0.08705655,  0.06199162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.09793799e-04, 5.90939469e-03, 1.56653423e-03, 1.27839365e-03,
  2.23435286e-05, 6.68210626e-03, 1.84997608e-03, 1.11930115e-03,
 -8.79663133e-04, 4.29095571e-03, 1.39195076e-03, 4.24789527e-04,
 -3.27913885e-04, 6.11518034e-04,-1.87199818e-05, 2.43238313e-04,
 -1.45380179e-06, 9.32602582e-07,-1.21644352e+00,-4.55631164e-04,
  1.38866817e-05,-5.50826435e-04]


--- Step 1711 ---
qpos:
[ 2.68295981e-03, 1.20293307e-01,-9.12985977e-03, 1.12170387e-01,
  3.40685617e-03, 1.14926966e-01,-2.06925379e-02, 1.02083148e-01,
  1.29043662e-02, 1.24464556e-01,-1.26835637e-02, 9.78171748e-02,
  1.34442041e+00, 5.20069116e-04, 1.10021702e+00, 6.34677310e-02,
  9.36272293e-02,-7.01721654e-02, 1.30962059e-01, 4.93410629e-01,
  4.82716286e-01, 5.06474673e-01, 5.16734306e-01]

qacc:
[   7.09386769,  58.93868773,-208.9093775 , 449.94962981, -41.17571015,
  108.86170704,-592.78340178,  64.22004676, -15.15731258,  21.78389442,
  -35.82383203,  37.63459737, -11.21661793,  21.38758755,  -2.59482631,
   11.64552826,  -2.56607149,  -2.07684815,  -0.8745938 , -24.25914559,
  -31.5688173 ,  34.57347589]

qfrc_actuator:
[-0.00631173, 0.20723067,-0.00244065, 0.1260947 ,-0.00380615, 0.20982488,
  0.00166494, 0.1225051 ,-0.0042441 , 0.21010027, 0.00032292, 0.11567376,
  0.00144912,-0.00156131, 0.        ,-0.00190516, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.20921063,  0.14350248,  0.15223708,  0.14350248,  0.86318508,
       -0.61645265,  0.15223708, -0.61645265,  0.7902943 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001498593359886332
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99302927e-01, -3.47121815e-02,  1.37376989e-02, -3.47089018e-02,
        9.99397351e-01,  4.77153052e-04, -1.37459829e-02,  0.00000000e+00,
       -9.99905520e-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([ 0.11311463, -0.080362  ,  0.11267908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.53754178, -0.3510903 , -4.52393866, -0.3510903 , 18.68822217,
       -1.09819496, -4.52393866, -1.09819496,  4.62276964,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000299112230677287
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.27931819e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.27931819e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10850007, -0.033515  ,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.70528006e-05, 5.00097371e-03, 1.67741384e-03, 1.10884865e-03,
  7.09071054e-04, 5.38540719e-03, 1.61327642e-03, 1.36570528e-03,
 -1.55458273e-04, 3.46049916e-03, 1.14276526e-03, 2.78564397e-04,
 -1.04557892e-04, 6.93088392e-04, 8.69024588e-06, 6.55173360e-05,
 -1.66772536e-06, 1.42862757e-06,-1.21644467e+00,-4.54988188e-04,
  1.43522258e-05,-5.50318302e-04]


--- Step 1712 ---
qpos:
[ 2.55748489e-03, 1.24307083e-01,-9.21861039e-03, 1.14698033e-01,
  3.29207142e-03, 1.18411773e-01,-2.10861916e-02, 1.04388748e-01,
  1.28355977e-02, 1.28557409e-01,-1.27189669e-02, 1.00127331e-01,
  1.34452048e+00, 5.26126297e-04, 1.10041107e+00, 6.34695619e-02,
  9.36000742e-02,-7.01720670e-02, 1.30959385e-01, 4.93536900e-01,
  4.82710238e-01, 5.06361811e-01, 5.16729978e-01]

qacc:
[ 3.97944958e+01, 2.71547831e+01,-1.48293990e+02, 4.67560073e+02,
 -9.25377528e+01, 7.64531573e+00,-3.67612484e+02,-2.06068841e+01,
  4.08278363e+01, 3.65590049e+01,-1.28686113e+02, 2.61767131e+02,
 -7.97063946e+00, 1.58166338e+01, 8.78158450e-01,-1.13669608e+00,
 -1.09834114e+00,-2.87411469e+00,-2.84314625e-01, 4.16838684e+00,
 -4.18311099e+01, 3.15715150e+01]

qfrc_actuator:
[-0.00588078, 0.20709276,-0.00213568, 0.1270482 ,-0.00300211, 0.21092816,
  0.00191405, 0.12390678,-0.00380961, 0.21082788, 0.00035499, 0.11609754,
  0.00137686,-0.00114345, 0.        ,-0.00190839, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.33681982, -0.18451236, -0.28178499, -0.18451236,  0.88368067,
       -0.3580836 , -0.28178499, -0.3580836 ,  0.57129238,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006386992855943493
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99067642e-01, -3.46918881e-02,  2.56966877e-02, -3.46804185e-02,
        9.99398055e-01,  8.92003552e-04, -2.57121650e-02,  1.08420217e-19,
       -9.99669388e-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([ 0.1128105 , -0.08035454,  0.11288528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.5569037 , -4.54480308,  0.33186799, -4.54480308,  4.6384714 ,
        1.11703794,  0.33186799,  1.11703794, 19.85430381,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003049360591798056
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82041938e-13,  4.55104845e-14,  1.00000000e+00, -8.28481681e-27,
        1.00000000e+00, -4.55104845e-14, -1.00000000e+00,  0.00000000e+00,
        1.82041938e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08083794, -0.03197328,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.23722041e-04, 2.90519128e-03, 1.53182805e-03, 1.23246723e-03,
  1.87842218e-03, 1.81078272e-02, 1.14687342e-02, 5.66852110e-03,
  4.41598607e-04, 2.75959142e-03, 8.45051918e-04, 6.02549022e-04,
  3.48962384e-05, 5.67310861e-04, 1.44085461e-06,-4.76849450e-07,
 -1.00838243e-06, 1.59846295e-06,-1.21644379e+00,-4.58470512e-04,
  1.38005139e-05,-5.47957874e-04]


--- Step 1713 ---
qpos:
[ 2.41176727e-03, 1.28004939e-01,-9.51754551e-03, 1.17173134e-01,
  3.15887583e-03, 1.21603214e-01,-2.16347331e-02, 1.06651007e-01,
  1.27856528e-02, 1.32662946e-01,-1.27481566e-02, 1.02450642e-01,
  1.34461911e+00, 5.38743809e-04, 1.10060497e+00, 6.34723437e-02,
  9.35647174e-02,-7.01821772e-02, 1.30955754e-01, 4.93680507e-01,
  4.82752498e-01, 5.06174734e-01, 5.16736606e-01]

qacc:
[-9.79656465e+01, 6.18829967e+01,-6.03770409e+02, 2.59809481e+02,
 -9.56380711e+01,-4.38545343e+01,-2.22828273e+02,-6.49943873e+01,
  8.95320100e+01, 2.62015645e+01,-1.24534928e+02, 3.32131907e+02,
 -5.86803340e+00, 1.20370515e+01,-2.53190983e+00, 9.84487996e+00,
 -2.05043476e+00,-2.55216654e+00,-2.39030236e-01,-1.42117811e+01,
 -3.25402934e+01, 2.83676497e+01]

qfrc_actuator:
[-0.00506201, 0.20644097,-0.00197887, 0.1281946 ,-0.00196631, 0.21189704,
  0.00234524, 0.12454855,-0.00285182, 0.21114184, 0.00054637, 0.11673612,
  0.00130872,-0.00082915, 0.        ,-0.0018578 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.20409439, -0.11750606,  0.16687374, -0.11750606,  0.44015417,
        0.1662242 ,  0.16687374,  0.1662242 ,  0.32114306,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0056414317380923e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.81915329e-01, -1.89318070e-01,  9.77813093e-04, -1.89317976e-01,
        9.81915815e-01,  1.88527045e-04, -9.95821717e-04, -2.71050543e-20,
       -9.99999504e-01])
  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([ 0.11051392, -0.02684015,  0.11570956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.32614461,  0.28126363,  0.32614461,  1.04693314,
       -0.71459579,  0.28126363, -0.71459579,  1.25929654,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010721726089971293
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98734946e-01, -3.45045148e-02,  3.65779459e-02, -3.44813970e-02,
        9.99404542e-01,  1.26285625e-03, -3.65997395e-02,  2.16840434e-19,
       -9.99330005e-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([ 0.11253265, -0.0803465 ,  0.11307073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.57868746,  4.12583518,  1.98541255,  4.12583518,  8.0376495 ,
       -7.18798078,  1.98541255, -7.18798078, 19.51584696,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003113061901633407
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.33737666e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.33737666e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08083763, -0.03197466,  0.0619911 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.27802779e-04, 1.19395761e-03, 9.36898728e-04, 1.33310345e-03,
  3.78028318e-03, 3.34579415e-02, 2.07336896e-02, 8.85306182e-03,
  9.94004928e-04, 1.90592214e-03, 8.33882350e-04, 7.83310863e-04,
  8.52086047e-05, 4.65262380e-04,-6.59622634e-06, 4.92183305e-05,
 -1.30860646e-06, 3.12560063e-06,-1.21644309e+00,-4.57288412e-04,
  1.15050051e-05,-5.44925905e-04]


--- Step 1714 ---
qpos:
[ 2.24554838e-03, 1.31355024e-01,-1.00046439e-02, 1.19605074e-01,
  3.00494285e-03, 1.24528257e-01,-2.23161648e-02, 1.08875645e-01,
  1.27583719e-02, 1.36774010e-01,-1.27669165e-02, 1.04789447e-01,
  1.34471708e+00, 5.55661682e-04, 1.10079965e+00, 6.34686589e-02,
  9.35188896e-02,-7.02018537e-02, 1.30951142e-01, 4.93849673e-01,
  4.82829110e-01, 5.05908184e-01, 5.16764415e-01]

qacc:
[-9.60325412e+01,-2.24638022e+01,-4.03695680e+02, 2.10476448e+02,
 -1.05304264e+02,-5.78765926e+01,-1.45285977e+02,-9.83247249e+01,
  1.04818361e+02, 9.73526346e+00,-8.94239953e+01, 3.35994259e+02,
 -4.12131430e+00, 8.37074087e+00, 2.10716633e+01,-7.11204458e+01,
 -2.61774299e+00,-2.39156174e+00,-2.45375509e-01,-2.35834903e+01,
 -2.98481849e+01, 2.65014250e+01]

qfrc_actuator:
[-0.00412752, 0.20731668,-0.00171011, 0.12927313,-0.00081894, 0.21327734,
  0.0028808 , 0.12472931,-0.00171813, 0.21115386, 0.00097093, 0.11749575,
  0.00124306,-0.00064955, 0.        ,-0.00220193, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.32175032,  0.03523372,  0.31981535,  0.03523372,  3.009516  ,
       -0.29610829,  0.31981535, -0.29610829,  0.35437226,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006023487480382464
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72034119e-01, -2.34612896e-01,  1.03179246e-02, -2.34599680e-01,
        9.72088879e-01,  2.49022310e-03, -1.06141783e-02, -4.33680869e-19,
       -9.99943668e-01])
  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([ 0.1102974 , -0.02735343,  0.11589909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.35485639,  0.24404197,  0.35485639,  0.69819952,
       -0.38900426,  0.24404197, -0.38900426,  0.9963164 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014496673122816814
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99834749, -0.03418527,  0.04619144, -0.03414874,  0.99941551,
        0.00157999, -0.04621845,  0.        , -0.99893136])
  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([ 0.11227915, -0.08033838,  0.11323425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0003147277147146632
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.76378338e-13, -4.40945845e-14,  1.00000000e+00,  7.77732953e-27,
        1.00000000e+00,  4.40945845e-14, -1.00000000e+00,  0.00000000e+00,
        1.76378338e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08083703, -0.03197486,  0.061991  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.76346804e-03, 1.77300227e-02, 1.16699287e-02, 5.02746775e-03,
  5.84870118e-03, 4.93921020e-02, 2.89772544e-02, 1.11908538e-02,
  1.19836597e-03, 1.13183879e-03, 8.95446035e-04, 8.70913283e-04,
  9.10090787e-05, 3.16746911e-04,-2.77220366e-06,-3.43372664e-04,
 -3.80206474e-06, 5.88993649e-06,-1.21644579e+00,-4.50959220e-04,
  9.31725636e-06,-5.41005322e-04]


--- Step 1715 ---
qpos:
[ 2.06029818e-03, 1.34370795e-01,-1.06658710e-02, 1.21999777e-01,
  2.82883139e-03, 1.27234485e-01,-2.31183061e-02, 1.11065603e-01,
  1.27459992e-02, 1.40888006e-01,-1.27767164e-02, 1.07143152e-01,
  1.34481561e+00, 5.72568275e-04, 1.10099455e+00, 6.34588809e-02,
  9.34606492e-02,-7.02301143e-02, 1.30945835e-01, 4.94052149e-01,
  4.82924766e-01, 5.05559542e-01, 5.16822690e-01]

qacc:
[-8.70158915e+01,-3.17487115e+01,-3.69716795e+02, 2.46475174e+02,
 -1.10708476e+02,-2.29902915e+01,-1.90802474e+02,-5.65412996e+01,
  6.69967810e+01, 9.26021408e+00,-9.00689840e+01, 3.30466958e+02,
  4.74751174e-02, 1.21727098e-01, 1.86969839e+01,-6.49720742e+01,
 -3.10315058e+00,-2.14601063e+00,-1.74005173e-01,-3.22568320e+01,
 -2.62624000e+01, 2.35514066e+01]

qfrc_actuator:
[-3.34600857e-03, 2.08947573e-01,-1.24111969e-03, 1.30180542e-01,
 -5.65038885e-05, 2.15811492e-01, 3.51893661e-03, 1.25319682e-01,
 -1.00510309e-03, 2.11199826e-01, 1.36894004e-03, 1.18231636e-01,
  1.18952679e-03,-7.28658572e-04, 0.00000000e+00,-2.50957430e-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,  0.03677825,  0.4291001 ,  0.03677825,  3.09493605,
       -0.22835447,  0.4291001 , -0.22835447,  0.45024566,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011426213984679877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.61609867e-01, -2.73828305e-01,  1.80145415e-02, -2.73780268e-01,
        9.61778592e-01,  5.12892615e-03, -1.87304455e-02,  8.67361738e-19,
       -9.99824570e-01])
  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([ 0.11011157, -0.0277891 ,  0.11606007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.31084008,  0.29809056,  0.31084008,  1.30939643,
       -0.91630661,  0.29809056, -0.91630661,  1.38617096,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017746711268068083
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97943405e-01, -3.37442153e-02,  5.45003519e-02, -3.36940058e-02,
        9.99430502e-01,  1.84011955e-03, -5.45314074e-02, -4.33680869e-19,
       -9.98512056e-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([ 0.1120463 , -0.0803303 ,  0.11337679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.000315926046262599
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.75709321e-13,  4.39273304e-14,  1.00000000e+00, -7.71844142e-27,
        1.00000000e+00, -4.39273304e-14, -1.00000000e+00,  0.00000000e+00,
        1.75709321e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0808362 , -0.03197418,  0.06199097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.55996328e-03, 3.66287594e-02, 2.15085330e-02, 8.08272386e-03,
  7.64848942e-03, 6.51430358e-02, 3.62283774e-02, 1.36531586e-02,
  7.89607546e-04, 7.49292977e-04, 7.19481605e-04, 8.17860532e-04,
  7.02135527e-05, 2.24485133e-05,-4.58185198e-05,-3.28563750e-04,
 -7.72898552e-06, 1.01978894e-05,-1.21645154e+00,-4.40922717e-04,
  5.93326301e-06,-5.34970182e-04]


--- Step 1716 ---
qpos:
[ 1.88707675e-03, 1.37118689e-01,-1.14652960e-02, 1.24365559e-01,
  2.65880176e-03, 1.29704891e-01,-2.40728320e-02, 1.13223880e-01,
  1.27440056e-02, 1.45013580e-01,-1.27880647e-02, 1.09523650e-01,
  1.34491805e+00, 5.77280954e-04, 1.10118830e+00, 6.34517786e-02,
  9.33917907e-02,-7.02535942e-02, 1.30945747e-01, 4.94260931e-01,
  4.82889496e-01, 5.05218554e-01, 5.16989438e-01]

qacc:
[  54.08523265, -27.51120364,-293.07644955, 208.30369697,  29.4054834 ,
   48.6914653 ,-491.50730549, 357.42513328,  45.10732289,  74.40924902,
 -355.21169864, 809.6833134 ,  12.2334363 , -23.77239806, -10.89721166,
   33.01985151,  -2.654534  ,   1.19514632,   1.30518079, -59.30684147,
   60.32174704,  -9.77700429]

qfrc_actuator:
[-0.00298686, 0.21092643,-0.00060851, 0.13142269, 0.00052022, 0.21987805,
  0.00431285, 0.12655849,-0.00051027, 0.21236721, 0.00149977, 0.11962228,
  0.00115383,-0.001564  , 0.        ,-0.00234929, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.28825561,  0.31998163, -0.28825561,  1.04495553,
        0.5533764 ,  0.31998163,  0.5533764 ,  0.92918276,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015708900149123094
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.51286665e-01, -3.07346381e-01,  2.43286477e-02, -3.07245920e-01,
        9.51597710e-01,  7.85765010e-03, -2.55661058e-02, -8.67361738e-19,
       -9.99673134e-01])
  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([ 0.10995025, -0.02815631,  0.11619661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.29019433,  0.31822443,  0.29019433,  1.15815107,
       -0.66339943,  0.31822443, -0.66339943,  1.03563869,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002052723544730648
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99755225, -0.03319532,  0.06154332, -0.03313232,  0.99944888,
        0.00204408, -0.06157725,  0.        , -0.99810232])
  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([ 0.11182956, -0.08032236,  0.11350024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.5927755 ,  0.47484174, -4.56816288,  0.47484174, 14.17395828,
        0.99592453, -4.56816288,  0.99592453,  4.69629776,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031532877412067303
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.51826995e-07,  8.45334625e-07,  1.00000000e+00,  5.51011929e-13,
        1.00000000e+00, -8.45334625e-07, -1.00000000e+00,  1.00974196e-28,
       -6.51826995e-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([ 0.08403091, -0.06096852,  0.06199099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.86142192e-03, 5.52168764e-02, 3.08150527e-02, 1.11775400e-02,
  9.33460298e-03, 8.00567609e-02, 4.30303967e-02, 1.66174546e-02,
  5.51048007e-04, 1.61796762e-03, 3.49718149e-04, 1.44912695e-03,
  6.38449893e-06,-8.12459303e-04,-5.99081821e-05, 1.35532209e-04,
 -1.26632450e-05, 1.59967970e-05,-1.21646074e+00,-4.28573399e-04,
  8.62866891e-07,-5.26279976e-04]


--- Step 1717 ---
qpos:
[ 1.75391262e-03, 1.39770036e-01,-1.23229345e-02, 1.26707569e-01,
  2.52079747e-03, 1.31992005e-01,-2.51495105e-02, 1.15355983e-01,
  1.27503232e-02, 1.49159092e-01,-1.28057029e-02, 1.11940612e-01,
  1.34502498e+00, 5.62517268e-04, 1.10138208e+00, 6.34428405e-02,
  9.33040720e-02,-7.02634929e-02, 1.30948133e-01, 4.94413593e-01,
  4.82630777e-01, 5.04995471e-01, 5.17302915e-01]

qacc:
[ 1.76453807e+02,-1.40650027e+01,-3.56073415e+01,-2.10364304e+02,
  1.54215727e+02, 4.47686052e+01,-4.00578562e+02, 2.75805377e+02,
  3.49251249e+01, 1.18497582e+02,-5.36594822e+02, 1.15812235e+03,
  1.76606113e+01,-3.59704511e+01, 3.87555212e+00,-1.74668371e+01,
 -4.71503774e+00, 3.39531531e+00, 6.18149803e-01,-4.82585735e+01,
  1.36501656e+02,-3.41451996e+01]

qfrc_actuator:
[-3.59693717e-03, 2.13696192e-01, 1.20489463e-04, 1.33014288e-01,
  1.03712683e-03, 2.24720048e-01, 5.28019702e-03, 1.27966445e-01,
 -1.12283483e-04, 2.14091117e-01, 1.45947202e-03, 1.21512188e-01,
  1.11785576e-03,-2.73437039e-03, 0.00000000e+00,-2.44716759e-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, -0.37331948,  0.21473729, -0.37331948,  1.04718407,
        1.07180015,  0.21473729,  1.07180015,  2.29399144,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001903413199443108
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.42388209e-01, -3.33267429e-01,  2.89358724e-02, -3.33110440e-01,
        9.42832340e-01,  1.02281004e-02, -3.06903690e-02,  1.73472348e-18,
       -9.99528940e-01])
  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([ 0.10979251, -0.02843566,  0.11630711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.17032127,  0.39556315, -0.17032127,  2.86935103,
        1.05004391,  0.39556315,  1.05004391,  0.88280044,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022876224018009506
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99742155, -0.02972342,  0.06532051, -0.02965989,  0.99955816,
        0.00194241, -0.06534939,  0.        , -0.99786244])
  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([ 0.11163319, -0.08028284,  0.11358222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.62979952, -0.45858055,  4.6070324 , -0.45858055,  7.80938661,
        0.31649371,  4.6070324 ,  0.31649371,  4.66130307,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032556126774853367
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.52545384e-14, -1.70509077e-13,  1.00000000e+00,  1.45366726e-26,
        1.00000000e+00,  1.70509077e-13, -1.00000000e+00,  0.00000000e+00,
        8.52545384e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08679292, -0.08869186,  0.06199069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.63986841e-03, 7.12856284e-02, 3.84262055e-02, 1.42066869e-02,
  9.54626672e-03, 9.66064784e-02, 5.15941204e-02, 1.96019195e-02,
  4.42483689e-04, 2.61051138e-03, 3.34143258e-04, 1.98499610e-03,
 -2.25860954e-04,-1.37292507e-03,-6.91582626e-06,-9.69807849e-05,
 -9.31131138e-06, 1.05028739e-05,-1.21647040e+00,-4.40224907e-04,
 -1.20973046e-06,-5.30138365e-04]


--- Step 1718 ---
qpos:
[ 1.66435982e-03, 1.42360778e-01,-1.32331845e-02, 1.29028109e-01,
  2.41557043e-03, 1.34116194e-01,-2.63307869e-02, 1.17467505e-01,
  1.27643798e-02, 1.53323402e-01,-1.28268456e-02, 1.14388351e-01,
  1.34513244e+00, 5.33953744e-04, 1.10157560e+00, 6.34348029e-02,
  9.31959512e-02,-7.02635067e-02, 1.30953360e-01, 4.94518957e-01,
  4.82168491e-01, 5.04858941e-01, 5.17766354e-01]

qacc:
[ 1.88660396e+02, 2.24782662e+01,-1.06638148e+02,-1.35177956e+02,
  1.55762025e+02, 3.41164918e+01,-3.47144642e+02, 2.76149959e+02,
  3.16138864e+01, 9.75687398e+01,-4.40351551e+02, 9.60489499e+02,
  1.06190929e+01,-2.37623574e+01,-4.17314232e+00, 1.15462389e+01,
 -5.10055147e+00, 2.47122297e+00, 7.10360460e-01,-5.43869744e+01,
  1.22180289e+02,-2.29817671e+01]

qfrc_actuator:
[-0.0053007 , 0.21597093, 0.00090037, 0.13446691, 0.00147202, 0.22873766,
  0.00638232, 0.12932328, 0.00026102, 0.21514179, 0.00132185, 0.12305993,
  0.00106023,-0.003419  , 0.        ,-0.0023947 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.43052639,  0.01125015, -0.43052639,  0.43108224,
        0.01564729,  0.01125015,  0.01564729,  1.02947156,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002227581639361265
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.34602060e-01, -3.54206838e-01,  3.25039212e-02, -3.53992819e-01,
        9.35167106e-01,  1.23112876e-02, -3.47573402e-02,  1.73472348e-18,
       -9.99395781e-01])
  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([ 0.10962169, -0.0286586 ,  0.11640383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.34274292,  0.2607812 , -0.34274292,  0.51804943,
        0.11483777,  0.2607812 ,  0.11483777,  0.58160384,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002482153452337264
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99711242, -0.02996111,  0.06977933, -0.02988802,  0.99955107,
        0.00209161, -0.06981067,  0.        , -0.99756026])
  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([ 0.11145245, -0.08028482,  0.11366827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.65429022,  0.2949879 , -4.64493268,  0.2949879 , 27.24244747,
        1.43451659, -4.64493268,  1.43451659,  4.74539273,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033207805857890516
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.35814800e-14,  1.67162960e-13,  1.00000000e+00, -1.39717276e-26,
        1.00000000e+00, -1.67162960e-13, -1.00000000e+00,  0.00000000e+00,
        8.35814800e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08677459, -0.08869136,  0.06199051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.22833372e-04, 7.82974580e-02, 4.20909632e-02, 1.68391492e-02,
  8.37790832e-03, 1.09713485e-01, 5.87847312e-02, 2.22604151e-02,
  4.12828810e-04, 2.51139288e-03, 4.58174534e-04, 1.69504457e-03,
 -5.07222910e-04,-1.08311479e-03,-1.15879159e-05, 4.64476577e-05,
 -8.31917520e-06,-8.40760046e-06,-1.21647407e+00,-4.54847989e-04,
  6.39023878e-06,-5.65929977e-04]


--- Step 1719 ---
qpos:
[ 1.62051921e-03, 1.44907347e-01,-1.41842357e-02, 1.31331592e-01,
  2.34317590e-03, 1.36096536e-01,-2.75999981e-02, 1.19563820e-01,
  1.27848156e-02, 1.57505233e-01,-1.28530201e-02, 1.16859755e-01,
  1.34523773e+00, 4.97635685e-04, 1.10176832e+00, 6.34334641e-02,
  9.30660439e-02,-7.02569087e-02, 1.30961758e-01, 4.94584848e-01,
  4.81519505e-01, 5.04780991e-01, 5.18383010e-01]

qacc:
[ 194.57789577,  20.25320612, -85.80662845,-110.60067117, 154.1785891 ,
   23.81927407,-296.52450555, 277.95255044,  25.26261613,  85.58103413,
 -370.25583847, 771.34558688,   4.4661598 , -12.12453431, -21.89020707,
   73.71968177,  -5.44658868,   1.65294428,   0.79286918, -60.15847195,
  109.72012511, -13.14741356]

qfrc_actuator:
[-0.00718319, 0.21827087, 0.00176396, 0.13563034, 0.00180864, 0.23188753,
  0.00756111, 0.13097387, 0.00056349, 0.21597697, 0.00103681, 0.1242337 ,
  0.00098447,-0.00373907, 0.        ,-0.002041  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.42970203,  0.02890849, -0.42970203,  0.43315452,
        0.03688057,  0.02890849,  0.03688057,  0.97887422,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002470760771927472
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92841055, -0.36988381,  0.03521114, -0.36961807,  0.92907802,
        0.01401823, -0.03789902,  0.        , -0.99928157])
  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([ 0.10943058, -0.02882296,  0.11648976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.31916416,  0.28916047, -0.31916416,  0.58607355,
        0.17152473,  0.28916047,  0.17152473,  0.61999573,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002638377480384879
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99686173, -0.03068678,  0.07297264, -0.03060489,  0.99952905,
        0.00224035, -0.07300702,  0.        , -0.99733143])
  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([ 0.11128296, -0.08029211,  0.11373743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.6669999 ,  0.37982575, -4.65151808,  0.37982575, 40.31193691,
        2.91063361, -4.65151808,  2.91063361,  4.90467146,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033538602410929097
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.65514205e-13, -1.65514205e-13,  1.00000000e+00,  2.73949521e-26,
        1.00000000e+00,  1.65514205e-13, -1.00000000e+00,  0.00000000e+00,
        1.65514205e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08675984, -0.08869144,  0.06199042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.15036037e-03, 8.35402477e-02, 4.55607075e-02, 1.90675774e-02,
  7.07394356e-03, 1.20941680e-01, 6.51774888e-02, 2.49336866e-02,
  3.41007614e-04, 2.25307868e-03, 2.95314955e-04, 1.31536701e-03,
 -6.10082460e-04,-7.12374909e-04,-2.25958703e-06, 3.54295457e-04,
 -1.99511038e-05,-2.66515106e-05,-1.21648398e+00,-4.50257594e-04,
  1.46210951e-05,-6.14428351e-04]


--- Step 1720 ---
qpos:
[ 1.62345394e-03, 1.47429000e-01,-1.51613582e-02, 1.33622621e-01,
  2.30370755e-03, 1.37957027e-01,-2.89427153e-02, 1.21649368e-01,
  1.28090610e-02, 1.61704500e-01,-1.28854560e-02, 1.19344461e-01,
  1.34534040e+00, 4.56048761e-04, 1.10196181e+00, 6.34296496e-02,
  9.29133162e-02,-7.02462001e-02, 1.30973451e-01, 4.94618021e-01,
  4.80697114e-01, 5.04739595e-01, 5.19154350e-01]

qacc:
[ 196.0105661 ,  14.00250207, -46.02826688,-108.32932223, 152.89714982,
   24.3254665 ,-271.03704009, 288.5711308 ,  14.55982229,  67.70533172,
 -263.33514141, 488.30991737,   1.62991015,  -6.68029366,   8.36912522,
  -28.1856917 ,  -5.70512078,   1.02764386,   0.82345344, -64.57055757,
   99.48420195,  -5.83427696]

qfrc_actuator:
[-0.00862436, 0.22100206, 0.00268702, 0.1362516 , 0.00201987, 0.23521969,
  0.00879332, 0.13246627, 0.00073298, 0.21688965, 0.0007195 , 0.12489384,
  0.00091937,-0.00394743, 0.        ,-0.00218731, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.42488669,  0.07036223, -0.42488669,  0.43461341,
        0.02379229,  0.07036223,  0.02379229,  0.57434457,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002591737108259651
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.23854417e-01, -3.80992638e-01,  3.65735573e-02, -3.80694441e-01,
        9.24578071e-01,  1.50709351e-02, -3.95570244e-02,  1.73472348e-18,
       -9.99217315e-01])
  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([ 0.10921831, -0.0289373 ,  0.11656005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.29131452,  0.31719929, -0.29131452,  0.67984984,
        0.22884265,  0.31719929,  0.22884265,  0.6408415 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0027583295367921315
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99668179, -0.03185269,  0.07490539, -0.03176311,  0.99949257,
        0.00238715, -0.07494342,  0.        , -0.99718779])
  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([ 0.11112197, -0.08030406,  0.11379047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.66931896, -0.58192557,  4.63291508, -0.58192557, 12.08066591,
        0.93091547,  4.63291508,  0.93091547,  4.78624826,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000335984337687667
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.65219461e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.65219461e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08674793, -0.08869199,  0.0619904 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.88711332e-03, 8.83947792e-02, 4.85004208e-02, 2.05332987e-02,
  5.64208753e-03, 1.31404521e-01, 7.07933066e-02, 2.71804518e-02,
  2.04335132e-04, 2.13571899e-03, 1.76384138e-04, 7.77609737e-04,
 -5.66850612e-04,-5.32109809e-04, 3.35802567e-05,-1.27832059e-04,
 -3.92844953e-05,-4.69939468e-05,-1.21649915e+00,-4.37995187e-04,
  2.24882075e-05,-6.76358742e-04]


--- Step 1721 ---
qpos:
[ 1.61670361e-03, 1.49748608e-01,-1.62593099e-02, 1.35898081e-01,
  2.23967014e-03, 1.39749792e-01,-3.03270975e-02, 1.23727375e-01,
  1.28361360e-02, 1.65918297e-01,-1.29227282e-02, 1.21840877e-01,
  1.34544048e+00, 4.10719641e-04, 1.10215569e+00, 6.34225025e-02,
  9.27415197e-02,-7.02527536e-02, 1.30985356e-01, 4.94800138e-01,
  4.79956620e-01, 5.04459000e-01, 5.19938057e-01]

qacc:
[-4.01446709e+01, 3.84068171e+01,-4.57123494e+02, 5.24405238e+02,
 -1.13092478e+02, 1.15015565e+01,-1.38407726e+02, 1.22750284e+02,
  1.04917741e+01, 5.66289564e+01,-2.22759709e+02, 4.20264197e+02,
  5.01300739e-01,-4.08378964e+00, 1.05050307e+01,-3.62123735e+01,
 -4.76718889e+00,-4.31551699e+00, 5.32899777e-02,-8.07569953e+01,
 -1.15031341e+02, 4.25551025e+01]

qfrc_actuator:
[-0.00974909, 0.22335131, 0.00364734, 0.13649654, 0.0021604 , 0.2389078 ,
  0.01014935, 0.13354585, 0.00085819, 0.2175756 , 0.00045708, 0.12547749,
  0.00085545,-0.00408816, 0.        ,-0.00236085, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.41113652,  0.12824312, -0.41113652,  0.50991535,
        0.25404307,  0.12824312,  0.25404307,  1.24511378,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0028270601560430844
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92085143, -0.38812213,  0.03733447, -0.38780353,  0.92160795,
        0.01572288, -0.04051014,  0.        , -0.99917913])
  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([ 0.10898403, -0.02900872,  0.11662381])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.27105209,  0.3346794 , -0.27105209,  2.07944845,
        1.33531949,  0.3346794 ,  1.33531949,  1.51212962,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002844858147634056
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99657649, -0.03341938,  0.07562041, -0.03332358,  0.99944142,
        0.0025286 , -0.07566267,  0.        , -0.99713347])
  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([ 0.11096663, -0.08032014,  0.11382853])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.70374915,  0.49140684, -4.67800977,  0.49140684,  5.30198433,
        0.06284229, -4.67800977,  0.06284229,  4.71035049,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034468350536000225
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.61049631e-13, -1.61049631e-13,  1.00000000e+00,  2.59369835e-26,
        1.00000000e+00,  1.61049631e-13, -1.00000000e+00,  0.00000000e+00,
        1.61049631e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08058076, -0.03201279,  0.06199015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03604749e-02, 9.19058438e-02, 5.07415521e-02, 2.13927187e-02,
  4.13506901e-03, 1.41028851e-01, 7.58138298e-02, 2.87927803e-02,
  1.52147840e-04, 1.79527344e-03, 1.73694620e-04, 6.81464748e-04,
 -4.99946328e-04,-4.08420073e-04,-8.58723628e-06,-1.78448206e-04,
 -6.31964093e-05,-7.11033080e-05,-1.21651916e+00,-4.24859815e-04,
  2.94416602e-05,-7.51885145e-04]


--- Step 1722 ---
qpos:
[ 1.59467488e-03, 1.51864522e-01,-1.74466158e-02, 1.38167458e-01,
  2.14553020e-03, 1.41504091e-01,-3.17345131e-02, 1.25801363e-01,
  1.28644861e-02, 1.70138475e-01,-1.29596925e-02, 1.24349449e-01,
  1.34553752e+00, 3.64096324e-04, 1.10234871e+00, 6.34200299e-02,
  9.25481854e-02,-7.02755652e-02, 1.30997030e-01, 4.95123022e-01,
  4.79284456e-01, 5.03953224e-01, 5.20740580e-01]

qacc:
[-6.19070658e+01,-3.21698874e+01,-2.48720549e+02, 4.31656332e+02,
 -1.37159626e+02, 5.44392084e+00,-7.56021657e+01, 6.99922023e+01,
  4.62657005e+00, 3.24275977e+01,-1.54016129e+02, 3.57234968e+02,
 -1.07453354e+00,-4.23884554e-01,-1.53345669e+01, 5.19042858e+01,
 -5.38446750e+00,-4.06451264e+00,-5.77299441e-02,-8.01612623e+01,
 -1.04463723e+02, 3.93339585e+01]

qfrc_actuator:
[-0.01041542, 0.22509042, 0.00471746, 0.13709186, 0.00233832, 0.24209519,
  0.01155947, 0.13443208, 0.00090303, 0.21757113, 0.00035294, 0.12606477,
  0.00077103,-0.00409896, 0.        ,-0.00210507, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.13479324, -0.40903584, -0.13479324,  4.03625619,
       -1.18817999, -0.40903584, -1.18817999,  0.82222494,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0029099588219527435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.18371661e-01, -3.93987944e-01,  3.69728629e-02, -3.93669044e-01,
        9.19115608e-01,  1.58487813e-02, -4.02265641e-02, -1.73472348e-18,
       -9.99190584e-01])
  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([ 0.10876755, -0.029069  ,  0.11667018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.40983601,  0.13234042,  0.40983601,  0.47926921,
       -0.15049317,  0.13234042, -0.15049317,  0.89672537,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0029015627961075105
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9965752 , -0.03452182,  0.07514069, -0.0344241 ,  0.99940394,
        0.00259554, -0.0751855 ,  0.        , -0.99716956])
  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([ 0.1108097 , -0.08033199,  0.11385315])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.72771663, -0.60718837,  4.68856341, -0.60718837,  8.90371103,
        0.54080856,  4.68856341,  0.54080856,  4.79775358,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035054551274940615
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.58356474e-13, -3.16712947e-13,  1.00000000e+00,  5.01535455e-26,
        1.00000000e+00,  3.16712947e-13, -1.00000000e+00,  0.00000000e+00,
        1.58356474e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08050613, -0.03202348,  0.06198999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05486522e-02, 1.03671166e-01, 5.78338811e-02, 2.27594041e-02,
  5.54212693e-03, 1.47549384e-01, 7.92978278e-02, 3.00507266e-02,
  6.87156304e-05, 9.09424305e-04, 2.57942290e-04, 6.68558941e-04,
 -4.55193381e-04,-2.31080793e-04,-3.16170278e-05, 2.43107749e-04,
 -4.83141310e-05,-7.39605780e-05,-1.21656996e+00,-4.56471633e-04,
  6.45959754e-06,-7.19067348e-04]


--- Step 1723 ---
qpos:
[ 1.55298178e-03, 1.53818073e-01,-1.87066220e-02, 1.40435379e-01,
  2.01678966e-03, 1.43240198e-01,-3.31485723e-02, 1.27874834e-01,
  1.28934547e-02, 1.74355275e-01,-1.29923730e-02, 1.26869040e-01,
  1.34563191e+00, 3.16515974e-04, 1.10254156e+00, 6.34202396e-02,
  9.23315433e-02,-7.03134055e-02, 1.31008327e-01, 4.95579244e-01,
  4.78665427e-01, 5.03235986e-01, 5.21568944e-01]

qacc:
[-7.88651030e+01,-1.45685003e+01,-2.51648602e+02, 4.57475704e+02,
 -1.56089208e+02,-6.26965424e+00,-9.78382956e+00, 2.40904390e+01,
  2.27343533e+00, 6.11369938e+00,-7.42527049e+01, 2.59109852e+02,
 -1.18405890e+00, 8.69922154e-02,-8.29034040e+00, 2.87735837e+01,
 -5.82692963e+00,-3.75717433e+00,-9.43542145e-02,-8.03700022e+01,
 -9.35898393e+01, 3.57435133e+01]

qfrc_actuator:
[-0.0105842 , 0.22707848, 0.00587032, 0.13842673, 0.00251855, 0.24457167,
  0.01296457, 0.13521954, 0.00091784, 0.2169062 , 0.00037607, 0.12657809,
  0.00068509,-0.00412152, 0.        ,-0.00197116, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.10119449, -0.41861583, -0.10119449,  4.01171183,
       -0.86566571, -0.41861583, -0.86566571,  0.63993587,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002940787804669239
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.16532608e-01, -3.98376931e-01,  3.55499480e-02, -3.98077596e-01,
        9.17221795e-01,  1.54404085e-02, -3.87582896e-02,  1.73472348e-18,
       -9.99248615e-01])
  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([ 0.10856457, -0.02911654,  0.11670018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.42170942,  0.08741111,  0.42170942,  0.57789083,
       -0.71024151,  0.08741111, -0.71024151,  3.85718902,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002931226653444982
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99667074, -0.03520112,  0.07354124, -0.03510568,  0.99938025,
        0.00259034, -0.07358685,  0.        , -0.99728881])
  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([ 0.11064751, -0.0803402 ,  0.11386585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.73830695, -0.61456361,  4.69828312, -0.61456361, 14.1931527 ,
        1.23675053,  4.69828312,  1.23675053,  4.90008134,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003530877409950034
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.86081543e-14,  1.57216309e-13,  1.00000000e+00, -1.23584838e-26,
        1.00000000e+00, -1.57216309e-13, -1.00000000e+00,  0.00000000e+00,
        7.86081543e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08044672, -0.03203068,  0.06198992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.95874504e-03, 1.15776414e-01, 6.34386429e-02, 2.43919989e-02,
  7.22831299e-03, 1.51897840e-01, 8.18460365e-02, 3.10339063e-02,
  3.31474391e-05,-2.29674824e-04, 2.12199764e-04, 5.59421193e-04,
 -3.89490722e-04,-1.87887467e-04, 7.43745380e-06, 1.42413186e-04,
 -4.68636424e-05,-6.29130895e-05,-1.21663587e+00,-4.63251596e-04,
 -2.25402883e-05,-6.70723064e-04]


--- Step 1724 ---
qpos:
[ 1.55457989e-03, 1.55823690e-01,-1.99247937e-02, 1.42713840e-01,
  1.91510993e-03, 1.44913091e-01,-3.45925262e-02, 1.29952134e-01,
  1.29233198e-02, 1.78566546e-01,-1.30235026e-02, 1.29404037e-01,
  1.34572426e+00, 2.67676221e-04, 1.10273541e+00, 6.34140184e-02,
  9.20886396e-02,-7.03430045e-02, 1.31025040e-01, 4.95979796e-01,
  4.77800544e-01, 5.02593268e-01, 5.22599932e-01]

qacc:
[ 1.72371200e+02,-2.66942569e+01, 1.49763307e+02,-7.08900067e+01,
  1.21063201e+02, 7.30553989e+00,-1.63175450e+02, 3.21774654e+02,
  3.15278631e+00, 1.98608933e+01,-1.45550971e+02, 4.11245412e+02,
 -1.11546854e+00, 8.12556192e-03, 2.09265353e+01,-7.09666664e+01,
 -6.56542310e+00, 2.06029493e+00, 1.35392581e+00,-7.91460976e+01,
  1.45082146e+02,-1.49703323e+01]

qfrc_actuator:
[-0.01040846, 0.23001943, 0.00714516, 0.13984808, 0.00268119, 0.24674098,
  0.01435949, 0.13591035, 0.00095027, 0.21656231, 0.00041821, 0.1273451 ,
  0.00061962,-0.00416871, 0.        ,-0.00231858, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.10726858, -0.4171007 , -0.10726858,  2.04098595,
       -0.41413489, -0.4171007 , -0.41413489,  0.5371792 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002951581533347079
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.15297411e-01, -4.01413230e-01,  3.31371069e-02, -4.01150421e-01,
        9.15897057e-01,  1.45231094e-02, -3.61799469e-02,  1.73472348e-18,
       -9.99345291e-01])
  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([ 0.10837031, -0.02915272,  0.11671551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.41516192,  0.1145431 ,  0.41516192,  0.51099722,
       -0.29113417,  0.1145431 , -0.29113417,  1.48589029,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0029362340041593645
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.96852373e-01, -3.54997364e-02,  7.08880401e-02, -3.54103161e-02,
        9.99369686e-01,  2.51809393e-03, -7.09327500e-02,  4.33680869e-19,
       -9.97481100e-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([ 0.11047748, -0.0803453 ,  0.11386783])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.76820804,  0.51485804, -4.74033006,  0.51485804,  8.72658565,
        0.4299284 , -4.74033006,  0.4299284 ,  4.81490354,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003601143577788707
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.70743377e-14, -1.54148675e-13,  1.00000000e+00,  1.18809071e-26,
        1.00000000e+00,  1.54148675e-13, -1.00000000e+00,  0.00000000e+00,
        7.70743377e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08667058, -0.08869152,  0.06198972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.80437218e-03, 1.26774938e-01, 6.83354822e-02, 2.58800148e-02,
  9.12197235e-03, 1.54926264e-01, 8.35649180e-02, 3.17453345e-02,
  4.80994579e-05,-5.59511006e-04,-1.33268067e-05, 7.60794977e-04,
 -3.22614908e-04,-1.86159014e-04, 1.21527359e-05,-3.40004123e-04,
 -5.61770050e-05,-4.12021393e-05,-1.21671572e+00,-4.50918233e-04,
 -5.63049644e-05,-6.10578403e-04]


--- Step 1725 ---
qpos:
[ 1.59914464e-03, 1.57934452e-01,-2.11079339e-02, 1.45001030e-01,
  1.83988398e-03, 1.46547476e-01,-3.60569274e-02, 1.32036122e-01,
  1.29536217e-02, 1.82779181e-01,-1.30583458e-02, 1.31959118e-01,
  1.34581447e+00, 2.18553672e-04, 1.10292888e+00, 6.34074109e-02,
  9.18193738e-02,-7.03675631e-02, 1.31046867e-01, 4.96335063e-01,
  4.76716791e-01, 5.01996740e-01, 5.23824283e-01]

qacc:
[ 168.64659645,  58.67291567, -44.92659826,  63.24469058, 117.25793429,
   19.39401861,-170.90399237, 345.50758717,   1.42070801,  53.213356  ,
 -270.50398185, 619.04794949,  -1.46234771,   1.10000726,   0.71609289,
   -3.07793426,  -6.59050077,   1.26011676,   1.27849156, -79.981381  ,
  126.21992996,  -6.25044196]

qfrc_actuator:
[-0.01001008, 0.23370216, 0.00840774, 0.14125665, 0.0027322 , 0.24993221,
  0.01582747, 0.1371071 , 0.00095724, 0.21719565, 0.00043726, 0.12839755,
  0.00054517,-0.00415897, 0.        ,-0.0023254 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.42630507,  0.06118436, -0.42630507,  0.44120164,
        0.07335633,  0.06118436,  0.07335633,  0.94178719,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0029440169020524395
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.91578045, -0.40056568,  0.02988824, -0.40035251,  0.91626805,
        0.01306627, -0.03261954,  0.        , -0.99946784])
  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([ 0.10814091, -0.02914739,  0.11672399])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.31377901,  0.29499538, -0.31377901,  0.72752006,
        0.31574822,  0.29499538,  0.31574822,  0.76652663,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0029178287914278503
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99707418, -0.03638165,  0.06722695, -0.03629923,  0.99933797,
        0.00244745, -0.06727148,  0.        , -0.99773471])
  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([ 0.11030731, -0.08035659,  0.11385841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.8045618 ,  0.52677312, -4.77559673,  0.52677312, 27.87281843,
        2.54454851, -4.77559673,  2.54454851,  5.08523871,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003683727068232723
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.50692899e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.50692899e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08664627, -0.08869143,  0.06198949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05777425e-02, 1.27792199e-01, 6.74925483e-02, 2.67548746e-02,
  7.81901758e-03, 1.61230099e-01, 8.65203383e-02, 3.27456405e-02,
  2.36277035e-05, 1.95651134e-04,-1.25215013e-04, 1.02832161e-03,
 -2.95711763e-04,-1.12371063e-04,-4.12173747e-05,-2.61491967e-05,
 -7.37977045e-05,-1.05152837e-04,-1.21675835e+00,-4.72687321e-04,
 -4.63089257e-05,-7.53760548e-04]


--- Step 1726 ---
qpos:
[ 1.68479464e-03, 1.60168523e-01,-2.22574097e-02, 1.47297863e-01,
  1.78944524e-03, 1.48174585e-01,-3.75364510e-02, 1.34128425e-01,
  1.29840509e-02, 1.86995273e-01,-1.30965315e-02, 1.34534653e-01,
  1.34590252e+00, 1.69668032e-04, 1.10312130e+00, 6.34074048e-02,
  9.15235528e-02,-7.03902033e-02, 1.31073647e-01, 4.96654051e-01,
  4.75438014e-01, 5.01419283e-01, 5.25235330e-01]

qacc:
[ 1.59137290e+02, 8.83281877e+01,-1.19468848e+02, 1.41711308e+02,
  1.08773382e+02, 4.90553135e+01,-2.23513593e+02, 3.94299432e+02,
  3.62871448e-01, 5.56863719e+01,-2.76773576e+02, 6.29319980e+02,
 -1.38195484e+00, 1.32523648e+00,-2.13964597e+01, 7.28056624e+01,
 -6.63880664e+00, 4.79602961e-01, 1.23820851e+00,-8.16166591e+01,
  1.09418732e+02, 2.33668000e+00]

qfrc_actuator:
[-0.00953062, 0.23754304, 0.00958202, 0.14286818, 0.00270601, 0.25366617,
  0.01728853, 0.13879832, 0.00094904, 0.21770056, 0.00039384, 0.12945066,
  0.00046009,-0.00413332, 0.        ,-0.00197157, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.42533845,  0.06757766, -0.42533845,  0.44810026,
        0.10968616,  0.06757766,  0.10968616,  1.12104566,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0029215795250594205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.17547637e-01, -3.96782957e-01,  2.58769974e-02, -3.96625256e-01,
        9.17912461e-01,  1.11857633e-02, -2.81911386e-02,  3.46944695e-18,
       -9.99602551e-01])
  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([ 0.10787689, -0.02911061,  0.11672743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.28789552,  0.32030564, -0.28789552,  0.88195639,
        0.40561997,  0.32030564,  0.40561997,  0.79525067,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002878860009281623
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99732103, -0.03777153,  0.06264248, -0.03769724,  0.9992864 ,
        0.00236779, -0.06268722,  0.        , -0.99803322])
  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([ 0.11013455, -0.08037321,  0.11383888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.82107774,  0.76012777, -4.76077686,  0.76012777, 27.24078968,
        3.57963545, -4.76077686,  3.57963545,  5.39261898,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003720272103458766
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.73031526e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.73031526e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08662674, -0.08869193,  0.06198939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.22543851e-02, 1.26309446e-01, 6.68998771e-02, 2.79227864e-02,
  6.46935068e-03, 1.66843003e-01, 8.89971914e-02, 3.40975808e-02,
  7.01614913e-06, 4.77878235e-04,-3.62800623e-05, 1.06254132e-03,
 -2.74080222e-04,-7.14868519e-05,-2.65659361e-05, 3.46140827e-04,
 -9.97670025e-05,-1.68701270e-04,-1.21681040e+00,-4.85991881e-04,
 -4.11759750e-05,-9.07118326e-04]


--- Step 1727 ---
qpos:
[ 1.80764730e-03, 1.62529509e-01,-2.33671829e-02, 1.49607534e-01,
  1.76137584e-03, 1.49799314e-01,-3.90197199e-02, 1.36233139e-01,
  1.30140952e-02, 1.91213232e-01,-1.31348854e-02, 1.37121452e-01,
  1.34598871e+00, 1.21389942e-04, 1.10331388e+00, 6.34085578e-02,
  9.12009037e-02,-7.04136587e-02, 1.31105542e-01, 4.96944512e-01,
  4.73985563e-01, 5.00838303e-01, 5.26825239e-01]

qacc:
[ 1.42233081e+02, 8.27943515e+01,-1.06163023e+02, 1.71159510e+02,
  9.74637603e+01, 3.21700326e+01,-1.71165157e+02, 3.91113593e+02,
 -1.23200570e+00, 2.59524916e+01,-1.35684800e+02, 3.27238567e+02,
 -1.83724636e+00, 2.30478789e+00,-3.10326313e+00, 1.15551274e+01,
 -6.70702337e+00,-2.03788343e-01, 1.27907886e+00,-8.21145537e+01,
  9.44058405e+01, 9.20426224e+00]

qfrc_actuator:
[-0.00921309, 0.24083274, 0.01069067, 0.14438405, 0.0026956 , 0.25659151,
  0.01871279, 0.14005404, 0.00091412, 0.21785947, 0.00040282, 0.13001643,
  0.00040599,-0.00408076, 0.        ,-0.001923  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.420162  ,  0.09456974, -0.420162  ,  0.46387976,
        0.14753207,  0.09456974,  0.14753207,  1.08614062,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002762077613544605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.20305745e-01, -3.90632375e-01,  2.10638104e-02, -3.90530098e-01,
        9.20546766e-01,  8.93839032e-03, -2.28818472e-02, -1.73472348e-18,
       -9.99738176e-01])
  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([ 0.10757994, -0.02904849,  0.11672576])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.25445658,  0.34746422, -0.25445658,  1.11950737,
        0.50445007,  0.34746422,  0.50445007,  0.80009453,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002822737621173547
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97575041e-01, -3.96020676e-02,  5.72338602e-02, -3.95370498e-02,
        9.99215530e-01,  2.26835866e-03, -5.72787937e-02,  4.33680869e-19,
       -9.98358222e-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([ 0.10995656, -0.08039447,  0.11381073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.81944804,  1.43792537, -4.59994022,  1.43792537, 10.13583476,
        1.66188406, -4.59994022,  1.66188406,  5.33894724,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003716692166603891
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.24034499e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.24034499e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08661102, -0.08869284,  0.0619894 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39995567e-02, 1.23362614e-01, 6.63081147e-02, 2.89489678e-02,
  5.21891140e-03, 1.70086235e-01, 9.11713313e-02, 3.49326153e-02,
 -2.08049690e-05, 3.09513147e-04, 8.65058256e-05, 5.90963592e-04,
 -2.20528933e-04,-2.96852986e-05, 2.27101071e-05, 6.37497581e-05,
 -1.28744301e-04,-2.33606659e-04,-1.21687242e+00,-5.00403176e-04,
 -4.32400461e-05,-1.06826927e-03]


--- Step 1728 ---
qpos:
[ 1.96418416e-03, 1.65006851e-01,-2.44327006e-02, 1.51933899e-01,
  1.75265579e-03, 1.51438505e-01,-4.04993833e-02, 1.38353542e-01,
  1.30427749e-02, 1.95436181e-01,-1.31746751e-02, 1.39713986e-01,
  1.34607327e+00, 7.42933949e-05, 1.10350627e+00, 6.34126591e-02,
  9.08507266e-02,-7.04403024e-02, 1.31143655e-01, 4.97212296e-01,
  4.72378720e-01, 5.00237943e-01, 5.28583274e-01]

qacc:
[ 127.08562288,  64.022699  , -75.54407974, 207.34208999,  83.57798126,
   40.57507371,-182.54022867, 434.72650215,  -4.25707124,  22.3183678 ,
  -93.7251105 , 190.21674319,  -1.92773709,   2.89903457,  -9.03446482,
   31.55188462,  -6.88200903,  -0.79709784,   1.55427348, -80.19487328,
   81.3771848 ,  13.67758088]

qfrc_actuator:
[-0.00934257, 0.24325949, 0.01177595, 0.14572895, 0.00268716, 0.26011261,
  0.02018066, 0.14120083, 0.00082812, 0.21843233, 0.00044141, 0.13032632,
  0.00037052,-0.00399477, 0.        ,-0.00177074, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.40765974,  0.13889952, -0.40765974,  0.56328473,
        0.38920451,  0.13889952,  0.38920451,  1.57295959,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0027405122832818932
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.23846751e-01, -3.82430118e-01,  1.59494850e-02, -3.82373139e-01,
        9.23984418e-01,  6.60137046e-03, -1.72616385e-02,  8.67361738e-19,
       -9.99851007e-01])
  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([ 0.1072521 , -0.0289642 ,  0.11672481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.19940071,  0.38173145, -0.19940071,  1.38929215,
        0.50074278,  0.38173145,  0.50074278,  0.69224066,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0027501421054350332
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97821589e-01, -4.18119191e-02,  5.10278374e-02, -4.17573524e-02,
        9.99125499e-01,  2.13543925e-03, -5.10725004e-02, -4.33680869e-19,
       -9.98694948e-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([ 0.10977222, -0.08041977,  0.11377434])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.80013123,  1.51722485, -4.55404091,  1.51722485,  2.86847566,
       -0.64355062, -4.55404091, -0.64355062,  4.58572583,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003673822275166716
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.51099174e-13,  3.77747936e-14,  1.00000000e+00, -5.70774012e-27,
        1.00000000e+00, -3.77747936e-14, -1.00000000e+00,  0.00000000e+00,
        1.51099174e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08659784, -0.08869428,  0.06198953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.59981975e-02, 1.19367467e-01, 6.53891586e-02, 2.96438853e-02,
  4.09140784e-03, 1.73680645e-01, 9.28202879e-02, 3.54540221e-02,
 -7.40356443e-05, 6.34522115e-04, 8.01696583e-05, 3.22921226e-04,
 -1.62761487e-04, 2.69996993e-05, 1.03025814e-05, 1.57159406e-04,
 -1.57089993e-04,-3.00283560e-04,-1.21694341e+00,-5.20974996e-04,
 -5.29551656e-05,-1.23416831e-03]


--- Step 1729 ---
qpos:
[ 2.14862056e-03, 1.67588619e-01,-2.54431965e-02, 1.54282293e-01,
  1.75967672e-03, 1.53111779e-01,-4.19706743e-02, 1.40492280e-01,
  1.30694746e-02, 1.99667051e-01,-1.32171069e-02, 1.42315374e-01,
  1.34615675e+00, 2.78051610e-05, 1.10369865e+00, 6.34185530e-02,
  9.04724814e-02,-7.04722377e-02, 1.31189111e-01, 4.97464077e-01,
  4.70635494e-01, 4.99604173e-01, 5.30497309e-01]

qacc:
[ 103.8864875 ,  29.17018058,   3.45961173, 212.26153914,  67.32587877,
   58.52213595,-219.86391938, 495.08943274,  -6.01968564,  35.92114474,
 -149.45013768, 298.77677117,  -1.17963582,   1.66322829,  -5.31606007,
   18.81943266,  -7.01703375,  -1.32287786,   1.83577379, -77.97486724,
   68.58719924,  16.79194056]

qfrc_actuator:
[-0.00985814, 0.24441815, 0.01284452, 0.14683802, 0.00269173, 0.26390426,
  0.02168658, 0.14273559, 0.00071261, 0.21919644, 0.00044583, 0.13080324,
  0.00033564,-0.00396055, 0.        ,-0.0016828 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.37646405,  0.20917541, -0.37646405,  0.85388045,
        0.76166819,  0.20917541,  0.76166819,  1.80148786,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025433695650418277
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.27993254e-01, -3.72455439e-01,  1.02697100e-02, -3.72432634e-01,
        9.28050077e-01,  4.12155491e-03, -1.10659007e-02,  4.33680869e-19,
       -9.99938771e-01])
  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([ 0.10689446, -0.02886142,  0.11672152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.14216312,  0.40653313, -0.14216312,  1.6185635 ,
        0.41540077,  0.40653313,  0.41540077,  0.57593746,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0026621491836449703
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97733469e-01, -4.92678571e-02,  4.58323447e-02, -4.92159577e-02,
        9.98785602e-01,  2.26080693e-03, -4.58880711e-02, -4.33680869e-19,
       -9.98946588e-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([ 0.10958165, -0.08050228,  0.11374969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.75936444,  1.61225132, -4.47796779,  1.61225132,  1.72163026,
       -1.09370839, -4.47796779, -1.09370839,  4.36558474,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035805887211788623
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.75167934e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.75167934e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08658495, -0.08869706,  0.0619898 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.82075074e-02, 1.14627433e-01, 6.42239584e-02, 2.99099294e-02,
  3.12798962e-03, 1.76702995e-01, 9.41395775e-02, 3.61992566e-02,
 -1.07651328e-04, 9.94645908e-04, 1.03040621e-04, 4.98365545e-04,
 -1.17136199e-04, 3.19263727e-06, 1.64625322e-05, 9.67754958e-05,
 -1.82659390e-04,-3.67882307e-04,-1.21702071e+00,-5.48610131e-04,
 -6.92182533e-05,-1.40101836e-03]


--- Step 1730 ---
qpos:
[ 2.35615624e-03, 1.70273279e-01,-2.63990416e-02, 1.56655131e-01,
  1.77817403e-03, 1.54821525e-01,-4.34251502e-02, 1.42653307e-01,
  1.30941735e-02, 2.03901976e-01,-1.32579817e-02, 1.44930809e-01,
  1.34623947e+00,-1.81335873e-05, 1.10389145e+00, 6.34224557e-02,
  9.00659211e-02,-7.05113158e-02, 1.31242629e-01, 4.97706052e-01,
  4.68771787e-01, 4.98924171e-01, 5.32556447e-01]

qacc:
[  84.68085407,  33.09554456, -23.36082143, 281.7864173 ,  48.72945307,
   46.21322595,-187.97104009, 516.24715661,  -5.85872181,  29.70008757,
 -156.28600409, 390.81597485,  -1.13405654,   1.67831503,   6.71291881,
  -22.38336505,  -7.07876527,  -1.78571864,   2.01531259, -76.17005208,
   57.05334884,  19.47525947]

qfrc_actuator:
[-0.01036451, 0.24561572, 0.01385685, 0.14802435, 0.00266447, 0.26678544,
  0.02315588, 0.14421015, 0.00059831, 0.21941352, 0.00053805, 0.13151699,
  0.00032241,-0.00392179, 0.        ,-0.00179324, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.28999726,  0.31840403, -0.28999726,  0.90649839,
        0.43337377,  0.31840403,  0.43337377,  0.8253832 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025214344301284653
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.32653598e-01, -3.60759477e-01,  3.14093253e-03, -3.60757432e-01,
        9.32658887e-01,  1.21493634e-03, -3.36771844e-03, -2.16840434e-19,
       -9.99994329e-01])
  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([ 0.10650995, -0.02873998,  0.11670574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.05299131,  0.42740082, -0.05299131,  1.81692303,
        0.17187423,  0.42740082,  0.17187423,  0.45198319,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002560918059783083
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97912813e-01, -5.20683459e-02,  3.81956138e-02, -5.20302473e-02,
        9.98643524e-01,  1.99148383e-03, -3.82474957e-02,  4.33680869e-19,
       -9.99268297e-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([ 0.10937882, -0.08053434,  0.11369937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.69479231,  1.66164989, -4.39089905,  1.66164989,  1.35009644,
       -1.26573476, -4.39089905, -1.26573476,  4.21579974,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003424528541563082
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.62098667e-13,  3.24197334e-13,  1.00000000e+00,  5.25519558e-26,
        1.00000000e+00, -3.24197334e-13, -1.00000000e+00,  0.00000000e+00,
       -1.62098667e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08657023, -0.08870212,  0.06199025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.01186826e-02, 1.10518436e-01, 6.24623306e-02, 2.99859662e-02,
  2.31323354e-03, 1.77832572e-01, 9.51834292e-02, 3.67519966e-02,
 -1.09196442e-04, 6.61054492e-04, 2.74012964e-04, 7.54754460e-04,
 -7.62745310e-05, 1.25873919e-05, 1.26668779e-05,-1.04202152e-04,
 -2.04167730e-04,-4.35258574e-04,-1.21710412e+00,-5.82774367e-04,
 -9.15558430e-05,-1.56428401e-03]


--- Step 1731 ---
qpos:
[ 2.57982649e-03, 1.73070924e-01,-2.72999433e-02, 1.59054442e-01,
  1.80308447e-03, 1.56571841e-01,-4.48550435e-02, 1.44840119e-01,
  1.31165747e-02, 2.08137085e-01,-1.32949426e-02, 1.47553834e-01,
  1.34632199e+00,-6.38436720e-05, 1.10408412e+00, 6.34263648e-02,
  8.96312012e-02,-7.05593001e-02, 1.31304629e-01, 4.97944837e-01,
  4.66804203e-01, 4.98184322e-01, 5.34749620e-01]

qacc:
[ 5.81205140e+01, 4.97462857e+01,-7.16043339e+01, 3.56367855e+02,
  2.70534629e+01, 3.71058593e+01,-1.62268293e+02, 5.35435640e+02,
 -6.50970623e+00, 4.82875588e+00,-4.83542865e+01, 1.71886501e+02,
 -3.20410805e-01, 5.24812281e-01,-1.86179234e-01, 4.32437604e-01,
 -7.03988335e+00,-2.22654862e+00, 2.12077990e+00,-7.44758335e+01,
  4.49787657e+01, 2.23181908e+01]

qfrc_actuator:
[-0.01076521, 0.24731123, 0.01483155, 0.14937008, 0.00250955, 0.2694061 ,
  0.02462691, 0.14551305, 0.00046779, 0.21930308, 0.00067981, 0.13188479,
  0.00034349,-0.00389824, 0.        ,-0.00178886, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.18057229, -0.39099001,  0.18057229,  1.68980621,
        0.58150977, -0.39099001,  0.58150977,  0.69923406,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023109727825153517
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.37627679e-01, -3.47613507e-01, -4.38010473e-03, -3.47609714e-01,
        9.37637910e-01, -1.62385027e-03,  4.67142453e-03, -2.16840434e-19,
       -9.99989089e-01])
  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([ 0.10609937, -0.0286033 ,  0.11668937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.01473944,  0.43042106,  0.01473944,  1.82367285,
       -0.0477022 ,  0.43042106, -0.0477022 ,  0.43230688,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0024464372169009474
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99803318, -0.05509188,  0.0299108 , -0.05506716,  0.99848129,
        0.00165035, -0.02995629,  0.        , -0.99955121])
  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([ 0.10916495, -0.08056913,  0.11364292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.6083575 ,  1.65892797, -4.2994089 ,  1.65892797,  1.15173745,
       -1.33373769, -4.2994089 , -1.33373769,  4.09373449,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003196934415637537
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.73638693e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.73638693e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0865521 , -0.08871024,  0.0619909 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.16844810e-02, 1.06979729e-01, 6.06797622e-02, 3.01003138e-02,
  1.58414873e-03, 1.78580658e-01, 9.58062387e-02, 3.69351056e-02,
 -1.25893676e-04, 1.93234066e-04, 2.84556731e-04, 4.05469889e-04,
 -1.79438760e-05, 9.70195903e-06,-1.18111800e-05,-1.17429689e-06,
 -2.20802144e-04,-5.02024649e-04,-1.21719407e+00,-6.23304748e-04,
 -1.20220187e-04,-1.72192600e-03]


--- Step 1732 ---
qpos:
[ 2.81289731e-03, 1.75964825e-01,-2.81536516e-02, 1.61482374e-01,
  1.83120214e-03, 1.58373977e-01,-4.62533392e-02, 1.47054976e-01,
  1.31371420e-02, 2.12370526e-01,-1.33291767e-02, 1.50179201e-01,
  1.34640474e+00,-1.09722948e-04, 1.10427668e+00, 6.34302686e-02,
  8.91685424e-02,-7.06169397e-02, 1.31374468e-01, 4.98182390e-01,
  4.64738781e-01, 4.97379020e-01, 5.37071953e-01]

qacc:
[ 3.32724664e+01, 5.36021537e+01,-1.25962763e+02, 4.71056862e+02,
  1.34407990e+01, 3.70001430e+01,-1.49771788e+02, 5.42420639e+02,
 -5.05605974e+00,-5.02128750e+00, 4.94975811e+00, 3.21591589e+01,
  3.08730634e-01,-4.60628666e-01,-1.72077339e-01, 3.06130023e-01,
 -6.98473577e+00,-2.41380926e+00, 1.95968768e+00,-7.37444855e+01,
  4.03168873e+01, 2.33934246e+01]

qfrc_actuator:
[-0.01103376, 0.24877492, 0.01574376, 0.15060437, 0.00224302, 0.27220681,
  0.02606674, 0.14659402, 0.00036415, 0.21915815, 0.0007773 , 0.1319926 ,
  0.00037448,-0.00390147, 0.        ,-0.0017878 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.30274393, -0.30630974, -0.30274393,  0.6521012 ,
       -0.21885016, -0.30630974, -0.21885016,  0.64697584,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021389227825503055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94228208, -0.33459319, -0.0123242 , -0.33456458,  0.94236267,
       -0.0043758 ,  0.01307798,  0.        , -0.99991448])
  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([ 0.10566854, -0.02846914,  0.11667226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.07964172,  0.42324548,  0.07964172,  1.77833494,
       -0.25358827,  0.42324548, -0.25358827,  0.47839083,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023194762683586933
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99807849, -0.05828778,  0.0210203 , -0.05827486,  0.99829982,
        0.00122731, -0.0210561 ,  0.        , -0.9997783 ])
  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([ 0.10893935, -0.08060626,  0.11358079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.50582992,  1.64803143, -4.1936256 ,  1.64803143,  1.07352303,
       -1.34884469, -4.1936256 , -1.34884469,  3.97575435,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028921801848101614
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.59676571e-14,  5.75805942e-13,  1.00000000e+00,  5.52587472e-26,
        1.00000000e+00, -5.75805942e-13, -1.00000000e+00,  0.00000000e+00,
       -9.59676571e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08652942, -0.08872193,  0.06199177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.27701122e-02, 1.02699865e-01, 5.88181304e-02, 3.00012337e-02,
  9.96730929e-04, 1.79302206e-01, 9.60086987e-02, 3.67212910e-02,
 -1.00826616e-04,-1.15520390e-04, 1.32963448e-04, 1.19088250e-04,
  2.30495824e-05,-3.91659348e-06,-9.03899125e-06,-1.33846971e-06,
 -2.31298235e-04,-5.66880568e-04,-1.21729119e+00,-6.70032436e-04,
 -1.56200287e-04,-1.86946258e-03]


--- Step 1733 ---
qpos:
[ 3.04805047e-03, 1.78930099e-01,-2.89713246e-02, 1.63940937e-01,
  1.86147431e-03, 1.60234575e-01,-4.76107679e-02, 1.49299799e-01,
  1.31568597e-02, 2.16601116e-01,-1.33629952e-02, 1.52810327e-01,
  1.34648792e+00,-1.55554370e-04, 1.10446939e+00, 6.34321236e-02,
  8.86784274e-02,-7.06840402e-02, 1.31450288e-01, 4.98416870e-01,
  4.62572541e-01, 4.96508801e-01, 5.39524122e-01]

qacc:
[ 7.22650220e+00, 5.58960761e+01,-1.89712790e+02, 6.03898306e+02,
  9.04083834e+00, 2.38849605e+01,-9.84475844e+01, 5.05066362e+02,
 -2.27887908e+00, 6.82654765e+00,-5.36055026e+01, 1.53320781e+02,
  1.67619446e-01,-4.89306135e-02, 6.40524031e+00,-2.20965277e+01,
 -6.86405160e+00,-2.36523946e+00, 1.49522756e+00,-7.41207631e+01,
  4.18372298e+01, 2.31786675e+01]

qfrc_actuator:
[-0.01118725, 0.25015983, 0.016551  , 0.15174131, 0.00191016, 0.27457326,
  0.02741773, 0.14726296, 0.00031259, 0.21902981, 0.0007946 , 0.13228392,
  0.00042204,-0.00388496, 0.        ,-0.00189524, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.31009194, -0.29886874, -0.31009194,  0.38758437,
        0.04470707, -0.29886874,  0.04470707,  0.38428743,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001908906186071663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.47466855e-01, -3.19156336e-01, -2.11137969e-02, -3.19077119e-01,
        9.47702080e-01, -7.11046457e-03,  2.22789391e-02, -8.67361738e-19,
       -9.99751794e-01])
  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([ 0.10521082, -0.02830804,  0.11664904])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.11120811,  0.41606766,  0.11120811,  1.88393535,
       -0.38843326,  0.41606766, -0.38843326,  0.53449524,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002182016502550072
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98024017e-01, -6.17522418e-02,  1.16069834e-02, -6.17480660e-02,
        9.98091509e-01,  7.18127785e-04, -1.16291776e-02,  0.00000000e+00,
       -9.99932379e-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([ 0.10870116, -0.08064687,  0.11351403])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.39751987,  1.62323746, -4.08696479,  1.62323746,  1.06401975,
       -1.32398064, -4.08696479, -1.32398064,  3.87166876,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002513798077098395
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10412908e-13,  2.20825816e-13,  1.00000000e+00, -2.43820206e-26,
        1.00000000e+00, -2.20825816e-13, -1.00000000e+00,  0.00000000e+00,
        1.10412908e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.086502  , -0.08873718,  0.06199285])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.34038805e-02, 9.91735837e-02, 5.72372799e-02, 2.96971400e-02,
  5.03353617e-04, 1.79024713e-01, 9.57705965e-02, 3.59822470e-02,
 -4.69297586e-05,-3.14922058e-04,-3.94473693e-05, 2.78655833e-04,
  5.87899489e-05, 2.21130320e-05,-7.32787631e-06,-1.09412734e-04,
 -2.38176353e-04,-6.32742718e-04,-1.21739497e+00,-7.21368626e-04,
 -1.97206526e-04,-2.01697199e-03]


--- Step 1734 ---
qpos:
[ 3.27839064e-03, 1.81949023e-01,-2.97640837e-02, 1.66431817e-01,
  1.89264499e-03, 1.62172772e-01,-4.89226837e-02, 1.51575081e-01,
  1.31760481e-02, 2.20834332e-01,-1.34016548e-02, 1.55461140e-01,
  1.34657171e+00,-2.00866441e-04, 1.10466220e+00, 6.34313252e-02,
  8.81610317e-02,-7.07605887e-02, 1.31530928e-01, 4.98646048e-01,
  4.60303357e-01, 4.95575170e-01, 5.42105331e-01]

qacc:
[-1.64976258e+01, 6.68510708e+01,-2.69202023e+02, 7.41321574e+02,
  3.73167490e+00, 3.71682370e+01,-1.11154443e+02, 5.04666068e+02,
 -1.44526914e+00, 5.71124487e+01,-2.79628137e+02, 6.20330350e+02,
 -8.55098667e-02, 6.71432129e-01, 8.16448310e+00,-2.83220864e+01,
 -6.82017908e+00,-2.36198435e+00, 1.20495371e+00,-7.35697423e+01,
  4.31294068e+01, 2.26978260e+01]

qfrc_actuator:
[-1.13746502e-02, 2.51732388e-01, 1.73407929e-02, 1.53196925e-01,
  1.37748775e-03, 2.77255364e-01, 2.87645357e-02, 1.48221894e-01,
  2.74271966e-04, 2.19676642e-01, 7.47243056e-04, 1.33320088e-01,
  4.84838567e-04,-3.83898977e-03, 0.00000000e+00,-2.03022872e-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, -0.31347293, -0.2953206 , -0.31347293,  0.33032014,
        0.10652158, -0.2953206 ,  0.10652158,  0.31760427,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017943701083100935
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95275121, -0.30222595, -0.03040735, -0.30207215,  0.95323632,
       -0.00964073,  0.03189907,  0.        , -0.9994911 ])
  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([ 0.10473169, -0.02813106,  0.11662263])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.11416228,  0.4152668 ,  0.11416228,  2.23543787,
       -0.49615342,  0.4152668 , -0.49615342,  0.56707243,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002036279574517803
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97867132e-01, -6.52551423e-02,  1.71860244e-03, -6.52550455e-02,
        9.97868612e-01,  1.12387187e-04, -1.72227327e-03,  0.00000000e+00,
       -9.99998517e-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([ 0.1084498 , -0.08068846,  0.11344324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.29567697,  1.60518452, -3.98449787,  1.60518452,  1.02912745,
       -1.3159537 , -3.98449787, -1.3159537 ,  3.76553526,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002076222721884291
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.02098214e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.02098214e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08647072, -0.08875523,  0.0619941 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.37052628e-02, 9.70760231e-02, 5.61955511e-02, 2.96109221e-02,
 -1.37173809e-04, 1.78728311e-01, 9.50636688e-02, 3.54368272e-02,
 -2.91576075e-05, 3.20257601e-04,-1.60852649e-04, 1.01222198e-03,
  9.94746450e-05, 6.67388782e-05,-1.89276294e-05,-1.42855772e-04,
 -2.43795031e-04,-7.02984775e-04,-1.21750526e+00,-7.76823705e-04,
 -2.41220633e-04,-2.17550065e-03]


--- Step 1735 ---
qpos:
[ 3.49623754e-03, 1.85018381e-01,-3.05321623e-02, 1.68957801e-01,
  1.92339121e-03, 1.64213275e-01,-5.01880998e-02, 1.53880305e-01,
  1.31951993e-02, 2.25075835e-01,-1.34451295e-02, 1.58137935e-01,
  1.34665623e+00,-2.45257084e-04, 1.10485454e+00, 6.34315649e-02,
  8.76164397e-02,-7.08465476e-02, 1.31615682e-01, 4.98868498e-01,
  4.57930081e-01, 4.94580485e-01, 5.44812267e-01]

qacc:
[-4.19510642e+01, 6.88947291e+01,-2.93970340e+02, 8.15862793e+02,
 -1.83217605e+00, 6.58719013e+01,-1.63813875e+02, 5.28008805e+02,
 -1.69458310e-01, 7.73375184e+01,-3.66726386e+02, 8.10137545e+02,
 -7.81130496e-03, 8.78932540e-01,-3.79833343e+00, 1.23409914e+01,
 -6.79908845e+00,-2.35260991e+00, 1.02853993e+00,-7.21072576e+01,
  4.35957140e+01, 2.14295193e+01]

qfrc_actuator:
[-1.15763400e-02, 2.53655240e-01, 1.81523277e-02, 1.54634539e-01,
  7.60837520e-04, 2.80652426e-01, 3.00878285e-02, 1.49555362e-01,
  2.61678317e-04, 2.20730978e-01, 7.54950826e-04, 1.34680421e-01,
  5.51423252e-04,-3.77584428e-03, 0.00000000e+00,-1.96728791e-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, -0.31613024, -0.29247429, -0.31613024,  0.30787329,
        0.1327324 , -0.29247429,  0.1327324 ,  0.28720528,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015371846900418032
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95817972, -0.28335943, -0.03998819, -0.28311299,  0.95901378,
       -0.0118153 ,  0.0416972 ,  0.        , -0.99913029])
  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([ 0.10423291, -0.02793265,  0.11659473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.12897796,  0.41090659,  0.12897796,  2.66502812,
       -0.7013334 ,  0.41090659, -0.7013334 ,  0.65081232,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018851786279433073
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97585916e-01, -6.89156047e-02, -8.54286763e-03, -6.89130779e-02,
        9.97622493e-01, -5.90139951e-04,  8.56322676e-03,  1.08420217e-19,
       -9.99963335e-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([ 0.10818408, -0.08073236,  0.11336989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.20825042,  1.59355626, -3.894862  ,  1.59355626,  0.97992001,
       -1.3208494 , -3.894862  , -1.3208494 ,  3.66783388,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015863619906765491
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.49927391e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.49927391e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08643583, -0.0887758 ,  0.06199549])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.36756971e-02, 9.62126158e-02, 5.57306316e-02, 2.94223090e-02,
 -7.98862051e-04, 1.78186673e-01, 9.40995232e-02, 3.52408612e-02,
 -1.73867108e-06, 1.08929644e-03, 3.57406264e-05, 1.37358162e-03,
  1.35818204e-04, 1.04957224e-04,-2.73198639e-05, 5.18675973e-05,
 -2.47797636e-04,-7.76954289e-04,-1.21762050e+00,-8.35864661e-04,
 -2.87559140e-04,-2.34397203e-03]


--- Step 1736 ---
qpos:
[ 3.69444160e-03, 1.88145169e-01,-3.12618911e-02, 1.71522572e-01,
  1.95310831e-03, 1.66359331e-01,-5.14018415e-02, 1.56216305e-01,
  1.32143148e-02, 2.29326628e-01,-1.34892127e-02, 1.60830890e-01,
  1.34674165e+00,-2.88457837e-04, 1.10504663e+00, 6.34328346e-02,
  8.70450951e-02,-7.09414332e-02, 1.31703407e-01, 4.99083865e-01,
  4.55450822e-01, 4.93527723e-01, 5.47640604e-01]

qacc:
[-6.46010164e+01, 4.75610616e+01,-2.19996756e+02, 7.78947875e+02,
 -4.18223998e+00, 5.74599186e+01,-1.31162071e+02, 4.99441572e+02,
 -1.33068566e-01, 4.68982060e+01,-2.15879501e+02, 4.84857564e+02,
 -1.00239967e-01, 1.23682776e+00,-3.43303313e+00, 1.15690734e+01,
 -6.68811603e+00,-2.23168527e+00, 7.42537681e-01,-7.06557808e+01,
  4.39328667e+01, 1.93003567e+01]

qfrc_actuator:
[-1.17414914e-02, 2.55130932e-01, 1.89494245e-02, 1.55726088e-01,
  3.61050935e-04, 2.83197783e-01, 3.13778234e-02, 1.50942116e-01,
  2.46483979e-04, 2.21490527e-01, 8.33112354e-04, 1.35510977e-01,
  6.20245861e-04,-3.70300095e-03, 0.00000000e+00,-1.91248960e-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, -0.32067303, -0.28748626, -0.32067303,  0.29967045,
        0.14612559, -0.28748626,  0.14612559,  0.26767935,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011451731353314132
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63524413e-01, -2.62542152e-01, -5.18876028e-02, -2.62162288e-01,
        9.64920525e-01, -1.41179326e-02,  5.37739653e-02, -1.73472348e-18,
       -9.98553134e-01])
  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([ 0.10371597, -0.02771228,  0.11654129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.15796803,  0.40065651,  0.15796803,  3.16679841,
       -1.07878013,  0.40065651, -1.07878013,  0.85600719,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017318268645640843
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99716885, -0.07273334, -0.01908245, -0.07272002,  0.99735142,
       -0.00139162,  0.01913313,  0.        , -0.99981694])
  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([ 0.10790244, -0.08077854,  0.11329552])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.14116903,  1.56697798, -3.83325722,  1.56697798,  0.93669054,
       -1.30994267, -3.83325722, -1.30994267,  3.60568414,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010457658087906219
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.30818189e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.30818189e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08639718, -0.0887989 ,  0.06199703])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.32250871e-02, 9.50607806e-02, 5.52620491e-02, 2.87479901e-02,
 -1.17750935e-03, 1.75553880e-01, 9.30510558e-02, 3.51236985e-02,
 -1.58489950e-06, 1.28037958e-03, 3.01496046e-04, 8.90335927e-04,
  1.67285487e-04, 1.32755037e-04,-7.87674020e-06, 5.38675392e-05,
 -2.50269123e-04,-8.53438613e-04,-1.21773906e+00,-8.96281330e-04,
 -3.34520389e-04,-2.51976584e-03]


--- Step 1737 ---
qpos:
[ 3.88521640e-03, 1.91330108e-01,-3.19540352e-02, 1.74129619e-01,
  1.99570427e-03, 1.68574758e-01,-5.25816073e-02, 1.58584992e-01,
  1.32330505e-02, 2.33585680e-01,-1.35329752e-02, 1.63538867e-01,
  1.34682805e+00,-3.30272435e-04, 1.10523876e+00, 6.34337204e-02,
  8.64513815e-02,-7.10380566e-02, 1.31799445e-01, 4.99282770e-01,
  4.52872159e-01, 4.92411883e-01, 5.50594279e-01]

qacc:
[-2.39249243e+01, 5.75578563e+01,-2.68591393e+02, 8.87143871e+02,
  5.08196655e+01, 6.24991962e+01,-2.26180311e+02, 6.80312626e+02,
 -9.58854292e-01, 4.06181927e+01,-1.90744013e+02, 4.39559629e+02,
 -2.76235957e-01, 1.64235503e+00, 1.24811243e+00,-4.19102624e+00,
 -5.59226886e+00,-4.34450784e-01, 2.07854524e+00,-6.92582593e+01,
  4.40829823e+01, 2.56197505e+01]

qfrc_actuator:
[-1.19435834e-02, 2.56417674e-01, 1.96965641e-02, 1.57053842e-01,
  1.27662251e-04, 2.85134691e-01, 3.26063124e-02, 1.52401286e-01,
  2.11989987e-04, 2.21997876e-01, 8.80254994e-04, 1.36271632e-01,
  6.85045303e-04,-3.62497595e-03, 0.00000000e+00,-1.93399428e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40530772, -0.31153129, -0.25927322, -0.31153129,  0.2959632 ,
        0.13138357, -0.25927322,  0.13138357,  0.24744301,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008278532718945076
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96880969, -0.23974841, -0.06267755, -0.23924825,  0.97083505,
       -0.01547827,  0.06456046,  0.        , -0.9979138 ])
  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([ 0.10317878, -0.02746876,  0.11650214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.17081076,  0.39535202,  0.17081076,  3.92506567,
       -1.50974265,  0.39535202, -1.50974265,  1.08295354,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015774820243705293
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99663528, -0.07643907, -0.02958356, -0.07640541,  0.99707425,
       -0.00226798,  0.02967037,  0.        , -0.99955974])
  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([ 0.10760428, -0.08082399,  0.11322385])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.11281788,  1.93567276, -3.62883478,  1.93567276,  1.57404154,
       -1.35421988, -3.62883478, -1.35421988,  3.39045748,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.925902275692342e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20225096e-12, -8.01500642e-13,  1.00000000e+00, -9.63604920e-25,
        1.00000000e+00,  8.01500642e-13, -1.00000000e+00,  0.00000000e+00,
       -1.20225096e-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([ 0.07938534, -0.09130938,  0.06199803])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24535486e-02, 9.33678002e-02, 5.40589392e-02, 2.81254900e-02,
 -1.35950161e-03, 1.72145860e-01, 9.16805043e-02, 3.50367314e-02,
 -2.07906774e-05, 1.16900349e-03, 3.25806450e-04, 8.28234808e-04,
  1.87261247e-04, 1.52290963e-04, 4.77546569e-07,-2.00252027e-05,
 -2.51982432e-04,-9.32123936e-04,-1.21786052e+00,-9.55587448e-04,
 -3.80158776e-04,-2.70238129e-03]


--- Step 1738 ---
qpos:
[ 4.05938365e-03, 1.94583077e-01,-3.25986898e-02, 1.76781173e-01,
  2.05240137e-03, 1.70858459e-01,-5.37183452e-02, 1.60987520e-01,
  1.32521284e-02, 2.37849034e-01,-1.35750467e-02, 1.66254354e-01,
  1.34691549e+00,-3.70582450e-04, 1.10543087e+00, 6.34339986e-02,
  8.58360274e-02,-7.11366192e-02, 1.31900636e-01, 4.99465682e-01,
  4.50190192e-01, 4.91236492e-01, 5.53669154e-01]

qacc:
[-5.24865788e+01, 4.75675177e+01,-2.23365762e+02, 8.57569794e+02,
  5.50530615e+01, 3.82747010e+01,-1.46970677e+02, 6.08352975e+02,
  8.11782428e-01, 1.62639156e+01,-8.06550604e+01, 2.02617969e+02,
 -3.26171276e-01, 1.81159156e+00, 1.88209724e+00,-6.46503433e+00,
 -5.41013331e+00,-4.84787830e-01, 1.28815256e+00,-6.84027340e+01,
  4.49549270e+01, 2.27101717e+01]

qfrc_actuator:
[-1.21366910e-02, 2.57585105e-01, 2.03991547e-02, 1.58096005e-01,
  1.40389657e-04, 2.87197563e-01, 3.37949265e-02, 1.53303849e-01,
  2.19532431e-04, 2.22049425e-01, 8.90347877e-04, 1.36629970e-01,
  7.47390646e-04,-3.54451417e-03, 0.00000000e+00,-1.96477383e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.27978438, -0.22129095, -0.17120051, -0.22129095,  0.21477032,
        0.0840361 , -0.17120051,  0.0840361 ,  0.17116071,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000500556973930797
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73702528e-01, -2.15055508e-01, -7.51965138e-02, -2.14417059e-01,
        9.76601827e-01, -1.65588718e-02,  7.69981294e-02,  3.46944695e-18,
       -9.97031237e-01])
  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([ 0.10262562, -0.02720136,  0.11644386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.18098474,  0.39079926, -0.18098474,  1.91273554,
        0.68636427,  0.39079926,  0.68636427,  0.7485385 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014220867475448595
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.95922626e-01, -8.05667389e-02, -4.05847604e-02, -8.04999260e-02,
        9.96749216e-01, -3.28044581e-03,  4.07171230e-02,  4.33680869e-19,
       -9.99170714e-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([ 0.10729604, -0.08087446,  0.11314786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.1031234 ,  1.88107762, -3.64652829,  1.88107762,  1.62651563,
       -1.27756898, -3.64652829, -1.27756898,  3.44408383,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.176819084917739e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.36151161e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.36151161e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07935255, -0.09134618,  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:
[-2.22849200e-02, 9.15171312e-02, 5.28484424e-02, 2.70425580e-02,
 -1.99140600e-03, 1.70669829e-01, 9.11536335e-02, 3.42974047e-02,
  1.93110224e-05, 6.53127378e-04, 2.66550347e-04, 4.20775647e-04,
  2.00262718e-04, 1.64423675e-04,-4.59997569e-06,-3.25115484e-05,
 -2.43742437e-04,-1.01368112e-03,-1.21798519e+00,-1.03438078e-03,
 -4.39901876e-04,-2.89220363e-03]


--- Step 1739 ---
qpos:
[ 4.21063179e-03, 1.97923205e-01,-3.31803493e-02, 1.79477753e-01,
  2.12567345e-03, 1.73217006e-01,-5.48044257e-02, 1.63423247e-01,
  1.32730131e-02, 2.42109311e-01,-1.36135678e-02, 1.68974270e-01,
  1.34700388e+00,-4.09029449e-04, 1.10562254e+00, 6.34369038e-02,
  8.52006789e-02,-7.12366522e-02, 1.32002948e-01, 4.99633390e-01,
  4.47400667e-01, 4.90004240e-01, 5.56861710e-01]

qacc:
[-7.09913511e+01, 3.07622181e+01,-1.29328101e+02, 7.35233904e+02,
  6.38747110e+01, 2.44907343e+01,-8.27763737e+01, 5.17123110e+02,
  4.24422646e+00,-4.95448834e+00,-6.58456017e+00, 7.89252775e+01,
 -4.37373778e-01, 2.16889587e+00,-8.51207868e+00, 2.89967054e+01,
 -4.99859905e+00,-3.67589415e-01, 2.80325424e-01,-6.80845386e+01,
  4.58001779e+01, 1.99785559e+01]

qfrc_actuator:
[-0.01227675, 0.25859455, 0.02105008, 0.15862812, 0.00038318, 0.28945138,
  0.03497248, 0.15359193, 0.00030498, 0.2215086 , 0.00091222, 0.13681943,
  0.0008029 ,-0.00344551, 0.        ,-0.00182321, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.21576838, -0.17659355, -0.12397868, -0.17659355,  0.17352708,
        0.06016794, -0.12397868,  0.06016794,  0.13006599,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022213375381591391
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97817108, -0.18849982, -0.0874595 , -0.18775084,  0.98207322,
       -0.01678704,  0.08905599,  0.        , -0.99602662])
  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([ 0.10205543, -0.02690945,  0.11638985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.22082919,  0.36974857, -0.22082919,  2.22052947,
        1.06897633,  0.36974857,  1.06897633,  1.06911037,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012669870806083347
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.95048255e-01, -8.48461996e-02, -5.17696146e-02, -8.47315999e-02,
        9.96394060e-01, -4.40835130e-03,  5.19569683e-02,  8.67361738e-19,
       -9.98649325e-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([ 0.10697747, -0.0809269 ,  0.11307123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09470378,  1.81956805, -3.66821089,  1.81956805,  2.01138277,
       -1.03340415, -3.66821089, -1.03340415,  3.58209716,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.888138650336547e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.61019500e-13,  1.92203900e-12,  1.00000000e+00, -1.84711696e-24,
        1.00000000e+00, -1.92203900e-12, -1.00000000e+00,  0.00000000e+00,
        9.61019500e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07932063, -0.09137845,  0.06199918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.16037602e-02, 8.90117070e-02, 5.10897065e-02, 2.53376823e-02,
 -2.45450148e-03, 1.69436706e-01, 9.01617852e-02, 3.28855674e-02,
  1.01114959e-04,-2.57309813e-04, 1.50519513e-04, 2.19945543e-04,
  2.03290918e-04, 1.89148175e-04,-8.03714804e-06, 1.38542934e-04,
 -2.35214864e-04,-1.09777898e-03,-1.21811305e+00,-1.11089912e-03,
 -4.97041056e-04,-3.09050308e-03]


--- Step 1740 ---
qpos:
[ 3.98361687e-03, 2.01796053e-01,-3.32804893e-02, 1.82536019e-01,
  2.22194001e-03, 1.75658598e-01,-5.58451262e-02, 1.65885154e-01,
  1.32960254e-02, 2.46357915e-01,-1.36477856e-02, 1.71710952e-01,
  1.34709355e+00,-4.46464577e-04, 1.10581422e+00, 6.34404429e-02,
  8.45561511e-02,-7.13305885e-02, 1.32098703e-01, 4.99835946e-01,
  4.44529876e-01, 4.88729565e-01, 5.60089841e-01]

qacc:
[-1.14854960e+03, 9.51710917e+01,-8.15465086e+02, 5.84125528e+03,
  8.71849635e+01, 3.57805221e+01,-7.80486143e+01, 3.94299915e+02,
  4.91264550e+00, 6.70496129e+00,-1.15282503e+02, 4.02393620e+02,
  3.00668447e-01, 7.00102956e-01,-1.90230610e+00, 6.67452624e+00,
 -2.29480853e+00, 1.52415196e+00,-1.63951763e+00,-4.86255448e+01,
  1.14496696e+01,-1.12355975e+01]

qfrc_actuator:
[-0.01238978, 0.25940961, 0.02159999, 0.15940398, 0.00073813, 0.29123556,
  0.0360653 , 0.15472336, 0.00040008, 0.22051149, 0.00097412, 0.1376355 ,
  0.0008596 ,-0.00340735, 0.        ,-0.00179428, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.3322901 ,  0.27397597, -0.3322901 ,  1.98728167,
        1.88792302,  0.27397597,  1.88792302,  2.72042941,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00111509384890963
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99400812, -0.08927879, -0.06306467, -0.08909965,  0.99600668,
       -0.00565291,  0.06331752,  0.        , -0.99799343])
  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([ 0.10664863, -0.08098116,  0.11299517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09097812, -0.53036944,  4.05645291, -0.53036944, 18.49047838,
        1.88269286,  4.05645291,  1.88269286,  4.33713475,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.896963725200098e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.8489437e-11,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.8489437e-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([ 0.07929162, -0.0914052 ,  0.06199989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.05796996e-02, 8.53518259e-02, 4.84530033e-02, 2.38500613e-02,
 -2.92935196e-03, 1.67402097e-01, 8.87022566e-02, 3.23487692e-02,
  1.19058184e-04,-1.25484901e-03,-1.84007656e-05, 7.99956742e-04,
  2.12339763e-04, 1.35070700e-04, 1.03370552e-05, 3.52278433e-05,
 -2.26495408e-04,-1.18483157e-03,-1.21824496e+00,-1.18479471e-03,
 -5.51415824e-04,-3.29803899e-03]


--- Step 1741 ---
qpos:
[ 3.73184682e-03, 2.06077310e-01,-3.31973569e-02, 1.85652777e-01,
  2.31654133e-03, 1.78430134e-01,-5.66948627e-02, 1.68366851e-01,
  1.33203334e-02, 2.50590751e-01,-1.36796492e-02, 1.74472767e-01,
  1.34718455e+00,-4.83286282e-04, 1.10600651e+00, 6.34392815e-02,
  8.38811672e-02,-7.14289805e-02, 1.32157658e-01, 5.00051521e-01,
  4.41703227e-01, 4.87439471e-01, 5.63249055e-01]

qacc:
[-7.38145796e+01, 1.47388774e+02, 1.21274372e+01, 4.05099345e+02,
 -6.08998960e+00,-5.42714033e+01, 7.39294623e+02,-9.29287661e+02,
  2.95499607e+00, 2.37423520e+01,-2.18017498e+02, 6.52812263e+02,
  2.58961175e-01, 5.09557432e-01, 1.50970849e+01,-5.14989375e+01,
 -7.61403385e+00,-1.11391226e+00,-9.19980001e+00, 2.06613635e+01,
 -3.47146075e+01,-6.65569497e+00]

qfrc_actuator:
[-0.01208658, 0.25916605, 0.02168109, 0.16002691, 0.00112958, 0.29234476,
  0.03707453, 0.15623026, 0.00044665, 0.21955224, 0.00102237, 0.13888443,
  0.00091162,-0.00338784, 0.        ,-0.002045  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43008253,  0.33587112,  0.26862907,  0.33587112,  0.77631005,
       -0.43289367,  0.26862907, -0.43289367,  0.97133624,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009744562295806269
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92828833e-01, -9.37271057e-02, -7.42033503e-02, -9.34664192e-02,
        9.95597926e-01, -6.98561646e-03,  7.45314432e-02,  8.67361738e-19,
       -9.97218664e-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([ 0.10631235, -0.08103519,  0.11292317])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.33234072e-03, 5.83387124e-02, 2.44129392e-02, 6.37021427e-03,
 -3.68916542e-03, 1.64279010e-01, 8.74215266e-02, 3.25381069e-02,
  7.23513708e-05,-1.78423446e-03,-2.38423169e-04, 1.19601400e-03,
  1.99754156e-04, 1.04890942e-04, 6.25664446e-06,-2.48095094e-04,
 -2.38493781e-04,-1.23018506e-03,-1.21835143e+00,-1.14982768e-03,
 -5.39350326e-04,-3.39649815e-03]


--- Step 1742 ---
qpos:
[ 3.48376727e-03, 2.10619541e-01,-3.30041275e-02, 1.88798633e-01,
  2.40905102e-03, 1.81521692e-01,-5.73959495e-02, 1.70859510e-01,
  1.33453258e-02, 2.54812551e-01,-1.37142372e-02, 1.77254460e-01,
  1.34727687e+00,-5.19976275e-04, 1.10619902e+00, 6.34334667e-02,
  8.31819404e-02,-7.15311785e-02, 1.32189358e-01, 5.00288706e-01,
  4.38895487e-01, 4.86129495e-01, 5.66356845e-01]

qacc:
[ 1.03501592e+01, 9.69020823e+01, 3.20843370e+01, 1.04737122e+02,
 -8.00606061e+00, 3.19961631e+01, 4.50646467e+02,-7.22376689e+02,
  1.50832216e+00, 3.34465596e+01,-2.21673051e+02, 5.70908480e+02,
  6.25312416e-01,-3.21663706e-01, 1.43192387e+01,-4.97334713e+01,
 -6.06071981e+00,-9.51509425e-01,-6.81363419e+00, 6.88894767e+00,
 -2.69209045e+01,-9.94395503e+00]

qfrc_actuator:
[-0.01177135, 0.25841156, 0.02160428, 0.16021954, 0.00146964, 0.29310616,
  0.03790539, 0.15691097, 0.00046409, 0.21933457, 0.00099164, 0.13989869,
  0.00095547,-0.00339728, 0.        ,-0.00228091, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.41101013,  0.05711733, -0.40702203,  0.05711733,  0.74160184,
        0.04639188, -0.40702203,  0.04639188,  0.41752029,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008494332325373406
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.91563152e-01, -9.80212665e-02, -8.48194933e-02, -9.76645974e-02,
        9.95184320e-01, -8.35434601e-03,  8.52299334e-02, -1.73472348e-18,
       -9.96361309e-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([ 0.10593122, -0.0810872 ,  0.11286733])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.14305327e-04, 3.70094291e-02, 1.51182998e-02, 3.61918126e-03,
 -3.26680979e-03, 1.48450262e-01, 7.86784170e-02, 3.22186459e-02,
  3.81810531e-05,-1.36643470e-03,-4.39763949e-04, 9.39080985e-04,
  1.76844335e-04, 6.56705420e-05,-2.83219931e-05,-2.49863194e-04,
 -2.12521935e-04,-1.18515263e-03,-1.21832354e+00,-1.09559192e-03,
 -5.17569150e-04,-3.28203853e-03]


--- Step 1743 ---
qpos:
[ 3.23914290e-03, 2.15323647e-01,-3.27438972e-02, 1.91967482e-01,
  2.52296125e-03, 1.84692176e-01,-5.81030554e-02, 1.73362190e-01,
  1.33709335e-02, 2.59038551e-01,-1.37568976e-02, 1.80060008e-01,
  1.34737052e+00,-5.56722702e-04, 1.10639130e+00, 6.34251654e-02,
  8.24811650e-02,-7.16275436e-02, 1.32226530e-01, 5.00574257e-01,
  4.35981247e-01, 4.84763066e-01, 5.69517809e-01]

qacc:
[ 9.49450809e+00, 7.36070861e+01,-4.83427434e+01, 2.18492121e+02,
  7.64392991e+01, 1.40018153e+02,-3.88700278e+02, 5.06270110e+02,
  1.23712495e+00, 7.65415485e+01,-3.61943191e+02, 7.74549007e+02,
  9.32445484e-01,-8.67003618e-01, 7.11212836e+00,-2.55105492e+01,
 -3.87147023e-01, 1.45822808e+00, 1.36787396e+00,-6.61651642e+01,
  1.59505407e+01,-1.38929665e+01]

qfrc_actuator:
[-0.0115917 , 0.25756537, 0.02136159, 0.16056828, 0.00167342, 0.29451321,
  0.0385774 , 0.15777147, 0.0004819 , 0.22075284, 0.00104193, 0.14119341,
  0.00101566,-0.0034061 , 0.        ,-0.00239958, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.37792258, -0.07345658,  0.37071499, -0.07345658,  0.86329878,
        0.09617651,  0.37071499,  0.09617651,  0.3969798 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007434041586644657
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90226461e-01, -1.02196306e-01, -9.49076999e-02, -1.01730120e-01,
        9.94764251e-01, -9.75026630e-03,  9.54072282e-02, -1.73472348e-18,
       -9.95438326e-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([ 0.10551094, -0.08113733,  0.11282774])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09281699,  0.73592165, -4.02611106,  0.73592165,  6.81422189,
        0.49743803, -4.02611106,  0.49743803,  4.18374231,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0483228651613228e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.03255864e-12,  1.35503910e-12,  1.00000000e+00, -2.75419642e-24,
        1.00000000e+00, -1.35503910e-12, -1.00000000e+00,  0.00000000e+00,
        2.03255864e-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([ 0.0791232 , -0.09144491,  0.06199942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.97275380e-04, 2.29484536e-02, 9.31147261e-03, 2.49392833e-03,
 -2.95930342e-03, 1.33749952e-01, 7.18867280e-02, 3.25192669e-02,
  3.49967474e-05, 4.51129843e-04,-3.05977545e-04, 1.22537709e-03,
  1.70956501e-04, 5.11530160e-05,-4.26181002e-05,-1.36738021e-04,
 -1.97054068e-04,-1.15670553e-03,-1.21832286e+00,-1.03900771e-03,
 -4.93025480e-04,-3.20678745e-03]


--- Step 1744 ---
qpos:
[ 2.99671529e-03, 2.20131282e-01,-3.24472790e-02, 1.95170629e-01,
  2.65710950e-03, 1.87907812e-01,-5.87992061e-02, 1.75879656e-01,
  1.33968378e-02, 2.63280978e-01,-1.38068043e-02, 1.82893209e-01,
  1.34746511e+00,-5.92273473e-04, 1.10658254e+00, 6.34218009e-02,
  8.17766322e-02,-7.17194586e-02, 1.32267088e-01, 5.00907929e-01,
  4.32969324e-01, 4.83340395e-01, 5.72722335e-01]

qacc:
[ 5.80622015e+00, 1.04352765e+02,-3.14567600e+02, 7.62757825e+02,
  7.12329907e+01, 5.82712171e+01,-1.82529428e+02, 3.82906677e+02,
  5.12231870e-01, 9.80927853e+01,-4.30688768e+02, 8.96832734e+02,
  2.22114364e-01, 8.09314551e-01,-1.64313993e+01, 5.52711657e+01,
 -9.39373173e-01, 1.11252962e+00, 8.46527075e-01,-6.15139110e+01,
  1.15722525e+01,-1.42161604e+01]

qfrc_actuator:
[-0.01147691, 0.25749325, 0.02107168, 0.16182179, 0.00170179, 0.29627873,
  0.03926706, 0.15878966, 0.00048198, 0.22273356, 0.00112952, 0.14267999,
  0.00108561,-0.00332565, 0.        ,-0.00212868, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.34289682, -0.2038463 ,  0.27572617, -0.2038463 ,  1.88563689,
        1.14055859,  0.27572617,  1.14055859,  1.18611982,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006535084927261159
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98877941, -0.1064118 , -0.10484185, -0.10581862,  0.99432215,
       -0.01122012,  0.10544052,  0.        , -0.99442561])
  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([ 0.1050898 , -0.08118701,  0.11279298])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09861142, -1.37844135,  3.85985945, -1.37844135,  3.27898698,
       -0.29270605,  3.85985945, -0.29270605,  3.9940796 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.1129611373758035e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.34966389e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.34966389e-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([ 0.07905437, -0.09145   ,  0.06199884])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25755504e-04, 1.46094976e-02, 5.60922705e-03, 2.57895594e-03,
 -4.00304323e-03, 1.31459163e-01, 7.28439908e-02, 3.30253491e-02,
  1.75205894e-05, 2.06959272e-03, 1.32586402e-04, 1.50460865e-03,
  1.74136693e-04, 1.35316767e-04,-3.52419301e-05, 2.57636548e-04,
 -2.14710321e-04,-1.21718155e-03,-1.21847093e+00,-1.00030233e-03,
 -4.78717849e-04,-3.33757904e-03]


--- Step 1745 ---
qpos:
[ 2.75756383e-03, 2.25004615e-01,-3.21296983e-02, 1.98402415e-01,
  2.81026754e-03, 1.91161760e-01,-5.94715997e-02, 1.78414347e-01,
  1.34218934e-02, 2.67538006e-01,-1.38570654e-02, 1.85738888e-01,
  1.34756023e+00,-6.25051943e-04, 1.10677364e+00, 6.34206212e-02,
  8.10668232e-02,-7.18080367e-02, 1.32309176e-01, 5.01288772e-01,
  4.29867663e-01, 4.81862281e-01, 5.75961892e-01]

qacc:
[ 8.52779787e+00, 8.59021192e+01,-2.97545987e+02, 7.00478816e+02,
  6.57436951e+01, 1.88116296e+01,-6.55464908e+01, 2.94447851e+02,
 -1.77048886e+00, 4.56260778e+01,-1.85454355e+02, 3.85991469e+02,
 -1.46986672e+00, 4.05327884e+00,-6.62559355e+00, 2.32783533e+01,
 -1.31904031e+00, 8.34226324e-01, 3.82443586e-01,-5.70303040e+01,
  7.99545579e+00,-1.44182149e+01]

qfrc_actuator:
[-0.01129462, 0.25748861, 0.02079276, 0.16295856, 0.0016175 , 0.29760467,
  0.03998824, 0.15914807, 0.00041822, 0.22358211, 0.00115313, 0.14330969,
  0.00114543,-0.00315736, 0.        ,-0.00202101, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.31002086, -0.18526613,  0.24857473, -0.18526613,  2.10095251,
        1.33480572,  0.24857473,  1.33480572,  1.30486972,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005741715572221069
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.87214414e-01, -1.10646654e-01, -1.14738917e-01, -1.09906820e-01,
        9.93859808e-01, -1.27739114e-02,  1.15447788e-01,  1.73472348e-18,
       -9.93313550e-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([ 0.1046683 , -0.08123617,  0.11276119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.10392805, -1.41355298,  3.85280332, -1.41355298,  3.28156503,
       -0.30171633,  3.85280332, -0.30171633,  3.99323151,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.344147675884203e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.59681967e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.59681967e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07899956, -0.09145257,  0.06199849])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.83971667e-04, 9.25119260e-03, 3.44685851e-03, 1.98209655e-03,
 -5.10127241e-03, 1.30415757e-01, 7.29833035e-02, 3.26333791e-02,
 -4.77805860e-05, 1.94425965e-03, 4.65823193e-04, 7.36929555e-04,
  1.86685652e-04, 2.44689500e-04, 1.31327089e-05, 1.17597393e-04,
 -2.28606537e-04,-1.27113446e-03,-1.21861615e+00,-9.56676400e-04,
 -4.60656979e-04,-3.45276991e-03]


--- Step 1746 ---
qpos:
[ 2.52245772e-03, 2.29918413e-01,-3.18000058e-02, 2.01644237e-01,
  2.98095594e-03, 1.94465249e-01,-6.01131245e-02, 1.80966547e-01,
  1.34453200e-02, 2.71802948e-01,-1.39045548e-02, 1.88587595e-01,
  1.34765468e+00,-6.50988290e-04, 1.10696524e+00, 6.34170679e-02,
  8.03506525e-02,-7.18942780e-02, 1.32351235e-01, 5.01716221e-01,
  4.26683784e-01, 4.80328499e-01, 5.79229070e-01]

qacc:
[ 1.02825021e+01, 3.98538904e+01,-1.05708126e+02, 2.26803424e+02,
  5.94089127e+01, 1.45118897e+01,-3.00331703e+01, 2.45003413e+02,
 -3.23708133e+00, 8.88695398e+00,-2.89322555e+01, 7.01553571e+01,
 -5.69672338e+00, 1.21806479e+01, 8.44925447e+00,-2.72156899e+01,
 -1.59041744e+00, 5.84191871e-01,-7.31667153e-03,-5.33107362e+01,
  4.43240281e+00,-1.43431237e+01]

qfrc_actuator:
[-0.0110738 , 0.25732559, 0.02050355, 0.16325386, 0.0014765 , 0.29886869,
  0.04069341, 0.15959935, 0.0003172 , 0.22364011, 0.0011521 , 0.14342938,
  0.00118319,-0.00274314, 0.        ,-0.00215252, 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: -0.000503301237438454
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85529172e-01, -1.14885595e-01, -1.24633666e-01, -1.13977783e-01,
        9.93378729e-01, -1.44140522e-02,  1.25464399e-01, -1.73472348e-18,
       -9.92098122e-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([ 0.10424553, -0.08128468,  0.11273208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.10666283, -1.45396259,  3.8406604 , -1.45396259,  3.30809525,
       -0.30231451,  3.8406604 , -0.30231451,  3.99221532,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.876947470237481e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.72278777e-13,  9.44557553e-13,  1.00000000e+00, -4.46094486e-25,
        1.00000000e+00, -9.44557553e-13, -1.00000000e+00,  0.00000000e+00,
        4.72278777e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07895593, -0.09145317,  0.06199835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.25999350e-04, 5.62343517e-03, 2.04434020e-03, 8.26921603e-04,
 -6.19480306e-03, 1.29650809e-01, 7.24657675e-02, 3.22121717e-02,
 -9.28507498e-05, 1.11924681e-03, 4.29667691e-04, 2.17979527e-04,
  1.97690127e-04, 5.21092451e-04, 1.59659703e-05,-1.24043703e-04,
 -2.38626216e-04,-1.31883887e-03,-1.21875749e+00,-9.09351943e-04,
 -4.39273526e-04,-3.55350687e-03]


--- Step 1747 ---
qpos:
[ 2.29151171e-03, 2.34856045e-01,-3.14656344e-02, 2.04890911e-01,
  3.16746523e-03, 1.97825763e-01,-6.07189238e-02, 1.83536163e-01,
  1.34678903e-02, 2.76071999e-01,-1.39509110e-02, 1.91447324e-01,
  1.34774724e+00,-6.65002906e-04, 1.10715698e+00, 6.34116660e-02,
  7.96272877e-02,-7.19790928e-02, 1.32391959e-01, 5.02190242e-01,
  4.23424482e-01, 4.78737735e-01, 5.82517682e-01]

qacc:
[  10.27713887,  28.15432743, -74.49759737, 131.37631868,  52.52542627,
   10.76615092,  -2.06205238, 202.80331294,  -1.66573216,  24.64851067,
 -124.86323812, 306.26367676, -10.29646158,  21.48552568,   6.76339167,
  -21.09157265,  -1.7985193 ,   0.35664668,  -0.33352499, -50.50783287,
    0.937112  , -14.06843659]

qfrc_actuator:
[-1.08496951e-02, 2.57137512e-01, 2.01731263e-02, 1.63370971e-01,
  1.31311101e-03, 2.99518667e-01, 4.13546007e-02, 1.60312201e-01,
  2.65947927e-04, 2.23703938e-01, 1.15106500e-03, 1.43975391e-01,
  1.20248942e-03,-2.04452965e-03, 0.00000000e+00,-2.24634089e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044089756160407996
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98372596, -0.11911553, -0.13451668, -0.11801727,  0.9928804 ,
       -0.01613792,  0.13548125,  0.        , -0.99077991])
  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([ 0.10381973, -0.08133235,  0.11270632])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.10637787, -1.49317178,  3.82528133, -1.49317178,  3.3648508 ,
       -0.2894499 ,  3.82528133, -0.2894499 ,  3.99339313,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.823735691658227e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.76594013e-13,  4.76594013e-13,  1.00000000e+00, -2.27141853e-25,
        1.00000000e+00, -4.76594013e-13, -1.00000000e+00,  0.00000000e+00,
        4.76594013e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07892124, -0.09145223,  0.06199836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.32332131e-04, 3.23036894e-03, 1.04240054e-03, 4.23867164e-04,
 -7.23680803e-03, 1.27708310e-01, 7.15478152e-02, 3.20380333e-02,
 -4.89686586e-05, 6.34123054e-04, 2.37117087e-04, 5.97881181e-04,
  2.50264386e-04, 8.78232694e-04,-1.26546676e-05,-1.00066208e-04,
 -2.44493663e-04,-1.36052121e-03,-1.21889590e+00,-8.59479649e-04,
 -4.15622046e-04,-3.64006373e-03]


--- Step 1748 ---
qpos:
[ 2.06441684e-03, 2.39801102e-01,-3.11297105e-02, 2.08150618e-01,
  3.36806149e-03, 2.01241699e-01,-6.12828741e-02, 1.86123603e-01,
  1.34899045e-02, 2.80344595e-01,-1.39974430e-02, 1.94320579e-01,
  1.34783831e+00,-6.65758824e-04, 1.10734846e+00, 6.34065041e-02,
  7.88961478e-02,-7.20632095e-02, 1.32430164e-01, 5.02710417e-01,
  4.20095399e-01, 4.77089170e-01, 5.85822513e-01]

qacc:
[ 9.27847922e+00, 3.15952719e+01,-1.51246599e+02, 3.62347231e+02,
  4.58735020e+01,-7.39534848e+00, 5.76821764e+01, 1.42674357e+02,
 -1.06616061e+00, 3.26262986e+01,-1.64430319e+02, 3.90220729e+02,
 -1.08171593e+01, 2.32214051e+01,-5.19123875e-02, 2.06684005e+00,
 -1.94379233e+00, 1.74510394e-01,-6.29915827e-01,-4.80107441e+01,
 -1.80268271e+00,-1.38362234e+01]

qfrc_actuator:
[-1.06431016e-02, 2.56366760e-01, 1.98028119e-02, 1.63932673e-01,
  1.07772233e-03, 2.99595390e-01, 4.19721989e-02, 1.60624751e-01,
  2.26681065e-04, 2.23967189e-01, 1.16830648e-03, 1.44661464e-01,
  1.21616155e-03,-1.32511312e-03, 0.00000000e+00,-2.22835049e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000386659436867033
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98180617, -0.12332335, -0.14438832, -0.122011  ,  0.99236654,
       -0.01794342,  0.14549898,  0.        , -0.9893584 ])
  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([ 0.10338961, -0.08137899,  0.11268436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.10360403, -1.5351694 ,  3.80563017, -1.5351694 ,  3.36523676,
       -0.29785313,  3.80563017, -0.29785313,  3.98345179,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.27741298033263e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05186294e-12,  1.05186294e-12,  1.00000000e+00, -1.10641564e-24,
        1.00000000e+00, -1.05186294e-12, -1.00000000e+00,  0.00000000e+00,
        1.05186294e-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([ 0.07889369, -0.09145009,  0.06199852])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.15141405e-04, 1.08539602e-03, 3.71886206e-04, 7.24630160e-04,
 -8.26535583e-03, 1.24816081e-01, 7.03424069e-02, 3.14679750e-02,
 -3.18705537e-05, 5.38865984e-04, 1.44808157e-04, 7.18211727e-04,
  3.57704690e-04, 1.00192510e-03,-2.31713862e-05, 9.48031268e-06,
 -2.46089428e-04,-1.39660991e-03,-1.21903296e+00,-8.08027415e-04,
 -3.90618273e-04,-3.71320556e-03]


--- Step 1749 ---
qpos:
[ 1.84029027e-03, 2.44741001e-01,-3.07937406e-02, 2.11422101e-01,
  3.58101428e-03, 2.04717806e-01,-6.18019589e-02, 1.88728232e-01,
  1.35109128e-02, 2.84617003e-01,-1.40415268e-02, 1.97197669e-01,
  1.34792876e+00,-6.54256309e-04, 1.10753964e+00, 6.34025584e-02,
  7.81568731e-02,-7.21472418e-02, 1.32464809e-01, 5.03276184e-01,
  4.16701598e-01, 4.75382067e-01, 5.89138991e-01]

qacc:
[ 6.98175326e+00, 1.66644120e+01,-1.16970450e+02, 3.18501730e+02,
  3.94062359e+01,-1.07201478e+01, 8.11815935e+01, 1.00544876e+02,
 -1.85359986e+00, 7.15261451e-01,-1.86040262e+01, 7.99309989e+01,
 -9.33971274e+00, 2.08154839e+01,-3.18314816e+00, 1.26453468e+01,
 -2.03367087e+00, 2.10950347e-02,-8.90081585e-01,-4.57689586e+01,
 -4.18658942e+00,-1.35694168e+01]

qfrc_actuator:
[-1.04838761e-02, 2.55253279e-01, 1.94630748e-02, 1.64449213e-01,
  8.30045806e-04, 2.99644253e-01, 4.25254760e-02, 1.60796263e-01,
  1.59143614e-04, 2.23834183e-01, 1.23287492e-03, 1.44838828e-01,
  1.21584130e-03,-7.05837112e-04, 0.00000000e+00,-2.16237763e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003396216549270409
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9797095 , -0.12745417, -0.15467618, -0.1258948 ,  0.99184446,
       -0.01987623,  0.15594802,  0.        , -0.98776526])
  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([ 0.10295534, -0.08142397,  0.11266133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09940982, -1.58184035,  3.78192306, -1.58184035,  3.46743351,
       -0.26433262,  3.78192306, -0.26433262,  3.98884914,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.320497717968941e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.21208081e-13,  1.28483232e-12,  1.00000000e+00,  4.12698525e-25,
        1.00000000e+00, -1.28483232e-12, -1.00000000e+00,  0.00000000e+00,
       -3.21208081e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07887187, -0.09144701,  0.06199879])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.65909581e-04,-5.81883327e-04,-1.11745155e-04, 5.71473185e-04,
 -9.21946372e-03, 1.21973698e-01, 6.87653845e-02, 3.07362192e-02,
 -5.81132352e-05, 7.55089367e-05, 1.65319642e-04, 2.04657019e-04,
  4.31701775e-04, 9.58375964e-04,-1.41637181e-05, 6.25747866e-05,
 -2.43644618e-04,-1.42771688e-03,-1.21916854e+00,-7.55585576e-04,
 -3.64342682e-04,-3.77483549e-03]


--- Step 1750 ---
qpos:
[ 1.61915172e-03, 2.49669618e-01,-3.04603073e-02, 2.14694988e-01,
  3.80448568e-03, 2.08263680e-01,-6.22778456e-02, 1.91348255e-01,
  1.35308810e-02, 2.88888291e-01,-1.40831783e-02, 2.00072988e-01,
  1.34801902e+00,-6.31444478e-04, 1.10773098e+00, 6.33970563e-02,
  7.74092154e-02,-7.22317873e-02, 1.32495042e-01, 5.03887515e-01,
  4.13247969e-01, 4.73614687e-01, 5.92463178e-01]

qacc:
[  6.83266794, -5.03142558, -9.30794323, 45.02902917, 32.7722777 ,
   2.92796511, 58.48059978, 87.72519583, -1.87471864,-11.84030159,
  47.09691717,-79.51240523, -8.50841816, 19.18375581,  5.78502495,
 -17.92645459, -2.09578416, -0.12829602, -1.1027981 ,-44.1366652 ,
  -6.76853075,-13.14351538]

qfrc_actuator:
[-1.03182237e-02, 2.54245567e-01, 1.91425697e-02, 1.64473132e-01,
  6.06597495e-04, 2.99791505e-01, 4.30204041e-02, 1.61373732e-01,
  9.30688234e-05, 2.23820793e-01, 1.35879113e-03, 1.44750751e-01,
  1.20177473e-03,-1.50948621e-04, 0.00000000e+00,-2.24621375e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002995169886337472
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97755214, -0.13158449, -0.1645519 , -0.12975896,  0.99130496,
       -0.0218424 ,  0.16599524,  0.        , -0.98612655])
  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([ 0.10251468, -0.0814682 ,  0.11264737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.0950676 , -1.63340849,  3.75520377, -1.63340849,  3.61217122,
       -0.2100464 ,  3.75520377, -0.2100464 ,  4.00370329,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.0233019903541658e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.59027509e-13,  1.83611003e-12,  1.00000000e+00, -8.42825015e-25,
        1.00000000e+00, -1.83611003e-12, -1.00000000e+00,  0.00000000e+00,
        4.59027509e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07885463, -0.09144318,  0.06199915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67311041e-04,-1.51398210e-03,-5.00703879e-04,-1.12904206e-05,
 -1.00628077e-02, 1.18989692e-01, 6.69779970e-02, 3.04419236e-02,
 -6.03185323e-05,-8.13967544e-05, 1.15991050e-04,-8.97503526e-05,
  4.48154130e-04, 9.00236836e-04,-3.10847171e-06,-8.29458988e-05,
 -2.37214081e-04,-1.45414208e-03,-1.21930264e+00,-7.02674511e-04,
 -3.37064206e-04,-3.82587973e-03]


--- Step 1751 ---
qpos:
[ 1.40199342e-03, 2.54581728e-01,-3.01310732e-02, 2.17964908e-01,
  4.03640580e-03, 2.11881375e-01,-6.27145037e-02, 1.93981893e-01,
  1.35504381e-02, 2.93156835e-01,-1.41225261e-02, 2.02954166e-01,
  1.34811010e+00,-6.00501788e-04, 1.10792283e+00, 6.33858945e-02,
  7.66529505e-02,-7.23174772e-02, 1.32520194e-01, 5.04545223e-01,
  4.09739331e-01, 4.71783768e-01, 5.95791805e-01]

qacc:
[  8.84758679,-16.07404377, 37.74776276,-69.03407144, 25.70842432,
  13.05431135, 33.86460927, 86.13494407, -0.71139335,  1.84012409,
 -35.67949374,133.13462994, -5.68254531, 13.5182442 , 18.41006088,
 -61.97852019, -2.15178452, -0.2860948 , -1.27033664,-43.31594537,
  -9.77771471,-12.51751462]

qfrc_actuator:
[-1.00966645e-02, 2.53114226e-01, 1.88006626e-02, 1.64295901e-01,
  3.59076145e-04, 2.99484805e-01, 4.34817968e-02, 1.62633510e-01,
  6.38133259e-05, 2.23755911e-01, 1.50280003e-03, 1.45057813e-01,
  1.19009550e-03, 2.01579415e-04, 0.00000000e+00,-2.54191758e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22132191,  0.02362162, -0.22005774,  0.02362162,  1.79153571,
        0.16855118, -0.22005774,  0.16855118,  0.23941467,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026642388067207206
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9752797 , -0.13566391, -0.17442709, -0.13354489,  0.99075492,
       -0.02388427,  0.17605473,  0.        , -0.98438038])
  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([ 0.10206744, -0.08151104,  0.11263807])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09185338, -1.68966687,  3.72669961, -1.68966687,  3.5629022 ,
       -0.23982381,  3.72669961, -0.23982381,  3.98311848,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.4411851285034416e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92588551e-12,  1.92588551e-12,  1.00000000e+00, -3.70903501e-24,
        1.00000000e+00, -1.92588551e-12, -1.00000000e+00,  0.00000000e+00,
        1.92588551e-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([ 0.07884109, -0.09143877,  0.06199959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.23591289e-04,-2.26303286e-03,-7.81765674e-04,-2.76556208e-04,
 -1.08383170e-02, 1.15069103e-01, 6.52391961e-02, 3.09193531e-02,
 -2.40102795e-05,-2.43098835e-04, 8.56002709e-05, 2.91319972e-04,
  4.45500445e-04, 6.86986872e-04,-1.49427483e-05,-3.01696458e-04,
 -2.26625230e-04,-1.47595622e-03,-1.21943659e+00,-6.49877289e-04,
 -3.09493742e-04,-3.86627823e-03]


--- Step 1752 ---
qpos:
[ 1.18915280e-03, 2.59482377e-01,-2.98117371e-02, 2.21243277e-01,
  4.24327052e-03, 2.15576300e-01,-6.31215733e-02, 1.96627062e-01,
  1.35700416e-02, 2.97422262e-01,-1.41608765e-02, 2.05854099e-01,
  1.34820275e+00,-5.64917694e-04, 1.10811464e+00, 6.33705903e-02,
  7.58742937e-02,-7.24125725e-02, 1.32521182e-01, 5.05237473e-01,
  4.06244982e-01, 4.69924434e-01, 5.99058542e-01]

qacc:
[ 9.27763520e+00, 2.92529712e+01,-1.59662424e+02, 3.23189227e+02,
 -7.46608218e+01, 4.27336090e+01,-5.21569328e+01, 1.45501209e+02,
  9.65503634e-02, 3.11105437e+01,-1.92749673e+02, 5.09105609e+02,
 -2.41681386e+00, 6.95772652e+00, 1.27224145e+01,-4.39550425e+01,
 -5.59797354e+00,-2.35137042e+00,-6.04095400e+00, 2.66305178e+00,
 -3.22525053e+01,-1.67114383e+01]

qfrc_actuator:
[-9.86150112e-03, 2.53019107e-01, 1.84840968e-02, 1.64765154e-01,
  1.30478685e-04, 3.00171713e-01, 4.38742533e-02, 1.64032005e-01,
  5.64364914e-05, 2.23768720e-01, 1.62131488e-03, 1.46021101e-01,
  1.18509105e-03, 3.60335382e-04, 0.00000000e+00,-2.74698460e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21783127, -0.0722942 , -0.20548481, -0.0722942 ,  0.12228164,
        0.03361652, -0.20548481,  0.03361652,  0.20600422,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023978677809025024
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97337355, -0.13557434, -0.18483377, -0.13319423,  0.99076718,
       -0.02529224,  0.18655621,  0.        , -0.98244429])
  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([ 0.10160762, -0.08150359,  0.11262723])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.43655378e-04,-1.71386417e-03,-9.54045910e-04, 3.23554116e-04,
 -1.14913013e-02, 1.12036356e-01, 6.36286660e-02, 3.16241305e-02,
  2.58771645e-06,-2.45533534e-04, 3.62727322e-05, 9.47180076e-04,
  3.99476550e-04, 4.38757729e-04,-4.38400014e-05,-2.24618811e-04,
 -2.11596088e-04,-1.49310383e-03,-1.21957253e+00,-5.97798038e-04,
 -2.82510088e-04,-3.89554526e-03]


--- Step 1753 ---
qpos:
[ 9.80458710e-04, 2.64383797e-01,-2.95063355e-02, 2.24536720e-01,
  4.42243797e-03, 2.19325586e-01,-6.35200859e-02, 1.99283452e-01,
  1.35890567e-02, 3.01693827e-01,-1.42037509e-02, 2.08778868e-01,
  1.34829700e+00,-5.26842574e-04, 1.10830514e+00, 6.33612513e-02,
  7.50729207e-02,-7.25160009e-02, 1.32498086e-01, 5.05961698e-01,
  4.02763944e-01, 4.68038003e-01, 6.02266048e-01]

qacc:
[ 8.60132334e+00, 6.98312898e+01,-3.06979918e+02, 5.76930882e+02,
 -8.07452895e+01, 6.99656048e+01,-1.90843475e+02, 3.25216586e+02,
 -1.04567670e+00, 7.10126183e+01,-3.41283486e+02, 7.60221897e+02,
 -1.35106356e-01, 2.38441235e+00,-1.98724640e+01, 6.68679257e+01,
 -5.67903356e+00,-2.08324503e+00,-6.02112636e+00, 2.66820219e+00,
 -3.03770182e+01,-1.59085108e+01]

qfrc_actuator:
[-9.63785747e-03, 2.54115364e-01, 1.81901144e-02, 1.65612068e-01,
 -7.43924350e-05, 3.02148509e-01, 4.42725545e-02, 1.64853521e-01,
  8.63581567e-06, 2.24823764e-01, 1.67166022e-03, 1.47327379e-01,
  1.17866766e-03, 4.20817851e-04, 0.00000000e+00,-2.41760188e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21296069, -0.05857617, -0.2047464 , -0.05857617,  0.08987191,
        0.03521463, -0.2047464 ,  0.03521463,  0.20288609,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001949758628945253
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70839897e-01, -1.39409260e-01, -1.95025519e-01, -1.36678760e-01,
        9.90234850e-01, -2.74564799e-02,  1.96948753e-01, -3.46944695e-18,
       -9.80413784e-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([ 0.10113636, -0.08154443,  0.11262175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.35319364e-04,-2.24663475e-04,-8.18368890e-04, 7.30471256e-04,
 -1.04415740e-02, 1.10019945e-01, 6.25046784e-02, 3.18559162e-02,
 -3.42318338e-05, 8.13404583e-04,-1.57531956e-05, 1.30127828e-03,
  3.13900372e-04, 2.66666669e-04,-4.55721412e-05, 3.11065507e-04,
 -1.87670963e-04,-1.45014403e-03,-1.21958772e+00,-5.27598794e-04,
 -2.37981095e-04,-3.79123012e-03]


--- Step 1754 ---
qpos:
[ 7.75442219e-04, 2.69284529e-01,-2.92093180e-02, 2.27843473e-01,
  4.60630303e-03, 2.23108128e-01,-6.39096293e-02, 2.01951465e-01,
  1.36079040e-02, 3.05972783e-01,-1.42490443e-02, 2.11727698e-01,
  1.34839264e+00,-4.87932932e-04, 1.10849493e+00, 6.33588375e-02,
  7.42674176e-02,-7.26175498e-02, 1.32475622e-01, 5.06733193e-01,
  3.99195802e-01, 4.66078104e-01, 6.05504240e-01]

qacc:
[ 7.45818883e+00, 4.89696563e+01,-2.28633427e+02, 4.62517470e+02,
  1.32732320e+01, 4.17505252e+01,-1.32825265e+02, 2.90148437e+02,
 -3.12419782e-01, 6.52133335e+01,-3.15056692e+02, 7.16692708e+02,
  9.53723613e-01,-2.82045375e-01,-2.19978655e+01, 7.53294632e+01,
 -1.03255012e+00, 4.69859192e-01, 1.58242936e-01,-6.08600853e+01,
  2.76228822e+00,-1.20608334e+01]

qfrc_actuator:
[-9.44043419e-03, 2.54303308e-01, 1.78644197e-02, 1.66302768e-01,
 -2.52363734e-04, 3.03311228e-01, 4.47013114e-02, 1.65555331e-01,
 -9.54492037e-06, 2.25501992e-01, 1.66847369e-03, 1.48559578e-01,
  1.16600908e-03, 4.04877405e-04, 0.00000000e+00,-2.06004211e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.207759  , -0.0597647 , -0.19897734, -0.0597647 ,  0.29178922,
       -0.02523926, -0.19897734, -0.02523926,  0.21533985,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012766957082855588
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68128162e-01, -1.43051744e-01, -2.05582246e-01, -1.39931589e-01,
        9.89715211e-01, -2.97145063e-02,  2.07718588e-01, -3.46944695e-18,
       -9.78188626e-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([ 0.10065028, -0.0815852 ,  0.11261316])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09125615,  1.24829549, -3.89616931,  1.24829549,  6.43006975,
        0.74933357, -3.89616931,  0.74933357,  4.33133548,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.737715054926709e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.35305121e-12,  6.35305121e-12,  1.00000000e+00, -4.03612597e-23,
        1.00000000e+00, -6.35305121e-12, -1.00000000e+00,  0.00000000e+00,
        6.35305121e-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([ 0.07872985, -0.09143733,  0.06199975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.09447032e-04,-2.54883642e-04,-5.12273636e-04, 6.49937237e-04,
 -9.23214527e-03, 1.08330816e-01, 6.24618601e-02, 3.19834577e-02,
 -9.56293674e-06, 1.03286658e-03, 1.54817882e-04, 1.27715004e-03,
  2.21418555e-04, 1.25644308e-04, 1.61114250e-05, 3.69526650e-04,
 -1.63344410e-04,-1.40890177e-03,-1.21960158e+00,-4.62435383e-04,
 -1.95421259e-04,-3.69270653e-03]


--- Step 1755 ---
qpos:
[ 5.74068188e-04, 2.74177775e-01,-2.89171743e-02, 2.31165860e-01,
  4.79196347e-03, 2.26888105e-01,-6.43067238e-02, 2.04632705e-01,
  1.36272486e-02, 3.10251491e-01,-1.42916912e-02, 2.14693554e-01,
  1.34848944e+00,-4.49347509e-04, 1.10868501e+00, 6.33583717e-02,
  7.34560588e-02,-7.27180467e-02, 1.32451847e-01, 5.07551114e-01,
  3.95544916e-01, 4.64045519e-01, 6.08767479e-01]

qacc:
[ 7.24017356e+00, 3.49107716e+01,-2.01069475e+02, 4.74025066e+02,
  4.93995241e+00, 4.33214096e+01,-2.12966443e+02, 4.47322745e+02,
  8.32266464e-01, 2.67647889e+01,-1.64574313e+02, 4.46651552e+02,
  1.24228579e+00,-1.53143391e+00,-5.55994604e+00, 1.98370807e+01,
 -1.46392123e+00, 2.62978898e-01,-3.28010506e-01,-5.80749035e+01,
  8.14583488e-01,-1.24837284e+01]

qfrc_actuator:
[-9.24218019e-03, 2.53698879e-01, 1.75374737e-02, 1.67073001e-01,
 -4.00005827e-04, 3.03523295e-01, 4.50912487e-02, 1.66943791e-01,
  7.61365810e-06, 2.25151554e-01, 1.66837786e-03, 1.49383119e-01,
  1.15489505e-03, 3.43743303e-04, 0.00000000e+00,-1.97296432e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20504162, -0.0571752 , -0.19690877, -0.0571752 ,  0.18954909,
        0.00449847, -0.19690877,  0.00449847,  0.20373543,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.753119400994633e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96527324, -0.14667369, -0.2161814 , -0.14312813,  0.98918493,
       -0.0320548 ,  0.21854498,  0.        , -0.97582688])
  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([ 0.10016485, -0.08162516,  0.11260743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09183982, -1.39838179,  3.84547545, -1.39838179,  2.34887587,
       -0.63381735,  3.84547545, -0.63381735,  3.86135632,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.4307964151277774e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.93986897e-12,  1.93986897e-12,  1.00000000e+00,  3.76309160e-24,
        1.00000000e+00, -1.93986897e-12, -1.00000000e+00,  0.00000000e+00,
       -1.93986897e-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([ 0.07867908, -0.09143903,  0.0619996 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.07952446e-04,-1.00412430e-03,-4.84749958e-04, 7.37169878e-04,
 -9.61582729e-03, 1.06745229e-01, 6.23590897e-02, 3.27776047e-02,
  2.93310128e-05, 1.60971301e-04, 2.23229971e-04, 8.83133125e-04,
  1.40037674e-04, 2.22492160e-05, 4.77815084e-05, 1.09480764e-04,
 -1.47227189e-04,-1.44864397e-03,-1.21978729e+00,-4.17689576e-04,
 -1.68261534e-04,-3.77851214e-03]


--- Step 1756 ---
qpos:
[ 3.76005539e-04, 2.79058040e-01,-2.86286377e-02, 2.34496084e-01,
  4.97760020e-03, 2.30650146e-01,-6.47093073e-02, 2.07329506e-01,
  1.36472349e-02, 3.14522399e-01,-1.43297548e-02, 2.17663343e-01,
  1.34858717e+00,-4.11861976e-04, 1.10887527e+00, 6.33590097e-02,
  7.26375640e-02,-7.28181410e-02, 1.32425042e-01, 5.08414257e-01,
  3.91814852e-01, 4.61941235e-01, 6.12050946e-01]

qacc:
[ 6.43901610e+00, 8.54456743e+00,-8.64915614e+01, 2.31813039e+02,
 -1.88804584e-02, 2.20473080e+01,-1.76299101e+02, 4.58954634e+02,
  1.07756221e+00,-1.51055179e+01, 2.27260473e+01, 4.27906987e+01,
  1.58463259e+00,-2.59465758e+00,-3.19272001e+00, 1.12557410e+01,
 -1.78399260e+00, 1.00677176e-01,-7.57539692e-01,-5.55549592e+01,
 -5.86577801e-01,-1.28227558e+01]

qfrc_actuator:
[-9.06261628e-03, 2.52785872e-01, 1.72451255e-02, 1.67439489e-01,
 -5.63932491e-04, 3.03489283e-01, 4.55063322e-02, 1.68152151e-01,
  2.76252570e-05, 2.24295113e-01, 1.70154396e-03, 1.49532812e-01,
  1.15000532e-03, 2.56317940e-04, 0.00000000e+00,-1.92170009e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20401548, -0.05571934, -0.19625919, -0.05571934,  0.16691749,
        0.01053238, -0.19625919,  0.01053238,  0.20102526,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.3688002172214906e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.62246934e-01, -1.50254383e-01, -2.26945937e-01, -1.46242052e-01,
        9.88647369e-01, -3.44911875e-02,  2.29551956e-01,  6.93889390e-18,
       -9.73296409e-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([ 0.09968246, -0.08166465,  0.11260118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09161065, -1.43743698,  3.83080313, -1.43743698,  2.1871572 ,
       -0.71461041,  3.83080313, -0.71461041,  3.8234665 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2422518278890071e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.35144312e-12,  2.23429541e-12,  1.00000000e+00, -7.48811399e-24,
        1.00000000e+00, -2.23429541e-12, -1.00000000e+00,  0.00000000e+00,
        3.35144312e-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([ 0.07863877, -0.09143933,  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:
[ 1.89505173e-04,-1.72152973e-03,-5.97883008e-04, 3.04542716e-04,
 -9.87009994e-03, 1.06704687e-01, 6.31073787e-02, 3.33116915e-02,
  3.76763804e-05,-8.34875126e-04, 7.16546007e-05, 1.67054207e-04,
  7.72155010e-05,-4.94922857e-05, 3.00694759e-05, 6.24775009e-05,
 -1.26819145e-04,-1.48357859e-03,-1.21997078e+00,-3.70882507e-04,
 -1.38190656e-04,-3.85451801e-03]


--- Step 1757 ---
qpos:
[ 1.80383350e-04, 2.83920190e-01,-2.83433292e-02, 2.37827537e-01,
  4.98100718e-03, 2.35073610e-01,-6.44607494e-02, 2.10534217e-01,
  1.36679059e-02, 3.18779681e-01,-1.43650018e-02, 2.20638666e-01,
  1.34868541e+00,-3.75412153e-04, 1.10906588e+00, 6.33582802e-02,
  7.18182712e-02,-7.29135996e-02, 1.32393022e-01, 5.09279167e-01,
  3.88036360e-01, 4.59846359e-01, 6.15307922e-01]

qacc:
[ 4.65022446e+00,-1.24796359e+01, 4.94224792e+00, 3.37911659e+01,
 -4.81452543e+02, 7.35845403e+01,-1.09533342e+03, 8.23097614e+03,
  1.13162893e+00,-1.46383990e+01, 3.56347957e+00, 9.56102712e+01,
  1.04892648e+00,-1.95592582e+00, 4.55189625e+00,-1.53913733e+01,
 -1.99520386e-01, 1.15892544e+00,-1.30353395e+00,-3.65967011e+00,
  1.16138866e+01,-2.03032987e+01]

qfrc_actuator:
[-8.93089760e-03, 2.51625199e-01, 1.69742189e-02, 1.67476512e-01,
 -7.18776328e-04, 3.03945364e-01, 4.59197091e-02, 1.68445957e-01,
  4.90052932e-05, 2.23266994e-01, 1.69841375e-03, 1.49781553e-01,
  1.14350312e-03, 1.89528444e-04, 0.00000000e+00,-1.99837479e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.0909943 ,  0.61018119, -4.0452334 ,  0.61018119, 14.05608269,
        1.50312947, -4.0452334 ,  1.50312947,  4.31772567,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.3295832048353215e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28213615e-11, -6.70557204e-09,  1.00000000e+00,  8.59745629e-20,
        1.00000000e+00,  6.70557204e-09, -1.00000000e+00,  0.00000000e+00,
        1.28213615e-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([ 0.0790102 , -0.09727605,  0.06199988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.39825808e-04,-2.41115768e-03,-7.52671359e-04,-6.74498985e-05,
 -1.00240191e-02, 1.07923606e-01, 6.37510540e-02, 3.28146928e-02,
  4.01010634e-05,-1.62447309e-03,-2.13009495e-04, 2.04820630e-04,
  2.40475224e-05,-6.17930057e-05, 1.70708046e-05,-7.02604471e-05,
 -1.02157303e-04,-1.51433570e-03,-1.22015195e+00,-3.22523863e-04,
 -1.05450111e-04,-3.92240734e-03]


--- Step 1758 ---
qpos:
[-1.31016173e-05, 2.88756115e-01,-2.80604660e-02, 2.41160416e-01,
  4.99241922e-03, 2.39847792e-01,-6.41297504e-02, 2.13706362e-01,
  1.36892744e-02, 3.23019458e-01,-1.43990891e-02, 2.23626278e-01,
  1.34878386e+00,-3.40093097e-04, 1.10925613e+00, 6.33600092e-02,
  7.09910694e-02,-7.30104734e-02, 1.32319886e-01, 5.10136522e-01,
  3.84263474e-01, 4.57740436e-01, 6.18527287e-01]

qacc:
[ 4.00658845e+00,-2.49568279e+01, 3.29623493e+01, 1.42503800e+01,
  1.97667654e+01, 1.69668918e+02, 1.98303180e+02,-1.12943740e+03,
  1.13270735e+00,-1.50230347e+00,-7.76312013e+01, 2.94888853e+02,
  1.15736361e+00,-2.27487001e+00,-8.05783300e+00, 2.71723597e+01,
 -1.97722668e+00,-3.53802039e-01,-1.02791268e+01, 8.14289852e+00,
 -1.00975730e+01,-3.82123486e+00]

qfrc_actuator:
[-8.81058706e-03, 2.49882435e-01, 1.66817358e-02, 1.67514607e-01,
 -7.03707572e-04, 3.03774778e-01, 4.56776272e-02, 1.68118521e-01,
  7.09067464e-05, 2.22233573e-01, 1.69119179e-03, 1.50388342e-01,
  1.12538595e-03, 1.17743611e-04, 0.00000000e+00,-1.86574099e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20400317,  0.0089779 , -0.20380552,  0.0089779 ,  0.38860669,
        0.00813202, -0.20380552,  0.00813202,  0.2043614 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0695835712879714e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.56179850e-01, -1.57564295e-01, -2.46766259e-01, -1.52565541e-01,
        9.87508731e-01, -3.93733751e-02,  2.49887673e-01, -6.93889390e-18,
       -9.68274832e-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([ 0.0986415 , -0.08174191,  0.11266258])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.22484443e-04,-3.42547315e-03,-9.47670784e-04,-1.07909398e-04,
 -8.74409917e-04, 7.45250332e-02, 3.09002777e-02, 7.06840554e-03,
  4.08351884e-05,-2.12752590e-03,-4.13206004e-04, 5.20601533e-04,
 -1.98969678e-05,-8.22864729e-05,-4.24407951e-06, 1.29878185e-04,
 -8.68949967e-05,-1.52258679e-03,-1.22016882e+00,-2.56801949e-04,
 -4.29089678e-05,-3.95897027e-03]


--- Step 1759 ---
qpos:
[-2.04007228e-04, 2.93559956e-01,-2.77815286e-02, 2.44502192e-01,
  5.02751590e-03, 2.44733087e-01,-6.37947097e-02, 2.16861387e-01,
  1.37110404e-02, 3.27244185e-01,-1.44341384e-02, 2.26615089e-01,
  1.34888269e+00,-3.07114318e-04, 1.10944605e+00, 6.33652967e-02,
  7.01562477e-02,-7.31015634e-02, 1.32245609e-01, 5.11001532e-01,
  3.80416250e-01, 4.55651359e-01, 6.21725623e-01]

qacc:
[ 4.71590125e+00,-1.36540202e+01,-4.81522798e+01, 2.25817934e+02,
  5.89917326e+01, 1.01014232e+02,-7.68267092e+01,-3.02774331e+02,
  6.38437159e-01,-1.47751301e+01, 1.89914266e+01, 1.38004510e+01,
  2.25520909e+00,-4.52351922e+00,-1.14489755e+01, 3.88434204e+01,
 -1.90497254e+00, 1.44594857e+00,-2.85219344e-01,-1.04098029e+01,
  2.14945211e+01,-2.79811326e+01]

qfrc_actuator:
[-8.66228908e-03, 2.48001053e-01, 1.63768151e-02, 1.67943215e-01,
 -7.21786799e-04, 3.02954780e-01, 4.53505138e-02, 1.68163962e-01,
  7.50816958e-05, 2.21685624e-01, 1.69979777e-03, 1.50455381e-01,
  1.11096061e-03,-2.75396103e-05, 0.00000000e+00,-1.68181164e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20529578, -0.01067415,  0.2050181 , -0.01067415,  0.45698101,
        0.01310384,  0.2050181 ,  0.01310384,  0.20597803,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.530136136145759e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95331587, -0.16133866, -0.25526198, -0.15584847,  0.9868991 ,
       -0.04173033,  0.25865054,  0.        , -0.96597096])
  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([ 0.09804391, -0.08177775,  0.11275442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09268521,  0.03555182, -4.0925308 ,  0.03555182, 22.64511412,
        0.16116498, -4.0925308 ,  0.16116498,  4.09408525,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.976345527698875e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.51097205e-13,  2.80877764e-12,  1.00000000e+00,  9.86153977e-25,
        1.00000000e+00, -2.80877764e-12, -1.00000000e+00,  0.00000000e+00,
       -3.51097205e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07949808, -0.10394324,  0.06199944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48375412e-04,-4.17165527e-03,-1.19381003e-03, 2.32596630e-04,
 -1.29418633e-03, 5.59919479e-02, 2.63884944e-02, 8.72131635e-03,
  2.31287902e-05,-1.95025005e-03,-5.14418999e-04,-4.09232204e-05,
 -4.47945973e-05,-1.71504907e-04, 9.94986676e-06, 1.90002636e-04,
 -4.52321110e-05,-1.50020318e-03,-1.22015152e+00,-2.28974381e-04,
 -2.79044888e-05,-3.91222093e-03]


--- Step 1760 ---
qpos:
[-3.92017067e-04, 2.98337266e-01,-2.75111220e-02, 2.47848980e-01,
  5.08674059e-03, 2.49669750e-01,-6.34455659e-02, 2.20002849e-01,
  1.37323836e-02, 3.31461988e-01,-1.44737236e-02, 2.29594882e-01,
  1.34898211e+00,-2.77676422e-04, 1.10963619e+00, 6.33707312e-02,
  6.93140911e-02,-7.31879062e-02, 1.32168201e-01, 5.11875856e-01,
  3.76497222e-01, 4.53571570e-01, 6.24904617e-01]

qacc:
[ 5.12034840e+00,-1.32617515e+00,-6.55086542e+01, 1.80200276e+02,
  5.86952818e+01, 2.01949802e+00, 1.45704155e+02,-4.31345412e+02,
 -6.36815937e-01,-1.47320014e+01, 7.55438769e+01,-2.14634130e+02,
  3.02666882e+00,-6.31743619e+00,-3.93308595e-01, 1.19592161e+00,
 -1.83374725e+00, 1.18680328e+00,-7.82698193e-01,-1.28238278e+01,
  1.88936828e+01,-2.59635528e+01]

qfrc_actuator:
[-8.49849566e-03, 2.47118006e-01, 1.61023959e-02, 1.68225284e-01,
 -7.43131163e-04, 3.01737939e-01, 4.50178045e-02, 1.67986893e-01,
  3.31364925e-05, 2.21948330e-01, 1.68405303e-03, 1.50044972e-01,
  1.10405165e-03,-2.33012679e-04, 0.00000000e+00,-1.68221998e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20951006, -0.11224252, -0.17690698, -0.11224252,  1.46655604,
       -0.79756048, -0.17690698, -0.79756048,  0.71553985,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001540080450498842
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95033902, -0.16519191, -0.26375629, -0.15917515,  0.98626144,
       -0.04417734,  0.26743039,  0.        , -0.96357718])
  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([ 0.09743776, -0.08181313,  0.11285476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.0955631 , -0.73102745, -4.02979354, -0.73102745,  5.01029643,
       -0.16593783, -4.02979354, -0.16593783,  4.12566516,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.1981771723560426e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.22097104e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.22097104e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07950133, -0.10392742,  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:
[ 1.67604665e-04,-3.62512028e-03,-1.33484256e-03, 5.31532551e-05,
 -2.50423554e-03, 4.90376448e-02, 2.57880533e-02, 9.38140523e-03,
 -2.57009428e-05,-1.08446703e-03,-5.33697441e-04,-5.25286381e-04,
 -7.16799863e-05,-2.60382540e-04, 2.29849599e-05, 1.07742571e-05,
 -4.15949457e-05,-1.52340483e-03,-1.22018966e+00,-1.43936226e-04,
  5.66881246e-05,-3.98805592e-03]


--- Step 1761 ---
qpos:
[-5.77563163e-04, 3.03100976e-01,-2.72534601e-02, 2.51198695e-01,
  5.16997823e-03, 2.54645195e-01,-6.30844330e-02, 2.23129984e-01,
  1.37533151e-02, 3.35678385e-01,-1.45179611e-02, 2.32572521e-01,
  1.34908165e+00,-2.51218510e-04, 1.10982643e+00, 6.33761477e-02,
  6.84652009e-02,-7.32706237e-02, 1.32086163e-01, 5.12762180e-01,
  3.72512185e-01, 4.51492014e-01, 6.28064153e-01]

qacc:
[ 4.20293431e+00, 2.32399929e+01,-1.19451232e+02, 1.94775419e+02,
  5.67660969e+01,-1.01501219e+01, 1.67951683e+02,-4.53333409e+02,
 -6.22492889e-01, 6.74132541e+00,-1.77854443e+01,-1.07939192e+01,
  2.26047230e+00,-5.04584949e+00,-4.29728483e-02,-1.86364792e-01,
 -1.68338089e+00, 9.06298155e-01,-1.15745921e+00,-1.46672348e+01,
  1.42996625e+01,-2.37428730e+01]

qfrc_actuator:
[-8.36225840e-03, 2.47480335e-01, 1.58524528e-02, 1.68455260e-01,
 -7.76351831e-04, 3.00653342e-01, 4.46878122e-02, 1.68034664e-01,
 -3.14282408e-07, 2.22500045e-01, 1.69316177e-03, 1.49996926e-01,
  1.09629617e-03,-3.83699781e-04, 0.00000000e+00,-1.68472686e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21668055, -0.15227568, -0.15415115, -0.15227568,  0.80566548,
       -0.58181906, -0.15415115, -0.58181906,  0.79142092,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023014432539499323
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.47219210e-01, -1.69100930e-01, -2.72361236e-01, -1.62516086e-01,
        9.85598740e-01, -4.67295020e-02,  2.76340893e-01, -6.93889390e-18,
       -9.61059681e-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([ 0.09682693, -0.0818482 ,  0.11296008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09635703, -0.65434135, -4.04375795, -0.65434135,  4.71357731,
       -0.0998756 , -4.04375795, -0.0998756 ,  4.11251842,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.459931703049535e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.50412519e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.50412519e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07950368, -0.10391499,  0.06199902])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.43500556e-04,-2.10963626e-03,-1.22066818e-03, 1.59519163e-05,
 -3.74867507e-03, 4.52007973e-02, 2.46862620e-02, 1.00889141e-02,
 -2.48991001e-05,-3.35556788e-04,-3.49258974e-04,-1.36491119e-04,
 -1.08491247e-04,-2.34370282e-04, 7.67609162e-06, 3.21656754e-08,
 -3.38016235e-05,-1.54582518e-03,-1.22023728e+00,-6.12499279e-05,
  1.35796787e-04,-4.05931912e-03]


--- Step 1762 ---
qpos:
[-7.60688377e-04, 3.07854949e-01,-2.70055470e-02, 2.54562039e-01,
  5.27437678e-03, 2.59635381e-01,-6.27320753e-02, 2.26241628e-01,
  1.37745133e-02, 3.39893960e-01,-1.45637938e-02, 2.35561062e-01,
  1.34918096e+00,-2.26941200e-04, 1.11001738e+00, 6.33758058e-02,
  6.76098415e-02,-7.33507152e-02, 1.31998191e-01, 5.13662847e-01,
  3.68465085e-01, 4.49404303e-01, 6.31204985e-01]

qacc:
[ 4.04198941e+00, 4.13712646e+01,-2.19124092e+02, 4.64477146e+02,
  4.85300247e+01, 1.31067898e+01, 4.48193356e+01,-3.03612383e+02,
  3.81127253e-01, 2.53487998e+01,-1.35196705e+02, 3.19520387e+02,
  1.00858746e+00,-2.91084739e+00, 1.83158100e+01,-6.28248177e+01,
 -1.61731852e+00, 6.56525444e-01,-1.48367067e+00,-1.69229878e+01,
  1.06777451e+01,-2.17915383e+01]

qfrc_actuator:
[-8.22552848e-03, 2.47628930e-01, 1.56248217e-02, 1.69204393e-01,
 -8.43987058e-04, 2.99835411e-01, 4.43026649e-02, 1.68489815e-01,
  6.99499405e-06, 2.22831859e-01, 1.77237131e-03, 1.50589102e-01,
  1.08805297e-03,-4.82907216e-04, 0.00000000e+00,-1.99018165e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22674825, -0.10026911, -0.20337373, -0.10026911,  0.23933167,
       -0.00620399, -0.20337373, -0.00620399,  0.22980699,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003019828133774225
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94394589, -0.17304304, -0.28110898, -0.16584516,  0.98491426,
       -0.04938902,  0.28541467,  0.        , -0.95840413])
  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([ 0.09621242, -0.0818828 ,  0.11306937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09483418, -0.4489266 , -4.07015133, -0.4489266 ,  4.49105739,
       -0.04370234, -4.07015133, -0.04370234,  4.09965443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.9373024279258364e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.90583884e-14,  1.88986843e-12,  1.00000000e+00, -1.11612584e-25,
        1.00000000e+00, -1.88986843e-12, -1.00000000e+00,  0.00000000e+00,
        5.90583884e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07950551, -0.1039053 ,  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:
[ 1.41738172e-04,-1.45351494e-03,-8.73075915e-04, 6.02246869e-04,
 -5.02200212e-03, 4.22587545e-02, 2.36344562e-02, 1.12420297e-02,
  1.60775702e-05,-8.19753944e-05,-8.86745585e-05, 5.49361068e-04,
 -1.23051304e-04,-1.84876165e-04,-4.36524422e-07,-3.05423749e-04,
 -2.05198672e-05,-1.56465908e-03,-1.22029295e+00, 1.77170831e-05,
  2.08710469e-04,-4.11881328e-03]


--- Step 1763 ---
qpos:
[-9.41405837e-04, 3.12599730e-01,-2.67646187e-02, 2.57934525e-01,
  5.39650012e-03, 2.64603942e-01,-6.24007929e-02, 2.29339297e-01,
  1.37959025e-02, 3.44104462e-01,-1.46073471e-02, 2.38558645e-01,
  1.34928016e+00,-2.05286477e-04, 1.11020848e+00, 6.33704822e-02,
  6.67478254e-02,-7.34287594e-02, 1.31902896e-01, 5.14578146e-01,
  3.64355242e-01, 4.47304279e-01, 6.34329150e-01]

qacc:
[ 3.94319199e+00, 2.54662289e+01,-1.43836144e+02, 3.10809870e+02,
  3.95375102e+01, 2.18733707e+00, 8.35619224e+00,-1.97069299e+02,
  2.92124815e-01, 5.19821925e+00,-6.44143512e+01, 2.15720243e+02,
  1.50842048e+00,-3.84758219e+00, 1.51068650e+01,-5.28947739e+01,
 -1.66415286e+00, 5.11818916e-01,-1.83063359e+00,-1.89509158e+01,
  1.02810234e+01,-2.07282625e+01]

qfrc_actuator:
[-8.08944561e-03, 2.47437829e-01, 1.53771744e-02, 1.69685064e-01,
 -9.56776782e-04, 2.98972975e-01, 4.39181459e-02, 1.68432928e-01,
  2.74125028e-06, 2.22499131e-01, 1.85693984e-03, 1.51038393e-01,
  1.07421865e-03,-6.21844768e-04, 0.00000000e+00,-2.24087320e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23895032, -0.11159456, -0.21129105, -0.11159456,  0.15082005,
        0.0465465 , -0.21129105,  0.0465465 ,  0.21436652,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036548758210544946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.40496784e-01, -1.76992156e-01, -2.90068225e-01, -1.69130746e-01,
        9.84212262e-01, -5.21633418e-02,  2.94721207e-01, -1.38777878e-17,
       -9.55583283e-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([ 0.09559685, -0.08191707,  0.11318008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09234632, -0.25924516, -4.08412663, -0.25924516,  4.3657146 ,
       -0.0173524 , -4.08412663, -0.0173524 ,  4.09344779,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.777893370442929e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.56114962e-12,  3.12229924e-12,  1.00000000e+00, -4.87437628e-24,
        1.00000000e+00, -3.12229924e-12, -1.00000000e+00,  0.00000000e+00,
        1.56114962e-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([ 0.07950708, -0.1038978 ,  0.0619995 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.41572116e-04,-1.32925996e-03,-6.94851504e-04, 3.84969382e-04,
 -6.19744565e-03, 4.04739321e-02, 2.36213316e-02, 1.19417440e-02,
  1.13908137e-05,-5.21653617e-04, 2.46233777e-05, 4.39649739e-04,
 -1.25621602e-04,-2.15054718e-04,-3.97736721e-05,-2.69063382e-04,
 -1.89808378e-06,-1.58124042e-03,-1.22035739e+00, 9.27757123e-05,
  2.76367298e-04,-4.17012497e-03]


--- Step 1764 ---
qpos:
[-1.11973983e-03, 3.17337043e-01,-2.65310458e-02, 2.61306384e-01,
  5.53678610e-03, 2.69534175e-01,-6.20961771e-02, 2.32422093e-01,
  1.38164779e-02, 3.48310171e-01,-1.46498462e-02, 2.41557408e-01,
  1.34937955e+00,-1.87226241e-04, 1.11039895e+00, 6.33654923e-02,
  6.58849448e-02,-7.35064072e-02, 1.31800989e-01, 5.15517442e-01,
  3.60165776e-01, 4.45160090e-01, 6.37459704e-01]

qacc:
[ 3.81212203e+00, 9.28956679e+00,-4.43130820e+01, 4.90339907e+01,
  3.94213307e+01,-6.10810710e+00, 9.72090213e+00,-1.92920667e+02,
 -1.12228551e+00,-6.88029473e+00, 1.05376965e+01, 1.13301514e+01,
  2.81833471e+00,-6.19612346e+00,-2.23348316e+00, 5.78793368e+00,
 -2.16128188e-01, 9.91131671e-02,-1.65280733e+00,-4.02949893e+01,
  9.68796824e+00,-1.57294495e+01]

qfrc_actuator:
[-7.95470618e-03, 2.47294798e-01, 1.50831477e-02, 1.69666392e-01,
 -1.08393484e-03, 2.98433854e-01, 4.36030720e-02, 1.68304280e-01,
 -6.17391292e-05, 2.22340344e-01, 1.92373468e-03, 1.51097656e-01,
  1.06767802e-03,-8.18811427e-04, 0.00000000e+00,-2.20864333e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25138861, -0.12457949, -0.21834877, -0.12457949,  0.20967498,
        0.02379982, -0.21834877,  0.02379982,  0.23780955,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041581781560877477
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.36843082e-01, -1.80930603e-01, -2.99314478e-01, -1.72348039e-01,
        9.83495865e-01, -5.50639315e-02,  3.04337302e-01, -6.93889390e-18,
       -9.52564332e-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([ 0.09498333, -0.08195136,  0.11328907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09099051,  0.35002141, -4.07598925,  0.35002141,  4.70027634,
        0.0523218 , -4.07598925,  0.0523218 ,  4.09548359,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.232134933210285e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.62331670e-11,  3.48409249e-12,  1.00000000e+00, -9.13987802e-23,
        1.00000000e+00, -3.48409249e-12, -1.00000000e+00,  0.00000000e+00,
        2.62331670e-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([ 0.07827909, -0.09139158,  0.06199988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.40770681e-04,-1.18356585e-03,-7.00933090e-04,-1.07211941e-04,
 -7.21473598e-03, 4.08318138e-02, 2.42930230e-02, 1.24944002e-02,
 -4.97495455e-05,-5.74372397e-04,-7.34522146e-05, 3.28893783e-05,
 -1.27291369e-04,-2.81112159e-04,-5.13744659e-05, 1.14022909e-05,
  2.01477717e-05,-1.59914436e-03,-1.22042898e+00, 1.66081364e-04,
  3.41793273e-04,-4.22330563e-03]


--- Step 1765 ---
qpos:
[-1.29601744e-03, 3.22062571e-01,-2.63015155e-02, 2.64671122e-01,
  5.64433097e-03, 2.74349313e-01,-6.18596582e-02, 2.35491740e-01,
  1.38360711e-02, 3.52512679e-01,-1.46924304e-02, 2.44551111e-01,
  1.34947889e+00,-1.72599173e-04, 1.11058861e+00, 6.33648573e-02,
  6.50381149e-02,-7.35953299e-02, 1.31707274e-01, 5.16631007e-01,
  3.56053797e-01, 4.42726923e-01, 6.40555203e-01]

qacc:
[   3.24297015, -18.52520956,  71.66194684,-174.73708145, -69.25899415,
   10.53566025,-201.06255626, 159.75068346,  -1.34295704, -14.18201618,
   64.43362125,-145.86849522,   2.77890743,  -6.11616744, -14.60628373,
   48.73820481,   4.01266613,  -2.81874863,   2.04769414, -95.71408635,
 -144.28668114,   4.70671708]

qfrc_actuator:
[-7.83946427e-03, 2.46596724e-01, 1.48354684e-02, 1.69300968e-01,
 -1.20948901e-03, 2.97581495e-01, 4.33081813e-02, 1.68263335e-01,
 -1.25921880e-04, 2.22376431e-01, 1.98017865e-03, 1.50856139e-01,
  1.05483975e-03,-9.95316720e-04, 0.00000000e+00,-1.97447813e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2643359 ,  0.19326722,  0.18033649,  0.19326722,  0.46152197,
       -0.21132497,  0.18033649, -0.21132497,  0.49081358,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000458493654193102
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93297924, -0.18486222, -0.30882956, -0.17549741,  0.98276445,
       -0.05809217,  0.31424576,  0.        , -0.94934167])
  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([ 0.09437674, -0.08198528,  0.1133964 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.11568707,  0.96261314, -4.0015317 ,  0.96261314,  6.31654102,
        0.52944   , -4.0015317 ,  0.52944   ,  4.24304977,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.36315207462146e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.76952361e-13, -1.88476181e-13,  1.00000000e+00,  7.10465414e-26,
        1.00000000e+00,  1.88476181e-13, -1.00000000e+00,  0.00000000e+00,
        3.76952361e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06467071, -0.03414102,  0.06199791])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21734388e-04,-1.67866962e-03,-6.41910706e-04,-4.57623520e-04,
 -8.25238266e-03, 4.17134416e-02, 2.52652214e-02, 1.31801896e-02,
 -6.01637633e-05,-4.46048611e-04,-1.20532154e-04,-2.81409808e-04,
 -1.49664144e-04,-2.78032970e-04,-2.30451658e-05, 2.28030008e-04,
  5.55423976e-05,-1.63244389e-03,-1.22056838e+00, 2.26784780e-04,
  3.94762553e-04,-4.30605669e-03]


--- Step 1766 ---
qpos:
[-1.47079207e-03, 3.26773517e-01,-2.60765352e-02, 2.68039564e-01,
  5.71127880e-03, 2.79057526e-01,-6.16641195e-02, 2.38553035e-01,
  1.38549571e-02, 3.56706853e-01,-1.47330080e-02, 2.47542002e-01,
  1.34957835e+00,-1.62270111e-04, 1.11077867e+00, 6.33622861e-02,
  6.42017052e-02,-7.36955662e-02, 1.31617976e-01, 5.17890423e-01,
  3.52015156e-01, 4.40041655e-01, 6.43613379e-01]

qacc:
[   2.32862123,   0.75826904, -44.84347491, 122.81576477, -83.50991121,
  -43.83869367, -12.87313012,  10.52369358,  -0.9309989 , -22.24498855,
   74.19109927,-117.07737017,   3.08089661,  -7.04251694,   6.10774963,
  -21.25780353,   2.60505354,  -2.82837865,   1.10425817, -79.50195574,
 -127.54108463,   4.76116545]

qfrc_actuator:
[-7.75429981e-03, 2.45874724e-01, 1.46152269e-02, 1.69497603e-01,
 -1.30819480e-03, 2.96313745e-01, 4.30597448e-02, 1.68012945e-01,
 -1.71679573e-04, 2.21784160e-01, 2.01337718e-03, 1.50706209e-01,
  1.03823744e-03,-1.22927924e-03, 0.00000000e+00,-2.08487479e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.27948961, -0.15922299, -0.22970086, -0.15922299,  0.63709396,
       -0.24788255, -0.22970086, -0.24788255,  0.45131571,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004998255142835818
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.28982439e-01, -1.88181207e-01, -3.18715330e-01, -1.77997075e-01,
        9.82134325e-01, -6.10672431e-02,  3.24512973e-01, -6.93889390e-18,
       -9.45881245e-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([ 0.09379046, -0.08201301,  0.11349809])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.18864355, -0.9007693 ,  4.09064169, -0.9007693 ,  3.78573845,
       -0.08872069,  4.09064169, -0.08872069,  4.16910704,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014508271549307228
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.82617261e-13,  5.73925892e-13,  1.00000000e+00, -2.19593953e-25,
        1.00000000e+00, -5.73925892e-13, -1.00000000e+00,  0.00000000e+00,
        3.82617261e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06444529, -0.03421583,  0.06199588])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.90698176e-05,-1.98119369e-03,-7.20808587e-04, 7.89164002e-05,
 -6.70708432e-03, 4.60223505e-02, 2.83569352e-02, 1.35716693e-02,
 -4.37275664e-05,-1.02534645e-03,-1.33776778e-04,-1.92149567e-04,
 -1.64004625e-04,-3.40409865e-04, 1.33864518e-05,-1.00974794e-04,
  1.89001397e-04,-1.49718279e-03,-1.22094576e+00, 2.06582440e-04,
  3.69114881e-04,-3.93824544e-03]


--- Step 1767 ---
qpos:
[-1.64415752e-03, 3.31466706e-01,-2.58553312e-02, 2.71420101e-01,
  5.73149171e-03, 2.83684303e-01,-6.14911833e-02, 2.41608007e-01,
  1.38733647e-02, 3.60888715e-01,-1.47721896e-02, 2.50537463e-01,
  1.34967801e+00,-1.56914432e-04, 1.11096905e+00, 6.33560902e-02,
  6.33716014e-02,-7.38067895e-02, 1.31529951e-01, 5.19270929e-01,
  3.48043015e-01, 4.37136275e-01, 6.46634084e-01]

qacc:
[ 2.15082172e+00, 1.11234480e+01,-1.20734604e+02, 3.37993234e+02,
 -9.37415227e+01,-5.69020895e+01, 7.32284243e+01,-8.52479077e+01,
 -6.05757533e-01,-1.09330440e+01,-2.89373437e+00, 8.62387063e+01,
  3.52524852e+00,-8.07436900e+00, 1.10662953e+01,-3.88464626e+01,
  1.57646341e+00,-2.74677029e+00, 3.18471777e-01,-6.66833802e+01,
 -1.11635198e+02, 4.70214650e+00]

qfrc_actuator:
[-7.66969833e-03, 2.44986105e-01, 1.44313251e-02, 1.70112258e-01,
 -1.36983918e-03, 2.94941143e-01, 4.28393030e-02, 1.67548589e-01,
 -2.06264167e-04, 2.21034317e-01, 2.03057068e-03, 1.50930555e-01,
  1.02468890e-03,-1.49547800e-03, 0.00000000e+00,-2.27319095e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.29399713, -0.1764479 , -0.23516048, -0.1764479 ,  0.79562472,
       -0.37638609, -0.23516048, -0.37638609,  0.5764108 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005354504473676765
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.24834445e-01, -1.90941458e-01, -3.28972049e-01, -1.79899125e-01,
        9.81601426e-01, -6.39917599e-02,  3.35138112e-01,  1.38777878e-17,
       -9.42169011e-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([ 0.09321986, -0.08203596,  0.11359404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.27014789, -0.90608888,  4.17290857, -0.90608888,  3.87367756,
       -0.086088  ,  4.17290857, -0.086088  ,  4.25145508,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019477320098727768
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42502025e-13,  7.12510127e-14,  1.00000000e+00, -1.01534136e-26,
        1.00000000e+00, -7.12510127e-14, -1.00000000e+00,  0.00000000e+00,
        1.42502025e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06426574, -0.03426938,  0.06199447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.36862171e-05,-2.30948840e-03,-7.37555896e-04, 4.92331019e-04,
 -4.73050482e-03, 4.98224762e-02, 3.01228257e-02, 1.35095360e-02,
 -2.99588919e-05,-1.50507317e-03,-2.67406668e-04, 1.59179162e-04,
 -1.83846094e-04,-3.91696985e-04,-9.83491869e-06,-1.93336454e-04,
  3.10549002e-04,-1.35141591e-03,-1.22127656e+00, 1.94918407e-04,
  3.43022840e-04,-3.57806847e-03]


--- Step 1768 ---
qpos:
[-1.81614063e-03, 3.36136889e-01,-2.56351338e-02, 2.74803276e-01,
  5.70176184e-03, 2.88260009e-01,-6.13316106e-02, 2.44656718e-01,
  1.38917283e-02, 3.65058184e-01,-1.48114548e-02, 2.53533221e-01,
  1.34977742e+00,-1.55851501e-04, 1.11115870e+00, 6.33530351e-02,
  6.25448953e-02,-7.39280555e-02, 1.31440815e-01, 5.20750223e-01,
  3.44124606e-01, 4.34040696e-01, 6.49619993e-01]

qacc:
[ 2.09156186e+00,-2.23002534e+01, 2.49476816e+01, 3.75615390e+01,
 -9.78270503e+01,-4.23137588e+01, 7.87848543e+01,-1.25521213e+02,
 -3.31751373e-02,-1.55313911e+01, 3.03367100e+01,-1.57976943e+01,
  3.17648342e+00,-7.29299512e+00,-1.08774094e+01, 3.57439992e+01,
  8.49438218e-01,-2.51065283e+00,-2.77879932e-01,-5.71302078e+01,
 -9.44023823e+01, 3.86883001e+00]

qfrc_actuator:
[-7.58594204e-03, 2.43615966e-01, 1.42880262e-02, 1.70222242e-01,
 -1.36911738e-03, 2.93913470e-01, 4.26691775e-02, 1.67400980e-01,
 -2.16338327e-04, 2.20481284e-01, 2.03796926e-03, 1.50947147e-01,
  1.00763594e-03,-1.70761340e-03, 0.00000000e+00,-2.09748545e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.30578676, -0.20963004, -0.22262252, -0.20963004,  0.80451481,
       -0.46962177, -0.22262252, -0.46962177,  0.74800092,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005639806316161745
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.20527104e-01, -1.93200667e-01, -3.39563475e-01, -1.81261551e-01,
        9.81159264e-01, -6.68636503e-02,  3.46083952e-01,  6.93889390e-18,
       -9.38203549e-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([ 0.09266018, -0.08205529,  0.11368546])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.33596635, -0.90790091,  4.23984907, -0.90790091,  4.52084581,
        0.0395892 ,  4.23984907,  0.0395892 ,  4.34444379,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002261740774333193
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.13588788e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.13588788e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06412255, -0.03430569,  0.06199357])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.22164757e-05,-2.95942228e-03,-7.51939892e-04,-1.83246179e-05,
 -2.38358036e-03, 5.26967644e-02, 3.10217188e-02, 1.36626529e-02,
 -3.23374937e-06,-1.58832897e-03,-3.80015408e-04,-6.62662235e-05,
 -2.10809109e-04,-3.55056718e-04,-2.99392237e-05, 1.62755816e-04,
  4.23280602e-04,-1.20440183e-03,-1.22156568e+00, 1.90476188e-04,
  3.17586108e-04,-3.23859099e-03]


--- Step 1769 ---
qpos:
[-1.98617474e-03, 3.40779259e-01,-2.54165246e-02, 2.78179062e-01,
  5.62133338e-03, 2.92804977e-01,-6.11802569e-02, 2.47698973e-01,
  1.39097880e-02, 3.69213916e-01,-1.48505293e-02, 2.56528550e-01,
  1.34987654e+00,-1.58814581e-04, 1.11134814e+00, 6.33520429e-02,
  6.17195143e-02,-7.40580042e-02, 1.31348778e-01, 5.22308674e-01,
  3.40243235e-01, 4.30782401e-01, 6.52575446e-01]

qacc:
[   2.87911612, -46.97063732, 142.68717937,-240.05007258, -97.02465933,
  -30.14264941,  74.92382329,-147.39469639,  -0.36416816, -19.52806864,
   44.82496987, -41.60994316,   2.83527899,  -6.66816195,  -6.83624687,
   22.77793743,   0.33126716,  -2.17069928,  -0.72541225, -50.21923811,
  -76.81680318,   2.39464993]

qfrc_actuator:
[-7.46772442e-03, 2.41933759e-01, 1.40790664e-02, 1.69821011e-01,
 -1.32682670e-03, 2.92881932e-01, 4.25467965e-02, 1.67605661e-01,
 -2.47454552e-04, 2.19838314e-01, 2.05816465e-03, 1.50930294e-01,
  9.99163787e-04,-1.90375468e-03, 0.00000000e+00,-1.99272454e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.31480709, -0.25017328, -0.19109379, -0.25017328,  0.64476252,
       -0.43196607, -0.19109379, -0.43196607,  0.88032191,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005856729648471764
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.91599609, -0.19494931, -0.35063647, -0.18206605,  0.98081332,
       -0.06969353,  0.35749563,  0.        , -0.93391481])
  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([ 0.09210818, -0.08207108,  0.11377171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.37430345, -1.00160611,  4.25808829, -1.00160611, 16.07566683,
        2.75244575,  4.25808829,  2.75244575,  5.02174575,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002422555805845772
  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([ 0.06400823, -0.03432806,  0.06199311])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16594930e-04,-3.65812325e-03,-9.70148334e-04,-5.67149611e-04,
  1.65947992e-04, 5.40513399e-02, 3.15075272e-02, 1.41649280e-02,
 -1.94287477e-05,-1.75683851e-03,-4.05635953e-04,-1.11389307e-04,
 -2.07617576e-04,-3.36375946e-04, 2.72791041e-06, 1.09626382e-04,
  5.29000703e-04,-1.06624330e-03,-1.22181959e+00, 1.93263225e-04,
  2.96148884e-04,-2.93679265e-03]


--- Step 1770 ---
qpos:
[-2.15297313e-03, 3.45399873e-01,-2.52062366e-02, 2.81553561e-01,
  5.49272318e-03, 2.97338538e-01,-6.10391724e-02, 2.50733535e-01,
  1.39275790e-02, 3.73358521e-01,-1.48924632e-02, 2.59542461e-01,
  1.34997512e+00,-1.64818750e-04, 1.11153751e+00, 6.33526412e-02,
  6.08941265e-02,-7.41947789e-02, 1.31252674e-01, 5.23928068e-01,
  3.36376942e-01, 4.27388254e-01, 6.55506837e-01]

qacc:
[ 4.61075169e+00,-8.19432900e+00,-6.79479852e+00, 1.28026171e+01,
 -9.01707434e+01,-1.57134719e+00, 1.54760953e+01,-1.21328854e+02,
 -3.29610769e-01, 3.06156201e+01,-2.03205012e+02, 5.22246618e+02,
  1.90454291e+00,-4.81303109e+00,-5.10680844e+00, 1.72448241e+01,
 -1.68629959e-03,-1.70647485e+00,-1.01646779e+00,-4.55749535e+01,
 -5.76191134e+01, 1.89563991e-01]

qfrc_actuator:
[-7.27669171e-03, 2.41321007e-01, 1.38316946e-02, 1.69796623e-01,
 -1.25661437e-03, 2.92345244e-01, 4.23822525e-02, 1.68308457e-01,
 -2.73165786e-04, 2.19662507e-01, 2.06804461e-03, 1.51905882e-01,
  9.95854596e-04,-2.03559125e-03, 0.00000000e+00,-1.91295622e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.32111045, -0.17836032, -0.26701969, -0.17836032,  2.47827202,
       -1.44091259, -0.26701969, -1.44091259,  1.2835924 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006008114464279486
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.11348978e-01, -1.96407895e-01, -3.61755413e-01, -1.82551828e-01,
        9.80522279e-01, -7.24630339e-02,  3.68941554e-01,  1.38777878e-17,
       -9.29452597e-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([ 0.09156002, -0.08208606,  0.11385859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.38260529, -0.85707445,  4.29798238, -0.85707445,  2.56749607,
       -0.36195675,  4.29798238, -0.36195675,  4.31042633,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002455673225289362
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.26052679e-13, -2.26052679e-13,  1.00000000e+00,  5.10998139e-26,
        1.00000000e+00,  2.26052679e-13, -1.00000000e+00,  0.00000000e+00,
        2.26052679e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06391687, -0.03433918,  0.06199301])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.95360490e-04,-3.04590870e-03,-1.19729586e-03,-2.37607048e-04,
  2.78148770e-03, 5.48858464e-02, 3.16946881e-02, 1.51748960e-02,
 -1.72187138e-05,-1.39028809e-03,-4.55028699e-04, 8.72342510e-04,
 -1.95989396e-04,-2.66652020e-04, 9.75339607e-06, 8.53860489e-05,
  6.29791389e-04,-9.43746394e-04,-1.22204455e+00, 2.02504089e-04,
  2.81441230e-04,-2.68296814e-03]


--- Step 1771 ---
qpos:
[-2.31651273e-03, 3.50008174e-01,-2.50072632e-02, 2.84931974e-01,
  5.33332191e-03, 3.01827980e-01,-6.09390618e-02, 2.53761959e-01,
  1.39454412e-02, 3.77498947e-01,-1.49390238e-02, 2.62580872e-01,
  1.35007294e+00,-1.72998239e-04, 1.11172706e+00, 6.33528562e-02,
  6.00664264e-02,-7.43378689e-02, 1.31150714e-01, 5.25602342e-01,
  3.32520562e-01, 4.23868965e-01, 6.58412754e-01]

qacc:
[ 4.52389030e+00, 2.28845291e+01,-1.19132671e+02, 2.06306968e+02,
 -5.64091469e+01, 4.27622671e+01,-2.09150501e+02, 1.92740692e+02,
  8.10108366e-02, 5.65726313e+01,-3.05215870e+02, 7.18413934e+02,
  9.52732561e-01,-3.01143544e+00, 1.30285160e+00,-4.44701967e+00,
 -5.78076271e-01,-1.57883053e+00,-1.46408731e+00,-4.22053853e+01,
 -5.20432494e+01,-1.49406206e+00]

qfrc_actuator:
[-7.09729416e-03, 2.41550274e-01, 1.35863965e-02, 1.70066205e-01,
 -1.13413386e-03, 2.92506739e-01, 4.22332539e-02, 1.69225178e-01,
 -2.77795040e-04, 2.20124936e-01, 2.09246183e-03, 1.53191806e-01,
  9.74371276e-04,-2.12821950e-03, 0.00000000e+00,-1.93729934e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.325098  ,  0.18167363, -0.2695986 ,  0.18167363,  0.1968222 ,
       -0.08644084, -0.2695986 , -0.08644084,  0.26684836,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006103960748326383
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.90651865, -0.19757823, -0.37307745, -0.18271009,  0.98028712,
       -0.07519428,  0.38057977,  0.        , -0.9247481 ])
  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([ 0.09101491, -0.08210015,  0.11394491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.36453155, -0.828019  ,  4.28526781, -0.828019  ,  2.36177863,
       -0.38698106,  4.28526781, -0.38698106,  4.28975731,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023828348379040243
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.16481324e-13,  2.32962647e-13,  1.00000000e+00, -2.71357976e-26,
        1.00000000e+00, -2.32962647e-13, -1.00000000e+00,  0.00000000e+00,
        1.16481324e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06384378, -0.03434122,  0.06199321])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.97948154e-04,-1.89339894e-03,-1.08520900e-03, 8.09993426e-05,
  5.32318914e-03, 5.54528076e-02, 3.20004215e-02, 1.64606988e-02,
  4.24623266e-06,-5.15077935e-04,-3.37008714e-04, 1.21590042e-03,
 -1.91256896e-04,-2.06915888e-04, 9.47174389e-06,-1.93525192e-05,
  7.27341731e-04,-8.44475382e-04,-1.22224610e+00, 2.17580002e-04,
  2.76658064e-04,-2.49000802e-03]


--- Step 1772 ---
qpos:
[-2.47720934e-03, 3.54606268e-01,-2.48149084e-02, 2.88302305e-01,
  5.14399438e-03, 3.06268932e-01,-6.08606393e-02, 2.56787736e-01,
  1.39636407e-02, 3.81635619e-01,-1.49857735e-02, 2.65626303e-01,
  1.35016997e+00,-1.82619605e-04, 1.11191696e+00, 6.33501111e-02,
  5.92349517e-02,-7.44869200e-02, 1.31041244e-01, 5.27324702e-01,
  3.28670611e-01, 4.20233941e-01, 6.61292464e-01]

qacc:
[   3.88514332, -11.17750237,  52.17031251,-168.18269509, -53.51461032,
   -9.1307598 , -48.31192647,  69.59466371,   0.42142794,   9.66769709,
  -69.12063711, 187.89430198,   0.23095225,  -1.54013048,   9.40504437,
  -32.26403742,  -0.94366257,  -1.49028336,  -1.8775826 , -38.85298339,
  -47.08058652,  -2.1128608 ]

qfrc_actuator:
[-6.94394770e-03, 2.41431886e-01, 1.34019222e-02, 1.69690862e-01,
 -9.96163028e-04, 2.92059263e-01, 4.21461474e-02, 1.69330887e-01,
 -2.70007605e-04, 2.20133436e-01, 2.14626494e-03, 1.53549917e-01,
  9.63326922e-04,-2.17921946e-03, 0.00000000e+00,-2.09378239e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.32382268,  0.20334   , -0.25201978,  0.20334   ,  0.20702115,
       -0.09424031, -0.25201978, -0.09424031,  0.24778569,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006073293151774875
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9014675 , -0.19845643, -0.38467051, -0.18253265,  0.98010971,
       -0.07788958,  0.39247699,  0.        , -0.91976182])
  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([ 0.09047575, -0.08211346,  0.11402643])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.32729685, -0.79870666,  4.25294788, -0.79870666,  2.1893745 ,
       -0.40150335,  4.25294788, -0.40150335,  4.25189423,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022233859900838704
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24834715e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.24834715e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06378527, -0.03433598,  0.06199365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73454259e-04,-1.55962003e-03,-7.62191579e-04,-5.05411579e-04,
  7.00711472e-03, 5.70484559e-02, 3.39040857e-02, 1.68584115e-02,
  2.10068775e-05,-4.40641908e-04,-1.01038077e-04, 3.35672753e-04,
 -1.64308758e-04,-1.48808157e-04,-3.16613628e-06,-1.57548154e-04,
  8.24896999e-04,-7.47772326e-04,-1.22243453e+00, 2.35609811e-04,
  2.78282368e-04,-2.30988505e-03]


--- Step 1773 ---
qpos:
[-2.63540056e-03, 3.59193181e-01,-2.46275894e-02, 2.91674425e-01,
  4.92941892e-03, 3.10668605e-01,-6.07946690e-02, 2.59812531e-01,
  1.39820636e-02, 3.85764728e-01,-1.50304760e-02, 2.68668977e-01,
  1.35026636e+00,-1.93175927e-04, 1.11210662e+00, 6.33471875e-02,
  5.83986363e-02,-7.46416436e-02, 1.30922784e-01, 5.29089273e-01,
  3.24824447e-01, 4.16490724e-01, 6.64145388e-01]

qacc:
[   3.36939035,   2.75759709, -37.67584738,  81.57879864, -44.15812139,
  -21.80228674,   3.25438349,  28.57131242,   0.29124226, -21.208665  ,
   71.57205749,-113.688809  ,   0.1777474 ,  -1.08463589,   0.14637838,
   -1.1128521 ,  -1.21018773,  -1.41813902,  -2.24737836, -36.08444091,
  -43.04971533,  -2.44435981]

qfrc_actuator:
[-6.80711960e-03, 2.41072219e-01, 1.32360195e-02, 1.69808873e-01,
 -8.37446396e-04, 2.91374939e-01, 4.20400222e-02, 1.69232995e-01,
 -2.72817338e-04, 2.19604535e-01, 2.17960766e-03, 1.53394525e-01,
  9.63901136e-04,-2.20510576e-03, 0.00000000e+00,-2.09603487e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.31679455,  0.21677256, -0.23101612,  0.21677256,  0.20660057,
       -0.10339985, -0.23101612, -0.10339985,  0.21976994,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000590446033616789
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.89618696, -0.19905574, -0.39651703, -0.18203399,  0.97998817,
       -0.08054076,  0.4046141 ,  0.        , -0.91448752])
  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([ 0.08994134, -0.08212631,  0.11410307])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.27912763, -0.76396728,  4.21037852, -0.76396728,  2.05969414,
       -0.4027131 ,  4.21037852, -0.4027131 ,  4.2060559 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001994031738948715
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.78386498e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.78386498e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06373838, -0.03432498,  0.06199429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.53408749e-04,-1.57190513e-03,-6.55140817e-04, 1.45912713e-06,
  8.66838865e-03, 5.86280815e-02, 3.48254272e-02, 1.68781743e-02,
  1.37698644e-05,-9.24688132e-04,-1.07357860e-04,-1.83972823e-04,
 -1.24725384e-04,-1.02239778e-04,-2.44296998e-05,-1.26519561e-05,
  9.23611341e-04,-6.54117188e-04,-1.22260870e+00, 2.54784826e-04,
  2.82846825e-04,-2.14191535e-03]


--- Step 1774 ---
qpos:
[-2.79189011e-03, 3.63761066e-01,-2.44423829e-02, 2.95058815e-01,
  4.69932316e-03, 3.15030097e-01,-6.07421399e-02, 2.62837538e-01,
  1.40005870e-02, 3.89880907e-01,-1.50726001e-02, 2.71712752e-01,
  1.35036222e+00,-2.04498426e-04, 1.11229591e+00, 6.33458901e-02,
  5.75565275e-02,-7.48017966e-02, 1.30794012e-01, 5.30892034e-01,
  3.20980151e-01, 4.12644558e-01, 6.66970659e-01]

qacc:
[ 2.27559636e+00, 5.09951155e+00,-1.01796053e+02, 3.18882403e+02,
 -2.65754953e+01,-1.27451645e+01,-2.77159104e+01, 7.78976538e+01,
  1.51163872e-01,-2.20201591e+01, 4.90083310e+01,-2.41419389e+01,
  2.69952405e-01,-1.05852922e+00,-5.49504918e+00, 1.83396985e+01,
 -1.44831656e+00,-1.35731692e+00,-2.57829338e+00,-3.41366013e+01,
 -4.02992813e+01,-2.88742120e+00]

qfrc_actuator:
[-6.71650738e-03, 2.39827230e-01, 1.30290666e-02, 1.70411537e-01,
 -6.05732207e-04, 2.90773721e-01, 4.19751829e-02, 1.69367389e-01,
 -2.82006347e-04, 2.18722999e-01, 2.21626588e-03, 1.53435076e-01,
  9.55484912e-04,-2.23360668e-03, 0.00000000e+00,-2.00734666e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.30388135,  0.21617203, -0.21357324,  0.21617203,  0.19510801,
       -0.11009691, -0.21357324, -0.11009691,  0.19244476,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005593871289369641
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.89067336, -0.19938887, -0.40858909, -0.18122936,  0.97992044,
       -0.08313748,  0.41696149,  0.        , -0.90892415])
  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([ 0.08941014, -0.08213875,  0.11417521])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.22766251, -0.72318516,  4.16534914, -0.72318516,  1.95510871,
       -0.39455929,  4.16534914, -0.39455929,  4.15915938,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001709006606953889
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.62407655e-13,  3.24815311e-13,  1.00000000e+00, -5.27524931e-26,
        1.00000000e+00, -3.24815311e-13, -1.00000000e+00,  0.00000000e+00,
        1.62407655e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06370075, -0.03430945,  0.0619951 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04163900e-04,-2.41986174e-03,-6.67852370e-04, 4.99463870e-04,
  1.01678732e-02, 5.99321146e-02, 3.53270594e-02, 1.70469960e-02,
  5.83602835e-06,-1.57056662e-03,-2.22072279e-04,-1.86976193e-05,
 -1.01077694e-04,-8.36144045e-05,-1.60334753e-05, 8.40995366e-05,
  1.02407050e-03,-5.62975843e-04,-1.22277052e+00, 2.74538724e-04,
  2.89300459e-04,-1.98402625e-03]


--- Step 1775 ---
qpos:
[-2.94698685e-03, 3.68301924e-01,-2.42567654e-02, 2.98446055e-01,
  4.46376956e-03, 3.19351182e-01,-6.07044921e-02, 2.65864590e-01,
  1.40191236e-02, 3.93981850e-01,-1.51134438e-02, 2.74766268e-01,
  1.35045759e+00,-2.16275780e-04, 1.11248535e+00, 6.33432853e-02,
  5.67077698e-02,-7.49671708e-02, 1.30653736e-01, 5.32730375e-01,
  3.17136356e-01, 4.08698867e-01, 6.69767210e-01]

qacc:
[ 1.86000499e+00,-3.11262132e+01, 4.77921501e+01, 1.93233027e+01,
 -9.13280314e+00,-8.19906867e+00,-5.53381408e+01, 1.39124446e+02,
  4.59930834e-02,-4.13533733e+00,-5.26259633e+01, 2.22700878e+02,
 -1.41336449e-01,-2.73971036e-01, 4.18421589e+00,-1.42932027e+01,
 -1.66225657e+00,-1.30532857e+00,-2.87578012e+00,-3.28426379e+01,
 -3.85362955e+01,-3.41342434e+00]

qfrc_actuator:
[-0.00663607, 0.23802786, 0.01286758, 0.17051268,-0.00032985, 0.29005825,
  0.04195884, 0.16976462,-0.00029499, 0.21794007, 0.00227132, 0.15392773,
  0.00094701,-0.00224572, 0.        ,-0.00207886, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.28482576,  0.20347958, -0.19930322,  0.20347958,  0.17792015,
       -0.10914579, -0.19930322, -0.10914579,  0.17339284,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005130132076998137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88492051, -0.19946109, -0.4208693 , -0.18012672,  0.97990575,
       -0.08566849,  0.42949978,  0.        , -0.90306696])
  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([ 0.08888146, -0.08215062,  0.11424255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.17919187, -0.67267033,  4.12470111, -0.67267033,  1.84772958,
       -0.38022282,  4.12470111, -0.38022282,  4.11718383,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013802961697546856
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01084204e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.01084204e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06367049, -0.03429041,  0.06199603])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.51555208e-05,-3.42861579e-03,-7.80789596e-04,-2.78018352e-05,
  1.12231594e-02, 6.09687313e-02, 3.59273204e-02, 1.74190941e-02,
  2.27790630e-07,-1.84881711e-03,-3.44683647e-04, 4.05846633e-04,
 -8.35274831e-05,-5.70216387e-05,-1.18574980e-06,-6.95902075e-05,
  1.12665282e-03,-4.72692948e-04,-1.22292354e+00, 2.94756351e-04,
  2.97860730e-04,-1.83237038e-03]


--- Step 1776 ---
qpos:
[-3.10056859e-03, 3.72812586e-01,-2.40723074e-02, 3.01826341e-01,
  4.22773074e-03, 3.23636163e-01,-6.06728846e-02, 2.68895877e-01,
  1.40376193e-02, 3.98065930e-01,-1.51526425e-02, 2.77828793e-01,
  1.35055242e+00,-2.28221863e-04, 1.11267477e+00, 6.33398427e-02,
  5.58518116e-02,-7.51376053e-02, 1.30500881e-01, 5.34601551e-01,
  3.13292153e-01, 4.04656485e-01, 6.72534265e-01]

qacc:
[ 1.98409754e+00,-5.03900843e+01, 1.48078171e+02,-2.35781369e+02,
 -7.31854382e-01,-2.25848924e+01,-5.32152122e+00, 1.11164291e+02,
 -1.41448810e-02,-8.77120763e+00,-3.63664710e+01, 1.95069200e+02,
 -3.49504684e-01, 1.83303876e-01, 2.50304314e+00,-8.77738476e+00,
 -1.80010133e+00,-1.26506098e+00,-3.14455048e+00,-3.16685800e+01,
 -3.70054989e+01,-3.60303052e+00]

qfrc_actuator:
[-6.54435799e-03, 2.36319789e-01, 1.27139549e-02, 1.70139898e-01,
 -8.45738881e-05, 2.88972191e-01, 4.19251474e-02, 1.69980340e-01,
 -3.10201840e-04, 2.17117266e-01, 2.35542065e-03, 1.54380784e-01,
  9.27870706e-04,-2.24800177e-03, 0.00000000e+00,-2.11993997e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26151105,  0.18745795, -0.18233909,  0.18745795,  0.16261503,
       -0.10167236, -0.18233909, -0.10167236,  0.15698441,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004498507018501346
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.78921886e-01, -1.99272909e-01, -4.33343543e-01, -1.78729922e-01,
        9.79944033e-01, -8.81209798e-02,  4.42212544e-01, -1.38777878e-17,
       -8.96910289e-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([ 0.0883551 , -0.08216166,  0.1143044 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.13849974, -0.18150782, -4.13451751, -0.18150782, 28.30714243,
       -1.06101803, -4.13451751, -1.06101803,  4.18507907,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010179125337510253
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.09068607e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.09068607e-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([ 0.06364608, -0.0342687 ,  0.06199707])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.29739019e-05,-3.94514718e-03,-1.01169620e-03,-5.57857365e-04,
  1.17425789e-02, 6.17477257e-02, 3.65829302e-02, 1.75182753e-02,
 -3.29688425e-06,-2.05071009e-03,-3.73017531e-04, 3.58937712e-04,
 -7.85141005e-05,-3.61613068e-05,-1.29763591e-05,-4.61673841e-05,
  1.23171499e-03,-3.81835072e-04,-1.22307065e+00, 3.15297364e-04,
  3.08698862e-04,-1.68379519e-03]


--- Step 1777 ---
qpos:
[-3.25223248e-03, 3.77294277e-01,-2.38925575e-02, 3.05202258e-01,
  3.99159072e-03, 3.27904282e-01,-6.06289653e-02, 2.71932654e-01,
  1.40563206e-02, 4.02128731e-01,-1.51882318e-02, 2.80888978e-01,
  1.35064679e+00,-2.40444663e-04, 1.11286375e+00, 6.33385901e-02,
  5.49885359e-02,-7.53129905e-02, 1.30334483e-01, 5.36501655e-01,
  3.09447000e-01, 4.00520529e-01, 6.75271675e-01]

qacc:
[ 2.44080972e+00,-3.38204171e+01, 8.19396988e+01,-1.24501475e+02,
 -6.13584065e-02,-4.52658999e+01, 1.05801479e+02,-1.64465253e+01,
  2.82101651e-01,-4.27966769e+01, 1.20176489e+02,-1.46436950e+02,
  2.82644562e-03,-3.45799077e-01,-7.25677659e+00, 2.44417364e+01,
 -1.82937944e+00,-1.23768609e+00,-3.38612686e+00,-3.02537371e+01,
 -3.51896980e+01,-3.18684932e+00]

qfrc_actuator:
[-6.42880678e-03, 2.35035525e-01, 1.25309369e-02, 1.69935238e-01,
  1.39544586e-04, 2.87675627e-01, 4.18604093e-02, 1.69622573e-01,
 -3.08950318e-04, 2.15834443e-01, 2.43832856e-03, 1.54238820e-01,
  9.07675027e-04,-2.26224468e-03, 0.00000000e+00,-2.00068781e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23989836,  0.17667101, -0.16229164,  0.17667101,  0.15484375,
       -0.09259062, -0.16229164, -0.09259062,  0.13910402,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003697425203990752
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.72678567e-01, -1.98829288e-01, -4.45980978e-01, -1.77048994e-01,
        9.80034139e-01, -9.04806037e-02,  4.55066778e-01, -1.38777878e-17,
       -8.90457314e-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([ 0.08783   , -0.08217174,  0.11436106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.10903669,  0.12738919, -4.10706154,  0.12738919, 16.33555864,
        0.3792314 , -4.10706154,  0.3792314 ,  4.12079935,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.302563375135128e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.40385506e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.40385506e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06362632, -0.03424501,  0.06199818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18557571e-04,-3.87835333e-03,-1.19305829e-03,-4.29355260e-04,
  1.19912412e-02, 6.21026644e-02, 3.67660695e-02, 1.69344379e-02,
  1.23063956e-05,-2.63052838e-03,-4.20512533e-04,-2.46278436e-04,
 -7.19842209e-05,-4.15663849e-05,-1.51207923e-05, 1.14117691e-04,
  1.33962007e-03,-2.90404415e-04,-1.22321198e+00, 3.35793855e-04,
  3.20628828e-04,-1.53785031e-03]


--- Step 1778 ---
qpos:
[-3.40169049e-03, 3.81751426e-01,-2.37196079e-02, 3.08579141e-01,
  3.75734064e-03, 3.32180813e-01,-6.05589443e-02, 2.74974676e-01,
  1.40745955e-02, 4.06171863e-01,-1.52237072e-02, 2.83939332e-01,
  1.35074080e+00,-2.53085543e-04, 1.11305298e+00, 6.33357243e-02,
  5.41180802e-02,-7.54932582e-02, 1.30153671e-01, 5.38426393e-01,
  3.05600712e-01, 3.96293959e-01, 6.77979589e-01]

qacc:
[ 2.74040180e+00,-1.16233322e+01,-8.68071229e+00, 5.13872777e+01,
  3.09337400e+00,-5.04078668e+01, 1.72381440e+02,-1.23398001e+02,
 -4.49683972e-01,-4.59610071e+01, 1.63883062e+02,-3.09550783e+02,
 -8.92878428e-02,-2.75797171e-01, 5.22271883e+00,-1.77609510e+01,
 -1.79500534e+00,-1.22061403e+00,-3.60331549e+00,-2.88039905e+01,
 -3.34212421e+01,-2.43668847e+00]

qfrc_actuator:
[-0.00629996, 0.23428269, 0.0123698 , 0.17002693, 0.00035078, 0.28654976,
  0.04177886, 0.16888226,-0.00035131, 0.21496137, 0.00246464, 0.15374759,
  0.00089219,-0.00228349, 0.        ,-0.00208972, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.22246685,  0.16948699, -0.14410295,  0.16948699,  0.14968069,
       -0.08560759, -0.14410295, -0.08560759,  0.1217793 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000274446367608319
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.86620184, -0.19814406, -0.45873009, -0.17510457,  0.98017291,
       -0.09273328,  0.46800936,  0.        , -0.88372351])
  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([ 0.08730357, -0.08218078,  0.1144144 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.0932001 ,  0.13146723, -4.09108829,  0.13146723, 13.12249758,
        0.29015671, -4.09108829,  0.29015671,  4.10252429,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2444773444513233e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09154108e-13,  2.47323286e-12,  1.00000000e+00, -7.64610098e-25,
        1.00000000e+00, -2.47323286e-12, -1.00000000e+00,  0.00000000e+00,
        3.09154108e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06361022, -0.03421991,  0.06199935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37292838e-04,-3.34006591e-03,-1.17457504e-03,-1.33554067e-04,
  1.22080170e-02, 6.16671217e-02, 3.60151011e-02, 1.59052105e-02,
 -2.81765005e-05,-2.57909307e-03,-6.22593612e-04,-6.33212308e-04,
 -6.46658030e-05,-4.85630114e-05, 2.77142218e-06,-8.52809970e-05,
  1.45061239e-03,-1.99542284e-04,-1.22334572e+00, 3.55897269e-04,
  3.31537175e-04,-1.39611698e-03]


--- Step 1779 ---
qpos:
[-3.54877694e-03, 3.86191572e-01,-2.35558094e-02, 3.11964985e-01,
  3.59853076e-03, 3.36480484e-01,-6.04685036e-02, 2.78022158e-01,
  1.40921815e-02, 4.10205063e-01,-1.52651401e-02, 2.86990080e-01,
  1.35083448e+00,-2.66202367e-04, 1.11324227e+00, 6.33311496e-02,
  5.32331556e-02,-7.56693880e-02, 1.29935301e-01, 5.40322112e-01,
  3.01749927e-01, 3.92056163e-01, 6.80654804e-01]

qacc:
[ 2.87587227e+00, 2.06543363e+01,-1.39173945e+02, 3.07682721e+02,
  1.17317288e+02,-1.52853636e+01, 7.51231345e+01,-2.76305848e+01,
 -7.70484952e-01, 4.22364082e+00,-3.49957776e+01, 5.63432829e+01,
 -2.94944668e-02,-3.89614669e-01, 5.25320588e+00,-1.82482244e+01,
 -3.61723018e+00, 1.03449190e+00,-9.38932364e+00, 5.89681662e+00,
 -7.44493464e-01, 1.85851825e+00]

qfrc_actuator:
[-0.00616419, 0.23415766, 0.01219027, 0.17054138, 0.00057009, 0.28570306,
  0.04168626, 0.16897563,-0.00040153, 0.21524643, 0.00245904, 0.15383635,
  0.0008742 ,-0.00230868, 0.        ,-0.00217654, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.21041745,  0.1253253 , -0.16902388,  0.1253253 ,  0.09006731,
       -0.08923542, -0.16902388, -0.08923542,  0.1442525 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016588888661662224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.8594555 , -0.19932701, -0.47074939, -0.17482082,  0.97993303,
       -0.09575457,  0.48038935,  0.        , -0.87705534])
  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([ 0.08677359, -0.08221357,  0.11447599])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48599830e-04,-2.39396588e-03,-1.06934903e-03, 3.18371103e-04,
  1.23332214e-02, 6.02469018e-02, 3.45634762e-02, 1.57214455e-02,
 -4.48461710e-05,-1.44915864e-03,-6.81531226e-04,-6.54558974e-05,
 -6.50778131e-05,-5.24325988e-05,-1.30052914e-05,-9.22960946e-05,
  1.56477989e-03,-1.09641588e-04,-1.22347128e+00, 3.75558275e-04,
  3.40159331e-04,-1.25885409e-03]


--- Step 1780 ---
qpos:
[-3.69340686e-03, 3.90620002e-01,-2.34011752e-02, 3.15366290e-01,
  3.50340472e-03, 3.40774096e-01,-6.03925408e-02, 2.81079359e-01,
  1.41097794e-02, 4.14234679e-01,-1.53111234e-02, 2.90047031e-01,
  1.35092770e+00,-2.79556841e-04, 1.11343081e+00, 6.33309077e-02,
  5.23333566e-02,-7.58431943e-02, 1.29680351e-01, 5.42194363e-01,
  2.97895842e-01, 3.87804463e-01, 6.83294255e-01]

qacc:
[ 2.92265426e+00, 4.05048305e+01,-2.24216145e+02, 4.93073272e+02,
  9.71124432e+01, 5.03395724e+01,-2.27796343e+02, 4.08377108e+02,
  5.41723375e-03, 2.03100613e+01,-1.02609759e+02, 2.12051949e+02,
  1.38893270e-01,-5.01916919e-01,-1.42129286e+01, 4.80607373e+01,
 -3.71857705e+00, 5.80838170e-01,-9.14523694e+00, 4.92848051e+00,
 -3.42875015e+00,-2.23809440e-01]

qfrc_actuator:
[-0.00602532, 0.23418082, 0.01196927, 0.17137211, 0.00073768, 0.28530756,
  0.04158227, 0.17034801,-0.00040278, 0.21578069, 0.00251133, 0.15421355,
  0.00085473,-0.00231826, 0.        ,-0.00194173, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.20416104,  0.08578844, -0.18526218,  0.08578844,  0.05207721,
       -0.0704247 , -0.18526218, -0.0704247 ,  0.17154982,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.6381954115686764e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.85252695, -0.19828711, -0.48361144, -0.17246967,  0.98014398,
       -0.09783656,  0.49340857,  0.        , -0.86979767])
  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([ 0.08623014, -0.08222004,  0.11452297])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54817463e-04,-1.67552982e-03,-8.87554212e-04, 6.86765294e-04,
  8.71322508e-03, 5.85401845e-02, 3.33839633e-02, 1.68058291e-02,
  5.86544143e-07,-5.56111220e-04,-3.78662797e-04, 2.79536318e-04,
 -6.79175884e-05,-3.77920630e-05,-2.02176041e-05, 2.27102099e-04,
  1.65116268e-03,-9.01540100e-05,-1.22342497e+00, 3.95805537e-04,
  3.39343055e-04,-1.25018042e-03]


--- Step 1781 ---
qpos:
[-3.83554521e-03, 3.95035996e-01,-2.32511732e-02, 3.18772675e-01,
  3.50154559e-03, 3.45428635e-01,-5.99723210e-02, 2.84403860e-01,
  1.41277176e-02, 4.18261096e-01,-1.53572863e-02, 2.93103443e-01,
  1.35102053e+00,-2.93023045e-04, 1.11361894e+00, 6.33354356e-02,
  5.14336122e-02,-7.60169986e-02, 1.29385938e-01, 5.44044053e-01,
  2.94028036e-01, 3.83536578e-01, 6.85903255e-01]

qacc:
[ 2.93444413e+00, 6.46368188e+00,-6.55608858e+01, 1.62336541e+02,
  1.40354689e+02, 4.47328798e+01,-5.48328111e+02, 4.22982396e+03,
  3.74481115e-01,-4.80297429e+00, 1.30437438e+01,-1.91296349e+01,
  9.26134171e-02,-3.39469136e-01,-1.50254126e+01, 5.16459449e+01,
  1.36299823e-02, 5.19210161e-04,-9.86567202e+00, 1.55751277e-02,
  1.39500663e-01,-7.98072893e-01]

qfrc_actuator:
[-0.00588562, 0.23372631, 0.01179806, 0.17163692, 0.00083808, 0.28500744,
  0.04149818, 0.17136293,-0.00039282, 0.21587626, 0.00259934, 0.15420751,
  0.00084504,-0.00231853, 0.        ,-0.00169683, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 1.57695962e-04,-1.69812230e-03,-6.54886815e-04, 1.64367158e-04,
  5.61567032e-03, 5.83893671e-02, 3.39694436e-02, 1.73203067e-02,
  2.19674569e-05,-4.18488487e-04,-1.10183082e-04,-4.91769060e-05,
 -5.55529972e-05,-2.57413119e-05, 1.38722559e-05, 2.54494300e-04,
  1.73571385e-03,-6.41602507e-05,-1.22338449e+00, 4.16696910e-04,
  3.45553133e-04,-1.23005000e-03]


--- Step 1782 ---
qpos:
[-3.97491254e-03, 3.99437335e-01,-2.31040230e-02, 3.22175636e-01,
  3.51502250e-03, 3.50360199e-01,-5.94301672e-02, 2.87756529e-01,
  1.41456236e-02, 4.22282240e-01,-1.54029382e-02, 2.96163937e-01,
  1.35111308e+00,-3.06747320e-04, 1.11380707e+00, 6.33428611e-02,
  5.05355373e-02,-7.62024655e-02, 1.29090015e-01, 5.45904555e-01,
  2.90185122e-01, 3.79149719e-01, 6.88495681e-01]

qacc:
[ 3.22270647e+00,-1.81965502e+01, 4.98749915e+01,-9.01592811e+01,
  2.23861469e+01, 8.33234457e+01, 1.13764090e+02,-1.67822646e+01,
 -2.52518796e-02,-2.20658171e-01,-2.50891904e+01, 9.50071565e+01,
  1.57342397e-01,-4.80564140e-01,-8.75245754e+00, 3.05975534e+01,
  4.17363127e-01,-2.91564507e+00,-3.77692739e-01,-3.24429720e+01,
 -4.54110449e+01, 1.40489596e+01]

qfrc_actuator:
[-0.00572869, 0.23297286, 0.01163811, 0.17145986, 0.0008431 , 0.28416921,
  0.04110859, 0.1711208 ,-0.00041198, 0.21563864, 0.00263521, 0.15441961,
  0.00083591,-0.00233099, 0.        ,-0.00155456, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09375741, -0.41596843, -4.07256922, -0.41596843, 18.7290448 ,
       -1.49483463, -4.07256922, -1.49483463,  4.24643843,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.502475327760545e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10912485e-12,  3.32737454e-12,  1.00000000e+00, -3.69047377e-24,
        1.00000000e+00, -3.32737454e-12, -1.00000000e+00,  0.00000000e+00,
        1.10912485e-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([ 0.06284921, -0.03290775,  0.06199927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.76103231e-04,-1.98297953e-03,-6.37318493e-04,-2.80763165e-04,
  9.36851915e-04, 3.93448972e-02, 1.63101491e-02, 3.69086044e-03,
 -2.30921454e-06,-6.32957498e-04,-1.12259066e-04, 1.77417303e-04,
 -4.49276684e-05,-3.21745692e-05, 3.09990829e-05, 1.57381892e-04,
  1.82454198e-03,-4.49638838e-05,-1.22336194e+00, 4.38045595e-04,
  3.54359325e-04,-1.22580970e-03]


--- Step 1783 ---
qpos:
[-4.11158448e-03, 4.03819498e-01,-2.29592159e-02, 3.25581340e-01,
  3.53063095e-03, 3.55461073e-01,-5.88176374e-02, 2.91110010e-01,
  1.41634234e-02, 4.26292204e-01,-1.54458955e-02, 2.99230103e-01,
  1.35120522e+00,-3.20291324e-04, 1.11399523e+00, 6.33526359e-02,
  4.96383978e-02,-7.63985448e-02, 1.28789490e-01, 5.47770855e-01,
  2.86365046e-01, 3.74651750e-01, 6.91070341e-01]

qacc:
[ 3.09722639e+00,-1.33882034e+01, 7.30672058e-01, 6.10420402e+01,
  2.97085575e+00, 3.07164896e+01, 2.05932724e+02,-4.08990993e+02,
 -8.87590005e-02,-1.09064533e+01,-4.72299875e+00, 1.02410521e+02,
 -3.08769010e-01, 3.99232867e-01,-7.01958410e+00, 2.46846667e+01,
  2.33863986e-01,-2.65310698e+00,-1.15028099e+00,-2.94894527e+01,
 -4.18667314e+01, 1.36046815e+01]

qfrc_actuator:
[-0.00558044, 0.23186971, 0.01146725, 0.17159223, 0.00081377, 0.2826636 ,
  0.04060256, 0.17025665,-0.00043062, 0.21483167, 0.00267469, 0.15468718,
  0.00082178,-0.00231506, 0.        ,-0.0014384 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.10184281,  1.1806111 ,  3.92826576,  1.1806111 ,  7.07402819,
       -0.89326824,  3.92826576, -0.89326824,  4.37030795,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.898619107927826e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.83299997e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.83299997e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06279342, -0.0329172 ,  0.06199856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.71817509e-04,-2.50599655e-03,-7.19423503e-04, 8.77868980e-06,
  1.36686905e-04, 2.38118086e-02, 9.64296776e-03, 1.39691662e-03,
 -7.38337214e-06,-1.31258112e-03,-1.45043474e-04, 2.28466364e-04,
 -4.56815020e-05,-2.90362890e-06, 2.68339808e-05, 1.27755406e-04,
  1.96327624e-03, 6.69584622e-05,-1.22349521e+00, 4.50743762e-04,
  3.00299712e-04,-1.03922348e-03]


--- Step 1784 ---
qpos:
[-4.24539906e-03, 4.08180782e-01,-2.28175750e-02, 3.28997355e-01,
  3.54653312e-03, 3.60652670e-01,-5.81627293e-02, 2.94463718e-01,
  1.41808343e-02, 4.30287130e-01,-1.54869111e-02, 3.02298370e-01,
  1.35129695e+00,-3.33580619e-04, 1.11418357e+00, 6.33630841e-02,
  4.87416317e-02,-7.66043444e-02, 1.28481711e-01, 5.49638952e-01,
  2.82566041e-01, 3.70048999e-01, 6.93626119e-01]

qacc:
[ 3.23388152e+00, 1.58471740e+00,-8.41370947e+01, 2.69406309e+02,
  3.83483034e-01, 3.26844284e+00, 1.57483932e+02,-2.74568266e+02,
 -3.80215212e-01,-2.10412903e+01, 3.77217230e+01, 5.81208909e+00,
 -4.70959475e-01, 6.73545286e-01,-1.73368338e+00, 6.53405818e+00,
  9.33562228e-02,-2.43007823e+00,-1.81354926e+00,-2.71559374e+01,
 -3.90196540e+01, 1.31585726e+01]

qfrc_actuator:
[-0.00542069, 0.23086891, 0.01132596, 0.17211849, 0.0008064 , 0.28039942,
  0.04001171, 0.16967447,-0.00046661, 0.21386862, 0.00267843, 0.15477177,
  0.00080469,-0.0023002 , 0.        ,-0.00140953, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.10620106,  1.44252702,  3.84447694,  1.44252702,  7.63213008,
       -1.32300128,  3.84447694, -1.32300128,  4.60261842,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.7904682845194566e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.79332141e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.79332141e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06274737, -0.03291878,  0.06199829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.82882474e-04,-2.69949191e-03,-7.96928440e-04, 3.84196629e-04,
  2.19943231e-05, 1.28980156e-02, 5.46525124e-03, 7.53783906e-04,
 -2.61411335e-05,-1.85232847e-03,-3.22504140e-04, 1.72057108e-05,
 -4.22356128e-05, 3.38278387e-06, 2.14789975e-05, 3.82496834e-05,
  2.10159604e-03, 1.75402265e-04,-1.22361370e+00, 4.66943190e-04,
  2.47551974e-04,-8.63713717e-04]


--- Step 1785 ---
qpos:
[-4.37650955e-03, 4.12522044e-01,-2.26797072e-02, 3.32417625e-01,
  3.56263451e-03, 3.65881118e-01,-5.74842687e-02, 2.97814751e-01,
  1.41979042e-02, 4.34267304e-01,-1.55286630e-02, 3.05369247e-01,
  1.35138833e+00,-3.46624190e-04, 1.11437215e+00, 6.33724833e-02,
  4.78448139e-02,-7.68191033e-02, 1.28164396e-01, 5.51505645e-01,
  2.78786597e-01, 3.65346505e-01, 6.96161970e-01]

qacc:
[ 3.01467953e+00,-7.56653507e+00,-2.70177926e+01, 1.15056314e+02,
  2.86129918e-01,-2.13752234e+01, 1.54729082e+02,-2.54021457e+02,
 -3.33716992e-01,-1.22168455e+01, 5.25187929e+00, 4.94218312e+01,
 -5.30211396e-01, 7.69592975e-01, 3.56679076e+00,-1.18593845e+01,
 -1.29232511e-02,-2.23982132e+00,-2.38389498e+00,-2.53311632e+01,
 -3.67507078e+01, 1.27214150e+01]

qfrc_actuator:
[-0.00527303, 0.23002767, 0.01118643, 0.17233985, 0.0008132 , 0.27763769,
  0.03935206, 0.16913746,-0.00049494, 0.21321082, 0.00266042, 0.15490765,
  0.00079115,-0.00228612, 0.        ,-0.00146781, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.10449616,  1.8345788 ,  3.67167665,  1.8345788 ,  8.44118442,
       -2.16685648,  3.67167665, -2.16685648,  5.18718109,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.459164538199057e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27105418e-12,  1.01684334e-12,  1.00000000e+00, -1.29246298e-24,
        1.00000000e+00, -1.01684334e-12, -1.00000000e+00,  0.00000000e+00,
        1.27105418e-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([ 0.06270929, -0.03291392,  0.06199838])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73782772e-04,-2.64712159e-03,-8.31057066e-04, 7.63503972e-05,
  1.38973117e-05, 5.41221663e-03, 2.61674749e-03, 1.86027997e-04,
 -2.30870077e-05,-1.89325423e-03,-4.83851761e-04, 3.59391197e-05,
 -3.55883506e-05, 5.15781083e-06, 8.88092989e-06,-5.46134662e-05,
  2.23992235e-03, 2.81297254e-04,-1.22371996e+00, 4.86114823e-04,
  1.96164192e-04,-6.97184107e-04]


--- Step 1786 ---
qpos:
[-4.50589345e-03, 4.16839060e-01,-2.25433281e-02, 3.35836489e-01,
  3.57817680e-03, 3.71110776e-01,-5.67952486e-02, 3.01152961e-01,
  1.42152514e-02, 4.38231252e-01,-1.55696067e-02, 3.08441531e-01,
  1.35147943e+00,-3.59219669e-04, 1.11456141e+00, 6.33757663e-02,
  4.69476284e-02,-7.70421693e-02, 1.27835581e-01, 5.53368377e-01,
  2.75025429e-01, 3.60548238e-01, 6.98676907e-01]

qacc:
[ 1.91825214e+00,-3.06248803e+01, 6.77826880e+01,-6.93873372e+01,
 -7.18474338e-01,-5.20362241e+01, 2.35945779e+02,-4.56265500e+02,
  3.08414247e-01,-2.08526776e+01, 3.75698915e+01,-3.07733788e+00,
 -9.62735859e-01, 1.52269948e+00, 1.95495186e+01,-6.67459793e+01,
 -9.19378551e-02,-2.07676862e+00,-2.87517125e+00,-2.39256280e+01,
 -3.49633531e+01, 1.23006605e+01]

qfrc_actuator:
[-0.00518687, 0.22866832, 0.01104983, 0.17225592, 0.00077521, 0.27464828,
  0.038653  , 0.16822206,-0.00048305, 0.21245786, 0.00272001, 0.15498419,
  0.00079041,-0.00225485, 0.        ,-0.00178994, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09872485,  2.42522342,  3.30421499,  2.42522342,  9.08359409,
       -3.65878784,  3.30421499, -3.65878784,  6.78419718,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.1430842732392836e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00977632e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.00977632e-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([ 0.06267769, -0.03290384,  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:
[ 1.10967697e-04,-3.15482814e-03,-8.31571755e-04,-2.33836825e-04,
 -3.41948279e-05, 3.90685777e-04, 6.69237460e-04,-6.14196305e-04,
  1.77052226e-05,-2.04288437e-03,-4.33414108e-04,-3.00730988e-05,
 -1.91346899e-05, 2.45659576e-05,-6.98036941e-06,-3.25212279e-04,
  2.37863121e-03, 3.85495837e-04,-1.22381612e+00, 5.07847520e-04,
  1.46119556e-04,-5.37776529e-04]


--- Step 1787 ---
qpos:
[-4.63378710e-03, 4.21127067e-01,-2.24081774e-02, 3.39257766e-01,
  3.59317081e-03, 3.76316543e-01,-5.61036067e-02, 3.04474268e-01,
  1.42328433e-02, 4.42175971e-01,-1.56086888e-02, 3.11511964e-01,
  1.35157039e+00,-3.71418042e-04, 1.11475064e+00, 6.33751706e-02,
  4.60498461e-02,-7.72729803e-02, 1.27493569e-01, 5.55225105e-01,
  2.71281452e-01, 3.55657262e-01, 7.01169999e-01]

qacc:
[ 1.64496863e+00,-3.00978635e+01, 4.24474814e+01, 2.04066059e+01,
 -6.68925297e-01,-7.10596983e+01, 2.71844870e+02,-5.28738840e+02,
  2.78617122e-01,-3.42276332e+01, 9.16462921e+01,-1.08656530e+02,
 -6.40680823e-01, 1.09299798e+00, 1.17104713e+01,-4.09193792e+01,
 -1.49192871e-01,-1.93626751e+00,-3.29922281e+00,-2.28668561e+01,
 -3.35785811e+01, 1.19009391e+01]

qfrc_actuator:
[-0.00510221, 0.22702808, 0.01091421, 0.17236559, 0.00074654, 0.27141889,
  0.03796937, 0.16719735,-0.00048302, 0.21140663, 0.00277166, 0.15488327,
  0.00079203,-0.00223132, 0.        ,-0.00198087, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09280871,  3.1473564 ,  2.61633921,  3.1473564 ,  8.01508191,
       -4.71834523,  2.61633921, -4.71834523,  9.76879827,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.043873728040102e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.03698315e-12,  1.35798877e-12,  1.00000000e+00, -2.76620023e-24,
        1.00000000e+00, -1.35798877e-12, -1.00000000e+00,  0.00000000e+00,
        2.03698315e-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([ 0.06265137, -0.03288959,  0.06199939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.58530516e-05,-3.73119273e-03,-9.44942507e-04,-6.71829099e-05,
 -3.48023860e-05,-3.08921485e-03,-6.13453523e-04,-1.01561020e-03,
  1.54935922e-05,-2.41628254e-03,-4.67855965e-04,-2.13193547e-04,
 -4.06288788e-06, 2.61012432e-05,-4.48289742e-05,-2.11212639e-04,
  2.51806679e-03, 4.88772935e-04,-1.22390398e+00, 5.31824588e-04,
  9.73554990e-05,-3.83851946e-04]


--- Step 1788 ---
qpos:
[-4.75999619e-03, 4.25389898e-01,-2.22784301e-02, 3.42689198e-01,
  3.60798455e-03, 3.81495538e-01,-5.54232475e-02, 3.07798886e-01,
  1.42502930e-02, 4.46106136e-01,-1.56509629e-02, 3.14591011e-01,
  1.35166133e+00,-3.83511629e-04, 1.11493945e+00, 6.33735686e-02,
  4.51521492e-02,-7.75037745e-02, 1.27112072e-01, 5.57055655e-01,
  2.67525710e-01, 3.50748468e-01, 7.03629522e-01]

qacc:
[ 1.81143486e+00, 1.75710647e+00,-9.16510240e+01, 2.79063679e+02,
 -2.20414701e-01, 2.17909087e+00,-7.07112298e+01, 1.58197452e+02,
 -1.30641964e-01, 6.80374603e+00,-8.44419683e+01, 2.38488645e+02,
 -1.31840197e-01, 2.43606636e-01, 2.43465686e+00,-9.38486603e+00,
  2.13689318e-02, 4.20949083e-03,-9.87109821e+00, 7.27348901e-03,
 -7.20311659e-01, 1.82939857e-01]

qfrc_actuator:
[-0.00500115, 0.22613915, 0.01077952, 0.1729077 , 0.00074141, 0.26975664,
  0.03726321, 0.16734121,-0.00050794, 0.21109132, 0.0027639 , 0.15535317,
  0.00078973,-0.00223031, 0.        ,-0.00202185, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 1.09088960e-04,-3.31675813e-03,-1.06988185e-03, 3.41224622e-04,
 -1.23771072e-05,-3.74588898e-03,-1.52152773e-03,-4.38320757e-05,
 -1.00998065e-05,-1.90279262e-03,-6.14083693e-04, 3.37477239e-04,
  3.56668475e-07, 7.65485869e-06,-4.67761316e-05,-5.91305928e-05,
  2.65854997e-03, 5.91829852e-04,-1.22398504e+00, 5.57804810e-04,
  4.97793643e-05,-2.33969168e-04]


--- Step 1789 ---
qpos:
[-4.88433852e-03, 4.29632939e-01,-2.21550002e-02, 3.46136845e-01,
  3.62261789e-03, 3.86654099e-01,-5.47609139e-02, 3.11144965e-01,
  1.42675522e-02, 4.50024358e-01,-1.56954861e-02, 3.17690810e-01,
  1.35175235e+00,-3.95763848e-04, 1.11512836e+00, 6.33683989e-02,
  4.42545412e-02,-7.77345510e-02, 1.26691093e-01, 5.58859929e-01,
  2.63758389e-01, 3.45822083e-01, 7.06055365e-01]

qacc:
[ 1.96773083e+00, 2.33014419e+01,-1.80141252e+02, 4.60207097e+02,
 -2.48708828e-01, 6.38928847e+01,-3.46982404e+02, 7.29176077e+02,
 -1.78310882e-01, 3.17791622e+01,-2.14260667e+02, 5.60587003e+02,
 -5.55407245e-02,-1.41623715e-03, 1.09112233e+01,-3.79665285e+01,
  2.21841259e-02, 4.43233824e-03,-9.87079705e+00, 7.44369492e-03,
 -7.22390732e-01, 1.86129495e-01]

qfrc_actuator:
[-0.00489104, 0.22572654, 0.01068555, 0.17377159, 0.00073252, 0.26933114,
  0.03659189, 0.16847454,-0.00052979, 0.21093654, 0.00283133, 0.15643987,
  0.00079041,-0.00224268, 0.        ,-0.00220496, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 1.21724187e-04,-2.61628152e-03,-9.44816515e-04, 6.84290819e-04,
 -1.22249345e-05,-3.02006085e-03,-1.69874521e-03, 9.07001715e-04,
 -1.32432639e-05,-1.46156767e-03,-4.32074437e-04, 9.81732394e-04,
  1.67736800e-06,-9.55349705e-06,-2.96853946e-05,-1.92798611e-04,
  2.75901506e-03, 6.19946608e-04,-1.22394715e+00, 5.79302220e-04,
  5.51081699e-05,-2.26578699e-04]


--- Step 1790 ---
qpos:
[-5.00696648e-03, 4.33854516e-01,-2.20343787e-02, 3.49597419e-01,
  3.63675856e-03, 3.91786706e-01,-5.41104593e-02, 3.14497517e-01,
  1.42849062e-02, 4.53924284e-01,-1.57355241e-02, 3.20804475e-01,
  1.35184346e+00,-4.08549324e-04, 1.11531643e+00, 6.33663941e-02,
  4.33555413e-02,-7.79748943e-02, 1.26263860e-01, 5.60663484e-01,
  2.60018167e-01, 3.40775695e-01, 7.08462375e-01]

qacc:
[ 1.79624076e+00, 4.90093270e+00,-1.06115952e+02, 3.31282801e+02,
 -6.02991517e-01, 1.09611603e+01,-1.12311405e+02, 2.50368355e+02,
  1.27079021e-01,-9.00070320e+00,-5.60852710e+01, 2.88557900e+02,
  7.02144648e-01,-1.28334100e+00,-1.08483676e+01, 3.60165374e+01,
 -3.47941320e-01,-2.39171336e+00,-1.56338316e+00,-3.14411624e+01,
 -4.54590525e+01, 1.55033720e+01]

qfrc_actuator:
[-0.00479411, 0.22475227, 0.01058359, 0.17442786, 0.00070369, 0.2678768 ,
  0.03593499, 0.16877962,-0.00053193, 0.20981612, 0.00297971, 0.15711771,
  0.00078221,-0.00228062, 0.        ,-0.00202658, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09276423,  0.24184629, -4.08561249,  0.24184629, 24.99149659,
        1.23709259, -4.08561249,  1.23709259,  4.16599346,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.019812225005635e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.87083068e-13,  2.74833227e-12,  1.00000000e+00, -1.88833257e-24,
        1.00000000e+00, -2.74833227e-12, -1.00000000e+00,  0.00000000e+00,
        6.87083068e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06255032, -0.03289384,  0.06199938])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12142945e-04,-2.74558765e-03,-7.81580336e-04, 5.16882170e-04,
 -3.20098362e-05,-3.63822454e-03,-1.52358988e-03, 1.22219000e-04,
  5.67135672e-06,-2.11558986e-03,-2.15902108e-04, 6.10308679e-04,
 -1.06583837e-05,-3.91471754e-05,-3.81376289e-05, 1.63116674e-04,
  2.85896304e-03, 6.47963180e-04,-1.22390781e+00, 6.00691632e-04,
  6.03617346e-05,-2.19100917e-04]


--- Step 1791 ---
qpos:
[-5.12777768e-03, 4.38059056e-01,-2.19187199e-02, 3.53062098e-01,
  3.65044620e-03, 3.96887195e-01,-5.34703582e-02, 3.17841808e-01,
  1.43020701e-02, 4.57801576e-01,-1.57719955e-02, 3.23923490e-01,
  1.35193449e+00,-4.21656792e-04, 1.11550420e+00, 6.33667986e-02,
  4.24551584e-02,-7.82239636e-02, 1.25827587e-01, 5.62463972e-01,
  2.56302471e-01, 3.35614864e-01, 7.10848779e-01]

qacc:
[ 1.86635121e+00,-6.66709722e-01,-4.47565348e+01, 1.28428411e+02,
 -5.29221015e-01,-2.96402041e+01, 7.65443343e+01,-1.72319945e+02,
 -1.46146248e-01,-2.91210822e+01, 3.94779123e+01, 6.02889040e+01,
  3.37156669e-01,-7.03038737e-01,-7.74227183e+00, 2.63760329e+01,
 -3.45765924e-01,-2.18148387e+00,-2.25970415e+00,-2.97553930e+01,
 -4.29265327e+01, 1.43668848e+01]

qfrc_actuator:
[-0.00468793, 0.22426722, 0.01045809, 0.17465457, 0.00068103, 0.26592537,
  0.03527003, 0.16832788,-0.00055797, 0.20839375, 0.00302881, 0.15735354,
  0.000774  ,-0.00229794, 0.        ,-0.0019029 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09531216,  3.53889912, -2.06101303,  3.53889912,  6.63909762,
        4.36785212, -2.06101303,  4.36785212, 11.59521042,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.110849441913255e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33832782e-12,  1.78443709e-12,  1.00000000e+00, -2.38816179e-24,
        1.00000000e+00, -1.78443709e-12, -1.00000000e+00,  0.00000000e+00,
        1.33832782e-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([ 0.06251169, -0.03290452,  0.06199904])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19552556e-04,-2.30095355e-03,-8.16948525e-04, 8.43986420e-05,
 -2.99081728e-05,-4.47637037e-03,-1.66335650e-03,-6.69761746e-04,
 -1.37089788e-05,-2.75317436e-03,-4.35510475e-04, 1.41286668e-04,
 -2.36635549e-05,-2.93839481e-05,-1.26227622e-07, 1.27694565e-04,
  3.02080855e-03, 7.83830157e-04,-1.22402651e+00, 6.31330297e-04,
 -5.15214212e-06,-1.43351211e-05]


--- Step 1792 ---
qpos:
[-5.24614138e-03, 4.42251589e-01,-2.18085561e-02, 3.56519991e-01,
  3.66402903e-03, 4.01952197e-01,-5.28419771e-02, 3.21174903e-01,
  1.43190216e-02, 4.61659153e-01,-1.58103198e-02, 3.27045023e-01,
  1.35202536e+00,-4.34683246e-04, 1.11569230e+00, 6.33656541e-02,
  4.15534406e-02,-7.84810215e-02, 1.25379874e-01, 5.64259406e-01,
  2.52609140e-01, 3.30344100e-01, 7.13212955e-01]

qacc:
[ 2.47132514e+00,-1.39778269e+01, 5.24788014e+01,-1.44723510e+02,
 -1.02088964e-01,-3.59582347e+01, 1.03868809e+02,-2.42521877e+02,
 -1.82371184e-01,-1.58704518e+01, 9.35756432e+00, 4.86084154e+01,
 -2.96790827e-01, 4.06234357e-01, 5.17525093e+00,-1.73591296e+01,
 -3.33721153e-01,-1.99715781e+00,-2.86026999e+00,-2.84056579e+01,
 -4.08667583e+01, 1.33869501e+01]

qfrc_actuator:
[-0.00454148, 0.22411536, 0.01033951, 0.17434315, 0.00067999, 0.26401177,
  0.03462123, 0.16775372,-0.00058035, 0.20758297, 0.00298195, 0.15748691,
  0.00077645,-0.00228515, 0.        ,-0.00199007, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09472046,  3.25577229, -2.48328057,  3.25577229,  6.62186711,
        3.31328411, -2.48328057,  3.31328411,  8.43869138,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8944741138611785e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.39729002e-12, -9.58916008e-13,  1.00000000e+00, -2.29879977e-24,
        1.00000000e+00,  9.58916008e-13, -1.00000000e+00,  0.00000000e+00,
       -2.39729002e-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([ 0.06247902, -0.03290706,  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:
[ 1.62179287e-04,-1.74376020e-03,-7.37412735e-04,-4.45061125e-04,
 -8.18072750e-06,-4.96726423e-03,-1.86273686e-03,-8.47232736e-04,
 -1.51826506e-05,-2.56152297e-03,-7.04900373e-04,-4.21019749e-06,
 -1.73432855e-05,-5.98969327e-08, 1.09940357e-05,-8.08048491e-05,
  3.18297921e-03, 9.18272570e-04,-1.22413531e+00, 6.64718600e-04,
 -6.67126610e-05, 1.82501427e-04]


--- Step 1793 ---
qpos:
[-5.36235655e-03, 4.46427390e-01,-2.16998493e-02, 3.59964915e-01,
  3.67749887e-03, 4.06976988e-01,-5.22248069e-02, 3.24500295e-01,
  1.43355252e-02, 4.65501642e-01,-1.58528421e-02, 3.30172575e-01,
  1.35211591e+00,-4.46988902e-04, 1.11588006e+00, 6.33665054e-02,
  4.06504677e-02,-7.87454177e-02, 1.24918644e-01, 5.66048089e-01,
  2.48936373e-01, 3.24967014e-01, 7.15553410e-01]

qacc:
[ 2.15996047e+00,-4.35049108e+01, 1.70346166e+02,-3.60260206e+02,
 -1.00019344e-01,-3.68387455e+01, 8.44339141e+01,-1.63478404e+02,
 -4.14678195e-01, 3.67823569e+00,-6.40543181e+01, 1.76925427e+02,
 -6.27809191e-01, 1.22469983e+00,-6.46676788e+00, 2.20321962e+01,
 -3.13762066e-01,-1.83456693e+00,-3.37934823e+00,-2.73437003e+01,
 -3.92109131e+01, 1.25404425e+01]

qfrc_actuator:
[-0.00442549, 0.22313555, 0.01020984, 0.1736826 , 0.00067399, 0.26185306,
  0.03400539, 0.1673609 ,-0.00061818, 0.20726956, 0.00293477, 0.15782577,
  0.00077466,-0.00223681, 0.        ,-0.00188121, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09210992,  3.01328352, -2.76866141,  3.01328352,  6.30657149,
        2.41011795, -2.76866141,  2.41011795,  6.71517126,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.6251521347293574e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.41575106e-12,  1.70787553e-12,  1.00000000e+00, -5.83367764e-24,
        1.00000000e+00, -1.70787553e-12, -1.00000000e+00,  0.00000000e+00,
        3.41575106e-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([ 0.06245132, -0.03290298,  0.06199949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.42733384e-04,-2.26542129e-03,-6.42130105e-04,-7.78987926e-04,
 -8.91843661e-06,-5.53322268e-03,-1.96015111e-03,-6.96236945e-04,
 -3.10786755e-05,-2.01758973e-03,-7.03332525e-04, 1.97357383e-04,
 -1.15403652e-05, 4.46559929e-05,-8.85105009e-06, 1.04633439e-04,
  3.34596577e-03, 1.05199447e-03,-1.22423549e+00, 7.00379294e-04,
 -1.24868194e-04, 3.73036626e-04]


--- Step 1794 ---
qpos:
[-5.47677689e-03, 4.50581117e-01,-2.15912933e-02, 3.63396173e-01,
  3.69053082e-03, 4.11956081e-01,-5.16185823e-02, 3.27827240e-01,
  1.43513915e-02, 4.69327001e-01,-1.58955461e-02, 3.33310337e-01,
  1.35220604e+00,-4.58104839e-04, 1.11606768e+00, 6.33689612e-02,
  3.97476095e-02,-7.90097827e-02, 1.24417916e-01, 5.67807346e-01,
  2.45253613e-01, 3.19571386e-01, 7.17857655e-01]

qacc:
[ 1.79604184e+00,-5.55165668e+01, 2.04978507e+02,-4.02549344e+02,
 -4.62370417e-01,-2.69879526e+01, 3.57583638e+00, 6.99658107e+01,
 -5.76177308e-01,-1.83330719e+00,-6.45641637e+01, 2.41612423e+02,
 -1.08535623e+00, 2.12401623e+00,-4.94076026e+00, 1.72324540e+01,
  2.86588757e-02, 7.77502364e-03,-9.87429358e+00, 8.39268212e-02,
 -1.39891826e+00, 9.63765621e-01]

qfrc_actuator:
[-0.00432845, 0.22179277, 0.01010718, 0.17298124, 0.00064732, 0.25938866,
  0.03339574, 0.16743291,-0.00066496, 0.20652996, 0.00297925, 0.15835445,
  0.00076502,-0.0021678 , 0.        ,-0.00179968, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 1.19409725e-04,-2.91309271e-03,-7.21411028e-04,-8.44474005e-04,
 -2.99154056e-05,-6.16667963e-03,-2.07600276e-03,-2.54838823e-04,
 -4.41630954e-05,-2.13034258e-03,-4.92523608e-04, 4.13900969e-04,
 -5.45429019e-06, 7.80237717e-05, 4.42381961e-06, 8.55046864e-05,
  3.51020839e-03, 1.18565877e-03,-1.22432816e+00, 7.37969745e-04,
 -1.80110016e-04, 5.58736676e-04]


--- Step 1795 ---
qpos:
[-5.58887698e-03, 4.54714291e-01,-2.14864934e-02, 3.66819771e-01,
  3.70342140e-03, 4.16888171e-01,-5.10248326e-02, 3.31160552e-01,
  1.43670168e-02, 4.73131900e-01,-1.59357174e-02, 3.36455239e-01,
  1.35229592e+00,-4.68300162e-04, 1.11625565e+00, 6.33693563e-02,
  3.88434241e-02,-7.92818526e-02, 1.23905589e-01, 5.69562437e-01,
  2.41594970e-01, 3.14055935e-01, 7.20138439e-01]

qacc:
[ 2.27461316e+00,-3.17444495e+01, 1.01931213e+02,-2.02335455e+02,
 -1.20625683e-01,-1.52660546e+01,-5.86122880e+01, 2.11630766e+02,
 -1.93116947e-01,-1.98553828e+01, 4.29568047e+00, 1.23171361e+02,
 -1.00431380e+00, 1.89914224e+00, 6.82551402e+00,-2.29205476e+01,
 -3.31799704e-01,-1.92620333e+00,-2.89991511e+00,-3.19023684e+01,
 -4.48855064e+01, 1.33819174e+01]

qfrc_actuator:
[-0.00419003, 0.22095435, 0.0099845 , 0.17261633, 0.00064412, 0.25709972,
  0.03279402, 0.16775989,-0.00068124, 0.20543622, 0.00307639, 0.15870636,
  0.00075602,-0.00212267, 0.        ,-0.00191248, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09090983,  0.65647631, -4.03789327,  0.65647631, 22.31035339,
        2.96209738, -4.03789327,  2.96209738,  4.57248441,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.0230254985673675e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72479491e-10,  1.37983593e-10,  1.00000000e+00, -2.37993399e-20,
        1.00000000e+00, -1.37983593e-10, -1.00000000e+00,  0.00000000e+00,
        1.72479491e-10])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06238904, -0.03290456,  0.06199999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55301503e-04,-2.78827627e-03,-8.85620512e-04,-5.38342014e-04,
 -1.10900916e-05,-6.34807208e-03,-2.19625277e-03,-2.09127794e-05,
 -1.73007010e-05,-2.49423441e-03,-4.29508355e-04, 2.44127383e-04,
  6.52476789e-06, 6.40517468e-05, 7.45611741e-06,-1.08402737e-04,
  3.61828781e-03, 1.22059858e-03,-1.22427475e+00, 7.60209282e-04,
 -1.77901662e-04, 5.68818755e-04]


--- Step 1796 ---
qpos:
[-5.69896528e-03, 4.58829619e-01,-2.13869092e-02, 3.70236392e-01,
  3.71672242e-03, 4.21775633e-01,-5.04440870e-02, 3.34490273e-01,
  1.43819903e-02, 4.76918418e-01,-1.59757345e-02, 3.39595115e-01,
  1.35238541e+00,-4.77022591e-04, 1.11644356e+00, 6.33690809e-02,
  3.79393632e-02,-7.95538866e-02, 1.23353762e-01, 5.71287089e-01,
  2.37926896e-01, 3.08521918e-01, 7.22382226e-01]

qacc:
[ 1.94462508e+00,-2.27941896e+01, 7.30040356e+01,-1.63251133e+02,
  4.89899758e-01,-2.98197672e+01, 3.55215212e+01,-4.31367387e+01,
 -5.75263462e-01,-3.46373790e+01, 1.06564124e+02,-1.72389408e+02,
 -1.41174066e+00, 2.76848485e+00, 2.06174877e+00,-7.04406098e+00,
  3.11209763e-02, 8.96701185e-03,-9.87487384e+00, 1.16107196e-01,
 -1.58113670e+00, 1.18562434e+00]

qfrc_actuator:
[-0.00408128, 0.22037259, 0.00983573, 0.17229297, 0.00067263, 0.25514868,
  0.03223849, 0.16759534,-0.00073262, 0.20465499, 0.00311371, 0.15845414,
  0.00074739,-0.00203881, 0.        ,-0.00194358, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 1.35193532e-04,-2.48174661e-03,-8.95182432e-04,-4.90813170e-04,
  2.45332463e-05,-6.12410072e-03,-2.19297516e-03,-5.18955164e-04,
 -4.55289312e-05,-2.37815662e-03,-5.61749094e-04,-3.76115564e-04,
  9.67678136e-06, 1.02247852e-04,-1.36262076e-05,-3.73325376e-05,
  3.79698660e-03, 1.37496474e-03,-1.22438617e+00, 8.02690926e-04,
 -2.39449804e-04, 7.84517548e-04]


--- Step 1797 ---
qpos:
[-5.80817465e-03, 4.62930411e-01,-2.12935919e-02, 3.73661681e-01,
  3.72974176e-03, 4.26620595e-01,-4.98770791e-02, 3.37814387e-01,
  1.43969307e-02, 4.80694415e-01,-1.60192302e-02, 3.42730414e-01,
  1.35247472e+00,-4.84412868e-04, 1.11663128e+00, 6.33690785e-02,
  3.70340146e-02,-7.98338272e-02, 1.22791780e-01, 5.73009951e-01,
  2.34285958e-01, 3.02854890e-01, 7.24602375e-01]

qacc:
[ 8.38349566e-01, 1.51397528e+01,-1.12111021e+02, 2.65627477e+02,
 -2.82485769e-01,-2.88888911e+01, 4.40210307e+01,-8.48402684e+01,
 -2.51731834e-02,-1.33090669e+01, 4.46391460e+01,-1.05566218e+02,
 -1.08089485e+00, 2.29361551e+00,-1.00230007e+00, 3.33868823e+00,
 -3.21912011e-01,-1.97665228e+00,-2.53863335e+00,-3.64329191e+01,
 -5.03313851e+01, 1.39047035e+01]

qfrc_actuator:
[-0.00404421, 0.22011011, 0.00970975, 0.17277805, 0.00064867, 0.25332803,
  0.03166292, 0.16733854,-0.00073354, 0.20475974, 0.00316977, 0.1582748 ,
  0.00074966,-0.00196813, 0.        ,-0.00192622, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09168137,  0.79023965, -4.01464541,  0.79023965, 20.8654334 ,
        3.30173217, -4.01464541,  3.30173217,  4.74159174,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.3033516273401602e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.12955392e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.12955392e-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([ 0.06230637, -0.03293173,  0.06199958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.90079388e-05,-1.99022375e-03,-8.08564776e-04, 3.31056053e-04,
 -2.00822586e-05,-5.88669723e-03,-2.18252812e-03,-6.11244068e-04,
 -2.73315639e-06,-1.47949959e-03,-5.56119674e-04,-3.15130064e-04,
  3.12516562e-05, 9.96094162e-05,-1.41446642e-05, 1.26818577e-05,
  3.90671957e-03, 1.41160914e-03,-1.22432739e+00, 8.25179134e-04,
 -2.38199393e-04, 7.95361020e-04]


--- Step 1798 ---
qpos:
[-5.91663782e-03, 4.67023067e-01,-2.12083491e-02, 3.77113553e-01,
  3.74212728e-03, 4.31422956e-01,-4.93229733e-02, 3.41130280e-01,
  1.44126908e-02, 4.84466436e-01,-1.60674750e-02, 3.45870668e-01,
  1.35256418e+00,-4.91355256e-04, 1.11681883e+00, 6.33695881e-02,
  3.61276019e-02,-8.01208792e-02, 1.22217040e-01, 5.74728479e-01,
  2.30669572e-01, 2.97060819e-01, 7.26796804e-01]

qacc:
[ 6.91057088e-01, 6.36479738e+01,-3.36608952e+02, 7.66793068e+02,
 -6.55848835e-01,-3.63268625e+01, 7.99578676e+01,-1.63072301e+02,
  7.31459361e-01, 1.77170141e+01,-8.82839560e+01, 1.75186607e+02,
 -1.65858210e-01, 5.73407208e-01,-1.76415587e+00, 5.87265055e+00,
 -2.66041152e-01,-1.77783307e+00,-3.18975087e+00,-3.45925302e+01,
 -4.76510648e+01, 1.28012216e+01]

qfrc_actuator:
[-0.00399657, 0.22039809, 0.00958285, 0.17417915, 0.0006115 , 0.25137057,
  0.03108126, 0.16694109,-0.00068679, 0.20521803, 0.00318739, 0.15858457,
  0.00074782,-0.00195907, 0.        ,-0.00189821, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09226329,  2.39278678, -3.3198178 ,  2.39278678,  5.56428238,
        1.06097022, -3.3198178 ,  1.06097022,  4.85696656,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7257890074194593e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.21656651e-12,  3.21656651e-12,  1.00000000e+00, -1.03463001e-23,
        1.00000000e+00, -3.21656651e-12, -1.00000000e+00,  0.00000000e+00,
        3.21656651e-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([ 0.06226431, -0.03294533,  0.06199944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.04531110e-05,-1.11248642e-03,-6.69763422e-04, 1.28684810e-03,
 -4.30825673e-05,-5.89052153e-03,-2.14068357e-03,-7.43076288e-04,
  5.65828090e-05,-6.19605347e-04,-4.07031540e-04, 2.12598116e-04,
  3.83175980e-05, 4.23677606e-05,-8.24614338e-06, 2.61668912e-05,
  4.10133679e-03, 1.58796670e-03,-1.22445695e+00, 8.73206684e-04,
 -3.05097589e-04, 1.04150341e-03]


--- Step 1799 ---
qpos:
[-6.02403538e-03, 4.71107800e-01,-2.11263951e-02, 3.80579274e-01,
  3.75422788e-03, 4.36186420e-01,-4.87828595e-02, 3.44431500e-01,
  1.44283697e-02, 4.88235630e-01,-1.61175473e-02, 3.49017597e-01,
  1.35265356e+00,-4.97688728e-04, 1.11700642e+00, 6.33694040e-02,
  3.52185556e-02,-8.04038958e-02, 1.21647474e-01, 5.76434373e-01,
  2.26912447e-01, 2.91197849e-01, 7.28997921e-01]

qacc:
[ 9.91547674e-01, 2.57445096e+01,-1.56092838e+02, 3.81879807e+02,
 -2.84082296e-01,-4.08489526e+01, 1.27468259e+02,-3.14961898e+02,
 -7.33160486e-02, 1.45421055e+01,-8.15366814e+01, 1.91679385e+02,
 -5.44535855e-01, 1.12082457e+00, 2.21045017e+00,-7.51897974e+00,
 -6.58375070e-01, 1.00883168e+00, 1.29365979e+00,-6.50188590e+01,
  3.39940485e+01,-6.44476242e+00]

qfrc_actuator:
[-0.00392505, 0.22021688, 0.00949521, 0.17488355, 0.00060237, 0.24980968,
  0.03051837, 0.16623333,-0.0007188 , 0.20538904, 0.00322011, 0.15894932,
  0.00073284,-0.00193338, 0.        ,-0.00193518, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.1121244 ,  0.95622954, -3.99939897,  0.95622954, 13.89987984,
        2.34018685, -3.99939897,  2.34018685,  4.67164742,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.815926208218054e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.62886597e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.62886597e-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([ 0.07431945, -0.08804744,  0.06199777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.25509249e-05,-1.02274466e-03,-4.00849002e-04, 6.50096002e-04,
 -2.03174285e-05,-5.49090516e-03,-2.12105279e-03,-1.05431699e-03,
 -5.77213182e-06,-3.73496084e-04,-1.79029425e-04, 3.18726416e-04,
  1.55230178e-05, 4.59776744e-05,-3.81194602e-06,-3.72672318e-05,
  4.29657781e-03, 1.76267229e-03,-1.22457428e+00, 9.22882945e-04,
 -3.67831402e-04, 1.27896760e-03]


--- Step 1800 ---
qpos:
[-6.13033871e-03, 4.75178599e-01,-2.10435091e-02, 3.84052940e-01,
  3.76610502e-03, 4.40917044e-01,-4.82577928e-02, 3.47716564e-01,
  1.44438156e-02, 4.92003814e-01,-1.61678014e-02, 3.52171480e-01,
  1.35274294e+00,-5.03825519e-04, 1.11719421e+00, 6.33667593e-02,
  3.43070892e-02,-8.06832307e-02, 1.21078416e-01, 5.78124237e-01,
  2.23025962e-01, 2.85268987e-01, 7.31199967e-01]

qacc:
[ 1.02396718e+00,-5.40304284e+00,-3.63319606e+01, 1.70622143e+02,
 -2.27144820e-01,-3.28420724e+01, 1.16271315e+02,-3.31055839e+02,
 -2.05171107e-01, 1.29170752e+01,-7.34771028e+01, 1.84692493e+02,
 -3.11870470e-01, 5.54931201e-01, 7.73796778e+00,-2.65971256e+01,
 -6.05052112e-01, 9.20443722e-01, 1.26867180e-01,-5.96194068e+01,
  3.05992183e+01,-5.24775112e+00]

qfrc_actuator:
[-0.00385756, 0.21927789, 0.00944732, 0.17526079, 0.00059223, 0.24876636,
  0.02999073, 0.16547338,-0.00074422, 0.20565441, 0.00333187, 0.1593256 ,
  0.00072064,-0.00193355, 0.        ,-0.00206338, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.16243661,  3.53128287, -2.20361517,  3.53128287,  8.01268516,
        6.17000505, -2.20361517,  6.17000505, 14.04984045,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012446793531311479
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.34490673e-13,  2.22993782e-13,  1.00000000e+00,  7.45893401e-26,
        1.00000000e+00, -2.22993782e-13, -1.00000000e+00,  0.00000000e+00,
       -3.34490673e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0742242 , -0.08805571,  0.06199589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.46043961e-05,-1.70103285e-03,-3.31317575e-04, 3.23014394e-04,
 -1.61267299e-05,-4.75713775e-03,-2.01094173e-03,-1.09504701e-03,
 -1.62984441e-05,-9.00444089e-05,-1.78530929e-05, 3.50335110e-04,
  6.71051456e-06, 1.56575825e-05,-9.69336017e-06,-1.31655530e-04,
  4.56888654e-03, 1.76393481e-03,-1.22476389e+00, 9.26257252e-04,
 -3.44000127e-04, 1.15242434e-03]


--- Step 1801 ---
qpos:
[-6.23480919e-03, 4.79230004e-01,-2.09602540e-02, 3.87537050e-01,
  3.77776788e-03, 4.45614065e-01,-4.77441029e-02, 3.50984466e-01,
  1.44595539e-02, 4.95770134e-01,-1.62167608e-02, 3.55323077e-01,
  1.35283246e+00,-5.10590270e-04, 1.11738179e+00, 6.33635901e-02,
  3.33934787e-02,-8.09591858e-02, 1.20505837e-01, 5.79795092e-01,
  2.19019605e-01, 2.79276746e-01, 7.33397957e-01]

qacc:
[ 1.68958780e+00,-6.17372604e+00,-5.28642912e+01, 2.30762033e+02,
 -2.03883876e-01,-4.58344817e+01, 1.64028214e+02,-3.97277549e+02,
  2.60380920e-01,-1.05597235e+01, 4.21635231e+01,-7.81777748e+01,
  5.38474331e-01,-1.10309617e+00, 1.22937341e+00,-4.86092953e+00,
 -5.36006852e-01, 8.44916698e-01,-8.80211386e-01,-5.51255498e+01,
  2.77641982e+01,-4.25358253e+00]

qfrc_actuator:
[-0.00373971, 0.21801767, 0.00934937, 0.17576165, 0.00058153, 0.24729747,
  0.02950866, 0.16463621,-0.00073001, 0.20560291, 0.00340139, 0.15920879,
  0.00070477,-0.00198457, 0.        ,-0.00208452, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.20488473,  2.65825522, -3.25802621,  2.65825522,  9.3538632 ,
        4.20110153, -3.25802621,  4.20110153,  7.63260425,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015640103148607115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.77464147e-13,  5.32392440e-13,  1.00000000e+00, -9.44805702e-26,
        1.00000000e+00, -5.32392440e-13, -1.00000000e+00,  0.00000000e+00,
        1.77464147e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07414865, -0.08806667,  0.06199479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25624834e-04,-2.39947497e-03,-5.22659401e-04, 4.14881647e-04,
 -1.55893620e-05,-4.75011370e-03,-1.80176798e-03,-1.13856549e-03,
  2.04104957e-05,-2.13882195e-04, 1.89294521e-05,-1.24937880e-04,
 -9.21591139e-06,-4.49080578e-05,-2.29741278e-05,-3.06125782e-05,
  4.83856118e-03, 1.76951941e-03,-1.22492953e+00, 9.32938207e-04,
 -3.23609441e-04, 1.03478695e-03]


--- Step 1802 ---
qpos:
[-6.33760230e-03, 4.83261736e-01,-2.08796536e-02, 3.91034258e-01,
  3.78921748e-03, 4.50272733e-01,-4.72407669e-02, 3.54253063e-01,
  1.44753071e-02, 4.99529038e-01,-1.62629899e-02, 3.58470549e-01,
  1.35292183e+00,-5.17345827e-04, 1.11756902e+00, 6.33618259e-02,
  3.24780478e-02,-8.12320182e-02, 1.19926257e-01, 5.81444305e-01,
  2.14901268e-01, 2.73223211e-01, 7.35587549e-01]

qacc:
[ 1.52542068e+00, 6.98691969e+00,-1.08959407e+02, 3.30738874e+02,
 -1.89931188e-01,-2.06412513e+01,-1.41215820e+00, 5.38416121e+01,
  2.66782570e-02,-2.54889295e+01, 9.10660014e+01,-1.53126618e+02,
 -9.86304857e-03,-2.96056780e-02,-4.77197807e+00, 1.59235887e+01,
 -4.55107894e-01, 7.80712887e-01,-1.75022539e+00,-5.13974340e+01,
  2.53965630e+01,-3.42252145e+00]

qfrc_actuator:
[-0.00364605, 0.21707283, 0.00922157, 0.17641976, 0.00057057, 0.24532086,
  0.02898526, 0.16468332,-0.00074571, 0.20495423, 0.0034264 , 0.15898009,
  0.00070267,-0.00197659, 0.        ,-0.00200685, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.2234327 ,  2.01213746, -3.71331208,  2.01213746,  8.32235104,
        2.22108645, -3.71331208,  2.22108645,  5.42697582,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016831294794633633
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.64904578e-13,  3.29809156e-13,  1.00000000e+00,  5.43870395e-26,
        1.00000000e+00, -3.29809156e-13, -1.00000000e+00,  0.00000000e+00,
       -1.64904578e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07408961, -0.0880797 ,  0.06199434])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15338319e-04,-2.50852034e-03,-7.15330494e-04, 5.39270796e-04,
 -1.57694529e-05,-5.21096783e-03,-1.81672057e-03,-2.47410852e-04,
  7.75523902e-07,-8.92083833e-04,-6.25482099e-05,-2.50096467e-04,
 -1.83892733e-05,-5.22656767e-06,-1.64210178e-05, 7.24315178e-05,
  5.10655978e-03, 1.77892658e-03,-1.22507389e+00, 9.42157981e-04,
 -3.06263730e-04, 9.25029911e-04]


--- Step 1803 ---
qpos:
[-6.43948789e-03, 4.87274859e-01,-2.08014920e-02, 3.94535600e-01,
  3.80071814e-03, 4.54890982e-01,-4.67493537e-02, 3.57544188e-01,
  1.44907454e-02, 5.03273805e-01,-1.63057237e-02, 3.61615893e-01,
  1.35301118e+00,-5.24282255e-04, 1.11775606e+00, 6.33613030e-02,
  3.15611550e-02,-8.15019445e-02, 1.19336669e-01, 5.83069528e-01,
  2.10677500e-01, 2.67110095e-01, 7.37764945e-01]

qacc:
[ 8.23877604e-01,-9.72748480e+00,-1.54717624e+01, 9.67907120e+01,
  7.72769578e-02, 2.27955607e+01,-2.40511718e+02, 6.40760917e+02,
 -2.47956180e-01,-3.25239862e+01, 9.56754787e+01,-1.21492299e+02,
  1.98809436e-01,-3.99852447e-01,-4.02691154e+00, 1.36648981e+01,
 -3.65469678e-01, 7.26496887e-01,-2.50182285e+00,-4.83226684e+01,
  2.34225853e+01,-2.72347713e+00]

qfrc_actuator:
[-0.00360301, 0.21630749, 0.00914975, 0.17663282, 0.0005773 , 0.2433951 ,
  0.02844059, 0.16583585,-0.00077919, 0.20388253, 0.00345827, 0.1588468 ,
  0.00070353,-0.00198686, 0.        ,-0.00194263, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.21643574,  1.59636614, -3.90255628,  1.59636614,  7.10619595,
        1.18207529, -3.90255628,  1.18207529,  4.69997136,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016393206673320782
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.38622896e-13,  3.38622896e-13,  1.00000000e+00, -1.14665466e-25,
        1.00000000e+00, -3.38622896e-13, -1.00000000e+00,  0.00000000e+00,
        3.38622896e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07404436, -0.08809433,  0.06199444])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.23340955e-05,-2.42324500e-03,-7.00446169e-04, 8.60182076e-05,
  1.68611059e-06,-5.38128879e-03,-1.90314758e-03, 8.56660421e-04,
 -2.27377323e-05,-1.71525760e-03,-2.08781080e-04,-1.87696324e-04,
 -1.06667767e-05,-1.56531717e-05,-2.13815493e-06, 6.55353104e-05,
  5.37374759e-03, 1.79170502e-03,-1.22519932e+00, 9.53334743e-04,
 -2.91614557e-04, 8.22147690e-04]


--- Step 1804 ---
qpos:
[-6.54008910e-03, 4.91268314e-01,-2.07234976e-02, 3.98024439e-01,
  3.81222156e-03, 4.59470067e-01,-4.62698103e-02, 3.60852091e-01,
  1.45056275e-02, 5.07000341e-01,-1.63456515e-02, 3.64754865e-01,
  1.35310061e+00,-5.32044258e-04, 1.11794321e+00, 6.33601991e-02,
  3.06431844e-02,-8.17691465e-02, 1.18734479e-01, 5.84668651e-01,
  2.06353698e-01, 2.60938779e-01, 7.39926802e-01]

qacc:
[ 1.15471329e+00,-4.98612104e+01, 1.83788373e+02,-3.61232516e+02,
  2.64571279e-02, 1.32605865e+01,-1.82662700e+02, 4.90480036e+02,
 -4.48057013e-01,-4.43807849e+01, 1.45533411e+02,-2.34181282e+02,
  6.23852855e-01,-1.36558566e+00, 1.84559373e+00,-6.37673600e+00,
 -2.69468065e-01, 6.81082012e-01,-3.15086023e+00,-4.58088884e+01,
  2.17821462e+01,-2.13164022e+00]

qfrc_actuator:
[-0.00351922, 0.21533711, 0.00913011, 0.17599674, 0.0005767 , 0.24165928,
  0.02792438, 0.16668861,-0.00082302, 0.20272648, 0.00349238, 0.15850411,
  0.00069018,-0.0020434 , 0.        ,-0.00197565, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.190529  ,  1.3288722 , -3.97424609,  1.3288722 ,  5.92661091,
        0.58049525, -3.97424609,  0.58049525,  4.38462971,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014644573573421166
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.89528056e-13,  1.89528056e-13,  1.00000000e+00, -3.59208840e-26,
        1.00000000e+00, -1.89528056e-13, -1.00000000e+00,  0.00000000e+00,
        1.89528056e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07401057, -0.08811017,  0.06199498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.88648454e-05,-2.59535001e-03,-6.43906809e-04,-7.68059042e-04,
 -1.47678262e-06,-5.25600720e-03,-1.88170442e-03, 5.69428132e-04,
 -4.00835791e-05,-2.28599071e-03,-3.90739570e-04,-4.34413238e-04,
 -2.30014862e-05,-6.28363775e-05, 3.03596222e-06,-3.04024341e-05,
  5.64092363e-03, 1.80745160e-03,-1.22530791e+00, 9.66021444e-04,
 -2.79359031e-04, 7.25175750e-04]


--- Step 1805 ---
qpos:
[-6.63896262e-03, 4.95240613e-01,-2.06459206e-02, 4.01495068e-01,
  3.82312436e-03, 4.64008829e-01,-4.57997871e-02, 3.64155244e-01,
  1.45198002e-02, 5.10706682e-01,-1.63847956e-02, 3.67889320e-01,
  1.35318968e+00,-5.39812297e-04, 1.11813052e+00, 6.33573708e-02,
  2.97245385e-02,-8.20337749e-02, 1.18117443e-01, 5.86239763e-01,
  2.01934281e-01, 2.54710352e-01, 7.42070161e-01]

qacc:
[ 1.53156410e+00,-6.22429833e+01, 2.45022044e+02,-5.08823126e+02,
 -5.56010943e-01,-3.59526575e+01, 6.92546323e+01,-1.01889388e+02,
 -5.75328415e-01,-3.77077998e+01, 1.11550660e+02,-1.67265225e+02,
 -4.03709263e-01, 4.20458928e-01, 5.46308252e+00,-1.87133790e+01,
 -1.68811030e-01, 6.43402618e-01,-3.71112986e+00,-4.37785993e+01,
  2.04252489e+01,-1.62690440e+00]

qfrc_actuator:
[-0.00341173, 0.21425221, 0.00908723, 0.17507918, 0.00053623, 0.23964403,
  0.02742996, 0.16643513,-0.00087268, 0.20163609, 0.00349163, 0.15827166,
  0.00066829,-0.00203822, 0.        ,-0.00206568, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.15572626,  1.138003  , -3.99687502,  1.138003  ,  5.22677282,
        0.30495179, -3.99687502,  0.30495179,  4.24255311,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011857189728602113
  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([ 0.0739862 , -0.08812689,  0.06199589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20228503e-04,-2.82855699e-03,-7.24008959e-04,-1.07160814e-03,
 -4.20792610e-05,-5.47120208e-03,-1.84045823e-03,-5.36285396e-04,
 -5.12034992e-05,-2.58574961e-03,-5.72839840e-04,-3.58489983e-04,
 -4.95746767e-05,-1.60451429e-05,-5.86579880e-06,-9.22453604e-05,
  5.90883703e-03, 1.82581000e-03,-1.22540151e+00, 9.79870226e-04,
 -2.69237467e-04, 6.33204028e-04]


--- Step 1806 ---
qpos:
[-6.73605107e-03, 4.99196104e-01,-2.05726821e-02, 4.04958978e-01,
  3.83319171e-03, 4.68513752e-01,-4.53426859e-02, 3.67452994e-01,
  1.45339180e-02, 5.14396697e-01,-1.64267068e-02, 3.71037602e-01,
  1.35327835e+00,-5.47492849e-04, 1.11831756e+00, 6.33551513e-02,
  2.88056340e-02,-8.22959533e-02, 1.17483629e-01, 5.87781111e-01,
  1.97422821e-01, 2.48425644e-01, 7.44192378e-01]

qacc:
[ 1.55263413e+00,-2.32738000e+01, 7.49601999e+01,-1.61232773e+02,
 -7.90950233e-01,-1.93472939e+01, 2.56854331e+01,-7.08343787e+01,
 -3.52337733e-02, 1.33569482e+01,-1.28563722e+02, 3.61380318e+02,
 -3.14134951e-01, 3.53449015e-01,-2.20471227e+00, 7.19909861e+00,
 -6.46377226e-02, 6.12500421e-01,-4.19478111e+00,-4.21656646e+01,
  1.93096559e+01,-1.19280401e+00]

qfrc_actuator:
[-0.00330872, 0.21383582, 0.00903072, 0.17478456, 0.0004902 , 0.23850759,
  0.02698651, 0.16620731,-0.00087222, 0.20125119, 0.00352412, 0.15901143,
  0.00065197,-0.002032  , 0.        ,-0.00202877, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.12215068,  1.00217434, -3.99847131,  1.00217434,  4.66406917,
        0.13582611, -3.99847131,  0.13582611,  4.15619406,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.262102000864552e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34375371e-12, -6.71876857e-13,  1.00000000e+00,  9.02837021e-25,
        1.00000000e+00,  6.71876857e-13, -1.00000000e+00,  0.00000000e+00,
        1.34375371e-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([ 0.07396952, -0.08814427,  0.06199711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24891423e-04,-2.31804377e-03,-8.04888043e-04,-4.66693112e-04,
 -5.78908737e-05,-4.74841624e-03,-1.86524423e-03,-5.39819846e-04,
 -4.57624638e-06,-2.08088252e-03,-6.20242137e-04, 5.97024795e-04,
 -4.75508099e-05,-9.20459825e-06,-1.73187719e-05, 3.00300929e-05,
  6.17819624e-03, 1.84646871e-03,-1.22548172e+00, 9.94607209e-04,
 -2.61030582e-04, 5.45385460e-04]


--- Step 1807 ---
qpos:
[-6.83188889e-03, 5.03139712e-01,-2.05051465e-02, 4.08431030e-01,
  3.84258244e-03, 4.72994362e-01,-4.49008726e-02, 3.70754206e-01,
  1.45483350e-02, 5.18077193e-01,-1.64720518e-02, 3.74207574e-01,
  1.35336668e+00,-5.55078518e-04, 1.11850488e+00, 6.33500070e-02,
  2.78830351e-02,-8.25539842e-02, 1.16846336e-01, 5.89293222e-01,
  1.92780824e-01, 2.42088887e-01, 7.46298883e-01]

qacc:
[ 1.07116165e+00, 1.59312222e+01,-1.06911338e+02, 2.46650251e+02,
 -6.47051937e-01, 1.66274963e+01,-1.15947279e+02, 2.04053446e+02,
  2.50014219e-01, 3.96405956e+01,-2.37117507e+02, 5.88043272e+02,
 -5.33316759e-01, 6.75353227e-01, 9.28334230e+00,-3.17825465e+01,
 -9.23624826e-01, 1.03689866e+00,-8.69679784e-01,-5.28945097e+01,
  3.53572299e+01,-4.81601512e+00]

qfrc_actuator:
[-0.00324465, 0.21380688, 0.00897013, 0.17525005, 0.00045906, 0.23817438,
  0.02656311, 0.16645902,-0.00085981, 0.20145357, 0.0036153 , 0.16015823,
  0.00063901,-0.00202525, 0.        ,-0.00218363, 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: -8.657298798332713e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.28241274e-12,  1.28241274e-12,  1.00000000e+00,  1.64458243e-24,
        1.00000000e+00, -1.28241274e-12, -1.00000000e+00,  0.00000000e+00,
       -1.28241274e-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([ 0.07007837, -0.09301921,  0.06199693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.78256667e-05,-1.63622611e-03,-6.93309930e-04, 3.23885421e-04,
 -4.70036189e-05,-3.54499339e-03,-1.69919507e-03,-3.10360834e-05,
  2.10376058e-05,-1.18092657e-03,-4.30942071e-04, 1.04248066e-03,
 -4.13344328e-05,-6.50977934e-06,-7.77105286e-06,-1.56114670e-04,
  6.44967350e-03, 1.86915848e-03,-1.22554994e+00, 1.01001430e-03,
 -2.54556299e-04, 4.60940854e-04]


--- Step 1808 ---
qpos:
[-6.92670476e-03, 5.07070301e-01,-2.04403555e-02, 4.11908293e-01,
  3.85147611e-03, 4.77448778e-01,-4.44689352e-02, 3.74052710e-01,
  1.45627583e-02, 5.21749355e-01,-1.65179673e-02, 3.77385409e-01,
  1.35345459e+00,-5.62270855e-04, 1.11869227e+00, 6.33420369e-02,
  2.69577265e-02,-8.28081864e-02, 1.16201712e-01, 5.90773695e-01,
  1.88016066e-01, 2.35700643e-01, 7.48386001e-01]

qacc:
[ 8.74334253e-01, 5.53591995e-01,-4.46911502e+01, 1.37581167e+02,
 -4.56354836e-01,-1.25008790e+01, 5.63029776e+00,-1.75346834e+01,
  1.19245891e-02, 6.05371002e+00,-6.58232161e+01, 1.96101513e+02,
 -8.00608561e-01, 1.20616332e+00, 8.69338970e+00,-3.01207338e+01,
 -6.77400740e-01, 9.57146323e-01,-1.83261442e+00,-4.99890768e+01,
  3.25982705e+01,-3.80275318e+00]

qfrc_actuator:
[-0.00318638, 0.21326662, 0.00887467, 0.17552035, 0.00043702, 0.23699566,
  0.02612376, 0.16633488,-0.00087606, 0.20124468, 0.00365469, 0.16055946,
  0.00062274,-0.00200046, 0.        ,-0.00232599, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.14144238,  0.92042949, -4.0378651 ,  0.92042949,  3.68331859,
       -0.10442911, -4.0378651 , -0.10442911,  4.11763781,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010485746362957904
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.29396281e-13,  5.29396281e-13,  1.00000000e+00,  2.80260422e-25,
        1.00000000e+00, -5.29396281e-13, -1.00000000e+00,  0.00000000e+00,
       -5.29396281e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07002144, -0.09302804,  0.06199625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.19356651e-05,-1.71072731e-03,-5.47862918e-04, 1.76259529e-04,
 -3.50024753e-05,-3.66164416e-03,-1.43007011e-03,-3.41227565e-04,
  1.21101327e-07,-1.03176156e-03,-2.59775884e-04, 3.49189381e-04,
 -4.09359201e-05, 1.38399734e-05,-2.54746324e-05,-1.53080149e-04,
  6.75922744e-03, 1.85848781e-03,-1.22565171e+00, 1.01957922e-03,
 -2.30178830e-04, 2.93095823e-04]


--- Step 1809 ---
qpos:
[-7.02036756e-03, 5.10989358e-01,-2.03788769e-02, 4.15391771e-01,
  3.86026144e-03, 4.81871610e-01,-4.40440545e-02, 3.77345350e-01,
  1.45768657e-02, 5.25412245e-01,-1.65630267e-02, 3.80561797e-01,
  1.35354228e+00,-5.69420945e-04, 1.11887909e+00, 6.33357348e-02,
  2.60306114e-02,-8.30588354e-02, 1.15546449e-01, 5.92220353e-01,
  1.83135161e-01, 2.29261432e-01, 7.50450373e-01]

qacc:
[ 9.73593263e-01, 6.02556809e+00,-6.45933266e+01, 1.71960667e+02,
 -7.82239966e-02,-3.33582313e+01, 8.03729682e+01,-1.39610990e+02,
 -2.46731733e-01,-1.74413958e+01, 4.92281413e+01,-6.52192503e+01,
 -6.54028026e-02, 4.16943818e-02,-5.87984702e+00, 1.93464875e+01,
 -4.51635434e-01, 8.88302531e-01,-2.65979009e+00,-4.75220238e+01,
  3.02539032e+01,-2.96229142e+00]

qfrc_actuator:
[-0.0031141 , 0.21292251, 0.00879313, 0.17585073, 0.00043829, 0.23521473,
  0.02569331, 0.16602554,-0.00090933, 0.20080941, 0.00369704, 0.16048298,
  0.00061517,-0.00200071, 0.        ,-0.00222899, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.14179094,  0.82545848, -4.05870059,  0.82545848,  3.31312564,
       -0.16853394, -4.05870059, -0.16853394,  4.10751451,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001052144832425217
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.27599904e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.27599904e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06997727, -0.09304023,  0.06199619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.16114584e-05,-1.53161188e-03,-5.36127013e-04, 2.35422312e-04,
 -8.72643120e-06,-4.28524428e-03,-1.42212743e-03,-5.28074502e-04,
 -2.31390486e-05,-1.16788604e-03,-2.28745356e-04,-1.30451943e-04,
 -2.74129550e-05,-5.76856013e-06,-3.24447920e-05, 8.43755551e-05,
  7.06854425e-03, 1.85234997e-03,-1.22573608e+00, 1.03103256e-03,
 -2.09928814e-04, 1.35020680e-04]


--- Step 1810 ---
qpos:
[-7.11297731e-03, 5.14899192e-01,-2.03211083e-02, 4.18878223e-01,
  3.86923790e-03, 4.86261727e-01,-4.36273768e-02, 3.80636953e-01,
  1.45909150e-02, 5.29063218e-01,-1.66059432e-02, 3.83729523e-01,
  1.35362967e+00,-5.76260016e-04, 1.11906535e+00, 6.33332589e-02,
  2.51025261e-02,-8.33061675e-02, 1.14877705e-01, 5.93631207e-01,
  1.78143695e-01, 2.22771715e-01, 7.52488921e-01]

qacc:
[ 8.78545193e-01, 3.86071967e+00,-4.10094890e+01, 9.70283674e+01,
  1.95626699e-01,-2.24698065e+01, 2.21067811e+01,-3.98410553e+00,
 -3.09930419e-02,-3.86591234e+01, 1.45207776e+02,-2.72766694e+02,
 -1.80926615e-01, 3.51005385e-01,-1.23429020e+01, 4.20447108e+01,
 -2.42547241e-01, 8.29233338e-01,-3.37034978e+00,-4.54519705e+01,
  2.82700309e+01,-2.26080254e+00]

qfrc_actuator:
[-0.00305172, 0.21273533, 0.00870385, 0.17601879, 0.00045336, 0.23363868,
  0.02530482, 0.16598211,-0.000917  , 0.2001183 , 0.00375771, 0.16003729,
  0.00060748,-0.00198027, 0.        ,-0.00202726, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.12898311,  0.7422059 , -4.0617277 ,  0.7422059 ,  3.02121928,
       -0.20242343, -4.0617277 , -0.20242343,  4.09199395,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.114112184885337e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.09068114e-13,  1.21813623e-12,  1.00000000e+00,  7.41927936e-25,
        1.00000000e+00, -1.21813623e-12, -1.00000000e+00,  0.00000000e+00,
       -6.09068114e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06994389, -0.09305505,  0.06199666])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.48727372e-05,-1.26910495e-03,-5.03424250e-04, 8.21293875e-05,
  1.17912232e-05,-4.43313498e-03,-1.51260132e-03,-2.90900026e-04,
 -4.64612946e-06,-1.51259904e-03,-2.50581572e-04,-5.13694679e-04,
 -2.43963476e-05, 1.28685403e-05,-7.35294005e-06, 2.01875092e-04,
  7.37814950e-03, 1.85017996e-03,-1.22580430e+00, 1.04387675e-03,
 -1.93229872e-04,-1.45815297e-05]


--- Step 1811 ---
qpos:
[-7.20415214e-03, 5.18796024e-01,-2.02640191e-02, 4.22358604e-01,
  3.87782732e-03, 4.90622058e-01,-4.32204964e-02, 3.83925402e-01,
  1.46051940e-02, 5.32697801e-01,-1.66469877e-02, 3.86889745e-01,
  1.35371690e+00,-5.82855621e-04, 1.11925209e+00, 6.33284995e-02,
  2.41724551e-02,-8.35486418e-02, 1.14191938e-01, 5.94998848e-01,
  1.73026404e-01, 2.16260948e-01, 7.54499461e-01]

qacc:
[ 1.19578839e+00,-2.70582362e+01, 9.23287698e+01,-1.73888170e+02,
 -3.36555561e-01,-1.82924782e+01, 2.08928635e+01,-3.68676645e+01,
  2.03578309e-01,-4.15286928e+01, 1.42609454e+02,-2.48041886e+02,
 -4.80610413e-01, 7.57483611e-01, 7.63716705e+00,-2.56023891e+01,
 -4.96442425e-01, 1.21444434e+00,-4.25575049e+00,-3.82997328e+01,
  4.34120194e+01,-4.19559342e+00]

qfrc_actuator:
[-0.00296012, 0.21195225, 0.00861164, 0.17569965, 0.00042319, 0.2324656 ,
  0.02492773, 0.16584721,-0.00090943, 0.19906702, 0.00375674, 0.15964415,
  0.00060506,-0.00196545, 0.        ,-0.00215606, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.11107065, -1.41024935,  3.86161865, -1.41024935, 10.96533776,
        2.50315389,  3.86161865,  2.50315389,  5.02521351,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.64526525219602e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03679245e-06, -1.03679017e-06,  1.00000000e+00,  1.07493623e-12,
        1.00000000e+00,  1.03679017e-06, -1.00000000e+00, -2.01948392e-28,
        1.03679245e-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([ 0.073351  , -0.10821724,  0.06199753])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02441058e-04,-1.71737290e-03,-4.53523142e-04,-3.96289492e-04,
 -2.79933337e-05,-4.11974932e-03,-1.53368186e-03,-3.86352401e-04,
  1.60628269e-05,-2.08485886e-03,-3.98232980e-04,-4.83500030e-04,
 -1.24796650e-05, 1.24349296e-05, 1.64422548e-05,-1.19083711e-04,
  7.68857920e-03, 1.85147327e-03,-1.22585756e+00, 1.05773159e-03,
 -1.79604886e-04,-1.56934764e-04]


--- Step 1812 ---
qpos:
[-7.29379078e-03, 5.22671135e-01,-2.02045061e-02, 4.25836020e-01,
  3.88549339e-03, 4.94952573e-01,-4.28231738e-02, 3.87206414e-01,
  1.46196674e-02, 5.36311009e-01,-1.66860278e-02, 3.90049060e-01,
  1.35380404e+00,-5.89260911e-04, 1.11943889e+00, 6.33222620e-02,
  2.32413113e-02,-8.37866030e-02, 1.13486940e-01, 5.96321480e-01,
  1.67788331e-01, 2.09728356e-01, 7.56479864e-01]

qacc:
[   1.2820064 , -41.06896556, 113.81384008,-143.12747213,  -0.81187752,
  -27.17015644,  67.80342811,-150.52535853,   0.17843253, -35.50821459,
   87.96899094, -86.71830523,  -0.29786744,   0.50391333,   4.57150437,
  -15.81252452,  -0.26816475,   1.12826582,  -4.807602  , -37.01479832,
   41.33244926,  -3.15766023]

qfrc_actuator:
[-0.00286955, 0.21042855, 0.0085694 , 0.17552212, 0.00036637, 0.23110065,
  0.02449135, 0.16548243,-0.00091074, 0.19777337, 0.00377145, 0.15958664,
  0.0006058 ,-0.00195407, 0.        ,-0.00223006, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09746845,  0.62949908, -4.04882435,  0.62949908,  2.130822  ,
       -0.3057683 , -4.04882435, -0.3057683 ,  4.04992851,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.7960240820061886e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.22571772e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.22571772e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07340624, -0.10856265,  0.06199857])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09822055e-04,-2.71678252e-03,-5.04979655e-04,-2.80603099e-04,
 -6.53317915e-05,-4.14335674e-03,-1.53376712e-03,-6.05648744e-04,
  1.33708593e-05,-2.67490751e-03,-5.16351287e-04,-1.75376987e-04,
 -3.40599911e-06, 1.19383014e-05,-1.10621724e-05,-7.97569020e-05,
  7.97581378e-03, 1.80387706e-03,-1.22586568e+00, 1.06790538e-03,
 -1.51725503e-04,-3.84939145e-04]


--- Step 1813 ---
qpos:
[-7.38212660e-03, 5.26517344e-01,-2.01423279e-02, 4.29311167e-01,
  3.89263759e-03, 4.99250568e-01,-4.24347138e-02, 3.90477947e-01,
  1.46340049e-02, 5.39902581e-01,-1.67242191e-02, 3.93207896e-01,
  1.35389097e+00,-5.95187119e-04, 1.11962518e+00, 6.33185150e-02,
  2.23099844e-02,-8.40203836e-02, 1.12760845e-01, 5.97597502e-01,
  1.62433889e-01, 2.03172801e-01, 7.58428158e-01]

qacc:
[ 1.08896822e+00,-4.98477563e+01, 1.28680691e+02,-1.41599292e+02,
 -4.43475690e-01,-3.65302905e+01, 1.03024069e+02,-2.15651768e+02,
 -8.56462328e-02,-3.18218544e+01, 7.30405981e+01,-6.38459835e+01,
 -3.27195516e-01, 6.88237611e-01,-8.23054953e+00, 2.77867747e+01,
 -4.58107185e-02, 1.04516035e+00,-5.27441142e+00,-3.61061521e+01,
  3.93628329e+01,-2.22008238e+00]

qfrc_actuator:
[-0.00279803, 0.20856315, 0.00853654, 0.17537561, 0.00034753, 0.2294195 ,
  0.02402306, 0.16500303,-0.00093519, 0.19675414, 0.00383019, 0.15956714,
  0.00059779,-0.00192704, 0.        ,-0.00209356, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09091665,  0.53345752, -4.05598596,  0.53345752,  1.9064265 ,
       -0.28731182, -4.05598596, -0.28731182,  4.05312839,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2899470383520573e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.30336669e-11,  3.49648544e-11,  1.00000000e+00, -1.50466590e-21,
        1.00000000e+00, -3.49648544e-11, -1.00000000e+00,  0.00000000e+00,
        4.30336669e-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([ 0.0733959 , -0.10859148,  0.06199995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.31036801e-05,-3.62099742e-03,-7.01786844e-04,-2.88996147e-04,
 -3.77245982e-05,-4.48030850e-03,-1.57715932e-03,-7.25296854e-04,
 -1.07676098e-05,-2.74040841e-03,-5.96648362e-04,-1.58954754e-04,
 -7.62234768e-06, 2.97440264e-05,-1.75609410e-05, 1.29819992e-04,
  8.26395240e-03, 1.75969833e-03,-1.22586275e+00, 1.07933896e-03,
 -1.28750712e-04,-6.05397312e-04]


--- Step 1814 ---
qpos:
[-7.46914866e-03, 5.30331352e-01,-2.00791017e-02, 4.32773037e-01,
  3.89969434e-03, 5.03513211e-01,-4.20540573e-02, 3.93738355e-01,
  1.46479163e-02, 5.43475434e-01,-1.67630097e-02, 3.96358740e-01,
  1.35397754e+00,-6.00410252e-04, 1.11981141e+00, 6.33157195e-02,
  2.13789309e-02,-8.42541089e-02, 1.11995204e-01, 5.98828982e-01,
  1.57069053e-01, 1.96599823e-01, 7.60316824e-01]

qacc:
[ 1.08947954e+00,-7.10670641e+01, 2.35833727e+02,-4.11757726e+02,
 -5.36249621e-02,-4.62981274e+01, 1.37896520e+02,-2.74346906e+02,
 -3.17158862e-01,-3.86885811e+01, 1.29997427e+02,-2.38232817e+02,
 -7.16434627e-01, 1.32001002e+00,-2.89753529e+00, 1.01570759e+01,
  6.83576165e-02, 1.38156374e-02,-9.88641269e+00,-3.79977041e-02,
 -1.58257670e+00,-5.67359128e-01]

qfrc_actuator:
[-0.00272057, 0.20670388, 0.00847261, 0.17468013, 0.00035143, 0.22759875,
  0.02360978, 0.16444212,-0.00097326, 0.19606816, 0.00388021, 0.15917983,
  0.00057922,-0.00189099, 0.        ,-0.00204715, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 9.41232835e-05,-4.15884287e-03,-9.41308004e-04,-8.80849107e-04,
 -7.56834322e-06,-4.82022675e-03,-1.59970942e-03,-8.24087319e-04,
 -3.20131503e-05,-2.45850539e-03,-6.27568094e-04,-5.31593723e-04,
 -1.58419475e-05, 4.21266059e-05, 4.00773837e-06, 5.08522026e-05,
  8.55401601e-03, 1.71910862e-03,-1.22585003e+00, 1.09163480e-03,
 -1.10397901e-04,-8.18464162e-04]


--- Step 1815 ---
qpos:
[-7.55481407e-03, 5.34116631e-01,-2.00197210e-02, 4.36231125e-01,
  3.90646718e-03, 5.07742413e-01,-4.16834705e-02, 3.96996400e-01,
  1.46621674e-02, 5.47032899e-01,-1.68043475e-02, 3.99514493e-01,
  1.35406380e+00,-6.05089121e-04, 1.11999738e+00, 6.33155080e-02,
  2.04481560e-02,-8.44877776e-02, 1.11190023e-01, 6.00015792e-01,
  1.51694244e-01, 1.90009924e-01, 7.62145744e-01]

qacc:
[ 1.10162687e+00,-3.45886078e+01, 8.14290338e+01,-1.12306666e+02,
 -2.29620480e-01,-2.08373250e+01, 2.00755662e+01,-2.04944484e+01,
  2.73435994e-01,-3.63964775e+00,-3.35152756e+01, 1.24065620e+02,
 -4.64235400e-01, 8.81184483e-01,-8.15575290e+00, 2.80534635e+01,
  6.96564097e-02, 1.41757529e-02,-9.88518762e+00,-3.72234594e-02,
 -1.57598944e+00,-5.58037936e-01]

qfrc_actuator:
[-0.00264007, 0.20557326, 0.00839058, 0.17451929, 0.00033324, 0.22620715,
  0.02321423, 0.16435256,-0.00094815, 0.19569438, 0.00390834, 0.15946716,
  0.00055965,-0.00186769, 0.        ,-0.00191225, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 9.77160749e-05,-3.80212395e-03,-1.11773828e-03,-3.87532116e-04,
 -2.13481061e-05,-4.58781197e-03,-1.65684712e-03,-3.68980526e-04,
  2.44277751e-05,-2.00967259e-03,-6.07714720e-04, 1.46162154e-04,
 -1.82550815e-05, 3.05394785e-05, 3.41386138e-06, 1.37331220e-04,
  8.71295351e-03, 1.76450290e-03,-1.22569693e+00, 1.11329312e-03,
 -1.03334631e-04,-8.00812519e-04]


--- Step 1816 ---
qpos:
[-7.63982184e-03, 5.37881697e-01,-1.99677539e-02, 4.39706344e-01,
  3.91271581e-03, 5.11941855e-01,-4.13236456e-02, 4.00253966e-01,
  1.46767792e-02, 5.50582819e-01,-1.68506268e-02, 4.02687504e-01,
  1.35415006e+00,-6.10190753e-04, 1.12018346e+00, 6.33155625e-02,
  1.95176648e-02,-8.47213881e-02, 1.10345305e-01, 6.01157803e-01,
  1.46309885e-01, 1.83403608e-01, 7.63914805e-01]

qacc:
[ 5.24088853e-01, 2.69615094e+01,-1.91324435e+02, 4.72342464e+02,
 -4.38260903e-01,-1.05062780e+01,-1.61257975e+01, 4.22593285e+01,
  2.75833970e-01, 3.74781343e+01,-2.07601134e+02, 4.84440895e+02,
  3.14654987e-01,-7.07311996e-01,-6.56606691e-01, 2.48323903e+00,
  7.09340198e-02, 1.45313798e-02,-9.88393877e+00,-3.64605679e-02,
 -1.56951837e+00,-5.48758296e-01]

qfrc_actuator:
[-0.00261157, 0.20536856, 0.00833766, 0.17545619, 0.00030204, 0.22513855,
  0.0228347 , 0.16436398,-0.00093899, 0.19604465, 0.00394328, 0.16039811,
  0.00054482,-0.00190542, 0.        ,-0.00190378, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 4.72698664e-05,-2.69169492e-03,-1.01980036e-03, 7.28983759e-04,
 -3.82638116e-05,-4.12620420e-03,-1.58391292e-03,-2.50881544e-04,
  2.63604220e-05,-1.00222884e-03,-4.83230455e-04, 8.22548579e-04,
 -1.73795441e-05,-3.41473606e-05, 1.32740241e-05, 1.57453936e-05,
  8.86925290e-03, 1.80933527e-03,-1.22554093e+00, 1.13459355e-03,
 -9.64650224e-05,-7.83110360e-04]


--- Step 1817 ---
qpos:
[-7.72480670e-03, 5.41631393e-01,-1.99206310e-02, 4.43195858e-01,
  3.91851814e-03, 5.16113765e-01,-4.09732479e-02, 4.03502299e-01,
  1.46911490e-02, 5.54131062e-01,-1.68994869e-02, 4.05866280e-01,
  1.35423627e+00,-6.16115923e-04, 1.12036920e+00, 6.33187447e-02,
  1.85874624e-02,-8.49549391e-02, 1.09461057e-01, 6.02254892e-01,
  1.40916397e-01, 1.76781382e-01, 7.65623901e-01]

qacc:
[ 2.24870917e-02, 2.07538989e+01,-1.50707290e+02, 3.82521960e+02,
 -3.67572906e-01,-2.79366641e+01, 8.10160908e+01,-1.92823792e+02,
 -1.88661980e-01, 1.61924190e+01,-8.05171219e+01, 1.72923917e+02,
  7.70823725e-01,-1.61007101e+00,-1.00223234e+01, 3.41554909e+01,
  7.21900420e-02, 1.48824080e-02,-9.88266652e+00,-3.57087881e-02,
 -1.56316301e+00,-5.39519529e-01]

qfrc_actuator:
[-0.00261413, 0.20515429, 0.00830733, 0.1762157 , 0.00028114, 0.22406039,
  0.02246952, 0.16392022,-0.00097506, 0.19652587, 0.00402123, 0.16072453,
  0.00052216,-0.00196128, 0.        ,-0.00173911, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 1.05934943e-06,-2.01489457e-03,-7.20224974e-04, 6.22428919e-04,
 -3.27968622e-05,-3.85661999e-03,-1.46139204e-03,-6.82042727e-04,
 -1.80519747e-05,-2.54975023e-04,-1.95668165e-04, 2.76875794e-04,
 -4.02404013e-05,-6.85854240e-05, 3.57138585e-06, 1.66254198e-04,
  9.02286460e-03, 1.85359232e-03,-1.22538206e+00, 1.15552983e-03,
 -8.97902303e-05,-7.65360002e-04]


--- Step 1818 ---
qpos:
[-7.80948616e-03, 5.45364700e-01,-1.98751565e-02, 4.46697770e-01,
  3.92398564e-03, 5.20259298e-01,-4.06317632e-02, 4.06741389e-01,
  1.47054442e-02, 5.57677361e-01,-1.69483487e-02, 4.09046351e-01,
  1.35432237e+00,-6.22923430e-04, 1.12055481e+00, 6.33245312e-02,
  1.76606219e-02,-8.51814721e-02, 1.08569170e-01, 6.03297269e-01,
  1.35309093e-01, 1.70121549e-01, 7.67321649e-01]

qacc:
[ 2.48431101e-01, 6.90838829e+00,-9.76578646e+01, 2.98963683e+02,
 -2.70654473e-01,-2.78402969e+01, 8.27417682e+01,-1.95866784e+02,
 -5.50353910e-02,-2.93969891e-02,-8.17816480e+00, 2.96754207e+01,
  7.27300619e-01,-1.60686907e+00,-8.11245279e+00, 2.79553098e+01,
  8.40490409e-01, 1.75448022e+00,-1.90984980e+00,-7.39275750e+01,
  7.45643201e+01, 1.27841181e+00]

qfrc_actuator:
[-0.00258168, 0.20445822, 0.00827319, 0.176847  , 0.00026654, 0.22298619,
  0.0221159 , 0.16347858,-0.00098456, 0.19656799, 0.00407134, 0.16079933,
  0.00051079,-0.00200967, 0.        ,-0.00160795, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09553926, -0.89173989,  3.9972793 , -0.89173989, 17.22428725,
        2.9288492 ,  3.9972793 ,  2.9288492 ,  4.74892659,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.18998587225533e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74016919e-12,  1.74016919e-12,  1.00000000e+00, -3.02818880e-24,
        1.00000000e+00, -1.74016919e-12, -1.00000000e+00,  0.00000000e+00,
        1.74016919e-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([ 0.07106706, -0.10700465,  0.06199869])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.18659991e-05,-2.06120968e-03,-5.52608429e-04, 5.29435780e-04,
 -2.49411471e-05,-3.69341340e-03,-1.39356806e-03,-6.73168607e-04,
 -5.61953285e-06,-2.40092860e-04,-5.39321656e-05, 5.42919935e-05,
 -4.92749904e-05,-7.55133493e-05, 1.70647722e-05, 1.40156690e-04,
  9.17373986e-03, 1.89726080e-03,-1.22522038e+00, 1.17609583e-03,
 -8.33113663e-05,-7.47563780e-04]


--- Step 1819 ---
qpos:
[-7.89349008e-03, 5.49079389e-01,-1.98302988e-02, 4.50208330e-01,
  3.92945524e-03, 5.24374124e-01,-4.02967480e-02, 4.09978790e-01,
  1.47199330e-02, 5.61217062e-01,-1.69952664e-02, 4.12230460e-01,
  1.35440829e+00,-6.30342725e-04, 1.12074084e+00, 6.33288419e-02,
  1.67376724e-02,-8.54017693e-02, 1.07665842e-01, 6.04283611e-01,
  1.29506435e-01, 1.63424630e-01, 7.69000514e-01]

qacc:
[ 5.36064474e-01,-6.12798292e+00,-4.31012917e+01, 1.88819598e+02,
  2.06108523e-02,-2.58404080e+01, 3.99719286e+01,-3.51820878e+01,
  1.54702231e-01,-6.18021534e+00,-5.26580189e+00, 7.10175384e+01,
  1.85121186e-01,-7.15481651e-01, 5.03736079e+00,-1.67993370e+01,
  9.72732952e-01, 1.55897715e+00,-2.86006546e+00,-6.77619179e+01,
  6.72528587e+01, 1.69371014e+00]

qfrc_actuator:
[-0.00252852, 0.20348022, 0.00821775, 0.1772733 , 0.00027355, 0.22137388,
  0.02177249, 0.16339698,-0.00097817, 0.19606354, 0.0041032 , 0.16099162,
  0.0005062 ,-0.00203546, 0.        ,-0.00169291, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.12184122,  0.35810616, -4.10625559,  0.35810616,  3.09787997,
       -0.08929956, -4.10625559, -0.08929956,  4.11405341,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.221357270078028e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.70082661e-12,  8.65108524e-13,  1.00000000e+00, -2.33650812e-24,
        1.00000000e+00, -8.65108524e-13, -1.00000000e+00,  0.00000000e+00,
        2.70082661e-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([ 0.07091763, -0.10700142,  0.06199656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.92512244e-05,-2.33759150e-03,-5.65766065e-04, 3.26499827e-04,
 -1.08762137e-06,-4.12468731e-03,-1.34068694e-03,-3.03703925e-04,
  1.42304707e-05,-7.58091122e-04,-5.92842086e-05, 1.72734706e-04,
 -4.89184897e-05,-5.68721467e-05, 1.94434040e-05,-7.58970606e-05,
  9.62404033e-03, 1.78593989e-03,-1.22531328e+00, 1.17831806e-03,
 -8.06371990e-05,-1.16962209e-03]


--- Step 1820 ---
qpos:
[-7.97654293e-03, 5.52779382e-01,-1.97888335e-02, 4.53722458e-01,
  3.93545036e-03, 5.28453120e-01,-3.99662313e-02, 4.13214825e-01,
  1.47343527e-02, 5.64743973e-01,-1.70383225e-02, 4.15418803e-01,
  1.35449406e+00,-6.38373847e-04, 1.12092682e+00, 6.33331356e-02,
  1.58192472e-02,-8.56165205e-02, 1.06747762e-01, 6.05212578e-01,
  1.23524078e-01, 1.56691066e-01, 7.70653909e-01]

qacc:
[ 7.35255603e-01,-3.13435555e+00,-2.82963540e+01, 9.62327330e+01,
  4.59466202e-01,-3.73671364e+01, 6.94841749e+01,-5.69531425e+01,
 -3.52190159e-02,-1.92683715e+01, 2.82719984e+01, 4.38153994e+01,
  3.21514866e-01,-8.93063790e-01,-5.88071135e-02, 1.46120931e-02,
  1.13106730e+00, 1.38646992e+00,-3.68801537e+00,-6.25913857e+01,
  6.10620747e+01, 2.05450669e+00]

qfrc_actuator:
[-0.00246343, 0.20305195, 0.00814916, 0.17746886, 0.00031107, 0.21938258,
  0.02147182, 0.16331451,-0.00099801, 0.19511231, 0.00417542, 0.16118013,
  0.00050037,-0.00206535, 0.        ,-0.00169146, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.14425258,  0.20739384, -4.13905995,  0.20739384,  2.46504198,
       -0.08413938, -4.13905995, -0.08413938,  4.14003665,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010770070593130177
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.02672262e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.02672262e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07079874, -0.10700751,  0.06199541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.00243719e-05,-1.95206649e-03,-6.43352662e-04, 8.03712567e-05,
  3.63298644e-05,-4.71678498e-03,-1.36656289e-03,-3.12540799e-04,
 -5.64713080e-06,-1.48975553e-03,-1.21330720e-04, 1.50324658e-04,
 -4.60147091e-05,-5.58557830e-05,-4.84593893e-06,-1.53504400e-06,
  1.00615294e-02, 1.68774645e-03,-1.22537455e+00, 1.18192276e-03,
 -8.07011576e-05,-1.56123803e-03]


--- Step 1821 ---
qpos:
[-8.05894346e-03, 5.56467692e-01,-1.97510233e-02, 4.57235226e-01,
  3.94212263e-03, 5.32497174e-01,-3.96415935e-02, 4.16438973e-01,
  1.47486444e-02, 5.68256192e-01,-1.70789760e-02, 4.18605138e-01,
  1.35457978e+00,-6.47090016e-04, 1.12111278e+00, 6.33370635e-02,
  1.49060577e-02,-8.58263347e-02, 1.05812051e-01, 6.06082817e-01,
  1.17375308e-01, 1.49921223e-01, 7.72276041e-01]

qacc:
[ 5.00049418e-01,-7.94806844e+00, 1.12272173e+01,-1.94604394e+01,
  5.75310512e-01,-5.24432381e+01, 1.62028021e+02,-3.10159837e+02,
 -7.90200036e-02,-2.99249342e+01, 8.45273270e+01,-1.05303944e+02,
  4.39024341e-01,-1.06240463e+00, 1.02359350e+00,-3.73880749e+00,
  1.30893962e+00, 1.23428683e+00,-4.40803882e+00,-5.82623734e+01,
  5.58162743e+01, 2.37253060e+00]

qfrc_actuator:
[-0.00242723, 0.20277953, 0.0080757 , 0.17742109, 0.00034862, 0.21773161,
  0.02119742, 0.16271704,-0.00101563, 0.19425689, 0.00423365, 0.16106276,
  0.00050444,-0.00209746, 0.        ,-0.00171006, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.14960772,  0.10533006, -4.1482707 ,  0.10533006,  2.0795302 ,
       -0.052562  , -4.1482707 , -0.052562  ,  4.14827311,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011291174294358886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.53635347e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.53635347e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07070566, -0.10702132,  0.06199509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.81381548e-05,-1.60611366e-03,-5.86788963e-04,-1.54949282e-04,
  4.74513271e-05,-4.71095223e-03,-1.46413392e-03,-8.52273930e-04,
 -1.01617571e-05,-1.81529685e-03,-2.93007307e-04,-1.87514237e-04,
 -3.44282144e-05,-5.70427702e-05,-6.05150909e-06,-2.01606068e-05,
  1.04883607e-02, 1.60102785e-03,-1.22540695e+00, 1.18640046e-03,
 -8.33079490e-05,-1.92587697e-03]


--- Step 1822 ---
qpos:
[-8.14077834e-03, 5.60139618e-01,-1.97127658e-02, 4.60736086e-01,
  3.94902090e-03, 5.36509896e-01,-3.93256100e-02, 4.19648021e-01,
  1.47630413e-02, 5.71753301e-01,-1.71189080e-02, 4.21788063e-01,
  1.35466491e+00,-6.54868195e-04, 1.12129873e+00, 6.33403918e-02,
  1.39988735e-02,-8.60317485e-02, 1.04856209e-01, 6.06892964e-01,
  1.11071400e-01, 1.43115409e-01, 7.73861780e-01]

qacc:
[ 4.42578643e-01,-4.57796687e+01, 1.70652954e+02,-3.35190060e+02,
  1.97382493e-01,-4.61922657e+01, 1.58538737e+02,-3.56444394e+02,
  9.16180702e-02,-2.85577268e+01, 8.40577957e+01,-1.24441837e+02,
 -1.17653827e+00, 2.01614986e+00, 1.90064577e+00,-6.42851882e+00,
  1.50131271e+00, 1.10007615e+00,-5.03244499e+00,-5.46511990e+01,
  5.13738331e+01, 2.65693559e+00]

qfrc_actuator:
[-0.00239069, 0.20176911, 0.0080187 , 0.17680476, 0.00035033, 0.21647583,
  0.02087094, 0.16198142,-0.0010141 , 0.19351925, 0.00426566, 0.16089068,
  0.00049847,-0.00202406, 0.        ,-0.00174031, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.138498  ,  0.02801565, -4.13840317,  0.02801565,  1.80083283,
       -0.01582524, -4.13840317, -0.01582524,  4.13839087,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010178941028730903
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.45352911e-13, -1.19295949e-13,  1.00000000e+00,  6.50583933e-26,
        1.00000000e+00,  1.19295949e-13, -1.00000000e+00,  0.00000000e+00,
        5.45352911e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07063429, -0.10704149,  0.06199548])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.16852941e-05,-2.14830240e-03,-5.00401327e-04,-7.12417446e-04,
  1.50997943e-05,-4.35308339e-03,-1.54428266e-03,-1.00398970e-03,
  7.37521740e-06,-1.92747111e-03,-4.17785705e-04,-2.67807186e-04,
 -3.85357438e-05, 5.09489054e-05,-8.55543098e-06,-3.29989519e-05,
  1.09063867e-02, 1.52430374e-03,-1.22541294e+00, 1.19135842e-03,
 -8.82866947e-05,-2.26683808e-03]


--- Step 1823 ---
qpos:
[-8.22159976e-03, 5.63787230e-01,-1.96717550e-02, 4.64228854e-01,
  3.95596136e-03, 5.40492994e-01,-3.90186388e-02, 4.22848440e-01,
  1.47775350e-02, 5.75233095e-01,-1.71572038e-02, 4.24969064e-01,
  1.35474943e+00,-6.61478233e-04, 1.12148473e+00, 6.33423118e-02,
  1.30985071e-02,-8.62332354e-02, 1.03878079e-01, 6.07641648e-01,
  1.04621903e-01, 1.36273877e-01, 7.75406548e-01]

qacc:
[ 7.84612819e-01,-5.52143154e+01, 1.75441576e+02,-2.77674983e+02,
  4.61369706e-02,-3.06429110e+01, 8.39187636e+01,-1.83971630e+02,
  8.79502037e-02,-3.10938339e+01, 8.34436098e+01,-9.99931487e+01,
 -1.41255275e+00, 2.48161622e+00, 4.45615272e+00,-1.51838328e+01,
  1.70446040e+00, 9.81716528e-01,-5.57211036e+00,-5.16560867e+01,
  4.76179068e+01, 2.91522510e+00]

qfrc_actuator:
[-0.00231863, 0.20014773, 0.00800443, 0.17637321, 0.00034845, 0.21528999,
  0.0205361 , 0.16157918,-0.001019  , 0.19262777, 0.00433592, 0.1607945 ,
  0.00047588,-0.00195972, 0.        ,-0.0018127 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.11854987, -0.0361556 , -4.11839117, -0.0361556 ,  1.57703452,
        0.02231211, -4.11839117,  0.02231211,  4.11835399,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.774455826870669e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.14019765e-13,  7.36332883e-13,  1.00000000e+00,  5.25756232e-25,
        1.00000000e+00, -7.36332883e-13, -1.00000000e+00,  0.00000000e+00,
       -7.14019765e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07058112, -0.10706687,  0.06199647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.51724705e-05,-3.06578223e-03,-5.76180098e-04,-5.57520949e-04,
  1.86472530e-06,-4.10443857e-03,-1.49347798e-03,-6.61465608e-04,
  6.70081684e-06,-2.17193951e-03,-4.20001264e-04,-2.02070663e-04,
 -3.18055142e-05, 6.86981815e-05,-1.18226174e-05,-7.62820472e-05,
  1.13172259e-02, 1.45625104e-03,-1.22539467e+00, 1.19648691e-03,
 -9.54907890e-05,-2.58722395e-03]


--- Step 1824 ---
qpos:
[-8.30122435e-03, 5.67406198e-01,-1.96297743e-02, 4.67730496e-01,
  3.96334565e-03, 5.44449694e-01,-3.87213560e-02, 4.26054834e-01,
  1.47923021e-02, 5.78697835e-01,-1.71953196e-02, 4.28147990e-01,
  1.35483381e+00,-6.68041890e-04, 1.12167105e+00, 6.33399818e-02,
  1.22058037e-02,-8.64312133e-02, 1.02875801e-01, 6.08327489e-01,
  9.80348895e-02, 1.29396832e-01, 7.76906228e-01]

qacc:
[  0.91433074,-23.33456259, -1.94642271,156.99802565,  0.35971744,
   3.22415221,-80.93588086,201.06011866,  0.21214551,-24.38362863,
  64.77683254,-84.25248051, -0.43016508,  0.56855113, 13.33157005,
 -45.8834337 ,  1.91574679,  0.87727102, -6.03680827,-49.19157239,
  44.45008827,  3.15373996]

qfrc_actuator:
[-0.00224366, 0.19854707, 0.00799556, 0.17681684, 0.00038003, 0.21442323,
  0.02023557, 0.16192687,-0.00101004, 0.19211382, 0.00442791, 0.16070823,
  0.00045932,-0.00197243, 0.        ,-0.00203358, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09961463,  4.03434885,  0.72860787,  4.03434885,  5.29279235,
       -6.60670215,  0.72860787, -6.60670215, 40.68135127,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.3721358921888775e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.53931500e-12,  1.30933430e-12,  1.00000000e+00, -3.32481222e-24,
        1.00000000e+00, -1.30933430e-12, -1.00000000e+00,  0.00000000e+00,
        2.53931500e-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([ 0.07054308, -0.10709649,  0.06199797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.90886607e-05,-3.56498541e-03,-7.61413617e-04, 2.82061027e-04,
  3.13281111e-05,-3.62052120e-03,-1.38981039e-03, 1.07530847e-04,
  2.02303422e-05,-1.92776424e-03,-4.45911881e-04,-2.00558216e-04,
 -1.80638933e-05,-2.13553374e-06,-1.82137885e-05,-2.27620895e-04,
  1.17223073e-02, 1.39569160e-03,-1.22535402e+00, 1.20153554e-03,
 -1.04798453e-04,-2.88992085e-03]


--- Step 1825 ---
qpos:
[-8.37981403e-03, 5.70999451e-01,-1.95904360e-02, 4.71245839e-01,
  3.97108005e-03, 5.48383805e-01,-3.84335450e-02, 4.29272211e-01,
  1.48072745e-02, 5.82149459e-01,-1.72347541e-02, 4.31327776e-01,
  1.35491802e+00,-6.74632940e-04, 1.12185706e+00, 6.33366797e-02,
  1.13216339e-02,-8.66260513e-02, 1.01847782e-01, 6.08949091e-01,
  9.13171645e-02, 1.22484436e-01, 7.78357080e-01]

qacc:
[ 7.79727139e-01,-2.51385436e-01,-9.31265019e+01, 3.19385553e+02,
  2.79634054e-01, 1.71526466e+01,-1.40410291e+02, 3.33021846e+02,
  1.57285808e-01,-1.19787594e+01, 1.46722274e+01, 1.01041686e+01,
 -1.55774480e-01, 1.37097244e-01, 2.48380028e+00,-9.33666881e+00,
  2.13340670e+00, 7.84967373e-01,-6.43536497e+00,-4.71847229e+01,
  4.17862106e+01, 3.37788638e+00]

qfrc_actuator:
[-0.00218531, 0.19752322, 0.00795512, 0.17752331, 0.00039576, 0.21375655,
  0.01994215, 0.16251809,-0.00101074, 0.19168902, 0.00444498, 0.16077085,
  0.00044635,-0.00197746, 0.        ,-0.00207386, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.0909322 ,  3.63871513, -1.86961986,  3.63871513,  8.06605485,
        7.73651331, -1.86961986,  7.73651331, 19.14798664,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2546759663247262e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.38613691e-11,  3.15449597e-11,  1.00000000e+00, -2.32995391e-21,
        1.00000000e+00, -3.15449597e-11, -1.00000000e+00,  0.00000000e+00,
        7.38613691e-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([ 0.07051755, -0.10712952,  0.06199989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.72600647e-05,-3.26927351e-03,-8.88436185e-04, 5.36376866e-04,
  2.47376611e-05,-3.09608172e-03,-1.24450037e-03, 3.90013277e-04,
  1.51646994e-05,-1.70676870e-03,-4.73649870e-04,-4.24912469e-05,
 -2.42777448e-05,-9.19226800e-06,-3.77758404e-05,-5.62489289e-05,
  1.21228997e-02, 1.34158187e-03,-1.22529262e+00, 1.20629659e-03,
 -1.16113121e-04,-3.17758620e-03]


--- Step 1826 ---
qpos:
[-8.45732418e-03, 5.74573305e-01,-1.95556909e-02, 4.74767392e-01,
  3.97900739e-03, 5.52294599e-01,-3.81523826e-02, 4.32490671e-01,
  1.48218902e-02, 5.85585872e-01,-1.72742461e-02, 4.34514653e-01,
  1.35500192e+00,-6.81163474e-04, 1.12204255e+00, 6.33352030e-02,
  1.04378571e-02,-8.68208352e-02, 1.00780238e-01, 6.09518402e-01,
  8.45925085e-02, 1.15558379e-01, 7.79729239e-01]

qacc:
[ 7.99535478e-01,-9.78034275e-01,-5.30443739e+01, 1.63911649e+02,
  1.60288967e-01,-1.03693882e+01,-1.03074549e+01, 5.10284900e+01,
 -2.45595290e-01,-6.11317500e+00,-3.18087610e+01, 1.51794782e+02,
 -1.39070402e-01, 1.24314504e-01,-6.26159467e+00, 2.08227127e+01,
  9.82430664e-02, 1.35251853e-02,-9.88134435e+00,-2.19555255e-01,
 -1.85225368e+00,-3.40993897e+00]

qfrc_actuator:
[-0.00211948, 0.19704927, 0.00789895, 0.17786428, 0.0004019 , 0.21268407,
  0.01963891, 0.16257343,-0.00105277, 0.19094899, 0.00445404, 0.16113372,
  0.00042489,-0.00197783, 0.        ,-0.00197186, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 8.11512805e-05,-2.56889216e-03,-8.50107990e-04, 1.83901846e-04,
  1.32653312e-05,-3.16655985e-03,-1.11930338e-03,-1.13791577e-04,
 -2.78767104e-05,-1.89714029e-03,-4.34181139e-04, 2.69113833e-04,
 -3.76500583e-05,-7.89382653e-06,-2.58212752e-05, 9.35165157e-05,
  1.25201309e-02, 1.29300345e-03,-1.22521185e+00, 1.21059292e-03,
 -1.29363120e-04,-3.45264259e-03]


--- Step 1827 ---
qpos:
[-8.53368698e-03, 5.78136842e-01,-1.95271756e-02, 4.78289683e-01,
  3.98700296e-03, 5.56177833e-01,-3.78759671e-02, 4.35710848e-01,
  1.48361025e-02, 5.89007117e-01,-1.73134481e-02, 4.37708863e-01,
  1.35508550e+00,-6.87847567e-04, 1.12222803e+00, 6.33335683e-02,
  9.55447867e-03,-8.70155634e-02, 9.96731764e-02, 6.10035316e-01,
  7.78615532e-02, 1.08619342e-01, 7.81022618e-01]

qacc:
[ 8.34178114e-01, 4.97008449e+00,-3.82038256e+01, 6.14166319e+01,
  6.93481137e-02,-1.99591417e+01, 1.29618717e+01, 3.95570692e+01,
 -2.77149358e-01,-6.55415599e+00,-3.09922473e+01, 1.54159242e+02,
 -1.53548237e-01,-3.21416949e-03, 4.63019690e-01,-1.63414404e+00,
  9.95982930e-02, 1.39143370e-02,-9.87941767e+00,-2.12600020e-01,
 -1.80489493e+00,-3.39670294e+00]

qfrc_actuator:
[-0.00204963, 0.19726429, 0.0078541 , 0.17795246, 0.00040229, 0.21116486,
  0.01934848, 0.16265005,-0.00108363, 0.19031121, 0.00451081, 0.16151041,
  0.00039836,-0.00199322, 0.        ,-0.00198217, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 8.69364903e-05,-1.49460996e-03,-7.02665824e-04,-4.67947824e-05,
  3.95880642e-06,-3.64645221e-03,-1.12207673e-03,-1.01107556e-04,
 -3.15569399e-05,-1.87957426e-03,-4.09706483e-04, 2.83109550e-04,
 -4.91484818e-05,-2.60219009e-05,-3.70331585e-06,-8.92096242e-06,
  1.26851430e-02, 1.34065808e-03,-1.22497082e+00, 1.23338481e-03,
 -1.09472153e-04,-3.42715305e-03]


--- Step 1828 ---
qpos:
[-8.60885137e-03, 5.81694572e-01,-1.95023011e-02, 4.81805453e-01,
  3.99474089e-03, 5.60032962e-01,-3.76051595e-02, 4.38932723e-01,
  1.48502140e-02, 5.92413782e-01,-1.73520100e-02, 4.40898709e-01,
  1.35516883e+00,-6.95149851e-04, 1.12241329e+00, 6.33331518e-02,
  8.67150392e-03,-8.72102345e-02, 9.85266047e-02, 6.10499736e-01,
  7.11249297e-02, 1.01668004e-01, 7.82237134e-01]

qacc:
[ 8.66544393e-01,-1.01498966e+01, 4.71497598e+01,-1.36293903e+02,
 -1.82059069e-01,-1.83545146e+01, 6.51930059e+00, 4.66626263e+01,
 -5.91781377e-02,-2.94559481e+01, 9.12697697e+01,-1.45748221e+02,
  3.45124489e-01,-9.58034682e-01,-4.04158511e+00, 1.35764497e+01,
  1.00915595e-01, 1.42973990e-02,-9.87746326e+00,-2.05729571e-01,
 -1.75769344e+00,-3.38376835e+00]

qfrc_actuator:
[-0.00197786, 0.19746529, 0.00785503, 0.17766116, 0.00038153, 0.20981724,
  0.01908426, 0.16273837,-0.00108983, 0.1896698 , 0.00456038, 0.16128871,
  0.00037413,-0.0020352 , 0.        ,-0.0019166 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 9.13345614e-05,-8.87802457e-04,-4.27389073e-04,-3.83332495e-04,
 -2.02223745e-05,-3.74138562e-03,-1.19323297e-03,-1.08295418e-04,
 -8.30014099e-06,-1.86704294e-03,-4.09536828e-04,-3.13285591e-04,
 -5.73289555e-05,-6.00244070e-05,-6.64255269e-06, 6.37017595e-05,
  1.28455076e-02, 1.38751724e-03,-1.22472645e+00, 1.25559566e-03,
 -8.98455673e-05,-3.40187031e-03]


--- Step 1829 ---
qpos:
[-8.68301928e-03, 5.85244616e-01,-1.94775406e-02, 4.85310569e-01,
  4.00218871e-03, 5.63861631e-01,-3.73401826e-02, 4.42148515e-01,
  1.48642887e-02, 5.95805107e-01,-1.73909426e-02, 4.44082493e-01,
  1.35525182e+00,-7.02903239e-04, 1.12259834e+00, 6.33345078e-02,
  7.81348773e-03,-8.74028190e-02, 9.73754597e-02, 6.10974215e-01,
  6.43345413e-02, 9.44312481e-02, 7.83360909e-01]

qacc:
[ 7.22869248e-01,-3.02504052e+01, 1.27246765e+02,-2.77455729e+02,
 -2.06936418e-01,-3.03454438e+01, 7.90177429e+01,-1.44469870e+02,
 -1.44874274e-02,-3.09571483e+01, 1.01089996e+02,-1.79683434e+02,
  1.81067787e-01,-6.59151766e-01,-5.67101929e+00, 1.93540423e+01,
  6.23964065e+00, 5.21631639e-01,-1.14330623e+00,-1.23794739e+02,
 -6.98343887e+01,-2.42160334e+01]

qfrc_actuator:
[-0.0019232 , 0.19712493, 0.00786558, 0.17713139, 0.00036614, 0.20869066,
  0.01885628, 0.16244248,-0.00109913, 0.18890744, 0.00453416, 0.16098303,
  0.0003566 ,-0.00205709, 0.        ,-0.00182457, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.1063436 , -0.76076048,  4.03525727, -0.76076048,  4.22372107,
        0.02212898,  4.03525727,  0.02212898,  4.11051554,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.8173019987575736e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.77121106e-13,  2.86272663e-12,  1.00000000e+00, -1.36586730e-24,
        1.00000000e+00, -2.86272663e-12, -1.00000000e+00,  0.00000000e+00,
        4.77121106e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05593289, -0.05204447,  0.06199693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.61269945e-05,-1.04745173e-03,-2.71782363e-04,-5.95388903e-04,
 -2.26531850e-05,-3.58680482e-03,-1.18460127e-03,-4.98525881e-04,
 -3.42482431e-06,-2.00447277e-03,-5.02532627e-04,-4.08710864e-04,
 -6.29838936e-05,-5.06967319e-05, 7.29033756e-07, 9.39765056e-05,
  1.30011610e-02, 1.43356314e-03,-1.22447881e+00, 1.27722048e-03,
 -7.04824561e-05,-3.37679919e-03]


--- Step 1830 ---
qpos:
[-8.75616384e-03, 5.88783017e-01,-1.94522296e-02, 4.88806504e-01,
  4.00961922e-03, 5.67663434e-01,-3.70804070e-02, 4.45352480e-01,
  1.48780951e-02, 5.99179194e-01,-1.74307844e-02, 4.47266615e-01,
  1.35533406e+00,-7.09852888e-04, 1.12278370e+00, 6.33342683e-02,
  6.97828817e-03,-8.75933619e-02, 9.62158921e-02, 6.11447381e-01,
  5.74946917e-02, 8.69391952e-02, 7.84390233e-01]

qacc:
[ 7.41213340e-01,-3.44560449e+01, 1.29465163e+02,-2.54809890e+02,
  1.98405830e-03,-4.34934212e+01, 1.44335240e+02,-2.96181585e+02,
 -1.76885159e-01,-1.95619886e+01, 3.53910880e+01,-1.55236061e+01,
 -1.28494484e+00, 2.01774581e+00, 5.36797729e+00,-1.78850100e+01,
  5.70415592e+00, 5.10393161e-01,-2.10567724e+00,-1.10608215e+02,
 -6.15939785e+01,-2.24630663e+01]

qfrc_actuator:
[-0.00186134, 0.19637518, 0.00782656, 0.17666056, 0.00037185, 0.20742226,
  0.018617  , 0.16185216,-0.00112808, 0.18802583, 0.00448096, 0.16100322,
  0.00033779,-0.00199585, 0.        ,-0.00191297, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.20538351, -0.46210734, -4.17991714, -0.46210734,  7.78288497,
       -0.39550777, -4.17991714, -0.39550777,  4.24910855,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015673449241382365
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.54173165e-13,  1.77086582e-13,  1.00000000e+00,  6.27193154e-26,
        1.00000000e+00, -1.77086582e-13, -1.00000000e+00,  0.00000000e+00,
       -3.54173165e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05562246, -0.05216966,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.83213086e-05,-1.52202437e-03,-3.41869708e-04,-5.41777121e-04,
 -2.34603407e-06,-3.65521516e-03,-1.17573955e-03,-7.94058728e-04,
 -2.14596285e-05,-2.22248276e-03,-5.71692640e-04,-9.32134865e-05,
 -6.49454184e-05, 3.34243893e-05, 7.11633088e-06,-8.39148870e-05,
  1.38520575e-02, 1.83293108e-03,-1.22466880e+00, 1.33528149e-03,
  2.38911485e-05,-2.99571688e-03]


--- Step 1831 ---
qpos:
[-8.82799404e-03, 5.92303869e-01,-1.94257958e-02, 4.92300150e-01,
  4.01728613e-03, 5.71440078e-01,-3.68273908e-02, 4.48540384e-01,
  1.48916319e-02, 6.02533626e-01,-1.74708667e-02, 4.50453234e-01,
  1.35541598e+00,-7.16676215e-04, 1.12296910e+00, 6.33326476e-02,
  6.16444405e-03,-8.77817307e-02, 9.50444562e-02, 6.11909604e-01,
  5.06089233e-02, 7.92174023e-02, 7.85321575e-01]

qacc:
[ 9.47423386e-01,-3.05954708e+01, 8.18594760e+01,-1.01318970e+02,
  1.88144916e-01,-4.49940425e+01, 1.67633178e+02,-3.83221540e+02,
 -1.74326020e-01,-2.04081864e+01, 2.63059482e+01, 2.75167413e+01,
 -4.26834679e-01, 5.56067827e-01, 4.26945120e+00,-1.47627984e+01,
  5.33886045e+00, 5.43550585e-01,-2.96705487e+00,-9.95727218e+01,
 -5.45695263e+01,-2.10556656e+01]

qfrc_actuator:
[-0.00177782, 0.19520931, 0.00777495, 0.17652968, 0.00039007, 0.20634604,
  0.01833713, 0.16105785,-0.0011508 , 0.18699195, 0.00444777, 0.16112618,
  0.00032891,-0.00199231, 0.        ,-0.00198272, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.32265076e+00,  5.12035937e-01, -4.29221724e+00,  5.12035937e-01,
        4.35776376e+00,  4.18877117e-03, -4.29221724e+00,  4.18877117e-03,
        4.32315046e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.00022024980304700958
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.52037234e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.52037234e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0553668 , -0.05226343,  0.06198768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00854302e-04,-2.21424891e-03,-4.57479327e-04,-2.21585687e-04,
  1.67478548e-05,-3.51010002e-03,-1.23849724e-03,-1.00618906e-03,
 -2.17210802e-05,-2.49686086e-03,-5.93550028e-04, 5.16455114e-06,
 -3.64320248e-05,-2.93192444e-06,-1.15534338e-05,-7.47346036e-05,
  1.46569158e-02, 2.21237631e-03,-1.22478425e+00, 1.38315852e-03,
  1.17754427e-04,-2.63989504e-03]


--- Step 1832 ---
qpos:
[-8.89847978e-03, 5.95801757e-01,-1.93980664e-02, 4.95790738e-01,
  4.02513217e-03, 5.75194051e-01,-3.65825093e-02, 4.51714634e-01,
  1.49051747e-02, 6.05864362e-01,-1.75095577e-02, 4.53639556e-01,
  1.35549796e+00,-7.24237185e-04, 1.12315395e+00, 6.33338661e-02,
  5.37103067e-03,-8.79676607e-02, 9.38580874e-02, 6.12352681e-01,
  4.36801797e-02, 7.12876853e-02, 7.86151577e-01]

qacc:
[ 9.66989695e-01,-3.96743928e+01, 1.06044304e+02,-1.32221371e+02,
  1.39901469e-01,-3.33777326e+01, 1.23192577e+02,-3.03510570e+02,
  2.34968144e-02,-3.56445807e+01, 8.16408972e+01,-6.75891468e+01,
  7.80916684e-01,-1.52827939e+00,-9.46111030e+00, 3.17425411e+01,
  5.10768551e+00, 6.09690991e-01,-3.73323037e+00,-9.02984825e+01,
 -4.85473896e+01,-1.99282982e+01]

qfrc_actuator:
[-0.00169977, 0.19375108, 0.00771498, 0.17635101, 0.00039779, 0.20550069,
  0.01803656, 0.16039865,-0.00115194, 0.18562747, 0.00444403, 0.16109549,
  0.00032598,-0.00204079, 0.        ,-0.0018278 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.40614311,  0.91054104, -4.31103377,  0.91054104,  3.08570984,
       -0.27889104, -4.31103377, -0.27889104,  4.34723805,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002546640513547277
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.17977963e-13,  1.08988982e-13,  1.00000000e+00,  2.37571962e-26,
        1.00000000e+00, -1.08988982e-13, -1.00000000e+00,  0.00000000e+00,
       -2.17977963e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0551577 , -0.05233023,  0.0619853 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03340471e-04,-2.90251685e-03,-6.09651635e-04,-2.93667059e-04,
  1.25887371e-05,-3.21840538e-03,-1.24362670e-03,-8.71335820e-04,
 -3.95619102e-07,-2.98008826e-03,-6.19029855e-04,-1.57968982e-04,
 -2.39175084e-05,-5.74330312e-05,-1.74851640e-05, 1.48383155e-04,
  1.54207437e-02, 2.57239360e-03,-1.22483234e+00, 1.42302992e-03,
  2.11208696e-04,-2.30876641e-03]


--- Step 1833 ---
qpos:
[-8.96766194e-03, 5.99277629e-01,-1.93718420e-02, 4.99278886e-01,
  4.03282042e-03, 5.78927164e-01,-3.63463435e-02, 4.54897011e-01,
  1.49187550e-02, 6.09170090e-01,-1.75475931e-02, 4.56829446e-01,
  1.35557961e+00,-7.31320775e-04, 1.12333846e+00, 6.33385619e-02,
  4.59754518e-03,-8.81507912e-02, 9.26540819e-02, 6.12769574e-01,
  3.67109304e-02, 6.31687471e-02, 7.86877033e-01]

qacc:
[ 9.27549626e-01,-2.95327017e+01, 7.06739763e+01,-8.70046674e+01,
 -1.12865765e-01, 1.18527954e+01,-1.07555769e+02, 2.52326354e+02,
  4.47140502e-02,-2.78730370e+01, 3.87525093e+01, 3.47582883e+01,
 -3.54748269e-01, 6.85475683e-01,-1.09709350e+01, 3.77220512e+01,
  4.98197452e+00, 6.99856184e-01,-4.40915211e+00,-8.24864952e+01,
 -4.33639670e+01,-1.90291890e+01]

qfrc_actuator:
[-0.00162555, 0.19275119, 0.00766713, 0.17623411, 0.00038142, 0.20483694,
  0.01776314, 0.16085418,-0.00115804, 0.18437834, 0.00447418, 0.16127619,
  0.00033191,-0.0019954 , 0.        ,-0.00164829, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.43488093,  1.12095071, -4.29087851,  1.12095071,  2.56299585,
       -0.48901196, -4.29087851, -0.48901196,  4.30713127,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026523601202654845
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.18579293e-13,  2.09289647e-13,  1.00000000e+00,  8.76043124e-26,
        1.00000000e+00, -2.09289647e-13, -1.00000000e+00,  0.00000000e+00,
       -4.18579293e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05498825, -0.05237387,  0.06198417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00539674e-04,-2.86085919e-03,-7.57991255e-04,-2.65229794e-04,
 -1.27789564e-05,-2.86830683e-03,-1.15232668e-03, 2.57989931e-04,
  2.02994158e-06,-3.14513393e-03,-6.91905414e-04, 3.01911633e-05,
 -2.07802544e-05, 2.51597748e-05, 6.57025306e-06, 1.85085692e-04,
  1.61479426e-02, 2.91388198e-03,-1.22481944e+00, 1.45650231e-03,
  3.04442895e-04,-2.00117160e-03]


--- Step 1834 ---
qpos:
[-9.03581909e-03, 6.02736849e-01,-1.93500787e-02, 5.02773810e-01,
  4.03981829e-03, 5.82642248e-01,-3.61179300e-02, 4.58091260e-01,
  1.49323425e-02, 6.12454138e-01,-1.75867814e-02, 4.60023188e-01,
  1.35566117e+00,-7.37969445e-04, 1.12352356e+00, 6.33403406e-02,
  3.84381601e-03,-8.83306932e-02, 9.14300782e-02, 6.13154214e-01,
  2.97032661e-02, 5.48766680e-02, 7.87494874e-01]

qacc:
[ 7.18852152e-01, 3.27824281e+00,-6.39648762e+01, 1.78786572e+02,
 -5.03037720e-01, 2.00079351e+01,-1.43805182e+02, 3.41192945e+02,
  1.86870658e-02,-1.79509964e+01, 9.46759644e+00, 6.67158784e+01,
 -6.00402295e-01, 1.07073660e+00, 9.73733429e+00,-3.26654831e+01,
  4.93907696e+00, 8.07143009e-01,-4.99959488e+00,-7.59034175e+01,
 -3.88910151e+01,-1.83176185e+01]

qfrc_actuator:
[-0.00157188, 0.19240737, 0.00762883, 0.17661645, 0.00033312, 0.20432491,
  0.01752761, 0.16148292,-0.00116716, 0.18359977, 0.00452485, 0.16149122,
  0.0003432 ,-0.00196562, 0.        ,-0.00181083, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.41132915, -1.26457411, -4.22618944, -1.26457411, 12.13957306,
       -2.3124702 , -4.22618944, -2.3124702 ,  5.10327398,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002566134347586624
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.16322077e-13,  2.16322077e-13,  1.00000000e+00,  4.67952411e-26,
        1.00000000e+00, -2.16322077e-13, -1.00000000e+00,  0.00000000e+00,
       -2.16322077e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05485263, -0.05239762,  0.06198412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.93309746e-05,-2.20960283e-03,-7.56389494e-04, 2.31599189e-04,
 -5.31436912e-05,-2.45537087e-03,-9.93352534e-04, 4.71560979e-04,
 -2.32108508e-07,-2.77284610e-03,-7.07087654e-04, 5.95972867e-05,
  6.26492792e-06, 3.13752678e-05, 2.01240000e-05,-1.52192731e-04,
  1.68424189e-02, 3.23797542e-03,-1.22475117e+00, 1.48477147e-03,
  3.97684740e-04,-1.71559926e-03]


--- Step 1835 ---
qpos:
[-9.10298008e-03, 6.06180644e-01,-1.93306513e-02, 5.06271577e-01,
  4.04593937e-03, 5.86338696e-01,-3.58940231e-02, 4.61276500e-01,
  1.49459015e-02, 6.15722279e-01,-1.76281455e-02, 4.63215635e-01,
  1.35574319e+00,-7.45138388e-04, 1.12370918e+00, 6.33365091e-02,
  3.10887920e-03,-8.85073034e-02, 9.01848590e-02, 6.13500586e-01,
  2.26597302e-02, 4.64230229e-02, 7.88002837e-01]

qacc:
[ 6.96974011e-01,-8.46902262e+00,-7.96964228e+00, 6.33583812e+01,
 -6.28870798e-01,-2.91941903e+01, 9.91631044e+01,-2.14900828e+02,
 -1.09749862e-02,-1.74733084e+01, 3.63101337e+01,-4.10785120e+01,
  3.44254981e-01,-6.53484132e-01, 1.76789518e+01,-6.07987447e+01,
  4.69809142e+00, 8.22944570e-01,-5.30385159e+00,-7.10346071e+01,
 -3.59905832e+01,-1.72030787e+01]

qfrc_actuator:
[-0.00151304, 0.19187478, 0.00759983, 0.17677526, 0.000284  , 0.20343011,
  0.01729957, 0.16101915,-0.00117807, 0.18328773, 0.00458936, 0.16145885,
  0.00036835,-0.00199861, 0.        ,-0.0021026 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.35159287,  0.74556824, -4.28724719,  0.74556824,  2.10478895,
       -0.39072756, -4.28724719, -0.39072756,  4.28364389,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023289430511791442
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.19176704e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.19176704e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05474584, -0.0524043 ,  0.06198502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.74039795e-05,-2.01407652e-03,-5.97242369e-04, 4.41873365e-05,
 -6.75447751e-05,-2.56551922e-03,-8.74601839e-04,-5.94506643e-04,
 -2.84629530e-06,-2.09951954e-03,-6.17652960e-04,-1.72642933e-04,
  3.56030988e-05,-2.30681275e-05,-1.33015893e-05,-2.98974425e-04,
  1.75076712e-02, 3.54593430e-03,-1.22463249e+00, 1.50873361e-03,
  4.91176070e-04,-1.45034435e-03]


--- Step 1836 ---
qpos:
[-9.16979545e-03, 6.09605949e-01,-1.93105571e-02, 5.09764769e-01,
  4.05135445e-03, 5.90013018e-01,-3.56731056e-02, 4.64448476e-01,
  1.49591814e-02, 6.18978517e-01,-1.76712133e-02, 4.66407052e-01,
  1.35582559e+00,-7.52229902e-04, 1.12389444e+00, 6.33315468e-02,
  2.39186326e-03,-8.86805861e-02, 8.89175552e-02, 6.13803262e-01,
  1.55826056e-02, 3.78171169e-02, 7.88398759e-01]

qacc:
[ 2.52471550e-01,-3.49232929e+01, 1.02583717e+02,-1.53621021e+02,
 -4.96065509e-01,-4.59835328e+01, 1.65794433e+02,-3.42578055e+02,
 -1.83356630e-01,-1.29808146e+01, 2.70505402e+01,-3.14519156e+01,
  1.89863752e-01,-7.72455617e-02, 2.85424770e+00,-1.08088939e+01,
  4.48021792e+00, 8.31881313e-01,-5.52114726e+00,-6.72027689e+01,
 -3.37278557e+01,-1.62069839e+01]

qfrc_actuator:
[-0.00150472, 0.19086156, 0.0075938 , 0.1765349 , 0.0002526 , 0.2021892 ,
  0.01709364, 0.16034208,-0.00120777, 0.18311649, 0.00466368, 0.16144141,
  0.00040709,-0.00197972, 0.        ,-0.00214849, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.27367793,  0.77439786, -4.20293124,  0.77439786,  0.97128884,
       -0.6084713 , -4.20293124, -0.6084713 ,  4.16156597,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019660840705514743
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.82343731e-13,  2.82343731e-13,  1.00000000e+00,  7.97179825e-26,
        1.00000000e+00, -2.82343731e-13, -1.00000000e+00,  0.00000000e+00,
       -2.82343731e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05466438, -0.05239523,  0.06198682])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.64751406e-05,-2.35985197e-03,-5.21096901e-04,-3.45694779e-04,
 -5.48468294e-05,-2.99114115e-03,-8.95878260e-04,-8.29769131e-04,
 -2.25292740e-05,-1.57335119e-03,-4.67061377e-04,-1.32464987e-04,
  5.13620499e-05, 2.21458045e-05,-4.32500248e-05,-6.51914956e-05,
  1.81517933e-02, 3.84309004e-03,-1.22446896e+00, 1.52875779e-03,
  5.81452121e-04,-1.19715650e-03]


--- Step 1837 ---
qpos:
[-9.23687618e-03, 6.13007761e-01,-1.92880827e-02, 5.13251725e-01,
  4.05672445e-03, 5.93662287e-01,-3.54556693e-02, 4.67617576e-01,
  1.49721786e-02, 6.22220598e-01,-1.77128872e-02, 4.69598208e-01,
  1.35590785e+00,-7.57743715e-04, 1.12407915e+00, 6.33283469e-02,
  1.69209250e-03,-8.88504863e-02, 8.76274961e-02, 6.14057378e-01,
  8.47386021e-03, 2.90666390e-02, 7.88680455e-01]

qacc:
[-1.60801398e-01,-4.93868203e+01, 1.48905235e+02,-2.20386870e+02,
 -1.78178850e-02,-2.88396302e+01, 6.46033632e+01,-8.39475484e+01,
 -1.79275574e-01,-2.30040866e+01, 5.49199010e+01,-4.79847259e+01,
 -1.10529757e+00, 2.48634822e+00,-6.00739831e+00, 2.01140524e+01,
  4.31129269e+00, 8.45623896e-01,-5.68882949e+00,-6.41604294e+01,
 -3.18768260e+01,-1.53860952e+01]

qfrc_actuator:
[-0.00152646, 0.18944494, 0.00761726, 0.17620332, 0.00026753, 0.20087583,
  0.01690127, 0.16020174,-0.00123074, 0.18242849, 0.00474427, 0.16143319,
  0.00042202,-0.00187683, 0.        ,-0.00204909, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.19516654,  0.80136339, -4.11791683,  0.80136339,  0.63764154,
       -0.69230886, -4.11791683, -0.69230886,  4.06044041,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014974092696541652
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.70714623e-13,  5.56071934e-13,  1.00000000e+00,  2.06143997e-25,
        1.00000000e+00, -5.56071934e-13, -1.00000000e+00,  0.00000000e+00,
       -3.70714623e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05460585, -0.05237108,  0.06198951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.17586776e-05,-2.95516194e-03,-5.65370642e-04,-4.55718763e-04,
 -4.41712821e-06,-3.31380625e-03,-9.79099699e-04,-3.15284807e-04,
 -2.29434842e-05,-1.76348026e-03,-3.33531551e-04,-9.63104247e-05,
  4.69592925e-05, 1.21468152e-04,-2.83275711e-05, 8.99099913e-05,
  1.87788718e-02, 4.13171887e-03,-1.22426439e+00, 1.54536793e-03,
  6.68543307e-04,-9.53126034e-04]


--- Step 1838 ---
qpos:
[-9.30421378e-03, 6.16382782e-01,-1.92644136e-02, 5.16744857e-01,
  4.06239776e-03, 5.97287578e-01,-3.52442414e-02, 4.70791977e-01,
  1.49851667e-02, 6.25445825e-01,-1.77526318e-02, 4.72786339e-01,
  1.35598902e+00,-7.58308040e-04, 1.12426370e+00, 6.33263107e-02,
  1.00905500e-03,-8.90169345e-02, 8.63141767e-02, 6.14258528e-01,
  1.33519691e-03, 2.01779672e-02, 7.88845693e-01]

qacc:
[-1.54823093e-01,-2.68055652e+01, 2.37579270e+01, 8.73140252e+01,
  2.25511536e-01,-5.05542501e+00,-4.42803795e+01, 1.46707231e+02,
  8.18787959e-03,-3.33537166e+01, 9.54154558e+01,-1.27494184e+02,
 -4.32656248e+00, 8.74757280e+00,-3.35068053e+00, 1.23133128e+01,
  4.18331721e+00, 8.62996962e-01,-5.81506862e+00,-6.17680679e+01,
 -3.03558929e+01,-1.47189948e+01]

qfrc_actuator:
[-0.00153027, 0.18799394, 0.00763867, 0.17651287, 0.00029212, 0.19985031,
  0.01666545, 0.16048485,-0.0012318 , 0.18147297, 0.00479071, 0.16127037,
  0.00043335,-0.0015653 , 0.        ,-0.00198923, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.13138431,  0.82847531, -4.04746402,  0.82847531,  0.49079355,
       -0.74519243, -4.04746402, -0.74519243,  3.97885089,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.394656792428846e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18176007e-12,  5.90880034e-13,  1.00000000e+00,  6.98278429e-25,
        1.00000000e+00, -5.90880034e-13, -1.00000000e+00,  0.00000000e+00,
       -1.18176007e-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([ 0.05456882, -0.052332  ,  0.0619931 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.12822033e-05,-3.33378333e-03,-6.97027845e-04, 1.58678348e-04,
  2.24416679e-05,-3.20084001e-03,-1.08059529e-03, 1.03345537e-04,
 -1.32660016e-06,-2.10760957e-03,-3.88760304e-04,-2.53094214e-04,
  6.51034678e-05, 3.54377428e-04,-4.90748050e-06, 6.08060166e-05,
  1.93918538e-02, 4.41338942e-03,-1.22402168e+00, 1.55897930e-03,
  7.53019576e-04,-7.16437077e-04]


--- Step 1839 ---
qpos:
[-9.37144562e-03, 6.19732333e-01,-1.92416906e-02, 5.20246135e-01,
  4.06810383e-03, 6.00892909e-01,-3.50404163e-02, 4.73967317e-01,
  1.49981837e-02, 6.28654553e-01,-1.77922190e-02, 4.75965957e-01,
  1.35606865e+00,-7.50733773e-04, 1.12444819e+00, 6.33249953e-02,
  3.42374637e-04,-8.91798497e-02, 8.49772294e-02, 6.14402672e-01,
 -5.83189901e-03, 1.11564283e-02, 7.88892185e-01]

qacc:
[ 8.71207962e-02,-1.54393812e+01,-1.94276401e+01, 1.58514855e+02,
  2.75276224e-02,-3.64552708e+00,-2.65740908e+01, 6.17573018e+01,
  3.14775748e-02,-3.85736090e+01, 1.33074728e+02,-2.45437431e+02,
 -7.00966644e+00, 1.43232914e+01,-1.57180874e+00, 6.95581502e+00,
  4.08928382e+00, 8.83244876e-01,-5.90697588e+00,-5.99061888e+01,
 -2.90976668e+01,-1.41842239e+01]

qfrc_actuator:
[-0.00150547, 0.18687232, 0.00764133, 0.17693088, 0.00028666, 0.19920173,
  0.01640749, 0.16055346,-0.00123762, 0.18068484, 0.0047978 , 0.16084013,
  0.00045326,-0.00107934, 0.        ,-0.0019532 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09517247,  0.85830462, -4.00421662,  0.85830462,  0.4155231 ,
       -0.78873357, -4.00421662, -0.78873357,  3.92610728,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.061152663131478e-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([ 0.05455291, -0.05227755,  0.06199764])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.45588262e-06,-3.21671852e-03,-7.87597607e-04, 2.61032019e-04,
  1.74331614e-06,-2.76342614e-03,-1.07733640e-03,-1.01184214e-04,
  1.71418509e-06,-2.14897024e-03,-5.09862362e-04,-5.39022293e-04,
  1.39003728e-04, 5.93015298e-04,-5.11252024e-08, 3.78072066e-05,
  1.99931728e-02, 4.68943549e-03,-1.22374311e+00, 1.56988997e-03,
  8.35448092e-04,-4.85542944e-04]


--- Step 1840 ---
qpos:
[-9.43800566e-03, 6.23061649e-01,-1.92212350e-02, 5.23741778e-01,
  4.07374954e-03, 6.04477827e-01,-3.48416140e-02, 4.77141628e-01,
  1.50114282e-02, 6.31846937e-01,-1.78326164e-02, 4.79137691e-01,
  1.35614753e+00,-7.35418308e-04, 1.12463293e+00, 6.33217697e-02,
 -3.23642888e-04,-8.93426021e-02, 8.36008184e-02, 6.14465648e-01,
 -1.29997552e-02, 2.13462723e-03, 7.88833580e-01]

qacc:
[ 4.63336535e-01,-3.11501562e+01, 8.98068676e+01,-1.52601904e+02,
 -3.41243839e-02,-1.50225796e+01, 1.87602808e+01,-1.37733543e+01,
  1.61946504e-01,-3.44806697e+01, 1.16946761e+02,-2.19288512e+02,
 -6.28726350e+00, 1.33498713e+01, 6.73691983e+00,-2.16293574e+01,
  1.65709227e-01, 4.07160390e-02,-9.86593046e+00, 1.26162263e-02,
  9.78575267e-01,-2.74282207e-01]

qfrc_actuator:
[-0.00144601, 0.18624177, 0.00765215, 0.17666392, 0.00028109, 0.19832331,
  0.01621125, 0.16051335,-0.00122859, 0.17995026, 0.00478229, 0.16045141,
  0.00046243,-0.0006714 , 0.        ,-0.00205575, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 5.27225418e-05,-2.67362327e-03,-7.62579659e-04,-4.19939583e-04,
 -5.47298412e-06,-2.75575777e-03,-9.32286802e-04,-1.96284729e-04,
  1.76341086e-05,-2.15388125e-03,-5.64760880e-04,-5.08825070e-04,
  2.24823169e-04, 5.93989271e-04,-1.37557399e-06,-1.01640740e-04,
  2.05847705e-02, 4.96095340e-03,-1.22343039e+00, 1.57831013e-03,
  9.16363805e-04,-2.59151728e-04]


--- Step 1841 ---
qpos:
[-9.50387813e-03, 6.26375587e-01,-1.92043081e-02, 5.27226077e-01,
  4.07907628e-03, 6.08038536e-01,-3.46452548e-02, 4.80310224e-01,
  1.50248613e-02, 6.35019858e-01,-1.78721841e-02, 4.82313369e-01,
  1.35622667e+00,-7.14563130e-04, 1.12481770e+00, 6.33166666e-02,
 -9.88992796e-04,-8.95051904e-02, 8.21849594e-02, 6.14447476e-01,
 -2.01674225e-02,-6.88623530e-03, 7.88669864e-01]

qacc:
[ 4.67012405e-01,-3.21319094e+01, 1.20674493e+02,-2.68596059e+02,
 -2.07934995e-01,-3.59220453e+01, 1.00311908e+02,-1.62520111e+02,
  1.38434731e-01,-2.03478296e+01, 2.16846110e+01, 5.21126070e+01,
 -3.89778024e+00, 9.00822295e+00, 6.10650056e+00,-2.03829133e+01,
  1.66904441e-01, 4.10066221e-02,-9.86198400e+00, 1.29265107e-02,
  9.83732642e-01,-2.81501681e-01]

qfrc_actuator:
[-0.00140186, 0.18587529, 0.00761632, 0.17612077, 0.00025777, 0.19697813,
  0.01603475, 0.16021432,-0.0012286 , 0.17895248, 0.00482514, 0.16065847,
  0.00046513,-0.00041966, 0.        ,-0.00215036, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 5.43233790e-05,-2.12764560e-03,-7.18005407e-04,-6.87992973e-04,
 -2.57521234e-05,-3.19138189e-03,-8.96091696e-04,-4.51762623e-04,
  1.44606034e-05,-2.42897783e-03,-5.12636350e-04, 8.57555720e-05,
  2.64588665e-04, 4.58500728e-04,-1.70582727e-05,-1.01575965e-04,
  2.07349440e-02, 4.99600253e-03,-1.22294096e+00, 1.58978269e-03,
  9.18286195e-04,-2.53192341e-04]


--- Step 1842 ---
qpos:
[-9.56872963e-03, 6.29675356e-01,-1.91909121e-02, 5.30718258e-01,
  4.08363070e-03, 6.11579157e-01,-3.44544736e-02, 4.83466719e-01,
  1.50381777e-02, 6.38174969e-01,-1.79127135e-02, 4.85513570e-01,
  1.35630608e+00,-6.88772236e-04, 1.12500201e+00, 6.33131203e-02,
 -1.53659007e-03,-8.96590230e-02, 8.11390576e-02, 6.14373312e-01,
 -2.58525323e-02,-1.48562282e-02, 7.88451884e-01]

qacc:
[ 6.83265252e-01, 6.00844645e+00,-7.17725353e+01, 1.97820147e+02,
 -5.28122778e-01,-3.39475428e+01, 1.23025748e+02,-2.80879302e+02,
 -6.84270254e-02, 2.62998609e+01,-2.06984663e+02, 5.82938156e+02,
 -3.22476717e+00, 7.69500336e+00,-5.03350573e+00, 1.74140103e+01,
  2.94381571e+01, 2.18893928e+00, 9.24892843e+01, 8.69169307e+02,
 -2.61422259e+02, 1.09014200e+01]

qfrc_actuator:
[-1.33168414e-03, 1.85475231e-01, 7.57241927e-03, 1.76556036e-01,
  2.06337199e-04, 1.96270237e-01, 1.58517733e-02, 1.59623023e-01,
 -1.25185030e-03, 1.78356754e-01, 4.90168277e-03, 1.61924425e-01,
  4.53232184e-04,-1.91513587e-04, 0.00000000e+00,-2.06192873e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013650104978052136
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.08339966e-15, -4.06671973e-14,  1.00000000e+00,  2.06727617e-28,
        1.00000000e+00,  4.06671973e-14, -1.00000000e+00,  0.00000000e+00,
        5.08339966e-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([-0.05417675, -0.09327191,  0.06188224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.12531303e-05,-1.85749923e-03,-6.18201572e-04, 3.07807588e-04,
 -6.11466009e-05,-2.79885298e-03,-9.95007209e-04,-7.65092025e-04,
 -1.00597159e-05,-2.14494083e-03,-5.08357201e-04, 1.14793248e-03,
  2.39093263e-04, 4.09401942e-04,-2.20400325e-05, 7.98934756e-05,
  2.08741296e-02, 5.02834240e-03,-1.22244816e+00, 1.60041886e-03,
  9.19966450e-04,-2.47281988e-04]


--- Step 1843 ---
qpos:
[-9.63158610e-03, 6.32959948e-01,-1.91795333e-02, 5.34238087e-01,
  4.08749695e-03, 6.15106076e-01,-3.42709672e-02, 4.86609403e-01,
  1.50517504e-02, 6.41316733e-01,-1.79553382e-02, 4.88739013e-01,
  1.35638571e+00,-6.58899819e-04, 1.12518611e+00, 6.33109474e-02,
 -1.99116917e-03,-8.98047388e-02, 8.04042742e-02, 6.14267128e-01,
 -3.03817190e-02,-2.20155391e-02, 7.88205660e-01]

qacc:
[ 1.32446696e+00, 3.80412438e+01,-2.48492193e+02, 6.56263845e+02,
 -4.73604586e-01,-2.41096316e+01, 1.06372108e+02,-2.93594733e+02,
  1.71922703e-01, 3.66480490e+01,-2.36845803e+02, 6.19573488e+02,
 -2.65899470e+00, 6.35644703e+00,-4.17706944e+00, 1.48069078e+01,
  2.32545466e+01, 2.02919069e+00, 7.77795855e+01, 6.74080082e+02,
 -2.06538601e+02, 5.84040780e+00]

qfrc_actuator:
[-1.19323936e-03, 1.84900181e-01, 7.56058926e-03, 1.77971971e-01,
  1.74117412e-04, 1.96127807e-01, 1.56867741e-02, 1.58971549e-01,
 -1.23554991e-03, 1.78097161e-01, 4.94664424e-03, 1.63217726e-01,
  4.27244837e-04,-1.46474805e-05, 0.00000000e+00,-1.99063518e-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,  6.80998754,  5.31138838,  6.80998754, 14.54981567,
       -7.58192242,  5.31138838, -7.58192242, 18.35751252,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003491591107269286
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.58985258e-14,  1.58985258e-14,  1.00000000e+00,  2.52763122e-28,
        1.00000000e+00, -1.58985258e-14, -1.00000000e+00,  0.00000000e+00,
       -1.58985258e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04946711, -0.0929169 ,  0.06171251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.59770689e-04,-1.82135322e-03,-4.85639028e-04, 1.32315188e-03,
 -5.45331000e-05,-2.04617270e-03,-9.18877839e-04,-8.19117428e-04,
  2.02417439e-05,-1.60609158e-03,-4.45573633e-04, 1.20866069e-03,
  1.99925426e-04, 3.39136731e-04,-2.94698447e-06, 7.25064030e-05,
  1.51957263e-02, 4.50131550e-03,-1.22046957e+00, 1.56181343e-03,
  7.77104171e-04, 1.42284012e-03]


--- Step 1844 ---
qpos:
[-9.69181479e-03, 6.36227103e-01,-1.91674432e-02, 5.37770934e-01,
  4.09153461e-03, 6.18616472e-01,-3.40918360e-02, 4.89749853e-01,
  1.50657900e-02, 6.44444894e-01,-1.79975808e-02, 4.91975311e-01,
  1.35646638e+00,-6.28080606e-04, 1.12537012e+00, 6.33096243e-02,
 -2.36206832e-03,-8.99556070e-02, 7.99029968e-02, 6.14151275e-01,
 -3.35735721e-02,-2.86842833e-02, 7.87951926e-01]

qacc:
[ 1.74059941e+00,-2.24914229e-01,-7.28716843e+01, 2.72511203e+02,
  1.23520194e-01,-1.39507442e+01, 2.61877956e+01,-4.25246137e+01,
  3.12656843e-01, 1.85234547e+00,-6.78732817e+01, 2.37991589e+02,
  1.90510655e-01, 7.15204667e-01,-2.68775181e+00, 9.23312446e+00,
  2.09199845e+01,-1.28810234e+00, 5.83765362e+01, 6.03861673e+02,
 -3.76372060e+02,-5.76533908e+00]

qfrc_actuator:
[-1.03296904e-03, 1.83942774e-01, 7.55015005e-03, 1.78604191e-01,
  2.06909832e-04, 1.95349907e-01, 1.55009842e-02, 1.58876356e-01,
 -1.21360000e-03, 1.77473823e-01, 4.97417550e-03, 1.63753542e-01,
  4.14099240e-04,-2.94414883e-05, 0.00000000e+00,-1.94781381e-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,  6.61011336,  5.55816321,  6.61011336, 13.08241088,
       -5.28751589,  5.55816321, -5.28751589, 14.92460636,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005350033933189141
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.53943451e-15,  1.16728316e-14,  1.00000000e+00, -5.29880546e-29,
        1.00000000e+00, -1.16728316e-14, -1.00000000e+00,  0.00000000e+00,
        4.53943451e-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([-0.05930241, -0.08442438,  0.06157934])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.11228642e-04,-2.11569660e-03,-4.26792088e-04, 5.66512333e-04,
  1.28591761e-05,-2.24750299e-03,-7.78362631e-04,-2.31349499e-04,
  3.73821490e-05,-1.65339098e-03,-3.43299060e-04, 4.75936483e-04,
  1.75156120e-04, 1.19847675e-04, 3.93479421e-06, 4.58246880e-05,
  1.13906705e-02, 4.07032593e-03,-1.21925387e+00, 1.54027493e-03,
  6.98796572e-04, 2.34293755e-03]


--- Step 1845 ---
qpos:
[-9.75035206e-03, 6.39474793e-01,-1.91543522e-02, 5.41300199e-01,
  4.09631196e-03, 6.22107765e-01,-3.39166631e-02, 4.92898007e-01,
  1.50799761e-02, 6.47560537e-01,-1.80396981e-02, 4.95212989e-01,
  1.35654820e+00,-5.97887882e-04, 1.12555422e+00, 6.33078118e-02,
 -2.66565877e-03,-9.01096558e-02, 7.95967135e-02, 6.14032059e-01,
 -3.56819799e-02,-3.49615483e-02, 7.87698621e-01]

qacc:
[ 1.12204711e+00,-3.51762945e+01, 9.78417791e+01,-1.32476337e+02,
  5.11629120e-01, 2.14210073e-01,-6.14359241e+01, 1.92392961e+02,
  1.03013513e-01,-1.41946571e+01, 2.18167002e+01, 8.71553695e+00,
  1.30775476e+00,-1.79445246e+00, 1.49577087e+00,-5.29662009e+00,
  1.68271763e+01,-7.95132651e-01, 4.87484861e+01, 4.86892820e+02,
 -3.06693921e+02,-7.50988116e+00]

qfrc_actuator:
[-9.67549929e-04, 1.82817540e-01, 7.52087106e-03, 1.78396948e-01,
  2.60372642e-04, 1.94376554e-01, 1.53027304e-02, 1.59268653e-01,
 -1.22407867e-03, 1.76957381e-01, 5.00736208e-03, 1.63821405e-01,
  4.13903097e-04,-1.04471552e-04, 0.00000000e+00,-1.97535963e-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,  6.5111894 ,  5.67372801,  6.5111894 , 11.16619601,
       -2.90324417,  5.67372801, -2.90324417, 11.96813643,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0067705137378566566
  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([-0.05600109, -0.08473488,  0.06148662])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.36099323e-04,-2.46466401e-03,-5.23119146e-04,-2.97902451e-04,
  5.77068527e-05,-2.50193185e-03,-7.94762826e-04, 2.65125337e-04,
  1.14634781e-05,-1.58067950e-03,-3.59159329e-04,-5.38945911e-06,
  1.22692009e-04,-2.93421978e-06, 4.74978568e-06,-2.50605225e-05,
  8.45280082e-03, 4.18863642e-03,-1.21844763e+00, 1.48749690e-03,
  6.48342169e-04, 3.74667282e-03]


--- Step 1846 ---
qpos:
[-9.80890837e-03, 6.42704638e-01,-1.91424746e-02, 5.44816971e-01,
  4.10150860e-03, 6.25579355e-01,-3.37452404e-02, 4.96047689e-01,
  1.50941675e-02, 6.50664516e-01,-1.80817970e-02, 4.98451968e-01,
  1.35663076e+00,-5.68655069e-04, 1.12573830e+00, 6.33056832e-02,
 -2.91709534e-03,-9.02441900e-02, 7.94767442e-02, 6.13908163e-01,
 -3.73441845e-02,-4.04171279e-02, 7.87457069e-01]

qacc:
[-8.98403128e-04,-4.38413482e+01, 1.59446491e+02,-3.20671885e+02,
  2.92630571e-01,-1.27692370e+01, 3.48450389e+00, 3.75388116e+01,
  1.07485341e-02,-1.29255640e+01, 1.92434432e+01, 9.48571810e+00,
  1.25284728e+00,-2.07330681e+00, 8.20467727e-01,-3.15891718e+00,
  1.30384702e+01, 4.87862941e+00, 4.65785237e+01, 4.60742151e+02,
  7.62447469e+01, 1.23110153e+01]

qfrc_actuator:
[-1.01241420e-03, 1.82026676e-01, 7.47971409e-03, 1.77768428e-01,
  2.72342939e-04, 1.93419386e-01, 1.51160838e-02, 1.59340811e-01,
 -1.23612813e-03, 1.76527185e-01, 5.06179833e-03, 1.63897671e-01,
  4.05452494e-04,-1.78943417e-04, 0.00000000e+00,-1.99086846e-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, -0.54544178,  8.61912235, -0.54544178,  3.45711821,
       -0.3277569 ,  8.61912235, -0.3277569 ,  8.61562228,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00789693644243665
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.59011310e-15,  3.51472699e-15,  1.00000000e+00,  2.31624483e-29,
        1.00000000e+00, -3.51472699e-15, -1.00000000e+00,  0.00000000e+00,
       -6.59011310e-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([-0.04961881, -0.10620483,  0.06141966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.19219961e-06,-2.37755063e-03,-6.45733681e-04,-7.53559491e-04,
  3.24928934e-05,-2.61002400e-03,-8.19903998e-04,-5.51712832e-05,
  2.16717940e-08,-1.47571130e-03,-3.40820151e-04,-4.38776854e-06,
  5.68104648e-05,-4.64733316e-05,-3.02340367e-06,-1.69364838e-05,
  6.38190331e-03, 4.19439461e-03,-1.21795880e+00, 1.43754808e-03,
  6.24773793e-04, 4.46833410e-03]


--- Step 1847 ---
qpos:
[-9.86718316e-03, 6.45921763e-01,-1.91340242e-02, 5.48318300e-01,
  4.10714387e-03, 6.29027499e-01,-3.35759328e-02, 4.99198100e-01,
  1.51083003e-02, 6.53755483e-01,-1.81229161e-02, 5.01691495e-01,
  1.35671375e+00,-5.40761098e-04, 1.12592215e+00, 6.33047123e-02,
 -3.12631046e-03,-9.03629524e-02, 7.95093394e-02, 6.13785557e-01,
 -3.86396091e-02,-4.51996110e-02, 7.87230122e-01]

qacc:
[ 1.88323918e-01,-3.65792538e+01, 1.53079469e+02,-3.59139840e+02,
  3.08594665e-01,-2.36718783e+01, 3.70700593e+01,-5.31932880e+00,
 -2.83630232e-02,-1.87951623e+01, 3.96123946e+01,-2.12799507e+01,
  1.38532072e+00,-2.60717422e+00,-3.95015233e+00, 1.30473755e+01,
  1.05553612e+01, 3.94294677e+00, 3.81411318e+01, 3.77926277e+02,
  6.19528944e+01, 9.13173333e+00]

qfrc_actuator:
[-0.00098039, 0.18179765, 0.007451  , 0.17702176, 0.00029495, 0.19210737,
  0.01495553, 0.159366  ,-0.00124904, 0.1758866 , 0.00511129, 0.16392525,
  0.00038672,-0.00027025, 0.        ,-0.00192812, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -0.41108812,  8.62657426, -0.41108812, 22.65975984,
        0.66826661,  8.62657426,  0.66826661,  8.66820901,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00878866710779716
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.92145585e-15,  7.89527447e-16,  1.00000000e+00, -4.67515192e-30,
        1.00000000e+00, -7.89527447e-16, -1.00000000e+00,  0.00000000e+00,
        5.92145585e-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([-0.04809509, -0.10566776,  0.0613723 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.24321389e-05,-1.80909963e-03,-6.45011866e-04,-8.81604393e-04,
  3.40226353e-05,-3.04215609e-03,-8.29066178e-04,-1.13574941e-04,
 -5.24662190e-06,-1.62313689e-03,-3.21842714e-04,-4.81549865e-05,
  5.49797083e-07,-9.01598143e-05,-5.78466400e-06, 6.07791871e-05,
  4.65428487e-03, 3.24861221e-03,-1.21750486e+00, 1.47458068e-03,
  6.01039136e-04, 3.55690566e-03]


--- Step 1848 ---
qpos:
[-9.92362902e-03, 6.49127954e-01,-1.91287335e-02, 5.51814507e-01,
  4.11308041e-03, 6.32447610e-01,-3.34076179e-02, 5.02346048e-01,
  1.51223432e-02, 6.56834265e-01,-1.81637789e-02, 5.04922895e-01,
  1.35679744e+00,-5.15858213e-04, 1.12610625e+00, 6.33017983e-02,
 -3.30339959e-03,-9.04620532e-02, 7.96659690e-02, 6.13666183e-01,
 -3.98218416e-02,-4.92931560e-02, 7.87018565e-01]

qacc:
[ 1.18380764e+00,-1.54180597e+01, 5.01251089e+01,-1.11892602e+02,
  2.19520685e-01,-3.87763535e+01, 9.17393708e+01,-1.02985120e+02,
 -4.89556717e-02,-3.23055842e+01, 1.16931588e+02,-2.24902286e+02,
  2.54988478e+00,-5.17870733e+00, 5.97459499e+00,-2.09552445e+01,
  8.03150095e+00, 4.91542818e+00, 3.10085815e+01, 3.06327780e+02,
  1.66653273e+02, 1.42028415e+01]

qfrc_actuator:
[-0.00083152, 0.1815527 , 0.00741469, 0.17679798, 0.00030599, 0.19046979,
  0.0148105 , 0.15922118,-0.0012624 , 0.17535658, 0.00513909, 0.16351553,
  0.00037247,-0.00045966, 0.        ,-0.0020328 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -1.8611491 ,  8.43343945, -1.8611491 , 12.68265325,
        0.89296287,  8.43343945,  0.89296287,  8.83342879,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009445806227790308
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.93840197e-15,  4.40760295e-15,  1.00000000e+00, -1.29513092e-29,
        1.00000000e+00, -4.40760295e-15, -1.00000000e+00,  0.00000000e+00,
        2.93840197e-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([-0.04374156, -0.11435194,  0.0613419 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48881269e-04,-1.51227506e-03,-5.40953971e-04,-3.39220385e-04,
  2.30225032e-05,-3.61181350e-03,-9.04081618e-04,-3.01867591e-04,
 -7.81289610e-06,-1.59198486e-03,-3.72404714e-04,-4.91331145e-04,
 -3.55568713e-05,-2.12975247e-04, 1.71002068e-06,-1.02624986e-04,
  3.43758075e-03, 2.56054104e-03,-1.21720409e+00, 1.50030488e-03,
  5.87437763e-04, 2.87851876e-03]


--- Step 1849 ---
qpos:
[-9.97855368e-03, 6.52320662e-01,-1.91241279e-02, 5.55307084e-01,
  4.11829262e-03, 6.35839181e-01,-3.32429039e-02, 5.05493421e-01,
  1.51360641e-02, 6.59904297e-01,-1.82062005e-02, 5.08136957e-01,
  1.35688172e+00,-4.94877263e-04, 1.12629061e+00, 6.32953103e-02,
 -3.45422143e-03,-9.05450575e-02, 7.99219927e-02, 6.13553317e-01,
 -4.09091839e-02,-5.28104095e-02, 7.86822615e-01]

qacc:
[ 9.84872959e-01,-2.27420514e+01, 6.57878979e+01,-1.05086168e+02,
 -4.67511650e-01,-2.87561223e+01, 4.99312711e+01,-3.20931587e+01,
 -1.99931398e-01,-4.03866238e+01, 1.81838629e+02,-4.25056425e+02,
  3.04119048e+00,-6.48364218e+00, 1.08772168e+01,-3.81853757e+01,
  6.56681890e+00, 4.02410317e+00, 2.48485206e+01, 2.56407908e+02,
  1.39335717e+02, 1.13641781e+01]

qfrc_actuator:
[-0.00075623, 0.18085766, 0.00737493, 0.1766175 , 0.00023905, 0.18904141,
  0.01462124, 0.15919027,-0.00129374, 0.17516357, 0.00513646, 0.16265662,
  0.00035554,-0.00068798, 0.        ,-0.00221755, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -2.39213684,  8.29846119, -2.39213684, 20.38806413,
        3.38757693,  8.29846119,  3.38757693,  9.61287571,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009891488056918057
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.80600608e-15,  5.61201216e-15,  1.00000000e+00,  1.57473402e-29,
        1.00000000e+00, -5.61201216e-15, -1.00000000e+00,  0.00000000e+00,
       -2.80600608e-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([-0.04327251, -0.11405935,  0.06132529])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24067505e-04,-1.75373978e-03,-4.53292044e-04,-2.69562886e-04,
 -5.90541780e-05,-3.74191220e-03,-1.07904561e-03,-2.16440573e-04,
 -2.68257194e-05,-1.26490420e-03,-4.17090507e-04,-9.49951821e-04,
 -8.71553829e-05,-2.92032266e-04,-1.39002720e-05,-1.91049641e-04,
  2.58074509e-03, 1.85711425e-03,-1.21697724e+00, 1.54103911e-03,
  5.75566244e-04, 2.07948450e-03]


--- Step 1850 ---
qpos:
[-1.00341299e-02, 6.55497813e-01,-1.91192526e-02, 5.58784200e-01,
  4.12227321e-03, 6.39203722e-01,-3.30832196e-02, 5.08644376e-01,
  1.51492456e-02, 6.62968708e-01,-1.82506892e-02, 5.11329762e-01,
  1.35696622e+00,-4.77851080e-04, 1.12647434e+00, 6.32909959e-02,
 -3.58315903e-03,-9.06147274e-02, 8.02562729e-02, 6.13449273e-01,
 -4.19107614e-02,-5.58346725e-02, 7.86642210e-01]

qacc:
[-4.04620041e-01,-5.04253861e+01, 1.94859213e+02,-3.98442643e+02,
 -8.03873686e-01,-1.50553102e+01,-8.57624593e+00, 8.59175055e+01,
 -3.39012545e-01,-4.23266733e+01, 2.07062563e+02,-5.08834837e+02,
  3.18927187e+00,-6.83134494e+00,-7.80550023e+00, 2.52270201e+01,
  5.47106192e+00, 3.33359455e+00, 1.95641354e+01, 2.20850978e+02,
  1.17412662e+02, 9.11685614e+00]

qfrc_actuator:
[-8.49765338e-04, 1.79970518e-01, 7.33189489e-03, 1.75824467e-01,
  1.61735633e-04, 1.87892275e-01, 1.44439611e-02, 1.59386596e-01,
 -1.33558349e-03, 1.75174197e-01, 5.13502822e-03, 1.61611661e-01,
  3.36991710e-04,-9.02026239e-04, 0.00000000e+00,-2.09286930e-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, -2.40191616,  8.29563594, -2.40191616, 19.00067955,
        3.00088119,  8.29563594,  3.00088119,  9.50523796,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010157790593043524
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.51421603e-15,  4.09866329e-15,  1.00000000e+00,  3.07982414e-29,
        1.00000000e+00, -4.09866329e-15, -1.00000000e+00,  0.00000000e+00,
       -7.51421603e-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([-0.044101  , -0.11422478,  0.06131949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.40628963e-05,-2.05910751e-03,-4.92334184e-04,-8.86849691e-04,
 -9.99558211e-05,-3.56617574e-03,-1.11117601e-03, 1.96874500e-06,
 -4.47436132e-05,-9.05630488e-04,-3.69726174e-04,-1.13397646e-03,
 -1.35786648e-04,-3.10190043e-04,-3.06670413e-05, 1.11512261e-04,
  1.95680691e-03, 1.35424606e-03,-1.21682294e+00, 1.56870798e-03,
  5.68244157e-04, 1.51177738e-03]


--- Step 1851 ---
qpos:
[-1.00913250e-02, 6.58658838e-01,-1.91158106e-02, 5.62262119e-01,
  4.12564814e-03, 6.42542295e-01,-3.29280328e-02, 5.11799459e-01,
  1.51621606e-02, 6.66027963e-01,-1.82955720e-02, 5.14519447e-01,
  1.35705107e+00,-4.65795457e-04, 1.12665740e+00, 6.32918263e-02,
 -3.69405907e-03,-9.06733368e-02, 8.06510983e-02, 6.13354944e-01,
 -4.28393638e-02,-5.84404362e-02, 7.86476457e-01]

qacc:
[-1.02164022e+00,-1.57899524e+01, 2.30509260e+01, 2.40783600e+00,
 -3.87556558e-01,-1.40973050e+01,-1.17745795e+01, 9.57200867e+01,
 -1.65196380e-01,-1.16679540e+01, 4.14044314e+01,-8.19401915e+01,
  4.20117897e+00,-8.82611990e+00,-1.69403254e+01, 5.68630836e+01,
  4.50938749e+00, 2.76514017e+00, 1.51363208e+01, 1.87601307e+02,
  9.96259415e+01, 7.40602743e+00]

qfrc_actuator:
[-9.54277330e-04, 1.79259616e-01, 7.30396014e-03, 1.75884361e-01,
  1.49996397e-04, 1.86796335e-01, 1.42944907e-02, 1.59608812e-01,
 -1.34788869e-03, 1.75200867e-01, 5.24197001e-03, 1.61495581e-01,
  3.22808546e-04,-1.17691208e-03, 0.00000000e+00,-1.82236252e-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, -2.33986476,  8.3133513 , -2.33986476, 19.94425227,
        3.18270324,  8.3133513 ,  3.18270324,  9.53216304,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0102819959589854
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.69943460e-15,  2.69943460e-15,  1.00000000e+00, -7.28694714e-30,
        1.00000000e+00, -2.69943460e-15, -1.00000000e+00,  0.00000000e+00,
        2.69943460e-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([-0.04420105, -0.11427396,  0.06132179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.33931717e-04,-2.08429574e-03,-5.63881078e-04,-5.95775534e-05,
 -4.97819779e-05,-3.41154634e-03,-1.04356841e-03, 3.85275260e-05,
 -2.22387881e-05,-6.86388636e-04,-1.88407663e-04,-1.93138251e-04,
 -1.61475402e-04,-3.87471797e-04,-2.78334950e-06, 2.72517751e-04,
  1.48788097e-03, 9.87191632e-04,-1.21671494e+00, 1.58771961e-03,
  5.63767720e-04, 1.10135744e-03]


--- Step 1852 ---
qpos:
[-1.01499324e-02, 6.61804373e-01,-1.91139704e-02, 5.65756680e-01,
  4.12891552e-03, 6.45856115e-01,-3.27773092e-02, 5.14959656e-01,
  1.51747008e-02, 6.69081427e-01,-1.83396559e-02, 5.17721468e-01,
  1.35713639e+00,-4.59966357e-04, 1.12684040e+00, 6.32955246e-02,
 -3.79002894e-03,-9.07227106e-02, 8.10915090e-02, 6.13270619e-01,
 -4.37054937e-02,-6.06888191e-02, 7.86324262e-01]

qacc:
[-8.88634251e-01, 1.53768694e+01,-1.32995206e+02, 3.78996392e+02,
 -6.01557219e-02,-1.07507321e+01,-2.43741036e+01, 1.21316070e+02,
 -2.32389896e-01, 1.37061054e+01,-9.86647287e+01, 2.80892495e+02,
  5.03061105e+00,-1.07224322e+01,-9.22664551e+00, 3.10245136e+01,
  3.73254660e+00, 2.30890766e+00, 1.13962995e+01, 1.60305745e+02,
  8.50361979e+01, 6.05320589e+00]

qfrc_actuator:
[-1.01088779e-03, 1.78714508e-01, 7.32218772e-03, 1.76747727e-01,
  1.59718913e-04, 1.85759813e-01, 1.41454322e-02, 1.59880089e-01,
 -1.37803063e-03, 1.75079171e-01, 5.35982982e-03, 1.62140226e-01,
  3.05899973e-04,-1.52120982e-03, 0.00000000e+00,-1.68123014e-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, -2.22535862,  8.34473222, -2.22535862, 20.24491659,
        3.09574863,  8.34473222,  3.09574863,  9.46193248,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.01028488034794725
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.39735508e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.39735508e-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([-0.04449785, -0.11443994,  0.06133055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17235144e-04,-1.91389670e-03,-5.03592388e-04, 7.58125839e-04,
 -9.61343139e-06,-3.24944314e-03,-1.00172492e-03, 9.69481870e-05,
 -3.13272094e-05,-6.37721718e-04,-7.94077398e-05, 6.01728888e-04,
 -1.95671813e-04,-4.83270188e-04, 2.74701479e-05, 1.55565790e-04,
  1.13950861e-03, 7.20454404e-04,-1.21663956e+00, 1.60107045e-03,
  5.60906362e-04, 8.05289018e-04]


--- Step 1853 ---
qpos:
[-1.02095204e-02, 6.64938727e-01,-1.91142337e-02, 5.69252463e-01,
  4.13198015e-03, 6.49144788e-01,-3.26295615e-02, 5.18118016e-01,
  1.51866971e-02, 6.72128923e-01,-1.83827488e-02, 5.20928980e-01,
  1.35722177e+00,-4.60145979e-04, 1.12702404e+00, 6.32965587e-02,
 -3.87358119e-03,-9.07643184e-02, 8.15649105e-02, 6.13196214e-01,
 -4.45178434e-02,-6.26303610e-02, 7.86184458e-01]

qacc:
[-6.13998577e-01,-6.65373235e+00,-7.76528403e-01, 2.79468553e+01,
 -1.19447617e-01,-2.83672610e+01, 5.88706671e+01,-6.23635284e+01,
 -3.36166754e-01,-1.19831169e-01,-2.85127699e+01, 1.12033957e+02,
  4.14888984e+00,-9.52940878e+00, 8.54874678e+00,-2.95396127e+01,
  3.10440195e+00, 1.94148007e+00, 8.24771324e+00, 1.37722337e+02,
  7.29743023e+01, 4.97326059e+00]

qfrc_actuator:
[-1.03831644e-03, 1.78469971e-01, 7.31559654e-03, 1.76816579e-01,
  1.46557369e-04, 1.84572833e-01, 1.40161382e-02, 1.59787608e-01,
 -1.41865954e-03, 1.74817895e-01, 5.41219481e-03, 1.62410476e-01,
  2.82005690e-04,-1.83289999e-03, 0.00000000e+00,-1.83053495e-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, -2.04538507,  8.39066009, -2.04538507, 20.89378604,
        2.98798289,  8.39066009,  2.98798289,  9.36474204,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010190458926497635
  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([-0.04494318, -0.11469424,  0.06134423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.16750452e-05,-1.47344224e-03,-4.59184026e-04,-1.05521931e-05,
 -1.73668920e-05,-3.29748193e-03,-9.41415928e-04,-2.57572976e-04,
 -4.54873583e-05,-6.96006189e-04,-9.51685054e-05, 2.49401022e-04,
 -2.43726936e-04,-4.83535537e-04, 2.63597530e-05,-1.37986524e-04,
  8.78300641e-04, 5.25372896e-04,-1.21658636e+00, 1.61059675e-03,
  5.59013311e-04, 5.90567817e-04]


--- Step 1854 ---
qpos:
[-1.02686419e-02, 6.68071154e-01,-1.91194729e-02, 5.72739180e-01,
  4.13551243e-03, 6.52406410e-01,-3.24840961e-02, 5.21266979e-01,
  1.51984365e-02, 6.75170112e-01,-1.84248688e-02, 5.24136461e-01,
  1.35730654e+00,-4.64766865e-04, 1.12720789e+00, 6.32951734e-02,
 -3.94674751e-03,-9.07993464e-02, 8.20607356e-02, 6.13131415e-01,
 -4.52836461e-02,-6.43070795e-02, 7.86055888e-01]

qacc:
[ 2.89400103e-01,-5.96577739e+00, 4.58585497e+01,-1.68868079e+02,
  3.18192616e-01,-4.69285587e+01, 1.44552268e+02,-2.55197227e+02,
 -1.55280353e-01,-1.10418914e+01, 2.68083396e+01,-2.23533572e+01,
  2.55305134e+00,-6.56366772e+00, 7.33779948e+00,-2.58628934e+01,
  2.59648176e+00, 1.64495689e+00, 5.60587903e+00, 1.18937066e+02,
  6.29479339e+01, 4.10458677e+00]

qfrc_actuator:
[-0.00095934, 0.179029  , 0.00729526, 0.17639973, 0.00019081, 0.1831461 ,
  0.0138635 , 0.15930425,-0.00142976, 0.17452862, 0.00546026, 0.16240474,
  0.00026459,-0.00203399, 0.        ,-0.00195444, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -1.78709451,  8.449442  , -1.78709451, 21.92773029,
        2.81118307,  8.449442  ,  2.81118307,  9.23094134,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010018776279982329
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.54071173e-15,  2.77035586e-15,  1.00000000e+00,  1.53497432e-29,
        1.00000000e+00, -2.77035586e-15, -1.00000000e+00,  0.00000000e+00,
       -5.54071173e-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([-0.04549944, -0.11501462,  0.0613616 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.86766327e-05,-4.44713739e-04,-4.03409114e-04,-4.93874548e-04,
  3.70822682e-05,-3.56470011e-03,-9.78498564e-04,-6.55375504e-04,
 -2.16657979e-05,-7.73250737e-04,-1.24774019e-04,-3.65531026e-05,
 -2.63915307e-04,-3.83986218e-04,-8.85652305e-06,-1.29527140e-04,
  6.80810545e-04, 3.81975120e-04,-1.21654844e+00, 1.61750541e-03,
  5.57697178e-04, 4.34283459e-04]


--- Step 1855 ---
qpos:
[-1.03255486e-02, 6.71205963e-01,-1.91281599e-02, 5.76224137e-01,
  4.13974609e-03, 6.55638280e-01,-3.23407010e-02, 5.24406209e-01,
  1.52100314e-02, 6.78202601e-01,-1.84660956e-02, 5.27341196e-01,
  1.35739049e+00,-4.72617926e-04, 1.12739135e+00, 6.32949832e-02,
 -4.01116899e-03,-9.08287524e-02, 8.25701485e-02, 6.13075785e-01,
 -4.60089392e-02,-6.57540170e-02, 7.85937446e-01]

qacc:
[ 1.37865897e+00, 9.27911470e+00,-2.18822223e+01,-3.69641648e+00,
  4.69254361e-01,-5.16808815e+01, 1.57076042e+02,-2.70020037e+02,
 -8.33883761e-02,-1.91401756e+01, 5.93627288e+01,-9.17138319e+01,
  1.77015570e+00,-4.78835614e+00,-4.38520637e+00, 1.40393723e+01,
  2.18621274e+00, 1.40549909e+00, 3.39696803e+00, 1.03262643e+02,
  5.45871127e+01, 3.40193349e+00]

qfrc_actuator:
[-0.00078207, 0.17965709, 0.00732364, 0.17635812, 0.00023343, 0.18155198,
  0.01371509, 0.1588077 ,-0.00144096, 0.17397674, 0.0054521 , 0.1622545 ,
  0.00025645,-0.00216788, 0.        ,-0.00188475, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -1.42685268,  8.51767975, -1.42685268, 23.49121406,
        2.48843391,  8.51767975,  2.48843391,  9.0532176 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00978656566858753
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.83608945e-15,  1.13443578e-14,  1.00000000e+00, -3.21736134e-29,
        1.00000000e+00, -1.13443578e-14, -1.00000000e+00,  0.00000000e+00,
        2.83608945e-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([-0.04613694, -0.11538357,  0.06138169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.84672992e-04, 1.90478248e-04,-1.55264256e-04,-8.75931401e-05,
  5.61948920e-05,-3.90323096e-03,-1.04570398e-03,-6.88166457e-04,
 -1.24010693e-05,-1.09581259e-03,-2.09579197e-04,-1.90852049e-04,
 -2.42315253e-04,-2.95546126e-04,-2.31142586e-05, 6.02885372e-05,
  5.30326996e-04, 2.76150170e-04,-1.21652119e+00, 1.62260186e-03,
  5.56720102e-04, 3.20308264e-04]


--- Step 1856 ---
qpos:
[-1.03795040e-02, 6.74338693e-01,-1.91356552e-02, 5.79713348e-01,
  4.14388470e-03, 6.58840746e-01,-3.22013645e-02, 5.27543002e-01,
  1.52213147e-02, 6.81220769e-01,-1.85039360e-02, 5.30537549e-01,
  1.35747302e+00,-4.81440790e-04, 1.12757438e+00, 6.32979314e-02,
 -4.06816805e-03,-9.08533092e-02, 8.30857892e-02, 6.13028827e-01,
 -4.66987675e-02,-6.70004300e-02, 7.85828114e-01]

qacc:
[ 1.83784790e+00, 1.98975195e+00,-2.38711455e+01, 8.41930329e+01,
 -4.73240213e-02,-3.21214695e+01, 6.61488122e+01,-7.40030882e+01,
 -1.79840166e-01,-4.41126004e+01, 1.53650231e+02,-2.62700854e+02,
 -1.92482561e-01,-8.59008694e-01,-1.01194485e+01, 3.44548250e+01,
  1.85560264e+00, 1.21230338e+00, 1.55693386e+00, 9.01702434e+01,
  4.76074152e+01, 2.83154006e+00]

qfrc_actuator:
[-0.00060101, 0.17947094, 0.00736396, 0.17657346, 0.00020362, 0.18019048,
  0.01355218, 0.15869787,-0.00146998, 0.17295266, 0.00549867, 0.16180724,
  0.00023261,-0.00217213, 0.        ,-0.00171932, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -0.92277715,  8.58692373, -0.92277715, 25.95913516,
        1.86155814,  8.58692373,  1.86155814,  8.83641238,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009507784284805948
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.83849502e-15,  5.83849502e-15,  1.00000000e+00, -3.40880241e-29,
        1.00000000e+00, -5.83849502e-15, -1.00000000e+00,  0.00000000e+00,
        5.83849502e-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([-0.04683211, -0.11578717,  0.06140373])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.46660458e-04,-2.03428695e-04, 2.86879000e-05, 2.10270090e-04,
 -8.85460884e-06,-3.87300747e-03,-1.13759288e-03,-3.17218332e-04,
 -2.66472412e-05,-1.77065692e-03,-2.35516338e-04,-5.06255213e-04,
 -2.25097654e-04,-1.37958963e-04,-7.14216665e-06, 1.65128384e-04,
  4.14791979e-04, 1.97817773e-04,-1.21650147e+00, 1.62643066e-03,
  5.55937152e-04, 2.37163012e-04]


--- Step 1857 ---
qpos:
[-1.04321136e-02, 6.77462020e-01,-1.91393857e-02, 5.83198249e-01,
  4.14731583e-03, 6.62017840e-01,-3.20678235e-02, 5.30675343e-01,
  1.52323054e-02, 6.84220320e-01,-1.85384869e-02, 5.33729293e-01,
  1.35755267e+00,-4.85692828e-04, 1.12775733e+00, 6.33031570e-02,
 -4.11880616e-03,-9.08736385e-02, 8.36015515e-02, 6.12990034e-01,
 -4.73573432e-02,-6.80707259e-02, 7.85726973e-01]

qacc:
[ 8.43651449e-01,-3.07974792e+01, 1.02074471e+02,-1.54229585e+02,
 -4.42665695e-01,-2.58342032e+01, 5.84415077e+01,-9.78781014e+01,
 -1.65480378e-01,-4.23158775e+01, 1.27322642e+02,-1.78584755e+02,
 -5.37398141e+00, 9.28282140e+00,-6.50862364e+00, 2.37161035e+01,
  1.59023861e+00, 1.05686098e+00, 3.04103035e-02, 7.92434113e+01,
  4.17851055e+01, 2.36781911e+00]

qfrc_actuator:
[-5.79086686e-04, 1.78551222e-01, 7.37269083e-03, 1.76316330e-01,
  1.48636810e-04, 1.79264163e-01, 1.33833854e-02, 1.58497141e-01,
 -1.49172064e-03, 1.71796389e-01, 5.57521472e-03, 1.61561317e-01,
  2.04762265e-04,-1.83326579e-03, 0.00000000e+00,-1.60536175e-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, -0.19638311,  8.63413056, -0.19638311, 29.43664855,
        0.47310203,  8.63413056,  0.47310203,  8.64712433,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009194053039647695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.03772362e-15,  9.05658543e-15,  1.00000000e+00, -5.46811598e-29,
        1.00000000e+00, -9.05658543e-15, -1.00000000e+00,  0.00000000e+00,
        6.03772362e-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([-0.04756614, -0.11621428,  0.06142711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12533339e-04,-1.10721788e-03,-5.06499814e-05,-2.64812360e-04,
 -5.90589842e-05,-3.42365529e-03,-1.13542299e-03,-4.01957039e-04,
 -2.52689697e-05,-2.29608304e-03,-3.55965477e-04,-3.38338485e-04,
 -1.81952347e-04, 2.49823600e-04, 1.07324641e-05, 1.21308347e-04,
  3.25418275e-04, 1.39716041e-04,-1.21648711e+00, 1.62936420e-03,
  5.55259841e-04, 1.76608583e-04]


--- Step 1858 ---
qpos:
[-1.04836670e-02, 6.80570344e-01,-1.91397751e-02, 5.86667003e-01,
  4.15005934e-03, 6.65174009e-01,-3.19402163e-02, 5.33793047e-01,
  1.52434831e-02, 6.87198617e-01,-1.85714094e-02, 5.36926034e-01,
  1.35762967e+00,-4.82957857e-04, 1.12794048e+00, 6.33083793e-02,
 -4.16393021e-03,-9.08902382e-02, 8.41123924e-02, 6.12958916e-01,
 -4.79881742e-02,-6.89852162e-02, 7.85633211e-01]

qacc:
[ 6.65584184e-01,-5.92176103e+01, 2.26192942e+02,-4.36098861e+02,
 -4.30124899e-01,-3.86353260e+01, 1.43952647e+02,-3.32168397e+02,
  1.27864872e-01,-2.29809945e+01, 2.47360927e+01, 6.37271819e+01,
 -7.09230238e+00, 1.32608601e+01, 9.62245969e-01,-1.41636939e+00,
  1.37851581e+00, 9.32412007e-01,-1.23033003e+00, 7.01468580e+01,
  3.69402876e+01, 1.99107779e+00]

qfrc_actuator:
[-5.27940891e-04, 1.77377045e-01, 7.35940693e-03, 1.75463030e-01,
  1.14697100e-04, 1.78588926e-01, 1.32144149e-02, 1.57783283e-01,
 -1.47348042e-03, 1.70624080e-01, 5.61523830e-03, 1.61808578e-01,
  1.90666205e-04,-1.40020481e-03, 0.00000000e+00,-1.61145696e-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,  0.89608371,  8.58975034,  0.89608371, 34.79956131,
       -2.7293477 ,  8.58975034, -2.7293477 ,  8.92108949,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.008855021655531536
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.40333407e-15,  9.40333407e-15,  1.00000000e+00,  8.84226917e-29,
        1.00000000e+00, -9.40333407e-15, -1.00000000e+00,  0.00000000e+00,
       -9.40333407e-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([-0.04832395, -0.11665601,  0.06145131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.83090262e-05,-1.89911697e-03,-2.80577231e-04,-9.07694307e-04,
 -5.74423444e-05,-2.92378259e-03,-1.04619499e-03,-8.98947808e-04,
  1.50716809e-05,-2.62206427e-03,-5.07776683e-04, 1.34207475e-04,
 -5.27373608e-05, 4.54539683e-04, 1.09010842e-05, 4.70464174e-07,
  2.55751619e-04, 9.65813126e-05,-1.21647659e+00, 1.63165957e-03,
  5.54633953e-04, 1.32696180e-04]


--- Step 1859 ---
qpos:
[-1.05323912e-02, 6.83660670e-01,-1.91381952e-02, 5.90115809e-01,
  4.15185091e-03, 6.68309446e-01,-3.18166426e-02, 5.36892866e-01,
  1.52546890e-02, 6.90154071e-01,-1.86025594e-02, 5.40122698e-01,
  1.35770671e+00,-4.78426944e-04, 1.12812390e+00, 6.33111512e-02,
 -4.20421010e-03,-9.09035038e-02, 8.46141681e-02, 6.12935020e-01,
 -4.85941703e-02,-6.97607347e-02, 7.85546120e-01]

qacc:
[ 1.75231713e+00,-6.65118282e+01, 2.57466282e+02,-5.16111111e+02,
 -5.93134249e-01,-4.96268297e+01, 1.92524739e+02,-4.27333189e+02,
  3.18742225e-02,-3.51038337e+01, 8.01425618e+01,-6.25128710e+01,
 -1.43025161e+00, 3.12063637e+00, 7.93680280e+00,-2.68596453e+01,
  1.21103926e+00, 8.33538701e-01,-2.26632471e+00, 6.26052636e+01,
  3.29254478e+01, 1.68593835e+00]

qfrc_actuator:
[-3.17492062e-04, 1.76272583e-01, 7.36734039e-03, 1.74443116e-01,
  5.81431800e-05, 1.77697235e-01, 1.30655500e-02, 1.56897785e-01,
 -1.48487223e-03, 1.69416727e-01, 5.66919697e-03, 1.61793656e-01,
  1.90231151e-04,-1.35868600e-03, 0.00000000e+00,-1.74146948e-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,  2.63597949,  8.22425614,  2.63597949, 39.0921671 ,
       -9.76147533,  8.22425614, -9.76147533, 11.76504158,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00849867433157913
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.26587119e-15,  9.79761356e-15,  1.00000000e+00,  3.19977438e-29,
        1.00000000e+00, -9.79761356e-15, -1.00000000e+00,  0.00000000e+00,
       -3.26587119e-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([-0.04909347, -0.11710521,  0.06147595])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.37977015e-04,-2.34125322e-03,-4.68024130e-04,-1.12512003e-03,
 -7.94404058e-05,-2.86200663e-03,-9.29693893e-04,-1.05823221e-03,
  1.61355848e-06,-2.85016942e-03,-5.62201909e-04,-1.35538739e-04,
  7.89123549e-05, 1.46758491e-04,-2.79615369e-06,-1.30252157e-04,
  2.01022293e-04, 6.45826265e-05,-1.21646886e+00, 1.63349571e-03,
  5.54026008e-04, 1.01114348e-04]


--- Step 1860 ---
qpos:
[-1.05800425e-02, 6.86736543e-01,-1.91390584e-02, 5.93560910e-01,
  4.15157188e-03, 6.71430952e-01,-3.16999554e-02, 5.39990028e-01,
  1.52656477e-02, 6.93091388e-01,-1.86358838e-02, 5.43310151e-01,
  1.35778578e+00,-4.77916894e-04, 1.12830740e+00, 6.33109934e-02,
 -4.24016936e-03,-9.09137459e-02, 8.51034927e-02, 6.12917939e-01,
 -4.91777316e-02,-7.04111530e-02, 7.85465098e-01]

qacc:
[ 6.62072220e-01,-1.92817754e+01, 5.20126926e+01,-8.98024144e+01,
 -1.30341965e+00,-4.44400192e+00,-6.06043978e-01,-2.26954440e+01,
 -1.41679665e-01,-3.53844062e+01, 1.19297834e+02,-2.33590487e+02,
  4.27904485e+00,-7.72363258e+00, 8.56432929e+00,-3.07056619e+01,
  1.08015832e+00, 7.55859740e-01,-3.11277218e+00, 5.63887787e+01,
  2.96176119e+01, 1.44023243e+00]

qfrc_actuator:
[-3.15451706e-04, 1.75875797e-01, 7.37028700e-03, 1.74292135e-01,
 -8.24504322e-05, 1.77624736e-01, 1.29647270e-02, 1.56823790e-01,
 -1.51395926e-03, 1.68784278e-01, 5.64195818e-03, 1.61340456e-01,
  2.08497882e-04,-1.65621202e-03, 0.00000000e+00,-1.89012604e-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,   5.2602452 ,   6.84956913,   5.2602452 ,
        38.69856481, -23.08678783,   6.84956913, -23.08678783,
        26.36626204,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.008131587346277301
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.41330351e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.41330351e-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([-0.04986509, -0.11755618,  0.0615007 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.02103117e-05,-1.92533271e-03,-5.91654080e-04,-2.83351029e-04,
 -1.72199135e-04,-1.98990242e-03,-8.59826230e-04,-2.43537310e-04,
 -2.16366581e-05,-2.42313829e-03,-7.04787101e-04,-5.89788840e-04,
  9.50284573e-05,-2.40495256e-04,-1.98849381e-05,-1.57248691e-04,
  1.57689387e-04, 4.09254412e-05,-1.21646318e+00, 1.63499799e-03,
  5.53414983e-04, 7.87326172e-05]


--- Step 1861 ---
qpos:
[-1.06271188e-02, 6.89801133e-01,-1.91428803e-02, 5.97013912e-01,
  4.14883718e-03, 6.74547745e-01,-3.15919971e-02, 5.43095989e-01,
  1.52765418e-02, 6.96015658e-01,-1.86729650e-02, 5.46481630e-01,
  1.35786652e+00,-4.82472695e-04, 1.12849022e+00, 6.33133766e-02,
 -4.27221020e-03,-9.09212048e-02, 8.55776181e-02, 6.12907315e-01,
 -4.97408234e-02,-7.09478161e-02, 7.85389636e-01]

qacc:
[ 3.52465382e-01, 8.04511021e+00,-7.15310719e+01, 1.89739064e+02,
 -1.54732218e+00, 3.40884068e+01,-1.53908995e+02, 2.85349683e+02,
 -3.42624071e-02,-3.71408548e+01, 1.56231858e+02,-3.69622563e+02,
  5.14062168e+00,-9.69068764e+00,-9.14512913e+00, 2.94393843e+01,
  9.79603983e-01, 6.95799386e-01,-3.79978875e+00, 5.13030012e+01,
  2.69129164e+01, 1.24421818e+00]

qfrc_actuator:
[-0.00029581, 0.17569424, 0.00737387, 0.17472526,-0.00021871, 0.17820502,
  0.01284394, 0.15733514,-0.00151789, 0.16851895, 0.00558699, 0.16056245,
  0.00022183,-0.00195679, 0.        ,-0.00174671, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,   8.00178588,   3.24933832,   8.00178588,
        15.97463135, -18.07113976,   3.24933832, -18.07113976,
        53.13815957,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.007759147203062561
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07314277e-14,  7.15428510e-15,  1.00000000e+00,  7.67756930e-29,
        1.00000000e+00, -7.15428510e-15, -1.00000000e+00,  0.00000000e+00,
       -1.07314277e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05063114, -0.11800438,  0.06152531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.83676850e-05,-1.47024624e-03,-4.93536676e-04, 3.30413827e-04,
 -2.04416411e-04,-8.03731516e-04,-6.66766060e-04, 3.95102469e-04,
 -5.96562472e-06,-1.86397521e-03,-6.77608247e-04,-9.12024223e-04,
  6.55260407e-06,-3.39831118e-04,-2.72258497e-05, 1.31806963e-04,
  1.23116052e-04, 2.35702620e-05,-1.21645900e+00, 1.63625467e-03,
  5.52787258e-04, 6.32782972e-05]


--- Step 1862 ---
qpos:
[-1.06730666e-02, 6.92851477e-01,-1.91464423e-02, 6.00471859e-01,
  4.14439763e-03, 6.77657034e-01,-3.14867676e-02, 5.46204096e-01,
  1.52874145e-02, 6.98927196e-01,-1.87114808e-02, 5.49638847e-01,
  1.35794755e+00,-4.89748580e-04, 1.12867328e+00, 6.33140530e-02,
 -4.30063421e-03,-9.09260621e-02, 8.60343312e-02, 6.12902844e-01,
 -5.02850403e-02,-7.13799138e-02, 7.85319315e-01]

qacc:
[ 6.92064280e-01,-1.02160858e+01,-5.34681246e+00, 8.50720013e+01,
 -1.06304368e+00, 1.59267603e+00,-2.57141304e+01, 6.33802999e+01,
 -6.12882350e-03,-3.98323113e+01, 1.60231752e+02,-3.50068737e+02,
  2.04368092e+00,-4.44536125e+00, 5.29750142e+00,-1.84985964e+01,
  9.04206326e-01, 6.50412632e-01,-4.35307964e+00, 4.71819305e+01,
  2.47227905e+01, 1.09001865e+00]

qfrc_actuator:
[-0.00021228, 0.17491657, 0.00736156, 0.17496615,-0.00028015, 0.17784188,
  0.01271577, 0.15744169,-0.00152457, 0.16806776, 0.00558885, 0.15986628,
  0.0002215 ,-0.00207901, 0.        ,-0.00184067, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.55721913, -1.16652373,  8.55721913,  9.38675112,
        5.50458595, -1.16652373,  5.50458595, 49.01612345,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007385735964002181
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.51599455e-15,  3.75799727e-15,  1.00000000e+00,  2.82450870e-29,
        1.00000000e+00, -3.75799727e-15, -1.00000000e+00,  0.00000000e+00,
       -7.51599455e-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([-0.05138559, -0.11844622,  0.06154957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.54826075e-05,-1.76870285e-03,-3.85081463e-04, 1.71678774e-04,
 -1.42463980e-04,-1.02095689e-03,-3.88553233e-04, 5.60531778e-05,
 -2.28015901e-06,-1.74455022e-03,-5.14304856e-04,-8.14228441e-04,
 -7.77933942e-05,-2.08465161e-04, 2.94846013e-06,-9.00551519e-05,
  9.53354888e-05, 1.10307791e-05,-1.21645595e+00, 1.63732806e-03,
  5.52133571e-04, 5.31051496e-05]


--- Step 1863 ---
qpos:
[-1.07199272e-02, 6.95886140e-01,-1.91502210e-02, 6.03937319e-01,
  4.13887685e-03, 6.80754087e-01,-3.13816045e-02, 5.49312707e-01,
  1.52980552e-02, 7.01828151e-01,-1.87527422e-02, 5.52801565e-01,
  1.35802828e+00,-4.98400280e-04, 1.12885630e+00, 6.33139408e-02,
 -4.32565953e-03,-9.09284503e-02, 8.64718662e-02, 6.12904271e-01,
 -5.08116613e-02,-7.17148000e-02, 7.85253792e-01]

qacc:
[-5.44067110e-01,-6.00452363e+00,-3.00005755e+01, 1.45778805e+02,
 -6.65046629e-01,-1.49694947e+01, 2.79691341e+01,-1.01760695e+01,
 -1.36994796e-01, 4.00312180e+00,-5.01394533e+01, 1.37502253e+02,
  7.14314245e-01,-1.96085612e+00, 2.24089466e+00,-8.11314830e+00,
  8.49674250e-01, 6.17252431e-01,-4.79453219e+00, 4.38829006e+01,
  2.29712081e+01, 9.71213209e-01]

qfrc_actuator:
[-0.00032199, 0.17410825, 0.0073377 , 0.17534002,-0.00031421, 0.17702388,
  0.01263391, 0.15745051,-0.00155067, 0.16786499, 0.00558848, 0.16018255,
  0.00021838,-0.00213005, 0.        ,-0.00187854, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  7.70819737, -3.89492878,  7.70819737, 15.1421915 ,
       12.87525602, -3.89492878, 12.87525602, 34.11693598,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007014889011160805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.91333279e-15,  3.95666640e-15,  1.00000000e+00,  3.13104179e-29,
        1.00000000e+00, -3.95666640e-15, -1.00000000e+00,  0.00000000e+00,
       -7.91333279e-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([-0.05212375, -0.11887889,  0.06157332])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.83826238e-05,-1.94896338e-03,-4.48885990e-04, 2.93823756e-04,
 -9.08661982e-05,-1.55311714e-03,-3.63856456e-04,-4.78616127e-05,
 -2.02284432e-05,-1.39179694e-03,-4.69058547e-04, 2.10393230e-04,
 -9.49902244e-05,-1.23179642e-04,-1.25135162e-05,-4.34314716e-05,
  7.28807820e-05, 2.22789219e-06,-1.21645375e+00, 1.63826214e-03,
  5.51447201e-04, 4.70265064e-05]


--- Step 1864 ---
qpos:
[-1.07684160e-02, 6.98907022e-01,-1.91545666e-02, 6.07402118e-01,
  4.13250536e-03, 6.83836489e-01,-3.12766401e-02, 5.52415729e-01,
  1.53082436e-02, 7.04721826e-01,-1.87959072e-02, 5.55974002e-01,
  1.35810822e+00,-5.06754815e-04, 1.12903866e+00, 6.33180431e-02,
 -4.34743515e-03,-9.09284615e-02, 8.68888303e-02, 6.12911384e-01,
 -5.13216972e-02,-7.19582674e-02, 7.85192796e-01]

qacc:
[  -0.97303357, -17.82732559,  38.69077838, -35.60767478,  -0.51785663,
  -29.1308822 ,  92.00916187,-157.7946417 ,  -0.26989928,  14.00847311,
  -92.09882274, 235.42929755,  -0.5343518 ,   0.64379104, -13.65705075,
   46.45655084,   0.81242373,   0.59426859,  -5.14273887,  41.28282587,
   21.59265235,   0.88253546]

qfrc_actuator:
[-0.00042178, 0.17359048, 0.00736053, 0.17530982,-0.00034954, 0.17615372,
  0.01256053, 0.15715295,-0.0015882 , 0.16788525, 0.00564192, 0.16070166,
  0.00020828,-0.00208538, 0.        ,-0.00165221, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  6.76638522, -5.36682475,  6.76638522, 16.79598421,
       10.28748629, -5.36682475, 10.28748629, 21.60662043,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006649429452863655
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.34825779e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.34825779e-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([-0.05284202, -0.11930025,  0.06159645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39733161e-04,-1.76629936e-03,-4.41866564e-04,-1.16280299e-04,
 -7.18781198e-05,-1.90026515e-03,-4.63578219e-04,-3.76002836e-04,
 -3.90920479e-05,-9.22269220e-04,-3.03971895e-04, 4.49837523e-04,
 -9.10588814e-05,-9.38172023e-06,-1.41591818e-05, 2.21487281e-04,
  5.46602356e-05,-3.61649095e-06,-1.21645222e+00, 1.63908776e-03,
  5.50722915e-04, 4.41941556e-05]


--- Step 1865 ---
qpos:
[-1.08181218e-02, 7.01915836e-01,-1.91595027e-02, 6.10856584e-01,
  4.12557922e-03, 6.86900985e-01,-3.11713299e-02, 5.55505101e-01,
  1.53180198e-02, 7.07608012e-01,-1.88369114e-02, 5.59142834e-01,
  1.35818625e+00,-5.10765595e-04, 1.12922150e+00, 6.33201011e-02,
 -4.36605300e-03,-9.09261537e-02, 8.72841405e-02, 6.12924013e-01,
 -5.18159321e-02,-7.21147849e-02, 7.85136116e-01]

qacc:
[-7.22474422e-01,-3.35621318e+01, 1.24718743e+02,-2.53956341e+02,
 -3.30191322e-01,-4.98905471e+01, 1.83372331e+02,-3.59449955e+02,
 -2.39436310e-01,-2.26021614e+01, 7.56860425e+01,-1.20474630e+02,
 -4.75153808e+00, 8.61206839e+00, 7.31628091e+00,-2.35587405e+01,
  7.89443609e-01, 5.79730457e-01,-5.41345718e+00, 3.92753243e+01,
  2.05305555e+01, 8.19646112e-01]

qfrc_actuator:
[-0.00046128, 0.17314489, 0.0073763 , 0.17479382,-0.00036768, 0.17506431,
  0.01249238, 0.15644667,-0.00161452, 0.16761418, 0.00578115, 0.16051944,
  0.00019407,-0.00178912, 0.        ,-0.00176911, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  6.04171304, -6.17126246,  6.04171304, 17.91161725,
        9.08054407, -6.17126246,  9.08054407, 17.52628557,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006291582633854459
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32346234e-14,  8.82308228e-15,  1.00000000e+00,  1.16770171e-28,
        1.00000000e+00, -8.82308228e-15, -1.00000000e+00,  0.00000000e+00,
       -1.32346234e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05353771, -0.11970867,  0.06161887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04787283e-04,-1.60596199e-03,-4.24248422e-04,-6.03460085e-04,
 -4.72828442e-05,-2.34541452e-03,-5.51261887e-04,-8.08036046e-04,
 -3.57145753e-05,-9.08551175e-04,-9.49229502e-05,-2.22904180e-04,
 -6.54455612e-05, 2.72335532e-04, 1.52893304e-05,-1.07006522e-04,
  3.98654631e-05,-7.05708678e-06,-1.21645122e+00, 1.63982621e-03,
  5.49956391e-04, 4.40100403e-05]


--- Step 1866 ---
qpos:
[-1.08684512e-02, 7.04912791e-01,-1.91655063e-02, 6.14307261e-01,
  4.11876096e-03, 6.89942216e-01,-3.10659769e-02, 5.58589799e-01,
  1.53278925e-02, 7.10483445e-01,-1.88752152e-02, 5.62305455e-01,
  1.35826286e+00,-5.09852517e-04, 1.12940465e+00, 6.33187643e-02,
 -4.38155809e-03,-9.09215573e-02, 8.76569706e-02, 6.12942023e-01,
 -5.22949588e-02,-7.21877033e-02, 7.85083593e-01]

qacc:
[-3.66711163e-01,-1.97573457e+01, 5.81020877e+01,-9.87953109e+01,
  7.96520144e-02,-3.94016325e+01, 1.08830403e+02,-1.53970278e+02,
  6.62776399e-02,-3.32934354e+01, 1.14796675e+02,-1.93267116e+02,
 -4.88134143e+00, 9.32208106e+00, 1.11683073e+01,-3.73416511e+01,
  7.78190341e-01, 5.72167469e-01,-5.62001243e+00, 3.77684316e+01,
  1.97360619e+01, 7.78959262e-01]

qfrc_actuator:
[-0.00046437, 0.1726754 , 0.00737034, 0.1746176 ,-0.00033996, 0.17362167,
  0.01239141, 0.15619779,-0.00159847, 0.16690514, 0.00584429, 0.16019214,
  0.00018283,-0.00150586, 0.        ,-0.00194537, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  5.45488458, -6.6955964 ,  5.45488458, 16.50917413,
        6.41395778, -6.6955964 ,  6.41395778, 13.86179798,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00594307363264511
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.34047846e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.34047846e-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([-0.05420887, -0.12010297,  0.0616405 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.40321627e-05,-1.55493659e-03,-4.27095119e-04,-2.67195623e-04,
  8.29683385e-06,-2.98063137e-03,-6.98806470e-04,-3.79440047e-04,
  7.97369647e-06,-1.32219709e-03,-1.65181669e-04,-3.74525462e-04,
  1.78327544e-05, 3.38614701e-04,-1.24681767e-05,-1.81901033e-04,
  2.79032289e-05,-8.48220998e-06,-1.21645065e+00, 1.64049173e-03,
  5.49143926e-04, 4.60616426e-05]


--- Step 1867 ---
qpos:
[-1.09189076e-02, 7.07900092e-01,-1.91733877e-02, 6.17758391e-01,
  4.11263512e-03, 6.92956802e-01,-3.09619432e-02, 5.61680360e-01,
  1.53381562e-02, 7.13346003e-01,-1.89130439e-02, 5.65474728e-01,
  1.35833906e+00,-5.05748642e-04, 1.12958755e+00, 6.33166516e-02,
 -4.39395716e-03,-9.09146796e-02, 8.80067062e-02, 6.12965308e-01,
 -5.27592096e-02,-7.21794314e-02, 7.85035111e-01]

qacc:
[-7.24566227e-02,-6.72750359e+00, 4.75438489e+00, 9.93443036e+00,
  4.36093670e-01,-2.05400483e+01, 4.35922086e+00, 1.01234145e+02,
  2.38142316e-01,-5.71169439e+00,-2.43957275e+01, 1.28132714e+02,
 -2.63440463e+00, 5.50454306e+00, 2.21450626e+00,-7.71230437e+00,
  7.76505115e-01, 5.70323068e-01,-5.77364942e+00, 3.66827233e+01,
  1.91670135e+01, 7.57507166e-01]

qfrc_actuator:
[-4.45718262e-04, 1.72444725e-01, 7.36981148e-03, 1.74660594e-01,
 -2.85157848e-04, 1.72139385e-01, 1.22709108e-02, 1.56486141e-01,
 -1.57509351e-03, 1.66188125e-01, 5.84261443e-03, 1.60527455e-01,
  1.73407373e-04,-1.35696825e-03, 0.00000000e+00,-1.97754047e-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,  4.99264163, -7.04700691,  4.99264163, 17.10008274,
        5.9963495 , -7.04700691,  5.9963495 , 12.88463877,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005605210180708926
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.95174574e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.95174574e-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([-0.05485418, -0.12048234,  0.0616613 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12963328e-05,-1.27473442e-03,-4.00322949e-04,-3.88366625e-05,
  5.76647104e-05,-3.38640097e-03,-8.50271042e-04, 1.37701258e-04,
  3.33970378e-05,-1.58027425e-03,-3.27058944e-04, 2.66922059e-04,
  7.97181518e-05, 2.41414258e-04,-3.18477560e-05,-4.51815765e-05,
  1.83446130e-05,-8.15574300e-06,-1.21645045e+00, 1.64109321e-03,
  5.48282315e-04, 5.00745390e-05]


--- Step 1868 ---
qpos:
[-1.09691364e-02, 7.10877716e-01,-1.91812340e-02, 6.21200247e-01,
  4.10803805e-03, 6.95944451e-01,-3.08601000e-02, 5.64778642e-01,
  1.53483643e-02, 7.16196379e-01,-1.89501938e-02, 5.68651497e-01,
  1.35841619e+00,-5.02463156e-04, 1.12977013e+00, 6.33147804e-02,
 -4.40322603e-03,-9.09055094e-02, 8.83329064e-02, 6.12993785e-01,
 -5.32089828e-02,-7.20915892e-02, 7.84990590e-01]

qacc:
[ 1.41220092e-01,-3.01086954e+01, 1.13503576e+02,-2.29626541e+02,
  9.42356180e-01,-1.50990467e+01,-2.06479711e+01, 1.52474203e+02,
 -2.65584077e-02,-3.77411801e+00,-3.24165486e+01, 1.47084047e+02,
  1.34381239e+00,-2.03401018e+00,-1.30728442e+00, 3.63616859e+00,
  7.82548099e-01, 5.73118645e-01,-5.88383828e+00, 3.59497284e+01,
  1.87870940e+01, 7.52833267e-01]

qfrc_actuator:
[-4.14267822e-04, 1.72040328e-01, 7.39152334e-03, 1.74193300e-01,
 -1.79231125e-04, 1.70841284e-01, 1.21755402e-02, 1.56875124e-01,
 -1.60091355e-03, 1.65721281e-01, 5.92746761e-03, 1.60912659e-01,
  1.59706582e-04,-1.46647015e-03, 0.00000000e+00,-1.96002741e-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,  4.58214842, -7.32056642,  4.58214842, 16.0469532 ,
        4.63849643, -7.32056642,  4.63849643, 11.53972901,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005278953079223964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05155606e-14,  1.05155606e-14,  1.00000000e+00,  1.10577016e-28,
        1.00000000e+00, -1.05155606e-14, -1.00000000e+00,  0.00000000e+00,
       -1.05155606e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0554728 , -0.12084627,  0.06168125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.93527671e-05,-1.27768618e-03,-3.10490398e-04,-5.32770478e-04,
  1.28786994e-04,-3.43772979e-03,-9.08007516e-04, 2.28871532e-04,
 -5.22114644e-06,-1.48115520e-03,-2.90774059e-04, 3.15236074e-04,
  8.57660938e-05,-2.75637501e-05,-2.23945554e-05, 1.02960459e-05,
  1.08868672e-05,-6.24817347e-06,-1.21645057e+00, 1.64163535e-03,
  5.47368841e-04, 5.58774441e-05]


--- Step 1869 ---
qpos:
[-1.10191081e-02, 7.13842398e-01,-1.91876319e-02, 6.24636515e-01,
  4.10544611e-03, 6.98905943e-01,-3.07618811e-02, 5.67895371e-01,
  1.53584020e-02, 7.19036169e-01,-1.89876726e-02, 5.71837657e-01,
  1.35849541e+00,-5.05298477e-04, 1.12995197e+00, 6.33174357e-02,
 -4.40931592e-03,-9.08940207e-02, 8.86352724e-02, 6.13027386e-01,
 -5.36444659e-02,-7.19251388e-02, 7.84949979e-01]

qacc:
[ 1.60689392e-01,-3.14040061e+01, 1.00984398e+02,-1.64648306e+02,
  1.22452568e+00, 9.74592977e+00,-1.38426576e+02, 4.18978553e+02,
 -9.61221573e-02, 4.64580698e+00,-6.42887140e+01, 2.03952141e+02,
  6.34698914e+00,-1.18538442e+01,-1.53365931e+01, 5.07181763e+01,
  7.94745915e-01, 5.79624984e-01,-5.95853920e+00, 3.55105589e+01,
  1.85650924e+01, 7.62906289e-01]

qfrc_actuator:
[-3.93195249e-04, 1.71287046e-01, 7.42542065e-03, 1.73908698e-01,
 -6.14956306e-05, 1.69700148e-01, 1.20611423e-02, 1.57817357e-01,
 -1.62045554e-03, 1.65373491e-01, 5.97507955e-03, 1.61395302e-01,
  1.38007692e-04,-1.88804708e-03, 0.00000000e+00,-1.71813193e-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,  4.21845131, -7.53600991,  4.21845131, 16.52678755,
        4.41684253, -7.53600991,  4.41684253, 11.10879074,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004964975894831004
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.11805480e-14,  5.59027399e-15,  1.00000000e+00,  6.25023266e-29,
        1.00000000e+00, -5.59027399e-15, -1.00000000e+00,  0.00000000e+00,
       -1.11805480e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05606433, -0.12119446,  0.06170032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.18558603e-05,-1.62822830e-03,-3.04031411e-04,-3.57581446e-04,
  1.69705197e-04,-3.31638966e-03,-9.40812190e-04, 7.80468184e-04,
 -1.51837401e-05,-1.29703244e-03,-3.01691952e-04, 4.18831645e-04,
  1.74100094e-05,-4.08105896e-04,-1.02427899e-05, 2.39272645e-04,
  5.32460755e-06,-2.85964895e-06,-1.21645099e+00, 1.64211947e-03,
  5.46401312e-04, 6.33763555e-05]


--- Step 1870 ---
qpos:
[-1.10686790e-02, 7.16791854e-01,-1.91936458e-02, 6.28079832e-01,
  4.10449767e-03, 7.01845067e-01,-3.06688588e-02, 5.71030821e-01,
  1.53686735e-02, 7.21864394e-01,-1.90253050e-02, 5.75038667e-01,
  1.35857571e+00,-5.14107211e-04, 1.13013386e+00, 6.33215874e-02,
 -4.41215882e-03,-9.08801759e-02, 8.89136207e-02, 6.13066059e-01,
 -5.40657547e-02,-7.16804965e-02, 7.84913249e-01]

qacc:
[ 2.43198311e-01,-7.98279218e+00,-2.04455732e+01, 1.28000789e+02,
  9.97632180e-01, 1.95108624e+01,-1.65734315e+02, 4.46561644e+02,
  1.41253567e-01, 1.31396345e+01,-1.12194809e+02, 3.28103169e+02,
  5.20688240e+00,-1.05624710e+01,-4.94391608e+00, 1.62439824e+01,
  8.11749290e-01, 5.89039366e-01,-6.00443103e+00, 3.53147091e+01,
  1.84742585e+01, 7.86050346e-01]

qfrc_actuator:
[-3.60717243e-04, 1.70473591e-01, 7.42969648e-03, 1.74266315e-01,
  8.97936161e-06, 1.68911721e-01, 1.19198853e-02, 1.58775933e-01,
 -1.60058826e-03, 1.64834121e-01, 5.98333023e-03, 1.62144548e-01,
  1.16697601e-04,-2.22494979e-03, 0.00000000e+00,-1.64778310e-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,  3.72683084, -7.79086059,  3.72683084, 42.79125233,
       16.33830961, -7.79086059, 16.33830961, 16.45194645,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00466371546962234
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.78541610e-14,  1.78541610e-14,  1.00000000e+00,  3.18771065e-28,
        1.00000000e+00, -1.78541610e-14, -1.00000000e+00,  0.00000000e+00,
       -1.78541610e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05662869, -0.12152686,  0.06171851])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.43295928e-05,-1.87489332e-03,-3.97565039e-04, 2.75727566e-04,
  1.39439473e-04,-2.88008143e-03,-9.28272681e-04, 8.12225768e-04,
  1.99903785e-05,-1.38366474e-03,-3.01364364e-04, 6.94433969e-04,
 -1.08677917e-04,-4.38691819e-04, 2.29708811e-05, 8.24548580e-05,
  1.52790160e-06, 1.96280979e-06,-1.21645170e+00, 1.64254407e-03,
  5.45378143e-04, 7.25353424e-05]


--- Step 1871 ---
qpos:
[-1.11171027e-02, 7.19726571e-01,-1.92000563e-02, 6.31523354e-01,
  4.10553831e-03, 7.04766658e-01,-3.05807458e-02, 5.74170646e-01,
  1.53794123e-02, 7.24678019e-01,-1.90608043e-02, 5.78238375e-01,
  1.35865579e+00,-5.26502318e-04, 1.13031660e+00, 6.33205496e-02,
 -4.41167212e-03,-9.08639284e-02, 8.91678606e-02, 6.13109756e-01,
 -5.44728703e-02,-7.13576290e-02, 7.84880387e-01]

qacc:
[  0.6798876 ,-17.93539203, 34.72960939,-19.05352864,  1.20050229,
  -1.53274157,-39.43637378,116.49427911,  0.28253496,-27.51889997,
  72.40308047,-78.34478698,  2.02049325, -5.1393648 , 16.68587427,
 -57.08241786,  0.8323986 ,  0.60066696, -6.02710762, 35.31899442,
  18.49173443,  0.82088744]

qfrc_actuator:
[-2.68384674e-04, 1.69791265e-01, 7.41668448e-03, 1.74271002e-01,
  1.21668170e-04, 1.68412605e-01, 1.18010402e-02, 1.59008802e-01,
 -1.57516411e-03, 1.63918728e-01, 6.00342579e-03, 1.62050392e-01,
  1.00963093e-04,-2.38447861e-03, 0.00000000e+00,-1.92767967e-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,  3.50930698, -7.89123193,  3.50930698, 16.34924308,
        3.42999191, -7.89123193,  3.42999191, 10.16171413,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004375414571135022
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53741218e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.53741218e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05716604, -0.12184353,  0.06173583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.94865979e-05,-1.87521478e-03,-4.54718854e-04,-7.56976961e-05,
  1.69562898e-04,-2.34289931e-03,-8.14365340e-04, 1.04580167e-04,
  4.03717103e-05,-1.79662037e-03,-2.97664940e-04,-1.46309595e-04,
 -1.78200728e-04,-2.99171169e-04, 1.68374438e-05,-2.73115561e-04,
 -5.74529568e-07, 8.21237944e-06,-1.21645268e+00, 1.64290517e-03,
  5.44298441e-04, 8.33621957e-05]


--- Step 1872 ---
qpos:
[-1.11640709e-02, 7.22647519e-01,-1.92069370e-02, 6.34956543e-01,
  4.10816586e-03, 7.07674221e-01,-3.04960969e-02, 5.77306543e-01,
  1.53905478e-02, 7.27475310e-01,-1.90943742e-02, 5.81423943e-01,
  1.35873520e+00,-5.41127282e-04, 1.13049918e+00, 6.33182173e-02,
 -4.49402302e-03,-9.08902834e-02, 8.93802827e-02, 6.13181300e-01,
 -5.48287163e-02,-7.08182984e-02, 7.84848568e-01]

qacc:
[ 8.58376634e-01,-3.60321309e+01, 1.29169936e+02,-2.54549784e+02,
  9.55204333e-01,-1.62625717e+01, 4.34004491e+01,-8.47163120e+01,
  2.42378692e-01,-5.33715454e+01, 1.97956517e+02,-3.79544617e+02,
  1.00308243e+00,-3.03256830e+00, 3.55799115e+00,-1.30616068e+01,
 -2.07094020e+01,-1.06506228e+01,-1.04544559e+01, 1.01461388e+02,
  4.72027006e+01,-6.54215494e+00]

qfrc_actuator:
[-1.76551373e-04, 1.69193221e-01, 7.41167944e-03, 1.73748408e-01,
  1.87671737e-04, 1.68055681e-01, 1.17506914e-02, 1.58830859e-01,
 -1.56448555e-03, 1.62962906e-01, 6.02840309e-03, 1.61318385e-01,
  8.86512098e-05,-2.47308603e-03, 0.00000000e+00,-1.98557311e-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,  1.53100734, -8.49957607,  1.53100734, 44.45141215,
        6.45127494, -8.49957607,  6.45127494,  9.79841562,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010896119396514761
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.82868662, -0.41434331,  0.37629524, -0.37726949,  0.91012066,
        0.1713129 , -0.41345643,  0.        , -0.91052391])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0576768 , -0.12214469,  0.06175229])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26712618e-04,-1.81523800e-03,-4.64693450e-04,-6.12086361e-04,
  1.35647236e-04,-1.90498831e-03,-6.46209283e-04,-2.96554391e-04,
  3.42247990e-05,-2.09826121e-03,-4.03401399e-04,-8.17211530e-04,
 -1.79986698e-04,-2.08045152e-04,-2.88254963e-05,-7.23766611e-05,
 -1.00829435e-06, 1.59126565e-05,-1.21645396e+00, 1.64319656e-03,
  5.43162109e-04, 9.58976429e-05]


--- Step 1873 ---
qpos:
[-1.12102758e-02, 7.25555704e-01,-1.92154369e-02, 6.38387033e-01,
  4.11085410e-03, 7.10568956e-01,-3.04135569e-02, 5.80432511e-01,
  1.54019466e-02, 7.30257079e-01,-1.91278102e-02, 5.84610780e-01,
  1.35881405e+00,-5.57655248e-04, 1.13068084e+00, 6.33211895e-02,
 -4.64014329e-03,-9.09493094e-02, 8.95547092e-02, 6.13275486e-01,
 -5.51413208e-02,-7.00920414e-02, 7.84818271e-01]

qacc:
[ 4.49776100e-01,-1.73768206e+01, 4.48942300e+01,-6.94608209e+01,
  4.17311777e-02,-2.94958887e+01, 1.09601067e+02,-2.34993180e+02,
  1.60440717e-01,-1.84242922e+01, 3.16817838e+01,-8.44789568e-01,
  1.30877707e+00,-3.19877697e+00,-1.75156117e+01, 5.89749216e+01,
 -1.59423403e+01,-8.16776767e+00,-9.49887717e+00, 8.72866135e+01,
  4.11009393e+01,-4.82567419e+00]

qfrc_actuator:
[-1.56795255e-04, 1.68721683e-01, 7.39395816e-03, 1.73630009e-01,
  1.36507563e-04, 1.67592303e-01, 1.17064536e-02, 1.58341969e-01,
 -1.56277063e-03, 1.62363208e-01, 6.10891754e-03, 1.61406454e-01,
  8.37667227e-05,-2.55456785e-03, 0.00000000e+00,-1.69905205e-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,  1.47809198, -8.50893771,  1.47809198,  2.01192136,
       -1.1507353 , -8.50893771, -1.1507353 ,  8.43646881,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010698904823458717
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.83497485, -0.41748742,  0.35849861, -0.38362291,  0.9086827 ,
        0.16470949, -0.39452563,  0.        , -0.91888494])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05825567, -0.12247768,  0.0617679 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.64431427e-05,-1.67690691e-03,-4.83623435e-04,-2.17195938e-04,
  4.77225485e-06,-1.74817952e-03,-5.44026932e-04,-5.93491330e-04,
  2.26067432e-05,-1.95681899e-03,-4.43366715e-04,-2.59360602e-05,
 -1.51991865e-04,-1.77588094e-04,-2.46733256e-05, 2.78045155e-04,
  7.96293906e-06, 4.49338560e-05,-1.21645993e+00, 1.65011389e-03,
  5.39622024e-04, 1.37455728e-04]


--- Step 1874 ---
qpos:
[-1.12562990e-02, 7.28453952e-01,-1.92259447e-02, 6.41818056e-01,
  4.11299257e-03, 7.13451839e-01,-3.03334977e-02, 5.83547801e-01,
  1.54132871e-02, 7.33027070e-01,-1.91626793e-02, 5.87810757e-01,
  1.35889228e+00,-5.75385575e-04, 1.13086263e+00, 6.33248300e-02,
 -4.83423641e-03,-9.10327730e-02, 8.96943662e-02, 6.13387889e-01,
 -5.54173332e-02,-6.92032236e-02, 7.84789864e-01]

qacc:
[ 1.08371956e-01,-6.60671643e+00, 3.69828316e+00, 1.20866733e+01,
 -3.22348266e-01,-2.85666834e+01, 1.10392062e+02,-2.46583655e+02,
 -3.05434478e-02, 1.30755329e+01,-1.06256915e+02, 2.97347423e+02,
  4.11311846e-01,-1.54865157e+00,-1.86420974e+00, 6.69631258e+00,
 -1.19932110e+01,-6.10938887e+00,-8.69239568e+00, 7.55793408e+01,
  3.60745185e+01,-3.36932875e+00]

qfrc_actuator:
[-1.62422958e-04, 1.68525827e-01, 7.40544955e-03, 1.73679613e-01,
  8.69447097e-05, 1.67140474e-01, 1.16304077e-02, 1.57816106e-01,
 -1.58421176e-03, 1.62160432e-01, 6.18827304e-03, 1.62101084e-01,
  7.80280805e-05,-2.59570396e-03, 0.00000000e+00,-1.67353210e-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,  1.4094307 , -8.52057991,  1.4094307 ,  1.49451442,
       -1.18136813, -8.52057991, -1.18136813,  8.44094777,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010431034647271215
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.40036164e-01, -4.20018082e-01,  3.43400720e-01, -3.88787064e-01,
        9.07515736e-01,  1.58933345e-01, -3.78396436e-01, -2.77555756e-17,
       -9.25643634e-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([-0.05888344, -0.12283293,  0.06178271])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56082926e-05,-1.31242720e-03,-4.15521122e-04,-3.60586649e-05,
 -4.78378911e-05,-1.63936589e-03,-5.41224700e-04,-6.27185695e-04,
 -5.52258731e-06,-1.45790229e-03,-3.94254342e-04, 6.01526926e-04,
 -1.29667476e-04,-1.23086219e-04, 1.79357714e-05, 3.74838555e-05,
  2.68425574e-05, 7.85127635e-05,-1.21646690e+00, 1.65679595e-03,
  5.34867844e-04, 1.83363317e-04]


--- Step 1875 ---
qpos:
[-1.13021533e-02, 7.31344376e-01,-1.92370953e-02, 6.45236397e-01,
  4.11475711e-03, 7.16323543e-01,-3.02559303e-02, 5.86653105e-01,
  1.54242771e-02, 7.35788354e-01,-1.91977646e-02, 5.91006425e-01,
  1.35897004e+00,-5.94294749e-04, 1.13104507e+00, 6.33240827e-02,
 -5.06325561e-03,-9.11338686e-02, 8.98019717e-02, 6.13514769e-01,
 -5.56622193e-02,-6.81717473e-02, 7.84763632e-01]

qacc:
[ 1.02559442e-01,-3.20344141e+01, 1.32386986e+02,-2.92982061e+02,
 -2.17399645e-01,-2.63642334e+01, 1.01768588e+02,-2.28776902e+02,
 -1.97667536e-01,-1.89516366e+01, 6.28092495e+01,-1.14346459e+02,
  1.62797438e-01,-1.14618782e+00, 1.41510265e+01,-4.82226263e+01,
 -8.73152315e+00,-4.40800510e+00,-8.01287231e+00, 6.60011208e+01,
  3.19793708e+01,-2.13727433e+00]

qfrc_actuator:
[-1.47499271e-04, 1.68337888e-01, 7.43550485e-03, 1.73046752e-01,
  7.44341051e-05, 1.66717482e-01, 1.15542449e-02, 1.57326036e-01,
 -1.61933040e-03, 1.61967489e-01, 6.25069374e-03, 1.61886834e-01,
  6.64762909e-05,-2.64807733e-03, 0.00000000e+00,-1.90861422e-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,  1.34940933, -8.5302914 ,  1.34940933,  1.12166659,
       -1.18875215, -8.5302914 , -1.18875215,  8.44831458,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010109277487942247
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.84420348, -0.42210174,  0.3303795 , -0.39307303,  0.90654847,
        0.15382935, -0.36443667,  0.        , -0.93122818])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05954414, -0.12320253,  0.06179675])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.46040238e-05,-1.08044631e-03,-3.09145276e-04,-6.98828540e-04,
 -3.27327193e-05,-1.54995194e-03,-5.19711351e-04,-5.87674575e-04,
 -3.12402592e-05,-1.13539589e-03,-2.83370538e-04,-2.73473966e-04,
 -1.10534690e-04,-1.14836172e-04, 7.20930109e-06,-2.31872692e-04,
  5.14775933e-05, 1.14146013e-04,-1.21647441e+00, 1.66276570e-03,
  5.29674438e-04, 2.30943973e-04]


--- Step 1876 ---
qpos:
[-1.13475030e-02, 7.34227505e-01,-1.92481274e-02, 6.48637305e-01,
  4.11565962e-03, 7.19182068e-01,-3.01790969e-02, 5.89744636e-01,
  1.54349042e-02, 7.38538745e-01,-1.92302517e-02, 5.94185364e-01,
  1.35904755e+00,-6.14699142e-04, 1.13122749e+00, 6.33208812e-02,
 -5.31646393e-03,-9.12469910e-02, 8.98798117e-02, 6.13652984e-01,
 -5.58804348e-02,-6.70136880e-02, 7.84739803e-01]

qacc:
[ 2.96917339e-01,-4.21995964e+01, 1.81468111e+02,-4.04682105e+02,
 -5.01801979e-01,-4.07799692e+01, 1.59122969e+02,-3.36278353e+02,
 -1.99182203e-01,-5.28039725e+01, 2.12809639e+02,-4.32775920e+02,
  7.11044917e-01,-2.02097962e+00, 7.30014619e+00,-2.57695721e+01,
 -6.04727744e+00,-3.00669244e+00,-7.44137729e+00, 5.82476479e+01,
  2.86847263e+01,-1.09721172e+00]

qfrc_actuator:
[-1.02551993e-04, 1.68085548e-01, 7.47613658e-03, 1.72177187e-01,
  1.31883939e-05, 1.66014065e-01, 1.14967680e-02, 1.56630238e-01,
 -1.64458721e-03, 1.61338270e-01, 6.33781533e-03, 1.61032934e-01,
  5.67709602e-05,-2.72448828e-03, 0.00000000e+00,-2.02897923e-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,  1.29569988, -8.53861456,  1.29569988,  0.82797514,
       -1.18489106, -8.53861456, -1.18489106,  8.45656126,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009747785787807993
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.84770477, -0.42385238,  0.31897615, -0.39669789,  0.90573128,
        0.14927032, -0.35217526,  0.        , -0.93593407])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06022463, -0.12357994,  0.06181006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.43157975e-05,-1.01863703e-03,-2.60439564e-04,-9.37552026e-04,
 -7.51956447e-05,-1.77398865e-03,-4.78695304e-04,-7.88288550e-04,
 -3.24548121e-05,-1.40275656e-03,-2.08661774e-04,-9.15589996e-04,
 -9.71905048e-05,-1.31780802e-04,-2.83019019e-05,-1.33686191e-04,
  7.92334600e-05, 1.50356836e-04,-1.21648218e+00, 1.66777267e-03,
  5.24513447e-04, 2.78662233e-04]


--- Step 1877 ---
qpos:
[-1.13926061e-02, 7.37102742e-01,-1.92591648e-02, 6.52028275e-01,
  4.11475971e-03, 7.22023908e-01,-3.01017907e-02, 5.92819214e-01,
  1.54452316e-02, 7.41275626e-01,-1.92610238e-02, 5.97349997e-01,
  1.35912453e+00,-6.35546715e-04, 1.13140975e+00, 6.33162217e-02,
 -5.53056585e-03,-9.13408701e-02, 8.99623538e-02, 6.13801908e-01,
 -5.60454530e-02,-6.57203881e-02, 7.84720941e-01]

qacc:
[ 1.46760296e-01,-2.87586192e+01, 1.12810147e+02,-2.36465669e+02,
 -1.05017987e+00,-5.45409040e+01, 2.09626558e+02,-4.26971560e+02,
 -1.62250982e-01,-4.92707626e+01, 1.88505027e+02,-3.72441210e+02,
 -1.78373939e-01,-2.26326189e-01, 4.16077270e+00,-1.49039044e+01,
  9.77659843e+00, 4.81082641e+00, 1.17553752e+00, 6.98523940e+01,
  2.08424591e+01,-6.81637085e-01]

qfrc_actuator:
[-9.32518597e-05, 1.67761666e-01, 7.50485740e-03, 1.71690250e-01,
 -1.12165978e-04, 1.65006844e-01, 1.14497415e-02, 1.55765527e-01,
 -1.66377443e-03, 1.60523966e-01, 6.36601890e-03, 1.60306460e-01,
  5.34973574e-05,-2.72577069e-03, 0.00000000e+00,-2.09844504e-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,  3.8070917 , -7.75195651,  3.8070917 ,  1.80673296,
       -3.35412489, -7.75195651, -3.35412489,  6.9891071 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0028899000889973064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.20189763e-15, -8.47706118e-07,  1.00000000e+00,  3.56197433e-21,
        1.00000000e+00,  8.47706118e-07, -1.00000000e+00,  7.52316385e-37,
        4.20189763e-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([-0.06273686, -0.11683568,  0.06182268])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.15557094e-05,-1.05435165e-03,-2.61580032e-04,-5.56032368e-04,
 -1.57253183e-04,-2.20132102e-03,-5.14915284e-04,-9.68403042e-04,
 -2.70292498e-05,-1.74572643e-03,-3.33558404e-04,-8.09201429e-04,
 -8.78195117e-05,-5.77465831e-05,-3.10426420e-05,-8.12671370e-05,
  1.08519753e-04, 1.86363621e-04,-1.21649008e+00, 1.67171236e-03,
  5.19653881e-04, 3.25750851e-04]


--- Step 1878 ---
qpos:
[-1.14374135e-02, 7.39970287e-01,-1.92717598e-02, 6.55426744e-01,
  4.11164236e-03, 7.24852048e-01,-3.00282282e-02, 5.95888018e-01,
  1.54553255e-02, 7.44002431e-01,-1.92939700e-02, 6.00509748e-01,
  1.35920067e+00,-6.54986162e-04, 1.13159195e+00, 6.33097155e-02,
 -5.71024004e-03,-9.14191646e-02, 9.00437360e-02, 6.13966317e-01,
 -5.61429288e-02,-6.43252231e-02, 7.84700962e-01]

qacc:
[ 1.70677252e-01, 7.99547663e+00,-6.21003113e+01, 1.67142663e+02,
 -1.29641233e+00,-1.84528453e+01, 5.69657472e+01,-1.23232420e+02,
 -1.29967845e-01,-1.64430538e+01, 5.35160629e+01,-1.10946063e+02,
 -1.77323336e+00, 3.02584015e+00, 5.65127897e+00,-1.95256989e+01,
  8.60693337e+00, 3.89616580e+00,-2.89977322e-01, 6.10939392e+01,
  5.30169857e+00,-5.78326222e+00]

qfrc_actuator:
[-6.97784294e-05, 1.67522639e-01, 7.49100270e-03, 1.72089216e-01,
 -2.39195086e-04, 1.64571728e-01, 1.13548142e-02, 1.55500509e-01,
 -1.67923781e-03, 1.60297938e-01, 6.35871562e-03, 1.60086776e-01,
  6.47677104e-05,-2.61141941e-03, 0.00000000e+00,-2.19064391e-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,  3.55335397, -7.8714962 ,  3.55335397,  1.59063145,
       -3.18058725, -7.8714962 , -3.18058725,  7.20058166,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0026709827190638524
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.81851635e-14,  4.15660879e-14,  1.00000000e+00,  7.55886102e-28,
        1.00000000e+00, -4.15660879e-14, -1.00000000e+00,  0.00000000e+00,
       -1.81851635e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06482376, -0.11161016,  0.06183541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.59776413e-05,-9.74725316e-04,-2.98792453e-04, 3.36846423e-04,
 -1.93757501e-04,-1.88074385e-03,-6.59144381e-04,-3.89665827e-04,
 -2.10970601e-05,-1.36900306e-03,-4.49553837e-04,-3.16983404e-04,
 -5.05627228e-05, 7.93198665e-05,-2.64184473e-05,-1.01394968e-04,
  1.49367106e-04, 2.27257921e-04,-1.21649821e+00, 1.67458681e-03,
  5.14096630e-04, 3.79532488e-04]


--- Step 1879 ---
qpos:
[-1.14814101e-02, 7.42829385e-01,-1.92854282e-02, 6.58840834e-01,
  4.10633677e-03, 7.27671635e-01,-2.99602642e-02, 5.98964779e-01,
  1.54650400e-02, 7.46724069e-01,-1.93298373e-02, 6.03670012e-01,
  1.35927622e+00,-6.72408548e-04, 1.13177369e+00, 6.33044600e-02,
 -5.86048132e-03,-9.14842240e-02, 9.01183964e-02, 6.14143239e-01,
 -5.61822473e-02,-6.28416424e-02, 7.84679913e-01]

qacc:
[ 4.63876263e-01, 2.06646747e+01,-1.29724518e+02, 3.41418063e+02,
 -1.28043962e+00, 1.87154212e+01,-1.03269058e+02, 2.19923525e+02,
 -2.16328101e-01, 2.15124353e+00,-1.78453076e+01, 2.96922245e+01,
 -1.80792820e+00, 3.54702446e+00,-4.27329481e+00, 1.43739763e+01,
  7.35822611e+00, 3.30874185e+00,-1.68045641e+00, 5.28601260e+01,
  4.75662545e+00,-4.62664044e+00]

qfrc_actuator:
[-2.44360586e-06, 1.67177710e-01, 7.47090987e-03, 1.72881992e-01,
 -3.48340404e-04, 1.64643339e-01, 1.12706790e-02, 1.55945963e-01,
 -1.71016603e-03, 1.60497854e-01, 6.38656920e-03, 1.60149709e-01,
  7.94852278e-05,-2.48261985e-03, 0.00000000e+00,-2.11798426e-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,  3.53359924, -7.88038408,  3.53359924,  1.56315604,
       -3.17165771, -7.88038408, -3.17165771,  7.21417822,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0024366158535371954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21029743e-14,  4.55641386e-14,  1.00000000e+00,  5.51461599e-28,
        1.00000000e+00, -4.55641386e-14, -1.00000000e+00,  0.00000000e+00,
       -1.21029743e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06550928, -0.11188327,  0.06184912])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.18299698e-05,-1.00986902e-03,-2.64146544e-04, 7.51658796e-04,
 -1.91538019e-04,-1.20159891e-03,-5.81353337e-04, 3.40656669e-04,
 -3.40122278e-05,-7.37261621e-04,-3.35619190e-04,-1.33957794e-05,
  5.49150525e-06, 1.38229417e-04,-2.72969200e-05, 6.27862740e-05,
  1.91080281e-04, 2.58323083e-04,-1.21650490e+00, 1.68147080e-03,
  5.06238909e-04, 4.21074485e-04]


--- Step 1880 ---
qpos:
[-1.15242836e-02, 7.45677472e-01,-1.92990882e-02, 6.62274620e-01,
  4.09898937e-03, 7.30481959e-01,-2.98946882e-02, 6.02048627e-01,
  1.54744107e-02, 7.49439472e-01,-1.93660274e-02, 6.06832218e-01,
  1.35935168e+00,-6.88737131e-04, 1.13195504e+00, 6.33017352e-02,
 -5.98528922e-03,-9.15379311e-02, 9.01818808e-02, 6.14330258e-01,
 -5.61709272e-02,-6.12804368e-02, 7.84657804e-01]

qacc:
[ 6.41849560e-01, 2.18370395e+01,-1.49695259e+02, 4.16422282e+02,
 -1.18740413e+00, 7.40303354e+00,-6.32633596e+01, 1.68078624e+02,
 -1.92708047e-01,-3.69469935e+00,-4.24259452e+00, 3.60682628e+01,
 -6.57136085e-01, 1.57238141e+00,-8.16799884e+00, 2.78670849e+01,
  6.35834491e+00, 2.83809138e+00,-2.79401333e+00, 4.62554236e+01,
  4.31582763e+00,-3.69728937e+00]

qfrc_actuator:
[ 7.28221281e-05, 1.66560039e-01, 7.44721285e-03, 1.73864428e-01,
 -4.45897683e-04, 1.64291460e-01, 1.11963714e-02, 1.56309203e-01,
 -1.73238105e-03, 1.60260107e-01, 6.40162831e-03, 1.60254504e-01,
  8.03028893e-05,-2.43508665e-03, 0.00000000e+00,-1.98427359e-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,  3.51182629, -7.89011109,  3.51182629,  1.53655475,
       -3.16006901, -7.89011109, -3.16006901,  7.22984181,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002194270754491301
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.90569474e-16,  5.05964463e-14,  1.00000000e+00,  4.00000060e-29,
        1.00000000e+00, -5.05964463e-14, -1.00000000e+00,  0.00000000e+00,
       -7.90569474e-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([-0.06619084, -0.11215029,  0.0618634 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.97915121e-05,-1.27916550e-03,-2.56986622e-04, 9.50205594e-04,
 -1.79200596e-04,-1.20232508e-03,-4.00575396e-04, 3.02211481e-04,
 -3.09156650e-05,-7.87960019e-04,-1.96874049e-04, 6.24636245e-05,
  3.61095610e-05, 8.53890967e-05,-8.22396476e-06, 1.33137108e-04,
  2.31089114e-04, 2.86454705e-04,-1.21651152e+00, 1.68702483e-03,
  4.98867667e-04, 4.57949906e-04]


--- Step 1881 ---
qpos:
[-1.15656541e-02, 7.48514438e-01,-1.93131323e-02, 6.65726942e-01,
  4.09015414e-03, 7.33281749e-01,-2.98307173e-02, 6.05132535e-01,
  1.54839101e-02, 7.52144534e-01,-1.94002244e-02, 6.09993429e-01,
  1.35942726e+00,-7.04530051e-04, 1.13213599e+00, 6.33029481e-02,
 -6.08784715e-03,-9.15817875e-02, 9.02306423e-02, 6.14525404e-01,
 -5.61149613e-02,-5.96502034e-02, 7.84634624e-01]

qacc:
[ 8.55105054e-01, 2.05939626e+01,-1.42068778e+02, 3.93123830e+02,
 -8.59913301e-01,-9.35753147e+00, 1.33066888e+01,-2.99094214e+00,
  7.95010767e-02,-2.09286498e+01, 5.61848809e+01,-6.08821673e+01,
 -2.58484120e-02, 4.19936525e-01,-1.24517169e+01, 4.27517348e+01,
  5.56249446e+00, 2.46268281e+00,-3.68069762e+00, 4.09906896e+01,
  3.96629190e+00,-2.94719106e+00]

qfrc_actuator:
[ 1.69962306e-04, 1.66050956e-01, 7.43845370e-03, 1.74790563e-01,
 -5.00268001e-04, 1.63725124e-01, 1.10914840e-02, 1.56301256e-01,
 -1.71374686e-03, 1.59549865e-01, 6.42533356e-03, 1.60187501e-01,
  7.80807557e-05,-2.41844422e-03, 0.00000000e+00,-1.78020724e-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,  3.48787634, -7.90072753,  3.48787634,  1.5106335 ,
       -3.14574392, -7.90072753, -3.14574392,  7.2476351 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019501709327586492
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.93542857e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.93542857e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06686005, -0.11240903,  0.0618779 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33978559e-04,-1.31101709e-03,-2.88679905e-04, 8.88756093e-04,
 -1.31033451e-04,-1.38148773e-03,-4.10673657e-04,-6.37907967e-05,
  1.11983658e-05,-1.25725832e-03,-1.79188927e-04,-1.05000589e-04,
  3.74012320e-05, 4.78124742e-05, 8.45829829e-06, 2.09841366e-04,
  2.69061109e-04, 3.12036061e-04,-1.21651807e+00, 1.69147580e-03,
  4.92058159e-04, 4.90997265e-04]


--- Step 1882 ---
qpos:
[-1.16050210e-02, 7.51340801e-01,-1.93272128e-02, 6.69179602e-01,
  4.08116968e-03, 7.36070679e-01,-2.97676700e-02, 6.08212653e-01,
  1.54940125e-02, 7.54837005e-01,-1.94327108e-02, 6.13144650e-01,
  1.35950283e+00,-7.19418138e-04, 1.13231680e+00, 6.33075927e-02,
 -6.17067013e-03,-9.16169848e-02, 9.02618768e-02, 6.14727068e-01,
 -5.60190928e-02,-5.79577219e-02, 7.84610346e-01]

qacc:
[ 1.13808235e+00,-1.32328497e+01, 2.55480975e+01,-1.17502505e+01,
 -8.15601483e-02,-1.87405579e+01, 5.64929313e+01,-9.81135684e+01,
  3.48634203e-01,-3.98925617e+01, 1.44138961e+02,-2.68270196e+02,
 -4.24228553e-01, 1.15852379e+00,-1.05186313e+01, 3.66109205e+01,
  4.93373608e+00, 2.16476991e+00,-4.38177247e+00, 3.68317693e+01,
  3.69720219e+00,-2.33759239e+00]

qfrc_actuator:
[ 2.97150762e-04, 1.65540529e-01, 7.42129363e-03, 1.74788567e-01,
 -4.57452882e-04, 1.63230369e-01, 1.10571841e-02, 1.56110293e-01,
 -1.67093807e-03, 1.58758005e-01, 6.43428698e-03, 1.59664528e-01,
  8.46726117e-05,-2.36695772e-03, 0.00000000e+00,-1.60735725e-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,  3.46162399, -7.91226492,  3.46162399,  1.48527394,
       -3.12860905, -7.91226492, -3.12860905,  7.26759398,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017092688083990698
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.24765484e-14,  3.24765484e-14,  1.00000000e+00,  1.05472620e-27,
        1.00000000e+00, -3.24765484e-14, -1.00000000e+00,  0.00000000e+00,
       -3.24765484e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06751007, -0.11265769,  0.06189232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79192502e-04,-1.33821166e-03,-3.08966020e-04,-4.26727895e-05,
 -1.35075632e-05,-1.42520204e-03,-3.89204359e-04,-2.61448244e-04,
  5.37257904e-05,-1.60248477e-03,-2.91899360e-04,-5.81379335e-04,
  3.83766580e-05, 7.29839386e-05, 2.44272355e-05, 1.84964590e-04,
  3.05003957e-04, 3.35467812e-04,-1.21652459e+00, 1.69501138e-03,
  4.85811933e-04, 5.20946967e-04]


--- Step 1883 ---
qpos:
[-1.16423711e-02, 7.54153637e-01,-1.93393117e-02, 6.72622100e-01,
  4.07305788e-03, 7.38846922e-01,-2.97047829e-02, 6.11288705e-01,
  1.55044874e-02, 7.57517385e-01,-1.94656037e-02, 6.16284099e-01,
  1.35957835e+00,-7.32830523e-04, 1.13249846e+00, 6.33079291e-02,
 -6.23313462e-03,-9.16471194e-02, 9.02749560e-02, 6.14953606e-01,
 -5.58248534e-02,-5.62508052e-02, 7.84570899e-01]

qacc:
[ 1.14657987e+00,-4.19241340e+01, 1.47384238e+02,-2.66711683e+02,
  5.09570536e-01,-2.37241866e+01, 7.10333509e+01,-1.14674832e+02,
  2.15987711e-01,-3.67476591e+01, 1.39637364e+02,-2.87682443e+02,
 -1.40929353e+00, 2.84477425e+00, 1.44027072e+01,-4.82412627e+01,
  5.08962203e+00, 1.26565754e+00,-4.53880629e+00, 3.61557743e+01,
 -3.30088150e+01,-1.68673129e+01]

qfrc_actuator:
[ 4.05761060e-04, 1.64713679e-01, 7.45215695e-03, 1.74258229e-01,
 -3.74822582e-04, 1.62552318e-01, 1.10296921e-02, 1.55902112e-01,
 -1.66740817e-03, 1.58189850e-01, 6.41612193e-03, 1.59072644e-01,
  1.01885020e-04,-2.27739560e-03, 0.00000000e+00,-1.84486422e-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,  2.06622176, -8.38555332,  2.06622176,  0.66012522,
       -1.96536552, -8.38555332, -1.96536552,  8.15209255,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001477595181833928
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58283980e-14,  2.34803618e-14,  1.00000000e+00, -6.06460131e-28,
        1.00000000e+00, -2.34803618e-14, -1.00000000e+00,  0.00000000e+00,
        2.58283980e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07495824, -0.08476074,  0.06190631])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.80735931e-04,-1.70792220e-03,-2.98690975e-04,-5.92476631e-04,
  7.66076571e-05,-1.63545309e-03,-3.94831868e-04,-2.83625039e-04,
  3.31142114e-05,-1.61136514e-03,-4.17527545e-04,-6.76780864e-04,
  5.56412931e-05, 1.17752919e-04, 2.78680817e-05,-2.24993066e-04,
  3.39121471e-04, 3.57142533e-04,-1.21653112e+00, 1.69778475e-03,
  4.80091695e-04, 5.48433430e-04]


--- Step 1884 ---
qpos:
[-1.16788162e-02, 7.56949298e-01,-1.93491430e-02, 6.76056313e-01,
  4.06591387e-03, 7.41605916e-01,-2.96410448e-02, 6.14358744e-01,
  1.55149716e-02, 7.60186027e-01,-1.95001848e-02, 6.19428611e-01,
  1.35965410e+00,-7.45090274e-04, 1.13268017e+00, 6.33061389e-02,
 -6.27697726e-03,-9.16730488e-02, 9.02679817e-02, 6.15201212e-01,
 -5.55412034e-02,-5.45295882e-02, 7.84518431e-01]

qacc:
[ 5.19684120e-01,-4.40386939e+01, 1.42776432e+02,-2.34214017e+02,
  5.65858340e-01,-3.60620649e+01, 1.10906886e+02,-1.76695403e+02,
  8.57384807e-03,-1.40164909e+00,-3.09104528e+01, 1.09384486e+02,
 -7.87949111e-01, 1.88680611e+00, 6.56403346e+00,-2.26836402e+01,
  4.65546453e+00, 1.05131840e+00,-5.01338672e+00, 3.33233398e+01,
 -2.97215054e+01,-1.43835419e+01]

qfrc_actuator:
[ 4.13646608e-04, 1.63668635e-01, 7.49207814e-03, 1.73829561e-01,
 -3.22523286e-04, 1.61433160e-01, 1.09703855e-02, 1.55578874e-01,
 -1.68745626e-03, 1.57760454e-01, 6.40087139e-03, 1.59350577e-01,
  1.20147361e-04,-2.21917879e-03, 0.00000000e+00,-1.94941266e-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,  1.88587571, -8.42794457,  1.88587571,  0.58894534,
       -1.80072739, -8.42794457, -1.80072739,  8.23342458,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001306474727069698
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.39002117e-14,  4.24892653e-14,  1.00000000e+00,  1.01550243e-27,
        1.00000000e+00, -4.24892653e-14, -1.00000000e+00,  0.00000000e+00,
       -2.39002117e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0754683 , -0.08478642,  0.06191673])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.09385086e-05,-2.14944774e-03,-3.80199459e-04,-5.15510175e-04,
  8.50711164e-05,-2.19496359e-03,-4.70215297e-04,-4.07055924e-04,
  4.52329462e-07,-1.50596058e-03,-4.34205486e-04, 1.86786954e-04,
  7.56953958e-05, 1.02595388e-04,-1.85019993e-05,-1.14969917e-04,
  3.75861764e-04, 3.51700986e-04,-1.21653217e+00, 1.71022782e-03,
  4.63965089e-04, 5.40765631e-04]


--- Step 1885 ---
qpos:
[-1.17155105e-02, 7.59726338e-01,-1.93580982e-02, 6.79488910e-01,
  4.05996786e-03, 7.44345376e-01,-2.95777679e-02, 6.17424093e-01,
  1.55251509e-02, 7.62842157e-01,-1.95349128e-02, 6.22587136e-01,
  1.35973011e+00,-7.56658657e-04, 1.13286146e+00, 6.33054232e-02,
 -6.30353687e-03,-9.16954946e-02, 9.02394852e-02, 6.15466707e-01,
 -5.51751396e-02,-5.27940225e-02, 7.84454733e-01]

qacc:
[-1.30315609e-01,-2.98681114e+01, 7.34852467e+01,-7.75912141e+01,
  6.95712678e-01,-3.30435321e+01, 9.25922526e+01,-1.38266296e+02,
 -1.66542219e-01, 1.00089084e+01,-9.79723322e+01, 2.96917030e+02,
 -2.00043300e-01, 8.06967823e-01,-3.83457866e+00, 1.25811915e+01,
  4.32075282e+00, 8.70887695e-01,-5.38053505e+00, 3.11696143e+01,
 -2.71143191e+01,-1.23201008e+01]

qfrc_actuator:
[ 3.61402464e-04, 1.62697012e-01, 7.51860273e-03, 1.73748125e-01,
 -2.53361513e-04, 1.60325265e-01, 1.08910431e-02, 1.55332197e-01,
 -1.72143704e-03, 1.57241271e-01, 6.44207168e-03, 1.60067261e-01,
  1.17714223e-04,-2.19778901e-03, 0.00000000e+00,-1.88588130e-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,  1.69143193, -8.46911063,  1.69143193,  0.52873068,
       -1.61923841, -8.46911063, -1.61923841,  8.31297294,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011430370420506333
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.07057659e-14, -2.42823063e-14,  1.00000000e+00, -1.47407600e-27,
        1.00000000e+00,  2.42823063e-14, -1.00000000e+00,  0.00000000e+00,
       -6.07057659e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07594912, -0.08480365,  0.06192674])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.30998099e-05,-2.33441410e-03,-4.89126728e-04,-1.84974793e-04,
  1.05619515e-04,-2.51446418e-03,-6.15961857e-04,-3.56331291e-04,
 -2.79598685e-05,-1.50698290e-03,-3.29906785e-04, 6.47427379e-04,
  6.18478068e-05, 6.67455122e-05,-2.42146352e-05, 5.40517915e-05,
  4.10829407e-04, 3.46460112e-04,-1.21653329e+00, 1.71829787e-03,
  4.48981946e-04, 5.31491486e-04]


--- Step 1886 ---
qpos:
[-1.17523715e-02, 7.62485810e-01,-1.93672130e-02, 6.82916171e-01,
  4.05602439e-03, 7.47063926e-01,-2.95160216e-02, 6.20484553e-01,
  1.55347964e-02, 7.65488201e-01,-1.95697446e-02, 6.25744532e-01,
  1.35980586e+00,-7.66605014e-04, 1.13304271e+00, 6.33044227e-02,
 -6.31382708e-03,-9.17150772e-02, 9.01883489e-02, 6.15747394e-01,
 -5.47320620e-02,-5.10438802e-02, 7.84381330e-01]

qacc:
[-8.46304278e-02,-3.24844038e+01, 9.46175046e+01,-1.47551012e+02,
  1.15275988e+00,-3.23013409e+01, 8.82536504e+01,-1.35214447e+02,
 -2.93347045e-01,-1.50897236e+01, 3.71388757e+01,-4.34028904e+01,
 -1.37647609e+00, 2.82131133e+00, 9.39420360e-01,-3.05679284e+00,
  4.06735195e+00, 7.15809334e-01,-5.65997788e+00, 2.95799883e+01,
 -2.50524560e+01,-1.05760578e+01]

qfrc_actuator:
[ 3.62635937e-04, 1.61919780e-01, 7.53757403e-03, 1.73481116e-01,
 -1.21441683e-04, 1.59215558e-01, 1.07828983e-02, 1.55079281e-01,
 -1.76346698e-03, 1.56904470e-01, 6.48077116e-03, 1.60006571e-01,
  1.02852548e-04,-2.10973209e-03, 0.00000000e+00,-1.90137887e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63440031,  1.4832054 , -8.50605493,  1.4832054 ,  0.48749231,
       -1.42058076, -8.50605493, -1.42058076,  8.38669288,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009896073943496397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.15529398e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.15529398e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07639643, -0.08481421,  0.06193619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56407716e-05,-2.25178834e-03,-5.35656187e-04,-3.73327530e-04,
  1.77367114e-04,-2.72087127e-03,-7.24616233e-04,-3.77944832e-04,
 -4.86950217e-05,-1.28600622e-03,-3.04828351e-04,-1.16652957e-04,
  3.37782739e-05, 1.20617907e-04,-6.81101362e-06,-1.60119405e-05,
  4.44460292e-04, 3.41430278e-04,-1.21653459e+00, 1.72307004e-03,
  4.35085375e-04, 5.21035296e-04]


--- Step 1887 ---
qpos:
[-1.17895953e-02, 7.65229168e-01,-1.93774126e-02, 6.86343807e-01,
  4.05444002e-03, 7.49762065e-01,-2.94571095e-02, 6.23550248e-01,
  1.55441475e-02, 7.68127609e-01,-1.96060512e-02, 6.28908738e-01,
  1.35988125e+00,-7.74747405e-04, 1.13322340e+00, 6.33072482e-02,
 -6.30861015e-03,-9.17323433e-02, 9.01137271e-02, 6.16040927e-01,
 -5.42161323e-02,-4.92787760e-02, 7.84299554e-01]

qacc:
[ -0.19597291,-17.55575598, 30.64224845,-11.62282267,  1.34988595,
  -9.49981567,-18.9861219 ,107.39365085, -0.16279778,  7.95302968,
 -58.86383021,155.70264431, -1.29241894,  2.79243882,-12.24916874,
  41.94820156,  3.87678562,  0.57913733, -5.87134985, 28.43503567,
 -23.40849896, -9.06599138]

qfrc_actuator:
[ 3.42715095e-04, 1.61301082e-01, 7.55269838e-03, 1.73515439e-01,
  1.13439681e-05, 1.58326987e-01, 1.06942313e-02, 1.55357276e-01,
 -1.77447015e-03, 1.56910459e-01, 6.53573846e-03, 1.60376623e-01,
  8.58967434e-05,-2.01838734e-03, 0.00000000e+00,-1.69707470e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.23456813,  1.20551083, -8.145849  ,  1.20551083,  0.47294438,
       -1.14864902, -8.145849  , -1.14864902,  8.06457862,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008479453155984806
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.63663712e-14,  9.81982273e-14,  1.00000000e+00, -1.60714864e-27,
        1.00000000e+00, -9.81982273e-14, -1.00000000e+00,  0.00000000e+00,
        1.63663712e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07680681, -0.08481954,  0.06194497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.34262879e-05,-2.06279360e-03,-5.34070297e-04,-7.43033771e-05,
  2.09584428e-04,-2.63654415e-03,-7.60032374e-04, 1.41526800e-04,
 -2.69478205e-05,-8.43573869e-04,-2.65660659e-04, 3.07045993e-04,
  2.94407391e-05, 1.31203362e-04,-8.58385016e-06, 2.01698899e-04,
  4.77171489e-04, 3.36606590e-04,-1.21653615e+00, 1.72529406e-03,
  4.22202206e-04, 5.09646652e-04]


--- Step 1888 ---
qpos:
[-1.18279901e-02, 7.67955551e-01,-1.93877735e-02, 6.89787304e-01,
  4.05476539e-03, 7.52442219e-01,-2.94023993e-02, 6.26634187e-01,
  1.55533200e-02, 7.70761758e-01,-1.96430100e-02, 6.32088059e-01,
  1.35995657e+00,-7.81859958e-04, 1.13340436e+00, 6.33094510e-02,
 -6.28844539e-03,-9.17477865e-02, 9.00149951e-02, 6.16345220e-01,
 -5.36305117e-02,-4.74981752e-02, 7.84210597e-01]

qacc:
[-6.45495812e-01, 7.19451241e+00,-9.76770906e+01, 3.15680793e+02,
  1.08713708e+00, 2.12768922e+01,-1.58398025e+02, 4.18386468e+02,
 -9.89723455e-02, 2.29265507e+01,-1.32013444e+02, 3.38072652e+02,
 -8.43238589e-01, 1.78146799e+00, 2.35042512e+00,-7.46758733e+00,
  3.73695686e+00, 4.55714309e-01,-6.02756410e+00, 2.76580388e+01,
 -2.20962461e+01,-7.72833978e+00]

qfrc_actuator:
[ 2.57106622e-04, 1.60570046e-01, 7.60200902e-03, 1.74330574e-01,
  9.02336546e-05, 1.57720983e-01, 1.06014142e-02, 1.56300701e-01,
 -1.78463589e-03, 1.56891923e-01, 6.60187904e-03, 1.61157406e-01,
  7.30285489e-05,-1.97915855e-03, 0.00000000e+00,-1.73769172e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.39932626,  0.88719531, -7.34594538,  0.88719531,  0.53791578,
       -0.82867635, -7.34594538, -0.82867635,  7.29924414,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000719369731067003
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.37602871e-14,  8.68121669e-14,  1.00000000e+00, -2.93080368e-27,
        1.00000000e+00, -8.68121669e-14, -1.00000000e+00,  0.00000000e+00,
        3.37602871e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07717747, -0.0848209 ,  0.061953  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06985657e-04,-2.05789598e-03,-4.51682334e-04, 7.20068423e-04,
  1.70010526e-04,-2.29349863e-03,-7.33981696e-04, 8.20236508e-04,
 -1.64289640e-05,-5.97394049e-04,-1.46486928e-04, 7.44619428e-04,
  3.41911100e-05, 8.05427641e-05, 1.58964597e-05,-3.10717935e-05,
  5.09324239e-04, 3.31979358e-04,-1.21653806e+00, 1.72549923e-03,
  4.10270140e-04, 4.97470471e-04]


--- Step 1889 ---
qpos:
[-1.18665855e-02, 7.70672548e-01,-1.94016592e-02, 6.93240047e-01,
  4.05624140e-03, 7.55103684e-01,-2.93495891e-02, 6.29732241e-01,
  1.55623709e-02, 7.73390997e-01,-1.96798736e-02, 6.35268774e-01,
  1.36003202e+00,-7.88577910e-04, 1.13358573e+00, 6.33081576e-02,
 -6.25371923e-03,-9.17618635e-02, 8.98917163e-02, 6.16658380e-01,
 -5.29775115e-02,-4.57013902e-02, 7.84115558e-01]

qacc:
[-1.11225509e-01, 1.42131875e+01,-8.96119738e+01, 2.15290360e+02,
  6.56912871e-01, 6.47968421e+00,-9.68114278e+01, 3.01763089e+02,
 -6.52176745e-02,-4.13329795e+00, 1.36817461e+00, 2.15011082e+01,
 -4.27060880e-01, 8.75047090e-01, 1.12122558e+01,-3.82349125e+01,
  3.64035044e+00, 3.41544271e-01,-6.13669679e+00, 2.72038055e+01,
 -2.10587376e+01,-6.51736573e+00]

qfrc_actuator:
[ 2.92812638e-04, 1.60613288e-01, 7.60033130e-03, 1.74817446e-01,
  1.18538835e-04, 1.56846441e-01, 1.05263609e-02, 1.57006939e-01,
 -1.79429715e-03, 1.56682425e-01, 6.60348033e-03, 1.61214959e-01,
  6.79255731e-05,-1.97114679e-03, 0.00000000e+00,-1.92234312e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.47291019,  0.59851843, -6.44517975,  0.59851843,  0.92366368,
       -0.51531942, -6.44517975, -0.51531942,  6.4250561 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006048409771420016
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.17780926e-14,  4.58890463e-14,  1.00000000e+00,  4.21160914e-27,
        1.00000000e+00, -4.58890463e-14, -1.00000000e+00,  0.00000000e+00,
       -9.17780926e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07750616, -0.08481938,  0.0619602 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.85924030e-05,-1.23435148e-03,-4.65939494e-04, 4.12023846e-04,
  1.02422278e-04,-2.33916787e-03,-6.21325970e-04, 6.11335338e-04,
 -1.12475056e-05,-6.10322253e-04,-1.32704301e-04, 4.37979243e-05,
  3.22514345e-05, 3.73562955e-05,-8.30158603e-07,-1.85435648e-04,
  5.41247889e-04, 3.27537738e-04,-1.21654037e+00, 1.72406755e-03,
  3.99239850e-04, 4.84581470e-04]


--- Step 1890 ---
qpos:
[-1.19045465e-02, 7.73390344e-01,-1.94207245e-02, 6.96687632e-01,
  4.05859485e-03, 7.57744907e-01,-2.92964108e-02, 6.32832586e-01,
  1.55713294e-02, 7.76013856e-01,-1.97156899e-02, 6.38453459e-01,
  1.36010766e+00,-7.95520148e-04, 1.13376678e+00, 6.33070096e-02,
 -6.20482617e-03,-9.17750142e-02, 8.97436837e-02, 6.16978603e-01,
 -5.22579110e-02,-4.38872161e-02, 7.84015578e-01]

qacc:
[ 3.46569767e-01, 5.73356189e+00,-3.46012673e+00,-6.39691295e+01,
  5.04550579e-01,-2.34212621e+01, 3.74758408e+01, 1.11366461e+01,
 -4.77895969e-02,-3.90058036e+00,-9.60431672e+00, 6.78724271e+01,
  3.33777554e-01,-5.31150655e-01,-9.34675673e-01, 2.52468426e+00,
  3.54172397e+00, 2.31566514e-01,-6.18844152e+00, 2.74265763e+01,
 -2.04572931e+01,-5.35402758e+00]

qfrc_actuator:
[ 3.65299995e-04, 1.61368834e-01, 7.58924121e-03, 1.74592803e-01,
  1.51993789e-04, 1.55783169e-01, 1.05146029e-02, 1.57106129e-01,
 -1.80364130e-03, 1.56360102e-01, 6.65463469e-03, 1.61414330e-01,
  5.68147517e-05,-1.99939457e-03, 0.00000000e+00,-1.90625039e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.64662515, -5.07974211,  2.46588638, -5.07974211,  5.7368919 ,
        0.1859501 ,  2.46588638,  0.1859501 ,  6.02968357,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005050116032851021
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09920546e-13, -1.09920546e-13,  1.00000000e+00,  1.20825265e-26,
        1.00000000e+00,  1.09920546e-13, -1.00000000e+00,  0.00000000e+00,
        1.09920546e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07779104, -0.08481595,  0.06196651])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.79164663e-05,-7.76783011e-05,-3.21349907e-04,-2.76866222e-04,
  7.81038434e-05,-2.53770971e-03,-5.60230099e-04, 2.01780113e-06,
 -8.64342561e-06,-7.53656783e-04,-1.06780612e-04, 1.70772200e-04,
  1.43746026e-05,-1.03334643e-05,-2.53333081e-05, 4.63573180e-06,
  5.73261993e-04, 3.23271190e-04,-1.21654315e+00, 1.72127898e-03,
  3.89074947e-04, 4.71001888e-04]


--- Step 1891 ---
qpos:
[-1.19420390e-02, 7.76107889e-01,-1.94396695e-02, 7.00126853e-01,
  4.06193593e-03, 7.60364616e-01,-2.92426243e-02, 6.35925958e-01,
  1.55802111e-02, 7.78626956e-01,-1.97487993e-02, 6.41647748e-01,
  1.36018318e+00,-8.02339258e-04, 1.13394722e+00, 6.33096996e-02,
 -6.14358695e-03,-9.17877023e-02, 8.95715515e-02, 6.17303865e-01,
 -5.14634691e-02,-4.20506530e-02, 7.83912745e-01]

qacc:
[ 2.59508461e-01,-1.59660920e+01, 7.64953270e+01,-1.82435879e+02,
  5.66720343e-01,-4.27102643e+01, 1.28378254e+02,-2.01700249e+02,
 -3.68809069e-02,-2.45232759e+00,-3.70003599e+01, 1.72724752e+02,
  9.63955595e-02,-9.06882434e-02,-1.25096042e+01, 4.24168025e+01,
  3.08654193e+00, 1.15670293e-01,-6.02491748e+00, 3.19335355e+01,
 -2.22465412e+01,-3.91243640e+00]

qfrc_actuator:
[ 3.88090926e-04, 1.61480175e-01, 7.64657887e-03, 1.74182740e-01,
  2.06104183e-04, 1.54633442e-01, 1.05038084e-02, 1.56740751e-01,
 -1.81277574e-03, 1.55760487e-01, 6.75228333e-03, 1.61890939e-01,
  4.20892743e-05,-1.99567915e-03, 0.00000000e+00,-1.70094389e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.06486856, -1.71519837,  4.76560469, -1.71519837,  9.30199898,
        1.52499413,  4.76560469,  1.52499413,  5.61373226,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004200722136515622
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32146687e-13,  1.98220030e-13,  1.00000000e+00,  2.61941202e-26,
        1.00000000e+00, -1.98220030e-13, -1.00000000e+00,  0.00000000e+00,
       -1.32146687e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07803139, -0.08481146,  0.06197192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.28623648e-05,-7.45303581e-05,-2.56841780e-05,-4.31085109e-04,
  8.81609936e-05,-2.74463035e-03,-6.11470810e-04,-4.80678680e-04,
 -7.32901482e-06,-1.10030407e-03,-8.17694445e-05, 4.46379054e-04,
 -1.00431901e-05, 4.89367118e-06,-1.31016582e-05, 2.01835141e-04,
  6.06133060e-04, 3.19192795e-04,-1.21654650e+00, 1.71724529e-03,
  3.79742755e-04, 4.56609965e-04]


--- Step 1892 ---
qpos:
[-1.19790752e-02, 7.78822128e-01,-1.94565801e-02, 7.03557708e-01,
  4.06585460e-03, 7.62962221e-01,-2.91894793e-02, 6.39011695e-01,
  1.55888306e-02, 7.81227801e-01,-1.97795829e-02, 6.44849739e-01,
  1.36025879e+00,-8.09595776e-04, 1.13412747e+00, 6.33151216e-02,
 -6.07144140e-03,-9.18003002e-02, 8.93759079e-02, 6.17632486e-01,
 -5.05871247e-02,-4.01875176e-02, 7.83808662e-01]

qacc:
[ 2.55056472e-01,-2.51951037e+01, 1.02187404e+02,-2.04663965e+02,
  3.34241527e-01,-4.12807683e+01, 1.24423708e+02,-2.05797333e+02,
 -1.37612219e-01,-8.22514749e+00,-1.60354396e+01, 1.28609038e+02,
  5.68936244e-01,-1.01816439e+00,-8.55334760e+00, 2.94351796e+01,
  2.72658053e+00, 2.25258400e-02,-5.87783932e+00, 3.57547555e+01,
 -2.37978730e+01,-2.74061010e+00]

qfrc_actuator:
[ 4.16481429e-04, 1.61205722e-01, 7.70623997e-03, 1.73755460e-01,
  2.18888777e-04, 1.53512220e-01, 1.04576997e-02, 1.56353517e-01,
 -1.83951566e-03, 1.55000429e-01, 6.80473944e-03, 1.62260380e-01,
  4.11935415e-05,-2.02630139e-03, 0.00000000e+00,-1.56338615e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.71696167, -1.59816309,  4.43797275, -1.59816309,  9.16232427,
        1.60082425,  4.43797275,  1.60082425,  5.2934362 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034793397712079566
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.59545071e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.59545071e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07823397, -0.08480633,  0.06197655])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.17631940e-05,-4.04475846e-04, 7.44430290e-06,-4.42052624e-04,
  5.13633656e-05,-2.85905333e-03,-7.09885273e-04,-5.21886860e-04,
 -2.44423861e-05,-1.43779325e-03,-1.84674548e-04, 3.33252216e-04,
 -5.10719508e-06,-3.15913349e-05, 1.44078443e-05, 1.46646717e-04,
  6.45049223e-04, 3.15401278e-04,-1.21655094e+00, 1.71116705e-03,
  3.71015326e-04, 4.39942747e-04]


--- Step 1893 ---
qpos:
[-1.20154325e-02, 7.81530483e-01,-1.94718113e-02, 7.06973934e-01,
  4.07009195e-03, 7.65539419e-01,-2.91386703e-02, 6.42084876e-01,
  1.55973772e-02, 7.83815138e-01,-1.98087701e-02, 6.48050380e-01,
  1.36033467e+00,-8.18175478e-04, 1.13430800e+00, 6.33201460e-02,
 -5.98953781e-03,-9.18131081e-02, 8.91572723e-02, 6.17963050e-01,
 -4.96228383e-02,-3.82943073e-02, 7.83704529e-01]

qacc:
[ 3.78002533e-01,-3.90514873e+01, 1.61526464e+02,-3.40602417e+02,
  1.86663499e-01,-4.34205406e+01, 1.49166159e+02,-2.96975898e+02,
 -3.28167452e-02,-2.46379830e+01, 6.40682371e+01,-6.98880555e+01,
  1.12149701e+00,-2.27422729e+00, 1.48540162e+00,-4.87415881e+00,
  2.43951049e+00,-5.24846575e-02,-5.74799820e+00, 3.89926401e+01,
 -2.51368326e+01,-1.78383685e+00]

qfrc_actuator:
[ 4.65809021e-04, 1.60738454e-01, 7.71207492e-03, 1.73001647e-01,
  2.24645511e-04, 1.52612575e-01, 1.03736559e-02, 1.55725836e-01,
 -1.84109753e-03, 1.54221515e-01, 6.82937853e-03, 1.62173022e-01,
  3.26033687e-05,-2.11252021e-03, 0.00000000e+00,-1.59117523e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49822267, -1.52068966,  4.23338046, -1.52068966,  9.23596194,
        1.70186242,  4.23338046,  1.70186242,  5.10955553,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028677444438375554
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67853871e-14,  2.90356161e-13,  1.00000000e+00,  2.81022335e-26,
        1.00000000e+00, -2.90356161e-13, -1.00000000e+00,  0.00000000e+00,
       -9.67853871e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07840452, -0.08480085,  0.0619805 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.22301401e-05,-7.74126216e-04,-1.08809193e-04,-7.79431833e-04,
  2.81268942e-05,-2.72168148e-03,-7.83480098e-04,-7.70357225e-04,
 -7.13705921e-06,-1.66897563e-03,-2.96180200e-04,-1.41538135e-04,
 -1.85901033e-05,-9.56317396e-05, 1.94772742e-05,-1.85978784e-05,
  6.89695764e-04, 3.11613753e-04,-1.21655666e+00, 1.70345890e-03,
  3.62816016e-04, 4.20471081e-04]


--- Step 1894 ---
qpos:
[-1.20508776e-02, 7.84227857e-01,-1.94843455e-02, 7.10371234e-01,
  4.07448715e-03, 7.68098698e-01,-2.90909626e-02, 6.45140499e-01,
  1.56062894e-02, 7.86392357e-01,-1.98386129e-02, 6.51245860e-01,
  1.36041028e+00,-8.27116882e-04, 1.13448836e+00, 6.33268349e-02,
 -5.89880203e-03,-9.18263681e-02, 8.89160961e-02, 6.18294349e-01,
 -4.85654483e-02,-3.63680847e-02, 7.83601211e-01]

qacc:
[ 5.08107507e-01,-5.63578913e+01, 2.22598958e+02,-4.50478438e+02,
  9.51162078e-02,-4.71892758e+01, 1.80903539e+02,-3.96632684e+02,
  2.03982610e-01,-2.10677523e+01, 6.90002743e+01,-1.27937548e+02,
  1.51400089e-01,-5.34765155e-01,-5.29221944e+00, 1.81091469e+01,
  2.20804769e+00,-1.13017481e-01,-5.63514825e+00, 4.17371138e+01,
 -2.62889315e+01,-9.98935580e-01]

qfrc_actuator:
[ 5.27293779e-04, 1.59875356e-01, 7.72066077e-03, 1.72026021e-01,
  2.26213408e-04, 1.51924033e-01, 1.02865551e-02, 1.54855347e-01,
 -1.80991620e-03, 1.53952267e-01, 6.87263158e-03, 1.61924071e-01,
  1.40506883e-05,-2.12452044e-03, 0.00000000e+00,-1.50310416e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.3566329 , -1.46371342,  4.10338803, -1.46371342,  9.44732443,
        1.81589298,  4.10338803,  1.81589298,  5.00437738,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023501171404703702
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18102945e-13,  1.18102945e-13,  1.00000000e+00,  1.39483057e-26,
        1.00000000e+00, -1.18102945e-13, -1.00000000e+00,  0.00000000e+00,
       -1.18102945e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07854791, -0.08479522,  0.06198387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.37082716e-05,-1.41067391e-03,-2.04507366e-04,-1.02528169e-03,
  1.37016040e-05,-2.45745021e-03,-7.75190631e-04,-1.01548702e-03,
  3.33899182e-05,-1.32768613e-03,-3.52550275e-04,-3.25181458e-04,
 -5.13216646e-05,-4.11351148e-05, 2.55904153e-06, 8.84908420e-05,
  7.39827441e-04, 3.07601098e-04,-1.21656384e+00, 1.69447244e-03,
  3.55111337e-04, 3.97740468e-04]


--- Step 1895 ---
qpos:
[-1.20854234e-02, 7.86909546e-01,-1.94954161e-02, 7.13765494e-01,
  4.07874643e-03, 7.70641486e-01,-2.90455826e-02, 6.48181337e-01,
  1.56153973e-02, 7.88962003e-01,-1.98691979e-02, 6.54436305e-01,
  1.36048520e+00,-8.34937860e-04, 1.13466874e+00, 6.33341856e-02,
 -5.79999110e-03,-9.18402759e-02, 8.86527661e-02, 6.18625325e-01,
 -4.74105422e-02,-3.44063820e-02, 7.83499297e-01]

qacc:
[ 4.98525993e-01,-3.01738717e+01, 8.30562103e+01,-1.06722092e+02,
 -6.88971174e-02,-4.23362639e+01, 1.58533049e+02,-3.38497065e+02,
  1.09761150e-01,-1.72383772e+01, 5.99926197e+01,-1.19362901e+02,
 -1.28700309e+00, 2.22935093e+00,-1.84982207e+00, 6.78533599e+00,
  2.01878884e+00,-1.61967000e-01,-5.53845959e+00, 4.40658102e+01,
 -2.72782095e+01,-3.51804506e-01]

qfrc_actuator:
[ 5.77815339e-04, 1.58853220e-01, 7.71145510e-03, 1.71868344e-01,
  2.07548722e-04, 1.51314567e-01, 1.02525776e-02, 1.54133239e-01,
 -1.81274429e-03, 1.53831059e-01, 6.92866659e-03, 1.61689031e-01,
  1.08642870e-05,-2.03916384e-03, 0.00000000e+00,-1.47168844e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.26352977, -1.4155274 ,  4.02168724, -1.4155274 ,  9.74919022,
        1.9308072 ,  4.02168724,  1.9308072 ,  4.94312277,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019127753876767295
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.90212597e-13,  2.90212597e-13,  1.00000000e+00, -8.42233513e-26,
        1.00000000e+00, -2.90212597e-13, -1.00000000e+00,  0.00000000e+00,
        2.90212597e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07866825, -0.08478959,  0.06198674])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.25423669e-05,-1.95114645e-03,-3.68758679e-04,-2.38139946e-04,
 -1.28823850e-05,-2.23800422e-03,-6.75314374e-04,-8.62065061e-04,
  1.78450658e-05,-1.00741294e-03,-2.83409088e-04,-3.04313557e-04,
 -4.05671686e-05, 6.26410645e-05, 7.35578761e-06, 3.58163148e-05,
  7.95246554e-04, 3.03176883e-04,-1.21657268e+00, 1.68450312e-03,
  3.47893215e-04, 3.71366035e-04]


--- Step 1896 ---
qpos:
[-1.21187687e-02, 7.89577441e-01,-1.95082689e-02, 7.17169059e-01,
  4.08280257e-03, 7.73172769e-01,-2.90043805e-02, 6.51222516e-01,
  1.56242123e-02, 7.91525038e-01,-1.99011308e-02, 6.57628345e-01,
  1.36055990e+00,-8.42331831e-04, 1.13484908e+00, 6.33421938e-02,
 -5.69353815e-03,-9.18549598e-02, 8.83687702e-02, 6.18955592e-01,
 -4.61484649e-02,-3.24066138e-02, 7.83399072e-01]

qacc:
[ 6.56007805e-01, 3.67301653e+00,-6.09474436e+01, 1.89552404e+02,
 -1.11235126e-01,-3.12074667e+00,-1.01739436e+01, 2.46668279e+01,
 -1.57703579e-01,-2.07702156e+00,-8.94675165e+00, 3.55754753e+01,
 -4.38843167e-01, 7.89937043e-01,-2.01008203e+00, 7.02978410e+00,
  1.91050363e+00,-1.94019569e-01,-5.16647591e+00, 4.80739130e+01,
 -3.02623948e+01,-1.40999927e-01]

qfrc_actuator:
[ 6.56912319e-04, 1.58348348e-01, 7.69172919e-03, 1.72352895e-01,
  1.94727744e-04, 1.51219858e-01, 1.02331883e-02, 1.54196763e-01,
 -1.85370704e-03, 1.53658157e-01, 6.92170900e-03, 1.61783823e-01,
  6.29163199e-06,-2.02099901e-03, 0.00000000e+00,-1.43842372e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.2064261 , -0.19763535,  4.20178067, -0.19763535, 19.54592048,
        0.72150989,  4.20178067,  0.72150989,  4.24036311,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015742900311301045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.76305351e-13,  3.52610702e-13,  1.00000000e+00, -6.21671534e-26,
        1.00000000e+00, -3.52610702e-13, -1.00000000e+00,  0.00000000e+00,
        1.76305351e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07713042, -0.08437344,  0.06198897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10645857e-04,-1.73800877e-03,-4.81372118e-04, 3.97076164e-04,
 -1.88760444e-05,-1.57436511e-03,-5.99223093e-04,-6.16336529e-05,
 -2.73446585e-05,-8.65670008e-04,-2.72756354e-04, 4.00695777e-05,
 -1.15948140e-05, 2.50852094e-05, 2.63324704e-06, 3.51230787e-05,
  8.55787985e-04, 2.98188906e-04,-1.21658334e+00, 1.67379767e-03,
  3.41167784e-04, 3.41025639e-04]


--- Step 1897 ---
qpos:
[-1.21513644e-02, 7.92234148e-01,-1.95223288e-02, 7.20572324e-01,
  4.08666510e-03, 7.75698256e-01,-2.89684350e-02, 6.54273313e-01,
  1.56328429e-02, 7.94084163e-01,-1.99354914e-02, 6.60825759e-01,
  1.36063488e+00,-8.50746459e-04, 1.13502959e+00, 6.33488582e-02,
 -5.58000724e-03,-9.18705714e-02, 8.80642567e-02, 6.19284171e-01,
 -4.47768253e-02,-3.03672724e-02, 7.83300696e-01]

qacc:
[ 4.10362231e-01,-1.19789225e+01, 2.21332177e+01,-1.61479986e+01,
 -1.09936544e-01, 2.42432621e+01,-1.20054021e+02, 2.50876772e+02,
 -1.00865338e-01, 1.13979213e+01,-6.07623417e+01, 1.34209375e+02,
  8.49907336e-01,-1.71113424e+00, 4.22940847e+00,-1.46158386e+01,
  1.76949026e+00,-2.31901658e-01,-5.12937676e+00, 4.93990467e+01,
 -3.07385711e+01, 3.71522831e-01]

qfrc_actuator:
[ 0.00068148, 0.1580162 , 0.00770386, 0.17234177, 0.00018553, 0.15145336,
  0.01017208, 0.15472245,-0.00186388, 0.1537226 , 0.00689561, 0.1620719 ,
  0.        ,-0.00209616, 0.        ,-0.00151083, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.17200754, -1.58808917,  3.85792946, -1.58808917,  9.07312389,
        2.01750961,  3.85792946,  2.01750961,  5.002501  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001323968074673984
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.19278624e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.19278624e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07719705, -0.08437006,  0.06199062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.91555871e-05,-1.44572646e-03,-3.99429055e-04,-8.05622450e-05,
 -1.78678756e-05,-8.30729817e-04,-4.71898263e-04, 4.44712842e-04,
 -1.72508064e-05,-5.34010360e-04,-2.50692487e-04, 2.46397459e-04,
 -6.72886989e-06,-7.11275444e-05, 1.24142932e-06,-7.10238434e-05,
  9.24243200e-04, 2.91469264e-04,-1.21659621e+00, 1.66192278e-03,
  3.34304008e-04, 3.03547112e-04]


--- Step 1898 ---
qpos:
[-1.21837660e-02, 7.94877064e-01,-1.95350203e-02, 7.23970135e-01,
  4.09055844e-03, 7.78219394e-01,-2.89350579e-02, 6.57328043e-01,
  1.56417289e-02, 7.96638008e-01,-1.99689221e-02, 6.64017186e-01,
  1.36071013e+00,-8.60491898e-04, 1.13521040e+00, 6.33519250e-02,
 -5.45988884e-03,-9.18872325e-02, 8.77393418e-02, 6.19610172e-01,
 -4.32935652e-02,-2.82870874e-02, 7.83204152e-01]

qacc:
[ 1.12517990e-01,-3.17981522e+01, 9.80751569e+01,-1.53207168e+02,
  1.63966779e-02, 8.44404324e+00,-4.74602568e+01, 1.02538074e+02,
  1.41697049e-01,-2.05227151e+01, 7.75546899e+01,-1.50778059e+02,
  9.16569999e-01,-2.00303943e+00, 1.12236150e+01,-3.88165818e+01,
  1.64687149e+00,-2.62404052e-01,-5.10037992e+00, 5.05290406e+01,
 -3.11494130e+01, 7.96249975e-01]

qfrc_actuator:
[ 0.00067331, 0.15724026, 0.00773523, 0.17205689, 0.00019634, 0.15145663,
  0.01012418, 0.15493019,-0.00183782, 0.15345006, 0.00693066, 0.16176142,
  0.        ,-0.00217279, 0.        ,-0.00169815, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.1475752 , -1.5049174 ,  3.86491961, -1.5049174 ,  9.47073498,
        2.07272507,  3.86491961,  2.07272507,  4.9546502 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011096414802332089
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.50078612e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.50078612e-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([-0.07725296, -0.08436646,  0.06199204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.76137527e-05,-1.72728458e-03,-3.26936643e-04,-3.51624640e-04,
  2.66069612e-06,-6.01993168e-04,-2.77097677e-04, 1.69167107e-04,
  2.35975327e-05,-6.73940248e-04,-1.13289898e-04,-3.34789175e-04,
 -2.09318286e-05,-9.63883444e-05,-1.09817108e-05,-1.92017213e-04,
  9.97206993e-04, 2.83922886e-04,-1.21661131e+00, 1.64972409e-03,
  3.28084424e-04, 2.61530132e-04]


--- Step 1899 ---
qpos:
[-1.22160547e-02, 7.97507365e-01,-1.95476991e-02, 7.27358404e-01,
  4.09471263e-03, 7.80737573e-01,-2.89035437e-02, 6.60386801e-01,
  1.56509201e-02, 7.99184311e-01,-2.00012582e-02, 6.67204436e-01,
  1.36078549e+00,-8.71384650e-04, 1.13539103e+00, 6.33537184e-02,
 -5.33361968e-03,-9.19050414e-02, 8.73941115e-02, 6.19932770e-01,
 -4.16969081e-02,-2.61649831e-02, 7.83109266e-01]

qacc:
[ 6.73804630e-02,-3.39898102e+01, 1.18349976e+02,-2.25665817e+02,
  1.43013953e-01, 8.52238320e+00,-4.55797491e+01, 1.00615319e+02,
  1.68968322e-01,-2.06073629e+01, 6.86679931e+01,-1.16138305e+02,
  8.30302774e-01,-1.82434363e+00, 3.47502241e+00,-1.27662605e+01,
  1.53768957e+00,-2.86949440e-01,-5.07883481e+00, 5.14966695e+01,
 -3.15038049e+01, 1.14967963e+00]

qfrc_actuator:
[ 0.00068125, 0.15670219, 0.00775832, 0.17157751, 0.000219  , 0.15150015,
  0.01010139, 0.15514428,-0.0018259 , 0.15297827, 0.00694675, 0.16154484,
  0.        ,-0.00223182, 0.        ,-0.00175635, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.13021952, -1.40615878,  3.88348178, -1.40615878,  9.85300209,
        2.07214593,  3.88348178,  2.07214593,  4.88051689,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.259666448191428e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  5.9949407e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -5.9949407e-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([-0.07729976, -0.08436273,  0.06199328])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01185244e-05,-1.64048055e-03,-3.91359927e-04,-5.59445117e-04,
  2.37780979e-05,-4.05101113e-04,-1.91507871e-04, 1.84377816e-04,
  2.82033783e-05,-9.44589547e-04,-1.62715340e-04,-2.53947988e-04,
 -3.49930067e-05,-8.85233451e-05,-3.00408347e-05,-7.11970055e-05,
  1.07459227e-03, 2.75469787e-04,-1.21662881e+00, 1.63734730e-03,
  3.22506514e-04, 2.14812932e-04]


--- Step 1900 ---
qpos:
[-1.22487352e-02, 8.00129313e-01,-1.95622212e-02, 7.30729395e-01,
  4.09911254e-03, 7.83253442e-01,-2.88732662e-02, 6.63446267e-01,
  1.56601558e-02, 8.01722138e-01,-2.00336693e-02, 6.70397582e-01,
  1.36086078e+00,-8.82993250e-04, 1.13557160e+00, 6.33537478e-02,
 -5.20159828e-03,-9.19240770e-02, 8.70286249e-02, 6.20251189e-01,
 -3.99853148e-02,-2.40000445e-02, 7.83015731e-01]

qacc:
[-2.06678317e-01,-3.73696058e+01, 1.57504015e+02,-3.65034857e+02,
  1.34901352e-01, 1.61989276e+00,-1.14701523e+01, 2.26303325e+01,
  2.67098899e-02,-9.97092057e-02,-3.10885074e+01, 1.15066826e+02,
  3.40962628e-01,-9.48444903e-01, 5.20067739e+00,-1.84094523e+01,
  1.43806254e+00,-3.06661605e-01,-5.06408360e+00, 5.23290039e+01,
 -3.18094767e+01, 1.44485513e+00]

qfrc_actuator:
[ 0.0006456 , 0.15657749, 0.00775948, 0.17072141, 0.00023078, 0.15149716,
  0.01007623, 0.15518298,-0.00184035, 0.15256884, 0.00695093, 0.16184675,
  0.        ,-0.00226219, 0.        ,-0.00184448, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.11790281, -1.29167965,  3.9100751 , -1.29167965, 10.18885095,
        2.00551651,  3.9100751 ,  2.00551651,  4.78041819,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.683462771028438e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.61237849e-13,  7.22475697e-13,  1.00000000e+00,  2.60985567e-25,
        1.00000000e+00, -7.22475697e-13, -1.00000000e+00,  0.00000000e+00,
       -3.61237849e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07733875, -0.08435892,  0.06199435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.68353443e-05,-1.19862392e-03,-4.09792525e-04,-9.39470543e-04,
  2.24660777e-05,-3.23891662e-04,-1.43408123e-04, 1.93784842e-05,
  3.90071891e-06,-1.03932105e-03,-2.32101192e-04, 2.54975416e-04,
 -4.06373420e-05,-6.11556278e-05,-2.39633672e-05,-9.65018436e-05,
  1.15631515e-03, 2.66044670e-04,-1.21664884e+00, 1.62490956e-03,
  3.17568826e-04, 1.63264836e-04]


--- Step 1901 ---
qpos:
[-1.22819326e-02, 8.02743586e-01,-1.95775170e-02, 7.34081003e-01,
  4.10348701e-03, 7.85765531e-01,-2.88427602e-02, 6.66501068e-01,
  1.56689579e-02, 8.04252718e-01,-2.00655854e-02, 6.73596574e-01,
  1.36093574e+00,-8.94469569e-04, 1.13575211e+00, 6.33520166e-02,
 -5.06419707e-03,-9.19444023e-02, 8.66429163e-02, 6.20564683e-01,
 -3.81574480e-02,-2.17914896e-02, 7.82923122e-01]

qacc:
[-2.72598804e-01,-4.31937550e+01, 1.83529931e+02,-4.16855893e+02,
 -1.17035688e-02,-1.40784782e+01, 5.45486976e+01,-1.11718538e+02,
 -2.30234432e-01,-1.35121858e-01,-2.86682501e+01, 1.10828659e+02,
 -4.55171276e-01, 5.88494567e-01, 5.26282072e+00,-1.84578407e+01,
  1.34495008e+00,-3.22428142e-01,-5.05548154e+00, 5.30484006e+01,
 -3.20731229e+01, 1.69208860e+00]

qfrc_actuator:
[ 0.00061977, 0.15632878, 0.00776709, 0.16975736, 0.00021819, 0.15127152,
  0.01006751, 0.15494063,-0.00188825, 0.15237829, 0.00703746, 0.16214956,
  0.        ,-0.00223984, 0.        ,-0.00193182, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.10918554, -1.16359559,  3.94099621, -1.16359559, 10.44744321,
        1.87139705,  3.94099621,  1.87139705,  4.66172334,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.328283392323386e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.38595649e-13,  8.77191298e-13,  1.00000000e+00,  3.84732287e-25,
        1.00000000e+00, -8.77191298e-13, -1.00000000e+00,  0.00000000e+00,
       -4.38595649e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07737108, -0.08435511,  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:
[-4.85946583e-05,-1.09384909e-03,-3.28922807e-04,-1.04064207e-03,
 -2.45839140e-06,-4.97516541e-04,-1.10076202e-04,-2.60601848e-04,
 -4.08068075e-05,-8.67770242e-04,-1.60346014e-04, 2.61297107e-04,
 -3.71488517e-05,-2.62467526e-06,-2.46763172e-05,-9.64782617e-05,
  1.24229358e-03, 2.55594088e-04,-1.21667158e+00, 1.61250483e-03,
  3.13270011e-04, 1.06780301e-04]


--- Step 1902 ---
qpos:
[-1.23156373e-02, 8.05347353e-01,-1.95920607e-02, 7.37418301e-01,
  4.10774999e-03, 7.88271270e-01,-2.88115316e-02, 6.69549439e-01,
  1.56770858e-02, 8.06776775e-01,-2.00963299e-02, 6.76793486e-01,
  1.36101038e+00,-9.05449946e-04, 1.13593217e+00, 6.33515594e-02,
 -4.92177199e-03,-9.19660674e-02, 8.62369981e-02, 6.20872526e-01,
 -3.62121412e-02,-1.95386466e-02, 7.82830907e-01]

qacc:
[-2.65106806e-01,-4.18408247e+01, 1.60472419e+02,-3.27429461e+02,
 -5.70608193e-02,-2.20029356e+01, 8.19177719e+01,-1.59437816e+02,
 -3.57323308e-01,-1.56040032e+01, 4.73884732e+01,-6.82673901e+01,
 -4.99573091e-01, 8.84041555e-01,-4.45137254e+00, 1.47313532e+01,
  1.25597023e+00,-3.34949949e-01,-5.05240894e+00, 5.36733273e+01,
 -3.23005205e+01, 1.89953333e+00]

qfrc_actuator:
[ 0.00060011, 0.15572429, 0.00777824, 0.16903934, 0.0002089 , 0.15082592,
  0.01004995, 0.15460576,-0.001938  , 0.15214371, 0.00711959, 0.16204229,
  0.        ,-0.00220416, 0.        ,-0.00185821, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.10304484, -1.02598807,  3.9726975 , -1.02598807, 10.60442935,
        1.67904629,  3.9726975 ,  1.67904629,  4.536675  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.16018873461116e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.37879079e-13,  1.07575816e-12,  1.00000000e+00,  5.78627806e-25,
        1.00000000e+00, -1.07575816e-12, -1.00000000e+00,  0.00000000e+00,
       -5.37879079e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07739768, -0.0843513 ,  0.06199609])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.78591620e-05,-1.37826139e-03,-2.97828453e-04,-7.90450303e-04,
 -1.04688506e-05,-8.17464319e-04,-1.58785199e-04,-3.64315580e-04,
 -6.33946866e-05,-8.01269975e-04,-1.21316152e-04,-1.39991458e-04,
 -2.13847462e-05, 2.68120715e-05,-2.52942200e-05, 6.43393348e-05,
  1.33244630e-03, 2.44074200e-04,-1.21669716e+00, 1.60020827e-03,
  3.09608204e-04, 4.52740405e-05]


--- Step 1903 ---
qpos:
[-1.23496140e-02, 8.07938505e-01,-1.96051771e-02, 7.40738457e-01,
  4.11207771e-03, 7.90767081e-01,-2.87793700e-02, 6.72594939e-01,
  1.56844218e-02, 8.09292710e-01,-2.01255793e-02, 6.79985771e-01,
  1.36108500e+00,-9.16515119e-04, 1.13611194e+00, 6.33529411e-02,
 -4.77466988e-03,-9.19891116e-02, 8.58108628e-02, 6.21174005e-01,
 -3.41483742e-02,-1.72409359e-02, 7.82738459e-01]

qacc:
[-1.36995414e-01,-5.15687726e+01, 1.96784087e+02,-3.96004410e+02,
  4.04496917e-02,-2.08046972e+01, 6.14189357e+01,-8.93973931e+01,
 -4.18393040e-01,-2.32644581e+01, 7.76731875e+01,-1.29777081e+02,
  1.80846891e-01,-3.03726705e-01,-6.01750361e+00, 2.03610732e+01,
  1.16925597e+00,-3.44780275e-01,-5.05427743e+00, 5.42190458e+01,
 -3.24966429e+01, 2.07363632e+00]

qfrc_actuator:
[ 0.00060209, 0.15500099, 0.00780805, 0.16816982, 0.00021944, 0.15014591,
  0.01002648, 0.15444978,-0.00198846, 0.15167185, 0.00716272, 0.16180108,
  0.        ,-0.00221416, 0.        ,-0.00176136, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09875127, -0.88413496,  4.00225778, -0.88413496, 10.64780641,
        1.44674554,  4.00225778,  1.44674554,  4.41835045,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.150069951223967e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.35997222e-14,  1.67199444e-13,  1.00000000e+00,  1.39778271e-26,
        1.00000000e+00, -1.67199444e-13, -1.00000000e+00,  0.00000000e+00,
       -8.35997222e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07741935, -0.08434754,  0.0619968 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.59261186e-05,-1.63930571e-03,-3.24088090e-04,-9.45251627e-04,
  5.66973353e-06,-1.24314872e-03,-2.37970977e-04,-2.00753473e-04,
 -7.46534564e-05,-1.00813623e-03,-1.55092031e-04,-2.78792557e-04,
 -5.56531728e-06,-7.62458676e-06,-6.82464096e-06, 9.66505950e-05,
  1.42669188e-03, 2.31449018e-04,-1.21672576e+00, 1.58807962e-03,
  3.06580609e-04,-2.13229683e-05]


--- Step 1904 ---
qpos:
[-1.23834278e-02, 8.10517451e-01,-1.96176314e-02, 7.44031327e-01,
  4.11648494e-03, 7.93250642e-01,-2.87460938e-02, 6.75636839e-01,
  1.56912872e-02, 8.11800463e-01,-2.01538440e-02, 6.83177616e-01,
  1.36115952e+00,-9.27364138e-04, 1.13629208e+00, 6.33517664e-02,
 -4.62323440e-03,-9.20135653e-02, 8.53644854e-02, 6.21468410e-01,
 -3.19652512e-02,-1.48978552e-02, 7.82645061e-01]

qacc:
[ 9.58824540e-02,-6.73085101e+01, 2.76685187e+02,-6.00729333e+02,
  4.95424307e-02,-2.56752349e+01, 7.59224998e+01,-1.11100325e+02,
 -2.46940701e-01,-1.42590223e+01, 3.53227586e+01,-3.35017997e+01,
 -4.19384015e-01, 6.67906215e-01, 8.30578441e+00,-2.81717101e+01,
  1.08334290e+00,-3.52355552e-01,-5.06053264e+00, 5.46981764e+01,
 -3.26657630e+01, 2.21949618e+00]

qfrc_actuator:
[ 0.00063479, 0.15440799, 0.00783032, 0.16679191, 0.00022399, 0.14942014,
  0.01003448, 0.15425813,-0.00200343, 0.15132812, 0.0072349 , 0.16178467,
  0.        ,-0.00219794, 0.        ,-0.00190019, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09578366, -0.74347601,  4.02773971, -0.74347601, 10.58044067,
        1.19699565,  4.02773971,  1.19699565,  4.31673576,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.273004619731151e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.81606825e-12,  2.54404550e-12,  1.00000000e+00, -9.70825128e-24,
        1.00000000e+00, -2.54404550e-12, -1.00000000e+00,  0.00000000e+00,
        3.81606825e-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([-0.07743676, -0.08434384,  0.06199743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49517620e-05,-1.66416949e-03,-3.91469490e-04,-1.46678247e-03,
  6.97806472e-06,-1.53510279e-03,-2.95987262e-04,-2.50794322e-04,
 -4.45540189e-05,-1.00654158e-03,-1.75862428e-04,-6.53966133e-05,
 -4.93924597e-06, 1.32165370e-05, 4.87664843e-06,-1.34963612e-04,
  1.52494797e-03, 2.17688997e-04,-1.21675752e+00, 1.57616593e-03,
  3.04183216e-04,-9.30667087e-05]


--- Step 1905 ---
qpos:
[-1.24166858e-02, 8.13088157e-01,-1.96324542e-02, 7.47299770e-01,
  4.12074572e-03, 7.95726407e-01,-2.87155943e-02, 6.78680115e-01,
  1.56980556e-02, 8.14302020e-01,-2.01830972e-02, 6.86375036e-01,
  1.36123372e+00,-9.37185840e-04, 1.13647243e+00, 6.33472761e-02,
 -4.46781059e-03,-9.20394510e-02, 8.48978254e-02, 6.21755030e-01,
 -2.96619838e-02,-1.25089674e-02, 7.82549918e-01]

qacc:
[ 3.00588218e-01,-4.86250056e+01, 2.13050712e+02,-5.06027173e+02,
 -7.85771030e-02,-1.91572873e-01,-1.65551146e+01, 4.08582732e+01,
 -5.05216220e-02, 4.76531013e+00,-4.23137692e+01, 1.19143090e+02,
 -1.20656940e+00, 2.17733373e+00, 1.04375544e+01,-3.58000154e+01,
  9.97081324e-01,-3.58019740e-01,-5.07065434e+00, 5.51211618e+01,
 -3.28115464e+01, 2.34114615e+00]

qfrc_actuator:
[ 0.00068559, 0.15428838, 0.00781276, 0.16558752, 0.00020716, 0.1493478 ,
  0.01000755, 0.15434875,-0.00199713, 0.1512066 , 0.00725342, 0.16207833,
  0.        ,-0.00213073, 0.        ,-0.00207025, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09376933, -0.60867367,  4.04826676, -0.60867367, 10.41804319,
        0.95088076,  4.04826676,  0.95088076,  4.23673819,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.5077038647902672e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.91757707e-13, -8.30109249e-13,  1.00000000e+00, -5.74234471e-25,
        1.00000000e+00,  8.30109249e-13, -1.00000000e+00,  0.00000000e+00,
       -6.91757707e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0774505, -0.0843402,  0.061998 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.21515165e-05,-1.23599858e-03,-4.60411962e-04,-1.30748586e-03,
 -1.38395874e-05,-1.05705427e-03,-3.97831769e-04, 1.81026995e-05,
 -9.34093510e-06,-7.79298556e-04,-2.24558717e-04, 2.48815859e-04,
 -4.20893460e-08, 6.99775351e-05,-1.74329345e-05,-1.78029078e-04,
  1.62713047e-03, 2.02769935e-04,-1.21679262e+00, 1.56450364e-03,
  3.02410592e-04,-1.70002730e-04]


--- Step 1906 ---
qpos:
[-1.24487186e-02, 8.15653259e-01,-1.96489330e-02, 7.50547693e-01,
  4.12481152e-03, 7.98200430e-01,-2.86904199e-02, 6.81733055e-01,
  1.57048462e-02, 8.16797675e-01,-2.02134252e-02, 6.89577627e-01,
  1.36130777e+00,-9.46159103e-04, 1.13665213e+00, 6.33451139e-02,
 -4.30874851e-03,-9.20667849e-02, 8.44108287e-02, 6.22033148e-01,
 -2.72378764e-02,-1.00738912e-02, 7.82452156e-01]

qacc:
[ 6.54251795e-01,-3.99986438e+01, 1.78084924e+02,-4.24684793e+02,
 -1.09946064e-01, 2.97214601e+01,-1.30531982e+02, 2.55267558e+02,
  1.26955524e-02, 4.64126366e+00,-4.01911990e+01, 1.11417528e+02,
 -5.36088767e-01, 1.21966578e+00,-7.93445041e+00, 2.64884135e+01,
  9.09567413e-01,-3.62043554e-01,-5.08415513e+00, 5.54966484e+01,
 -3.29371340e+01, 2.44177777e+00]

qfrc_actuator:
[ 0.0007823 , 0.15431169, 0.00784509, 0.16458406, 0.00019545, 0.14975673,
  0.0099276 , 0.15487148,-0.001996  , 0.15098892, 0.00722357, 0.16233917,
  0.        ,-0.0020871 , 0.        ,-0.00193771, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.0924419 , -0.48304996,  4.06383359, -0.48304996, 10.18394187,
        0.72406972,  4.06383359,  0.72406972,  4.17850887,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8360382079467275e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.83445650e-12,  3.77927533e-13,  1.00000000e+00, -1.07121915e-24,
        1.00000000e+00, -3.77927533e-13, -1.00000000e+00,  0.00000000e+00,
        2.83445650e-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([-0.07746103, -0.08433664,  0.06199851])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15580091e-04,-8.62707320e-04,-3.27725987e-04,-1.09019163e-03,
 -1.82008476e-05,-3.19919126e-04,-3.57895820e-04, 4.70262557e-04,
  1.91263285e-06,-7.46910627e-04,-2.22725247e-04, 2.29539771e-04,
  1.56806021e-05, 6.25829461e-05,-3.18237040e-05, 1.19473744e-04,
  1.73315283e-03, 1.86672090e-04,-1.21683121e+00, 1.55312022e-03,
  3.01255720e-04,-2.52168234e-04]


--- Step 1907 ---
qpos:
[-1.24793065e-02, 8.18212040e-01,-1.96650137e-02, 7.53769302e-01,
  4.12869582e-03, 8.00673109e-01,-2.86671526e-02, 6.84789962e-01,
  1.57120559e-02, 8.19286413e-01,-2.02441579e-02, 6.92785404e-01,
  1.36138180e+00,-9.54505228e-04, 1.13683165e+00, 6.33441557e-02,
 -4.14640608e-03,-9.20955773e-02, 8.39034297e-02, 6.22302037e-01,
 -2.46923142e-02,-7.59229304e-03, 7.82350830e-01]

qacc:
[ 7.71815617e-01,-5.69815482e+01, 2.48456915e+02,-5.63656499e+02,
 -9.93508614e-02, 1.06117890e+01,-4.92572584e+01, 1.00963421e+02,
  2.23726482e-01, 1.49401210e+00,-3.13071000e+01, 1.03581510e+02,
 -3.80042216e-01, 9.07882725e-01,-3.86031294e+00, 1.32109656e+01,
  8.20089343e-01,-3.64639661e-01,-5.10057817e+00, 5.58317998e+01,
 -3.30452144e+01, 2.52391781e+00]

qfrc_actuator:
[ 0.00087016, 0.15403085, 0.00787207, 0.16326322, 0.00018691, 0.1498479 ,
  0.00989051, 0.15507657,-0.00196254, 0.1506447 , 0.00720068, 0.16259624,
  0.        ,-0.00205784, 0.        ,-0.00187648, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09161108, -0.36846616,  4.07498637, -0.36846616,  9.9032817 ,
        0.52549966,  4.07498637,  0.52549966,  4.13912752,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2426310201221757e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.46722722e-12,  8.93445445e-12,  1.00000000e+00,  3.99122382e-23,
        1.00000000e+00, -8.93445445e-12, -1.00000000e+00,  0.00000000e+00,
       -4.46722722e-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([-0.07746877, -0.08433316,  0.06199897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.36608714e-04,-9.24677233e-04,-2.35766258e-04,-1.38558518e-03,
 -1.69508721e-05,-2.02560034e-04,-1.47416685e-04, 1.90444778e-04,
  3.94762052e-05,-8.55375462e-04,-2.09456580e-04, 2.26707512e-04,
  2.28688308e-05, 4.97486274e-05,-2.81703483e-06, 6.34737741e-05,
  1.84292530e-03, 1.69379478e-04,-1.21687347e+00, 1.54203549e-03,
  3.00709874e-04,-3.39593738e-04]


--- Step 1908 ---
qpos:
[-1.25089717e-02, 8.20765273e-01,-1.96812167e-02, 7.56957206e-01,
  4.13261714e-03, 8.03142319e-01,-2.86439040e-02, 6.87847034e-01,
  1.57196958e-02, 8.21767073e-01,-2.02744160e-02, 6.96003119e-01,
  1.36145594e+00,-9.62647044e-04, 1.13701116e+00, 6.33435887e-02,
 -3.97671330e-03,-9.21235275e-02, 8.33967459e-02, 6.22566572e-01,
 -2.19848975e-02,-5.00146962e-03, 7.82241978e-01]

qacc:
[ 4.94395433e-01,-6.78700579e+01, 3.05008503e+02,-7.10357572e+02,
  2.13087866e-02,-4.21088315e+00, 7.80059090e+00,-2.54564382e+00,
  2.29604628e-01, 6.26132012e+00,-6.25384079e+01, 1.96411129e+02,
 -2.67313638e-02, 2.08321775e-01,-1.20557960e+00, 4.18759513e+00,
  1.83758598e+00, 2.10567189e-01, 1.78794768e-01, 9.30057249e+01,
 -2.92517095e+01, 9.55879549e-02]

qfrc_actuator:
[ 0.00089873, 0.15381903, 0.00787669, 0.16157066, 0.0001981 , 0.14960669,
  0.00986009, 0.15507514,-0.00194561, 0.15026344, 0.00723499, 0.1630975 ,
  0.        ,-0.00205507, 0.        ,-0.00185782, 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: -9.317731575233384e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.48939554e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.48939554e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06040065, -0.09507685,  0.06199212])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.73641632e-05,-8.81646215e-04,-2.68781562e-04,-1.76292987e-03,
  3.34560675e-06,-4.37360825e-04,-1.01089511e-04,-1.10671235e-05,
  4.05713057e-05,-9.49750127e-04,-1.72341028e-04, 4.67505331e-04,
  2.39175938e-05, 2.14756067e-05, 2.64869382e-06, 2.11015646e-05,
  1.95635423e-03, 1.50879329e-04,-1.21691956e+00, 1.53126259e-03,
  3.00762506e-04,-4.32304392e-04]


--- Step 1909 ---
qpos:
[-1.25377718e-02, 8.23310427e-01,-1.96958506e-02, 7.60110881e-01,
  4.13680192e-03, 8.05602855e-01,-2.86198014e-02, 6.90914627e-01,
  1.57274783e-02, 8.24236400e-01,-2.03024047e-02, 6.99221708e-01,
  1.36153025e+00,-9.70892839e-04, 1.13719059e+00, 6.33435796e-02,
 -3.80117962e-03,-9.21545910e-02, 8.29057577e-02, 6.22823857e-01,
 -1.90050066e-02,-2.38522063e-03, 7.82127588e-01]

qacc:
[ 4.65223595e-01,-7.67049017e+01, 3.31195164e+02,-7.38881846e+02,
  1.44652826e-01, 5.31243500e+00,-6.23372667e+01, 2.04769364e+02,
  8.10941793e-02,-1.95034824e+01, 4.38751959e+01,-2.20906714e+01,
  2.46452672e-01,-3.40578539e-01,-1.81031654e+00, 6.13331900e+00,
  1.46022486e+00,-7.78323800e-01, 3.92389195e+00, 9.46683737e+01,
 -9.86134162e+01, 7.09718154e-01]

qfrc_actuator:
[ 0.00094494, 0.15333082, 0.00792153, 0.15985052, 0.00022097, 0.14892018,
  0.0098148 , 0.15559111,-0.00195651, 0.14950884, 0.00726739, 0.16311711,
  0.        ,-0.00206803, 0.        ,-0.00182889, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  4.24658518,   1.57904459,   3.94209384,   1.57904459,
        29.46076925, -10.09979024,   3.94209384, -10.09979024,
         8.29215582,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0001819741897948965
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.05049586e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.05049586e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04789207, -0.07769773,  0.06198432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.19975596e-05,-1.15356232e-03,-2.35541631e-04,-1.79825067e-03,
  2.43624904e-05,-1.01105254e-03,-1.63961915e-04, 4.95078764e-04,
  1.32363233e-05,-1.35887434e-03,-1.80837845e-04,-1.09930876e-05,
  1.77373415e-05,-1.38153525e-06, 1.40421000e-07, 2.96441795e-05,
  2.15975610e-03, 1.46808576e-04,-1.21699139e+00, 1.52016603e-03,
  2.90444933e-04,-5.33284393e-04]


--- Step 1910 ---
qpos:
[-1.25654382e-02, 8.25842301e-01,-1.97088040e-02, 7.63238231e-01,
  4.14066832e-03, 8.08050091e-01,-2.85940489e-02, 6.93993626e-01,
  1.57350942e-02, 8.26691194e-01,-2.03275971e-02, 7.02427529e-01,
  1.36160482e+00,-9.79712105e-04, 1.13737026e+00, 6.33415635e-02,
 -3.62023410e-03,-9.21899264e-02, 8.24521431e-02, 6.23074098e-01,
 -1.57200939e-02, 2.11747304e-04, 7.82004797e-01]

qacc:
[ 6.06494451e-01,-6.95436947e+01, 2.77800605e+02,-5.83885402e+02,
 -1.65410734e-01,-1.34764786e+00,-5.01767679e+01, 2.07982782e+02,
 -7.87791362e-02,-5.00682312e+01, 1.78980445e+02,-3.27016094e+02,
  4.67867237e-01,-9.12295009e-01, 6.37240976e+00,-2.18764109e+01,
  1.35296035e+00,-1.06798829e+00, 9.34340118e+00, 8.73711809e+01,
 -1.25216365e+02,-4.08492461e-01]

qfrc_actuator:
[ 0.00101918, 0.15237973, 0.00790009, 0.15851839, 0.0001796 , 0.14799083,
  0.00979522, 0.15614081,-0.001984  , 0.14853672, 0.00729667, 0.1624445 ,
  0.        ,-0.00210795, 0.        ,-0.00193613, 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: -0.0003955271115447384
  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([-0.03358902, -0.07671949,  0.06196549])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.07575461e-04,-1.76148778e-03,-3.52992488e-04,-1.41920923e-03,
 -3.02234730e-05,-1.56654390e-03,-2.44432671e-04, 5.17192772e-04,
 -1.63041787e-05,-1.82258541e-03,-2.82167689e-04,-7.28305653e-04,
  8.98106279e-06,-3.57812343e-05, 1.83022285e-07,-1.06324245e-04,
  2.36248821e-03, 5.99680728e-05,-1.21707469e+00, 1.49134695e-03,
  2.88854292e-04,-8.15197060e-04]


--- Step 1911 ---
qpos:
[-1.25924189e-02, 8.28356263e-01,-1.97202066e-02, 7.66343379e-01,
  4.14391959e-03, 8.10482830e-01,-2.85671681e-02, 6.97066103e-01,
  1.57422949e-02, 8.29131093e-01,-2.03509011e-02, 7.05617349e-01,
  1.36167948e+00,-9.88909455e-04, 1.13754970e+00, 6.33399534e-02,
 -3.46148686e-03,-9.22376518e-02, 8.21006970e-02, 6.23314033e-01,
 -1.23924354e-02, 2.09411399e-03, 7.81870615e-01]

qacc:
[ 3.71012032e-01,-6.78134741e+01, 2.53389189e+02,-5.04668418e+02,
 -3.21926201e-01,-3.39111726e+01, 1.07632900e+02,-1.77010737e+02,
 -2.09263155e-01,-5.39506647e+01, 2.00183697e+02,-3.88556327e+02,
  3.79291978e-01,-7.22594511e-01,-1.60353466e+00, 5.03027911e+00,
 -5.54956961e+00,-3.09749706e+00, 2.55421381e+01,-2.66175348e+02,
 -2.39248201e+02,-5.13134183e+00]

qfrc_actuator:
[ 1.03859607e-03, 1.51212602e-01, 7.87363962e-03, 1.57389353e-01,
  1.35673962e-04, 1.47119149e-01, 9.77218505e-03, 1.55782520e-01,
 -2.02119870e-03, 1.47779113e-01, 7.37589362e-03, 1.61636149e-01,
  0.00000000e+00,-2.12803097e-03, 0.00000000e+00,-1.90969765e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007627294034451421
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.63898068e-14, -1.45559227e-13,  1.00000000e+00, -5.29687215e-27,
        1.00000000e+00,  1.45559227e-13, -1.00000000e+00,  0.00000000e+00,
       -3.63898068e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03670631, -0.06076529,  0.06193317])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.49025847e-05,-2.32458595e-03,-4.80684364e-04,-1.23214285e-03,
 -5.81690947e-05,-1.83264617e-03,-3.67962880e-04,-4.12689932e-04,
 -4.00656828e-05,-1.91180783e-03,-3.59913353e-04,-8.99183335e-04,
 -4.19925743e-06,-2.68545249e-05,-1.55020429e-05, 1.96382150e-05,
  2.54828546e-03,-6.64731474e-05,-1.21716582e+00, 1.45580769e-03,
  2.89931796e-04,-1.18706035e-03]


--- Step 1912 ---
qpos:
[-1.26190834e-02, 8.30849682e-01,-1.97292721e-02, 7.69422805e-01,
  4.14697314e-03, 8.12899574e-01,-2.85392075e-02, 7.00120542e-01,
  1.57494616e-02, 8.31557560e-01,-2.03748909e-02, 7.08789220e-01,
  1.36175380e+00,-9.97252372e-04, 1.13772940e+00, 6.33356273e-02,
 -3.32619114e-03,-9.22958488e-02, 8.18280430e-02, 6.23543234e-01,
 -9.10783420e-03, 3.28711413e-03, 7.81728903e-01]

qacc:
[ 1.78521868e-01,-7.97312695e+01, 2.97479307e+02,-5.87799210e+02,
 -9.66443764e-02,-5.65321427e+01, 2.13180732e+02,-4.27012086e+02,
 -1.12507701e-02,-4.85457457e+01, 1.89705982e+02,-4.04147339e+02,
 -1.06062284e+00, 1.86112256e+00, 8.67453401e+00,-2.95752960e+01,
 -5.86287841e+00,-2.61790169e+00, 1.96980098e+01,-2.82976743e+02,
 -1.97955525e+02,-2.46700210e+00]

qfrc_actuator:
[ 1.04287667e-03, 1.50050068e-01, 7.93241317e-03, 1.56086781e-01,
  1.43891065e-04, 1.46199830e-01, 9.76468655e-03, 1.54857295e-01,
 -2.01064171e-03, 1.47191901e-01, 7.36060520e-03, 1.60736936e-01,
  0.00000000e+00,-2.06516272e-03, 0.00000000e+00,-2.05321248e-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,  8.34612398,  2.22013318,  8.34612398,  9.35309656,
       -2.69440675,  2.22013318, -2.69440675, 18.7654194 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014198744508195082
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.90958167e-14,  3.90958167e-14,  1.00000000e+00,  1.52848288e-27,
        1.00000000e+00, -3.90958167e-14, -1.00000000e+00,  0.00000000e+00,
       -3.90958167e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0486385 , -0.05856926,  0.06187719])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.96166736e-05,-2.65085022e-03,-5.16386163e-04,-1.42461976e-03,
 -1.90788000e-05,-2.08661755e-03,-4.49944182e-04,-1.01302429e-03,
 -3.65463150e-06,-1.81218801e-03,-4.86639123e-04,-9.99201233e-04,
 -9.05765716e-06, 5.52566687e-05,-7.45462133e-06,-1.45003435e-04,
  1.86105207e-03,-3.45626084e-04,-1.21702999e+00, 1.39060917e-03,
  3.41632695e-04,-1.57744932e-03]


--- Step 1913 ---
qpos:
[-1.26451441e-02, 8.33321727e-01,-1.97362819e-02, 7.72470015e-01,
  4.14997631e-03, 8.15297309e-01,-2.85104334e-02, 7.03161860e-01,
  1.57568865e-02, 8.33968494e-01,-2.03989521e-02, 7.11944451e-01,
  1.36182795e+00,-1.00484750e-03, 1.13790895e+00, 6.33302778e-02,
 -3.21076184e-03,-9.23631218e-02, 8.16189770e-02, 6.23764946e-01,
 -5.85941074e-03, 3.89464565e-03, 7.81580316e-01]

qacc:
[ 3.29561786e-01,-9.17172459e+01, 3.52304300e+02,-7.19386191e+02,
 -1.74973173e-02,-5.08768408e+01, 1.75173235e+02,-3.23586263e+02,
  1.42541489e-01,-5.05676442e+01, 1.89116415e+02,-3.84468316e+02,
 -7.26461209e-01, 1.39918905e+00, 2.94280845e+00,-1.04513750e+01,
 -4.96660792e+00,-2.26899377e+00, 1.58970174e+01,-2.40141632e+02,
 -1.68348405e+02,-1.94180883e+00]

qfrc_actuator:
[ 1.09142643e-03, 1.48935590e-01, 8.00540654e-03, 1.54461707e-01,
  1.47718540e-04, 1.45099449e-01, 9.74835525e-03, 1.54191870e-01,
 -1.98940122e-03, 1.46338617e-01, 7.32593431e-03, 1.59898072e-01,
  0.00000000e+00,-2.02461727e-03, 0.00000000e+00,-2.10045615e-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, -8.61736728, -0.57250151, -8.61736728,  8.84655124,
       -3.16377113, -0.57250151, -3.16377113, 56.25785844,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00197897337884112
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.80504790e-14,  2.80504790e-14,  1.00000000e+00,  7.86829373e-28,
        1.00000000e+00, -2.80504790e-14, -1.00000000e+00,  0.00000000e+00,
       -2.80504790e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04740491, -0.05942515,  0.06183089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.72052476e-05,-2.79697456e-03,-5.77002719e-04,-1.76340787e-03,
 -5.32621731e-06,-2.44666248e-03,-5.38301816e-04,-7.77726637e-04,
  2.42615218e-05,-2.05128548e-03,-5.03875705e-04,-9.41307224e-04,
  7.55530298e-06, 5.33897528e-05,-2.39259816e-05,-5.72660937e-05,
  1.24765501e-03,-4.62823644e-04,-1.21691701e+00, 1.34223811e-03,
  3.91402903e-04,-1.70683109e-03]


--- Step 1914 ---
qpos:
[-1.26703786e-02, 8.35777973e-01,-1.97450363e-02, 7.75481289e-01,
  4.15296884e-03, 8.17673492e-01,-2.84823626e-02, 7.06212976e-01,
  1.57642157e-02, 8.36363647e-01,-2.04229290e-02, 7.15097196e-01,
  1.36190220e+00,-1.01240125e-03, 1.13808763e+00, 6.33300541e-02,
 -3.11224958e-03,-9.24383564e-02, 8.14603789e-02, 6.23980978e-01,
 -2.64163314e-03, 4.00098753e-03, 7.81424822e-01]

qacc:
[ 4.40736849e-01,-8.07110137e+01, 3.34048461e+02,-7.51973642e+02,
  1.11320666e-03,-8.74469609e+00,-3.43193855e+01, 1.77562655e+02,
 -4.37911383e-02,-2.55197654e+01, 6.57659468e+01,-8.26999359e+01,
  4.28991966e-01,-5.11905527e-01,-1.67881863e+01, 5.67954507e+01,
 -4.22925837e+00,-1.99040349e+00, 1.26169634e+01,-2.05421550e+02,
 -1.44305016e+02,-1.46237874e+00]

qfrc_actuator:
[ 1.14837093e-03, 1.48498089e-01, 8.03302040e-03, 1.52677665e-01,
  1.48843983e-04, 1.43970852e-01, 9.70880621e-03, 1.54696524e-01,
 -2.01528701e-03, 1.45670460e-01, 7.38580968e-03, 1.59793639e-01,
  0.00000000e+00,-2.03320588e-03, 0.00000000e+00,-1.82425366e-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, -8.50844242, -1.48094037, -8.50844242, 10.23151862,
       -9.1646393 , -1.48094037, -9.1646393 , 61.2899392 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002398989990347683
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.31393843e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.31393843e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04650035, -0.06005802,  0.06179679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.88140901e-05,-2.22416289e-03,-6.68805395e-04,-1.93649581e-03,
 -1.66997662e-06,-2.68342906e-03,-6.36246878e-04, 3.81986341e-04,
 -9.65378399e-06,-1.99970961e-03,-4.57048927e-04,-2.14447205e-04,
  1.60157612e-05, 7.70914618e-06,-2.01923801e-05, 2.69304039e-04,
  8.10362605e-04,-4.71413659e-04,-1.21685430e+00, 1.30388669e-03,
  4.29661135e-04,-1.70699213e-03]


--- Step 1915 ---
qpos:
[-1.26948184e-02, 8.38226201e-01,-1.97575715e-02, 7.78456044e-01,
  4.15595113e-03, 8.20027697e-01,-2.84554132e-02, 7.09280978e-01,
  1.57711727e-02, 8.38747552e-01,-2.04492516e-02, 7.18257295e-01,
  1.36197652e+00,-1.01994397e-03, 1.13826631e+00, 6.33317440e-02,
 -3.03401189e-03,-9.24976862e-02, 8.13651333e-02, 6.24162509e-01,
 -7.04667541e-05, 4.03591613e-03, 7.81284115e-01]

qacc:
[ 4.19158436e-01,-6.59428000e+01, 2.98888545e+02,-7.31046026e+02,
  3.96996598e-04, 4.59378690e+00,-9.92818271e+01, 3.31804102e+02,
 -1.92234197e-01, 4.97919073e+00,-5.56762453e+01, 1.57267634e+02,
  1.70259762e-01,-1.97193285e-01,-5.80344188e+00, 2.02538424e+01,
 -5.06864347e+00, 3.97621188e+00, 1.58381214e+01,-2.29714663e+02,
  2.30409273e+02, 1.67053736e+01]

qfrc_actuator:
[ 1.19213564e-03, 1.48682780e-01, 8.05413717e-03, 1.50885862e-01,
  1.48328621e-04, 1.42924236e-01, 9.67427041e-03, 1.55548254e-01,
 -2.05144541e-03, 1.45492646e-01, 7.41352247e-03, 1.60193379e-01,
  0.00000000e+00,-2.03536237e-03, 0.00000000e+00,-1.73252876e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002856225710059959
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94351416e-14, -1.94351416e-14,  1.00000000e+00,  3.77724731e-28,
        1.00000000e+00,  1.94351416e-14, -1.00000000e+00,  0.00000000e+00,
        1.94351416e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05635466, -0.110115  ,  0.06176105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.61421219e-05,-1.30743721e-03,-5.76962234e-04,-1.93121253e-03,
 -1.64847533e-06,-2.70960890e-03,-6.52760072e-04, 7.42902859e-04,
 -3.61403887e-05,-1.44427757e-03,-4.49740213e-04, 3.09057705e-04,
  1.05093736e-05, 3.79187013e-06, 1.97236612e-05, 1.03906011e-04,
  4.96632160e-04,-4.12240469e-04,-1.21682541e+00, 1.27345847e-03,
  4.59640261e-04,-1.62750910e-03]


--- Step 1916 ---
qpos:
[-1.27187454e-02, 8.40666619e-01,-1.97710332e-02, 7.81396338e-01,
  4.15891214e-03, 8.22362079e-01,-2.84296638e-02, 7.12355787e-01,
  1.57779342e-02, 8.41121542e-01,-2.04768966e-02, 7.21421889e-01,
  1.36205080e+00,-1.02718004e-03, 1.13844550e+00, 6.33308551e-02,
 -2.97319072e-03,-9.25437843e-02, 8.13198391e-02, 6.24317265e-01,
  1.94934890e-03, 4.01100485e-03, 7.81158156e-01]

qacc:
[ 2.73442157e-01,-6.96883051e+01, 3.06058884e+02,-7.11365166e+02,
 -5.30270279e-03,-1.05299778e+01,-1.69288846e+01, 1.20309847e+02,
 -9.94749638e-02,-1.26750403e+00,-2.46451323e+01, 8.93747861e+01,
 -4.46454474e-01, 7.81200408e-01, 8.58036458e+00,-2.88275753e+01,
 -4.35412997e+00, 3.30792517e+00, 1.24878730e+01,-1.95473388e+02,
  1.96759952e+02, 1.39474761e+01]

qfrc_actuator:
[ 1.20994096e-03, 1.48458209e-01, 8.07408991e-03, 1.49175368e-01,
  1.46832638e-04, 1.42095630e-01, 9.66119464e-03, 1.55887118e-01,
 -2.05794731e-03, 1.45167003e-01, 7.40658129e-03, 1.60425207e-01,
  0.00000000e+00,-2.01589317e-03, 0.00000000e+00,-1.87459683e-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, -7.77547046,  3.75883438, -7.77547046, 11.38570672,
        5.68725135,  3.75883438,  5.68725135, 20.40092955,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0032883712953866717
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.31883182e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.31883182e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05527415, -0.10980277,  0.06172869])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.91520868e-05,-1.18854067e-03,-3.84301775e-04,-1.81560610e-03,
 -2.62735707e-06,-2.49551344e-03,-6.26541116e-04, 2.36681123e-04,
 -1.91383122e-05,-1.26241808e-03,-3.55257090e-04, 1.72604903e-04,
  6.75094218e-06, 2.30172765e-05, 1.66756125e-05,-1.34675031e-04,
  2.94068802e-04,-2.56853698e-04,-1.21668013e+00, 1.35768950e-03,
  4.87412053e-04,-1.03503615e-03]


--- Step 1917 ---
qpos:
[-1.27426385e-02, 8.43097179e-01,-1.97847094e-02, 7.84304815e-01,
  4.16202675e-03, 8.24682112e-01,-2.84068342e-02, 7.15429914e-01,
  1.57847690e-02, 8.43483413e-01,-2.05026489e-02, 7.24581587e-01,
  1.36212507e+00,-1.03413481e-03, 1.13862512e+00, 6.33252861e-02,
 -2.92744121e-03,-9.25787964e-02, 8.13129864e-02, 6.24450946e-01,
  3.49544133e-03, 3.93550134e-03, 7.81046292e-01]

qacc:
[ 2.53594090e-02,-6.95303558e+01, 2.95097889e+02,-6.65719682e+02,
  8.45169053e-02,-1.21500451e+01, 1.84180085e+01,-1.47191488e+01,
  4.42536996e-02,-2.99956583e+01, 9.33169176e+01,-1.42759445e+02,
 -5.32705087e-01, 8.91376597e-01, 1.48132140e+01,-5.07890246e+01,
 -3.76791483e+00, 2.77148943e+00, 9.61035417e+00,-1.67645031e+02,
  1.69289873e+02, 1.17309328e+01]

qfrc_actuator:
[ 0.00119438, 0.14790232, 0.00803874, 0.14757947, 0.00016252, 0.14175952,
  0.00964377, 0.15586833,-0.00204668, 0.14448954, 0.00746753, 0.16016565,
  0.        ,-0.0020015 , 0.        ,-0.00211771, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -7.8137974 ,  3.67849793, -7.8137974 , 11.51429071,
        6.11323955,  3.67849793,  6.11323955, 21.62199423,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0035951909231712598
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.54403903e-14,  7.72019517e-15,  1.00000000e+00,  1.19202827e-28,
        1.00000000e+00, -7.72019517e-15, -1.00000000e+00,  0.00000000e+00,
       -1.54403903e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05453407, -0.10959162,  0.06170652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.98093131e-06,-1.41080089e-03,-3.89443790e-04,-1.68830605e-03,
  1.41260091e-05,-1.89637837e-03,-6.00647093e-04,-1.23261194e-04,
  6.72436803e-06,-1.49862565e-03,-2.43905867e-04,-3.12182520e-04,
  8.70886779e-06, 2.23724091e-05,-1.24960203e-05,-2.49677197e-04,
  1.63452630e-04,-1.52841112e-04,-1.21658231e+00, 1.41834263e-03,
  5.07758933e-04,-6.36397008e-04]


--- Step 1918 ---
qpos:
[-1.27669304e-02, 8.45516766e-01,-1.97984225e-02, 7.87181312e-01,
  4.16529685e-03, 8.26993201e-01,-2.83877214e-02, 7.18493848e-01,
  1.57915450e-02, 8.45835448e-01,-2.05274942e-02, 7.27725831e-01,
  1.36219942e+00,-1.04110704e-03, 1.13880436e+00, 6.33191812e-02,
 -2.89482890e-03,-9.26044497e-02, 8.13347229e-02, 6.24567792e-01,
  4.63154483e-03, 3.81685979e-03, 7.80947536e-01]

qacc:
[-1.98209468e-01,-7.17375115e+01, 3.00644112e+02,-6.71255624e+02,
  8.37323415e-02,-1.99909247e+01, 7.98658646e+01,-2.00435412e+02,
 -2.45741288e-02,-4.34741777e+01, 1.70702185e+02,-3.53682493e+02,
  6.41517029e-02,-6.87182698e-02, 1.06302103e+00,-4.53008359e+00,
 -3.28429943e+00, 2.33969441e+00, 7.14730895e+00,-1.44851877e+02,
  1.46697554e+02, 9.93557568e+00]

qfrc_actuator:
[ 0.00115908, 0.14733033, 0.00802314, 0.1459747 , 0.00017059, 0.1417036 ,
  0.00959043, 0.15537342,-0.00206046, 0.14413973, 0.00754876, 0.15938807,
  0.        ,-0.00200801, 0.        ,-0.00213427, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -7.77771556,  3.75418666, -7.77771556, 11.92707066,
        6.81750417,  3.75418666,  6.81750417, 22.76049038,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037990422778700766
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.92237607e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.92237607e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0540601 , -0.10945953,  0.06169234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.88749623e-05,-1.54628067e-03,-4.10229936e-04,-1.70190022e-03,
  1.44944239e-05,-1.29031119e-03,-5.24573660e-04,-5.84873338e-04,
 -5.97842038e-06,-1.29683863e-03,-2.72961087e-04,-8.45416432e-04,
  8.96774231e-06, 2.08951595e-06,-3.77102353e-05,-3.30449349e-05,
  8.16874099e-05,-8.42095190e-05,-1.21651806e+00, 1.46255308e-03,
  5.22891753e-04,-3.71974598e-04]


--- Step 1919 ---
qpos:
[-1.27917627e-02, 8.47925766e-01,-1.98116043e-02, 7.90027869e-01,
  4.16848950e-03, 8.29296934e-01,-2.83711627e-02, 7.21551574e-01,
  1.57980439e-02, 8.48181661e-01,-2.05536182e-02, 7.30855326e-01,
  1.36227380e+00,-1.04807040e-03, 1.13898321e+00, 6.33141999e-02,
 -2.87375112e-03,-9.26221380e-02, 8.13766400e-02, 6.24670979e-01,
  5.41030510e-03, 3.66113247e-03, 7.80860739e-01]

qacc:
[-2.71130117e-01,-6.90779809e+01, 2.86987370e+02,-6.32593303e+02,
 -3.91662647e-02,-1.38831006e+01, 5.10769543e+01,-1.22669748e+02,
 -1.40261146e-01,-3.09454879e+01, 1.33446866e+02,-3.11625158e+02,
  1.14596642e-01,-1.35834554e-01,-3.99237833e+00, 1.30862136e+01,
 -2.88363249e+00, 1.99124876e+00, 5.04513282e+00,-1.26064795e+02,
  1.28005700e+02, 8.47171596e+00]

qfrc_actuator:
[ 1.13009947e-03, 1.46913519e-01, 8.09028890e-03, 1.44484017e-01,
  1.56277334e-04, 1.41567607e-01, 9.55300981e-03, 1.55081954e-01,
 -2.08914604e-03, 1.44148854e-01, 7.58914697e-03, 1.58667240e-01,
  0.00000000e+00,-2.00910876e-03, 0.00000000e+00,-2.07043533e-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, -7.66711691,  3.97518491, -7.66711691, 12.67930102,
        7.79779413,  3.97518491,  7.79779413, 23.67631791,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003918625379364632
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.12489633e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.12489633e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05379534, -0.10938962,  0.06168445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.26579108e-05,-1.47029017e-03,-3.56955321e-04,-1.59319552e-03,
 -7.61525755e-06,-1.03440084e-03,-3.92680125e-04,-3.67408932e-04,
 -2.70063025e-05,-8.50235600e-04,-2.93591930e-04,-7.93970167e-04,
  4.47125450e-06, 2.15045643e-06,-2.26239349e-05, 5.67814990e-05,
  3.33325767e-05,-4.01493946e-05,-1.21647762e+00, 1.49516634e-03,
  5.34304167e-04,-2.01174464e-04]


--- Step 1920 ---
qpos:
[-1.28173433e-02, 8.50322284e-01,-1.98237034e-02, 7.92851841e-01,
  4.17135679e-03, 8.31592774e-01,-2.83553964e-02, 7.24610607e-01,
  1.58042560e-02, 8.50519492e-01,-2.05795276e-02, 7.33978934e-01,
  1.36234802e+00,-1.05445867e-03, 1.13916169e+00, 6.33116512e-02,
 -2.86287575e-03,-9.26329887e-02, 8.14315797e-02, 6.24762896e-01,
  5.87541058e-03, 3.47326197e-03, 7.80784695e-01]

qacc:
[-3.77682479e-01,-5.98467093e+01, 2.34518695e+02,-4.90097080e+02,
 -1.68613785e-01,-5.87464232e+00, 2.84177712e+00, 2.04140828e+01,
 -1.44198756e-01,-2.22859141e+01, 7.62592041e+01,-1.41447676e+02,
 -3.64967856e-01, 8.04131525e-01,-7.84659395e+00, 2.67520811e+01,
 -2.55060290e+00, 1.70942589e+00, 3.25567078e+00,-1.10504409e+02,
  1.12470649e+02, 7.27143631e+00]

qfrc_actuator:
[ 1.08746414e-03, 1.46256516e-01, 8.13553457e-03, 1.43356581e-01,
  1.28707660e-04, 1.41279036e-01, 9.56097248e-03, 1.55161175e-01,
 -2.10879397e-03, 1.43680905e-01, 7.58908868e-03, 1.58376501e-01,
  0.00000000e+00,-1.97148541e-03, 0.00000000e+00,-1.94205197e-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, -7.47846608,  4.31964373, -7.47846608, 13.91439489,
        9.13769286,  4.31964373,  9.13769286, 24.45616971,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003969612944652617
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.79680422e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.79680422e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05369548, -0.10936877,  0.06168153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.29458377e-05,-1.65330081e-03,-3.53802321e-04,-1.22317983e-03,
 -3.12971888e-05,-1.00991245e-03,-2.73304576e-04, 2.13782098e-05,
 -2.80794948e-05,-1.08095721e-03,-2.45243108e-04,-3.47610240e-04,
  2.47594463e-06, 3.96223151e-05,-6.08621499e-06, 1.28183716e-04,
  7.94470323e-06,-1.32671876e-05,-1.21645411e+00, 1.51951833e-03,
  5.43021429e-04,-9.60391981e-05]


--- Step 1921 ---
qpos:
[-1.28434850e-02, 8.52701667e-01,-1.98339389e-02, 7.95656300e-01,
  4.17425832e-03, 8.33880919e-01,-2.83398075e-02, 7.27669501e-01,
  1.58104161e-02, 8.52845563e-01,-2.06039975e-02, 7.37097819e-01,
  1.36242224e+00,-1.06062351e-03, 1.13933979e+00, 6.33129788e-02,
 -2.86109275e-03,-9.26379152e-02, 8.14934645e-02, 6.24845346e-01,
  6.06323478e-03, 3.25730254e-03, 7.80718208e-01]

qacc:
[-2.79040816e-01,-6.25588570e+01, 2.27957996e+02,-4.41847371e+02,
  2.06675919e-02,-9.87839676e+00, 2.05000008e+01,-1.51890254e+01,
 -2.11356096e-02,-2.79456001e+01, 8.63292602e+01,-1.33424971e+02,
  1.11987405e-01,-4.25005078e-03,-1.22640894e+01, 4.20845473e+01,
 -2.27309105e+00, 1.48103110e+00, 1.73626184e+00,-9.75720268e+01,
  9.95185517e+01, 6.28258358e+00]

qfrc_actuator:
[ 1.07256402e-03, 1.45141980e-01, 8.13136673e-03, 1.42362951e-01,
  1.46719425e-04, 1.40973408e-01, 9.57767161e-03, 1.55155985e-01,
 -2.10514281e-03, 1.42931600e-01, 7.59928880e-03, 1.58127820e-01,
  0.00000000e+00,-1.96445378e-03, 0.00000000e+00,-1.74119369e-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, -7.2129034 ,  4.74982119, -7.2129034 , 15.61311055,
       10.59463072,  4.74982119, 10.59463072, 24.72497936,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0039651567580647334
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.99986843e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.99986843e-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([ 0.05372556, -0.10938661,  0.06168253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.50451255e-05,-2.19838539e-03,-4.27333392e-04,-1.08705971e-03,
  3.04062778e-06,-9.74923618e-04,-2.32985301e-04,-4.97953111e-05,
 -5.39219482e-06,-1.46437775e-03,-2.60984250e-04,-3.02213687e-04,
  1.06799213e-05, 1.81775997e-05, 8.67977562e-06, 2.06589236e-04,
 -1.60293647e-06, 1.54245388e-06,-1.21644263e+00, 1.53793375e-03,
  5.49757734e-04,-3.71415057e-05]


--- Step 1922 ---
qpos:
[-1.28693794e-02, 8.55061769e-01,-1.98428062e-02, 7.98435924e-01,
  4.17764651e-03, 8.36164090e-01,-2.83258059e-02, 7.30725032e-01,
  1.58165957e-02, 8.55160636e-01,-2.06282585e-02, 7.40206715e-01,
  1.36249657e+00,-1.06689499e-03, 1.13951845e+00, 6.33120066e-02,
 -2.86747524e-03,-9.26376592e-02, 8.15571470e-02, 6.24919688e-01,
  6.00411980e-03, 3.01659002e-03, 7.80660128e-01]

qacc:
[ 1.38206802e-01,-7.35456320e+01, 2.73869555e+02,-5.48404723e+02,
  2.55604065e-01,-8.25877037e+00, 2.83692236e+01,-6.60749367e+01,
  1.51527467e-02,-3.31279553e+01, 1.18882232e+02,-2.31899247e+02,
 -1.31586160e-02,-1.33642494e-02, 7.76744266e+00,-2.59753136e+01,
 -2.04137477e+00, 1.29561298e+00, 4.49431444e-01,-8.68010964e+01,
  8.87002262e+01, 5.46457473e+00]

qfrc_actuator:
[ 0.00112768, 0.14402886, 0.00813184, 0.14110051, 0.00019185, 0.1409268 ,
  0.00956381, 0.15499455,-0.00210538, 0.14242852, 0.00761433, 0.15762152,
  0.        ,-0.00197566, 0.        ,-0.00187207, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -6.88259406,  5.2169604 , -6.88259406, 17.90470226,
       12.22746723,  5.2169604 , 12.22746723, 24.76772883,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003916298262262127
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41743931e-14,  7.08719657e-15,  1.00000000e+00, -1.00456710e-28,
        1.00000000e+00, -7.08719657e-15, -1.00000000e+00,  0.00000000e+00,
        1.41743931e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05385767, -0.10943486,  0.06168661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.35321373e-05,-2.50873629e-03,-5.35014892e-04,-1.37324440e-03,
  4.64559734e-05,-6.90515729e-04,-2.53837952e-04,-2.04949355e-04,
  1.57837928e-06,-1.43220215e-03,-3.32939727e-04,-5.72574281e-04,
  1.03532850e-05,-3.91550009e-06, 2.40472193e-05,-1.18937802e-04,
 -2.02687746e-07, 7.82943084e-06,-1.21643968e+00, 1.55205015e-03,
  5.55017577e-04,-1.08947431e-05]


--- Step 1923 ---
qpos:
[-1.28947586e-02, 8.57405678e-01,-1.98528761e-02, 8.01188657e-01,
  4.18134476e-03, 8.38446933e-01,-2.83153556e-02, 7.33784852e-01,
  1.58228036e-02, 8.57468464e-01,-2.06544489e-02, 7.43312363e-01,
  1.36257079e+00,-1.07270293e-03, 1.13969726e+00, 6.33091797e-02,
 -2.88124800e-03,-9.26328238e-02, 8.16182793e-02, 6.24986941e-01,
  5.72339363e-03, 2.75387434e-03, 7.80609366e-01]

qacc:
[ 2.72687959e-01,-6.61506493e+01, 2.59243241e+02,-5.61772934e+02,
  1.59039862e-01, 1.69049815e+01,-6.85897534e+01, 1.20567634e+02,
  1.61009364e-02,-1.01550139e+01, 3.04335218e+01,-6.45129378e+01,
 -5.42394612e-01, 9.88355998e-01, 5.86347826e+00,-2.00868636e+01,
 -1.84756592e+00, 1.14485895e+00,-6.37560714e-01,-7.78228582e+01,
  7.96590700e+01, 4.78543336e+00]

qfrc_actuator:
[ 0.00117095, 0.14342266, 0.00813485, 0.13976093, 0.00019953, 0.14130224,
  0.00953309, 0.15523973,-0.00210801, 0.14237892, 0.00763294, 0.15748264,
  0.        ,-0.0019443 , 0.        ,-0.00196658, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -6.52083855,  5.66263555, -6.52083855, 20.6996776 ,
       13.89157434,  5.66263555, 13.89157434, 24.63328109,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003832304546227641
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.44850574e-14,  2.17275861e-14,  1.00000000e+00,  3.14725331e-28,
        1.00000000e+00, -2.17275861e-14, -1.00000000e+00,  0.00000000e+00,
       -1.44850574e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05406934, -0.10950685,  0.06169309])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.97511632e-05,-2.20452496e-03,-6.15274223e-04,-1.47029438e-03,
  2.97212574e-05,-1.19780267e-04,-2.20965765e-04, 2.07751542e-04,
  2.53516106e-06,-9.84369347e-04,-3.39724718e-04,-2.12059333e-04,
  4.37362248e-06, 3.30533912e-05,-7.43303371e-06,-9.92802521e-05,
  8.77798572e-06, 8.07255086e-06,-1.21644278e+00, 1.56303222e-03,
  5.59162134e-04,-7.76142797e-06]


--- Step 1924 ---
qpos:
[-1.29195699e-02, 8.59737747e-01,-1.98654289e-02, 8.03911503e-01,
  4.18485145e-03, 8.40730824e-01,-2.83072359e-02, 7.36857058e-01,
  1.58292105e-02, 8.59772742e-01,-2.06826189e-02, 7.46421138e-01,
  1.36264512e+00,-1.07862049e-03, 1.13987537e+00, 6.33102512e-02,
 -2.90176156e-03,-9.26238999e-02, 8.16731987e-02, 6.25047866e-01,
  5.24218734e-03, 2.47142393e-03, 7.80564908e-01]

qacc:
[ 2.97356909e-01,-6.22786332e+01, 2.60668427e+02,-6.02609517e+02,
 -1.03134141e-01, 2.98991972e+01,-1.31397338e+02, 2.82425260e+02,
  1.01430163e-01, 6.37413601e+00,-3.54644866e+01, 7.62797074e+01,
  4.49059363e-01,-6.35287179e-01,-1.28307983e+01, 4.33134321e+01,
 -1.68520082e+00, 1.02213007e+00,-1.55321298e+00,-7.03418660e+01,
  7.21081095e+01, 4.21966996e+00]

qfrc_actuator:
[ 0.00120676, 0.14316075, 0.00812366, 0.13828053, 0.00016697, 0.14159096,
  0.00951261, 0.15588234,-0.00209434, 0.14256654, 0.00767349, 0.15766797,
  0.        ,-0.00195894, 0.        ,-0.00175476, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -6.18533238,  6.02730788, -6.18533238, 23.74349482,
       15.50321131,  6.02730788, 15.50321131, 24.54603953,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003720945643299875
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.49185601e-14,  1.49185601e-14,  1.00000000e+00,  2.22563436e-28,
        1.00000000e+00, -1.49185601e-14, -1.00000000e+00,  0.00000000e+00,
       -1.49185601e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05434236, -0.10959713,  0.06170142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.51326870e-05,-1.70995430e-03,-5.81046305e-04,-1.60537424e-03,
 -1.83953216e-05, 1.32348150e-04,-7.94197147e-05, 6.35386168e-04,
  1.93229118e-05,-4.86385315e-04,-2.17399044e-04, 1.35586130e-04,
  9.59195453e-06,-4.50484037e-06,-1.82726271e-05, 2.04463758e-04,
  2.30237612e-05, 4.00484908e-06,-1.21645018e+00, 1.57171552e-03,
  5.62453421e-04,-2.10409181e-05]


--- Step 1925 ---
qpos:
[-1.29434723e-02, 8.62060999e-01,-1.98797512e-02, 8.06597153e-01,
  4.18805083e-03, 8.43013916e-01,-2.82982389e-02, 7.39932732e-01,
  1.58358161e-02, 8.62074279e-01,-2.07108797e-02, 7.49526041e-01,
  1.36271967e+00,-1.08515432e-03, 1.14005361e+00, 6.33114569e-02,
 -2.92847087e-03,-9.26112876e-02, 8.17188290e-02, 6.25103023e-01,
  4.57809986e-03, 2.17110919e-03, 7.80525808e-01]

qacc:
[ 4.71492227e-01,-7.32741068e+01, 3.19716027e+02,-7.49082977e+02,
 -1.59290883e-01, 2.77734830e+00,-1.98962211e+01, 6.37151931e+01,
  1.02922684e-01,-1.03575093e+01, 4.01911407e+01,-8.51263900e+01,
  6.16605024e-01,-1.14705520e+00,-2.74082695e-01, 1.10051411e+00,
 -1.54893640e+00, 9.22101394e-01,-2.32226363e+00,-6.41183969e+01,
  6.58134683e+01, 3.74674735e+00]

qfrc_actuator:
[ 1.27333362e-03, 1.42983262e-01, 8.12345000e-03, 1.36427597e-01,
  1.46140334e-04, 1.41506854e-01, 9.53397838e-03, 1.56043496e-01,
 -2.08881560e-03, 1.42558405e-01, 7.71027416e-03, 1.57474671e-01,
  0.00000000e+00,-2.00080508e-03, 0.00000000e+00,-1.75469729e-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, -5.95371367,  6.25620255, -5.95371367, 27.10583472,
       17.57646778,  6.25620255, 17.57646778, 25.36300504,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0035887251545922913
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.54682091e-14,  1.54682091e-14,  1.00000000e+00,  2.39265494e-28,
        1.00000000e+00, -1.54682091e-14, -1.00000000e+00,  0.00000000e+00,
       -1.54682091e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05466187, -0.10970128,  0.06171115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.86737452e-05,-1.34821419e-03,-4.71698004e-04,-1.96317982e-03,
 -2.96088039e-05,-5.64999533e-05, 4.31795238e-05, 1.76638806e-04,
  1.93695768e-05,-3.68296578e-04,-9.60904946e-05,-2.14157701e-04,
  4.03439802e-06,-4.06080423e-05, 1.29628543e-05, 8.76917720e-06,
  4.09517848e-05,-3.16471271e-06,-1.21646061e+00, 1.57870432e-03,
  5.65084061e-04,-4.60372138e-05]


--- Step 1926 ---
qpos:
[-1.29666608e-02, 8.64377929e-01,-1.98949182e-02, 8.09241132e-01,
  4.19133108e-03, 8.45294117e-01,-2.82873803e-02, 7.43006247e-01,
  1.58427511e-02, 8.64372175e-01,-2.07387607e-02, 7.52621799e-01,
  1.36279448e+00,-1.09264457e-03, 1.14023213e+00, 6.33106584e-02,
 -2.96091746e-03,-9.25953134e-02, 8.17525948e-02, 6.25152811e-01,
  3.74574498e-03, 1.85446989e-03, 7.80491187e-01]

qacc:
[ 3.71565737e-01,-8.04624605e+01, 3.58214632e+02,-8.40899074e+02,
  4.45151171e-02,-1.27189617e+01, 4.33795608e+01,-6.64537730e+01,
  1.70630408e-01,-2.23355437e+01, 9.24334848e+01,-2.00609528e+02,
  7.32625670e-01,-1.51367677e+00, 6.38530216e+00,-2.19126808e+01,
 -1.43432095e+00, 8.40483144e-01,-2.96613979e+00,-5.89556976e+01,
  6.05823574e+01, 3.34995603e+00]

qfrc_actuator:
[ 0.00130454, 0.1429114 , 0.00816562, 0.13435266, 0.00016805, 0.14125374,
  0.00957818, 0.15591974,-0.00207051, 0.14234466, 0.0077082 , 0.15700669,
  0.        ,-0.00205844, 0.        ,-0.00186174, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.93458644,  6.27434942, -5.93458644, 29.74806895,
       19.96848305,  6.27434942, 19.96848305, 27.52353118,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0034410733385214914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.06596457e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.06596457e-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([ 0.05501575, -0.10981567,  0.0617219 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.97930455e-05,-1.03172141e-03,-3.55591952e-04,-2.17761852e-03,
  7.72395824e-06,-3.22128786e-04, 2.82162750e-05,-1.21009661e-04,
  3.21856044e-05,-4.96146581e-04,-1.08045590e-04,-4.88533744e-04,
 -7.57097923e-06,-6.71421074e-05, 3.07052073e-06,-1.05810680e-04,
  6.14926590e-05,-1.25981964e-05,-1.21647321e+00, 1.58443896e-03,
  5.67197614e-04,-7.94804252e-05]


--- Step 1927 ---
qpos:
[-1.29896275e-02, 8.66688032e-01,-1.99099473e-02, 8.11841399e-01,
  4.19458929e-03, 8.47568448e-01,-2.82751295e-02, 7.46075076e-01,
  1.58496127e-02, 8.66664062e-01,-2.07650038e-02, 7.55702541e-01,
  1.36286925e+00,-1.10051611e-03, 1.14041055e+00, 6.33092590e-02,
 -2.99871452e-03,-9.25762439e-02, 8.17723472e-02, 6.25197503e-01,
  2.75720589e-03, 1.52277016e-03, 7.80460224e-01]

qacc:
[ 1.21348593e-01,-8.73922943e+01, 3.84900430e+02,-8.89365419e+02,
 -7.87558805e-03,-1.98726126e+01, 6.89566490e+01,-1.20359753e+02,
 -3.25634773e-02,-3.94563237e+01, 1.60822280e+02,-3.37571815e+02,
  2.11842594e-01,-5.40708519e-01, 1.65799322e+00,-6.04732301e+00,
 -1.33761866e+00, 7.73803718e-01,-3.50336510e+00,-5.46906404e+01,
  5.62542641e+01, 3.01558006e+00]

qfrc_actuator:
[ 0.00129661, 0.14260215, 0.00817975, 0.13216387, 0.00016209, 0.14075961,
  0.00956373, 0.15566478,-0.002098  , 0.14192078, 0.00773563, 0.15623869,
  0.        ,-0.0020717 , 0.        ,-0.00188894, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -6.25628556,  5.95362644, -6.25628556, 31.16307866,
       23.67188524,  5.95362644, 23.67188524, 33.51163508,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003282509687333894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.69111919e-14,  2.53667878e-14,  1.00000000e+00,  4.28982617e-28,
        1.00000000e+00, -2.53667878e-14, -1.00000000e+00,  0.00000000e+00,
       -1.69111919e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05539406, -0.10993731,  0.06173339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.15857244e-05,-1.07718163e-03,-3.13694982e-04,-2.28205556e-03,
 -2.29546546e-06,-7.24119926e-04,-9.45967142e-05,-2.68403342e-04,
 -7.37476411e-06,-7.89089274e-04,-1.13994053e-04,-7.99285847e-04,
 -2.04793053e-05,-3.22731627e-05,-1.42590491e-05,-3.36278334e-05,
  8.39386869e-05,-2.37218325e-05,-1.21648736e+00, 1.58924276e-03,
  5.68902636e-04,-1.19120172e-04]


--- Step 1928 ---
qpos:
[-1.30126667e-02, 8.68987764e-01,-1.99242044e-02, 8.14397952e-01,
  4.19760467e-03, 8.49832229e-01,-2.82616629e-02, 7.49136813e-01,
  1.58561083e-02, 8.68947884e-01,-2.07892291e-02, 7.58762393e-01,
  1.36294377e+00,-1.10803289e-03, 1.14058887e+00, 6.33075183e-02,
 -3.04153428e-03,-9.25542975e-02, 8.17762998e-02, 6.25237271e-01,
  1.62241625e-03, 1.17704379e-03, 7.80432148e-01]

qacc:
[-2.69884190e-02,-9.37391587e+01, 3.99694506e+02,-8.99519581e+02,
 -1.20267487e-01,-2.98377218e+01, 1.00710325e+02,-1.77168403e+02,
 -1.79631908e-01,-5.37686846e+01, 2.20223595e+02,-4.65883000e+02,
 -4.71101406e-01, 7.71748200e-01, 9.16726606e-01,-3.33737677e+00,
 -1.25567381e+00, 7.19240467e-01,-3.94992482e+00,-5.11868011e+01,
  5.26944139e+01, 2.73227081e+00]

qfrc_actuator:
[ 1.28314789e-03, 1.41887218e-01, 8.14089113e-03, 1.29960987e-01,
  1.39468770e-04, 1.39911971e-01, 9.49607300e-03, 1.55281227e-01,
 -2.13495417e-03, 1.41392393e-01, 7.77935762e-03, 1.55175947e-01,
  0.00000000e+00,-2.04077690e-03, 0.00000000e+00,-1.90433719e-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, -7.05568379,  4.98037179, -7.05568379, 27.88207872,
       27.26537007,  4.98037179, 27.26537007, 47.26316455,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0031167804436949414
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.78104144e-14,  8.90520719e-15,  1.00000000e+00,  1.58605430e-28,
        1.00000000e+00, -8.90520719e-15, -1.00000000e+00,  0.00000000e+00,
       -1.78104144e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05578865, -0.11006374,  0.06174536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.43353025e-06,-1.50278921e-03,-3.73806548e-04,-2.29862222e-03,
 -2.38095267e-05,-1.33048263e-03,-2.47068703e-04,-4.17987023e-04,
 -3.62109044e-05,-1.06810788e-03,-1.66506228e-04,-1.11107117e-03,
 -1.91666349e-05, 1.80282159e-05,-1.33026987e-05,-1.98032744e-05,
  1.07837716e-04,-3.61506980e-05,-1.21650266e+00, 1.59335500e-03,
  5.70282497e-04,-1.63437185e-04]


--- Step 1929 ---
qpos:
[-1.30357728e-02, 8.71272343e-01,-1.99366204e-02, 8.16909684e-01,
  4.20053683e-03, 8.52080951e-01,-2.82468865e-02, 7.52185796e-01,
  1.58625813e-02, 8.71222288e-01,-2.08126843e-02, 7.61795937e-01,
  1.36301820e+00,-1.11545732e-03, 1.14076692e+00, 6.33069200e-02,
 -3.08909726e-03,-9.25296531e-02, 8.17629741e-02, 6.25272202e-01,
  3.49481856e-04, 8.18131784e-04, 7.80406229e-01]

qacc:
[-2.15990861e-02,-1.04859704e+02, 4.30934551e+02,-9.37502842e+02,
 -3.54089315e-02,-4.61211917e+01, 1.62328388e+02,-3.03426208e+02,
 -4.80924043e-03,-6.18912221e+01, 2.58856678e+02,-5.68967017e+02,
 -3.96601024e-02, 8.60714773e-02,-3.84740126e+00, 1.28836246e+01,
 -1.18580479e+00, 6.74487385e-01,-4.31959008e+00,-4.83292616e+01,
  4.97888544e+01, 2.49057141e+00]

qfrc_actuator:
[ 1.28433153e-03, 1.40846381e-01, 8.12281801e-03, 1.27696122e-01,
  1.42588085e-04, 1.38841506e-01, 9.43160792e-03, 1.54611774e-01,
 -2.12399737e-03, 1.40805769e-01, 7.76081499e-03, 1.53841721e-01,
  0.00000000e+00,-2.03717978e-03, 0.00000000e+00,-1.84166492e-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, -8.1898393 ,  2.74104162, -8.1898393 , 15.58138511,
       20.75072828,  2.74104162, 20.75072828, 70.63656412,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002946975344472663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.41832638e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.41832638e-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([ 0.05619286, -0.11019296,  0.06175761])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.01090879e-06,-2.07672958e-03,-4.44689541e-04,-2.37682748e-03,
 -8.50599453e-06,-1.92556637e-03,-3.87404446e-04,-7.32908692e-04,
 -2.49999917e-06,-1.30237176e-03,-3.00240453e-04,-1.40056401e-03,
 -6.47440489e-06, 4.18423397e-06,-1.16134088e-05, 5.91114718e-05,
  1.32918302e-04,-4.96351973e-05,-1.21651883e+00, 1.59695444e-03,
  5.71402342e-04,-2.11437203e-04]


--- Step 1930 ---
qpos:
[-1.30586739e-02, 8.73538964e-01,-1.99474148e-02, 8.19375734e-01,
  4.20325484e-03, 8.54311140e-01,-2.82301299e-02, 7.55210960e-01,
  1.58691288e-02, 8.73484442e-01,-2.08351843e-02, 7.64801920e-01,
  1.36309267e+00,-1.12305770e-03, 1.14094494e+00, 6.33063783e-02,
 -3.14116312e-03,-9.25024582e-02, 8.17311516e-02, 6.25302317e-01,
 -1.05504627e-03, 4.46713722e-04, 7.80381765e-01]

qacc:
[ 1.17103317e-01,-1.09441279e+02, 4.43159990e+02,-9.56267092e+02,
 -9.99718302e-02,-7.22331164e+01, 2.72518148e+02,-5.44483570e+02,
  4.56121164e-02,-6.83405401e+01, 2.78567471e+02,-6.00420687e+02,
  1.57559429e-01,-3.12368821e-01,-2.22877214e-01, 6.90949617e-01,
 -1.12572050e+00, 6.37651407e-01,-4.62420449e+00,-4.60206550e+01,
  4.74407064e+01, 2.28255126e+00]

qfrc_actuator:
[ 1.31207688e-03, 1.39778708e-01, 8.13358846e-03, 1.25394908e-01,
  1.25584107e-04, 1.37663828e-01, 9.42173757e-03, 1.53388720e-01,
 -2.11999890e-03, 1.40029004e-01, 7.74085681e-03, 1.52447142e-01,
  0.00000000e+00,-2.04985978e-03, 0.00000000e+00,-1.84001291e-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, -8.59313719, -0.8630006 , -8.59313719,  9.33179056,
       -6.92455948, -0.8630006 , -6.92455948, 77.58613011,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002775627005036495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99994996e-14,  2.99992494e-14,  1.00000000e+00, -5.99969978e-28,
        1.00000000e+00, -2.99992494e-14, -1.00000000e+00,  0.00000000e+00,
        1.99994996e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05660126, -0.1103233 ,  0.06176998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.97211731e-05,-2.43799084e-03,-5.40024415e-04,-2.43596397e-03,
 -2.13329845e-05,-2.40202901e-03,-4.77768032e-04,-1.31830875e-03,
  6.99980899e-06,-1.65901548e-03,-3.72950822e-04,-1.47940495e-03,
 -2.75986651e-06,-1.28133669e-05,-1.49259498e-06, 2.82177306e-06,
  1.59036644e-04,-6.40227893e-05,-1.21653570e+00, 1.60017607e-03,
  5.72314060e-04,-2.62502812e-04]


--- Step 1931 ---
qpos:
[-1.30812578e-02, 8.75786395e-01,-1.99574149e-02, 8.21796589e-01,
  4.20557267e-03, 8.56521515e-01,-2.82115463e-02, 7.58202913e-01,
  1.58755752e-02, 8.75731015e-01,-2.08562398e-02, 7.67785737e-01,
  1.36316707e+00,-1.13050028e-03, 1.14112350e+00, 6.33011644e-02,
 -3.19752280e-03,-9.24728345e-02, 8.16798333e-02, 6.25327580e-01,
 -2.58593901e-03, 6.33341379e-05, 7.80358076e-01]

qacc:
[ 1.73451466e-01,-1.07904824e+02, 4.34464268e+02,-9.40341664e+02,
 -1.94142133e-01,-9.02251349e+01, 3.54650301e+02,-7.38954823e+02,
 -4.24906075e-02,-6.43101238e+01, 2.45389268e+02,-4.98028121e+02,
 -5.02656069e-01, 7.46527425e-01, 1.49345871e+01,-5.10061354e+01,
 -1.07345411e+00, 6.07170930e-01,-4.87393667e+00,-4.41781083e+01,
  4.55672571e+01, 2.10152219e+00]

qfrc_actuator:
[ 1.33776152e-03, 1.38757056e-01, 8.14339556e-03, 1.23126179e-01,
  9.66703750e-05, 1.36573338e-01, 9.46118259e-03, 1.51707649e-01,
 -2.13801609e-03, 1.39091497e-01, 7.75506141e-03, 1.51329922e-01,
  0.00000000e+00,-2.03656942e-03, 0.00000000e+00,-2.08737576e-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,  -7.6577116 ,  -3.99327308,  -7.6577116 ,
        20.33523418, -22.43437269,  -3.99327308, -22.43437269,
        51.65770287,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002604795696054228
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.13111344e-14,  1.06555672e-14,  1.00000000e+00,  2.27082225e-28,
        1.00000000e+00, -1.06555672e-14, -1.00000000e+00,  0.00000000e+00,
       -2.13111344e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05700943, -0.11045343,  0.06178233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.08006894e-05,-2.61251500e-03,-6.25171340e-04,-2.41950884e-03,
 -3.95019786e-05,-2.61761561e-03,-5.52289852e-04,-1.80832705e-03,
 -1.04265862e-05,-2.03451480e-03,-4.20610139e-04,-1.21815185e-03,
 -4.80798643e-06, 9.57997295e-06,-3.76404238e-06,-2.48191504e-04,
  1.86138784e-04,-7.92304806e-05,-1.21655316e+00, 1.60312333e-03,
  5.73059903e-04,-3.16286448e-04]


--- Step 1932 ---
qpos:
[-1.31036637e-02, 8.78016976e-01,-1.99687424e-02, 8.24174088e-01,
  4.20751085e-03, 8.58716345e-01,-2.81952405e-02, 7.61159183e-01,
  1.58818807e-02, 8.77961371e-01,-2.08761552e-02, 7.70748235e-01,
  1.36324098e+00,-1.13644813e-03, 1.14130212e+00, 6.32923651e-02,
 -3.25799172e-03,-9.24408838e-02, 8.16082050e-02, 6.25347902e-01,
 -4.23908988e-03,-3.31575279e-04, 7.80334493e-01]

qacc:
[ 1.00405152e-01,-9.57520310e+01, 3.93271664e+02,-8.80542825e+02,
 -1.87205772e-01,-7.78417787e+01, 3.26581854e+02,-7.45939371e+02,
 -6.26511344e-02,-6.27679316e+01, 2.36772896e+02,-4.78166135e+02,
 -1.66684915e+00, 3.03200335e+00, 1.10664623e+01,-3.82346362e+01,
 -1.02731000e+00, 5.81751615e-01,-5.07750211e+00,-4.27308425e+01,
  4.40976714e+01, 1.94181554e+00]

qfrc_actuator:
[ 1.34426291e-03, 1.38090981e-01, 8.13505069e-03, 1.20965738e-01,
  7.86351133e-05, 1.36040930e-01, 9.42306201e-03, 1.49930463e-01,
 -2.15134435e-03, 1.38278807e-01, 7.80664491e-03, 1.50260479e-01,
  0.00000000e+00,-1.93694969e-03, 0.00000000e+00,-2.26640997e-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,  -6.50169015,  -5.68461099,  -6.50169015,
        25.10302845, -18.8335055 ,  -5.68461099, -18.8335055 ,
        30.17690835,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0024361417583922684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.27865029e-14,  1.21053297e-14,  1.00000000e+00, -2.75838129e-28,
        1.00000000e+00, -1.21053297e-14, -1.00000000e+00,  0.00000000e+00,
        2.27865029e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05741381, -0.11058226,  0.06179455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.71203471e-05,-2.36926559e-03,-6.86910382e-04,-2.31905363e-03,
 -3.74618504e-05,-2.21070479e-03,-6.96663136e-04,-1.92479076e-03,
 -1.44057488e-05,-2.11789986e-03,-4.55089271e-04,-1.17878727e-03,
 -1.19676746e-06, 1.01604994e-04,-3.40561920e-05,-1.94429260e-04,
  2.14233612e-04,-9.52249815e-05,-1.21657117e+00, 1.60587693e-03,
  5.73675132e-04,-3.72632880e-04]


--- Step 1933 ---
qpos:
[-1.31260765e-02, 8.80235700e-01,-1.99828917e-02, 8.26510255e-01,
  4.20914734e-03, 8.60900249e-01,-2.81832737e-02, 7.64084947e-01,
  1.58882332e-02, 8.80176053e-01,-2.08958747e-02, 7.73687305e-01,
  1.36331461e+00,-1.14094175e-03, 1.14148016e+00, 6.32844555e-02,
 -3.32240392e-03,-9.24066919e-02, 8.15156073e-02, 6.25363155e-01,
 -6.01134417e-03,-7.37676863e-04, 7.80310351e-01]

qacc:
[ 4.25047578e-03,-8.14904464e+01, 3.49051222e+02,-8.17772928e+02,
 -1.50418523e-01,-5.69179342e+01, 2.50728133e+02,-6.11851557e+02,
  3.16559033e-02,-6.32506906e+01, 2.44430941e+02,-5.11565304e+02,
 -1.16822293e+00, 2.40357496e+00,-3.41727863e+00, 1.09887683e+01,
 -9.85821021e-01, 5.60315638e-01,-5.24235770e+00,-4.16182585e+01,
  4.29711591e+01, 1.79860537e+00]

qfrc_actuator:
[ 1.33926677e-03, 1.37892124e-01, 8.13537112e-03, 1.18922013e-01,
  6.72664826e-05, 1.35864781e-01, 9.34177615e-03, 1.48430911e-01,
 -2.14402633e-03, 1.37547875e-01, 7.82712453e-03, 1.49085700e-01,
  0.00000000e+00,-1.85794292e-03, 0.00000000e+00,-2.20838574e-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,  -5.67986121,  -6.50583995,  -5.67986121,
        24.13977119, -13.53510135,  -6.50583995, -13.53510135,
        20.45305413,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002270987508907238
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.44436180e-14,  2.44436180e-14,  1.00000000e+00, -5.97490463e-28,
        1.00000000e+00, -2.44436180e-14, -1.00000000e+00,  0.00000000e+00,
        2.44436180e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05781154, -0.11070891,  0.06180657])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02001685e-06,-1.77520014e-03,-6.33706875e-04,-2.19381263e-03,
 -2.97858749e-05,-1.66061138e-03,-6.78811178e-04,-1.63996517e-03,
  4.21294332e-06,-2.08725091e-03,-5.05252529e-04,-1.28699038e-03,
  2.23270675e-05, 1.06129320e-04,-4.06717075e-05, 4.20806535e-05,
  2.43373567e-04,-1.12008353e-04,-1.21658971e+00, 1.60850151e-03,
  5.74190003e-04,-4.31522921e-04]


--- Step 1934 ---
qpos:
[-1.31484753e-02, 8.82445486e-01,-1.99987313e-02, 8.28804788e-01,
  4.21074415e-03, 8.63073778e-01,-2.81737146e-02, 7.66990515e-01,
  1.58944913e-02, 8.82372475e-01,-2.09140304e-02, 7.76597566e-01,
  1.36338827e+00,-1.14465848e-03, 1.14165749e+00, 6.32809111e-02,
 -3.39060698e-03,-9.23703321e-02, 8.14015100e-02, 6.25373174e-01,
 -7.90035215e-03,-1.15471100e-03, 7.80284977e-01]

qacc:
[ 1.44162141e-02,-8.12209326e+01, 3.53281369e+02,-8.26581937e+02,
 -1.61444144e-02,-4.30501945e+01, 1.78426443e+02,-4.13837854e+02,
 -3.72843291e-02,-8.00087968e+01, 3.09337621e+02,-6.37313561e+02,
 -2.09118998e-01, 7.91505405e-01,-1.42096002e+01, 4.82371425e+01,
 -9.47713774e-01, 5.41961436e-01,-5.37487192e+00,-4.07883875e+01,
  4.21354832e+01, 1.66776699e+00]

qfrc_actuator:
[ 1.34523822e-03, 1.37744560e-01, 8.16066885e-03, 1.16857122e-01,
  7.77243411e-05, 1.35548932e-01, 9.30857397e-03, 1.47444335e-01,
 -2.15995735e-03, 1.36499137e-01, 7.84718251e-03, 1.47627571e-01,
  0.00000000e+00,-1.82736658e-03, 0.00000000e+00,-1.97566231e-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, -5.16558268, -6.92123779, -5.16558268, 21.64415936,
       -9.70821208, -6.92123779, -9.70821208, 15.88197109,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002110370180900531
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.26079754e-14,  2.05499904e-14,  1.00000000e+00, -1.08109339e-27,
        1.00000000e+00, -2.05499904e-14, -1.00000000e+00,  0.00000000e+00,
        5.26079754e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05820038, -0.11083269,  0.06181831])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11393912e-06,-1.37895667e-03,-4.80616891e-04,-2.19089129e-03,
 -4.19588313e-06,-1.48048105e-03,-5.09554033e-04,-1.10102328e-03,
 -9.88715893e-06,-2.40113020e-03,-5.08486953e-04,-1.57306017e-03,
  3.64576292e-05, 6.42257517e-05,-1.55697875e-05, 2.29521442e-04,
  2.73640832e-04,-1.29607610e-04,-1.21660879e+00, 1.61105040e-03,
  5.74631269e-04,-4.93032521e-04]


--- Step 1935 ---
qpos:
[-1.31706053e-02, 8.84649270e-01,-2.00160810e-02, 8.31057470e-01,
  4.21256041e-03, 8.65237850e-01,-2.81651447e-02, 7.69877006e-01,
  1.59006234e-02, 8.84551597e-01,-2.09321950e-02, 7.79472551e-01,
  1.36346227e+00,-1.14865670e-03, 1.14183462e+00, 6.32804687e-02,
 -3.46306923e-03,-9.23307149e-02, 8.12728716e-02, 6.25376940e-01,
 -9.93640096e-03,-1.56679112e-03, 7.80257968e-01]

qacc:
[ 1.41841673e-01,-7.82033547e+01, 3.48274582e+02,-8.25933364e+02,
  1.16773643e-01,-4.36781964e+01, 1.78921367e+02,-4.00444452e+02,
 -5.36390587e-02,-8.60443178e+01, 3.47107526e+02,-7.53448446e+02,
  6.85013621e-01,-9.77653107e-01,-9.71025285e+00, 3.34209999e+01,
 -1.06480019e+00, 8.14374867e-01,-3.63531974e+00,-4.40706679e+01,
  5.89188835e+01, 2.03242021e+00]

qfrc_actuator:
[ 1.37552495e-03, 1.37718360e-01, 8.18319755e-03, 1.14778611e-01,
  1.01136784e-04, 1.35241847e-01, 9.32177885e-03, 1.46501149e-01,
 -2.17196255e-03, 1.35676881e-01, 7.84778870e-03, 1.45854412e-01,
  0.00000000e+00,-1.86125812e-03, 0.00000000e+00,-1.81947696e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019851976004069127
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.79625319e-14,  2.79625319e-14,  1.00000000e+00,  7.81903190e-28,
        1.00000000e+00, -2.79625319e-14, -1.00000000e+00,  0.00000000e+00,
       -2.79625319e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04628662, -0.11365581,  0.06182733])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.65681037e-05,-1.00676467e-03,-3.86729852e-04,-2.18666571e-03,
  2.12081500e-05,-1.31828422e-03,-3.90109583e-04,-1.03413167e-03,
 -1.30187250e-05,-2.35878574e-03,-5.99445134e-04,-1.90502155e-03,
  3.48240084e-05,-8.28319146e-06, 1.69051230e-05, 1.66640102e-04,
  3.05137482e-04,-1.48067181e-04,-1.21662843e+00, 1.61356943e-03,
  5.75023334e-04,-5.57303014e-04]


--- Step 1936 ---
qpos:
[-1.31921961e-02, 8.86849870e-01,-2.00346819e-02, 8.33270196e-01,
  4.21443626e-03, 8.67394967e-01,-2.81572755e-02, 7.72733948e-01,
  1.59068148e-02, 8.86719162e-01,-2.09525303e-02, 7.82307264e-01,
  1.36353641e+00,-1.15265542e-03, 1.14201199e+00, 6.32802353e-02,
 -3.54122980e-03,-9.22976763e-02, 8.11520140e-02, 6.25384765e-01,
 -1.19665225e-02,-2.20020985e-03, 7.80221672e-01]

qacc:
[ 2.76210618e-01,-7.17916153e+01, 3.26835757e+02,-7.84330503e+02,
  3.55271719e-02,-5.97723509e+01, 2.63355984e+02,-6.12509204e+02,
  3.67813278e-02,-8.15352631e+01, 3.53883317e+02,-8.25455570e+02,
  1.00093405e-01,-9.12727020e-02,-2.84150035e-01, 1.49284300e+00,
 -1.42457814e+00,-1.64467911e+00, 1.94522924e+00,-8.44844153e+01,
 -7.14731455e+01,-5.59153722e+00]

qfrc_actuator:
[ 1.42014022e-03, 1.37836628e-01, 8.22231330e-03, 1.12797565e-01,
  9.65734324e-05, 1.35085272e-01, 9.34462002e-03, 1.45022871e-01,
 -2.16379031e-03, 1.35493933e-01, 7.87317626e-03, 1.43856968e-01,
  0.00000000e+00,-1.86207222e-03, 0.00000000e+00,-1.81621310e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001897763463128671
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46254136e-14,  2.92508273e-14,  1.00000000e+00,  4.27805448e-28,
        1.00000000e+00, -2.92508273e-14, -1.00000000e+00,  0.00000000e+00,
       -1.46254136e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03488142, -0.06251435,  0.06183339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.35892708e-05,-6.36619134e-04,-2.85158924e-04,-2.07397539e-03,
  5.63820596e-06,-1.05094624e-03,-3.31760824e-04,-1.55832333e-03,
  5.56043889e-06,-1.72488994e-03,-5.86906485e-04,-2.13785358e-03,
  1.69990323e-05, 5.21979367e-06, 2.32507751e-05, 1.39862301e-05,
  3.39510271e-04,-1.72778756e-04,-1.21665417e+00, 1.61685539e-03,
  5.75796131e-04,-6.45297016e-04]


--- Step 1937 ---
qpos:
[-1.32133874e-02, 8.89048405e-01,-2.00538857e-02, 8.35445973e-01,
  4.21612413e-03, 8.69546667e-01,-2.81504207e-02, 7.75563928e-01,
  1.59130986e-02, 8.88880395e-01,-2.09751158e-02, 7.85099601e-01,
  1.36361043e+00,-1.15608151e-03, 1.14218941e+00, 6.32804066e-02,
 -3.62445936e-03,-9.22706046e-02, 8.10347929e-02, 6.25396064e-01,
 -1.39917759e-02,-3.03552997e-03, 7.80176120e-01]

qacc:
[ 2.05576821e-01,-6.67080531e+01, 3.04428027e+02,-7.27242847e+02,
 -9.15963908e-02,-5.22696965e+01, 2.33995626e+02,-5.52955404e+02,
  5.19116192e-02,-7.81765662e+01, 3.56235975e+02,-8.56779174e+02,
 -4.65153168e-01, 9.55075377e-01,-1.11368330e+00, 4.09232392e+00,
 -1.26724722e+00,-1.49170079e+00, 9.09128652e-01,-7.72311879e+01,
 -6.49729661e+01,-5.46324230e+00]

qfrc_actuator:
[ 1.43746969e-03, 1.37899137e-01, 8.25397386e-03, 1.10960851e-01,
  7.52966986e-05, 1.34984780e-01, 9.35559738e-03, 1.43685457e-01,
 -2.16139904e-03, 1.35606983e-01, 7.91559789e-03, 1.41761810e-01,
  0.00000000e+00,-1.82545564e-03, 0.00000000e+00,-1.79653420e-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, -1.59380253, -8.48802512, -1.59380253, 29.74426304,
       -3.96344532, -8.48802512, -3.96344532,  9.38058259,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019034909509542189
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.91628133e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.91628133e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03485465, -0.06253435,  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:
[ 3.98058866e-05,-4.62785535e-04,-2.03859496e-04,-1.91185400e-03,
 -1.86260483e-05,-8.52645922e-04,-2.99722841e-04,-1.41794415e-03,
  9.03225339e-06,-1.08186547e-03,-4.49167989e-04,-2.21866906e-03,
  1.03917770e-05, 4.20980767e-05, 7.75240920e-06, 2.23904450e-05,
  4.34812987e-04,-1.67294727e-04,-1.21666392e+00, 1.61974781e-03,
  5.79194188e-04,-6.30074735e-04]


--- Step 1938 ---
qpos:
[-1.32344112e-02, 8.91241848e-01,-2.00719784e-02, 8.37586133e-01,
  4.21740380e-03, 8.71694418e-01,-2.81450624e-02, 7.78370932e-01,
  1.59192789e-02, 8.91036970e-01,-2.09986565e-02, 7.87851420e-01,
  1.36368493e+00,-1.16060872e-03, 1.14236672e+00, 6.32814823e-02,
 -3.69782278e-03,-9.22526309e-02, 8.09698547e-02, 6.25403908e-01,
 -1.56905618e-02,-3.88741552e-03, 7.80133736e-01]

qacc:
[ 9.08363570e-02,-7.29427701e+01, 3.16646882e+02,-7.19415710e+02,
 -2.04636155e-01,-4.19284882e+01, 1.91580852e+02,-4.63811571e+02,
 -4.61326714e-02,-7.61188123e+01, 3.47050826e+02,-8.25308627e+02,
  1.21371336e+00,-2.17172512e+00,-2.98814333e+00, 9.98488194e+00,
  2.46653648e+00,-2.27452290e+00, 1.30707040e+01, 9.56046251e+01,
 -1.32558611e+02, 1.72733993e+00]

qfrc_actuator:
[ 1.43835141e-03, 1.37520036e-01, 8.26326081e-03, 1.09170455e-01,
  4.42156702e-05, 1.34954687e-01, 9.34229798e-03, 1.42548309e-01,
 -2.18028587e-03, 1.35595234e-01, 7.95143522e-03, 1.39750506e-01,
  0.00000000e+00,-1.90897461e-03, 0.00000000e+00,-1.74953302e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001937980374663903
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.16095374e-15,  5.72876299e-14,  1.00000000e+00,  4.10234067e-28,
        1.00000000e+00, -5.72876299e-14, -1.00000000e+00,  0.00000000e+00,
       -7.16095374e-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([-0.03129486, -0.07754164,  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:
[ 1.65842353e-05,-7.86118013e-04,-1.77219956e-04,-1.85369297e-03,
 -4.02781277e-05,-6.60380378e-04,-2.76098585e-04,-1.20669853e-03,
 -1.04697940e-05,-8.24471419e-04,-3.13922198e-04,-2.11044700e-03,
  1.54335325e-05,-6.98321565e-05, 2.09410798e-06, 4.83271920e-05,
  5.30325012e-04,-1.51413926e-04,-1.21667614e+00, 1.62204585e-03,
  5.82921183e-04,-6.02837821e-04]


--- Step 1939 ---
qpos:
[-1.32553025e-02, 8.93425035e-01,-2.00873251e-02, 8.39692074e-01,
  4.21829148e-03, 8.73838944e-01,-2.81409148e-02, 7.81153427e-01,
  1.59251330e-02, 8.93188766e-01,-2.10218242e-02, 7.90563881e-01,
  1.36375973e+00,-1.16627391e-03, 1.14254416e+00, 6.32817654e-02,
 -3.76255701e-03,-9.22425101e-02, 8.09465470e-02, 6.25409236e-01,
 -1.71036012e-02,-4.75426699e-03, 7.80094963e-01]

qacc:
[ 7.57222364e-02,-8.16558371e+01, 3.33428628e+02,-7.13462910e+02,
 -1.95965044e-01,-4.44468360e+01, 2.04806298e+02,-4.95298111e+02,
 -1.56706163e-01,-7.77660005e+01, 3.48989099e+02,-8.11634020e+02,
  9.84175389e-01,-1.94672511e+00, 2.49213725e+00,-8.65411647e+00,
  2.15729401e+00,-1.96320966e+00, 1.04076314e+01, 8.35032585e+01,
 -1.16173488e+02, 1.43755144e+00]

qfrc_actuator:
[ 1.44718956e-03, 1.36720049e-01, 8.29315605e-03, 1.07439051e-01,
  2.53001021e-05, 1.34896521e-01, 9.31532021e-03, 1.41325089e-01,
 -2.21178069e-03, 1.35438455e-01, 8.00067965e-03, 1.37786855e-01,
  0.00000000e+00,-1.97436708e-03, 0.00000000e+00,-1.79331569e-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,  8.59169228, -0.8772688 ,  8.59169228,  9.38072764,
        7.29006491, -0.8772688 ,  7.29006491, 80.03294658,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002128445570255079
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.23809855e-14,  1.95604548e-14,  1.00000000e+00, -8.28991351e-28,
        1.00000000e+00, -1.95604548e-14, -1.00000000e+00,  0.00000000e+00,
        4.23809855e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03104736, -0.07765842,  0.06181264])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29877094e-05,-1.37869488e-03,-2.15543675e-04,-1.80306544e-03,
 -3.87208355e-05,-5.69211545e-04,-2.41881118e-04,-1.28071233e-03,
 -3.27816921e-05,-7.95444685e-04,-2.29865335e-04,-2.04741903e-03,
 -8.45904741e-06,-7.99131539e-05, 3.60003767e-06,-4.14983687e-05,
  4.38763233e-04,-9.14096821e-05,-1.21661517e+00, 1.61021394e-03,
  5.71006402e-04,-3.88627867e-04]


--- Step 1940 ---
qpos:
[-1.32760311e-02, 8.95593602e-01,-2.01000466e-02, 8.41764796e-01,
  4.21905032e-03, 8.75981411e-01,-2.81376614e-02, 7.83909494e-01,
  1.59306543e-02, 8.95335285e-01,-2.10444833e-02, 7.93235209e-01,
  1.36383418e+00,-1.17139043e-03, 1.14272173e+00, 6.32805214e-02,
 -3.81968626e-03,-9.22392369e-02, 8.09559164e-02, 6.25412698e-01,
 -1.82641507e-02,-5.63472959e-03, 7.80060016e-01]

qacc:
[ 9.17816700e-02,-8.52673414e+01, 3.35636077e+02,-6.99622324e+02,
 -6.22650211e-02,-4.71512679e+01, 2.20339505e+02,-5.34051533e+02,
 -1.59246885e-01,-8.19188387e+01, 3.65982066e+02,-8.48161280e+02,
 -7.73628606e-01, 1.26572728e+00, 4.85929890e+00,-1.65808887e+01,
  1.90124640e+00,-1.71190699e+00, 8.16927844e+00, 7.36389993e+01,
 -1.02776513e+02, 1.20750632e+00]

qfrc_actuator:
[ 1.46076943e-03, 1.35710235e-01, 8.31558428e-03, 1.05755888e-01,
  3.15835128e-05, 1.34928883e-01, 9.31595357e-03, 1.40007691e-01,
 -2.23282342e-03, 1.35178890e-01, 8.02151700e-03, 1.35724821e-01,
  0.00000000e+00,-1.92189054e-03, 0.00000000e+00,-1.87248088e-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,  8.6341191 ,  0.19688642,  8.6341191 ,  8.67792124,
       -1.82243816,  0.19688642, -1.82243816, 88.55628826,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022579649534934243
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.53653711e-14,  6.14614845e-15,  1.00000000e+00,  9.44378520e-29,
        1.00000000e+00, -6.14614845e-15, -1.00000000e+00,  0.00000000e+00,
       -1.53653711e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03088429, -0.07773507,  0.06180219])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.59041652e-05,-1.92252332e-03,-3.42929649e-04,-1.77405212e-03,
 -1.27779121e-05,-4.23451372e-04,-1.94241718e-04,-1.37228527e-03,
 -3.34891753e-05,-8.62751724e-04,-2.40487519e-04,-2.14074879e-03,
 -2.38247161e-05, 2.97367422e-05,-6.47565967e-06,-8.18594373e-05,
  3.65145247e-04,-4.43767089e-05,-1.21657127e+00, 1.60217321e-03,
  5.62037430e-04,-2.27913840e-04]


--- Step 1941 ---
qpos:
[-1.32963774e-02, 8.97743544e-01,-2.01105011e-02, 8.43807186e-01,
  4.21978060e-03, 8.78126098e-01,-2.81369696e-02, 7.86643877e-01,
  1.59360801e-02, 8.97476052e-01,-2.10666798e-02, 7.95871120e-01,
  1.36390858e+00,-1.17648116e-03, 1.14289964e+00, 6.32749784e-02,
 -3.86575749e-03,-9.22368939e-02, 8.09897955e-02, 6.25413746e-01,
 -1.91941465e-02,-6.35228462e-03, 7.80031332e-01]

qacc:
[ 2.01716293e-01,-8.44134170e+01, 3.19287190e+02,-6.46218991e+02,
 -1.43909480e-02,-2.85735524e+01, 1.53438071e+02,-4.15059380e+02,
 -4.13434726e-02,-7.21556295e+01, 3.18160261e+02,-7.31390752e+02,
 -3.48939005e-01, 4.66225135e-01, 1.35130496e+01,-4.64742875e+01,
  2.76450580e+00,-2.32541173e-01, 6.12744343e+00, 1.35630190e+02,
 -3.90446827e+01, 3.73840300e+00]

qfrc_actuator:
[ 1.49486383e-03, 1.34529735e-01, 8.33255464e-03, 1.04220876e-01,
  3.51273316e-05, 1.35388491e-01, 9.31556879e-03, 1.38947303e-01,
 -2.22970532e-03, 1.34931072e-01, 8.06053044e-03, 1.33958575e-01,
  0.00000000e+00,-1.92419246e-03, 0.00000000e+00,-2.09609242e-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,   7.97350276,   3.31813661,   7.97350276,
        20.3892073 , -28.24215594,   3.31813661, -28.24215594,
        76.50243886,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002350830067839524
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.06617475e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.06617475e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05465158, -0.09436264,  0.06179501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.78568802e-05,-2.41843190e-03,-4.69579208e-04,-1.64668882e-03,
 -2.77188951e-06, 9.13755188e-05,-1.63365893e-04,-1.11080465e-03,
 -9.73691614e-06,-8.93248980e-04,-2.39638546e-04,-1.84956363e-03,
 -6.23022554e-06, 2.49154538e-07,-1.61797777e-05,-2.29934403e-04,
  3.05184728e-04,-7.09045992e-06,-1.21653974e+00, 1.59682580e-03,
  5.55269753e-04,-1.06796970e-04]


--- Step 1942 ---
qpos:
[-1.33161123e-02, 8.99872609e-01,-2.01195276e-02, 8.45820419e-01,
  4.22051503e-03, 8.80274650e-01,-2.81379235e-02, 7.89360284e-01,
  1.59414949e-02, 8.99611245e-01,-2.10895577e-02, 7.98480953e-01,
  1.36398304e+00,-1.18182186e-03, 1.14307728e+00, 6.32681226e-02,
 -3.90203163e-03,-9.22353224e-02, 8.10413381e-02, 6.25413169e-01,
 -1.99192651e-02,-6.92527076e-03, 7.80008738e-01]

qacc:
[ 3.15369514e-01,-8.29915193e+01, 3.07955416e+02,-6.19461251e+02,
  1.79445527e-03,-2.23015059e+01, 1.25760175e+02,-3.43846866e+02,
 -1.13599392e-03,-5.20844630e+01, 2.28334816e+02,-5.31343857e+02,
  1.52131132e-01,-3.44940771e-01, 3.55333743e+00,-1.30411766e+01,
  2.44927299e+00,-1.92901521e-01, 4.41584147e+00, 1.20454411e+02,
 -3.47612130e+01, 3.27493286e+00]

qfrc_actuator:
[ 1.54098222e-03, 1.33345437e-01, 8.34555852e-03, 1.02749649e-01,
  3.69786445e-05, 1.35799196e-01, 9.31659812e-03, 1.38064701e-01,
 -2.22994753e-03, 1.34728394e-01, 8.05703436e-03, 1.32664582e-01,
  0.00000000e+00,-1.94130543e-03, 0.00000000e+00,-2.15445224e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002450169457308818
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.49601714e-15,  2.26560457e-14,  1.00000000e+00, -1.92486153e-28,
        1.00000000e+00, -2.26560457e-14, -1.00000000e+00,  0.00000000e+00,
        8.49601714e-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([-0.0544382, -0.0943483,  0.0617876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.08593045e-05,-2.71735830e-03,-5.82073118e-04,-1.59983877e-03,
  5.12302273e-07, 3.43765193e-04,-4.75646829e-05,-9.08741509e-04,
 -1.26962947e-06,-8.54406239e-04,-2.78795174e-04,-1.37175703e-03,
 -4.28559599e-06,-1.79038376e-05,-3.69306123e-05,-7.41481552e-05,
  1.99648714e-04,-3.09481733e-06,-1.21650424e+00, 1.59480699e-03,
  5.49275069e-04,-4.62444336e-05]


--- Step 1943 ---
qpos:
[-1.33355831e-02, 9.01980133e-01,-2.01272255e-02, 8.47800111e-01,
  4.22108114e-03, 8.82424771e-01,-2.81375124e-02, 7.92052638e-01,
  1.59465673e-02, 9.01740737e-01,-2.11133935e-02, 8.01063647e-01,
  1.36405723e+00,-1.18653372e-03, 1.14325405e+00, 6.32659192e-02,
 -3.92954225e-03,-9.22343967e-02, 8.11047747e-02, 6.25411525e-01,
 -2.04607045e-02,-7.36880726e-03, 7.79991977e-01]

qacc:
[ 1.43162555e-01,-9.13411163e+01, 3.44413117e+02,-7.04765414e+02,
 -8.18881797e-02,-4.42219474e+01, 2.09810636e+02,-4.95533188e+02,
 -1.65741599e-01,-5.33718778e+01, 2.34771197e+02,-5.49759273e+02,
 -3.04361752e-01, 7.23935229e-01,-1.53112565e+01, 5.17530372e+01,
  2.19087765e+00,-1.61432940e-01, 2.97352119e+00, 1.07933252e+02,
 -3.12177644e+01, 2.89333036e+00]

qfrc_actuator:
[ 1.54067518e-03, 1.32239575e-01, 8.39161988e-03, 1.01061361e-01,
  2.00405444e-05, 1.35805222e-01, 9.35409003e-03, 1.36849921e-01,
 -2.26775741e-03, 1.34466160e-01, 8.01123881e-03, 1.31303715e-01,
  0.00000000e+00,-1.89602906e-03, 0.00000000e+00,-1.90189600e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002503426225631135
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.31527668e-15,  2.21740711e-14,  1.00000000e+00,  1.84383537e-28,
        1.00000000e+00, -2.21740711e-14, -1.00000000e+00,  0.00000000e+00,
       -8.31527668e-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([-0.05433433, -0.09434052,  0.06178399])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.60016841e-05,-2.82463234e-03,-6.19374459e-04,-1.82879895e-03,
 -1.66327032e-05, 1.09448490e-04, 5.90463704e-05,-1.22428076e-03,
 -3.46271237e-05,-8.83381560e-04,-3.02815191e-04,-1.42781830e-03,
 -7.45878515e-06, 4.01283720e-05,-2.70981821e-05, 2.43254940e-04,
  1.24569719e-04,-5.54309327e-07,-1.21647942e+00, 1.59354750e-03,
  5.45120845e-04,-3.85478907e-06]


--- Step 1944 ---
qpos:
[-1.33548873e-02, 9.04072880e-01,-2.01370880e-02, 8.49745803e-01,
  4.22146138e-03, 8.84573758e-01,-2.81356959e-02, 7.94719785e-01,
  1.59514396e-02, 9.03864333e-01,-2.11371864e-02, 8.03617858e-01,
  1.36413137e+00,-1.19097581e-03, 1.14343081e+00, 6.32650180e-02,
 -3.94913668e-03,-9.22340168e-02, 8.11752493e-02, 6.25409205e-01,
 -2.08360096e-02,-7.69539190e-03, 7.79980749e-01]

qacc:
[ 9.02969097e-02,-7.37582534e+01, 2.98231037e+02,-6.72305644e+02,
 -8.95850111e-02,-4.98991955e+01, 2.26835487e+02,-5.23061243e+02,
 -9.41496227e-02,-5.87133136e+01, 2.55209741e+02,-5.84585565e+02,
 -1.45782550e-01, 3.51944470e-01,-3.92117240e+00, 1.37458119e+01,
  1.97905003e+00,-1.36438770e-01, 1.75950561e+00, 9.75753954e+01,
 -2.82792754e+01, 2.57792825e+00]

qfrc_actuator:
[ 1.54812069e-03, 1.31953152e-01, 8.43929131e-03, 9.93831517e-02,
  9.75222453e-06, 1.35586942e-01, 9.35784904e-03, 1.35573369e-01,
 -2.27451423e-03, 1.34223807e-01, 8.02937573e-03, 1.29878712e-01,
  0.00000000e+00,-1.88510843e-03, 0.00000000e+00,-1.84103558e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002519366826062852
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.75422135e-15,  2.20337708e-14,  1.00000000e+00,  6.06858820e-29,
        1.00000000e+00, -2.20337708e-14, -1.00000000e+00,  0.00000000e+00,
       -2.75422135e-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([-0.05431698, -0.09433791,  0.06178337])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.63531355e-05,-2.07884244e-03,-6.49972093e-04,-1.82834451e-03,
 -1.84794585e-05,-2.34414662e-04,-1.86249617e-05,-1.29767418e-03,
 -2.03413975e-05,-8.85872518e-04,-2.48982434e-04,-1.49483431e-03,
  5.48449552e-06, 1.98505919e-05, 1.34117154e-05, 7.06790590e-05,
  7.22366406e-05, 8.97600326e-07,-1.21646241e+00, 1.59281421e-03,
  5.42333891e-04, 2.49301633e-05]


--- Step 1945 ---
qpos:
[-1.33740282e-02, 9.06159853e-01,-2.01522516e-02, 8.51658669e-01,
  4.22186696e-03, 8.86717682e-01,-2.81330588e-02, 7.97359964e-01,
  1.59563674e-02, 9.05980344e-01,-2.11597104e-02, 8.06147666e-01,
  1.36420560e+00,-1.19549743e-03, 1.14360772e+00, 6.32638588e-02,
 -3.96150930e-03,-9.22341032e-02, 8.12486797e-02, 6.25406474e-01,
 -2.10597241e-02,-7.91537207e-03, 7.79974729e-01]

qacc:
[ 8.38819382e-02,-5.13153744e+01, 2.35889882e+02,-6.07063026e+02,
  1.78636968e-02,-5.65688924e+01, 2.46629921e+02,-5.59723854e+02,
  3.34685495e-02,-5.69577880e+01, 2.36308449e+02,-5.14831222e+02,
  9.74248678e-02,-1.53041006e-01, 9.86644024e-01,-3.15655005e+00,
  1.80545111e+00,-1.16582302e-01, 7.38926406e-01, 8.89935571e+01,
 -2.58390008e+01, 2.31626661e+00]

qfrc_actuator:
[ 1.56020985e-03, 1.32302265e-01, 8.40212740e-03, 9.77781229e-02,
  2.12913003e-05, 1.35058628e-01, 9.28752409e-03, 1.34199519e-01,
 -2.26264446e-03, 1.33818330e-01, 8.08525458e-03, 1.28658210e-01,
  0.00000000e+00,-1.89469370e-03, 0.00000000e+00,-1.85819800e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025053174793191538
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.30899951e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.30899951e-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([-0.05436765, -0.09433938,  0.06178511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.63027739e-05,-1.03525434e-03,-5.90624485e-04,-1.73189092e-03,
  2.38199710e-06,-7.53076465e-04,-1.72334553e-04,-1.41057721e-03,
  5.41398317e-06,-1.04153911e-03,-2.07343156e-04,-1.29017207e-03,
  7.70839048e-06,-2.98172333e-06, 1.01139202e-05,-1.24068445e-05,
  3.71055650e-05, 1.52533896e-06,-1.21645121e+00, 1.59244373e-03,
  5.40576577e-04, 4.33836758e-05]


--- Step 1946 ---
qpos:
[-1.33933295e-02, 9.08242513e-01,-2.01698081e-02, 8.53538159e-01,
  4.22235406e-03, 8.88852040e-01,-2.81288383e-02, 7.99967021e-01,
  1.59615875e-02, 9.08087716e-01,-2.11805397e-02, 8.08654658e-01,
  1.36427978e+00,-1.19981073e-03, 1.14378447e+00, 6.32638522e-02,
 -3.96722887e-03,-9.22345928e-02, 8.13216386e-02, 6.25403504e-01,
 -2.11439102e-02,-8.03732005e-03, 7.79973585e-01]

qacc:
[-7.50879244e-02,-5.82298433e+01, 2.62098128e+02,-6.38073269e+02,
  4.86166043e-02,-7.53957386e+01, 3.16687988e+02,-6.96912824e+02,
  1.50838791e-01,-5.66425851e+01, 2.29410283e+02,-4.87535677e+02,
 -9.95196444e-02, 2.52472987e-01,-3.68863455e+00, 1.26097743e+01,
  1.66326406e+00,-1.00809772e-01,-1.17849000e-01, 8.18790915e+01,
 -2.38116471e+01, 2.09834395e+00]

qfrc_actuator:
[ 1.53951641e-03, 1.32319503e-01, 8.37132256e-03, 9.61229132e-02,
  2.80373020e-05, 1.34277666e-01, 9.24378188e-03, 1.32512845e-01,
 -2.23977450e-03, 1.33372286e-01, 8.16253552e-03, 1.27514464e-01,
  0.00000000e+00,-1.88083587e-03, 0.00000000e+00,-1.79686646e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024673994282132725
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.81222968e-15,  2.24978374e-14,  1.00000000e+00,  6.32690862e-29,
        1.00000000e+00, -2.24978374e-14, -1.00000000e+00,  0.00000000e+00,
       -2.81222968e-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([-0.05447139, -0.09434402,  0.06178869])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63394760e-05,-7.73243848e-04,-3.67987823e-04,-1.74437904e-03,
  7.85648978e-06,-1.32775127e-03,-2.70152388e-04,-1.74807001e-03,
  2.93138858e-05,-1.15278081e-03,-2.05418734e-04,-1.21267595e-03,
  3.24104387e-06, 1.50976338e-05,-7.20403553e-07, 6.10061442e-05,
  1.51649599e-05, 1.52033197e-06,-1.21644440e+00, 1.59232093e-03,
  5.39606294e-04, 5.38711418e-05]


--- Step 1947 ---
qpos:
[-1.34131443e-02, 9.10318827e-01,-2.01867278e-02, 8.55384271e-01,
  4.22327645e-03, 8.90974179e-01,-2.81230128e-02, 8.02536978e-01,
  1.59671050e-02, 9.10188034e-01,-2.12009823e-02, 8.11137007e-01,
  1.36435402e+00,-1.20418986e-03, 1.14396114e+00, 6.32649018e-02,
 -3.96676089e-03,-9.22354356e-02, 8.13912536e-02, 6.25400395e-01,
 -2.10985670e-02,-8.06833496e-03, 7.79976986e-01]

qacc:
[-2.47065457e-01,-6.90983848e+01, 2.94395148e+02,-6.65535633e+02,
  2.27184564e-01,-8.59387397e+01, 3.56812099e+02,-7.80543199e+02,
  1.52111297e-01,-5.42443849e+01, 2.28315197e+02,-5.09624103e+02,
  1.65782247e-01,-2.43411558e-01,-3.34195173e+00, 1.14577227e+01,
  1.54688492e+00,-8.82899212e-02,-8.35986683e-01, 7.59835138e+01,
 -2.21283652e+01, 1.91606460e+00]

qfrc_actuator:
[ 1.49941183e-03, 1.31978690e-01, 8.39680323e-03, 9.44512748e-02,
  6.73464141e-05, 1.33493664e-01, 9.25040365e-03, 1.30637664e-01,
 -2.22831591e-03, 1.33136773e-01, 8.21621885e-03, 1.26282925e-01,
  0.00000000e+00,-1.88867348e-03, 0.00000000e+00,-1.74300378e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002410723410374696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.63503529e-15,  4.60535215e-14,  1.00000000e+00,  3.97673783e-28,
        1.00000000e+00, -4.60535215e-14, -1.00000000e+00,  0.00000000e+00,
       -8.63503529e-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([-0.05461608, -0.09435112,  0.06179369])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.21338674e-05,-9.42031156e-04,-2.34373486e-04,-1.74585060e-03,
  4.30768369e-05,-1.68034554e-03,-3.55701489e-04,-1.96634267e-03,
  2.99095784e-05,-1.00050451e-03,-2.48254949e-04,-1.30229301e-03,
  5.17654299e-06,-2.91740233e-06, 3.23368812e-06, 5.64197459e-05,
  3.49854666e-06, 1.02132815e-06,-1.21644096e+00, 1.59236437e-03,
  5.39247689e-04, 5.81093546e-05]


--- Step 1948 ---
qpos:
[-1.34332349e-02, 9.12386972e-01,-2.02022532e-02, 8.57196836e-01,
  4.22464496e-03, 8.93083550e-01,-2.81167400e-02, 8.05068405e-01,
  1.59728530e-02, 9.12284297e-01,-2.12229634e-02, 8.13592017e-01,
  1.36442838e+00,-1.20887392e-03, 1.14413793e+00, 6.32652433e-02,
 -3.96048618e-03,-9.22365919e-02, 8.14551212e-02, 6.25397191e-01,
 -2.09319712e-02,-8.01428787e-03, 7.79984601e-01]

qacc:
[-1.28499227e-01,-7.38244511e+01, 3.07181228e+02,-6.77396887e+02,
  2.31888591e-01,-8.60069857e+01, 3.59309668e+02,-7.99193663e+02,
  1.17246438e-01,-4.98460590e+01, 2.25007568e+02,-5.41285193e+02,
  2.52028389e-01,-4.94262382e-01, 2.31412778e+00,-7.86025617e+00,
  1.45168442e+00,-7.83665643e-02,-1.43685254e+00, 7.11049193e+01,
 -2.07330645e+01, 1.76282618e+00]

qfrc_actuator:
[ 1.50133570e-03, 1.31497817e-01, 8.43623011e-03, 9.27653786e-02,
  9.03017557e-05, 1.32820834e-01, 9.25108353e-03, 1.28702112e-01,
 -2.22382616e-03, 1.33135966e-01, 8.20311601e-03, 1.24920901e-01,
  0.00000000e+00,-1.90933752e-03, 0.00000000e+00,-1.78275037e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023395511562206983
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.89772453e-15,  4.74545308e-14,  1.00000000e+00, -4.22237343e-28,
        1.00000000e+00, -4.74545308e-14, -1.00000000e+00,  0.00000000e+00,
        8.89772453e-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([-0.05479184, -0.09436008,  0.06179977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.81752444e-05,-1.14887755e-03,-2.38182028e-04,-1.76146456e-03,
  4.42029079e-05,-1.78879591e-03,-4.48194033e-04,-2.04593542e-03,
  2.32544475e-05,-6.92452489e-04,-2.92390295e-04,-1.43094675e-03,
  1.97317244e-06,-2.00473716e-05, 4.44862135e-06,-3.69692014e-05,
 -1.95700369e-08, 1.28756939e-07,-1.21644019e+00, 1.59251623e-03,
  5.39373412e-04, 5.73471015e-05]


--- Step 1949 ---
qpos:
[-1.34527089e-02, 9.14445919e-01,-2.02165537e-02, 8.58977646e-01,
  4.22636481e-03, 8.95180218e-01,-2.81102776e-02, 8.07559383e-01,
  1.59789315e-02, 9.14377125e-01,-2.12462839e-02, 8.16020180e-01,
  1.36450285e+00,-1.21401777e-03, 1.14431439e+00, 6.32677873e-02,
 -3.94871618e-03,-9.22380302e-02, 8.15112345e-02, 6.25393893e-01,
 -2.06509559e-02,-7.88002260e-03, 7.79996103e-01]

qacc:
[ 3.11521698e-01,-7.15252865e+01, 2.93597417e+02,-6.42217203e+02,
  1.84200120e-01,-8.85767289e+01, 3.72299681e+02,-8.34073058e+02,
  1.66173277e-01,-4.86747455e+01, 2.20698864e+02,-5.31125892e+02,
  5.75077748e-01,-1.02375657e+00,-7.20614152e+00, 2.43563157e+01,
  1.37382227e+00,-7.05213592e-02,-1.93858388e+00, 6.70778926e+01,
 -1.95796695e+01, 1.63320800e+00]

qfrc_actuator:
[ 1.58170235e-03, 1.31008278e-01, 8.48301241e-03, 9.11732121e-02,
  1.03259883e-04, 1.32220142e-01, 9.26646650e-03, 1.26675596e-01,
 -2.20581722e-03, 1.33062771e-01, 8.16946466e-03, 1.23581902e-01,
  0.00000000e+00,-1.93743200e-03, 0.00000000e+00,-1.66428893e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00225743004249207
  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([-0.05499064, -0.09437042,  0.06180664])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.23374426e-05,-1.27303986e-03,-2.72415492e-04,-1.67478779e-03,
  3.47893018e-05,-1.79735325e-03,-4.67982036e-04,-2.14503136e-03,
  3.34454539e-05,-6.06697722e-04,-2.60762537e-04,-1.40186001e-03,
 -4.00770806e-06,-3.26467539e-05,-5.85153415e-06, 1.16079181e-04,
  3.05995565e-06,-1.08502276e-06,-1.21644156e+00, 1.59273533e-03,
  5.39890614e-04, 5.24924797e-05]


--- Step 1950 ---
qpos:
[-1.34710127e-02, 9.16505481e-01,-2.02344116e-02, 8.60727973e-01,
  4.22832786e-03, 8.97265852e-01,-2.81048143e-02, 8.10013860e-01,
  1.59849445e-02, 9.16467428e-01,-2.12708029e-02, 8.18425065e-01,
  1.36457734e+00,-1.21946457e-03, 1.14449085e+00, 6.32710365e-02,
 -3.93170577e-03,-9.22397259e-02, 8.15579214e-02, 6.25390469e-01,
 -2.02611412e-02,-7.66952118e-03, 7.80011171e-01]

qacc:
[ 5.77623415e-01,-4.33956182e+01, 2.13723786e+02,-5.60756206e+02,
  1.28267594e-01,-7.61606270e+01, 3.23837335e+02,-7.40923520e+02,
 -2.94492495e-02,-4.14831479e+01, 1.89517298e+02,-4.58668819e+02,
  2.72905257e-01,-5.52991221e-01,-2.15188661e+00, 7.47313619e+00,
  1.31010053e+00,-6.43445686e-02,-2.35657687e+00, 6.37659270e+01,
 -1.86300575e+01, 1.52273300e+00]

qfrc_actuator:
[ 1.67284716e-03, 1.31689511e-01, 8.53381972e-03, 8.96844137e-02,
  1.10136011e-04, 1.31827551e-01, 9.27299765e-03, 1.24860371e-01,
 -2.23314679e-03, 1.33071417e-01, 8.15940565e-03, 1.22426934e-01,
  0.00000000e+00,-1.95195528e-03, 0.00000000e+00,-1.63105639e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002167305753107314
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.60486617e-15,  2.56129765e-14,  1.00000000e+00,  2.46009211e-28,
        1.00000000e+00, -2.56129765e-14, -1.00000000e+00,  0.00000000e+00,
       -9.60486617e-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([-0.05520591, -0.09438176,  0.06181409])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18901241e-04,-1.74575970e-04,-2.94025371e-04,-1.57441226e-03,
  2.40473786e-05,-1.60069610e-03,-4.83605264e-04,-1.93672225e-03,
 -6.73088772e-06,-4.69657719e-04,-2.15399157e-04,-1.21330454e-03,
 -9.97349565e-06,-2.39200598e-05, 7.76524970e-06, 3.83571082e-05,
  1.16082401e-05,-2.56833717e-06,-1.21644471e+00, 1.59299222e-03,
  5.40731374e-04, 4.42036431e-05]


--- Step 1951 ---
qpos:
[-1.34881607e-02, 9.18576902e-01,-2.02581159e-02, 8.62447621e-01,
  4.22991216e-03, 8.99343980e-01,-2.81008173e-02, 8.12433384e-01,
  1.59906016e-02, 9.18556819e-01,-2.12959477e-02, 8.20808962e-01,
  1.36465162e+00,-1.22455531e-03, 1.14466748e+00, 6.32733239e-02,
 -3.90966398e-03,-9.22416597e-02, 8.15937928e-02, 6.25386854e-01,
 -1.97671256e-02,-7.38604127e-03, 7.80029480e-01]

qacc:
[ 5.65256466e-01,-2.27300100e+01, 1.64128771e+02,-5.25464925e+02,
 -1.83448295e-01,-6.74980989e+01, 2.96814199e+02,-6.98708109e+02,
 -1.72534851e-01,-3.68214452e+01, 1.70992639e+02,-4.14190597e+02,
 -4.79899580e-01, 8.01087456e-01, 3.19939784e+00,-1.07271072e+01,
  1.25784706e+00,-5.95120840e-02,-2.70390102e+00, 6.10556633e+01,
 -1.78524882e+01, 1.42768396e+00]

qfrc_actuator:
[ 1.73415351e-03, 1.33102578e-01, 8.53807634e-03, 8.81980577e-02,
  6.00726617e-05, 1.31758509e-01, 9.31083564e-03, 1.23130892e-01,
 -2.26966307e-03, 1.33218392e-01, 8.19940218e-03, 1.21389556e-01,
  0.00000000e+00,-1.92280348e-03, 0.00000000e+00,-1.68385026e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002071616818112479
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.34950645e-15,  5.35921033e-14,  1.00000000e+00,  1.79507096e-28,
        1.00000000e+00, -5.35921033e-14, -1.00000000e+00,  0.00000000e+00,
       -3.34950645e-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([-0.05543233, -0.09439379,  0.06182192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17905696e-04, 1.16531737e-03,-1.23043133e-04,-1.53517180e-03,
 -3.82097797e-05,-1.16341907e-03,-4.08302786e-04,-1.84012001e-03,
 -3.62603859e-05,-2.39601398e-04,-1.26879497e-04,-1.08551184e-03,
 -1.10961080e-05, 2.06431551e-05, 4.12880876e-06,-5.05368235e-05,
  2.48076029e-05,-4.28483040e-06,-1.21644941e+00, 1.59326565e-03,
  5.41845842e-04, 3.29541323e-05]


--- Step 1952 ---
qpos:
[-1.35045110e-02, 9.20657454e-01,-2.02824291e-02, 8.64139507e-01,
  4.23100337e-03, 9.01417762e-01,-2.80979155e-02, 8.14813719e-01,
  1.59958796e-02, 9.20643997e-01,-2.13198808e-02, 8.23169519e-01,
  1.36472588e+00,-1.22957294e-03, 1.14484410e+00, 6.32749645e-02,
 -3.88276290e-03,-9.22438166e-02, 8.16176975e-02, 6.25382962e-01,
 -1.91726460e-02,-7.03223075e-03, 7.80050708e-01]

qacc:
[ 3.92149019e-01,-3.53457815e+01, 1.94413084e+02,-5.15603353e+02,
 -2.40396078e-01,-7.17849414e+01, 3.26228735e+02,-7.79531865e+02,
 -1.81915304e-01,-4.76811984e+01, 2.10260353e+02,-4.77818606e+02,
 -1.17220436e-01, 1.92590995e-01, 1.94539018e+00,-6.80823887e+00,
  1.21482200e+00,-5.57673587e-02,-2.99165098e+00, 5.88524592e+01,
 -1.72203955e+01, 1.34496005e+00]

qfrc_actuator:
[ 1.75935036e-03, 1.33558550e-01, 8.51811475e-03, 8.68143191e-02,
  2.96281699e-05, 1.31813474e-01, 9.35057214e-03, 1.21181872e-01,
 -2.29362209e-03, 1.33092710e-01, 8.25158614e-03, 1.20216721e-01,
  0.00000000e+00,-1.92124238e-03, 0.00000000e+00,-1.71586447e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019723741432303293
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.75902070e-14,  2.81443312e-14,  1.00000000e+00,  4.95064613e-28,
        1.00000000e+00, -2.81443312e-14, -1.00000000e+00,  0.00000000e+00,
       -1.75902070e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05566556, -0.09440623,  0.06182997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.15232560e-05, 9.85878376e-04, 1.38163288e-04,-1.38370193e-03,
 -4.96625562e-05,-7.78012327e-04,-3.07582185e-04,-2.04051666e-03,
 -3.86852195e-05,-3.62480741e-04,-5.46915040e-05,-1.20774987e-03,
 -1.36692796e-06, 4.65108663e-06,-7.99867228e-06,-3.52923976e-05,
  4.20711794e-05,-6.20953478e-06,-1.21645548e+00, 1.59354014e-03,
  5.43197284e-04, 1.90803383e-05]


--- Step 1953 ---
qpos:
[-1.35201090e-02, 9.22740104e-01,-2.03036032e-02, 8.65802483e-01,
  4.23184084e-03, 9.03489585e-01,-2.80972620e-02, 8.17154777e-01,
  1.60010161e-02, 9.22728432e-01,-2.13424411e-02, 8.25503593e-01,
  1.36480012e+00,-1.23453232e-03, 1.14502076e+00, 6.32751874e-02,
 -3.85114525e-03,-9.22461850e-02, 8.16286853e-02, 6.25378684e-01,
 -1.84807120e-02,-6.61022376e-03, 7.80074528e-01]

qacc:
[ 3.73713607e-01,-5.67606141e+01, 2.55980042e+02,-5.79901049e+02,
 -1.22486403e-01,-6.56455607e+01, 3.09689071e+02,-7.66269300e+02,
 -6.47367564e-02,-5.43767941e+01, 2.38870789e+02,-5.41701268e+02,
 -1.46452901e-01, 2.27406046e-01, 4.36365030e+00,-1.51335335e+01,
  1.17914230e+00,-5.29071919e-02,-3.22924484e+00, 5.70769428e+01,
 -1.67114460e+01, 1.27196383e+00]

qfrc_actuator:
[ 1.79828260e-03, 1.33278476e-01, 8.53398091e-03, 8.53417303e-02,
  2.89734872e-05, 1.31907179e-01, 9.30289991e-03, 1.19225861e-01,
 -2.29212871e-03, 1.32947121e-01, 8.30949541e-03, 1.18884596e-01,
  0.00000000e+00,-1.91834254e-03, 0.00000000e+00,-1.78859899e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018712280515709029
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.70820323e-15,  2.96656258e-14,  1.00000000e+00,  1.10006170e-28,
        1.00000000e+00, -2.96656258e-14, -1.00000000e+00,  0.00000000e+00,
       -3.70820323e-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([-0.05590209, -0.0944189 ,  0.06183814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.68268520e-05, 2.06943281e-04, 1.73379581e-04,-1.46697808e-03,
 -2.55913539e-05,-5.11806063e-04,-3.12785856e-04,-2.03600219e-03,
 -1.45191453e-05,-4.40064023e-04,-6.85963004e-05,-1.37157883e-03,
 -8.42513094e-08, 4.14627215e-06,-1.09309030e-05,-7.65116892e-05,
  6.29839839e-05,-8.32597498e-06,-1.21646280e+00, 1.59380416e-03,
  5.44758471e-04, 2.81627292e-06]


--- Step 1954 ---
qpos:
[-1.35352472e-02, 9.24818226e-01,-2.03207236e-02, 8.67434456e-01,
  4.23272191e-03, 9.05558505e-01,-2.80974310e-02, 8.19459730e-01,
  1.60062797e-02, 9.24809668e-01,-2.13642482e-02, 8.27810208e-01,
  1.36487426e+00,-1.23915879e-03, 1.14519731e+00, 6.32748545e-02,
 -3.81493072e-03,-9.22487566e-02, 8.16259743e-02, 6.25373892e-01,
 -1.76937188e-02,-6.12172155e-03, 7.80100604e-01]

qacc:
[ 2.32698072e-01,-7.16233588e+01, 2.98753693e+02,-6.38669510e+02,
  2.60444546e-02,-6.51300412e+01, 2.98396708e+02,-7.15477527e+02,
  6.67476830e-02,-5.49994864e+01, 2.42284364e+02,-5.55834673e+02,
 -3.42666041e-01, 6.36997628e-01, 1.52634601e+00,-5.53371907e+00,
  1.14922062e+00,-5.07705341e-02,-3.42467712e+00, 5.56623002e+01,
 -1.63067963e+01, 1.20651140e+00]

qfrc_actuator:
[ 1.80967714e-03, 1.32613412e-01, 8.56783955e-03, 8.37570753e-02,
  4.61505635e-05, 1.31792696e-01, 9.27538414e-03, 1.17423439e-01,
 -2.27544969e-03, 1.32773250e-01, 8.33468870e-03, 1.17504882e-01,
  0.00000000e+00,-1.89690119e-03, 0.00000000e+00,-1.81372569e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017695248945787667
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.92133161e-15,  6.27413058e-14,  1.00000000e+00,  2.46029466e-28,
        1.00000000e+00, -6.27413058e-14, -1.00000000e+00,  0.00000000e+00,
       -3.92133161e-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([-0.05613911, -0.09443162,  0.06184633])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.68690377e-05,-6.05339195e-04, 3.92520286e-05,-1.60470721e-03,
  4.30889561e-06,-5.72815642e-04,-2.40093801e-04,-1.87358028e-03,
  1.29120291e-05,-5.19363425e-04,-1.23247746e-04,-1.42578250e-03,
  3.48672614e-07, 2.29249867e-05,-1.68957083e-05,-3.15818861e-05,
  8.72593594e-05,-1.06240218e-05,-1.21647133e+00, 1.59404880e-03,
  5.46509017e-04,-1.56807666e-05]


--- Step 1955 ---
qpos:
[-1.35504094e-02, 9.26886823e-01,-2.03352424e-02, 8.69037755e-01,
  4.23407620e-03, 9.07620355e-01,-2.80957245e-02, 8.21733369e-01,
  1.60115473e-02, 9.26884613e-01,-2.13843620e-02, 8.30090217e-01,
  1.36494836e+00,-1.24350238e-03, 1.14537377e+00, 6.32738576e-02,
 -3.77422133e-03,-9.22515250e-02, 8.16089245e-02, 6.25368438e-01,
 -1.68135433e-02,-5.56806065e-03, 7.80128591e-01]

qacc:
[-3.83118298e-03,-7.01279259e+01, 2.80302497e+02,-5.90199125e+02,
  2.41260565e-01,-6.94539558e+01, 2.93959878e+02,-6.48909723e+02,
  7.77748070e-03,-6.00779165e+01, 2.51754397e+02,-5.51365509e+02,
 -2.75461497e-01, 5.32829262e-01, 1.91059997e+00,-6.79898958e+00,
  1.12371538e+00,-4.92296668e-02,-3.58473322e+00, 5.45521164e+01,
 -1.59905014e+01, 1.14676039e+00]

qfrc_actuator:
[ 1.78678805e-03, 1.31776400e-01, 8.55706535e-03, 8.22963631e-02,
  9.15834823e-05, 1.31270985e-01, 9.31269365e-03, 1.15849979e-01,
 -2.28537663e-03, 1.32299921e-01, 8.35807569e-03, 1.16161440e-01,
  0.00000000e+00,-1.88238554e-03, 0.00000000e+00,-1.84608769e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001668354921027751
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.15912335e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.15912335e-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([-0.05637434, -0.09444427,  0.06185444])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.69490546e-06,-1.25812005e-03,-1.85201544e-04,-1.51377845e-03,
  4.75557508e-05,-9.93581449e-04,-1.73720778e-04,-1.64073870e-03,
  2.45973379e-07,-8.75164364e-04,-1.48653487e-04,-1.39496218e-03,
  5.06704783e-06, 2.10353468e-05,-1.42084564e-05,-3.69715977e-05,
  1.14706565e-04,-1.30982937e-05,-1.21648102e+00, 1.59426687e-03,
  5.48433407e-04,-3.63111223e-05]


--- Step 1956 ---
qpos:
[-1.35655194e-02, 9.28941780e-01,-2.03478819e-02, 8.70612237e-01,
  4.23575496e-03, 9.09672057e-01,-2.80920058e-02, 8.23979415e-01,
  1.60167743e-02, 9.28949781e-01,-2.14027392e-02, 8.32344700e-01,
  1.36502235e+00,-1.24736354e-03, 1.14555000e+00, 6.32734598e-02,
 -3.72929000e-03,-9.22579211e-02, 8.15903066e-02, 6.25362072e-01,
 -1.57971556e-02,-5.02203292e-03, 7.80158643e-01]

qacc:
[ 3.41937381e-02,-7.38176103e+01, 2.85952030e+02,-5.93786541e+02,
  1.67879338e-01,-6.72995044e+01, 2.72550933e+02,-5.80801944e+02,
 -1.30658699e-02,-6.28407003e+01, 2.52397697e+02,-5.35742172e+02,
 -3.66541717e-01, 7.65779971e-01,-2.11090477e+00, 6.97589898e+00,
  1.05548400e+00,-9.06888780e-01,-3.92001779e-01, 3.96120642e+01,
 -5.55381664e+01, 5.57847426e-01]

qfrc_actuator:
[ 1.79688651e-03, 1.30807522e-01, 8.53709474e-03, 8.08313256e-02,
  1.00264950e-04, 1.30599029e-01, 9.35102404e-03, 1.14459051e-01,
 -2.29344221e-03, 1.31598030e-01, 8.36138469e-03, 1.14867645e-01,
  0.00000000e+00,-1.85435582e-03, 0.00000000e+00,-1.81144982e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015865001287440061
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.49896922e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.49896922e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03180984, -0.07726596,  0.06186097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.00187626e-06,-1.79270487e-03,-3.46118533e-04,-1.54351470e-03,
  3.25096499e-05,-1.35577055e-03,-2.41045461e-04,-1.46483395e-03,
 -4.40663312e-06,-1.30470353e-03,-2.41043216e-04,-1.35701055e-03,
  7.16115611e-06, 3.51569676e-05,-1.36648656e-05, 3.00505229e-05,
  1.45206485e-04,-1.57469621e-05,-1.21649189e+00, 1.59445216e-03,
  5.50519520e-04,-5.90185079e-05]


--- Step 1957 ---
qpos:
[-1.35805189e-02, 9.30979825e-01,-2.03589851e-02, 8.72157970e-01,
  4.23728935e-03, 9.11712168e-01,-2.80880134e-02, 8.26199523e-01,
  1.60222951e-02, 9.31002320e-01,-2.14201906e-02, 8.34575819e-01,
  1.36509631e+00,-1.25084592e-03, 1.14572579e+00, 6.32761288e-02,
 -3.68035615e-03,-9.22677630e-02, 8.15683686e-02, 6.25354670e-01,
 -1.46502988e-02,-4.48326059e-03, 7.80190237e-01]

qacc:
[ 6.31826519e-02,-7.70476815e+01, 2.90970964e+02,-5.94828365e+02,
 -6.48627145e-02,-6.15522452e+01, 2.46970735e+02,-5.35419305e+02,
  1.49993084e-01,-6.05327303e+01, 2.34783890e+02,-4.90690866e+02,
 -7.30728933e-02, 3.30214870e-01,-9.90037593e+00, 3.37125751e+01,
  1.00063067e+00,-8.61471803e-01,-8.30032345e-01, 3.79607775e+01,
 -5.31767709e+01, 5.01946819e-01]

qfrc_actuator:
[ 1.80895817e-03, 1.29749696e-01, 8.52904057e-03, 7.93753069e-02,
  6.91023904e-05, 1.29913842e-01, 9.31806967e-03, 1.13150943e-01,
 -2.26484280e-03, 1.30782758e-01, 8.33417382e-03, 1.13684212e-01,
  0.00000000e+00,-1.83628298e-03, 0.00000000e+00,-1.64884637e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015297536863878858
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.26797751e-14,  2.72157301e-14,  1.00000000e+00, -6.17246637e-28,
        1.00000000e+00, -2.72157301e-14, -1.00000000e+00,  0.00000000e+00,
        2.26797751e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03188124, -0.07723061,  0.06186549])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08775021e-05,-2.21011013e-03,-4.58882937e-04,-1.55692872e-03,
 -1.49209026e-05,-1.57688288e-03,-3.86315256e-04,-1.39202166e-03,
  2.98078092e-05,-1.67291922e-03,-3.65979666e-04,-1.26260262e-03,
  1.17949756e-05, 2.93346314e-05,-5.70922181e-06, 1.61881203e-04,
  1.67038604e-04,-2.96651440e-05,-1.21650460e+00, 1.59638598e-03,
  5.53454411e-04,-1.07646721e-04]


--- Step 1958 ---
qpos:
[-1.35955409e-02, 9.33000208e-01,-2.03696707e-02, 8.73675777e-01,
  4.23873676e-03, 9.13739797e-01,-2.80841601e-02, 8.28395106e-01,
  1.60281449e-02, 9.33039620e-01,-2.14366316e-02, 8.36783968e-01,
  1.36517063e+00,-1.25510534e-03, 1.14590206e+00, 6.32760088e-02,
 -3.62760243e-03,-9.22809030e-02, 8.15416537e-02, 6.25346086e-01,
 -1.33776476e-02,-3.95142723e-03, 7.80222852e-01]

qacc:
[-2.12020030e-03,-7.35360879e+01, 2.76197639e+02,-5.70754331e+02,
 -3.65954901e-02,-5.91054924e+01, 2.33831794e+02,-5.04978587e+02,
  1.67722689e-01,-6.34769420e+01, 2.39123243e+02,-4.87532093e+02,
  6.22096518e-01,-1.20879542e+00, 9.07416809e+00,-3.08438170e+01,
  9.54966396e-01,-8.24535945e-01,-1.19421980e+00, 3.66198486e+01,
 -5.12515634e+01, 4.47028141e-01]

qfrc_actuator:
[ 1.80438213e-03, 1.28824756e-01, 8.52772765e-03, 7.79716618e-02,
  6.76303456e-05, 1.29261725e-01, 9.29653583e-03, 1.11919659e-01,
 -2.25006767e-03, 1.29870714e-01, 8.32427235e-03, 1.12521786e-01,
  0.00000000e+00,-1.89528412e-03, 0.00000000e+00,-1.80272876e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014675127658584503
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.25550268e-14,  2.83700179e-14,  1.00000000e+00, -1.20728687e-27,
        1.00000000e+00, -2.83700179e-14, -1.00000000e+00,  0.00000000e+00,
        4.25550268e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03195992, -0.07719184,  0.06187047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.76938845e-06,-2.33062029e-03,-5.47607884e-04,-1.52141014e-03,
 -9.15450788e-06,-1.69234907e-03,-4.33105622e-04,-1.32520172e-03,
  3.34074713e-05,-1.99499758e-03,-4.32918942e-04,-1.25521998e-03,
  1.32940207e-05,-4.83834036e-05, 1.29597182e-05,-1.46168555e-04,
  1.89181691e-04,-4.40852769e-05,-1.21651868e+00, 1.59851548e-03,
  5.56610072e-04,-1.60002718e-04]


--- Step 1959 ---
qpos:
[-1.36105767e-02, 9.35004305e-01,-2.03801341e-02, 8.75165211e-01,
  4.24012579e-03, 9.15757226e-01,-2.80809475e-02, 8.30566616e-01,
  1.60340857e-02, 9.35062918e-01,-2.14526855e-02, 8.38967858e-01,
  1.36524528e+00,-1.26049515e-03, 1.14607847e+00, 6.32734006e-02,
 -3.57118215e-03,-9.22972212e-02, 8.15089540e-02, 6.25336157e-01,
 -1.19829757e-02,-3.42626824e-03, 7.80255958e-01]

qacc:
[ 1.52676492e-03,-7.19711131e+01, 2.74123640e+02,-5.74802859e+02,
 -2.34667135e-02,-5.39296833e+01, 2.19169621e+02,-4.87162972e+02,
  5.12341697e-02,-6.24213143e+01, 2.40506834e+02,-5.04872074e+02,
  8.93233796e-01,-1.80391922e+00, 7.61236777e+00,-2.65592439e+01,
  9.16641118e-01,-7.94515345e-01,-1.49620092e+00, 3.55408882e+01,
 -4.96945815e+01, 3.92595536e-01]

qfrc_actuator:
[ 1.80765872e-03, 1.28146836e-01, 8.58422144e-03, 7.65568596e-02,
  6.62203488e-05, 1.28954524e-01, 9.33541550e-03, 1.10725683e-01,
 -2.26149253e-03, 1.29281075e-01, 8.37755948e-03, 1.11309906e-01,
  0.00000000e+00,-1.96402007e-03, 0.00000000e+00,-1.92884218e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014015097233707058
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.97060825e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.97060825e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0320437 , -0.07715069,  0.06187577])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.86624703e-06,-2.16613406e-03,-5.22450205e-04,-1.53815902e-03,
 -6.20296684e-06,-1.41797981e-03,-3.98687642e-04,-1.29152070e-03,
  8.99924370e-06,-1.86364571e-03,-4.40749415e-04,-1.31694083e-03,
 -4.83431780e-06,-7.80238504e-05,-1.47538760e-05,-1.33658390e-04,
  2.11651145e-04,-5.89881749e-05,-1.21653404e+00, 1.60080289e-03,
  5.59968594e-04,-2.15859500e-04]


--- Step 1960 ---
qpos:
[-1.36257484e-02, 9.36993128e-01,-2.03902411e-02, 8.76625335e-01,
  4.24147125e-03, 9.17766974e-01,-2.80793185e-02, 8.32712616e-01,
  1.60401882e-02, 9.37075708e-01,-2.14693497e-02, 8.41124117e-01,
  1.36531967e+00,-1.26561184e-03, 1.14625407e+00, 6.32749743e-02,
 -3.52118848e-03,-9.23216790e-02, 8.14902895e-02, 6.25333072e-01,
 -1.05834056e-02,-3.15655764e-03, 7.80279807e-01]

qacc:
[-5.78085523e-02,-7.26362571e+01, 2.79884966e+02,-5.91476855e+02,
 -1.72775448e-02,-5.05776780e+01, 2.15451646e+02,-5.02663772e+02,
  8.43181769e-02,-6.10706553e+01, 2.49465879e+02,-5.55963127e+02,
 -8.46040521e-02, 2.01685949e-01,-1.37854909e+01, 4.65480223e+01,
 -1.60665439e+00,-2.03494120e+00, 3.50879756e+00,-9.81009767e+01,
 -8.17142960e+01,-7.10312774e+00]

qfrc_actuator:
[ 1.79789477e-03, 1.27498548e-01, 8.63992237e-03, 7.50937238e-02,
  6.48537607e-05, 1.28768219e-01, 9.32233748e-03, 1.09456930e-01,
 -2.25302578e-03, 1.29014005e-01, 8.43347375e-03, 1.09936809e-01,
  0.00000000e+00,-1.93141696e-03, 0.00000000e+00,-1.70017925e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014199981334709622
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95462057e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.95462057e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03570361, -0.06182548,  0.06187404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43865134e-05,-2.04036595e-03,-4.88188379e-04,-1.58082912e-03,
 -4.64275189e-06,-1.13644624e-03,-3.91011562e-04,-1.35536217e-03,
  1.63752809e-05,-1.47128464e-03,-4.14668478e-04,-1.47538736e-03,
 -2.18782540e-05, 1.13639070e-05,-2.46092696e-05, 2.18609376e-04,
  2.34475011e-04,-7.43714071e-05,-1.21655065e+00, 1.60321839e-03,
  5.63517012e-04,-2.75099754e-04]


--- Step 1961 ---
qpos:
[-1.36408482e-02, 9.38967823e-01,-2.04003742e-02, 8.78056505e-01,
  4.24295615e-03, 9.19768780e-01,-2.80783772e-02, 8.34830852e-01,
  1.60462594e-02, 9.39078106e-01,-2.14855024e-02, 8.43248131e-01,
  1.36539380e+00,-1.27013549e-03, 1.14642966e+00, 6.32778755e-02,
 -3.48186961e-03,-9.23389549e-02, 8.14882147e-02, 6.25319953e-01,
 -9.52288831e-03,-2.87457976e-03, 7.80305073e-01]

qacc:
[ 4.25171478e-02,-6.94520869e+01, 2.70313403e+02,-5.79020279e+02,
  7.35591047e-02,-5.72765987e+01, 2.42309276e+02,-5.53987960e+02,
 -8.29324379e-03,-7.21053034e+01, 2.96669755e+02,-6.54602839e+02,
 -5.40952979e-01, 1.01158968e+00,-3.99044717e+00, 1.40285976e+01,
 -2.66869720e+00, 1.79550444e+00, 4.14742669e+00,-1.01275480e+02,
  1.36090376e+02, 4.95751923e+00]

qfrc_actuator:
[ 1.81593919e-03, 1.26909048e-01, 8.67717192e-03, 7.36493785e-02,
  8.12743967e-05, 1.28407478e-01, 9.29703660e-03, 1.08065618e-01,
 -2.26823637e-03, 1.28552025e-01, 8.47405421e-03, 1.08320283e-01,
  0.00000000e+00,-1.89221965e-03, 0.00000000e+00,-1.63713058e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015274421310032954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.63425560e-14, -3.63425560e-14,  1.00000000e+00,  1.32078138e-27,
        1.00000000e+00,  3.63425560e-14, -1.00000000e+00,  0.00000000e+00,
        3.63425560e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04729087, -0.11406157,  0.06186502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.04823623e-06,-1.90596520e-03,-4.78972629e-04,-1.55792901e-03,
  1.39626015e-05,-1.15491905e-03,-3.48327992e-04,-1.46979107e-03,
 -3.49738359e-06,-1.44823134e-03,-3.53986884e-04,-1.70873174e-03,
 -9.06446817e-06, 3.71566579e-05, 1.15617990e-05, 7.17419191e-05,
  1.56993322e-04,-8.12388051e-05,-1.21654089e+00, 1.60104407e-03,
  5.60131566e-04,-2.88944191e-04]


--- Step 1962 ---
qpos:
[-1.36557814e-02, 9.40931163e-01,-2.04117876e-02, 8.79459064e-01,
  4.24425312e-03, 9.21762596e-01,-2.80781545e-02, 8.36919071e-01,
  1.60520643e-02, 9.41069103e-01,-2.15004322e-02, 8.45338405e-01,
  1.36546797e+00,-1.27471760e-03, 1.14660530e+00, 6.32811823e-02,
 -3.45207069e-03,-9.23497851e-02, 8.14970630e-02, 6.25298094e-01,
 -8.76494153e-03,-2.58173283e-03, 7.80332496e-01]

qacc:
[ 8.67689763e-02,-6.17879856e+01, 2.48675954e+02,-5.56977267e+02,
 -8.70565853e-02,-6.11841643e+01, 2.60272331e+02,-5.97272001e+02,
 -1.21380106e-01,-7.79732242e+01, 3.17630819e+02,-6.90505614e+02,
  1.01640016e-01,-1.56733447e-01,-1.15205499e+00, 4.12876671e+00,
 -2.37999020e+00, 1.61140639e+00, 2.73077855e+00,-9.03996584e+01,
  1.21424173e+02, 4.57060574e+00]

qfrc_actuator:
[ 1.83276254e-03, 1.26555062e-01, 8.68583785e-03, 7.22276759e-02,
  5.49438996e-05, 1.28034171e-01, 9.26413955e-03, 1.06559967e-01,
 -2.29752508e-03, 1.27959435e-01, 8.52230923e-03, 1.06626625e-01,
  0.00000000e+00,-1.90275289e-03, 0.00000000e+00,-1.61901101e-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,  8.57071282, -1.06285401,  8.57071282,  9.64225404,
        8.11136588, -1.06285401,  8.11136588, 74.04533476,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016594153895065564
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.34522336e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.34522336e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04700361, -0.11392834,  0.06185419])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.68820293e-05,-1.59291470e-03,-4.79100737e-04,-1.53017686e-03,
 -1.93578561e-05,-1.17266309e-03,-3.57948303e-04,-1.58593097e-03,
 -2.78055527e-05,-1.56129236e-03,-3.41669256e-04,-1.78844499e-03,
  4.02376989e-06,-2.79033124e-06, 9.18727694e-06, 2.26537507e-05,
  1.07410110e-04,-4.57590994e-05,-1.21650179e+00, 1.59680668e-03,
  5.57548969e-04,-1.55804069e-04]


--- Step 1963 ---
qpos:
[-1.36705073e-02, 9.42884599e-01,-2.04246766e-02, 8.80833227e-01,
  4.24529630e-03, 9.23746818e-01,-2.80778311e-02, 8.38976933e-01,
  1.60579176e-02, 9.43048112e-01,-2.15144731e-02, 8.47394989e-01,
  1.36554217e+00,-1.27936601e-03, 1.14678099e+00, 6.32843519e-02,
 -3.43083838e-03,-9.23547777e-02, 8.15120406e-02, 6.25268473e-01,
 -8.27939972e-03,-2.27916760e-03, 7.80362476e-01]

qacc:
[ 1.05863485e-01,-5.89605768e+01, 2.41100157e+02,-5.48253398e+02,
 -1.18309493e-01,-6.60845636e+01, 2.74401952e+02,-6.12588411e+02,
  3.10852971e-02,-7.77295611e+01, 3.15497947e+02,-6.86928926e+02,
  6.01239518e-02,-1.11949343e-01, 4.82632450e-01,-1.59406964e+00,
 -2.14164935e+00, 1.45941054e+00, 1.53232989e+00,-8.14061391e+01,
  1.09300426e+02, 4.22264780e+00]

qfrc_actuator:
[ 1.84872993e-03, 1.26203243e-01, 8.66086577e-03, 7.08130444e-02,
  3.87395577e-05, 1.27496775e-01, 9.24474342e-03, 1.05034578e-01,
 -2.28175518e-03, 1.27346901e-01, 8.55650039e-03, 1.04936585e-01,
  0.00000000e+00,-1.90720492e-03, 0.00000000e+00,-1.62745803e-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,  8.6155214 , -0.59963973,  8.6155214 ,  8.99172608,
        5.10578703, -0.59963973,  5.10578703, 81.99544173,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017462217455390394
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.1789291e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -3.1789291e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04681843, -0.113842  ,  0.06184719])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.11557981e-05,-1.41599521e-03,-4.50047288e-04,-1.51255155e-03,
 -2.61411234e-05,-1.35195668e-03,-3.52442668e-04,-1.60908270e-03,
  4.69893388e-06,-1.64362083e-03,-3.78884807e-04,-1.78983320e-03,
  1.38211188e-06,-4.07449422e-06, 2.93317021e-06,-6.90837489e-06,
  7.07585462e-05,-2.08605739e-05,-1.21647529e+00, 1.59191558e-03,
  5.55278856e-04,-6.60782486e-05]


--- Step 1964 ---
qpos:
[-1.36848390e-02, 9.44828528e-01,-2.04378579e-02, 8.82180705e-01,
  4.24628729e-03, 9.25718710e-01,-2.80759077e-02, 8.41001060e-01,
  1.60638966e-02, 9.45015641e-01,-2.15290493e-02, 8.49415378e-01,
  1.36561646e+00,-1.28429281e-03, 1.14695665e+00, 6.32873937e-02,
 -3.41738413e-03,-9.23544364e-02, 8.15290946e-02, 6.25231827e-01,
 -8.04124843e-03,-1.96783266e-03, 7.80395174e-01]

qacc:
[ 1.96478491e-01,-5.86180400e+01, 2.36666767e+02,-5.23833760e+02,
 -1.74066925e-02,-7.96316960e+01, 3.22404678e+02,-6.94888994e+02,
  6.77698119e-02,-7.75940345e+01, 3.21448506e+02,-7.22331540e+02,
  2.57563808e-01,-4.92230881e-01, 3.28544285e-01,-1.25300916e+00,
 -1.94451732e+00, 1.33347429e+00, 5.19076599e-01,-7.39469631e+01,
  9.92495990e+01, 3.90921110e+00]

qfrc_actuator:
[ 1.88182902e-03, 1.25838061e-01, 8.68742866e-03, 6.94848961e-02,
  4.65045967e-05, 1.26741458e-01, 9.26842116e-03, 1.03332167e-01,
 -2.27466363e-03, 1.26798560e-01, 8.52884031e-03, 1.03120142e-01,
  0.00000000e+00,-1.92572963e-03, 0.00000000e+00,-1.63371169e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364e+00,  8.63618890e+00,  5.49371600e-02,  8.63618890e+00,
        8.63970688e+00, -5.25561809e-01,  5.49371600e-02, -5.25561809e-01,
        9.12553244e+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: -0.0017961150779170557
  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([ 0.04671463, -0.11379304,  0.06184326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.05472009e-05,-1.32462981e-03,-3.59603840e-04,-1.41917261e-03,
 -5.65220867e-06,-1.66852574e-03,-3.44719108e-04,-1.79224476e-03,
  1.27128446e-05,-1.63196803e-03,-4.61130584e-04,-1.91997829e-03,
 -4.81765486e-07,-1.90388588e-05,-3.07823100e-06,-7.12978313e-06,
  4.38421777e-05,-3.88248259e-06,-1.21645825e+00, 1.58653409e-03,
  5.53186249e-04,-8.62229487e-06]


--- Step 1965 ---
qpos:
[-1.36989261e-02, 9.46763063e-01,-2.04506792e-02, 8.83501419e-01,
  4.24729419e-03, 9.27676773e-01,-2.80733613e-02, 8.42987886e-01,
  1.60701606e-02, 9.46972669e-01,-2.15443446e-02, 8.51396154e-01,
  1.36569061e+00,-1.28887877e-03, 1.14713240e+00, 6.32893225e-02,
 -3.41105448e-03,-9.23491800e-02, 8.15448001e-02, 6.25188708e-01,
 -8.02970373e-03,-1.64851026e-03, 7.80430577e-01]

qacc:
[ 1.24264584e-01,-6.03684451e+01, 2.42645035e+02,-5.29928190e+02,
  1.61851562e-02,-8.51750276e+01, 3.46399019e+02,-7.58308196e+02,
  1.44638309e-01,-8.18240395e+01, 3.44646783e+02,-7.84788578e+02,
 -4.31341535e-01, 7.42950473e-01, 3.51338709e+00,-1.20359826e+01,
 -1.78114949e+00, 1.22878328e+00,-3.37090417e-01,-6.77475085e+01,
  9.09011167e+01, 3.62597922e+00]

qfrc_actuator:
[ 1.88943198e-03, 1.25432921e-01, 8.72656701e-03, 6.81472738e-02,
  5.07985304e-05, 1.25932972e-01, 9.24539320e-03, 1.01450300e-01,
 -2.25512309e-03, 1.26364031e-01, 8.51839582e-03, 1.01137321e-01,
  0.00000000e+00,-1.89920143e-03, 0.00000000e+00,-1.69186186e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018160029615307133
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.11355294e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.11355294e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0466756 , -0.11377382,  0.06184178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.50984121e-05,-1.29274655e-03,-3.15622127e-04,-1.42087925e-03,
  1.25724173e-06,-1.90129809e-03,-4.58575607e-04,-1.98583958e-03,
  2.92716341e-05,-1.53175957e-03,-4.54887782e-04,-2.09133585e-03,
 -5.10717620e-06, 2.16608792e-05,-5.47663007e-06,-5.97243630e-05,
  2.43611032e-05, 7.07958801e-06,-1.21644840e+00, 1.58079545e-03,
  5.51183977e-04, 2.45393191e-05]


--- Step 1966 ---
qpos:
[-1.37128214e-02, 9.48686566e-01,-2.04627146e-02, 8.84795987e-01,
  4.24850408e-03, 9.29619687e-01,-2.80706160e-02, 8.44939646e-01,
  1.60766906e-02, 9.48919003e-01,-2.15594269e-02, 8.53340168e-01,
  1.36576459e+00,-1.29288953e-03, 1.14730846e+00, 6.32875161e-02,
 -3.41130664e-03,-9.23393577e-02, 8.15562654e-02, 6.25139523e-01,
 -8.22747788e-03,-1.32184483e-03, 7.80468538e-01]

qacc:
[ 9.92801773e-02,-6.25689695e+01, 2.45739700e+02,-5.23926353e+02,
  1.07475016e-01,-8.18214755e+01, 3.27665098e+02,-7.12558314e+02,
  1.35455496e-01,-7.95356769e+01, 3.29903663e+02,-7.36142675e+02,
 -7.89966232e-01, 1.36463581e+00, 1.18122794e+01,-4.04860089e+01,
 -1.64545374e+00, 1.14146105e+00,-1.06007320e+00,-6.25887769e+01,
  8.39595314e+01, 3.36882805e+00]

qfrc_actuator:
[ 1.89948186e-03, 1.24812218e-01, 8.73720982e-03, 6.68324741e-02,
  7.07152249e-05, 1.25116769e-01, 9.23018404e-03, 9.96908513e-02,
 -2.24607540e-03, 1.25894888e-01, 8.55418399e-03, 9.93033557e-02,
  0.00000000e+00,-1.86390200e-03, 0.00000000e+00,-1.88662938e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018116692839833387
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.12817712e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.12817712e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04668793, -0.11377819,  0.06184223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.96244777e-05,-1.48164790e-03,-3.32671418e-04,-1.39572977e-03,
  2.03763590e-05,-2.06653089e-03,-5.15687815e-04,-1.87873992e-03,
  2.73222560e-05,-1.51472506e-03,-3.93148057e-04,-1.94285666e-03,
  1.93531620e-06, 4.01575203e-05,-1.28934438e-05,-1.99668846e-04,
  1.06469905e-05, 1.33982371e-05,-1.21644409e+00, 1.57480611e-03,
  5.49215999e-04, 3.91478618e-05]


--- Step 1967 ---
qpos:
[-1.37263666e-02, 9.50596406e-01,-2.04736972e-02, 8.86064648e-01,
  4.24992816e-03, 9.31547233e-01,-2.80678444e-02, 8.46857610e-01,
  1.60830727e-02, 9.50856266e-01,-2.15745645e-02, 8.55245928e-01,
  1.36583886e+00,-1.29750067e-03, 1.14748480e+00, 6.32803627e-02,
 -3.41768848e-03,-9.23252620e-02, 8.15610500e-02, 6.25084562e-01,
 -8.62018799e-03,-9.88365880e-04, 7.80508812e-01]

qacc:
[ 1.76153934e-01,-6.63224588e+01, 2.53184938e+02,-5.25711855e+02,
  1.12619838e-01,-7.93971563e+01, 3.16082195e+02,-6.85875132e+02,
 -6.44264288e-02,-7.92846288e+01, 3.34892885e+02,-7.59179846e+02,
  2.87383661e-01,-6.73053736e-01, 1.65221814e+01,-5.72760998e+01,
 -1.53241663e+00, 1.06835758e+00,-1.67018051e+00,-5.82944437e+01,
  7.81870643e+01, 3.13387338e+00]

qfrc_actuator:
[ 1.92870735e-03, 1.23978808e-01, 8.73018560e-03, 6.55237014e-02,
  8.20594863e-05, 1.24373796e-01, 9.23759375e-03, 9.79997858e-02,
 -2.27892356e-03, 1.25586895e-01, 8.59931474e-03, 9.73941693e-02,
  0.00000000e+00,-1.91247369e-03, 0.00000000e+00,-2.16029990e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017879571927697374
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.10472485e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.10472485e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04674076, -0.11380116,  0.0618442 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.59936377e-05,-1.80113855e-03,-3.88563582e-04,-1.39552181e-03,
  2.15440235e-05,-2.09207404e-03,-5.28808302e-04,-1.81495383e-03,
 -1.55925607e-05,-1.32653248e-03,-3.68518590e-04,-2.01222478e-03,
  9.66704091e-06,-3.69511971e-05,-3.22156822e-05,-2.87391609e-04,
  1.48206337e-06, 1.60676151e-05,-1.21644411e+00, 1.56865036e-03,
  5.47246830e-04, 3.93524786e-05]


--- Step 1968 ---
qpos:
[-1.37395429e-02, 9.52491194e-01,-2.04834655e-02, 8.87307910e-01,
  4.25152063e-03, 9.33461208e-01,-2.80659523e-02, 8.48740976e-01,
  1.60890240e-02, 9.52792269e-01,-2.15927209e-02, 8.57110998e-01,
  1.36591327e+00,-1.30259306e-03, 1.14766093e+00, 6.32702837e-02,
 -3.42982188e-03,-9.23071387e-02, 8.15570959e-02, 6.25024023e-01,
 -9.19587575e-03,-6.48506409e-04, 7.80551078e-01]

qacc:
[ 1.85542724e-01,-6.76788471e+01, 2.54159627e+02,-5.19311223e+02,
  8.92231625e-02,-7.59616499e+01, 3.09316279e+02,-6.90128693e+02,
 -2.03987195e-01,-6.52496597e+01, 3.06654001e+02,-7.67645952e+02,
  2.66416569e-01,-6.19278264e-01, 8.48284540e+00,-3.02095611e+01,
 -1.43789199e+00, 1.00689257e+00,-2.18466290e+00,-5.47212934e+01,
  7.33906920e+01, 2.91749772e+00]

qfrc_actuator:
[ 1.95145080e-03, 1.23166840e-01, 8.76523759e-03, 6.42465180e-02,
  8.81678963e-05, 1.23840816e-01, 9.24091517e-03, 9.62737438e-02,
 -2.31884929e-03, 1.26052848e-01, 8.63248132e-03, 9.53850379e-02,
  0.00000000e+00,-1.93941202e-03, 0.00000000e+00,-2.30068005e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017489202357118538
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.17402418e-14,  6.34804837e-14,  1.00000000e+00,  2.01488590e-27,
        1.00000000e+00, -6.34804837e-14, -1.00000000e+00,  0.00000000e+00,
       -3.17402418e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04682523, -0.11383866,  0.06184737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.79905601e-05,-1.96721165e-03,-4.15618521e-04,-1.37556642e-03,
  1.69153034e-05,-1.89612510e-03,-5.37234249e-04,-1.84961694e-03,
 -4.48763554e-05,-4.45224919e-04,-3.42374899e-04,-2.10687542e-03,
 -4.96480212e-06,-3.36275233e-05,-4.96684689e-05,-1.61211687e-04,
 -4.02627874e-06, 1.58096148e-05,-1.21644760e+00, 1.56239508e-03,
  5.45254793e-04, 2.81569644e-05]


--- Step 1969 ---
qpos:
[-1.37525493e-02, 9.54369526e-01,-2.04919033e-02, 8.88527044e-01,
  4.25288184e-03, 9.35362504e-01,-2.80645697e-02, 8.50591337e-01,
  1.60943609e-02, 9.54733552e-01,-2.16148417e-02, 8.58938991e-01,
  1.36598734e+00,-1.30693015e-03, 1.14783653e+00, 6.32605381e-02,
 -3.44667964e-03,-9.22942614e-02, 8.15505170e-02, 6.24970369e-01,
 -9.79314815e-03,-5.17070202e-04, 7.80586872e-01]

qacc:
[ 8.97724180e-02,-6.75974719e+01, 2.48724539e+02,-4.98162402e+02,
 -1.05725770e-01,-7.29849702e+01, 2.96996482e+02,-6.59748276e+02,
 -2.94679023e-01,-4.76932261e+01, 2.50848756e+02,-6.77457272e+02,
 -7.39895262e-01, 1.35825043e+00,-1.70770983e+00, 5.01236735e+00,
 -1.18109173e+00,-1.31148949e+00,-6.56214973e-01,-8.80584021e+01,
 -5.66788366e+01,-5.66125075e+00]

qfrc_actuator:
[ 1.95239330e-03, 1.22285829e-01, 8.80720018e-03, 6.30336468e-02,
  5.55896585e-05, 1.23331664e-01, 9.26043145e-03, 9.46297990e-02,
 -2.36267937e-03, 1.26836963e-01, 8.62594984e-03, 9.35644601e-02,
  0.00000000e+00,-1.88223878e-03, 0.00000000e+00,-2.27260534e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017514437721404194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.58472547e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.58472547e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04796552, -0.05922048,  0.06184714])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72620804e-05,-2.13244770e-03,-4.43709048e-04,-1.31675200e-03,
 -2.41035412e-05,-1.76590724e-03,-4.84064309e-04,-1.76210412e-03,
 -6.38910076e-05, 3.63808255e-04,-2.07736979e-04,-1.89133245e-03,
 -1.19126120e-05, 4.78583393e-05,-4.22831173e-05, 1.23719919e-05,
 -6.53342503e-06, 1.31483187e-05,-1.21645393e+00, 1.55609413e-03,
  5.43227700e-04, 7.73423606e-06]


--- Step 1970 ---
qpos:
[-1.37654426e-02, 9.56227954e-01,-2.04991145e-02, 8.89722522e-01,
  4.25375833e-03, 9.37250625e-01,-2.80631320e-02, 8.52410403e-01,
  1.60991410e-02, 9.56679761e-01,-2.16380124e-02, 8.60731522e-01,
  1.36606124e+00,-1.31061147e-03, 1.14801158e+00, 6.32534749e-02,
 -3.46807983e-03,-9.22862472e-02, 8.15385394e-02, 6.24922913e-01,
 -1.04102014e-02,-5.78038695e-04, 7.80616837e-01]

qacc:
[ 6.31835094e-02,-7.10079872e+01, 2.53229531e+02,-4.94008158e+02,
 -2.28629440e-01,-7.21524936e+01, 2.89244176e+02,-6.31167628e+02,
 -2.65200710e-01,-5.31833903e+01, 2.64409579e+02,-6.69524453e+02,
 -3.99666400e-01, 8.92797749e-01,-8.87380539e+00, 2.99511701e+01,
 -1.13560460e+00,-1.21578914e+00,-1.34964076e+00,-8.12466742e+01,
 -5.23731532e+01,-5.17698889e+00]

qfrc_actuator:
[ 1.95805944e-03, 1.21069020e-01, 8.78169666e-03, 6.18327482e-02,
  1.78843621e-05, 1.22699325e-01, 9.27189393e-03, 9.30651121e-02,
 -2.39074348e-03, 1.27184598e-01, 8.61550535e-03, 9.17986683e-02,
  0.00000000e+00,-1.84665318e-03, 0.00000000e+00,-2.12779389e-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, -0.52976853,  8.62009989, -0.52976853, 21.44159653,
        0.78697572,  8.62009989,  0.78697572,  8.68472908,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017494534808554715
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.17305672e-14,  1.58652836e-14,  1.00000000e+00,  5.03414447e-28,
        1.00000000e+00, -1.58652836e-14, -1.00000000e+00,  0.00000000e+00,
       -3.17305672e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04796285, -0.05921787,  0.06184726])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12778369e-05,-2.56291452e-03,-5.44941434e-04,-1.30938437e-03,
 -5.02163875e-05,-1.80294816e-03,-4.57296315e-04,-1.67495166e-03,
 -5.79417223e-05, 4.09582653e-04,-2.96593068e-05,-1.80164135e-03,
  4.22623191e-06, 4.59060121e-05,-1.96914798e-05, 1.39738288e-04,
  4.15344353e-06,-7.07083529e-06,-1.21645173e+00, 1.56316695e-03,
  5.40761213e-04,-1.75164035e-05]


--- Step 1971 ---
qpos:
[-1.37782248e-02, 9.58063214e-01,-2.05046977e-02, 8.90894285e-01,
  4.25451111e-03, 9.39125373e-01,-2.80620118e-02, 8.54199738e-01,
  1.61034872e-02, 9.58628592e-01,-2.16610403e-02, 8.62488782e-01,
  1.36613508e+00,-1.31382684e-03, 1.14818659e+00, 6.32471497e-02,
 -3.49385357e-03,-9.22827764e-02, 8.15188184e-02, 6.24881024e-01,
 -1.10455566e-02,-8.18068456e-04, 7.80641424e-01]

qacc:
[ 6.32071158e-02,-7.64776119e+01, 2.65967816e+02,-5.03671459e+02,
 -5.33206785e-02,-6.86495034e+01, 2.73539657e+02,-5.97401217e+02,
 -2.04793832e-01,-5.90856244e+01, 2.79452877e+02,-6.78738441e+02,
 -3.19279942e-01, 7.06203513e-01,-2.25050364e+00, 7.86860321e+00,
 -1.09338888e+00,-1.13582982e+00,-1.93588990e+00,-7.55803803e+01,
 -4.87767066e+01,-4.78043098e+00]

qfrc_actuator:
[ 1.96654860e-03, 1.19714022e-01, 8.78629570e-03, 6.06304589e-02,
  3.07066749e-05, 1.22051900e-01, 9.26041062e-03, 9.15772244e-02,
 -2.40915995e-03, 1.27215330e-01, 8.58363159e-03, 9.00257049e-02,
  0.00000000e+00,-1.82422276e-03, 0.00000000e+00,-2.09294904e-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, -0.65647752,  8.61137702, -0.65647752, 24.70642781,
        1.22508118,  8.61137702,  1.22508118,  8.72975616,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017278944897428233
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.21264704e-14,  1.60632352e-14,  1.00000000e+00,  5.16055051e-28,
        1.00000000e+00, -1.60632352e-14, -1.00000000e+00,  0.00000000e+00,
       -3.21264704e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04800352, -0.05918825,  0.06184893])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10008043e-05,-2.95864932e-03,-6.10727080e-04,-1.32702233e-03,
 -1.30986527e-05,-1.82987019e-03,-4.81562396e-04,-1.59648606e-03,
 -4.52409812e-05, 1.56308843e-04,-1.86803299e-05,-1.79994433e-03,
  1.29572835e-05, 3.57678275e-05, 4.54130399e-06, 3.96806773e-05,
  2.30031088e-05,-1.64263814e-05,-1.21645331e+00, 1.56888337e-03,
  5.38893204e-04,-2.94530346e-05]


--- Step 1972 ---
qpos:
[-1.37910512e-02, 9.59874352e-01,-2.05096230e-02, 8.92042703e-01,
  4.25544499e-03, 9.40986774e-01,-2.80615603e-02, 8.55960127e-01,
  1.61076895e-02, 9.60576329e-01,-2.16824739e-02, 8.64212122e-01,
  1.36620885e+00,-1.31645278e-03, 1.14836150e+00, 6.32419590e-02,
 -3.52336983e-03,-9.22841746e-02, 8.14963054e-02, 6.24844117e-01,
 -1.16769715e-02,-1.23234922e-03, 7.80661232e-01]

qacc:
[-1.16392020e-02,-7.44445407e+01, 2.56847062e+02,-4.90232342e+02,
  9.43645595e-02,-6.62782175e+01, 2.63756562e+02,-5.78627318e+02,
 -6.40179128e-02,-6.54977759e+01, 2.91242388e+02,-6.70080445e+02,
 -3.94340104e-01, 8.77792269e-01,-3.53763144e+00, 1.22461923e+01,
 -9.35631409e-01,-1.21725357e+00,-6.97989007e-01,-6.67571133e+01,
 -5.59526291e+01,-4.40179919e+00]

qfrc_actuator:
[ 1.95893571e-03, 1.18447109e-01, 8.79031162e-03, 5.94546091e-02,
  5.59258111e-05, 1.21418642e-01, 9.23551050e-03, 9.01286173e-02,
 -2.40393534e-03, 1.26967489e-01, 8.59138536e-03, 8.83156912e-02,
  0.00000000e+00,-1.79200529e-03, 0.00000000e+00,-2.03444968e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001702248777589177
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.63052404e-14,  6.52209618e-14,  1.00000000e+00, -1.06344346e-27,
        1.00000000e+00, -6.52209618e-14, -1.00000000e+00,  0.00000000e+00,
        1.63052404e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03518355, -0.0621915 ,  0.06185088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.23303565e-06,-3.10261000e-03,-6.97007030e-04,-1.31523264e-03,
  1.83207737e-05,-1.83231625e-03,-5.00469027e-04,-1.55695185e-03,
 -1.50602880e-05,-2.60262108e-04,-2.76696113e-05,-1.74474039e-03,
  1.52852491e-05, 4.49005419e-05, 2.93890710e-06, 6.04875953e-05,
  4.82937880e-05,-1.71062246e-05,-1.21645790e+00, 1.57354060e-03,
  5.37508874e-04,-3.07662655e-05]


--- Step 1973 ---
qpos:
[-1.38042632e-02, 9.61661602e-01,-2.05154331e-02, 8.93167502e-01,
  4.25661398e-03, 9.42833700e-01,-2.80614047e-02, 8.57691301e-01,
  1.61120324e-02, 9.62520887e-01,-2.17020398e-02, 8.65901435e-01,
  1.36628280e+00,-1.31916516e-03, 1.14853649e+00, 6.32364965e-02,
 -3.55648185e-03,-9.22901804e-02, 8.14687288e-02, 6.24811686e-01,
 -1.23047067e-02,-1.81015429e-03, 7.80676421e-01]

qacc:
[-1.76027305e-01,-7.04316225e+01, 2.44559198e+02,-4.82418975e+02,
  1.20965266e-01,-6.92175338e+01, 2.72042290e+02,-5.88116067e+02,
  7.28756308e-02,-6.91454267e+01, 2.99907180e+02,-6.77246176e+02,
  1.74831069e-01,-2.29416258e-01, 9.28681227e-01,-3.10338100e+00,
 -8.98938737e-01,-1.15191755e+00,-1.26588464e+00,-6.26556355e+01,
 -5.24952062e+01,-4.14691885e+00]

qfrc_actuator:
[ 1.92401980e-03, 1.17261021e-01, 8.74103867e-03, 5.82682332e-02,
  7.05750806e-05, 1.20657188e-01, 9.20303835e-03, 8.86614284e-02,
 -2.38464255e-03, 1.26697194e-01, 8.63915984e-03, 8.66029463e-02,
  0.00000000e+00,-1.80748336e-03, 0.00000000e+00,-2.05121229e-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, -4.15247958,  7.57256166, -4.15247958, 35.96183674,
       14.98415915,  7.57256166, 14.98415915, 16.85305671,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016667047813682945
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.66529645e-14, -3.33059291e-14,  1.00000000e+00,  5.54642456e-28,
        1.00000000e+00,  3.33059291e-14, -1.00000000e+00,  0.00000000e+00,
        1.66529645e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03523664, -0.06214853,  0.06185363])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.09405549e-05,-3.11746443e-03,-7.87912545e-04,-1.33248064e-03,
  2.38922641e-05,-1.96378597e-03,-5.09265194e-04,-1.57520642e-03,
  1.46391056e-05,-5.13342613e-04,-6.91305933e-05,-1.75979593e-03,
  1.87222395e-05, 1.51773352e-07, 4.67464715e-06,-1.37863448e-05,
  7.74166438e-05,-8.81576276e-06,-1.21646397e+00, 1.57769097e-03,
  5.36411099e-04,-1.81804403e-05]


--- Step 1974 ---
qpos:
[-1.38178516e-02, 9.63425370e-01,-2.05221671e-02, 8.94268639e-01,
  4.25781168e-03, 9.44664121e-01,-2.80608721e-02, 8.59393339e-01,
  1.61164021e-02, 9.64463722e-01,-2.17206448e-02, 8.67557368e-01,
  1.36635685e+00,-1.32197892e-03, 1.14871179e+00, 6.32281974e-02,
 -3.59305699e-03,-9.23005738e-02, 8.14341791e-02, 6.24783239e-01,
 -1.29289882e-02,-2.54260366e-03, 7.80687057e-01]

qacc:
[-1.71593070e-01,-6.98561586e+01, 2.43319346e+02,-4.81850074e+02,
  2.17813989e-02,-7.35499775e+01, 2.82657803e+02,-5.94916960e+02,
  1.75171324e-02,-6.36132691e+01, 2.82375971e+02,-6.54134139e+02,
 -3.87246005e-02, 2.40566557e-02, 9.02664016e+00,-3.09039132e+01,
 -8.65778214e-01,-1.09688295e+00,-1.74327604e+00,-5.92642802e+01,
 -4.96282483e+01,-3.93222011e+00]

qfrc_actuator:
[ 1.90858641e-03, 1.16150596e-01, 8.71432982e-03, 5.70851546e-02,
  6.10033485e-05, 1.19736521e-01, 9.18367040e-03, 8.71949370e-02,
 -2.39264098e-03, 1.26735496e-01, 8.72778817e-03, 8.49377430e-02,
  0.00000000e+00,-1.81563338e-03, 0.00000000e+00,-2.20094285e-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, -4.37938149,  7.44364122, -4.37938149, 42.69365738,
       20.03722071,  7.44364122, 20.03722071, 20.42503412,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016194422370793132
  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([ 0.03530942, -0.06209044,  0.06185733])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.00080970e-05,-3.06780922e-03,-7.78970241e-04,-1.33268122e-03,
  2.53612681e-06,-2.19767954e-03,-5.23463926e-04,-1.57933902e-03,
  2.77695677e-06,-3.53419861e-04,-8.33592085e-05,-1.72190858e-03,
  9.77967813e-06,-3.46847758e-06,-2.92558344e-06,-1.50719028e-04,
  1.10071734e-04, 6.01902587e-06,-1.21647213e+00, 1.58105411e-03,
  5.35616986e-04, 2.20625776e-06]


--- Step 1975 ---
qpos:
[-1.38313598e-02, 9.65167668e-01,-2.05298691e-02, 8.95348603e-01,
  4.25879237e-03, 9.46477892e-01,-2.80602822e-02, 8.61066694e-01,
  1.61207529e-02, 9.66407863e-01,-2.17394578e-02, 8.69183026e-01,
  1.36643063e+00,-1.32379772e-03, 1.14888690e+00, 6.32195083e-02,
 -3.63297457e-03,-9.23151686e-02, 8.13910535e-02, 6.24758296e-01,
 -1.35500129e-02,-3.42236749e-03, 7.80693126e-01]

qacc:
[ 4.59743938e-02,-6.27200935e+01, 2.17604381e+02,-4.30561100e+02,
 -9.72994802e-02,-7.20649837e+01, 2.76306323e+02,-5.83167850e+02,
 -6.16278264e-03,-5.09801922e+01, 2.38463519e+02,-5.78870627e+02,
 -9.39948460e-01, 1.79002068e+00, 9.72270361e-01,-3.62567576e+00,
 -8.35612547e-01,-1.05037270e+00,-2.14397652e+00,-5.64689992e+01,
 -4.72571350e+01,-3.75109021e+00]

qfrc_actuator:
[ 1.94049283e-03, 1.15272244e-01, 8.73705770e-03, 5.60378126e-02,
  3.70113697e-05, 1.18923423e-01, 9.18936299e-03, 8.57582253e-02,
 -2.39920406e-03, 1.27047535e-01, 8.80558319e-03, 8.34382971e-02,
  0.00000000e+00,-1.74832654e-03, 0.00000000e+00,-2.21474914e-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, -4.67464697,  7.26184911, -4.67464697, 53.48715666,
       28.87165798,  7.26184911, 28.87165798, 27.22182397,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001563255234355923
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.55099730e-14,  1.06529919e-13,  1.00000000e+00,  3.78287456e-27,
        1.00000000e+00, -1.06529919e-13, -1.00000000e+00,  0.00000000e+00,
       -3.55099730e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03539724, -0.06202082,  0.06186174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.84940944e-06,-2.80582182e-03,-7.18481985e-04,-1.19505820e-03,
 -2.28953045e-05,-2.22213130e-03,-5.46111590e-04,-1.55751769e-03,
 -1.96462832e-06, 7.59253238e-06,-6.30392652e-05,-1.55061408e-03,
  3.73597206e-06, 6.91129903e-05,-2.20356204e-05,-2.34792130e-05,
  1.45718007e-04, 2.63388478e-05,-1.21648197e+00, 1.58376602e-03,
  5.35087916e-04, 2.90990821e-05]


--- Step 1976 ---
qpos:
[-1.38446218e-02, 9.66896037e-01,-2.05406441e-02, 8.96406357e-01,
  4.25951886e-03, 9.48278904e-01,-2.80612802e-02, 8.62712317e-01,
  1.61250694e-02, 9.68354901e-01,-2.17585700e-02, 8.70777944e-01,
  1.36650437e+00,-1.32508096e-03, 1.14906180e+00, 6.32110145e-02,
 -3.66627347e-03,-9.23344746e-02, 8.13692084e-02, 6.24733379e-01,
 -1.39482906e-02,-4.31628099e-03, 7.80701620e-01]

qacc:
[ 1.22334711e-01,-4.89150741e+01, 1.86591498e+02,-4.19937487e+02,
 -1.17198518e-01,-6.08279751e+01, 2.43256425e+02,-5.44177578e+02,
 -1.37887938e-02,-4.94399038e+01, 2.36843246e+02,-5.83645264e+02,
 -3.77867920e-01, 8.34982405e-01,-8.51408153e-01, 2.63047684e+00,
  1.65467115e+00,-1.17776177e+00, 5.32011755e+00, 6.40625846e+01,
 -9.13849883e+01, 2.70731373e-01]

qfrc_actuator:
[ 1.96499188e-03, 1.15108601e-01, 8.77210869e-03, 5.49546208e-02,
  2.23541219e-05, 1.18572171e-01, 9.21026088e-03, 8.43860871e-02,
 -2.40487076e-03, 1.27343951e-01, 8.84215765e-03, 8.19065310e-02,
  0.00000000e+00,-1.72556452e-03, 0.00000000e+00,-2.20157054e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015569562689272537
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.91340886e-15,  3.56536355e-14,  1.00000000e+00,  3.17795430e-28,
        1.00000000e+00, -3.56536355e-14, -1.00000000e+00,  0.00000000e+00,
       -8.91340886e-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([-0.03186222, -0.07735338,  0.06186201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.54668209e-05,-1.92915208e-03,-6.43301083e-04,-1.21772688e-03,
 -2.66764315e-05,-1.77702834e-03,-5.37428329e-04,-1.49382608e-03,
 -3.51721272e-06, 2.01761895e-04,-2.54234062e-05,-1.56694177e-03,
  1.77968656e-05, 4.23051473e-05,-1.55549216e-05, 8.42884282e-06,
  1.84005330e-04, 5.13911603e-05,-1.21649319e+00, 1.58592971e-03,
  5.34792654e-04, 6.15763390e-05]


--- Step 1977 ---
qpos:
[-1.38579335e-02, 9.68620385e-01,-2.05563847e-02, 8.97441060e-01,
  4.26002590e-03, 9.50076672e-01,-2.80670521e-02, 8.64330045e-01,
  1.61293490e-02, 9.70306690e-01,-2.17782846e-02, 8.72343000e-01,
  1.36657831e+00,-1.32654090e-03, 1.14923633e+00, 6.32047204e-02,
 -3.69356285e-03,-9.23581442e-02, 8.13632429e-02, 6.24708346e-01,
 -1.41444468e-02,-5.22304629e-03, 7.80712583e-01]

qacc:
[-2.24505052e-02,-3.22332163e+01, 1.49513667e+02,-4.03186073e+02,
 -1.04552889e-01,-3.99820400e+01, 1.90263405e+02,-5.04584583e+02,
 -1.57713672e-02,-4.46203243e+01, 2.21827089e+02,-5.60456615e+02,
  4.47024527e-01,-6.37240391e-01,-7.23697824e+00, 2.44205065e+01,
  1.50237876e+00,-1.09092503e+00, 3.96990351e+00, 5.81238248e+01,
 -8.29302062e+01, 2.90589068e-01]

qfrc_actuator:
[ 1.94934308e-03, 1.15623367e-01, 8.78154042e-03, 5.38416718e-02,
  1.34216851e-05, 1.19068882e-01, 9.20639883e-03, 8.30277094e-02,
 -2.40997688e-03, 1.27753146e-01, 8.87192663e-03, 8.04212057e-02,
  0.00000000e+00,-1.74722061e-03, 0.00000000e+00,-2.08386727e-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, -8.60394341, -0.74761931, -8.60394341,  9.08022353,
       -5.10814174, -0.74761931, -5.10814174, 67.42318482,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016172628974068654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.57767206e-14,  1.71620679e-14,  1.00000000e+00, -9.57243865e-28,
        1.00000000e+00, -1.71620679e-14, -1.00000000e+00,  0.00000000e+00,
        5.57767206e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0317824 , -0.07739608,  0.06185693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.34684662e-06,-7.50732318e-04,-4.88420495e-04,-1.21845810e-03,
 -2.28704840e-05,-6.78064031e-04,-4.71135051e-04,-1.46399126e-03,
 -3.75611727e-06, 4.29163726e-04, 9.95471208e-06,-1.51357629e-03,
  1.90859368e-05,-5.95536199e-06,-8.84705584e-06, 1.15588018e-04,
  1.45911778e-04, 7.34858773e-05,-1.21648450e+00, 1.58952678e-03,
  5.33769643e-04, 1.14123407e-04]


--- Step 1978 ---
qpos:
[-1.38713374e-02, 9.70345205e-01,-2.05751043e-02, 8.98454552e-01,
  4.26036556e-03, 9.51878193e-01,-2.80771065e-02, 8.65921671e-01,
  1.61337627e-02, 9.72263753e-01,-2.17982533e-02, 8.73881836e-01,
  1.36665212e+00,-1.32739140e-03, 1.14941067e+00, 6.32005265e-02,
 -3.71572704e-03,-9.23743210e-02, 8.13730633e-02, 6.24686601e-01,
 -1.43501923e-02,-5.89869757e-03, 7.80721415e-01]

qacc:
[-4.30320262e-02,-2.84741214e+01, 1.40303974e+02,-3.76032374e+02,
 -8.11463817e-02,-2.89773083e+01, 1.61107582e+02,-4.61251773e+02,
  6.52258302e-02,-3.84596625e+01, 1.94039119e+02,-4.91844880e+02,
 -3.89236218e-01, 8.62930686e-01,-6.56331098e+00, 2.26714509e+01,
  1.28129999e+00, 1.87319652e+00, 3.94646225e+00, 8.72393023e+01,
  7.59563190e+01,-2.90151521e-01]

qfrc_actuator:
[ 1.94530832e-03, 1.16079274e-01, 8.79647507e-03, 5.28093571e-02,
  7.99108459e-06, 1.19839174e-01, 9.20925478e-03, 8.17598554e-02,
 -2.39697768e-03, 1.28120481e-01, 8.89803535e-03, 7.91171845e-02,
  0.00000000e+00,-1.70626638e-03, 0.00000000e+00,-1.97654224e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016747377759499388
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.07163593e-14,  3.31461749e-14,  1.00000000e+00, -6.86668069e-28,
        1.00000000e+00, -3.31461749e-14, -1.00000000e+00,  0.00000000e+00,
        2.07163593e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03562485, -0.11862928,  0.0618522 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.68924092e-06,-1.26325145e-04,-2.33378030e-04,-1.09659542e-03,
 -1.73026093e-05, 2.18996747e-04,-2.38758911e-04,-1.33551383e-03,
  1.42409361e-05, 5.22106510e-04, 5.68669733e-05,-1.32279257e-03,
  8.64822670e-06, 4.40176917e-05, 6.68006111e-06, 1.12142057e-04,
  1.14391004e-04, 9.08212313e-05,-1.21648090e+00, 1.59357340e-03,
  5.33517246e-04, 1.48267344e-04]


--- Step 1979 ---
qpos:
[-1.38844503e-02, 9.72071146e-01,-2.05946227e-02, 8.99448317e-01,
  4.26058710e-03, 9.53682495e-01,-2.80873577e-02, 8.67487673e-01,
  1.61381652e-02, 9.74222524e-01,-2.18170184e-02, 8.75394396e-01,
  1.36672596e+00,-1.32800586e-03, 1.14958466e+00, 6.32003249e-02,
 -3.73317469e-03,-9.23837548e-02, 8.13937757e-02, 6.24667978e-01,
 -1.45649290e-02,-6.36432590e-03, 7.80728683e-01]

qacc:
[ 1.40225522e-01,-3.09172335e+01, 1.46055321e+02,-3.63892839e+02,
 -5.49984248e-02,-4.04592414e+01, 1.96077635e+02,-4.86035193e+02,
 -2.24168595e-03,-4.71754876e+01, 2.16926953e+02,-5.10346223e+02,
  1.36123919e-01,-1.70607635e-02,-1.25791105e+01, 4.32363884e+01,
  1.17913323e+00, 1.68574342e+00, 2.72301123e+00, 7.91941533e+01,
  6.91295126e+01,-1.72883485e-01]

qfrc_actuator:
[ 1.98380955e-03, 1.16283949e-01, 8.81471102e-03, 5.18328035e-02,
  4.69728589e-06, 1.20057810e-01, 9.23531225e-03, 8.04846685e-02,
 -2.40877667e-03, 1.28016461e-01, 8.88633528e-03, 7.77882274e-02,
  0.00000000e+00,-1.69947193e-03, 0.00000000e+00,-1.76970879e-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,  -5.84863374,  -6.35454643,  -5.84863374,
        33.82228559, -23.1807627 ,  -6.35454643, -23.1807627 ,
        29.97160641,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0017278487015165017
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.60636609e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.60636609e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03554667, -0.11856992,  0.06184795])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.06433899e-05, 2.23787859e-05,-7.43194095e-05,-1.01104267e-03,
 -1.22076274e-05, 2.14768353e-04,-7.70097816e-06,-1.30419436e-03,
 -1.12533919e-06, 1.17746046e-04, 4.86130348e-05,-1.33904727e-03,
  1.51388580e-05, 2.05067575e-05, 1.21350236e-05, 2.13169288e-04,
  7.10095391e-05, 4.73360281e-05,-1.21646331e+00, 1.59094832e-03,
  5.37539350e-04, 9.34035227e-05]


--- Step 1980 ---
qpos:
[-1.38973388e-02, 9.73799730e-01,-2.06148251e-02, 9.00422868e-01,
  4.26124086e-03, 9.55486274e-01,-2.80962156e-02, 8.69026463e-01,
  1.61425092e-02, 9.76178158e-01,-2.18344156e-02, 8.76881479e-01,
  1.36679985e+00,-1.32848603e-03, 1.14975873e+00, 6.32019295e-02,
 -3.74624743e-03,-9.23870581e-02, 8.14212663e-02, 6.24652269e-01,
 -1.47881420e-02,-6.63738494e-03, 7.80734781e-01]

qacc:
[ 1.08039696e-01,-2.83197359e+01, 1.38798152e+02,-3.52216841e+02,
  2.11747106e-01,-5.18472286e+01, 2.31663853e+02,-5.34457040e+02,
 -2.35831602e-02,-5.25727883e+01, 2.24924972e+02,-5.04374392e+02,
  5.83062293e-02, 2.66566859e-02,-5.33577188e+00, 1.88359907e+01,
  1.09372902e+00, 1.53264584e+00, 1.69453818e+00, 7.25422840e+01,
  6.34725625e+01,-7.42527750e-02]

qfrc_actuator:
[ 1.99422826e-03, 1.16567832e-01, 8.83393937e-03, 5.08789540e-02,
  5.59611627e-05, 1.19856161e-01, 9.23741258e-03, 7.91085308e-02,
 -2.41761039e-03, 1.27542321e-01, 8.83284117e-03, 7.64903575e-02,
  0.00000000e+00,-1.69529110e-03, 0.00000000e+00,-1.68342867e-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,  -5.58898861,  -6.58407041,  -5.58898861,
        38.91263075, -25.70047118,  -6.58407041, -25.70047118,
        30.45260063,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001751822371967443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.92191493e-15,  6.33753195e-14,  1.00000000e+00,  5.02053890e-28,
        1.00000000e+00, -6.33753195e-14, -1.00000000e+00,  0.00000000e+00,
       -7.92191493e-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([-0.03551282, -0.11854578,  0.06184615])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.37046498e-05, 2.18031132e-04,-2.32210712e-05,-9.77017060e-04,
  4.49766860e-05,-1.61071608e-04,-4.83608841e-06,-1.39761074e-03,
 -6.25780174e-06,-4.78442096e-04,-7.42822618e-05,-1.32138569e-03,
  1.33194789e-05, 1.30527669e-05, 2.63351824e-05, 9.90280721e-05,
  4.04108643e-05, 1.95499677e-05,-1.21645195e+00, 1.58922487e-03,
  5.40255636e-04, 5.84103366e-05]


--- Step 1981 ---
qpos:
[-1.39101980e-02, 9.75533116e-01,-2.06362026e-02, 9.01377911e-01,
  4.26257993e-03, 9.57286052e-01,-2.81033097e-02, 8.70537826e-01,
  1.61469548e-02, 9.78125719e-01,-2.18496546e-02, 8.78343977e-01,
  1.36687371e+00,-1.32862019e-03, 1.14993318e+00, 6.32022394e-02,
 -3.75523031e-03,-9.23847308e-02, 8.14520801e-02, 6.24639249e-01,
 -1.50193902e-02,-6.73233042e-03, 7.80739971e-01]

qacc:
[ 1.44222872e-02,-2.46618757e+01, 1.30834374e+02,-3.49866408e+02,
  3.34307397e-01,-5.77794594e+01, 2.45890344e+02,-5.47063792e+02,
  5.40800007e-02,-5.96182051e+01, 2.37987995e+02,-5.01774315e+02,
 -3.72531970e-01, 7.04836885e-01, 4.50226299e+00,-1.48584731e+01,
  1.02246215e+00, 1.40763197e+00, 8.30831190e-01, 6.70369412e+01,
  5.87818836e+01, 1.07295592e-02]

qfrc_actuator:
[ 1.98774761e-03, 1.16986031e-01, 8.83621505e-03, 4.99105997e-02,
  1.03951278e-04, 1.19440036e-01, 9.24138000e-03, 7.77191645e-02,
 -2.40686037e-03, 1.26832518e-01, 8.82463552e-03, 7.52386053e-02,
  0.00000000e+00,-1.67491848e-03, 0.00000000e+00,-1.75765461e-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,  -5.22279141,  -6.8781703 ,  -5.22279141,
        45.72724087, -28.1641638 ,  -6.8781703 , -28.1641638 ,
        30.02221864,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00175231320125524
  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([-0.03551414, -0.11854961,  0.0618463 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.20556570e-06, 4.71872930e-04, 5.18906808e-06,-9.83160739e-04,
  7.13055657e-05,-5.86138186e-04,-7.95727787e-05,-1.42487709e-03,
  1.05587225e-05,-1.06787431e-03,-1.60023827e-04,-1.29740016e-03,
  1.04956554e-05, 2.68755713e-05, 1.88509123e-05,-6.63274161e-05,
  1.97250811e-05, 3.91382177e-06,-1.21644536e+00, 1.58814422e-03,
  5.41959279e-04, 3.88141958e-05]


--- Step 1982 ---
qpos:
[-1.39228883e-02, 9.77271865e-01,-2.06582975e-02, 9.02313176e-01,
  4.26420157e-03, 9.59078869e-01,-2.81086159e-02, 8.72023857e-01,
  1.61513594e-02, 9.80063804e-01,-2.18639538e-02, 8.79781372e-01,
  1.36694766e+00,-1.32874916e-03, 1.15010737e+00, 6.32043628e-02,
 -3.76036085e-03,-9.23771813e-02, 8.14833193e-02, 6.24628671e-01,
 -1.52582990e-02,-6.66113455e-03, 7.80744412e-01]

qacc:
[ 8.08103722e-02,-2.56291766e+01, 1.35423461e+02,-3.57354462e+02,
  1.41141368e-01,-5.80651948e+01, 2.37144722e+02,-5.11681225e+02,
 -1.39059546e-02,-5.90548448e+01, 2.34904098e+02,-5.03892508e+02,
  1.97037304e-01,-2.27735887e-01,-5.88404023e+00, 1.99778041e+01,
  9.63087458e-01, 1.30558035e+00, 1.06309466e-01, 6.24798925e+01,
  5.48934856e+01, 8.61355364e-02]

qfrc_actuator:
[ 2.00673795e-03, 1.17339583e-01, 8.82908380e-03, 4.89237696e-02,
  9.62932747e-05, 1.18916667e-01, 9.26329247e-03, 7.64394773e-02,
 -2.42000232e-03, 1.26253799e-01, 8.82451280e-03, 7.39705633e-02,
  0.00000000e+00,-1.68060148e-03, 0.00000000e+00,-1.65951621e-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,  -4.7857939 ,  -7.18908573,  -4.7857939 ,
        54.10817555, -30.27070871,  -7.18908573, -30.27070871,
        28.78765665,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0017340445166044785
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.20125295e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.20125295e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03554317, -0.11857549,  0.06184799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79562846e-05, 5.53195375e-04, 4.87448767e-05,-9.93084050e-04,
  2.93035076e-05,-9.44351092e-04,-1.54836832e-04,-1.33161163e-03,
 -4.57699132e-06,-1.27916282e-03,-2.77101084e-04,-1.33430072e-03,
  1.17921142e-05, 4.04544049e-06,-3.56280657e-06, 9.57343192e-05,
  6.85555688e-06,-2.15237820e-06,-1.21644246e+00, 1.58752064e-03,
  5.42863779e-04, 3.13687574e-05]


--- Step 1983 ---
qpos:
[-1.39355290e-02, 9.79013971e-01,-2.06794358e-02, 9.03229115e-01,
  4.26591854e-03, 9.60862746e-01,-2.81126886e-02, 8.73486698e-01,
  1.61558481e-02, 9.81993560e-01,-2.18795048e-02, 8.81194165e-01,
  1.36702167e+00,-1.32890380e-03, 1.15028173e+00, 6.32056161e-02,
 -3.76183667e-03,-9.23647425e-02, 8.15125556e-02, 6.24620276e-01,
 -1.55045526e-02,-6.43370314e-03, 7.80748184e-01]

qacc:
[ 2.54652003e-02,-3.19969119e+01, 1.52044756e+02,-3.65337323e+02,
  5.11648608e-02,-5.54310976e+01, 2.20306744e+02,-4.69253626e+02,
  4.39835951e-02,-5.07242266e+01, 2.08132024e+02,-4.74350169e+02,
  2.52423694e-03, 1.48771340e-03, 2.89039578e+00,-9.72880287e+00,
  9.13678299e-01, 1.22229377e+00,-5.00683669e-01, 5.87105615e+01,
  5.16741673e+01, 1.55289086e-01]

qfrc_actuator:
[ 2.00535434e-03, 1.17438835e-01, 8.85182614e-03, 4.79516801e-02,
  9.08802670e-05, 1.18351263e-01, 9.27748967e-03, 7.52699771e-02,
 -2.41187204e-03, 1.25900381e-01, 8.77633706e-03, 7.27386043e-02,
  0.00000000e+00,-1.68396280e-03, 0.00000000e+00,-1.70908644e-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,  -4.34065726,  -7.466289  ,  -4.34065726,
        63.58745392, -31.94677428,  -7.466289  , -31.94677428,
        27.20917778,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0017009582242262997
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.15880579e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.15880579e-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([-0.03559381, -0.11861859,  0.06185088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.34008962e-06, 3.52187537e-04, 9.92979803e-05,-9.74770456e-04,
  9.72933693e-06,-1.19643139e-03,-2.38931599e-04,-1.23295259e-03,
  8.69374856e-06,-1.19483182e-03,-3.81235944e-04,-1.30919901e-03,
  7.15063171e-06, 5.81854755e-07, 6.33143368e-06,-4.53335437e-05,
  2.64287164e-07,-5.28918089e-07,-1.21644251e+00, 1.58721919e-03,
  5.43125789e-04, 3.37119992e-05]


--- Step 1984 ---
qpos:
[-1.39482972e-02, 9.80756227e-01,-2.06990948e-02, 9.04127269e-01,
  4.26747729e-03, 9.62636525e-01,-2.81156259e-02, 8.74924635e-01,
  1.61602710e-02, 9.83914825e-01,-2.18949249e-02, 8.82583248e-01,
  1.36709580e+00,-1.32933700e-03, 1.15045609e+00, 6.32062725e-02,
 -3.75982219e-03,-9.23476865e-02, 8.15377581e-02, 6.24613792e-01,
 -1.57578880e-02,-6.05821653e-03, 7.80751304e-01]

qacc:
[-5.76992290e-02,-3.49254923e+01, 1.53118971e+02,-3.45873651e+02,
 -6.99671374e-02,-5.96504279e+01, 2.36052003e+02,-5.02756942e+02,
 -2.63939798e-02,-5.31016831e+01, 2.13571532e+02,-4.68204108e+02,
  2.52201286e-01,-4.72438592e-01, 1.77808837e+00,-6.27548951e+00,
  8.72577846e-01, 1.15432157e+00,-1.00848348e+00, 5.55979003e+01,
  4.90149202e+01, 2.20903838e-01]

qfrc_actuator:
[ 1.99179800e-03, 1.17261097e-01, 8.85560028e-03, 4.70491515e-02,
  6.91358541e-05, 1.17783155e-01, 9.30464960e-03, 7.40148083e-02,
 -2.42659244e-03, 1.25542768e-01, 8.80766105e-03, 7.15555893e-02,
  0.00000000e+00,-1.70365498e-03, 0.00000000e+00,-1.73880782e-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,  -3.9765584 ,  -7.66640464,  -3.9765584 ,
        73.40449149, -33.59517988,  -7.66640464, -33.59517988,
        26.06215852,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001656339580341018
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.93250599e-14,  1.34057416e-13,  1.00000000e+00,  3.93124176e-27,
        1.00000000e+00, -1.34057416e-13, -1.00000000e+00,  0.00000000e+00,
       -2.93250599e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03566108, -0.11867496,  0.06185469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.34775884e-05,-2.55372968e-05, 4.72023237e-05,-9.09501806e-04,
 -1.67915143e-05,-1.35188664e-03,-2.82239251e-04,-1.32688775e-03,
 -7.18501050e-06,-1.17168260e-03,-2.96205514e-04,-1.26011264e-03,
  3.65394304e-06,-1.76709996e-05,-6.09066260e-06,-3.23676212e-05,
 -1.17956603e-06, 7.41324179e-06,-1.21644498e+00, 1.58714019e-03,
  5.42861129e-04, 4.41248123e-05]


--- Step 1985 ---
qpos:
[-1.39608503e-02, 9.82495460e-01,-2.07161905e-02, 9.05007888e-01,
  4.26848487e-03, 9.64399851e-01,-2.81186206e-02, 8.76337856e-01,
  1.61644208e-02, 9.85828643e-01,-2.19098214e-02, 8.83951748e-01,
  1.36717007e+00,-1.33023837e-03, 1.15063009e+00, 6.32088968e-02,
 -3.75445426e-03,-9.23262351e-02, 8.15572301e-02, 6.24608932e-01,
 -1.60180895e-02,-5.54140994e-03, 7.80753735e-01]

qacc:
[ 1.05862160e-01,-4.15853649e+01, 1.69271287e+02,-3.55058166e+02,
 -2.58568588e-01,-5.65529329e+01, 2.24749010e+02,-4.89824349e+02,
 -1.24795348e-01,-4.72958048e+01, 1.89113522e+02,-4.09482749e+02,
  5.77055508e-01,-1.02084956e+00,-6.51993942e+00, 2.19241233e+01,
  8.38359466e-01, 1.09881869e+00,-1.43261531e+00, 5.30342475e+01,
  4.68259376e+01, 2.85195806e-01]

qfrc_actuator:
[ 2.02435323e-03, 1.16936783e-01, 8.91809874e-03, 4.61590437e-02,
  2.00553731e-05, 1.17235911e-01, 9.28593394e-03, 7.27724844e-02,
 -2.45490699e-03, 1.25310399e-01, 8.88580275e-03, 7.05351574e-02,
  0.00000000e+00,-1.73288250e-03, 0.00000000e+00,-1.63227664e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016029215043745354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.65780874e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.65780874e-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([-0.03574092, -0.11874135,  0.0618592 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.27000007e-05,-3.89343315e-04, 2.77449544e-05,-9.08799076e-04,
 -5.79430077e-05,-1.42838420e-03,-3.66452523e-04,-1.32237576e-03,
 -2.91683374e-05,-1.01491663e-03,-2.33402498e-04,-1.09308576e-03,
 -2.67212096e-06,-3.28075487e-05,-9.56204637e-06, 1.03193835e-04,
  1.69227534e-06, 2.06766294e-05,-1.21644951e+00, 1.58720835e-03,
  5.42156134e-04, 6.13592129e-05]


--- Step 1986 ---
qpos:
[-1.39727515e-02, 9.84234132e-01,-2.07330159e-02, 9.05870918e-01,
  4.26909247e-03, 9.66156048e-01,-2.81234066e-02, 8.77726384e-01,
  1.61684469e-02, 9.87739849e-01,-2.19262755e-02, 8.85298095e-01,
  1.36724428e+00,-1.33122098e-03, 1.15080450e+00, 6.32087306e-02,
 -3.74449571e-03,-9.23086573e-02, 8.15810321e-02, 6.24603656e-01,
 -1.61193937e-02,-5.03379411e-03, 7.80759309e-01]

qacc:
[ 3.10868832e-01,-3.22331283e+01, 1.42624249e+02,-3.33504135e+02,
 -1.87760280e-01,-4.74468989e+01, 2.00007523e+02,-4.69342159e+02,
 -5.60728334e-02,-3.80477554e+01, 1.69895985e+02,-4.13921290e+02,
 -1.78847207e-01, 1.69463701e-01, 9.02865778e+00,-3.06978262e+01,
  1.14765627e+00,-9.68364313e-01, 1.08251222e+00, 4.60418660e+01,
 -6.49265081e+01, 6.30304078e-01]

qfrc_actuator:
[ 2.08428393e-03, 1.17060215e-01, 8.97865065e-03, 4.52832520e-02,
  8.28737971e-06, 1.17113891e-01, 9.27593687e-03, 7.15476420e-02,
 -2.45563912e-03, 1.25510582e-01, 8.92057966e-03, 6.94411061e-02,
  0.00000000e+00,-1.73202492e-03, 0.00000000e+00,-1.78362005e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001584503708241411
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.18961113e-14,  8.75844451e-15,  1.00000000e+00,  1.91775876e-28,
        1.00000000e+00, -8.75844451e-15, -1.00000000e+00,  0.00000000e+00,
       -2.18961113e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03184254, -0.07737914,  0.06186081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.91003642e-05,-1.46660846e-04,-4.78188893e-05,-9.06264448e-04,
 -4.20909939e-05,-1.06164443e-03,-3.82216805e-04,-1.30970177e-03,
 -1.32003381e-05,-4.77471886e-04,-2.33479363e-04,-1.15604238e-03,
 -9.36607763e-06,-8.36687973e-06, 4.81316345e-06,-1.47371690e-04,
  8.26933658e-06, 3.85393810e-05,-1.21645582e+00, 1.58736511e-03,
  5.41075785e-04, 8.45148727e-05]


--- Step 1987 ---
qpos:
[-1.39841236e-02, 9.85978254e-01,-2.07524900e-02, 9.06717054e-01,
  4.26942322e-03, 9.67909397e-01,-2.81296553e-02, 8.79086957e-01,
  1.61724167e-02, 9.89652128e-01,-2.19447824e-02, 8.86618838e-01,
  1.36731862e+00,-1.33273921e-03, 1.15097874e+00, 6.32081036e-02,
 -3.73018781e-03,-9.22947396e-02, 8.16065452e-02, 6.24597990e-01,
 -1.60713420e-02,-4.53471306e-03, 7.80767891e-01]

qacc:
[ 2.49448515e-01,-1.52051301e+01, 9.48910400e+01,-2.86709269e+02,
 -1.29344213e-01,-4.83688791e+01, 2.17145747e+02,-5.26275647e+02,
 -2.51217419e-02,-3.79010729e+01, 1.82882435e+02,-4.68815493e+02,
  4.49124353e-01,-8.98347576e-01, 1.10668985e+00,-4.32191530e+00,
  1.08733754e+00,-9.15056587e-01, 4.27767702e-01, 4.33167521e+01,
 -6.09961466e+01, 6.46284924e-01]

qfrc_actuator:
[ 2.10685896e-03, 1.17735085e-01, 8.98604456e-03, 4.44586244e-02,
  1.22353698e-06, 1.17318871e-01, 9.32618574e-03, 7.01656254e-02,
 -2.45761473e-03, 1.25844171e-01, 8.91345665e-03, 6.81706645e-02,
  0.00000000e+00,-1.76657385e-03, 0.00000000e+00,-1.80167471e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015609979232814944
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.33354961e-14, -1.77806615e-14,  1.00000000e+00, -2.37113942e-28,
        1.00000000e+00,  1.77806615e-14, -1.00000000e+00,  0.00000000e+00,
       -1.33354961e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03187432, -0.07736388,  0.06186287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.62551623e-05, 5.24479664e-04,-6.18709157e-05,-8.49809970e-04,
 -2.91110915e-05,-5.33816243e-04,-2.50971506e-04,-1.45538966e-03,
 -5.98670758e-06,-4.81582814e-05,-1.71388771e-04,-1.31697627e-03,
 -7.52635435e-06,-3.86845109e-05,-1.87291240e-05,-2.67078705e-05,
  1.80732835e-05, 3.48484386e-05,-1.21645250e+00, 1.58630171e-03,
  5.40984285e-04, 8.71752859e-05]


--- Step 1988 ---
qpos:
[-1.39950754e-02, 9.87727910e-01,-2.07724905e-02, 9.07547314e-01,
  4.26940008e-03, 9.69661105e-01,-2.81366251e-02, 8.80419558e-01,
  1.61765255e-02, 9.91565784e-01,-2.19640843e-02, 8.87917810e-01,
  1.36739324e+00,-1.33543876e-03, 1.15115276e+00, 6.32078988e-02,
 -3.71172947e-03,-9.22843078e-02, 8.16315832e-02, 6.24591934e-01,
 -1.58817937e-02,-4.04362031e-03, 7.80779312e-01]

qacc:
[ 1.98767726e-01,-1.90569676e+01, 1.05412996e+02,-2.84037110e+02,
 -1.65939747e-01,-4.88045944e+01, 2.20421081e+02,-5.29904845e+02,
  6.71805822e-02,-3.41780545e+01, 1.62550785e+02,-4.05000259e+02,
  1.08671498e+00,-2.10346239e+00,-1.70528307e+00, 5.25189932e+00,
  1.03760961e+00,-8.71438758e-01,-1.18797464e-01, 4.10740460e+01,
 -5.77564540e+01, 6.54498578e-01]

qfrc_actuator:
[ 2.12463541e-03, 1.18113687e-01, 8.99985975e-03, 4.36710343e-02,
 -2.07335907e-05, 1.17381324e-01, 9.34195955e-03, 6.87734543e-02,
 -2.44260148e-03, 1.26024380e-01, 8.91781732e-03, 6.70907445e-02,
  0.00000000e+00,-1.83963245e-03, 0.00000000e+00,-1.77647502e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015258194438006675
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36429522e-14,  2.72859044e-14,  1.00000000e+00,  3.72260289e-28,
        1.00000000e+00, -2.72859044e-14, -1.00000000e+00,  0.00000000e+00,
       -1.36429522e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03192146, -0.07734119,  0.0618659 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.47794464e-05, 5.98791116e-04, 7.64307122e-05,-7.91228279e-04,
 -3.71951200e-05,-3.62461792e-04,-1.70618119e-04,-1.44817941e-03,
  1.48425418e-05, 4.35164153e-05,-7.30546949e-05,-1.11479953e-03,
 -1.37655553e-05,-8.47787705e-05,-1.40473074e-05, 2.07190638e-05,
  2.89987094e-05, 2.99306306e-05,-1.21645169e+00, 1.58573190e-03,
  5.41325448e-04, 8.23196716e-05]


--- Step 1989 ---
qpos:
[-1.40056913e-02, 9.89479616e-01,-2.07909099e-02, 9.08361567e-01,
  4.26923771e-03, 9.71411720e-01,-2.81442910e-02, 8.81726115e-01,
  1.61809708e-02, 9.93480196e-01,-2.19832293e-02, 8.89194807e-01,
  1.36746783e+00,-1.33873787e-03, 1.15132667e+00, 6.32079684e-02,
 -3.68928457e-03,-9.22772196e-02, 8.16543245e-02, 6.24585460e-01,
 -1.55572037e-02,-3.56005941e-03, 7.80793380e-01]

qacc:
[ 1.60600056e-01,-2.95669442e+01, 1.34509762e+02,-3.09023070e+02,
 -6.37420038e-02,-4.47890644e+01, 2.03667901e+02,-4.91991125e+02,
  1.60649540e-01,-3.79172638e+01, 1.74183843e+02,-4.17191869e+02,
  4.26906955e-01,-9.57208097e-01,-1.03018512e+00, 3.27356771e+00,
  9.96640002e-01,-8.35934641e-01,-5.74150864e-01, 3.92346674e+01,
 -5.50929228e+01, 6.56857830e-01]

qfrc_actuator:
[ 2.13942979e-03, 1.18045976e-01, 9.01646492e-03, 4.28581492e-02,
 -1.59336443e-05, 1.17411450e-01, 9.33689176e-03, 6.74751521e-02,
 -2.41756790e-03, 1.26076322e-01, 8.92863153e-03, 6.59895236e-02,
  0.00000000e+00,-1.86392635e-03, 0.00000000e+00,-1.76152656e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014816754390229586
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.8732561e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.8732561e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03198034, -0.07731282,  0.06186966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.57675533e-05, 2.22638813e-04, 1.11427647e-04,-8.08781465e-04,
 -1.46615454e-05,-2.83568527e-04,-1.48143617e-04,-1.34630280e-03,
  3.58835202e-05,-7.99716121e-06,-3.10757216e-05,-1.12566119e-03,
 -2.78615382e-05,-4.97936711e-05,-6.40058697e-06, 1.37512852e-05,
  4.08823944e-05, 2.39713734e-05,-1.21645299e+00, 1.58559011e-03,
  5.42049361e-04, 7.10895814e-05]


--- Step 1990 ---
qpos:
[-1.40162003e-02, 9.91230233e-01,-2.08071496e-02, 9.09158653e-01,
  4.26903042e-03, 9.73165453e-01,-2.81543694e-02, 8.83006322e-01,
  1.61859107e-02, 9.95394690e-01,-2.20020810e-02, 8.90446345e-01,
  1.36754215e+00,-1.34186206e-03, 1.15150023e+00, 6.32105445e-02,
 -3.66298819e-03,-9.22733603e-02, 8.16732551e-02, 6.24578519e-01,
 -1.51028516e-02,-3.08364824e-03, 7.80809880e-01]

qacc:
[ 5.36777599e-02,-3.73299924e+01, 1.57363416e+02,-3.40758016e+02,
 -2.06351434e-02,-3.51365126e+01, 1.79310357e+02,-4.76429239e+02,
  2.35486453e-01,-4.52631610e+01, 2.04783162e+02,-4.85184601e+02,
 -1.53960929e-01, 2.25866399e-01,-8.07580123e+00, 2.75244200e+01,
  9.62870609e-01,-8.07198444e-01,-9.52669503e-01, 3.77332323e+01,
 -5.29112464e+01, 6.54611321e-01]

qfrc_actuator:
[ 2.13459862e-03, 1.17800512e-01, 9.05059979e-03, 4.19833113e-02,
 -1.29051914e-05, 1.17866103e-01, 9.31958242e-03, 6.61714216e-02,
 -2.38677509e-03, 1.26051373e-01, 8.92493120e-03, 6.47069090e-02,
  0.00000000e+00,-1.84131806e-03, 0.00000000e+00,-1.62848152e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001430810101031868
  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([-0.03204799, -0.07728023,  0.06187397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13642132e-05,-1.56964942e-04, 5.86086723e-05,-8.81671022e-04,
 -4.65637588e-06, 1.92558317e-04,-1.39101312e-04,-1.34623473e-03,
  5.27854727e-05,-1.05353267e-04,-5.11762750e-05,-1.30765670e-03,
 -2.69795970e-05, 3.01002831e-06,-4.50674023e-06, 1.32266188e-04,
  5.36162482e-05, 1.71008753e-05,-1.21645613e+00, 1.58582540e-03,
  5.43118421e-04, 5.43106351e-05]


--- Step 1991 ---
qpos:
[-1.40266660e-02, 9.92976224e-01,-2.08216866e-02, 9.09939097e-01,
  4.26864810e-03, 9.74927834e-01,-2.81678631e-02, 8.84259462e-01,
  1.61911259e-02, 9.97308572e-01,-2.20203884e-02, 8.91673554e-01,
  1.36761621e+00,-1.34452203e-03, 1.15167368e+00, 6.32150073e-02,
 -3.63295190e-03,-9.22726372e-02, 8.16871196e-02, 6.24571044e-01,
 -1.45230316e-02,-2.61406639e-03, 7.80828572e-01]

qacc:
[ 2.42247638e-02,-3.97665984e+01, 1.58517616e+02,-3.33185911e+02,
 -8.43761152e-02,-2.63987169e+01, 1.61006680e+02,-4.72115662e+02,
  1.32399594e-01,-4.48642206e+01, 1.99764489e+02,-4.66574695e+02,
 -4.03764865e-01, 7.44462049e-01,-5.82495350e+00, 2.02229061e+01,
  9.34975930e-01,-7.84080531e-01,-1.26653491e+00, 3.65154184e+01,
 -5.11333752e+01, 6.48526070e-01]

qfrc_actuator:
[ 2.13583935e-03, 1.17326445e-01, 9.04076346e-03, 4.11321213e-02,
 -2.87308924e-05, 1.18713721e-01, 9.29692313e-03, 6.48396521e-02,
 -2.38832475e-03, 1.26016169e-01, 8.94782841e-03, 6.34875054e-02,
  0.00000000e+00,-1.80885572e-03, 0.00000000e+00,-1.53343622e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013750780464498735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.03694549e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.03694549e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03212198, -0.07724461,  0.06187867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.51073928e-06,-6.08255093e-04,-6.80890782e-05,-8.72937883e-04,
 -1.82311196e-05, 8.51180863e-04,-4.95726491e-05,-1.35897130e-03,
  2.94091688e-05,-1.79133020e-04,-5.14896728e-05,-1.25225209e-03,
 -1.36727714e-05, 2.69369946e-05, 9.71530415e-06, 1.01163442e-04,
  6.71315938e-05, 9.40896311e-06,-1.21646093e+00, 1.58639833e-03,
  5.44504370e-04, 3.25742168e-05]


--- Step 1992 ---
qpos:
[-1.40369206e-02, 9.94712465e-01,-2.08340883e-02, 9.10704102e-01,
  4.26808626e-03, 9.76699444e-01,-2.81823465e-02, 8.85487413e-01,
  1.61963196e-02, 9.99219570e-01,-2.20368941e-02, 8.92878163e-01,
  1.36768989e+00,-1.34603910e-03, 1.15184726e+00, 6.32195735e-02,
 -3.59926831e-03,-9.22749766e-02, 8.16948798e-02, 6.24562949e-01,
 -1.38212107e-02,-2.15104485e-03, 7.80849198e-01]

qacc:
[ 1.04415219e-01,-4.55674624e+01, 1.66705158e+02,-3.22849452e+02,
 -8.55656037e-02,-2.89162472e+01, 1.65900610e+02,-4.54229208e+02,
 -6.25107380e-03,-4.82166707e+01, 2.03213801e+02,-4.47391758e+02,
 -1.10044118e+00, 2.06166885e+00,-9.57388170e-03, 5.60462350e-01,
  9.11827969e-01,-7.65598729e-01,-1.52606797e+00, 3.55359068e+01,
 -4.96944420e+01, 6.39021678e-01]

qfrc_actuator:
[ 2.15849669e-03, 1.16506157e-01, 9.02190225e-03, 4.03369677e-02,
 -3.79683548e-05, 1.19328771e-01, 9.30852681e-03, 6.35910810e-02,
 -2.40925853e-03, 1.25780192e-01, 9.00406839e-03, 6.23505878e-02,
  0.00000000e+00,-1.73533498e-03, 0.00000000e+00,-1.53258412e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013160061345534602
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05453823e-14,  4.21815292e-14,  1.00000000e+00,  4.44820352e-28,
        1.00000000e+00, -4.21815292e-14, -1.00000000e+00,  0.00000000e+00,
       -1.05453823e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03220031, -0.07720691,  0.06188365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.22725551e-05,-1.22873700e-03,-1.79896283e-04,-8.34323881e-04,
 -1.86957516e-05, 1.00071218e-03, 1.24329372e-04,-1.25262924e-03,
 -2.37543097e-06,-4.18902991e-04,-3.09648408e-05,-1.17080967e-03,
 -7.95907637e-07, 7.74470109e-05, 1.18932716e-05, 6.84887364e-06,
  8.13877758e-05, 9.55893876e-07,-1.21646722e+00, 1.58727823e-03,
  5.46186000e-04, 6.29709377e-06]


--- Step 1993 ---
qpos:
[-1.40469233e-02, 9.96434535e-01,-2.08438433e-02, 9.11455082e-01,
  4.26771799e-03, 9.78477460e-01,-2.81952010e-02, 8.86691686e-01,
  1.62013932e-02, 1.00112489e+00,-2.20504759e-02, 8.94060705e-01,
  1.36776327e+00,-1.34617708e-03, 1.15202137e+00, 6.32201094e-02,
 -3.57090627e-03,-9.22838498e-02, 8.17069777e-02, 6.24560826e-01,
 -1.31152707e-02,-1.89781023e-03, 7.80863729e-01]

qacc:
[ 1.24716703e-01,-5.02833937e+01, 1.72022801e+02,-3.07957496e+02,
  9.35977718e-02,-3.70711042e+01, 1.84663047e+02,-4.50848964e+02,
 -5.12980321e-02,-5.39896726e+01, 2.16398035e+02,-4.50750595e+02,
 -1.49291959e+00, 2.75717491e+00, 1.30785144e+01,-4.43129851e+01,
 -1.33039151e+00,-1.63345365e+00, 1.08441999e+00,-8.05849308e+01,
 -6.70722525e+01,-5.68945043e+00]

qfrc_actuator:
[ 2.17606635e-03, 1.15520618e-01, 9.04977028e-03, 3.96163951e-02,
 -7.67312654e-06, 1.19551704e-01, 9.35738145e-03, 6.24013759e-02,
 -2.42388326e-03, 1.25355257e-01, 9.09659147e-03, 6.12356589e-02,
  0.00000000e+00,-1.65579617e-03, 0.00000000e+00,-1.74699294e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013211635514015913
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.30252982e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.30252982e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03582944, -0.06166711,  0.06188325])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.65639027e-05,-1.75794310e-03,-2.66509574e-04,-7.81208227e-04,
  2.05963676e-05, 7.29083039e-04, 2.14220752e-04,-1.18144890e-03,
 -1.29778249e-05,-7.33821705e-04,-3.69568447e-05,-1.15381377e-03,
  1.78607080e-05, 1.00013765e-04, 1.63827282e-06,-2.13558476e-04,
  9.63638571e-05,-8.21970295e-06,-1.21647494e+00, 1.58844103e-03,
  5.48147383e-04,-2.42347256e-05]


--- Step 1994 ---
qpos:
[-1.40568487e-02, 9.98141660e-01,-2.08522570e-02, 9.12192110e-01,
  4.26779245e-03, 9.80258467e-01,-2.82055080e-02, 8.87871944e-01,
  1.62064963e-02, 1.00302217e+00,-2.20622009e-02, 8.95221693e-01,
  1.36783702e+00,-1.34663308e-03, 1.15219554e+00, 6.32174118e-02,
 -3.54746877e-03,-9.22987215e-02, 8.17201536e-02, 6.24564211e-01,
 -1.24052808e-02,-1.83848407e-03, 7.80872765e-01]

qacc:
[ 4.20588648e-02,-4.76395922e+01, 1.61929330e+02,-2.97554230e+02,
  2.13106611e-01,-4.46122064e+01, 2.04564970e+02,-4.70037633e+02,
  1.88422433e-02,-5.32758252e+01, 2.09068164e+02,-4.36317098e+02,
  2.99904639e-01,-4.77701070e-01, 9.82884126e+00,-3.43108704e+01,
 -1.23113217e+00,-1.49963554e+00, 2.69486779e-01,-7.44124457e+01,
 -6.20937737e+01,-5.14153854e+00]

qfrc_actuator:
[ 2.17270541e-03, 1.14710536e-01, 9.08655770e-03, 3.89098268e-02,
  2.82878105e-05, 1.19502993e-01, 9.40861131e-03, 6.11845456e-02,
 -2.41686286e-03, 1.24785396e-01, 9.12027847e-03, 6.01424309e-02,
  0.00000000e+00,-1.69760831e-03, 0.00000000e+00,-1.90893964e-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,   7.43443516,   4.39499155,   7.43443516,
        25.65921346, -28.79533936,   4.39499155, -28.79533936,
        57.34569123,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013525809407376743
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.05204545e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.05204545e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03577728, -0.06170619,  0.06188069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.89778804e-06,-1.89042262e-03,-3.69658263e-04,-7.84764025e-04,
  4.68586125e-05, 3.26963202e-04, 1.75579823e-04,-1.21283610e-03,
  2.98039673e-06,-1.05354813e-03,-1.67820073e-04,-1.14169995e-03,
  3.25068786e-05,-1.06110506e-05,-2.80813274e-05,-1.74804181e-04,
  5.78934512e-05,-1.94917506e-05,-1.21646777e+00, 1.58822527e-03,
  5.46652923e-04,-4.04922160e-05]


--- Step 1995 ---
qpos:
[-1.40664088e-02, 9.99837050e-01,-2.08620831e-02, 9.12914478e-01,
  4.26813273e-03, 9.82043202e-01,-2.82164695e-02, 8.89030647e-01,
  1.62114971e-02, 1.00490987e+00,-2.20739934e-02, 8.96364638e-01,
  1.36791126e+00,-1.34822630e-03, 1.15236953e+00, 6.32127542e-02,
 -3.52862585e-03,-9.23191520e-02, 8.17316630e-02, 6.24572643e-01,
 -1.16913003e-02,-1.95988284e-03, 7.80876742e-01]

qacc:
[ 1.75301586e-01,-3.71985099e+01, 1.34341261e+02,-2.83427778e+02,
  1.27023681e-01,-3.07111526e+01, 1.54575080e+02,-3.96479490e+02,
 -4.37607271e-02,-4.39721318e+01, 1.68282295e+02,-3.57148055e+02,
  1.06256252e+00,-1.97132639e+00, 5.56147383e+00,-2.00581128e+01,
 -1.14864442e+00,-1.38968669e+00,-4.16616155e-01,-6.92887553e+01,
 -5.79591934e+01,-4.67556424e+00]

qfrc_actuator:
[ 2.21011793e-03, 1.14313968e-01, 9.07568556e-03, 3.81816930e-02,
  3.18163160e-05, 1.19700459e-01, 9.37093309e-03, 6.01032687e-02,
 -2.43246222e-03, 1.24186455e-01, 9.06705605e-03, 5.92303095e-02,
  0.00000000e+00,-1.77558028e-03, 0.00000000e+00,-2.00308854e-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,   7.22902912,   4.72524231,   7.22902912,
        30.09843188, -32.83427727,   4.72524231, -32.83427727,
        58.86869688,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013630130753288644
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.03633964e-14,  4.07267929e-14,  1.00000000e+00,  8.29335830e-28,
        1.00000000e+00, -4.07267929e-14, -1.00000000e+00,  0.00000000e+00,
       -2.03633964e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03576081, -0.06171772,  0.06187989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.87894333e-05,-1.57022832e-03,-4.55105523e-04,-8.13509509e-04,
  2.82019072e-05, 3.41824068e-04, 2.11841018e-06,-1.09181750e-03,
 -1.11989343e-05,-1.28477486e-03,-3.22165793e-04,-9.74157234e-04,
  1.37476364e-05,-7.25209542e-05,-3.47481277e-05,-1.08079563e-04,
  2.99142016e-05,-1.99323663e-05,-1.21646473e+00, 1.58710938e-03,
  5.45722286e-04,-4.36603989e-05]


--- Step 1996 ---
qpos:
[-1.40753906e-02, 1.00152299e+00,-2.08733907e-02, 9.13623013e-01,
  4.26862987e-03, 9.83832024e-01,-2.82284209e-02, 8.90167738e-01,
  1.62157038e-02, 1.00678918e+00,-2.20867055e-02, 8.97491532e-01,
  1.36798544e+00,-1.34988511e-03, 1.15254325e+00, 6.32076221e-02,
 -3.51410305e-03,-9.23447789e-02, 8.17391965e-02, 6.24585666e-01,
 -1.09733751e-02,-2.25106044e-03, 7.80875959e-01]

qacc:
[ 2.74297614e-01,-3.25620525e+01, 1.21007337e+02,-2.63312680e+02,
  7.50389561e-02,-2.94277690e+01, 1.50980733e+02,-3.94008683e+02,
 -3.68286192e-01,-3.65921340e+01, 1.41592543e+02,-3.10434929e+02,
 -1.36617969e-02,-4.29127010e-02, 1.01633440e+00,-4.16117113e+00,
 -1.08003151e+00,-1.29911973e+00,-9.93957807e-01,-6.50341213e+01,
 -5.45274663e+01,-4.27498645e+00]

qfrc_actuator:
[ 2.25392286e-03, 1.14044007e-01, 9.07394021e-03, 3.75001669e-02,
  3.36378143e-05, 1.19954933e-01, 9.33535072e-03, 5.90217064e-02,
 -2.51477137e-03, 1.23876636e-01, 9.05763274e-03, 5.84319632e-02,
  0.00000000e+00,-1.76778595e-03, 0.00000000e+00,-2.02103355e-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,   7.05739526,   4.97794626,   7.05739526,
        33.94123213, -35.87552969,   4.97794626, -35.87552969,
        59.49826125,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013565634099534096
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.09204250e-14,  4.09204250e-14,  1.00000000e+00,  1.67448118e-27,
        1.00000000e+00, -4.09204250e-14, -1.00000000e+00,  0.00000000e+00,
       -4.09204250e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03577264, -0.06170737,  0.06188049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.16657834e-05,-1.28371687e-03,-3.93675865e-04,-7.60268827e-04,
  1.67035065e-05, 3.76795554e-04,-9.13391382e-06,-1.09407161e-03,
 -8.55092441e-05,-1.14844719e-03,-3.36379735e-04,-8.68315327e-04,
 -1.08665106e-05,-7.67681313e-06,-2.95226559e-05,-2.88138193e-05,
  1.03659365e-05,-1.17030374e-05,-1.21646501e+00, 1.58534939e-03,
  5.45238686e-04,-3.63855050e-05]


--- Step 1997 ---
qpos:
[-1.40843109e-02, 1.00319929e+00,-2.08847028e-02, 9.14318179e-01,
  4.26938533e-03, 9.85621395e-01,-2.82387480e-02, 8.91281514e-01,
  1.62190430e-02, 1.00866108e+00,-2.20998092e-02, 8.98600697e-01,
  1.36805944e+00,-1.35122200e-03, 1.15271603e+00, 6.32082921e-02,
 -3.50367168e-03,-9.23753030e-02, 8.17408121e-02, 6.24602825e-01,
 -1.02515352e-02,-2.70293599e-03, 7.80870611e-01]

qacc:
[ 3.26256758e-02,-3.59895761e+01, 1.30912981e+02,-2.66442276e+02,
  1.25280806e-01,-4.40788041e+01, 1.97039758e+02,-4.52633488e+02,
 -4.02003096e-01,-3.96658349e+01, 1.56824726e+02,-3.44323444e+02,
  6.27898008e-02, 6.64430370e-02,-1.88880467e+01, 6.40837460e+01,
 -1.02285717e+00,-1.22427108e+00,-1.47950260e+00,-6.15025092e+01,
 -5.16835728e+01,-3.92644602e+00]

qfrc_actuator:
[ 2.23019376e-03, 1.13621636e-01, 9.09605753e-03, 3.68338895e-02,
  5.21903730e-05, 1.19815700e-01, 9.35488110e-03, 5.78421377e-02,
 -2.56536300e-03, 1.23618652e-01, 9.07536801e-03, 5.75473341e-02,
  0.00000000e+00,-1.74465383e-03, 0.00000000e+00,-1.70991570e-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,   6.99325137,   5.06766338,   6.99325137,
        35.92541907, -37.65822823,   5.06766338, -37.65822823,
        60.60379639,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013366621912077464
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.07648393e-14,  1.24589036e-13,  1.00000000e+00,  2.58707131e-27,
        1.00000000e+00, -1.24589036e-13, -1.00000000e+00,  0.00000000e+00,
       -2.07648393e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03580673, -0.06167975,  0.06188218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.37099067e-06,-1.26351365e-03,-3.04860606e-04,-7.33176910e-04,
  2.73963403e-05, 2.21697439e-07, 5.15206567e-05,-1.19137890e-03,
 -9.34478421e-05,-1.02025715e-03,-2.80735641e-04,-9.48325969e-04,
 -8.31997662e-06, 1.89154179e-05,-1.89035249e-05, 3.05239365e-04,
 -2.27907972e-06, 3.63456343e-06,-1.21646802e+00, 1.58313290e-03,
  5.45112838e-04,-2.05841923e-05]


--- Step 1998 ---
qpos:
[-1.40936532e-02, 1.00486626e+00,-2.08962665e-02, 9.14999968e-01,
  4.27021091e-03, 9.87407706e-01,-2.82470928e-02, 8.92373189e-01,
  1.62221513e-02, 1.01052421e+00,-2.21119344e-02, 8.99691064e-01,
  1.36813344e+00,-1.35256067e-03, 1.15288869e+00, 6.32122915e-02,
 -3.50067613e-03,-9.24003713e-02, 8.17430541e-02, 6.24611763e-01,
 -9.77362406e-03,-3.14714466e-03, 7.80867925e-01]

qacc:
[-1.94122521e-01,-3.49320736e+01, 1.27920758e+02,-2.64007865e+02,
  3.71019836e-02,-4.76717192e+01, 2.00261284e+02,-4.38450464e+02,
 -1.03414421e-01,-4.70111851e+01, 1.80998781e+02,-3.77413447e+02,
  2.17304517e-01,-2.90244581e-01,-1.02612727e+01, 3.55789828e+01,
 -1.85895487e+00, 1.36393040e+00, 1.56608602e-01,-7.32244119e+01,
  9.76080345e+01, 4.40993109e+00]

qfrc_actuator:
[ 2.18398216e-03, 1.13200548e-01, 9.09610285e-03, 3.61640783e-02,
  4.51121095e-05, 1.19442146e-01, 9.36975559e-03, 5.67206273e-02,
 -2.54327528e-03, 1.23145613e-01, 9.10923822e-03, 5.66012806e-02,
  0.00000000e+00,-1.74818559e-03, 0.00000000e+00,-1.54474687e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013291260535616134
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.17651517e-14,  8.35303034e-14,  1.00000000e+00, -3.48865579e-27,
        1.00000000e+00, -8.35303034e-14, -1.00000000e+00,  0.00000000e+00,
        4.17651517e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04780112, -0.11423962,  0.06188281])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.55018256e-05,-1.23247662e-03,-3.11884357e-04,-7.32811552e-04,
  7.37425088e-06,-4.33718974e-04,-2.31716336e-05,-1.14554492e-03,
 -2.50590706e-05,-1.15561097e-03,-2.35306070e-04,-1.00591243e-03,
  2.61885873e-07,-5.35468198e-07, 2.41373793e-05, 1.79494942e-04,
 -9.15655124e-06, 2.49555311e-05,-1.21647331e+00, 1.58059996e-03,
  5.45274848e-04, 2.35843457e-06]


--- Step 1999 ---
qpos:
[-1.41032998e-02, 1.00652348e+00,-2.09074720e-02, 9.15668807e-01,
  4.27119800e-03, 9.89187210e-01,-2.82533509e-02, 8.93443314e-01,
  1.62254399e-02, 1.01237850e+00,-2.21243691e-02, 9.00761727e-01,
  1.36820727e+00,-1.35340393e-03, 1.15306167e+00, 6.32162507e-02,
 -3.50456318e-03,-9.24204059e-02, 8.17428515e-02, 6.24613253e-01,
 -9.52027537e-03,-3.58436898e-03, 7.80867979e-01]

qacc:
[-1.38467860e-01,-3.63788603e+01, 1.31049714e+02,-2.61407885e+02,
  8.11285834e-02,-5.19125350e+01, 2.06852782e+02,-4.35047803e+02,
  8.80512812e-02,-4.52084031e+01, 1.76852803e+02,-3.84191325e+02,
 -4.95356408e-01, 9.17355246e-01, 6.46600173e-01,-1.45897082e+00,
 -1.72065155e+00, 1.25843229e+00,-6.11129540e-01,-6.74373405e+01,
  8.98329740e+01, 4.15138601e+00]

qfrc_actuator:
[ 2.17799803e-03, 1.12730522e-01, 9.11865906e-03, 3.55152552e-02,
  5.82454697e-05, 1.18860378e-01, 9.38082889e-03, 5.56243117e-02,
 -2.51337476e-03, 1.22689878e-01, 9.08056543e-03, 5.56087802e-02,
  0.00000000e+00,-1.71426285e-03, 0.00000000e+00,-1.55575871e-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,   6.26211538,   5.94749425,   6.26211538,
        45.37230099, -38.67926028,   5.94749425, -38.67926028,
        49.36174818,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013673270191875073
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.05982991e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.05982991e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04771632, -0.11420157,  0.06187966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.28900878e-05,-1.26532517e-03,-2.83979262e-04,-7.11056554e-04,
  1.69932824e-05,-8.95358769e-04,-1.19501262e-04,-1.13512203e-03,
  1.92211479e-05,-1.20581661e-03,-3.20852533e-04,-1.05649253e-03,
  4.70610014e-07, 3.36564695e-05, 2.72518450e-05, 1.19207079e-06,
 -4.29808165e-06, 2.83911531e-05,-1.21646007e+00, 1.58312363e-03,
  5.45208995e-04, 3.70229010e-05]


--- Step 2000 ---
qpos:
[-1.41127978e-02, 1.00817313e+00,-2.09196312e-02, 9.16323532e-01,
  4.27250758e-03, 9.90956563e-01,-2.82579932e-02, 8.94492008e-01,
  1.62291685e-02, 1.01422373e+00,-2.21373989e-02, 9.01813277e-01,
  1.36828096e+00,-1.35359767e-03, 1.15323521e+00, 6.32164005e-02,
 -3.51486839e-03,-9.24357564e-02, 8.17376105e-02, 6.24607879e-01,
 -9.47537993e-03,-4.01518279e-03, 7.80870728e-01]

qacc:
[ 7.23017508e-02,-3.19952389e+01, 1.22617931e+02,-2.68936681e+02,
  1.57602083e-01,-5.48177514e+01, 2.10665715e+02,-4.34575454e+02,
  2.08825818e-01,-4.36797906e+01, 1.70137913e+02,-3.70920367e+02,
 -8.42795678e-01, 1.48139087e+00, 1.24036205e+01,-4.20156312e+01,
 -1.60453763e+00, 1.17100602e+00,-1.25961544e+00,-6.26262971e+01,
  8.33641555e+01, 3.92545615e+00]

qfrc_actuator:
[ 2.21395394e-03, 1.12501574e-01, 9.11870752e-03, 3.48129374e-02,
  8.33863811e-05, 1.18123146e-01, 9.37097135e-03, 5.45336497e-02,
 -2.47910549e-03, 1.22248112e-01, 9.05076864e-03, 5.46500953e-02,
  0.00000000e+00,-1.67611651e-03, 0.00000000e+00,-1.75920435e-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,   6.49317782,   5.69433215,   6.49317782,
        45.85364586, -42.43841512,   5.69433215, -42.43841512,
        57.02837322,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013825553466552537
  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([ 0.04768218, -0.11418632,  0.06187841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57748996e-05,-1.03598932e-03,-3.08987541e-04,-7.64208701e-04,
  3.40411035e-05,-1.32489249e-03,-2.41920063e-04,-1.14653816e-03,
  4.72373623e-05,-1.23775504e-03,-3.43062949e-04,-1.02791653e-03,
  8.32385597e-06, 4.71975652e-05, 7.54722726e-06,-2.01070665e-04,
  4.29405928e-06, 2.78587422e-05,-1.21645244e+00, 1.58459566e-03,
  5.44968900e-04, 5.33561150e-05]


--- Step 2001 ---
qpos:
[-1.41218408e-02, 1.00981977e+00,-2.09345788e-02, 9.16963764e-01,
  4.27395626e-03, 9.92713167e-01,-2.82613872e-02, 8.95519775e-01,
  1.62334967e-02, 1.01605937e+00,-2.21493065e-02, 9.02847567e-01,
  1.36835471e+00,-1.35357980e-03, 1.15340877e+00, 6.32141303e-02,
 -3.53120000e-03,-9.24467134e-02, 8.17251405e-02, 6.24596076e-01,
 -9.62552935e-03,-4.44007011e-03, 7.80876032e-01]

qacc:
[ 2.13574325e-01,-2.16909628e+01, 9.69459327e+01,-2.53571076e+02,
  7.13626197e-02,-5.63545911e+01, 2.10347889e+02,-4.26378832e+02,
  2.83633178e-01,-4.57746839e+01, 1.72076367e+02,-3.50263063e+02,
 -2.60484210e-01, 4.98488347e-01, 7.35860443e+00,-2.56472591e+01,
 -1.50660071e+00, 1.09839057e+00,-1.80725144e+00,-5.86246944e+01,
  7.79782709e+01, 3.72755411e+00]

qfrc_actuator:
[ 2.25699022e-03, 1.12667529e-01, 9.08866716e-03, 3.41026195e-02,
  8.00009695e-05, 1.17316457e-01, 9.36594429e-03, 5.34726336e-02,
 -2.44254673e-03, 1.21818483e-01, 9.12722277e-03, 5.37900011e-02,
  0.00000000e+00,-1.67129356e-03, 0.00000000e+00,-1.87904608e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013792378230875896
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.02477008e-14,  8.04954016e-14,  1.00000000e+00, -3.23975484e-27,
        1.00000000e+00, -8.04954016e-14, -1.00000000e+00,  0.00000000e+00,
        4.02477008e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04768832, -0.11418917,  0.06187866])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.88605064e-05,-5.20457149e-04,-2.98459897e-04,-7.67156722e-04,
  1.44956005e-05,-1.65639176e-03,-3.35872110e-04,-1.13421248e-03,
  6.45102142e-05,-1.24644666e-03,-2.44651756e-04,-9.30292551e-04,
  1.49930926e-05, 1.96915739e-05,-2.39891377e-05,-1.31256643e-04,
  1.58038874e-05, 2.42052449e-05,-1.21644925e+00, 1.58519648e-03,
  5.44552157e-04, 5.52435619e-05]


--- Step 2002 ---
qpos:
[-1.41303940e-02, 1.01146701e+00,-2.09517247e-02, 9.17590509e-01,
  4.27562032e-03, 9.94454756e-01,-2.82631125e-02, 8.96526367e-01,
  1.62381901e-02, 1.01788725e+00,-2.21602983e-02, 9.03865105e-01,
  1.36842878e+00,-1.35422704e-03, 1.15358200e+00, 6.32117439e-02,
 -3.55322563e-03,-9.24535188e-02, 8.17035921e-02, 6.24578158e-01,
 -9.95956489e-03,-4.85944022e-03, 7.80883677e-01]

qacc:
[ 2.28949091e-01,-1.67939069e+01, 8.45017120e+01,-2.33045124e+02,
  1.07985128e-01,-6.08879323e+01, 2.22043218e+02,-4.37996664e+02,
  1.73805214e-01,-4.19187351e+01, 1.61201311e+02,-3.35651724e+02,
  7.22707386e-01,-1.27526414e+00,-1.92171218e-01,-1.72913426e-01,
 -1.42350530e+00, 1.03790831e+00,-2.26961206e+00,-5.52973818e+01,
  7.34942987e+01, 3.55349674e+00]

qfrc_actuator:
[ 2.28615617e-03, 1.13015634e-01, 9.09604765e-03, 3.34467850e-02,
  9.50594235e-05, 1.16439246e-01, 9.39904196e-03, 5.24019680e-02,
 -2.44045513e-03, 1.21595565e-01, 9.23044285e-03, 5.29593476e-02,
  0.00000000e+00,-1.72179180e-03, 0.00000000e+00,-1.87758043e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001361080992871612
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.07846054e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.07846054e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04772629, -0.1142063 ,  0.0618801 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.27354889e-05,-5.08235468e-05,-1.58749365e-04,-6.96683063e-04,
  2.25838557e-05,-1.92823892e-03,-3.73227666e-04,-1.15670538e-03,
  3.92969565e-05,-1.02179045e-03,-2.05246248e-04,-8.95916155e-04,
  1.17680392e-05,-4.12400720e-05,-2.84285639e-05,-9.58550926e-06,
  2.96618730e-05, 1.80380274e-05,-1.21644963e+00, 1.58506676e-03,
  5.43961077e-04, 4.55166399e-05]


--- Step 2003 ---
qpos:
[-1.41386822e-02, 1.01311580e+00,-2.09693625e-02, 9.18203670e-01,
  4.27764252e-03, 9.96179461e-01,-2.82632665e-02, 8.97513205e-01,
  1.62427678e-02, 1.01971045e+00,-2.21715023e-02, 9.04864926e-01,
  1.36850316e+00,-1.35592605e-03, 1.15375493e+00, 6.32103467e-02,
 -3.58066112e-03,-9.24563748e-02, 8.16714041e-02, 6.24554339e-01,
 -1.04682087e-02,-5.27363991e-03, 7.80893388e-01]

qacc:
[ 1.24468089e-01,-2.03212404e+01, 9.77446233e+01,-2.46422831e+02,
  1.75328515e-01,-6.06132729e+01, 2.14953281e+02,-4.13444134e+02,
 -5.10625091e-02,-3.64944120e+01, 1.50386313e+02,-3.39314048e+02,
  1.06133178e+00,-1.97099066e+00,-3.54591754e+00, 1.15078545e+01,
 -1.35246549e+00, 9.87347730e-01,-2.65988181e+00,-5.25339059e+01,
  6.97644362e+01, 3.39948280e+00]

qfrc_actuator:
[ 2.28903052e-03, 1.13239845e-01, 9.12640600e-03, 3.27751736e-02,
  1.21052274e-04, 1.15491582e-01, 9.43634214e-03, 5.14051419e-02,
 -2.47680198e-03, 1.21587445e-01, 9.29622217e-03, 5.20817435e-02,
  0.00000000e+00,-1.78693804e-03, 0.00000000e+00,-1.82241889e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013311867702130858
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  4.1700498e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -4.1700498e-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([ 0.0477892 , -0.1142346 ,  0.06188248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.85875229e-05, 1.14918653e-04,-2.55375044e-05,-6.92359481e-04,
  3.77844078e-05,-2.15688898e-03,-4.27298252e-04,-1.09294104e-03,
 -1.26341042e-05,-6.73495253e-04,-1.92897015e-04,-9.33933371e-04,
 -4.18720479e-06,-7.29632687e-05,-1.57163093e-05, 5.05864573e-05,
  4.54745510e-05, 9.79152097e-06,-1.21645294e+00, 1.58431618e-03,
  5.43200586e-04, 2.62392625e-05]


--- Step 2004 ---
qpos:
[-1.41469715e-02, 1.01476768e+00,-2.09877701e-02, 9.18803220e-01,
  4.27982443e-03, 9.97888264e-01,-2.82636733e-02, 8.98481843e-01,
  1.62469256e-02, 1.02153539e+00,-2.21863642e-02, 9.05845729e-01,
  1.36857753e+00,-1.35811692e-03, 1.15392740e+00, 6.32122662e-02,
 -3.60271034e-03,-9.24518996e-02, 8.16505951e-02, 6.24534000e-01,
 -1.09850641e-02,-5.47339143e-03, 7.80901180e-01]

qacc:
[-5.81011361e-05,-1.75821355e+01, 9.12759482e+01,-2.41963081e+02,
  8.05936427e-02,-5.16970124e+01, 1.83822798e+02,-3.67897890e+02,
 -1.95132768e-01,-2.10140331e+01, 1.12649476e+02,-3.25178327e+02,
  5.83022499e-01,-1.08410495e+00,-1.07304849e+01, 3.64512475e+01,
  1.34656670e+00, 1.83277828e+00, 2.84474848e+00, 8.11794813e+01,
  7.01926510e+01,-8.14256519e-01]

qfrc_actuator:
[ 2.27615882e-03, 1.13530547e-01, 9.13421858e-03, 3.20995869e-02,
  1.17871586e-04, 1.14758059e-01, 9.44008839e-03, 5.04951742e-02,
 -2.51812434e-03, 1.22081027e-01, 9.25153544e-03, 5.11481309e-02,
  0.00000000e+00,-1.80696249e-03, 0.00000000e+00,-1.64733555e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013023281664845399
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70498197e-13,  4.26245494e-14,  1.00000000e+00, -7.26740884e-27,
        1.00000000e+00, -4.26245494e-14, -1.00000000e+00,  0.00000000e+00,
        1.70498197e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03619232, -0.11912552,  0.06188472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.77157366e-08, 2.99492020e-04,-1.84472909e-07,-6.87230707e-04,
  1.66587875e-05,-2.07753863e-03,-5.09936821e-04,-1.01332225e-03,
 -4.54530064e-05, 2.25005575e-05,-2.34591290e-04,-9.79673238e-04,
 -1.99014675e-05,-4.02082554e-05,-3.53652889e-06, 1.75410003e-04,
  6.29751637e-05,-2.25684192e-07,-1.21645871e+00, 1.58303044e-03,
  5.42277046e-04,-1.08775830e-06]


--- Step 2005 ---
qpos:
[-1.41551608e-02, 1.01642348e+00,-2.10064228e-02, 9.19391313e-01,
  4.28206351e-03, 9.99583847e-01,-2.82654338e-02, 8.99432917e-01,
  1.62506402e-02, 1.02336557e+00,-2.22042579e-02, 9.06808070e-01,
  1.36865167e+00,-1.36007897e-03, 1.15410047e+00, 6.32108879e-02,
 -3.61982766e-03,-9.24407978e-02, 8.16370906e-02, 6.24516753e-01,
 -1.15097935e-02,-5.47613633e-03, 7.80907396e-01]

qacc:
[ 4.67683960e-02,-1.41610272e+01, 7.68131186e+01,-2.04449610e+02,
  3.11113225e-02,-4.40950340e+01, 1.61750962e+02,-3.42440171e+02,
 -2.06264363e-01,-1.70992983e+01, 1.04201912e+02,-3.13306465e+02,
 -5.85749895e-01, 8.42040309e-01, 1.08784263e+01,-3.66754332e+01,
  1.23297681e+00, 1.65667231e+00, 1.82611596e+00, 7.44752298e+01,
  6.46102004e+01,-5.95435766e-01]

qfrc_actuator:
[ 2.28950474e-03, 1.13841227e-01, 9.16448371e-03, 3.15335919e-02,
  1.14994582e-04, 1.14300812e-01, 9.44265052e-03, 4.96259160e-02,
 -2.54432885e-03, 1.22658066e-01, 9.21511035e-03, 5.02425580e-02,
  0.00000000e+00,-1.78230044e-03, 0.00000000e+00,-1.82908548e-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, -8.56809888, -1.08372432, -8.56809888,  9.20222302,
       -4.47377532, -1.08372432, -4.47377532, 44.00675117,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013502992430251826
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54163470e-14,  5.13878234e-14,  1.00000000e+00, -7.92212518e-28,
        1.00000000e+00, -5.13878234e-14, -1.00000000e+00,  0.00000000e+00,
        1.54163470e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03611897, -0.11906939,  0.06188062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08824351e-05, 4.26792255e-04, 6.15259644e-05,-5.71147064e-04,
  5.78015424e-06,-1.77062001e-03,-5.02439434e-04,-9.70734316e-04,
 -4.79193087e-05, 4.81774936e-04,-9.57383807e-05,-9.32448731e-04,
 -2.00353881e-05, 9.24386165e-06, 1.55230338e-05,-1.72988405e-04,
  3.25725960e-05,-1.07928579e-05,-1.21645297e+00, 1.58248547e-03,
  5.44296607e-04,-1.40241266e-05]


--- Step 2006 ---
qpos:
[-1.41633793e-02, 1.01808028e+00,-2.10235613e-02, 9.19968594e-01,
  4.28447388e-03, 1.00126692e+00,-2.82679068e-02, 9.00367482e-01,
  1.62539860e-02, 1.02519769e+00,-2.22211423e-02, 9.07753917e-01,
  1.36872576e+00,-1.36206325e-03, 1.15427322e+00, 6.32103874e-02,
 -3.63239108e-03,-9.24236453e-02, 8.16274596e-02, 6.24502202e-01,
 -1.20421014e-02,-5.29635463e-03, 7.80912246e-01]

qacc:
[-1.20058267e-02,-2.16381411e+01, 9.52311888e+01,-2.11223214e+02,
  8.46813172e-02,-4.30592988e+01, 1.57130564e+02,-3.26182175e+02,
 -1.69351319e-01,-2.89656147e+01, 1.33468941e+02,-3.13800119e+02,
  4.19513466e-02,-8.94469931e-02,-3.11141808e+00, 1.02105973e+01,
  1.13847588e+00, 1.51266857e+00, 9.68376886e-01, 6.89134990e+01,
  5.99697751e+01,-4.08034869e-01]

qfrc_actuator:
[ 0.00228298, 0.11375352, 0.00919025, 0.03098338, 0.00013009, 0.11378223,
  0.0094457 , 0.04880548,-0.00256127, 0.12265962, 0.00923774, 0.04941412,
  0.        ,-0.00178461, 0.        ,-0.00177583, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.56058768, -1.14154081, -8.56058768,  9.34999435,
       -5.35162496, -1.14154081, -5.35162496, 48.76901079,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001373838155253354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.52536803e-14,  2.02029442e-14,  1.00000000e+00, -5.10198694e-28,
        1.00000000e+00, -2.02029442e-14, -1.00000000e+00,  0.00000000e+00,
        2.52536803e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03608279, -0.11904267,  0.0618786 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.12858930e-06, 1.14580530e-04, 9.25176784e-05,-5.46979444e-04,
  1.80134504e-05,-1.65877443e-03,-4.39309683e-04,-9.11114309e-04,
 -3.99676716e-05, 1.89392896e-04, 7.08690057e-05,-8.35947469e-04,
 -8.93134299e-06,-4.32184610e-06,-1.75764455e-05, 4.43530986e-05,
  1.24001260e-05,-1.02293392e-05,-1.21645169e+00, 1.58261314e-03,
  5.45188533e-04,-1.28163237e-05]


--- Step 2007 ---
qpos:
[-1.41718059e-02, 1.01973709e+00,-2.10402744e-02, 9.20534627e-01,
  4.28704969e-03, 1.00293811e+00,-2.82704358e-02, 9.01282119e-01,
  1.62573822e-02, 1.02702728e+00,-2.22365008e-02, 9.08683246e-01,
  1.36879996e+00,-1.36458700e-03, 1.15444534e+00, 6.32145073e-02,
 -3.64071522e-03,-9.24009138e-02, 8.16188151e-02, 6.24489946e-01,
 -1.25817341e-02,-4.94607076e-03, 7.80915837e-01]

qacc:
[-9.53567933e-02,-2.07473531e+01, 9.16420533e+01,-2.12469359e+02,
  8.23369934e-02,-4.99237540e+01, 1.88037215e+02,-3.94300522e+02,
  2.62087221e-02,-3.62585675e+01, 1.50227129e+02,-3.25891181e+02,
  8.06077906e-01,-1.36742908e+00,-1.49599969e+01, 5.08062928e+01,
  1.05981880e+00, 1.39475831e+00, 2.46633425e-01, 6.42969546e+01,
  5.61131410e+01,-2.43827774e-01]

qfrc_actuator:
[ 0.00226461, 0.11367667, 0.00917615, 0.03041108, 0.00013808, 0.11326692,
  0.00946671, 0.04780728,-0.00253705, 0.1222461 , 0.0092042 , 0.04856636,
  0.        ,-0.00182069, 0.        ,-0.00153117, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.5475337 , -1.2354936 , -8.5475337 ,  9.5866166 ,
       -6.57414916, -1.2354936 , -6.57414916, 54.11839724,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013776378681619045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.03680544e-15,  2.01472217e-14,  1.00000000e+00, -1.01477636e-28,
        1.00000000e+00, -2.01472217e-14, -1.00000000e+00,  0.00000000e+00,
        5.03680544e-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([-0.0360763 , -0.11903948,  0.06187823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25000793e-05,-4.04552334e-05,-4.27468227e-06,-5.77105422e-04,
  1.74227753e-05,-1.57887417e-03,-3.90197258e-04,-1.08212025e-03,
  5.42190041e-06,-3.51689208e-04,-2.06797672e-05,-8.57096634e-04,
 -6.16653770e-06,-3.91057534e-05,-5.53008613e-06, 2.44317292e-04,
  3.14665332e-07,-9.21365086e-07,-1.21645390e+00, 1.58318359e-03,
  5.45203115e-04,-4.56768008e-07]


--- Step 2008 ---
qpos:
[-1.41799446e-02, 1.02139491e+00,-2.10569084e-02, 9.21089009e-01,
  4.28974704e-03, 1.00460018e+00,-2.82738181e-02, 9.02176803e-01,
  1.62612787e-02, 1.02884902e+00,-2.22497882e-02, 9.09595001e-01,
  1.36887403e+00,-1.36700225e-03, 1.15461783e+00, 6.32178120e-02,
 -3.64506223e-03,-9.23729900e-02, 8.16087298e-02, 6.24479581e-01,
 -1.31284781e-02,-4.43526408e-03, 7.80918193e-01]

qacc:
[ 1.34795984e-01,-1.91758587e+01, 8.89365381e+01,-2.15366521e+02,
  6.06739849e-02,-4.41813342e+01, 1.73620335e+02,-3.83470857e+02,
  2.35952869e-01,-4.65549500e+01, 1.77658533e+02,-3.58985185e+02,
 -2.55169091e-01, 3.60439342e-01, 3.02679717e+00,-9.74860668e+00,
  9.94281404e-01, 1.29804782e+00,-3.60189349e-01, 6.04657659e+01,
  5.29115817e+01,-9.62708029e-02]

qfrc_actuator:
[ 0.00231034, 0.11381997, 0.00920963, 0.02983028, 0.00014175, 0.11302424,
  0.0094981 , 0.04681895,-0.0024884 , 0.12149845, 0.00917156, 0.04766039,
  0.        ,-0.0018055 , 0.        ,-0.00158408, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.53321209, -1.33081491, -8.53321209,  9.8798176 ,
       -7.97305198, -1.33081491, -7.97305198, 59.75973421,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001365625228337053
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.03244456e-14,  4.06488911e-14,  1.00000000e+00,  8.26166175e-28,
        1.00000000e+00, -4.06488911e-14, -1.00000000e+00,  0.00000000e+00,
       -2.03244456e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03609335, -0.11905499,  0.06187918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.11927117e-05, 7.40408081e-05, 9.60765967e-07,-5.93881459e-04,
  1.27999621e-05,-1.25737698e-03,-3.63457137e-04,-1.07218249e-03,
  5.42215431e-05,-1.00385562e-03,-1.37101939e-04,-9.35179554e-04,
 -1.23338739e-05, 3.26268208e-06, 2.28933252e-05,-4.04305938e-05,
 -5.26001634e-06, 1.54077181e-05,-1.21645892e+00, 1.58403110e-03,
  5.44523197e-04, 2.08971707e-05]


--- Step 2009 ---
qpos:
[-0.01418767, 1.02305471,-0.02107338, 0.9216324 , 0.00429235, 1.00625628,
 -0.02827863, 0.90305314, 0.01626556, 1.03065994,-0.02226084, 0.91048877,
  1.368948  ,-0.00136927, 1.1547902 , 0.06322217,-0.00364565,-0.09234019,
  0.08159516, 0.6244707 ,-0.01368216,-0.0037722 , 0.78091928]

qacc:
[ 1.92665634e-01,-1.70044438e+01, 8.19415444e+01,-2.02063221e+02,
 -4.04543848e-02,-3.56936829e+01, 1.47315212e+02,-3.43202542e+02,
  1.82009775e-01,-5.16143702e+01, 1.90303857e+02,-3.72931203e+02,
 -1.03882011e-01, 1.99654815e-01,-3.32629260e+00, 1.14123313e+01,
  9.39570449e-01, 1.21854054e+00,-8.69933241e-01, 5.72895254e+01,
  5.02596130e+01, 3.98521001e-02]

qfrc_actuator:
[ 0.00234087, 0.11402332, 0.00925407, 0.0292848 , 0.00012504, 0.11298265,
  0.00951881, 0.04591556,-0.00247882, 0.12076969, 0.0092093 , 0.04674489,
  0.        ,-0.00179549, 0.        ,-0.00152789, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.52514112, -1.38157367, -8.52514112, 10.12148036,
       -9.16406405, -1.38157367, -9.16406405, 65.18415458,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013410827999991992
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03481961e-14,  4.13927844e-14,  1.00000000e+00, -4.28340651e-28,
        1.00000000e+00, -4.13927844e-14, -1.00000000e+00,  0.00000000e+00,
        1.03481961e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03612893, -0.11908526,  0.06188117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.48331007e-05, 1.98047476e-04, 3.44920613e-05,-5.55322885e-04,
 -9.99400811e-06,-8.72390550e-04,-3.07482469e-04,-9.76212930e-04,
  4.13860920e-05,-1.37106861e-03,-2.10340123e-04,-9.69998009e-04,
 -5.85163012e-06, 8.04740519e-06, 9.73571088e-07, 5.56966489e-05,
 -5.48652665e-06, 3.75151799e-05,-1.21646627e+00, 1.58503348e-03,
  5.43283657e-04, 4.96930694e-05]


--- Step 2010 ---
qpos:
[-0.01419516, 1.02471475,-0.02108895, 0.92216552, 0.00429448, 1.0079066 ,
 -0.02828342, 0.90391106, 0.01626994, 1.03245988,-0.02227146, 0.91136685,
  1.36902184,-0.00137116, 1.15496267, 0.06322614,-0.00364078,-0.09231184,
  0.08159234, 0.62446108,-0.01405148,-0.00311967, 0.78092329]

qacc:
[ 1.08617969e-01,-1.99999408e+01, 8.74610111e+01,-1.97370483e+02,
 -2.22538085e-01,-3.94976461e+01, 1.60152186e+02,-3.55224750e+02,
  5.14462938e-02,-4.29516040e+01, 1.56726438e+02,-3.16085422e+02,
 -3.99734754e-01, 7.25380606e-01, 1.29671000e+00,-4.26335539e+00,
  1.36475595e+00,-1.11262828e+00, 2.68485462e+00, 5.34535280e+01,
 -7.52922477e+01, 7.77316940e-01]

qfrc_actuator:
[ 2.34427101e-03, 1.13959547e-01, 9.26947779e-03, 2.87644927e-02,
  7.85258449e-05, 1.12778159e-01, 9.55177043e-03, 4.49984976e-02,
 -2.49276674e-03, 1.20200392e-01, 9.21727366e-03, 4.59553872e-02,
  0.00000000e+00,-1.77090837e-03, 0.00000000e+00,-1.54980756e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013663323985395048
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01569631e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.01569631e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03214146, -0.07726237,  0.06187898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.50750209e-05, 7.37660932e-06, 3.47576681e-05,-5.24484038e-04,
 -5.19100881e-05,-8.07832689e-04,-2.10176112e-04,-9.74048362e-04,
  1.09059220e-05,-1.43005613e-03,-3.21520466e-04,-8.58240725e-04,
 -1.32796776e-06, 2.54562321e-05, 3.28409991e-06,-1.94798521e-05,
 -1.22331208e-06, 6.45090008e-05,-1.21647565e+00, 1.58609799e-03,
  5.41585122e-04, 8.48199081e-05]


--- Step 2011 ---
qpos:
[-0.01420251, 1.02637161,-0.02110264, 0.92268717, 0.00429608, 1.00954937,
 -0.02828692, 0.90475111, 0.01627398, 1.03424784,-0.02228183, 0.91222981,
  1.36909555,-0.0013725 , 1.15513565, 0.06322548,-0.00363084,-0.09228765,
  0.08159666, 0.62445082,-0.01425004,-0.0024767 , 0.7809302 ]

qacc:
[ 7.10978731e-02,-2.92543410e+01, 1.14761948e+02,-2.33173997e+02,
 -2.39830302e-01,-4.42584224e+01, 1.71737376e+02,-3.58003060e+02,
 -1.52647229e-01,-4.27638800e+01, 1.53198949e+02,-3.05324696e+02,
 -8.18083390e-01, 1.38671841e+00, 1.48683085e+01,-5.07269977e+01,
  1.26725818e+00,-1.03712672e+00, 1.78704523e+00, 4.95834940e+01,
 -6.96842131e+01, 8.29634166e-01]

qfrc_actuator:
[ 2.34917209e-03, 1.13594416e-01, 9.28441034e-03, 2.81742170e-02,
  5.00564661e-05, 1.12336104e-01, 9.59119264e-03, 4.40983799e-02,
 -2.53845398e-03, 1.19553734e-01, 9.20829322e-03, 4.51931336e-02,
  0.00000000e+00,-1.73788027e-03, 0.00000000e+00,-1.79510831e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013855866724267335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.00474624e-14,  4.00632832e-14,  1.00000000e+00, -1.20379999e-27,
        1.00000000e+00, -4.00632832e-14, -1.00000000e+00,  0.00000000e+00,
        3.00474624e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03211565, -0.07727559,  0.06187736])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.59489054e-05,-3.98419809e-04,-2.11265962e-06,-5.99531190e-04,
 -5.62169211e-05,-9.90218258e-04,-1.79725868e-04,-9.52141321e-04,
 -3.73050416e-05,-1.55810593e-03,-3.59324132e-04,-8.33511695e-04,
  5.06416423e-06, 3.96823914e-05,-4.57809357e-06,-2.46884159e-04,
  9.96569152e-06, 6.18818913e-05,-1.21646664e+00, 1.58382357e-03,
  5.40792988e-04, 1.02343076e-04]


--- Step 2012 ---
qpos:
[-0.01420975, 1.02802145,-0.02111422, 0.92319875, 0.0042974 , 1.01118357,
 -0.02828974, 0.90557364, 0.0162776 , 1.03602409,-0.02229259, 0.91307524,
  1.36916947,-0.0013742 , 1.15530822, 0.06322489,-0.00362015,-0.09226944,
  0.08161304, 0.62444289,-0.01433613,-0.00194209, 0.78093647]

qacc:
[ 5.49311160e-02,-3.24991887e+01, 1.16282743e+02,-2.15593192e+02,
 -1.24362252e-01,-4.33843698e+01, 1.66340033e+02,-3.47962031e+02,
 -1.91510536e-01,-4.48684082e+01, 1.65646304e+02,-3.44738358e+02,
  4.51138677e-01,-7.56868852e-01,-8.98558930e-01, 2.16626925e+00,
  1.88874042e-01,-1.49885361e+00, 3.01354412e+00,-7.17703395e+00,
 -7.77392828e+01,-2.02602812e+00]

qfrc_actuator:
[ 2.35496289e-03, 1.12998547e-01, 9.29771866e-03, 2.76537795e-02,
  5.03997280e-05, 1.11844347e-01, 9.59772993e-03, 4.32152693e-02,
 -2.56727926e-03, 1.18990328e-01, 9.18915108e-03, 4.43109028e-02,
  0.00000000e+00,-1.77111766e-03, 0.00000000e+00,-1.77946143e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013915565718507564
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.98914082e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.98914082e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00375783, -0.07072322,  0.06187688])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19094325e-05,-8.63135537e-04,-8.96822394e-05,-5.44839545e-04,
 -2.97429192e-05,-1.13398203e-03,-2.44214893e-04,-9.39365532e-04,
 -4.65312757e-05,-1.55205195e-03,-3.98080188e-04,-9.57943386e-04,
  1.12085089e-05,-2.09695224e-05,-3.42375329e-05, 2.19958674e-07,
  2.25697976e-05, 5.75703137e-05,-1.21646134e+00, 1.58226071e-03,
  5.40589745e-04, 1.09055083e-04]


--- Step 2013 ---
qpos:
[-0.01421705, 1.0296603 ,-0.02112331, 0.92370153, 0.00429842, 1.01281055,
 -0.02829391, 0.90637887, 0.016281  , 1.03779503,-0.02230687, 0.91390556,
  1.36924341,-0.00137595, 1.15548025, 0.06322712,-0.00361448,-0.09225711,
  0.08163158, 0.62444016,-0.01441771,-0.0016067 , 0.78093792]

qacc:
[-2.66176944e-02,-3.64698778e+01, 1.20281980e+02,-2.01737841e+02,
 -1.43507957e-01,-3.57101679e+01, 1.42901447e+02,-3.25695270e+02,
 -9.73590605e-02,-2.37654867e+01, 1.01578258e+02,-2.63814085e+02,
  2.66142541e-01,-3.79206870e-01,-9.30791197e+00, 3.13449534e+01,
 -1.25750475e+00,-1.46775933e+00, 5.42007338e-01,-7.63518993e+01,
 -6.39216040e+01,-4.96507350e+00]

qfrc_actuator:
[ 2.34351238e-03, 1.12198338e-01, 9.32681499e-03, 2.71961822e-02,
  3.24870503e-05, 1.11557608e-01, 9.54910574e-03, 4.23491394e-02,
 -2.56801463e-03, 1.19155988e-01, 9.16444930e-03, 4.35781758e-02,
  0.00000000e+00,-1.77240754e-03, 0.00000000e+00,-1.62786856e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001411967691017979
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.93147461e-14,  1.96573730e-14,  1.00000000e+00,  7.72824629e-28,
        1.00000000e+00, -1.96573730e-14, -1.00000000e+00,  0.00000000e+00,
       -3.93147461e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03564844, -0.06179602,  0.06187527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.52788258e-06,-1.33993374e-03,-1.73289539e-04,-4.97430894e-04,
 -3.38942826e-05,-1.02057820e-03,-3.34537198e-04,-9.28446144e-04,
 -2.34722335e-05,-8.30787788e-04,-4.10490378e-04,-8.12242616e-04,
  2.69286913e-07,-3.81120213e-06,-1.70781789e-05, 1.46869139e-04,
  2.15317422e-05, 3.81778434e-05,-1.21645388e+00, 1.58272992e-03,
  5.40598720e-04, 8.94475979e-05]


--- Step 2014 ---
qpos:
[-0.01422461, 1.03128587,-0.02113069, 0.92419555, 0.00429916, 1.01443184,
 -0.02829961, 0.90716735, 0.01628446, 1.03956728,-0.02232525, 0.91471939,
  1.36931709,-0.00137694, 1.15565231, 0.06322977,-0.00361349,-0.09225023,
  0.08164937, 0.62444241,-0.01449515,-0.00145626, 0.78093499]

qacc:
[-1.14176239e-01,-3.73457005e+01, 1.19402962e+02,-1.98997709e+02,
 -1.23435074e-01,-3.23116122e+01, 1.32944055e+02,-3.11153606e+02,
  2.41870442e-02,-1.59219535e+01, 8.93375286e+01,-2.73243812e+02,
 -7.20644039e-01, 1.35802553e+00,-1.14567646e+00, 4.23543635e+00,
 -1.16943890e+00,-1.36422547e+00,-1.88953408e-01,-7.08914812e+01,
 -5.93330507e+01,-4.65247479e+00]

qfrc_actuator:
[ 2.32185070e-03, 1.11371061e-01, 9.34642457e-03, 2.67435444e-02,
  2.15218481e-05, 1.11413704e-01, 9.52241846e-03, 4.15177568e-02,
 -2.55193675e-03, 1.19721866e-01, 9.13970514e-03, 4.27799775e-02,
  0.00000000e+00,-1.71918686e-03, 0.00000000e+00,-1.61049980e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001425911024131768
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.94651526e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.94651526e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03562702, -0.06181294,  0.06187422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.82377043e-05,-1.64552417e-03,-2.84275072e-04,-5.08308844e-04,
 -2.91680241e-05,-8.32122617e-04,-3.00252799e-04,-8.92606151e-04,
  5.84694104e-06,-2.89802539e-05,-2.65977170e-04,-8.52612740e-04,
 -9.08191166e-07, 5.23929394e-05, 6.71506925e-06, 2.29338879e-05,
  7.19337120e-06, 1.53687167e-05,-1.21644575e+00, 1.58411383e-03,
  5.40404996e-04, 6.19482034e-05]


--- Step 2015 ---
qpos:
[-0.01423225, 1.03289601,-0.02113689, 0.92467953, 0.00429987, 1.01604706,
 -0.02830525, 0.9079404 , 0.01628821, 1.0413402 ,-0.02234399, 0.91551479,
  1.36939092,-0.00137809, 1.15582457, 0.06323093,-0.00361689,-0.09224847,
  0.08166395, 0.62444941,-0.01456872,-0.00147895, 0.78092798]

qacc:
[-3.53014650e-02,-4.09735639e+01, 1.30496727e+02,-2.22271405e+02,
 -1.65447830e-02,-3.47272485e+01, 1.37375814e+02,-2.99185716e+02,
  1.34691918e-01,-3.02107898e+01, 1.39187821e+02,-3.39608515e+02,
  1.28174131e-01,-2.27172037e-01, 4.75934604e+00,-1.62544275e+01,
 -1.09629644e+00,-1.27873571e+00,-8.03762435e-01,-6.63611841e+01,
 -5.55249746e+01,-4.38401909e+00]

qfrc_actuator:
[ 2.32978408e-03, 1.10445461e-01, 9.34236046e-03, 2.62263532e-02,
  3.25592342e-05, 1.11161586e-01, 9.54509837e-03, 4.07490893e-02,
 -2.52595247e-03, 1.19831028e-01, 9.15241515e-03, 4.18611475e-02,
  0.00000000e+00,-1.74058331e-03, 0.00000000e+00,-1.69015046e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001421671391706264
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.8092802e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -7.8092802e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03563613, -0.06180599,  0.06187466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.82422224e-06,-1.93474110e-03,-3.80743203e-04,-5.85653318e-04,
 -4.63449495e-06,-8.27904484e-04,-2.08781530e-04,-8.22206244e-04,
  3.16877033e-05,-1.46203445e-05,-5.58189936e-05,-9.45332194e-04,
  1.18262492e-05,-7.54550985e-06, 1.59602453e-06,-7.84435080e-05,
  7.09337949e-07, 3.25556370e-06,-1.21644149e+00, 1.58465743e-03,
  5.40493467e-04, 4.74083392e-05]


--- Step 2016 ---
qpos:
[-0.01424006, 1.03448815,-0.02114178, 0.92515243, 0.00430044, 1.01765702,
 -0.0283114 , 0.90869821, 0.01629194, 1.04311026,-0.02235983, 0.91629456,
  1.36946485,-0.00137943, 1.15599685, 0.06323079,-0.00362443,-0.09225155,
  0.08167324, 0.6244609 ,-0.01463868,-0.00166493, 0.7809171 ]

qacc:
[-6.76627186e-02,-4.64784969e+01, 1.46565525e+02,-2.46842344e+02,
 -5.71573708e-02,-3.19074247e+01, 1.28960405e+02,-2.89959242e+02,
 -4.36261985e-03,-3.88293147e+01, 1.55792037e+02,-3.19125720e+02,
  1.21900734e-01,-2.48095651e-01, 3.93422638e+00,-1.37455660e+01,
 -1.03538990e+00,-1.20805331e+00,-1.32050370e+00,-6.26043026e+01,
 -5.23660135e+01,-4.15242761e+00]

qfrc_actuator:
[ 2.31990220e-03, 1.09379573e-01, 9.34168841e-03, 2.56574607e-02,
  2.11729190e-05, 1.10971450e-01, 9.54318640e-03, 3.99879263e-02,
 -2.54753963e-03, 1.19559763e-01, 9.25652352e-03, 4.10737563e-02,
  0.00000000e+00,-1.75285921e-03, 0.00000000e+00,-1.75526733e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014029260706194535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.95681229e-14,  3.95681229e-14,  1.00000000e+00,  1.56563635e-27,
        1.00000000e+00, -3.95681229e-14, -1.00000000e+00,  0.00000000e+00,
       -3.95681229e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03566927, -0.06178024,  0.06187629])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.77009517e-05,-2.25601292e-03,-4.47238560e-04,-6.50750401e-04,
 -1.39345027e-05,-7.43170838e-04,-2.19881074e-04,-8.10225475e-04,
 -1.87685728e-06,-3.48594589e-04, 5.97241389e-05,-8.09355538e-04,
  4.06086272e-06,-1.12252162e-05,-1.17257269e-05,-7.01704464e-05,
  5.94317216e-07,-1.81398016e-07,-1.21644038e+00, 1.58452104e-03,
  5.40833556e-04, 4.33593405e-05]


--- Step 2017 ---
qpos:
[-0.01424816, 1.03605923,-0.02114498, 0.92561686, 0.00430088, 1.01926273,
 -0.02831851, 0.909442  , 0.01629555, 1.04487307,-0.02237227, 0.91706097,
  1.36953865,-0.00138037, 1.156169  , 0.06323019,-0.00363591,-0.09225922,
  0.08167551, 0.6244766 ,-0.01470523,-0.00200609, 0.78090249]

qacc:
[-1.29483482e-01,-4.69905203e+01, 1.37904206e+02,-2.06818995e+02,
 -6.02032433e-02,-2.71534843e+01, 1.12352483e+02,-2.61496783e+02,
 -4.95207204e-02,-4.19864054e+01, 1.54200403e+02,-2.88044787e+02,
 -4.07711906e-01, 7.47847487e-01, 1.24972164e+00,-4.55860567e+00,
 -9.84471657e-01,-1.14949593e+00,-1.75447258e+00,-5.94928559e+01,
 -4.97489718e+01,-3.95145588e+00]

qfrc_actuator:
[ 2.29943759e-03, 1.08149492e-01, 9.36021067e-03, 2.52223748e-02,
  1.41879530e-05, 1.10855642e-01, 9.52703861e-03, 3.92905076e-02,
 -2.56197408e-03, 1.18921471e-01, 9.32357957e-03, 4.03875596e-02,
  0.00000000e+00,-1.72407154e-03, 0.00000000e+00,-1.77575236e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013727456838081714
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.04380446e-14, -2.02190223e-14,  1.00000000e+00, -8.17617727e-28,
        1.00000000e+00,  2.02190223e-14, -1.00000000e+00,  0.00000000e+00,
       -4.04380446e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03572116, -0.06173985,  0.06187885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.25405636e-05,-2.61262609e-03,-5.00403311e-04,-5.30137417e-04,
 -1.45109836e-05,-6.23536382e-04,-2.18316636e-04,-7.43906533e-04,
 -1.29649995e-05,-8.73411385e-04,-2.55049669e-05,-7.11809380e-04,
 -1.09055885e-06, 2.70909002e-05,-1.62565195e-05,-2.66255718e-05,
  5.76425332e-06, 3.57708447e-06,-1.21644189e+00, 1.58382558e-03,
  5.41399600e-04, 4.79886191e-05]


--- Step 2018 ---
qpos:
[-0.01425619, 1.03760838,-0.02114739, 0.92607331, 0.00430154, 1.02086359,
 -0.02832492, 0.91017163, 0.0162992 , 1.04662487,-0.02238227, 0.91781225,
  1.36961246,-0.00138123, 1.15634095, 0.06322999,-0.0036467 ,-0.09227834,
  0.08168379, 0.62449395,-0.01468611,-0.00242903, 0.78088778]

qacc:
[ 3.55427843e-02,-4.48359122e+01, 1.28385776e+02,-1.91965552e+02,
  1.03784607e-01,-3.27041715e+01, 1.29826016e+02,-2.77985659e+02,
  1.87077231e-02,-4.73698433e+01, 1.69564095e+02,-3.19819047e+02,
 -1.16462137e-04, 5.48627294e-02,-1.50311269e+00, 4.82360901e+00,
  1.70807529e-01,-2.86312161e+00, 1.50116134e+00,-5.17343077e+00,
 -5.89837644e+01,-1.35690095e+00]

qfrc_actuator:
[ 2.32607992e-03, 1.06990922e-01, 9.37159114e-03, 2.48161422e-02,
  4.54056592e-05, 1.10643497e-01, 9.57403905e-03, 3.85829535e-02,
 -2.55425739e-03, 1.18086269e-01, 9.33124498e-03, 3.96062821e-02,
  0.00000000e+00,-1.72441553e-03, 0.00000000e+00,-1.75202000e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00148954035604871
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.        , -0.43310703,  0.9013425 ,  0.        ,  0.9013425 ,
        0.43310703, -1.        ,  0.        ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0037616 , -0.07067074,  0.06188137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.53600186e-06,-2.74472005e-03,-5.79757284e-04,-5.10858111e-04,
  2.33870764e-05,-6.51070640e-04,-1.29445986e-04,-7.48768407e-04,
  3.10221390e-06,-1.37429048e-03,-1.94606834e-04,-8.23194095e-04,
  5.31221721e-06, 6.92600499e-06,-1.33463566e-05, 1.94890730e-05,
  1.54297372e-05, 1.34468461e-05,-1.21644561e+00, 1.58266270e-03,
  5.42169863e-04, 5.99664941e-05]


--- Step 2019 ---
qpos:
[-0.01426404, 1.03913599,-0.02115006, 0.92652106, 0.00430232, 1.02245979,
 -0.02833109, 0.91088543, 0.01630291, 1.04836426,-0.02239076, 0.91854579,
  1.36968655,-0.00138285, 1.1565127 , 0.06323071,-0.0036528 ,-0.09230058,
  0.08169482, 0.62451198,-0.01451099,-0.00286199, 0.78087517]

qacc:
[ 9.26983959e-02,-4.27778498e+01, 1.23830182e+02,-1.96804640e+02,
  5.92801770e-02,-3.41118676e+01, 1.38308752e+02,-3.05388568e+02,
  3.61063667e-02,-5.12782786e+01, 1.85629684e+02,-3.63663001e+02,
  8.10729802e-01,-1.45458092e+00,-3.16117532e+00, 1.04638180e+01,
  1.17492074e+00,-7.79596510e-01, 6.87363485e-01, 4.48050529e+01,
 -6.40535498e+01, 1.19693711e-01]

qfrc_actuator:
[ 2.34524045e-03, 1.05937819e-01, 9.36115860e-03, 2.43768499e-02,
  4.59897536e-05, 1.10429099e-01, 9.58662321e-03, 3.77862942e-02,
 -2.55110320e-03, 1.17352600e-01, 9.35613915e-03, 3.87040583e-02,
  0.00000000e+00,-1.77757900e-03, 0.00000000e+00,-1.70243397e-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,  8.63627324, -0.03951456,  8.63627324,  8.6364246 ,
        0.0133233 , -0.03951456,  0.0133233 , 11.54829521,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013279056159917965
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.18035368e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.18035368e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03220051, -0.07723547,  0.06188264])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.02223679e-05,-2.72684511e-03,-6.35796066e-04,-5.49802358e-04,
  1.30849698e-05,-6.51063277e-04,-1.59174095e-04,-8.36188339e-04,
  7.20376624e-06,-1.58635072e-03,-2.98197154e-04,-9.66997449e-04,
  4.07131265e-06,-4.98239387e-05,-6.58038158e-06, 4.83441819e-05,
  1.64553794e-05, 2.31339135e-05,-1.21644807e+00, 1.58147632e-03,
  5.42211750e-04, 7.18918583e-05]


--- Step 2020 ---
qpos:
[-0.01427183, 1.04064142,-0.02115266, 0.92696013, 0.00430284, 1.02405235,
 -0.02833876, 0.91158346, 0.01630668, 1.05009237,-0.02240026, 0.9192646 ,
  1.36976076,-0.00138505, 1.15668483, 0.06322832,-0.00365445,-0.0923259 ,
  0.08170633, 0.62453042,-0.0141884 ,-0.00330424, 0.7808646 ]

qacc:
[ 2.99941292e-02,-4.43983585e+01, 1.27996261e+02,-1.99561335e+02,
 -1.20406809e-01,-2.79386293e+01, 1.19533522e+02,-2.88461682e+02,
  3.19449681e-02,-3.77088455e+01, 1.36563840e+02,-2.85530529e+02,
  2.79816966e-01,-7.05076148e-01, 9.93221320e+00,-3.40046640e+01,
  1.11125446e+00,-7.70199240e-01, 1.20159382e-01, 4.24251852e+01,
 -6.04944453e+01, 2.05279989e-01]

qfrc_actuator:
[ 2.34200840e-03, 1.04814347e-01, 9.35611592e-03, 2.39394019e-02,
  1.04495302e-05, 1.10303878e-01, 9.52549076e-03, 3.69967811e-02,
 -2.55073631e-03, 1.16845426e-01, 9.32030488e-03, 3.79687209e-02,
  0.00000000e+00,-1.80838172e-03, 0.00000000e+00,-1.86880661e-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, -8.63561123,  0.11399824, -8.63561123,  8.64049895,
        0.31325879,  0.11399824,  0.31325879, 32.3663887 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013107326811176434
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.23512376e-14,  4.23512376e-14,  1.00000000e+00,  1.79362733e-27,
        1.00000000e+00, -4.23512376e-14, -1.00000000e+00,  0.00000000e+00,
       -4.23512376e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0322244 , -0.07722775,  0.06188413])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.28776278e-06,-2.79904181e-03,-6.34318266e-04,-5.49957596e-04,
 -2.85620678e-05,-5.70281134e-04,-2.38844621e-04,-8.31925679e-04,
  6.60816370e-06,-1.50169503e-03,-4.16551555e-04,-8.12948501e-04,
 -9.90532429e-06,-4.29633869e-05,-1.14793611e-07,-1.65124004e-04,
  7.67261716e-06, 2.67625881e-05,-1.21644953e+00, 1.58076119e-03,
  5.41949249e-04, 7.21017217e-05]


--- Step 2021 ---
qpos:
[-0.0142796 , 1.04212455,-0.02115532, 0.92739026, 0.00430335, 1.02563938,
 -0.02834631, 0.91226741, 0.01631066, 1.05180996,-0.02241161, 0.91997075,
  1.36983465,-0.00138659, 1.15685745, 0.06321995,-0.00365186,-0.09235427,
  0.08171642, 0.624549  ,-0.01372536,-0.00375522, 0.78085598]

qacc:
[ 1.44916788e-02,-4.47482427e+01, 1.29529337e+02,-2.04093311e+02,
 -2.27526448e-03,-3.18631568e+01, 1.25716943e+02,-2.72837355e+02,
  9.65932773e-02,-3.08448619e+01, 1.10919564e+02,-2.39262785e+02,
 -1.12918872e+00, 1.79621637e+00, 1.88843342e+01,-6.47998078e+01,
  1.05883232e+00,-7.61344404e-01,-3.54297856e-01, 4.04590482e+01,
 -5.75725260e+01, 2.58479616e-01]

qfrc_actuator:
[ 2.34315420e-03, 1.03711177e-01, 9.35409947e-03, 2.34887526e-02,
  2.45812270e-05, 1.09966711e-01, 9.51052877e-03, 3.62888226e-02,
 -2.53431077e-03, 1.16389223e-01, 9.24994808e-03, 3.73375859e-02,
  0.00000000e+00,-1.75462052e-03, 0.00000000e+00,-2.17883685e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364e+00, -8.63635808e+00, -9.79680982e-03, -8.63635808e+00,
        8.63640059e+00, -3.25784148e-02, -9.79680982e-03, -3.25784148e-02,
        3.73558000e+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: -0.0012832352815803916
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.32587477e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.32587477e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03226184, -0.07721266,  0.06188648])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.60985514e-06,-2.81793515e-03,-6.45120034e-04,-5.65288563e-04,
 -1.26358655e-06,-7.52864046e-04,-1.85747117e-04,-7.50140784e-04,
  2.23284993e-05,-1.42201378e-03,-4.43304316e-04,-7.06101405e-04,
 -1.61132731e-05, 4.03233069e-05,-2.25380508e-05,-3.20209647e-04,
  9.54789782e-07, 2.87565560e-05,-1.21645311e+00, 1.58047308e-03,
  5.42097744e-04, 6.50123947e-05]


--- Step 2022 ---
qpos:
[-0.01428735, 1.04358902,-0.02115998, 0.92781144, 0.00430425, 1.02721966,
 -0.02835302, 0.91293904, 0.01631485, 1.05351818,-0.0224234 , 0.92066405,
  1.36990835,-0.00138755, 1.15702949, 0.06321159,-0.00364521,-0.09238565,
  0.08172351, 0.62456748,-0.01312762,-0.00421445, 0.78084914]

qacc:
[ 1.54337649e-02,-3.46801476e+01, 1.02368125e+02,-1.82368867e+02,
  1.87590479e-01,-3.24041991e+01, 1.21721436e+02,-2.47700207e+02,
  9.77409509e-02,-3.34866615e+01, 1.21799445e+02,-2.51812990e+02,
 -5.16128176e-01, 9.91691631e-01,-8.48687240e-01, 1.83859155e+00,
  1.01568471e+00,-7.53175284e-01,-7.50566466e-01, 3.88391320e+01,
 -5.51822024e+01, 2.85289468e-01]

qfrc_actuator:
[ 2.34693914e-03, 1.03019736e-01, 9.33623248e-03, 2.30516858e-02,
  6.83688455e-05, 1.09594484e-01, 9.54001179e-03, 3.56699278e-02,
 -2.52617032e-03, 1.16073880e-01, 9.28439886e-03, 3.67017951e-02,
  0.00000000e+00,-1.72214073e-03, 0.00000000e+00,-2.16263448e-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, -8.63539604, -0.12927507, -8.63539604,  8.64428451,
       -0.52910354, -0.12927507, -0.52910354, 43.97975015,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012477645874350296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.22442405e-14,  4.44884811e-14,  1.00000000e+00,  9.89612474e-28,
        1.00000000e+00, -4.44884811e-14, -1.00000000e+00,  0.00000000e+00,
       -2.22442405e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0323097 , -0.07719187,  0.0618895 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.29335283e-06,-2.41877757e-03,-6.66212333e-04,-5.52937239e-04,
  4.30484409e-05,-8.75812834e-04,-1.68556695e-04,-6.63238323e-04,
  2.25925623e-05,-1.23868888e-03,-3.22632553e-04,-7.06638913e-04,
 -2.87804622e-07, 4.01070000e-05,-5.03168511e-05,-5.50228674e-06,
 -4.00071243e-06, 2.93680992e-05,-1.21645851e+00, 1.58056016e-03,
  5.42620752e-04, 5.16304783e-05]


--- Step 2023 ---
qpos:
[-0.01429489, 1.04504071,-0.02116789, 0.92822435, 0.00430544, 1.02879443,
 -0.02836015, 0.91359767, 0.01631904, 1.05522085,-0.02243663, 0.92134372,
  1.36998224,-0.00138888, 1.15720052, 0.06320909,-0.00363402,-0.09241622,
  0.08173337, 0.62458619,-0.01245014,-0.00459484, 0.78084312]

qacc:
[ 9.58835498e-02,-2.23937748e+01, 7.01390649e+01,-1.49880659e+02,
  1.35133387e-01,-2.85329089e+01, 1.12464321e+02,-2.48313133e+02,
  2.07473992e-03,-2.70890535e+01, 1.08531679e+02,-2.51421787e+02,
  8.34849680e-01,-1.27080896e+00,-1.92699948e+01, 6.50758198e+01,
  1.13541612e+00, 2.01263098e-01, 6.91693862e-01, 5.56902078e+01,
 -6.51460228e+00, 5.15614401e-01]

qfrc_actuator:
[ 2.37004696e-03, 1.02811397e-01, 9.32857443e-03, 2.26618439e-02,
  7.62876947e-05, 1.09399933e-01, 9.54212384e-03, 3.50195776e-02,
 -2.54083753e-03, 1.16076885e-01, 9.31004787e-03, 3.60329657e-02,
  0.00000000e+00,-1.75587591e-03, 0.00000000e+00,-1.84778231e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001206634374394753
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15012369e-14, -9.21972505e-07,  1.00000000e+00,  1.06038242e-20,
        1.00000000e+00,  9.21972505e-07, -1.00000000e+00,  0.00000000e+00,
        1.15012369e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03421776, -0.09673187,  0.06189298])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.20576973e-05,-1.71815391e-03,-5.79727974e-04,-4.93966697e-04,
  3.10227747e-05,-7.59894525e-04,-2.15430035e-04,-6.95960076e-04,
 -6.83705776e-08,-7.94933531e-04,-2.81606734e-04,-7.30514868e-04,
  8.44087878e-06,-2.25984255e-05,-2.47928016e-05, 3.07870267e-04,
 -7.42721777e-06, 2.87872596e-05,-1.21646552e+00, 1.58097210e-03,
  5.43487487e-04, 3.26878503e-05]


--- Step 2024 ---
qpos:
[-0.01430252, 1.04648321,-0.02117806, 0.92862764, 0.00430667, 1.03036297,
 -0.02836767, 0.91424382, 0.01632315, 1.0569189 ,-0.02245085, 0.92200898,
  1.37005623,-0.00139055, 1.15737217, 0.06320362,-0.00361846,-0.09244135,
  0.08174368, 0.62460657,-0.01178049,-0.00480557, 0.78083594]

qacc:
[-3.47006940e-02,-2.26913952e+01, 7.96458491e+01,-1.76320375e+02,
  1.57560598e-02,-2.86429470e+01, 1.10518750e+02,-2.39880528e+02,
 -3.17050821e-02,-2.84436166e+01, 1.16093335e+02,-2.67910811e+02,
  9.44987686e-02,-3.08946081e-01, 9.88202739e+00,-3.32597768e+01,
  1.09456434e+00, 1.36077117e+00, 1.14869131e-01, 6.37975899e+01,
  5.60513720e+01, 5.98934411e-02]

qfrc_actuator:
[ 2.35130158e-03, 1.02663718e-01, 9.32908937e-03, 2.21967224e-02,
  6.26373177e-05, 1.09064909e-01, 9.51098806e-03, 3.43914704e-02,
 -2.55131302e-03, 1.15951282e-01, 9.29608556e-03, 3.53147137e-02,
  0.00000000e+00,-1.77536528e-03, 0.00000000e+00,-2.01644274e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001217972271624665
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.11533908e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.11533908e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03633695, -0.11925768,  0.06189208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.97093907e-06,-1.25074923e-03,-4.22590796e-04,-5.44136925e-04,
  3.00328574e-06,-8.46234341e-04,-2.32200192e-04,-6.72283051e-04,
 -8.20946730e-06,-6.70429102e-04,-2.30168996e-04,-7.65754207e-04,
 -7.50393221e-07,-2.35398204e-05, 2.25732664e-05,-1.54761183e-04,
 -6.80773387e-06, 1.58530861e-05,-1.21646703e+00, 1.58120736e-03,
  5.44569783e-04, 2.85878000e-06]


--- Step 2025 ---
qpos:
[-0.0143106 , 1.0479207 ,-0.02119018, 0.92901978, 0.00430782, 1.03192346,
 -0.02837469, 0.91488137, 0.01632717, 1.05861156,-0.02246452, 0.92266013,
  1.37013008,-0.00139193, 1.15754384, 0.06319688,-0.00359878,-0.09246139,
  0.08175219, 0.62462862,-0.01111813,-0.00485627, 0.7808277 ]

qacc:
[-2.09978979e-01,-2.07159148e+01, 8.30254008e+01,-1.99810631e+02,
 -2.68531803e-02,-2.67437591e+01, 9.30618635e+01,-1.77728960e+02,
 -3.85743598e-02,-3.30965664e+01, 1.29405571e+02,-2.75443019e+02,
 -4.01636682e-01, 6.70581086e-01, 3.88751109e+00,-1.34755780e+01,
  1.02615363e+00, 1.27373181e+00,-4.50656990e-01, 6.02138565e+01,
  5.28360033e+01,-2.19002707e-02]

qfrc_actuator:
[ 2.30764644e-03, 1.02749233e-01, 9.35257742e-03, 2.16555911e-02,
  5.39411776e-05, 1.08595268e-01, 9.51330159e-03, 3.39589106e-02,
 -2.55919970e-03, 1.15696544e-01, 9.32949862e-03, 3.46085571e-02,
  0.00000000e+00,-1.75068019e-03, 0.00000000e+00,-2.07816256e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012136669082226242
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.71518903e-14, -1.14345936e-14,  1.00000000e+00, -1.96124895e-28,
        1.00000000e+00,  1.14345936e-14, -1.00000000e+00,  0.00000000e+00,
       -1.71518903e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03634504, -0.11926467,  0.06189249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.06786636e-05,-7.29421675e-04,-2.91534389e-04,-6.02531964e-04,
 -7.14396079e-06,-1.03100010e-03,-2.16837501e-04,-4.79333095e-04,
 -1.00693297e-05,-7.21464386e-04,-1.53489080e-04,-7.49154465e-04,
 -6.32172347e-06, 1.84326647e-05,-1.20836644e-05,-6.86554192e-05,
  1.43056721e-06,-2.93704426e-06,-1.21646144e+00, 1.58047212e-03,
  5.45126637e-04,-2.14663004e-05]


--- Step 2026 ---
qpos:
[-0.014319  , 1.04935926,-0.02120466, 0.92940255, 0.00430889, 1.03347615,
 -0.02838111, 0.91550809, 0.01633111, 1.06030051,-0.0224783 , 0.9232987 ,
  1.37020383,-0.00139302, 1.15771458, 0.06319613,-0.00357523,-0.09247661,
  0.08175701, 0.62465229,-0.01046259,-0.00475489, 0.78081845]

qacc:
[-1.44686531e-01,-8.47546126e+00, 4.89177918e+01,-1.52684437e+02,
 -3.70037088e-02,-3.05485563e+01, 1.10690031e+02,-2.19577474e+02,
 -3.70866687e-02,-2.64367217e+01, 1.07024825e+02,-2.38822385e+02,
  1.69606834e-01,-7.30681477e-02,-1.94506067e+01, 6.60377289e+01,
  9.69619697e-01, 1.20240419e+00,-9.24920172e-01, 5.72474916e+01,
  5.01668003e+01,-8.88736869e-02]

qfrc_actuator:
[ 2.30271586e-03, 1.03275956e-01, 9.40819411e-03, 2.12162590e-02,
  4.82989439e-05, 1.08244457e-01, 9.55271139e-03, 3.34140112e-02,
 -2.56548703e-03, 1.15650982e-01, 9.37243378e-03, 3.39861250e-02,
  0.00000000e+00,-1.73549796e-03, 0.00000000e+00,-1.75668779e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011972377642722881
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.89787631e-14,  1.15915052e-14,  1.00000000e+00,  3.35907484e-28,
        1.00000000e+00, -1.15915052e-14, -1.00000000e+00,  0.00000000e+00,
       -2.89787631e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03637101, -0.11928608,  0.06189391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.45842567e-05, 2.43101204e-05,-1.44017276e-04,-4.82458985e-04,
 -9.58126401e-06,-1.00518651e-03,-2.08409581e-04,-5.92442694e-04,
 -9.50873656e-06,-5.24779108e-04,-1.44643757e-04,-6.64322576e-04,
  4.38529137e-07, 1.89346927e-05,-1.65139063e-05, 3.15351813e-04,
  1.41700179e-05,-1.39558212e-05,-1.21645876e+00, 1.57996139e-03,
  5.45148928e-04,-3.60160451e-05]


--- Step 2027 ---
qpos:
[-0.01432775, 1.05080357,-0.02122182, 0.92977912, 0.00430988, 1.03502414,
 -0.028388  , 0.91611974, 0.01633497, 1.0619888 ,-0.02249276, 0.92392464,
  1.37027747,-0.00139366, 1.15788561, 0.0631955 ,-0.00355942,-0.09248561,
  0.08176257, 0.62466629,-0.01005076,-0.00464764, 0.7808133 ]

qacc:
[-1.60575900e-01, 3.98799158e+00, 9.04517217e+00,-8.40247242e+01,
 -3.55733433e-02,-3.08660018e+01, 1.25664340e+02,-2.84288036e+02,
 -3.27879040e-02,-2.09848979e+01, 9.41738310e+01,-2.30208203e+02,
 -4.13070454e-01, 7.93858009e-01, 1.15346294e-01, 3.18724898e-01,
 -1.93430628e+00, 1.55788491e+00, 1.88031405e-01,-7.38662250e+01,
  9.69362048e+01, 5.67026283e+00]

qfrc_actuator:
[ 2.28555336e-03, 1.03939057e-01, 9.41326828e-03, 2.09294305e-02,
  4.45370454e-05, 1.08216438e-01, 9.59631528e-03, 3.26653592e-02,
 -2.57078354e-03, 1.15855677e-01, 9.42152567e-03, 3.33647802e-02,
  0.00000000e+00,-1.70836722e-03, 0.00000000e+00,-1.76237436e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012237385585445598
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.53619369e-14,  6.80429053e-14,  1.00000000e+00,  3.08655797e-27,
        1.00000000e+00, -6.80429053e-14, -1.00000000e+00,  0.00000000e+00,
       -4.53619369e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04802172, -0.11439427,  0.0618917 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.80046486e-05, 6.10381856e-04,-2.65156696e-05,-3.00057748e-04,
 -9.01636848e-06,-6.69748367e-04,-2.01483271e-04,-7.97742669e-04,
 -8.21265279e-06,-1.61155347e-04,-9.63448112e-05,-6.55032971e-04,
  4.98444871e-06, 3.22045870e-05, 2.64365721e-05, 9.52749717e-06,
  3.07496634e-05,-1.83913913e-05,-1.21645857e+00, 1.57965648e-03,
  5.44693165e-04,-4.22703269e-05]


--- Step 2028 ---
qpos:
[-0.01433708, 1.05225474,-0.02123968, 0.93015015, 0.0043108 , 1.03656872,
 -0.02839553, 0.91671759, 0.01633862, 1.06367569,-0.02250627, 0.92453757,
  1.37035117,-0.00139423, 1.15805671, 0.06319518,-0.00355073,-0.09248895,
  0.08176582, 0.62467169,-0.00986361,-0.00453476, 0.78081203]

qacc:
[-2.71383243e-01, 1.29998346e+00, 1.81760453e+01,-8.46609101e+01,
 -2.97981958e-02,-2.65619601e+01, 1.10949090e+02,-2.57504346e+02,
 -9.94583570e-02,-2.70128187e+01, 1.13417049e+02,-2.50714641e+02,
  9.02741995e-03, 5.35776706e-02,-8.42254740e-01, 3.07041395e+00,
 -1.78260434e+00, 1.41327097e+00,-5.79236325e-01,-6.80105966e+01,
  8.94354629e+01, 5.11255817e+00]

qfrc_actuator:
[ 2.24345679e-03, 1.04448106e-01, 9.44254135e-03, 2.06636966e-02,
  4.19332596e-05, 1.08169085e-01, 9.60776066e-03, 3.19805378e-02,
 -2.59321526e-03, 1.15800650e-01, 9.47493176e-03, 3.27136810e-02,
  0.00000000e+00,-1.70985618e-03, 0.00000000e+00,-1.74785275e-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, -8.48234164,  1.62377866, -8.48234164,  9.72761489,
        5.70050969,  1.62377866,  5.70050969, 38.41485002,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001268570339925626
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.75176559e-14,  8.75176559e-14,  1.00000000e+00,  7.65934009e-27,
        1.00000000e+00, -8.75176559e-14, -1.00000000e+00,  0.00000000e+00,
       -8.75176559e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04792234, -0.11435321,  0.06188798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.47656583e-05, 8.09191208e-04, 1.31287684e-04,-2.53581349e-04,
 -7.52577409e-06,-5.08256900e-04,-1.73090603e-04,-7.28127731e-04,
 -2.46219759e-05,-2.09771654e-04,-1.49324945e-05,-6.72098298e-04,
  1.03871678e-05, 8.27903605e-06, 8.30312362e-06, 1.73163309e-05,
  1.58011043e-05,-7.32859740e-06,-1.21644777e+00, 1.58258939e-03,
  5.45604017e-04,-1.18250353e-06]


--- Step 2029 ---
qpos:
[-0.01434695, 1.05371601,-0.02125838, 0.93051279, 0.00431167, 1.03810812,
 -0.02840293, 0.91730204, 0.01634186, 1.06535842,-0.02251852, 0.9251389 ,
  1.3704249 ,-0.00139477, 1.15822755, 0.06319705,-0.00354867,-0.09248711,
  0.08176416, 0.62466934,-0.0098853 ,-0.00441647, 0.78081432]

qacc:
[-2.45382870e-01, 9.31262579e-01, 3.05125132e+01,-1.31130538e+02,
 -2.24710047e-02,-3.02680581e+01, 1.19327590e+02,-2.58791417e+02,
 -1.77086726e-01,-2.90397556e+01, 1.12744748e+02,-2.32127222e+02,
  1.71728464e-01,-1.92542419e-01,-6.98736014e+00, 2.38849681e+01,
 -1.65621223e+00, 1.29477600e+00,-1.22706602e+00,-6.31441193e+01,
  8.31883865e+01, 4.64451826e+00]

qfrc_actuator:
[ 2.22228691e-03, 1.05198598e-01, 9.48541749e-03, 2.02526377e-02,
  4.00435675e-05, 1.07826682e-01, 9.58251758e-03, 3.13032880e-02,
 -2.62575040e-03, 1.15431025e-01, 9.47630048e-03, 3.21211489e-02,
  0.00000000e+00,-1.71056663e-03, 0.00000000e+00,-1.63267885e-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, -8.46462686,  1.71372957, -8.46462686, 10.01728179,
        6.82077094,  1.71372957,  6.82077094, 42.32620702,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012902586500528543
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.30232738e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.30232738e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04787443, -0.1143345 ,  0.06188619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.84230796e-05, 1.19293485e-03, 2.03209192e-04,-3.87172655e-04,
 -5.99577796e-06,-7.06021880e-04,-1.72719548e-04,-7.13154051e-04,
 -4.37260476e-05,-5.35712198e-04,-6.76641387e-05,-6.12991968e-04,
  7.35834987e-06, 4.05560140e-06, 2.05084558e-06, 1.16341325e-04,
  6.25710875e-06,-8.84686259e-07,-1.21644214e+00, 1.58383523e-03,
  5.46043295e-04, 2.11030109e-05]


--- Step 2030 ---
qpos:
[-0.01435688, 1.05518918,-0.02127818, 0.9308672 , 0.0043125 , 1.03964189,
 -0.02841012, 0.91787321, 0.01634473, 1.06703674,-0.02253062, 0.92572684,
  1.37049859,-0.00139503, 1.1583984 , 0.06319993,-0.00355282,-0.09248049,
  0.08175541, 0.62465984,-0.01010264,-0.00429294, 0.78081982]

qacc:
[-3.10630201e-02, 4.31990886e+00, 2.19233025e+01,-1.22568141e+02,
 -1.70213389e-02,-3.08251719e+01, 1.20184913e+02,-2.57865140e+02,
 -1.71107690e-01,-2.94431449e+01, 1.17330557e+02,-2.56607327e+02,
 -1.71806336e-01, 3.84911911e-01,-3.05286232e+00, 1.07285303e+01,
 -1.55047843e+00, 1.19737397e+00,-1.77404672e+00,-5.90958388e+01,
  7.79823114e+01, 4.24821677e+00]

qfrc_actuator:
[ 2.24935685e-03, 1.05945960e-01, 9.48362481e-03, 1.98482403e-02,
  3.85952262e-05, 1.07541173e-01, 9.58800155e-03, 3.06356921e-02,
 -2.64633437e-03, 1.15177738e-01, 9.46350874e-03, 3.14433025e-02,
  0.00000000e+00,-1.69304073e-03, 0.00000000e+00,-1.58338715e-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, -8.4713883 ,  1.67998726, -8.4713883 , 10.13295579,
        7.5466127 ,  1.67998726,  7.5466127 , 46.69039411,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001293205279178089
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.58504866e-14,  4.29252433e-14,  1.00000000e+00,  3.68515302e-27,
        1.00000000e+00, -4.29252433e-14, -1.00000000e+00,  0.00000000e+00,
       -8.58504866e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04786752, -0.11433362,  0.06188594])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.72070834e-06, 1.41204017e-03, 2.37893968e-04,-3.69904581e-04,
 -4.74656763e-06,-7.57880494e-04,-1.80245956e-04,-7.09205136e-04,
 -4.22903039e-05,-6.08107797e-04,-1.49910809e-04,-7.08384966e-04,
  4.89822179e-06, 2.03691552e-05, 1.10107744e-05, 5.53580095e-05,
  1.00407946e-06, 1.89068324e-06,-1.21644067e+00, 1.58381901e-03,
  5.46105927e-04, 2.85093810e-05]


--- Step 2031 ---
qpos:
[-0.0143662 , 1.05667301,-0.02129769, 0.93121511, 0.00431345, 1.0411752 ,
 -0.02841939, 0.91843367, 0.01634745, 1.0687139 ,-0.02254348, 0.92630292,
  1.37057234,-0.00139533, 1.15856926, 0.06320339,-0.00356281,-0.09246939,
  0.08173771, 0.62464367,-0.01050464,-0.00416437, 0.78082814]

qacc:
[ 2.79139001e-01, 1.91228201e+00, 2.42113643e+01,-1.03756581e+02,
  5.90684669e-02,-1.34079361e+01, 6.59141998e+01,-1.83096858e+02,
 -6.64065437e-02,-2.00818254e+01, 8.86929431e+01,-2.15809469e+02,
  1.21898601e-01,-1.64458079e-01,-1.72631787e+00, 6.04496393e+00,
 -1.46156359e+00, 1.11699830e+00,-2.23587695e+00,-5.57274632e+01,
  7.36446886e+01, 3.90918863e+00]

qfrc_actuator:
[ 2.32286717e-03, 1.06454810e-01, 9.49112717e-03, 1.95220282e-02,
  5.51743044e-05, 1.07878151e-01, 9.61180055e-03, 3.01211557e-02,
 -2.64185084e-03, 1.15368985e-01, 9.51384260e-03, 3.08627040e-02,
  0.00000000e+00,-1.70033969e-03, 0.00000000e+00,-1.55557728e-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, -8.51554996,  1.43950887, -8.51554996,  9.86224487,
        7.25181557,  1.43950887,  7.25181557, 51.53515981,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012810960648090286
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.33309826e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.33309826e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0478931 , -0.11434687,  0.0618869 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.79177257e-05, 1.30195344e-03, 2.94521792e-04,-2.83694282e-04,
  1.39506775e-05,-1.65271971e-04,-1.72788383e-04,-5.57861956e-04,
 -1.64703017e-05,-2.22534697e-04,-1.13155447e-04,-6.17962791e-04,
  7.43800016e-06,-6.71582570e-07, 7.41966335e-06, 3.14174820e-05,
 -7.69946084e-07, 1.68964852e-06,-1.21644260e+00, 1.58284934e-03,
  5.45862059e-04, 2.39068415e-05]


--- Step 2032 ---
qpos:
[-0.01437445, 1.05816569,-0.02131654, 0.93155657, 0.00431488, 1.04271455,
 -0.02843117, 0.91898306, 0.0163506 , 1.07039256,-0.02255703, 0.9268694 ,
  1.37064606,-0.00139544, 1.15874058, 0.06320348,-0.00357834,-0.0924541 ,
  0.0817095 , 0.62462117,-0.01108216,-0.00403087, 0.78083887]

qacc:
[   0.48718498,  -1.35610936,  31.92501068,-108.71234097,   0.21926494,
   -4.42972356,  47.68272878,-175.74703165,   0.19732895, -12.81037813,
   64.37769511,-169.4363306 ,  -0.40917095,   0.65430709,  10.8924489 ,
  -37.04857017,  -1.3862836 ,   1.05034692,  -2.62581864, -52.92629201,
   70.03448406,   3.61569149]

qfrc_actuator:
[ 2.40583751e-03, 1.06799296e-01, 9.48550905e-03, 1.91910404e-02,
  1.00169311e-04, 1.08674463e-01, 9.66654384e-03, 2.95946646e-02,
 -2.58690169e-03, 1.15683452e-01, 9.56740151e-03, 3.03975546e-02,
  0.00000000e+00,-1.68681811e-03, 0.00000000e+00,-1.73589917e-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, -8.58768328,  0.9156816 , -8.58768328,  9.17470915,
        5.04885185,  0.9156816 ,  5.04885185, 55.98681878,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012570163364114886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.83220840e-14,  8.83220840e-14,  1.00000000e+00,  7.80079052e-27,
        1.00000000e+00, -8.83220840e-14, -1.00000000e+00,  0.00000000e+00,
       -8.83220840e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04794422, -0.11437122,  0.06188882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18104453e-04, 1.09029904e-03, 2.68834262e-04,-2.88128772e-04,
  5.25455666e-05, 6.28348791e-04,-2.01971843e-05,-5.47950929e-04,
  4.81662522e-05, 1.24161174e-04,-2.74584089e-05,-4.87651144e-04,
  3.68809347e-06, 1.51790912e-05, 3.33943692e-06,-1.78466919e-04,
  3.42371928e-07,-9.83366423e-07,-1.21644738e+00, 1.58115299e-03,
  5.45364618e-04, 9.39757020e-06]


--- Step 2033 ---
qpos:
[-0.01438166, 1.05966275,-0.02133362, 0.93189213, 0.00431681, 1.04426131,
 -0.02844351, 0.91952061, 0.0163543 , 1.07207121,-0.02256916, 0.92742424,
  1.37071987,-0.00139564, 1.15891194, 0.06320108,-0.00359916,-0.09243482,
  0.08166948, 0.62459254,-0.01182759,-0.00389257, 0.78085153]

qacc:
[ 4.75322335e-01,-9.31822813e+00, 4.96587244e+01,-1.15026139e+02,
  2.28329586e-01,-9.10319981e+00, 6.67815985e+01,-2.02217974e+02,
  2.47462639e-01,-2.40857157e+01, 1.03111584e+02,-2.26533868e+02,
 -3.59715863e-02, 1.22705535e-02, 7.56072321e+00,-2.63629521e+01,
 -1.32198661e+00, 9.94729248e-01,-2.95508087e+00,-5.05998669e+01,
  6.70356602e+01, 3.35814039e+00]

qfrc_actuator:
[ 0.00245828, 0.10674089, 0.00947153, 0.01887748, 0.00012631, 0.10922525,
  0.0097056 , 0.02901241,-0.00255545, 0.11564357, 0.00962312, 0.02980886,
  0.        ,-0.00169654, 0.        ,-0.00185986, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.63601022,  0.07813079, -8.63601022,  8.64045814,
        0.45257661,  0.07813079,  0.45257661, 58.66089434,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012235467417610751
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.53690483e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.53690483e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0480152 , -0.11440421,  0.06189149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14989521e-04, 5.65058328e-04, 2.15938966e-04,-2.77940873e-04,
  5.46860084e-05, 8.52357672e-04, 1.37528787e-04,-5.74677472e-04,
  6.01672378e-05,-1.74445068e-05, 5.63140578e-05,-5.95151716e-04,
  4.91849826e-06,-4.44838474e-06,-2.28873267e-05,-1.34537932e-04,
  3.90936559e-06,-5.76164964e-06,-1.21645460e+00, 1.57889927e-03,
  5.44654589e-04,-1.34809809e-05]


--- Step 2034 ---
qpos:
[-0.01438849, 1.06115999,-0.02134831, 0.93222136, 0.00431866, 1.04581373,
 -0.02845577, 0.92004854, 0.01635814, 1.07374701,-0.02257987, 0.92796869,
  1.37079379,-0.00139618, 1.15908294, 0.06319885,-0.0036244 ,-0.09242103,
  0.0816303 , 0.62456884,-0.01256829,-0.00395042, 0.78085863]

qacc:
[ 1.71962252e-01,-1.71827856e+01, 6.95970431e+01,-1.34873751e+02,
 -3.81645796e-02,-9.37560777e+00, 6.01309364e+01,-1.69293435e+02,
  7.10979673e-02,-2.56247159e+01, 1.00943500e+02,-2.07979910e+02,
  3.66888664e-01,-6.60167485e-01,-1.07777438e+00, 2.93674571e+00,
 -1.10318267e+00,-1.37100259e+00, 2.11668806e-01,-7.50803861e+01,
 -6.30618945e+01,-4.82834903e+00]

qfrc_actuator:
[ 2.43874531e-03, 1.06477214e-01, 9.48665347e-03, 1.85409138e-02,
  8.76598568e-05, 1.09429636e-01, 9.68104936e-03, 2.85261392e-02,
 -2.57389184e-03, 1.15321001e-01, 9.62504718e-03, 2.92762046e-02,
  0.00000000e+00,-1.71998392e-03, 0.00000000e+00,-1.84301519e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012163388028732375
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.56379021e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.56379021e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03598632, -0.0615857 ,  0.0618919 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.13061196e-05, 5.91099173e-05, 1.36474138e-04,-3.18108851e-04,
 -8.89846057e-06, 6.60032310e-04, 1.35083929e-04,-4.67787657e-04,
  1.68739871e-05,-3.65282003e-04,-1.88201952e-05,-5.43409148e-04,
  6.76387465e-07,-2.30138473e-05,-2.82980713e-05, 5.74417419e-06,
  9.61862356e-06,-1.23803661e-05,-1.21646393e+00, 1.57621717e-03,
  5.43764743e-04,-4.36094936e-05]


--- Step 2035 ---
qpos:
[-0.01439539, 1.06265374,-0.02136052, 0.9325447 , 0.00432008, 1.04736784,
 -0.0284665 , 0.92056651, 0.01636198, 1.07541688,-0.02258993, 0.9285053 ,
  1.37086776,-0.00139698, 1.1592538 , 0.06319646,-0.00364462,-0.09240038,
  0.08159931, 0.62454806,-0.01331727,-0.00380652, 0.78086355]

qacc:
[-2.39823610e-02,-2.15746794e+01, 7.71583394e+01,-1.33965468e+02,
 -1.93421311e-01,-1.90609307e+01, 8.61890971e+01,-1.93513575e+02,
 -2.29652990e-03,-2.31554185e+01, 8.26646877e+01,-1.60265403e+02,
  2.09770255e-01,-4.25872865e-01, 2.71743054e-01,-1.30653909e+00,
  1.25394910e+00, 1.71590412e+00, 2.04499758e+00, 7.61951824e+01,
  6.62552893e+01,-5.34265738e-01]

qfrc_actuator:
[ 2.41178300e-03, 1.06057298e-01, 9.51793618e-03, 1.82288309e-02,
  4.60299638e-05, 1.09282962e-01, 9.67117579e-03, 2.80112306e-02,
 -2.58658469e-03, 1.14813908e-01, 9.57637876e-03, 2.88693303e-02,
  0.00000000e+00,-1.73362877e-03, 0.00000000e+00,-1.84987804e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012667124790432319
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.28672561e-14,  8.76460162e-14,  1.00000000e+00,  2.88068406e-27,
        1.00000000e+00, -8.76460162e-14, -1.00000000e+00,  0.00000000e+00,
       -3.28672561e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0362565 , -0.1192193 ,  0.06188748])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.42512773e-06,-3.93797364e-04, 4.33316786e-05,-3.12134429e-04,
 -4.64022582e-05, 2.05329156e-04, 1.14930102e-04,-4.99929842e-04,
 -1.19752749e-06,-7.55287545e-04,-1.44556759e-04,-4.29175254e-04,
 -5.72241716e-06,-1.93073219e-05,-1.41062188e-05,-1.05895203e-05,
  3.15798756e-05,-2.22686040e-05,-1.21646368e+00, 1.58022706e-03,
  5.43282515e-04,-5.26982206e-05]


--- Step 2036 ---
qpos:
[-0.01440229, 1.0641404 ,-0.0213704 , 0.93286285, 0.00432121, 1.04891959,
 -0.02847554, 0.92107398, 0.01636559, 1.07707794,-0.02259844, 0.92903208,
  1.37094163,-0.00139769, 1.15942443, 0.06319498,-0.00365848,-0.0923844 ,
  0.08158489, 0.62452744,-0.01385976,-0.00367533, 0.78087123]

qacc:
[-1.68003004e-03,-2.46070789e+01, 7.99269822e+01,-1.26056194e+02,
 -1.34623799e-01,-2.57422702e+01, 1.02701173e+02,-2.11558266e+02,
 -9.94069081e-02,-3.28403453e+01, 1.13871053e+02,-2.08975870e+02,
 -6.64083216e-02, 1.16206235e-01,-3.09301454e+00, 1.03419389e+01,
  1.58879439e+00,-1.17015216e+00, 4.14368918e+00, 5.95232313e+01,
 -8.46078577e+01, 3.14767133e-01]

qfrc_actuator:
[ 2.41615015e-03, 1.05458487e-01, 9.54009064e-03, 1.79512806e-02,
  3.84892538e-05, 1.08891849e-01, 9.65087652e-03, 2.74655710e-02,
 -2.61348182e-03, 1.14200309e-01, 9.58631550e-03, 2.83620090e-02,
  0.00000000e+00,-1.72358816e-03, 0.00000000e+00,-1.79968072e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001337996011033224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.11162089e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.11162089e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03218559, -0.07728894,  0.06188137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23451179e-06,-8.41222093e-04,-6.48818520e-05,-2.93847393e-04,
 -3.27310753e-05,-2.95697101e-04, 1.20773102e-05,-5.45924957e-04,
 -2.53833903e-05,-1.09855869e-03,-1.73247788e-04,-5.42483961e-04,
 -8.09060800e-06, 3.78015579e-06,-1.03329105e-05, 4.71740835e-05,
  9.55346927e-06,-1.19540971e-05,-1.21646559e+00, 1.58123284e-03,
  5.43613828e-04,-3.90090476e-05]


--- Step 2037 ---
qpos:
[-0.01440917, 1.06561724,-0.02137845, 0.93317585, 0.00432213, 1.05046533,
 -0.02848264, 0.92157237, 0.0163691 , 1.07872974,-0.02260622, 0.92954535,
  1.37101518,-0.00139751, 1.1595946 , 0.06319711,-0.00366655,-0.09237278,
  0.08158251, 0.62450698,-0.01421319,-0.00355558, 0.78088179]

qacc:
[ 1.46959816e-02,-2.67996133e+01, 8.26451963e+01,-1.26128013e+02,
 -9.11056180e-02,-2.87569044e+01, 1.03735698e+02,-1.93620416e+02,
 -4.28824532e-02,-3.75521044e+01, 1.36184099e+02,-2.71024922e+02,
 -6.07750424e-01, 1.25512210e+00,-1.14942714e+01, 3.93611596e+01,
  1.45002213e+00,-1.08743139e+00, 3.01046122e+00, 5.45771889e+01,
 -7.74074086e+01, 4.16686663e-01]

qfrc_actuator:
[ 2.42153769e-03, 1.04775076e-01, 9.55594663e-03, 1.76783605e-02,
  3.36931037e-05, 1.08357439e-01, 9.65904590e-03, 2.69947395e-02,
 -2.61317590e-03, 1.13687833e-01, 9.59474588e-03, 2.76752766e-02,
  0.00000000e+00,-1.66407917e-03, 0.00000000e+00,-1.60974607e-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, -8.34080093,  2.24004836, -8.34080093, 12.55558141,
       14.59317394,  2.24004836, 14.59317394, 62.97392226,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013873334212382016
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.50240764e-14,  1.00032102e-14,  1.00000000e+00, -7.50481605e-28,
        1.00000000e+00, -1.00032102e-14, -1.00000000e+00,  0.00000000e+00,
        7.50240764e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03212044, -0.07732332,  0.06187718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.60399984e-06,-1.19382892e-03,-1.70524722e-04,-3.05452210e-04,
 -2.26121989e-05,-7.37803110e-04,-7.08020751e-05,-4.90511032e-04,
 -1.15401476e-05,-1.19624779e-03,-2.48559092e-04,-7.35730577e-04,
 -3.68215667e-06, 5.87706119e-05,-2.25746252e-06, 1.90602842e-04,
  3.16993615e-06,-4.75076768e-06,-1.21645308e+00, 1.58125202e-03,
  5.42400017e-04, 1.27305841e-06]


--- Step 2038 ---
qpos:
[-0.014416  , 1.06708186,-0.02138435, 0.93348235, 0.00432307, 1.05200426,
 -0.02848868, 0.92206104, 0.01637256, 1.08037314,-0.02261456, 0.93004643,
  1.37108878,-0.00139718, 1.15976507, 0.06319845,-0.00366927,-0.09236523,
  0.08158836, 0.62448663,-0.01439197,-0.00344623, 0.78089528]

qacc:
[ 2.65796855e-02,-3.31897757e+01, 1.02511387e+02,-1.57808072e+02,
  1.27488111e-02,-2.85444816e+01, 1.03045834e+02,-1.99687376e+02,
 -1.87793958e-02,-3.07116060e+01, 1.12451130e+02,-2.35443182e+02,
 -1.40913892e-01, 2.97361849e-01, 2.80163772e+00,-9.13353771e+00,
  1.33572862e+00,-1.01830449e+00, 2.05875490e+00, 5.04842824e+01,
 -7.14600753e+01, 4.85687121e-01]

qfrc_actuator:
[ 2.42750622e-03, 1.04010965e-01, 9.60308594e-03, 1.73392373e-02,
  4.83223442e-05, 1.07954681e-01, 9.68338458e-03, 2.65005888e-02,
 -2.61433474e-03, 1.13328778e-01, 9.58473525e-03, 2.70660281e-02,
  0.00000000e+00,-1.66447849e-03, 0.00000000e+00,-1.65856966e-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, -8.38731092,  2.05907561, -8.38731092, 12.36467245,
       15.18666197,  2.05907561, 15.18666197, 70.49677093,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014120014306854
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47426775e-14,  4.91422583e-14,  1.00000000e+00, -7.24488466e-28,
        1.00000000e+00, -4.91422583e-14, -1.00000000e+00,  0.00000000e+00,
        1.47426775e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03208864, -0.07734094,  0.06187512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.27808248e-06,-1.49043750e-03,-2.20600043e-04,-3.85647844e-04,
  2.26922504e-06,-8.65220036e-04,-1.49100151e-04,-5.28504350e-04,
 -5.41300321e-06,-1.11732741e-03,-3.00400902e-04,-6.67883628e-04,
  1.21477680e-05, 1.43944988e-05, 1.74077553e-05,-3.91197350e-05,
 -9.33801272e-09,-5.04675105e-07,-1.21644532e+00, 1.58184044e-03,
  5.41845555e-04, 2.64567852e-05]


--- Step 2039 ---
qpos:
[-0.01442276, 1.06853263,-0.02138836, 0.93378087, 0.00432394, 1.05353673,
 -0.02849478, 0.92253971, 0.01637568, 1.08200631,-0.02262189, 0.93053816,
  1.37116254,-0.00139708, 1.1599365 , 0.06319186,-0.00366702,-0.09236152,
  0.08159926, 0.62446633,-0.01440799,-0.00334642, 0.78091165]

qacc:
[ 3.43318297e-02,-3.71772857e+01, 1.15976180e+02,-1.85673313e+02,
 -3.13721251e-02,-2.55644407e+01, 9.45023177e+01,-1.95906720e+02,
 -1.51790779e-01,-3.23931804e+01, 1.09095847e+02,-1.98184303e+02,
 -2.86231598e-01, 2.84503821e-01, 2.54074259e+01,-8.67717952e+01,
  1.24170275e+00,-9.60701707e-01, 1.26041499e+00, 4.70969540e+01,
 -6.65457945e+01, 5.29884467e-01]

qfrc_actuator:
[ 2.43378864e-03, 1.03204765e-01, 9.65018785e-03, 1.69283040e-02,
  3.89567661e-05, 1.07651879e-01, 9.68201259e-03, 2.59967009e-02,
 -2.65189184e-03, 1.12762820e-01, 9.61789894e-03, 2.65961260e-02,
  0.00000000e+00,-1.68269521e-03, 0.00000000e+00,-2.07849271e-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, -8.45358389,  1.76739817, -8.45358389, 11.7329381 ,
       14.81112321,  1.76739817, 14.81112321, 79.47895861,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014167815967170427
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.44882271e-14, -9.79529085e-15,  1.00000000e+00,  2.39869307e-28,
        1.00000000e+00,  9.79529085e-15, -1.00000000e+00,  0.00000000e+00,
        2.44882271e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03208347, -0.07734521,  0.06187476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.05737788e-06,-1.70861684e-03,-2.86714826e-04,-4.69712577e-04,
 -8.19743029e-06,-8.52133165e-04,-2.09814475e-04,-5.45316057e-04,
 -3.84500829e-05,-1.28841139e-03,-2.45600468e-04,-5.26108888e-04,
  9.72456008e-06,-1.14032514e-05,-8.23852018e-07,-4.20917239e-04,
 -6.54500782e-07, 1.41036033e-06,-1.21644130e+00, 1.58291804e-03,
  5.41848133e-04, 3.96935379e-05]


--- Step 2040 ---
qpos:
[-0.01442944, 1.06997173,-0.02139317, 0.93407178, 0.00432456, 1.05506389,
 -0.02850147, 0.92300856, 0.01637842, 1.0836302 ,-0.02262856, 0.93101937,
  1.37123613,-0.00139637, 1.16010765, 0.06318265,-0.00366012,-0.09236146,
  0.08161252, 0.62444601,-0.0142711 ,-0.00325545, 0.7809308 ]

qacc:
[ 3.72828319e-02,-2.64002042e+01, 8.34900765e+01,-1.54343094e+02,
 -1.15103432e-01,-2.22436527e+01, 8.50230366e+01,-1.85926357e+02,
 -1.69185436e-01,-3.22411167e+01, 1.12534840e+02,-2.15400901e+02,
 -7.09563737e-01, 1.25846371e+00, 7.53946949e+00,-2.68312283e+01,
  1.16443098e+00,-9.12852573e-01, 5.91588111e-01, 4.42956258e+01,
 -6.24870253e+01, 5.55152002e-01]

qfrc_actuator:
[ 2.44022311e-03, 1.02734892e-01, 9.64341523e-03, 1.65493692e-02,
  1.52806793e-05, 1.07482424e-01, 9.68365802e-03, 2.55089074e-02,
 -2.67546848e-03, 1.12379704e-01, 9.67563044e-03, 2.60698476e-02,
  0.00000000e+00,-1.64027605e-03, 0.00000000e+00,-2.19877834e-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, -8.52095586,  1.40715602, -8.52095586, 10.84974148,
       13.4029878 ,  1.40715602, 13.4029878 , 89.79741906,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014056672463098052
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.89819232e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.89819232e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0320994 , -0.07733891,  0.06187574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.19465813e-06,-1.50822059e-03,-3.93251121e-04,-4.48171317e-04,
 -2.82075628e-05,-7.23788536e-04,-2.11607909e-04,-5.30997572e-04,
 -4.27304612e-05,-1.18489258e-03,-2.43985546e-04,-5.82746123e-04,
  1.18854882e-06, 4.23127343e-05,-5.25134799e-05,-1.45079212e-04,
  7.44018524e-07, 1.45209439e-06,-1.21644028e+00, 1.58441729e-03,
  5.42328905e-04, 4.32799672e-05]


--- Step 2041 ---
qpos:
[-0.01443605, 1.07140195,-0.02139954, 0.93435639, 0.00432522, 1.05658916,
 -0.02850988, 0.92346909, 0.01638099, 1.08524727,-0.02263569, 0.93149039,
  1.37130972,-0.00139542, 1.16027771, 0.06317836,-0.00364881,-0.0923649 ,
  0.08162591, 0.62442559,-0.01398942,-0.00317276, 0.78095257]

qacc:
[ 3.89832042e-02,-1.83885022e+01, 5.90056407e+01,-1.19309375e+02,
  2.45953662e-02,-1.21592791e+01, 5.43751442e+01,-1.44016809e+02,
 -7.33882410e-02,-2.53611106e+01, 9.32114355e+01,-1.95935896e+02,
  2.10965537e-01,-1.23465998e-01,-1.64479327e+01, 5.51734442e+01,
  1.10097618e+00,-8.73237070e-01, 3.20681826e-02, 4.19826980e+01,
 -5.91395032e+01, 5.65721099e-01]

qfrc_actuator:
[ 2.44671247e-03, 1.02505670e-01, 9.64175356e-03, 1.62457192e-02,
  3.64873259e-05, 1.07642950e-01, 9.68767864e-03, 2.51055826e-02,
 -2.67272909e-03, 1.12215950e-01, 9.71253854e-03, 2.55679131e-02,
  0.00000000e+00,-1.63322341e-03, 0.00000000e+00,-1.92839942e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013819890855844633
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.01675757e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.01675757e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0321319 , -0.07732432,  0.06187777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.91573327e-06,-1.17665433e-03,-3.60359072e-04,-3.69500594e-04,
  5.77402482e-06,-3.22511051e-04,-1.83792104e-04,-4.42330235e-04,
 -1.88016212e-05,-9.09434290e-04,-2.45963103e-04,-5.56532821e-04,
  9.39094622e-06, 1.93060768e-05,-4.19050096e-05, 2.55203783e-04,
  3.82702505e-06,-4.42896386e-08,-1.21644173e+00, 1.58628245e-03,
  5.43227160e-04, 3.88925917e-05]


--- Step 2042 ---
qpos:
[-0.01444257, 1.07282434,-0.02140647, 0.93463537, 0.00432587, 1.05811329,
 -0.02851847, 0.92392279, 0.0163835 , 1.08685607,-0.02264201, 0.93195218,
  1.37138358,-0.00139513, 1.16044756, 0.06317658,-0.00363331,-0.0923717 ,
  0.08163756, 0.62440496,-0.01356962,-0.00309787, 0.78097677]

qacc:
[ 4.07302949e-02,-1.85277625e+01, 5.97460899e+01,-1.12861767e+02,
 -8.26468281e-03,-1.27885294e+01, 5.43923598e+01,-1.26698794e+02,
 -2.74225112e-02,-2.90987726e+01, 1.01151810e+02,-1.90992476e+02,
  8.51864738e-01,-1.44118480e+00,-7.96845467e+00, 2.72512836e+01,
  1.04887933e+00,-8.40547424e-01,-4.35260621e-01, 4.00779986e+01,
 -5.63852458e+01, 5.64617449e-01]

qfrc_actuator:
[ 2.45319841e-03, 1.02245193e-01, 9.66199236e-03, 1.59712159e-02,
  3.11598468e-05, 1.07716127e-01, 9.73000165e-03, 2.47731442e-02,
 -2.67201426e-03, 1.11759007e-01, 9.73781728e-03, 2.51022010e-02,
  0.00000000e+00,-1.68277232e-03, 0.00000000e+00,-1.80290605e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013485204217653923
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02911217e-14,  8.23289738e-14,  1.00000000e+00, -8.47257491e-28,
        1.00000000e+00, -8.23289738e-14, -1.00000000e+00,  0.00000000e+00,
        1.02911217e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03217723, -0.0773033 ,  0.06188062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.35654620e-06,-1.01541906e-03,-2.67412651e-04,-3.27592071e-04,
 -2.19970008e-06,-1.79454382e-04,-6.09656468e-05,-3.56334281e-04,
 -7.61948870e-06,-1.04959520e-03,-2.03041775e-04,-5.11447283e-04,
  9.35114587e-06,-4.20428602e-05, 9.24159049e-06, 1.34368170e-04,
  8.33168815e-06,-2.83341165e-06,-1.21644526e+00, 1.58846801e-03,
  5.44496149e-04, 2.77542392e-05]


--- Step 2043 ---
qpos:
[-0.01444884, 1.07423904,-0.02141367, 0.93490785, 0.00432616, 1.05963556,
 -0.02852542, 0.92436656, 0.01638614, 1.08845454,-0.02264728, 0.93240294,
  1.37145767,-0.00139563, 1.1606177 , 0.06317397,-0.00361704,-0.09238381,
  0.08165254, 0.6243865 ,-0.01305687,-0.00311275, 0.78100021]

qacc:
[ 1.14198863e-01,-2.06861818e+01, 6.88064573e+01,-1.30962163e+02,
 -1.64290068e-01,-2.39380634e+01, 9.62950319e+01,-1.99426897e+02,
  6.46350052e-02,-3.55416785e+01, 1.22662980e+02,-2.29422839e+02,
  6.60507972e-01,-1.30375737e+00, 2.85399901e+00,-9.51816911e+00,
  1.91289046e-01,-1.32873868e+00, 8.31779255e-01,-6.02289443e+00,
 -6.43129896e+01,-1.83858752e+00]

qfrc_actuator:
[ 2.47739846e-03, 1.01897453e-01, 9.65949955e-03, 1.56450423e-02,
 -7.78932860e-06, 1.07630391e-01, 9.81218657e-03, 2.42720205e-02,
 -2.65479505e-03, 1.11112576e-01, 9.73727009e-03, 2.45370848e-02,
  0.00000000e+00,-1.72997819e-03, 0.00000000e+00,-1.85267200e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013088589852272986
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.24118655e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.24118655e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00377419, -0.07069241,  0.06188399])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.73450586e-05,-9.93804555e-04,-2.46681949e-04,-3.70703915e-04,
 -4.01615427e-05,-2.32338839e-04, 2.35601127e-05,-5.15043738e-04,
  1.50298164e-05,-1.30662174e-03,-2.50004025e-04,-6.12763156e-04,
 -4.85341087e-06,-5.63221816e-05, 1.63958615e-05,-4.17573332e-05,
  1.40662372e-05,-6.73605325e-06,-1.21645061e+00, 1.59093687e-03,
  5.46099836e-04, 1.07533249e-05]


--- Step 2044 ---
qpos:
[-0.014455  , 1.0756455 ,-0.02142081, 0.9351754 , 0.00432619, 1.06115521,
 -0.02853087, 0.92479787, 0.01638911, 1.09004306,-0.02265355, 0.9328456 ,
  1.37153172,-0.00139644, 1.16078768, 0.06317248,-0.00360495,-0.09240148,
  0.0816633 , 0.62437353,-0.01254139,-0.00329611, 0.78101827]

qacc:
[ 5.24284123e-02,-1.95649244e+01, 6.10208431e+01,-1.05561755e+02,
 -1.11181811e-01,-2.89405625e+01, 1.16724325e+02,-2.46281262e+02,
  1.52830725e-01,-2.43904908e+01, 8.06903531e+01,-1.58579590e+02,
  2.69444755e-01,-5.56173764e-01,-3.63372886e+00, 1.23253981e+01,
 -1.04343196e+00,-1.38930544e+00,-1.05547814e+00,-6.49121877e+01,
 -5.36211057e+01,-4.92809661e+00]

qfrc_actuator:
[ 2.47652593e-03, 1.01482596e-01, 9.66104021e-03, 1.53975019e-02,
 -1.33019108e-05, 1.07450472e-01, 9.86329842e-03, 2.36400258e-02,
 -2.62784915e-03, 1.10624103e-01, 9.68516182e-03, 2.41308494e-02,
  0.00000000e+00,-1.73986605e-03, 0.00000000e+00,-1.79222824e-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, -8.50104966, -1.52280384, -8.50104966, 10.34855171,
       -9.55828677, -1.52280384, -9.55828677, 61.99548197,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012836737126224046
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.32439729e-14,  4.32439729e-14,  1.00000000e+00,  1.87004119e-27,
        1.00000000e+00, -4.32439729e-14, -1.00000000e+00,  0.00000000e+00,
       -4.32439729e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03585592, -0.06166155,  0.06188617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21876983e-05,-1.04602308e-03,-2.37274239e-04,-2.91807990e-04,
 -2.74658386e-05,-3.44008532e-04,-1.29113907e-05,-6.48691107e-04,
  3.72414926e-05,-1.30292263e-03,-3.60177226e-04,-4.65354127e-04,
 -1.60905872e-05,-2.60347710e-05,-1.27604671e-06, 5.92447077e-05,
  1.12792100e-05,-8.36576711e-06,-1.21645505e+00, 1.59326071e-03,
  5.46607665e-04,-2.49299900e-06]


--- Step 2045 ---
qpos:
[-0.0144611 , 1.07704551,-0.02142881, 0.93543955, 0.00432623, 1.062671  ,
 -0.02853632, 0.92521987, 0.01639211, 1.09162329,-0.02266165, 0.93328161,
  1.37160563,-0.00139716, 1.16095795, 0.06316903,-0.00359683,-0.09242434,
  0.08166795, 0.62436549,-0.01202301,-0.00363927, 0.78103133]

qacc:
[ 2.86967751e-02,-1.20245898e+01, 3.60900677e+01,-6.71238159e+01,
  1.83147754e-05,-2.11004278e+01, 8.24841412e+01,-1.78766512e+02,
  9.56142766e-03,-1.75246071e+01, 5.78970886e+01,-1.22925872e+02,
 -3.20199342e-01, 4.29875853e-01, 6.34413810e+00,-2.15364941e+01,
 -9.93729944e-01,-1.29644587e+00,-1.52426763e+00,-6.14758031e+01,
 -5.09816327e+01,-4.49138879e+00]

qfrc_actuator:
[ 2.47839977e-03, 1.01297386e-01, 9.66478117e-03, 1.52336788e-02,
  1.27751199e-06, 1.07162300e-01, 9.82423209e-03, 2.31667882e-02,
 -2.64857747e-03, 1.10340674e-01, 9.63925632e-03, 2.38036609e-02,
  0.00000000e+00,-1.72753982e-03, 0.00000000e+00,-1.89805951e-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,  7.83471775,  3.63372738,  7.83471775, 13.02236401,
       -9.45670145,  3.63372738, -9.45670145, 29.0260569 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012667517670224837
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.19108245e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.19108245e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03588489, -0.06163544,  0.06188764])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.61298974e-06,-8.40828306e-04,-2.41823648e-04,-2.07553666e-04,
 -4.56641565e-07,-5.25230289e-04,-1.33085033e-04,-4.97497100e-04,
  1.84433915e-06,-1.11266573e-03,-3.61370330e-04,-3.86026012e-04,
 -1.48487966e-05, 1.62670422e-06, 2.93629790e-06,-1.03403061e-04,
  7.25358989e-07, 2.90234922e-07,-1.21645657e+00, 1.59326974e-03,
  5.45363505e-04, 6.36305903e-06]


--- Step 2046 ---
qpos:
[-0.01446699, 1.07844167,-0.02143864, 0.93569917, 0.00432634, 1.06418157,
 -0.02854198, 0.92563445, 0.01639501, 1.09319482,-0.02266949, 0.93370992,
  1.37167954,-0.00139804, 1.16112836, 0.06316301,-0.00359251,-0.09245208,
  0.08166494, 0.62436184,-0.01150158,-0.00413504, 0.78103963]

qacc:
[ 9.42240989e-02,-7.99313638e+00, 2.93296954e+01,-7.57869021e+01,
  3.68795601e-02,-1.90251227e+01, 6.95064132e+01,-1.44113145e+02,
 -3.97405872e-02,-2.54456652e+01, 8.52905597e+01,-1.58769487e+02,
 -6.98396803e-02,-1.07692438e-02, 7.99961814e+00,-2.76569964e+01,
 -9.51908140e-01,-1.22035645e+00,-1.91814067e+00,-5.86278115e+01,
 -4.87933929e+01,-4.11926483e+00]

qfrc_actuator:
[ 2.49968009e-03, 1.01286965e-01, 9.63524563e-03, 1.50140176e-02,
  1.00139692e-05, 1.06829218e-01, 9.78522329e-03, 2.27906519e-02,
 -2.66222273e-03, 1.09951811e-01, 9.66929816e-03, 2.34191862e-02,
  0.00000000e+00,-1.73766477e-03, 0.00000000e+00,-2.03001652e-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,   7.82593938,   3.65259493,   7.82593938,
        13.75988139, -10.97749413,   3.65259493, -10.97749413,
        32.15641045,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001239496284199032
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.23926251e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.23926251e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03593108, -0.06159652,  0.06188995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.29844577e-05,-5.50680457e-04,-2.32915698e-04,-2.55407617e-04,
  8.44811893e-06,-6.89200531e-04,-1.77742207e-04,-4.05971250e-04,
 -1.06641982e-05,-1.11042503e-03,-2.45885265e-04,-4.35773627e-04,
 -7.95044133e-06,-1.29573996e-05,-1.44350929e-05,-1.38319928e-04,
 -4.19806862e-06, 1.52077636e-05,-1.21646042e+00, 1.59271336e-03,
  5.44543961e-04, 2.26659375e-05]


--- Step 2047 ---
qpos:
[-0.01447281, 1.07983422,-0.02144914, 0.93595236, 0.00432654, 1.06568543,
 -0.02854709, 0.92604005, 0.01639779, 1.09475644,-0.02267677, 0.93413042,
  1.37175359,-0.00139955, 1.16129805, 0.06316045,-0.00358386,-0.09247403,
  0.08166629, 0.62436031,-0.01098829,-0.00444367, 0.78104655]

qacc:
[ 3.38430306e-02,-1.41022736e+01, 5.36223222e+01,-1.19457206e+02,
  4.29111871e-02,-2.57524679e+01, 9.24137977e+01,-1.81623503e+02,
 -4.96512370e-02,-2.80770152e+01, 9.21709914e+01,-1.65296322e+02,
  8.19973396e-01,-1.43048798e+00,-1.16120479e+01, 3.88978802e+01,
  1.08597119e+00, 1.44723773e+00, 1.09062436e+00, 7.05524069e+01,
  6.16130042e+01,-1.73134089e-01]

qfrc_actuator:
[ 2.49692848e-03, 1.01168376e-01, 9.62254764e-03, 1.46923203e-02,
  1.51652332e-05, 1.06418824e-01, 9.78195861e-03, 2.23325690e-02,
 -2.67151396e-03, 1.09396892e-01, 9.67255852e-03, 2.30217967e-02,
  0.00000000e+00,-1.77880068e-03, 0.00000000e+00,-1.83894757e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012281294526606257
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.21496641e-14,  5.64996946e-14,  1.00000000e+00, -3.51143704e-27,
        1.00000000e+00, -5.64996946e-14, -1.00000000e+00,  0.00000000e+00,
        6.21496641e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03629895, -0.11928647,  0.06189089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.01012271e-06,-4.97909467e-04,-1.59658707e-04,-3.49574309e-04,
  9.72266287e-06,-8.63028796e-04,-1.76466309e-04,-4.92111268e-04,
 -1.32579697e-05,-1.25391142e-03,-2.60454534e-04,-4.46362611e-04,
 -8.06272194e-06,-4.60832843e-05,-2.53764805e-05, 1.80741369e-04,
 -4.29398222e-06, 3.55632189e-05,-1.21646626e+00, 1.59174035e-03,
  5.44061227e-04, 4.54123864e-05]


--- Step 2048 ---
qpos:
[-0.0144786 , 1.08122151,-0.02145891, 0.93619948, 0.00432681, 1.06718064,
 -0.02855135, 0.92643686, 0.01640047, 1.09630732,-0.02268412, 0.93454234,
  1.37182758,-0.00140128, 1.16146767, 0.06315915,-0.00358248,-0.092491  ,
  0.08166554, 0.62435183,-0.0107027 ,-0.00474488, 0.78105552]

qacc:
[ 1.50697939e-02,-1.94314646e+01, 6.76423140e+01,-1.26403172e+02,
  3.72992478e-02,-2.87897364e+01, 9.88703918e+01,-1.83819686e+02,
 -4.47202066e-02,-2.88039694e+01, 9.48065912e+01,-1.75977503e+02,
  1.94432434e-01,-4.11383559e-01,-3.87353521e+00, 1.33675178e+01,
 -1.81983129e+00, 1.24312580e+00,-5.24354151e-01,-6.82212272e+01,
  9.12085133e+01, 3.90570020e+00]

qfrc_actuator:
[ 2.49756201e-03, 1.00844167e-01, 9.63728616e-03, 1.43841350e-02,
  1.81227071e-05, 1.05876869e-01, 9.78171574e-03, 2.18831165e-02,
 -2.67813263e-03, 1.08800293e-01, 9.64158826e-03, 2.25843442e-02,
  0.00000000e+00,-1.78474426e-03, 0.00000000e+00,-1.77862296e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012643034411083942
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.78130193e-14,  4.39065096e-14,  1.00000000e+00,  3.85556318e-27,
        1.00000000e+00, -4.39065096e-14, -1.00000000e+00,  0.00000000e+00,
       -8.78130193e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04793519, -0.11433094,  0.06188786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.16233544e-06,-6.62729467e-04,-1.16290611e-04,-3.34501235e-04,
  8.21651161e-06,-1.09300712e-03,-2.09866599e-04,-4.90717989e-04,
 -1.20566873e-05,-1.37791637e-03,-3.24674243e-04,-4.91412791e-04,
 -1.53793476e-05,-2.00860293e-05, 7.50574890e-06, 6.69134155e-05,
 -3.88555458e-06, 1.14448280e-05,-1.21645807e+00, 1.58914339e-03,
  5.45880926e-04, 1.44666095e-05]


--- Step 2049 ---
qpos:
[-0.01448437, 1.08260669,-0.02146989, 0.93644221, 0.00432698, 1.06866773,
 -0.02855578, 0.92682592, 0.01640307, 1.09784876,-0.02269265, 0.93494475,
  1.37190169,-0.00140364, 1.16163787, 0.06315388,-0.00358784,-0.09250334,
  0.08166007, 0.62433687,-0.0106284 ,-0.00503936, 0.78106665]

qacc:
[ 1.07972783e-02,-7.11826310e+00, 2.89781506e+01,-7.50339450e+01,
 -4.52080423e-02,-2.35057411e+01, 8.01854908e+01,-1.55421814e+02,
 -3.62339616e-02,-2.57127266e+01, 8.86984595e+01,-1.82213450e+02,
  2.38077168e-01,-6.80951751e-01, 1.27486287e+01,-4.34434989e+01,
 -1.68461181e+00, 1.16032510e+00,-1.18052339e+00,-6.33554386e+01,
  8.45894869e+01, 3.74259019e+00]

qfrc_actuator:
[ 2.50024082e-03, 1.00950013e-01, 9.64959886e-03, 1.41750262e-02,
  1.98892895e-06, 1.05509125e-01, 9.78275807e-03, 2.14955066e-02,
 -2.68311224e-03, 1.08414266e-01, 9.60823506e-03, 2.21089929e-02,
  0.00000000e+00,-1.82299311e-03, 0.00000000e+00,-1.99118834e-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,  8.16852235, -2.80392929,  8.16852235, 14.67473603,
       17.59123531, -2.80392929, 17.59123531, 59.88387527,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012880481013523987
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.30971104e-14,  6.46456656e-14,  1.00000000e+00,  2.78604139e-27,
        1.00000000e+00, -6.46456656e-14, -1.00000000e+00,  0.00000000e+00,
       -4.30971104e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04788292, -0.11430607,  0.06188588])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.53439461e-06,-3.14761593e-04,-1.45534094e-04,-2.38746038e-04,
 -1.17149761e-05,-1.05236037e-03,-2.57359737e-04,-4.36820679e-04,
 -9.78438752e-06,-1.24965531e-03,-3.59913348e-04,-5.35972650e-04,
 -1.29250810e-05,-4.72370456e-05, 7.37798337e-06,-2.08683788e-04,
 -7.54968683e-07, 1.33087709e-05,-1.21644919e+00, 1.58883440e-03,
  5.45222253e-04, 3.58165929e-05]


--- Step 2050 ---
qpos:
[-0.01449026, 1.08399654,-0.02148392, 0.93667937, 0.00432701, 1.07014818,
 -0.02856066, 0.92720722, 0.01640575, 1.09938437,-0.02270336, 0.93533845,
  1.37197588,-0.00140672, 1.16180767, 0.06314948,-0.00358878,-0.09250956,
  0.08165863, 0.62432491,-0.01056129,-0.00514988, 0.7810764 ]

qacc:
[-5.97177483e-02, 4.70273713e+00, 3.54760936e+00,-7.08079363e+01,
 -6.40242066e-02,-2.08546747e+01, 7.39016702e+01,-1.51085641e+02,
  4.22995930e-02,-1.68387471e+01, 6.37903034e+01,-1.53520883e+02,
  6.44425301e-01,-1.26914568e+00,-3.24341674e+00, 1.03619927e+01,
  1.10621611e+00, 1.52822152e+00, 1.00785540e+00, 6.96069783e+01,
  6.02482714e+01,-6.08956414e-01]

qfrc_actuator:
[ 2.48638863e-03, 1.01650133e-01, 9.66210047e-03, 1.39195962e-02,
 -7.69742637e-06, 1.05302106e-01, 9.80301438e-03, 2.11119598e-02,
 -2.66933373e-03, 1.08388353e-01, 9.59233248e-03, 2.16862714e-02,
  0.00000000e+00,-1.86236975e-03, 0.00000000e+00,-1.93672387e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012959120773467156
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.56711689e-14,  4.28355845e-14,  1.00000000e+00, -3.66977459e-27,
        1.00000000e+00, -4.28355845e-14, -1.00000000e+00,  0.00000000e+00,
        8.56711689e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03619423, -0.11920863,  0.0618852 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43061448e-05, 4.69289847e-04,-7.77287956e-05,-2.73265166e-04,
 -1.61906892e-05,-8.76588712e-04,-2.33938598e-04,-4.31673017e-04,
  1.02225699e-05,-8.26609874e-04,-3.22626746e-04,-4.81551909e-04,
 -1.87153872e-05,-5.47335022e-05,-2.45243955e-05, 4.26953452e-05,
  5.78092350e-06, 1.18183086e-05,-1.21644498e+00, 1.58787558e-03,
  5.44450669e-04, 4.20037643e-05]


--- Step 2051 ---
qpos:
[-0.0144963 , 1.08539288,-0.02149943, 0.93690932, 0.00432707, 1.0716208 ,
 -0.02856443, 0.92758102, 0.01640888, 1.10091793,-0.02271645, 0.93572613,
  1.37204971,-0.00140924, 1.16197689, 0.06314907,-0.00358557,-0.09251014,
  0.08165835, 0.62431568,-0.01050105,-0.00508861, 0.78108499]

qacc:
[-6.45285354e-02, 2.01071305e-02, 2.51253014e+01,-1.09826990e+02,
  1.57915743e-02,-2.62217194e+01, 8.90342740e+01,-1.60618224e+02,
  2.00377115e-01,-6.71348974e+00, 3.11060385e+01,-9.58424712e+01,
 -3.86837488e-01, 7.40098789e-01,-1.28514454e+01, 4.38073504e+01,
  1.03607908e+00, 1.40937936e+00, 2.90470728e-01, 6.49555236e+01,
  5.63236943e+01,-5.01592865e-01]

qfrc_actuator:
[ 2.48051304e-03, 1.02168317e-01, 9.65929221e-03, 1.35683046e-02,
  4.31946163e-06, 1.04891502e-01, 9.85289959e-03, 2.07339678e-02,
 -2.62669071e-03, 1.08596434e-01, 9.58839561e-03, 2.14046599e-02,
  0.00000000e+00,-1.81332597e-03, 0.00000000e+00,-1.72527571e-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,  -8.06793554,  -3.08142711,  -8.06793554,
        15.33994286, -17.55162237,  -3.08142711, -17.55162237,
        54.59083624,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001305764683677657
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.12561849e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.12561849e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03617876, -0.11919884,  0.06188437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.55649965e-05, 7.33322270e-04, 6.70871911e-05,-3.44401453e-04,
  3.06698565e-06,-9.77965222e-04,-1.66980183e-04,-4.19960703e-04,
  5.02123558e-05,-3.49426909e-04,-2.21941045e-04,-3.25362214e-04,
 -2.33853569e-05, 3.02273404e-05,-8.28543507e-06, 2.10270554e-04,
  3.74016390e-07, 1.79476317e-06,-1.21644107e+00, 1.58605782e-03,
  5.45774311e-04, 2.92676949e-05]


--- Step 2052 ---
qpos:
[-0.01450244, 1.08679395,-0.02151459, 0.93713543, 0.0043272 , 1.0730859 ,
 -0.02856802, 0.92794811, 0.01641249, 1.10245183,-0.02273162, 0.93610687,
  1.37212323,-0.00141099, 1.16214614, 0.06315015,-0.00358874,-0.09250619,
  0.08165176, 0.62430003,-0.01064198,-0.0050213 , 0.78109603]

qacc:
[-4.68126793e-02,-1.36732923e+00, 1.99012597e+01,-6.50118542e+01,
  3.86238666e-02,-2.18293753e+01, 7.34552908e+01,-1.37625911e+02,
  2.14289777e-01,-5.94268015e+00, 3.43266384e+01,-1.10951841e+02,
 -6.68298762e-01, 1.26521321e+00,-4.42831459e+00, 1.56862462e+01,
 -1.59287428e+00, 1.13362991e+00,-1.57811778e+00,-6.04639987e+01,
  8.04225666e+01, 3.81483159e+00]

qfrc_actuator:
[ 2.47948646e-03, 1.02360608e-01, 9.66469720e-03, 1.33763918e-02,
  1.14898172e-05, 1.04540108e-01, 9.86590914e-03, 2.03976678e-02,
 -2.60262504e-03, 1.08819201e-01, 9.55718785e-03, 2.10664767e-02,
  0.00000000e+00,-1.76547355e-03, 0.00000000e+00,-1.65389145e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013072760682091705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00,  2.123161e-14,  1.000000e+00,  0.000000e+00,
        1.000000e+00, -2.123161e-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([ 0.04784063, -0.11428479,  0.06188424])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13980880e-05, 5.79653915e-04, 1.41363149e-04,-1.74486307e-04,
  8.77957258e-06,-9.61164148e-04,-2.15670389e-04,-3.79101032e-04,
  5.38853306e-05,-4.61433767e-05,-1.39670982e-04,-3.61006750e-04,
 -5.08994043e-06, 5.04103995e-05, 1.71990262e-05, 8.15088202e-05,
  1.15395268e-06, 2.01199329e-07,-1.21644042e+00, 1.58482864e-03,
  5.46330774e-04, 2.72118732e-05]


--- Step 2053 ---
qpos:
[-0.01450863, 1.08819692,-0.02152811, 0.93735803, 0.00432726, 1.07454468,
 -0.02857256, 0.92830762, 0.0164165 , 1.10398491,-0.02274658, 0.93647854,
  1.37219666,-0.00141219, 1.162316  , 0.06314741,-0.00358782,-0.09249664,
  0.08164541, 0.62428712,-0.01078951,-0.00478631, 0.7811058 ]

qacc:
[-2.45591156e-02,-8.05986347e+00, 3.65484748e+01,-7.38266371e+01,
 -3.38980909e-02,-1.88036272e+01, 6.73123525e+01,-1.43482656e+02,
  1.78354034e-01,-1.73972233e+01, 7.42492334e+01,-1.69847012e+02,
 -7.50734453e-01, 1.30098639e+00, 1.25325806e+01,-4.23562009e+01,
  1.02112652e+00, 1.40142785e+00, 6.05832752e-02, 6.34400691e+01,
  5.49336019e+01,-5.57917734e-01]

qfrc_actuator:
[ 2.48138781e-03, 1.02303271e-01, 9.69155667e-03, 1.31908585e-02,
 -2.06336615e-06, 1.04298065e-01, 9.83954437e-03, 2.00175600e-02,
 -2.58991595e-03, 1.08765150e-01, 9.56353311e-03, 2.06089211e-02,
  0.00000000e+00,-1.73652010e-03, 0.00000000e+00,-1.86093101e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013028521835188323
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.52148109e-14,  4.26074055e-14,  1.00000000e+00, -3.63078200e-27,
        1.00000000e+00, -4.26074055e-14, -1.00000000e+00,  0.00000000e+00,
        8.52148109e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0361815 , -0.11920641,  0.06188457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.18674991e-06, 2.64702895e-04, 1.46249552e-04,-1.66589913e-04,
 -8.80301954e-06,-8.50613087e-04,-2.56040513e-04,-4.22885854e-04,
  4.46027731e-05,-1.40064460e-04,-3.44101265e-05,-4.69669350e-04,
  9.41756364e-06, 4.12456210e-05, 1.26882510e-05,-2.01268004e-04,
 -2.60506054e-07, 3.61917752e-07,-1.21644068e+00, 1.58323053e-03,
  5.45753963e-04, 2.62062446e-05]


--- Step 2054 ---
qpos:
[-0.01451484, 1.0895984 ,-0.02153953, 0.93757665, 0.00432736, 1.07599663,
 -0.02857794, 0.92865915, 0.01642047, 1.10551558,-0.02275999, 0.93684366,
  1.37227017,-0.00141327, 1.16248608, 0.0631409 ,-0.00359297,-0.09248272,
  0.08163128, 0.62426787,-0.0111293 ,-0.00454558, 0.78111786]

qacc:
[-4.88591007e-03,-1.45406304e+01, 5.33459803e+01,-9.20412357e+01,
  2.15905266e-02,-2.04117817e+01, 7.25982785e+01,-1.52235328e+02,
 -1.02034929e-02,-1.86738118e+01, 7.06949698e+01,-1.36343755e+02,
 -2.75825440e-01, 4.64486323e-01, 1.17211139e+01,-4.04989666e+01,
 -1.51788310e+00, 1.09147767e+00,-1.94749407e+00,-5.78027882e+01,
  7.68495263e+01, 3.67924133e+00]

qfrc_actuator:
[ 2.48503993e-03, 1.02008341e-01, 9.71208591e-03, 1.29748431e-02,
  7.58075540e-06, 1.03945938e-01, 9.79060991e-03, 1.96147444e-02,
 -2.61963470e-03, 1.08599312e-01, 9.62645118e-03, 2.02799266e-02,
  0.00000000e+00,-1.73675478e-03, 0.00000000e+00,-2.05277406e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00129693252408479
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.14009404e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.14009404e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04786236, -0.1142941 ,  0.06188503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.58021364e-06,-1.45897916e-04, 7.90965820e-05,-2.06187648e-04,
  4.74169713e-06,-9.08606873e-04,-2.62798907e-04,-4.44434277e-04,
 -2.98615644e-06,-2.86412559e-04, 1.25976626e-05,-3.43348583e-04,
  1.42035016e-05, 1.33923045e-05,-2.17968171e-05,-2.02634715e-04,
  7.81586411e-07, 8.13718611e-06,-1.21644315e+00, 1.58265781e-03,
  5.45773941e-04, 3.62676702e-05]


--- Step 2055 ---
qpos:
[-0.01452119, 1.09099588,-0.02154956, 0.93779197, 0.00432754, 1.07744083,
 -0.02858365, 0.92900424, 0.01642397, 1.10704396,-0.02277342, 0.9372028 ,
  1.37234382,-0.00141454, 1.16265553, 0.06313613,-0.00359408,-0.09246321,
  0.08161677, 0.6242512 ,-0.01147562,-0.00413972, 0.78112842]

qacc:
[-6.15905015e-02,-1.47246439e+01, 4.85485567e+01,-7.82867411e+01,
  3.62042791e-02,-2.03688584e+01, 6.77056240e+01,-1.29345921e+02,
 -2.15788390e-01,-1.33179747e+01, 5.22238955e+01,-1.13762731e+02,
  3.97577698e-01,-5.95661904e-01,-6.22502118e+00, 2.03436437e+01,
  1.01066106e+00, 1.39568276e+00,-9.29015578e-02, 6.24653110e+01,
  5.41089889e+01,-5.38274156e-01]

qfrc_actuator:
[ 2.47197040e-03, 1.01626737e-01, 9.70996251e-03, 1.27956834e-02,
  1.32999477e-05, 1.03530773e-01, 9.76390001e-03, 1.92904864e-02,
 -2.67454695e-03, 1.08474820e-01, 9.61537967e-03, 1.99759109e-02,
  0.00000000e+00,-1.75428983e-03, 0.00000000e+00,-1.94998062e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012907256334330763
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.61278905e-14,  6.45115621e-14,  1.00000000e+00,  1.04043541e-27,
        1.00000000e+00, -6.45115621e-14, -1.00000000e+00,  0.00000000e+00,
       -1.61278905e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03619698, -0.11922486,  0.06188548])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.57800956e-05,-4.73984946e-04,-3.26979163e-05,-1.84535734e-04,
  8.25963996e-06,-1.00553784e-03,-2.53287851e-04,-3.68332786e-04,
 -5.46768144e-05,-3.12877269e-04,-8.08975066e-05,-3.18451578e-04,
  9.67672000e-06,-1.00241815e-05,-3.57368317e-05, 8.79718529e-05,
 -2.51400232e-06, 7.64135829e-06,-1.21644694e+00, 1.58039367e-03,
  5.45175481e-04, 2.66719055e-05]


--- Step 2056 ---
qpos:
[-0.01452736, 1.09238682,-0.02155819, 0.93800269, 0.00432811, 1.07887753,
 -0.0285896 , 0.9293438 , 0.01642707, 1.10857002,-0.0227871 , 0.93755314,
  1.37241746,-0.00141571, 1.16282486, 0.06313156,-0.00359137,-0.09243851,
  0.0815997 , 0.62423664,-0.01182838,-0.00357762, 0.78113757]

qacc:
[ 8.17100899e-02,-2.04020435e+01, 6.57024869e+01,-1.06707530e+02,
  1.78535492e-01,-1.86803324e+01, 6.07284476e+01,-1.12881687e+02,
 -1.76516451e-01,-1.76355110e+01, 7.20724251e+01,-1.63811702e+02,
 -6.36720253e-02, 1.43752824e-01,-7.44107940e-01, 2.38143898e+00,
  9.54301862e-01, 1.29840894e+00,-6.38078540e-01, 5.90235267e+01,
  5.12902014e+01,-3.57321211e-01]

qfrc_actuator:
[ 2.50225740e-03, 1.01125223e-01, 9.71187230e-03, 1.25507828e-02,
  5.21201545e-05, 1.03205730e-01, 9.76810733e-03, 1.90150129e-02,
 -2.69084972e-03, 1.08358227e-01, 9.59636888e-03, 1.95291687e-02,
  0.00000000e+00,-1.74643212e-03, 0.00000000e+00,-1.94069947e-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, -8.4796371 , -1.63784355, -8.4796371 ,  9.83269348,
       -6.19378019, -1.63784355, -6.19378019, 40.70353412,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012760973493221306
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.63127693e-14,  1.08751796e-14,  1.00000000e+00, -1.77404296e-28,
        1.00000000e+00, -1.08751796e-14, -1.00000000e+00,  0.00000000e+00,
        1.63127693e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03621724, -0.11924402,  0.06188663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.96980156e-05,-7.96505547e-04,-1.04925850e-04,-2.62899145e-04,
  4.32902904e-05,-9.64653232e-04,-2.37957919e-04,-3.20449312e-04,
 -4.48691752e-05,-3.37065539e-04,-1.03907658e-04,-4.64145196e-04,
  2.22239226e-06, 7.76414610e-06,-7.50013443e-06, 9.39292004e-06,
 -1.09203116e-06, 2.42372217e-05,-1.21645240e+00, 1.58042405e-03,
  5.44678594e-04, 4.81858545e-05]


--- Step 2057 ---
qpos:
[-0.0145328 , 1.09376879,-0.02156553, 0.93820979, 0.00432941, 1.08030641,
 -0.02859574, 0.92967782, 0.01642987, 1.11009276,-0.02279916, 0.93789507,
  1.37249109,-0.00141677, 1.162994  , 0.06312811,-0.00359398,-0.09242014,
  0.08158828, 0.62422737,-0.01217556,-0.0032332 , 0.78114115]

qacc:
[ 3.35316923e-01,-2.15336606e+01, 6.35769966e+01,-9.20613226e+01,
  3.36102365e-01,-1.92861913e+01, 6.21829366e+01,-1.14002134e+02,
 -1.32122973e-01,-2.32652726e+01, 8.80412202e+01,-1.72419862e+02,
  2.05730562e-03, 5.95841357e-02,-3.71736347e+00, 1.25762646e+01,
 -1.32877074e+00,-1.57989546e+00, 1.40944652e+00,-8.32549728e+01,
 -7.00737709e+01,-5.09915344e+00]

qfrc_actuator:
[ 0.00257605, 0.10052041, 0.00971562, 0.01235782, 0.00011046, 0.10281332,
  0.00975541, 0.01873498,-0.00270163, 0.10819407, 0.00967935, 0.01910852,
  0.        ,-0.00174131, 0.        ,-0.00188016, 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: -0.0013190652747352288
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.20837030e-14,  4.20837030e-14,  1.00000000e+00, -1.77103806e-27,
        1.00000000e+00, -4.20837030e-14, -1.00000000e+00,  0.00000000e+00,
        4.20837030e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03577651, -0.06170636,  0.06188294])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.28428327e-05,-1.09457842e-03,-1.76695831e-04,-2.24574572e-04,
  8.21031137e-05,-1.00472334e-03,-2.43626262e-04,-3.22209071e-04,
 -3.39110992e-05,-4.06834810e-04,-1.35568029e-05,-4.42832641e-04,
  2.68019742e-06, 7.93897741e-06,-5.36001432e-06, 5.94249453e-05,
  5.01345863e-06, 4.62999803e-05,-1.21646008e+00, 1.58070076e-03,
  5.43622086e-04, 7.67248942e-05]


--- Step 2058 ---
qpos:
[-0.01453743, 1.09514217,-0.0215728 , 0.93841407, 0.00433079, 1.08172738,
 -0.02860225, 0.93000421, 0.01643245, 1.11161359,-0.02281081, 0.93822997,
  1.37256463,-0.0014175 , 1.16316318, 0.0631244 ,-0.0036015 ,-0.09240759,
  0.08157903, 0.62422314,-0.01251768,-0.00308914, 0.7811397 ]

qacc:
[ 3.63220745e-01,-1.63641277e+01, 4.55982034e+01,-6.72203984e+01,
  3.58885940e-02,-2.25349546e+01, 7.70470781e+01,-1.51350078e+02,
 -9.54640763e-02,-1.58406256e+01, 6.32208063e+01,-1.35823022e+02,
 -3.21870227e-01, 6.07433191e-01, 9.26075163e-01,-3.05996549e+00,
 -1.22931008e+00,-1.45790389e+00, 5.42280325e-01,-7.66555173e+01,
 -6.44742252e+01,-4.76944156e+00]

qfrc_actuator:
[ 2.62205599e-03, 1.00107173e-01, 9.72003291e-03, 1.22146295e-02,
  7.34830735e-05, 1.02419330e-01, 9.73260754e-03, 1.83479090e-02,
 -2.70904374e-03, 1.08198575e-01, 9.73299077e-03, 1.87598987e-02,
  0.00000000e+00,-1.72012129e-03, 0.00000000e+00,-1.89639672e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013574667343553073
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.04465973e-14,  4.08931945e-14,  1.00000000e+00,  8.36126679e-28,
        1.00000000e+00, -4.08931945e-14, -1.00000000e+00,  0.00000000e+00,
       -2.04465973e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03570959, -0.06175886,  0.06187967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.00557938e-05,-1.08057784e-03,-2.41337983e-04,-1.84950188e-04,
  8.19078819e-06,-1.02944678e-03,-2.62217068e-04,-4.30661827e-04,
 -2.44574197e-05,-2.58309926e-04,-4.55752026e-05,-3.69743259e-04,
  3.10880008e-06, 2.40894119e-05, 1.33580034e-06,-1.42583882e-05,
 -2.08379116e-06, 1.72024217e-05,-1.21645105e+00, 1.58327822e-03,
  5.43460071e-04, 4.26978306e-05]


--- Step 2059 ---
qpos:
[-0.01454169, 1.09650858,-0.02158044, 0.93861425, 0.00433185, 1.08314138,
 -0.02860949, 0.93032304, 0.01643504, 1.11313494,-0.02282375, 0.9385573 ,
  1.37263815,-0.00141797, 1.16333242, 0.06311985,-0.00361361,-0.09240047,
  0.08156902, 0.6242237 ,-0.01285517,-0.00313107, 0.78113361]

qacc:
[ 1.68328723e-01,-1.52893289e+01, 4.72932523e+01,-8.44633364e+01,
 -1.44026849e-01,-2.01258646e+01, 7.04948625e+01,-1.45305368e+02,
  2.49067664e-03,-8.91646748e+00, 4.55234345e+01,-1.27982678e+02,
 -2.58719970e-01, 4.94707832e-01, 2.63200228e+00,-9.04277234e+00,
 -1.14590800e+00,-1.35650893e+00,-1.88892371e-01,-7.11763392e+01,
 -5.98232827e+01,-4.48565843e+00]

qfrc_actuator:
[ 2.61552472e-03, 9.98831256e-02, 9.74330777e-03, 1.20131952e-02,
  3.29493152e-05, 1.02151869e-01, 9.72174209e-03, 1.79719409e-02,
 -2.69664177e-03, 1.08375204e-01, 9.71632476e-03, 1.83854880e-02,
  0.00000000e+00,-1.70731854e-03, 0.00000000e+00,-1.93999586e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013731586979049137
  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([ 0.03568156, -0.0617808 ,  0.06187831])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.15620318e-05,-8.94908441e-04,-2.25881015e-04,-2.43762449e-04,
 -3.60935444e-05,-9.23381305e-04,-2.60398512e-04,-4.23363146e-04,
  6.20909607e-07,-7.96928060e-06,-8.82889713e-05,-3.90327071e-04,
  7.08277626e-06, 2.01786343e-05,-4.61167793e-06,-4.50529377e-05,
 -6.08519279e-07, 1.13627391e-06,-1.21644658e+00, 1.58489035e-03,
  5.43551160e-04, 2.44237168e-05]


--- Step 2060 ---
qpos:
[-0.01454594, 1.09786747,-0.02158735, 0.93880876, 0.00433267, 1.08454702,
 -0.02861621, 0.93063635, 0.01643755, 1.11465505,-0.02283664, 0.93887736,
  1.37271184,-0.00141878, 1.16350143, 0.06311614,-0.00363002,-0.09239844,
  0.08155579, 0.62422872,-0.01318839,-0.00334707, 0.78112314]

qacc:
[ 6.90316116e-03,-2.17037244e+01, 7.06154816e+01,-1.22905789e+02,
 -1.05478404e-01,-2.18827212e+01, 6.97370721e+01,-1.19930925e+02,
 -3.50840800e-02,-1.43652234e+01, 5.99158400e+01,-1.35887696e+02,
  4.39564042e-01,-7.31448210e-01,-2.91569558e+00, 9.61628436e+00,
 -1.07574100e+00,-1.27211175e+00,-8.04991956e-01,-6.66263850e+01,
 -5.59585798e+01,-4.24106477e+00]

qfrc_actuator:
[ 2.59533478e-03, 9.95081078e-02, 9.77829340e-03, 1.17259526e-02,
  2.61513889e-05, 1.01696263e-01, 9.73632175e-03, 1.76943726e-02,
 -2.70799233e-03, 1.08245144e-01, 9.69453364e-03, 1.80166997e-02,
  0.00000000e+00,-1.73511045e-03, 0.00000000e+00,-1.89282048e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013705433539344392
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.05030246e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.05030246e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03568454, -0.06177842,  0.06187848])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05089317e-06,-9.41762714e-04,-1.77779326e-04,-3.24917436e-04,
 -2.67757732e-05,-1.05207640e-03,-2.13696624e-04,-3.21523876e-04,
 -9.12771847e-06,-1.85087737e-04,-4.98963261e-05,-3.78934171e-04,
  8.10831134e-06,-2.04525060e-05,-1.05360684e-05, 4.32940154e-05,
  7.63497594e-06,-4.59123615e-06,-1.21644574e+00, 1.58572373e-03,
  5.43874009e-04, 1.86230403e-05]


--- Step 2061 ---
qpos:
[-0.01455044, 1.09921622,-0.02159249, 0.93900025, 0.00433348, 1.08594418,
 -0.02862263, 0.93094292, 0.01643996, 1.1161728 ,-0.02284926, 0.93919099,
  1.37278569,-0.00142012, 1.16367016, 0.06311433,-0.00364559,-0.0924024 ,
  0.08155301, 0.62423624,-0.01341274,-0.00366804, 0.78111188]

qacc:
[-1.13834180e-01,-2.33196577e+01, 6.62754836e+01,-8.66031658e+01,
 -2.59793232e-03,-2.35421994e+01, 7.75561670e+01,-1.41038516e+02,
 -4.21646540e-02,-1.49664597e+01, 5.83874410e+01,-1.24258563e+02,
  6.44024497e-01,-1.12925765e+00,-6.20708111e+00, 2.10072966e+01,
  2.09413756e-01,-1.49984881e+00, 2.61261838e+00,-7.00601087e+00,
 -7.52773981e+01,-2.09199265e+00]

qfrc_actuator:
[ 2.56716140e-03, 9.88683261e-02, 9.81936490e-03, 1.15679737e-02,
  3.96398855e-05, 1.01273975e-01, 9.74744271e-03, 1.73525582e-02,
 -2.71575825e-03, 1.08074628e-01, 9.68657472e-03, 1.76895111e-02,
  0.00000000e+00,-1.76901268e-03, 0.00000000e+00,-1.79252397e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001370817202265659
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.04949333e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.04949333e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00378275, -0.07076456,  0.06187839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.93999181e-05,-1.22531867e-03,-1.77728380e-04,-1.97524671e-04,
 -1.36860385e-06,-1.07749472e-03,-2.33960285e-04,-3.85939496e-04,
 -1.10081939e-05,-3.15568818e-04,-6.59710732e-05,-3.41249992e-04,
 -8.62245584e-07,-3.72940481e-05,-2.38886007e-06, 1.00802673e-04,
  2.13523298e-05,-1.94406746e-06,-1.21644783e+00, 1.58591997e-03,
  5.44408913e-04, 2.29009533e-05]


--- Step 2062 ---
qpos:
[-0.01455509, 1.10055262,-0.02159606, 0.93919067, 0.00433436, 1.0873354 ,
 -0.02863031, 0.93124254, 0.0164426 , 1.11768965,-0.02286251, 0.93949751,
  1.37285943,-0.00142134, 1.16383905, 0.06311205,-0.00365591,-0.09241087,
  0.08155786, 0.62424301,-0.01346525,-0.00399822, 0.78110394]

qacc:
[-5.73022026e-02,-2.23479127e+01, 5.55874632e+01,-5.32565877e+01,
  2.97362214e-02,-1.63233409e+01, 5.83898916e+01,-1.28168188e+02,
  1.01324229e-01,-1.17841536e+01, 5.16436810e+01,-1.26934152e+02,
 -2.22104200e-01, 3.34329374e-01, 1.67478159e+00,-5.49404071e+00,
  1.31488613e+00,-1.12480106e+00, 1.90863626e+00, 5.00413762e+01,
 -7.00092482e+01, 9.49923094e-01]

qfrc_actuator:
[ 2.56996886e-03, 9.81108119e-02, 9.84500950e-03, 1.15049178e-02,
  4.74154546e-05, 1.01141421e-01, 9.73874723e-03, 1.70111393e-02,
 -2.68581970e-03, 1.08129993e-01, 9.68668632e-03, 1.73361054e-02,
  0.00000000e+00,-1.75298681e-03, 0.00000000e+00,-1.82153033e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013889748070840674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.99138914e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.99138914e-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([-0.03212805, -0.07735473,  0.06187687])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53383102e-05,-1.49583482e-03,-2.44792023e-04,-1.08138489e-04,
  6.94039861e-06,-8.07572651e-04,-2.62916718e-04,-3.88398538e-04,
  2.56242131e-05,-1.63763468e-04,-8.41112895e-05,-3.70975313e-04,
 -9.36571637e-06, 5.86652105e-06, 7.60936967e-06,-2.42870500e-05,
  2.42286335e-05, 7.33140945e-06,-1.21644741e+00, 1.58505925e-03,
  5.44125763e-04, 4.14502889e-05]


--- Step 2063 ---
qpos:
[-0.01455979, 1.10187606,-0.02159902, 0.93937726, 0.00433514, 1.08872129,
 -0.02863783, 0.93153632, 0.01644553, 1.1192067 ,-0.02287641, 0.93979804,
  1.37293284,-0.00142162, 1.16400832, 0.06310643,-0.00366132,-0.09242352,
  0.08156726, 0.62424911,-0.0133572 ,-0.0043371 , 0.78109911]

qacc:
[-2.28540164e-02,-2.53379349e+01, 7.00097244e+01,-9.73991874e+01,
 -3.71643165e-02,-1.74602234e+01, 6.07922851e+01,-1.17782523e+02,
  1.29561493e-01,-8.33763539e+00, 3.98908533e+01,-1.04559618e+02,
 -1.14201456e+00, 1.97537614e+00, 1.07346154e+01,-3.64971831e+01,
  1.22490247e+00,-1.04475911e+00, 1.13507913e+00, 4.67161411e+01,
 -6.54432388e+01, 8.53455067e-01]

qfrc_actuator:
[ 2.57359056e-03, 9.73954371e-02, 9.84312338e-03, 1.13027959e-02,
  3.39410711e-05, 1.00988293e-01, 9.79062022e-03, 1.67261097e-02,
 -2.66904747e-03, 1.08249374e-01, 9.69243153e-03, 1.70412166e-02,
  0.00000000e+00,-1.68970563e-03, 0.00000000e+00,-1.99751011e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013919570201189127
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.98799319e-14,  3.98799319e-14,  1.00000000e+00,  1.59040897e-27,
        1.00000000e+00, -3.98799319e-14, -1.00000000e+00,  0.00000000e+00,
       -3.98799319e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03212503, -0.07735564,  0.06187665])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.71819966e-06,-1.61351821e-03,-3.30173375e-04,-2.55204729e-04,
 -9.69734176e-06,-6.84377130e-04,-1.52805586e-04,-3.24740358e-04,
  3.29399785e-05,-2.01333723e-05,-5.17037764e-05,-3.09134393e-04,
 -3.78484466e-06, 6.27791290e-05,-3.26841883e-06,-1.77287471e-04,
  1.38244045e-05, 1.27229853e-05,-1.21644521e+00, 1.58461228e-03,
  5.43334269e-04, 5.33186149e-05]


--- Step 2064 ---
qpos:
[-0.01456481, 1.10318682,-0.02160203, 0.93955934, 0.00433581, 1.09009975,
 -0.02864364, 0.93182454, 0.0164484 , 1.12072314,-0.02289008, 0.94009414,
  1.3730062 ,-0.00142144, 1.16417714, 0.0631021 ,-0.00366213,-0.09244008,
  0.0815786 , 0.62425456,-0.01309793,-0.00468426, 0.78109714]

qacc:
[-1.43360042e-01,-2.43470798e+01, 6.86914032e+01,-1.04560353e+02,
 -5.24086239e-02,-2.39386147e+01, 7.79918591e+01,-1.28209811e+02,
 -2.49966543e-02,-9.10315023e+00, 3.78704448e+01,-8.41189482e+01,
 -2.58087873e-01, 6.18424791e-01,-4.51961278e+00, 1.48982019e+01,
  1.15082088e+00,-9.79425306e-01, 4.87008668e-01, 4.39660966e+01,
 -6.16683781e+01, 7.65023312e-01]

qfrc_actuator:
[ 2.54217246e-03, 9.67819235e-02, 9.84280593e-03, 1.10736728e-02,
  2.55928543e-05, 1.00522774e-01, 9.84240454e-03, 1.64410818e-02,
 -2.69583462e-03, 1.08211131e-01, 9.70183360e-03, 1.68186802e-02,
  0.00000000e+00,-1.66993466e-03, 0.00000000e+00,-1.92132441e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013796640465562615
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51470419e-14,  5.02940837e-14,  1.00000000e+00,  1.26474743e-27,
        1.00000000e+00, -5.02940837e-14, -1.00000000e+00,  0.00000000e+00,
       -2.51470419e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03214238, -0.07734681,  0.06187773])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.69552254e-05,-1.59766908e-03,-3.65636858e-04,-2.91654175e-04,
 -1.37590417e-05,-9.04919796e-04,-1.14275334e-04,-3.16292147e-04,
 -6.51560612e-06,-9.00107358e-05,-1.44069117e-05,-2.30093741e-04,
  1.21753817e-05, 3.61255990e-05,-2.57910340e-05, 6.48618267e-05,
  6.10190095e-06, 1.60677883e-05,-1.21644585e+00, 1.58482266e-03,
  5.43132646e-04, 5.58249097e-05]


--- Step 2065 ---
qpos:
[-0.01457002, 1.10448676,-0.02160593, 0.93973715, 0.00433636, 1.09146821,
 -0.02864788, 0.93210842, 0.01645111, 1.12223797,-0.02290237, 0.94038705,
  1.37307966,-0.00142123, 1.16434544, 0.06310134,-0.00365859,-0.09245133,
  0.08159231, 0.62426158,-0.01284748,-0.00485395, 0.78109466]

qacc:
[-8.15153158e-02,-1.91694254e+01, 5.41788839e+01,-8.99280149e+01,
 -4.82770569e-02,-2.48335128e+01, 7.43249742e+01,-1.09234302e+02,
 -7.33715958e-02,-1.13652149e+01, 4.10856384e+01,-7.17618250e+01,
  3.19049812e-01,-3.62467243e-01,-1.15700028e+01, 3.93123265e+01,
  1.08672226e+00, 1.32905721e+00, 5.92759044e-01, 6.65693658e+01,
  5.88487739e+01, 4.08616965e-01]

qfrc_actuator:
[ 2.54327921e-03, 9.63764350e-02, 9.84385369e-03, 1.08660842e-02,
  2.03904275e-05, 9.98563212e-02, 9.85702264e-03, 1.62113723e-02,
 -2.71302106e-03, 1.08114552e-01, 9.76606207e-03, 1.66581425e-02,
  0.00000000e+00,-1.67617952e-03, 0.00000000e+00,-1.73262918e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013921668717950739
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.97478411e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.97478411e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03604648, -0.11909863,  0.06187676])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.12309128e-05,-1.38867658e-03,-3.66223276e-04,-2.71537927e-04,
 -1.28801202e-05,-1.21990286e-03,-1.89942193e-04,-2.66320840e-04,
 -1.90013150e-05,-1.77221880e-04, 3.33650839e-05,-1.67255508e-04,
  1.45680486e-05, 6.59406889e-06,-6.40128620e-06, 1.88600558e-04,
  5.87158787e-07, 1.77300072e-05,-1.21644883e+00, 1.58554848e-03,
  5.43429036e-04, 5.05464748e-05]


--- Step 2066 ---
qpos:
[-0.01457501, 1.10577909,-0.02161173, 0.93991054, 0.00433667, 1.09282514,
 -0.02865078, 0.9323882 , 0.01645363, 1.12375098,-0.02291387, 0.94067447,
  1.37315337,-0.00142155, 1.16451376, 0.06310181,-0.00365098,-0.09245758,
  0.08160577, 0.62427018,-0.01260522,-0.00485741, 0.78109171]

qacc:
[ 1.00147797e-01,-1.25796438e+01, 3.80728150e+01,-7.98179328e+01,
 -1.09668109e-01,-2.57675492e+01, 7.43765943e+01,-1.05185948e+02,
 -7.76151456e-02,-1.40530329e+01, 5.42925845e+01,-1.10049554e+02,
  6.45615896e-01,-1.10554853e+00,-3.73545161e+00, 1.29944886e+01,
  1.01825700e+00, 1.24823256e+00,-6.36453928e-02, 6.23759811e+01,
  5.50876954e+01, 3.22141364e-01]

qfrc_actuator:
[ 2.58164445e-03, 9.62232409e-02, 9.82883056e-03, 1.06552053e-02,
 -6.36967146e-07, 9.91813498e-02, 9.88429991e-03, 1.59981142e-02,
 -2.72431466e-03, 1.08001974e-01, 9.79093213e-03, 1.63755515e-02,
  0.00000000e+00,-1.71553621e-03, 0.00000000e+00,-1.67450861e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013886913967998474
  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([-0.03605319, -0.11910357,  0.06187712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.48040833e-05,-1.02005979e-03,-3.40826614e-04,-2.68128211e-04,
 -2.82466805e-05,-1.41579845e-03,-2.46064210e-04,-2.60474824e-04,
 -2.01172379e-05,-2.30115484e-04,-1.57224782e-05,-2.89053543e-04,
  9.36611184e-06,-3.41592956e-05, 1.61069493e-05, 6.73524327e-05,
 -1.20413538e-06, 3.71280271e-06,-1.21644411e+00, 1.58519515e-03,
  5.44066310e-04, 3.27270090e-05]


--- Step 2067 ---
qpos:
[-0.01457967, 1.10706852,-0.0216204 , 0.94007867, 0.00433672, 1.09417306,
 -0.02865484, 0.9326625 , 0.01645586, 1.12526322,-0.02292562, 0.94095384,
  1.3732271 ,-0.00142204, 1.16468242, 0.06310064,-0.00363953,-0.09245911,
  0.08161677, 0.62428033,-0.0123706 ,-0.00470395, 0.78108829]

qacc:
[ 1.46899556e-01,-5.16622187e+00, 2.30890693e+01,-7.94045431e+01,
 -1.11307270e-01,-1.81536874e+01, 5.64136792e+01,-1.07427591e+02,
 -1.35697619e-01,-1.42472040e+01, 6.18240841e+01,-1.46784077e+02,
  1.50748614e-02,-1.16690609e-01, 5.42662646e+00,-1.82803068e+01,
  9.61495273e-01, 1.18149907e+00,-6.14401013e-01, 5.89032690e+01,
  5.19723357e+01, 2.58285324e-01]

qfrc_actuator:
[ 2.60652693e-03, 9.64178355e-02, 9.80551780e-03, 1.04087189e-02,
 -1.32249077e-05, 9.88618502e-02, 9.86551723e-03, 1.57251908e-02,
 -2.74974888e-03, 1.08022669e-01, 9.79222518e-03, 1.59700619e-02,
  0.00000000e+00,-1.72094349e-03, 0.00000000e+00,-1.76483203e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001371050906470439
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.09760615e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.09760615e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03608085, -0.11912569,  0.06187866])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.69939744e-05,-4.63115082e-04,-2.73972115e-04,-2.91882640e-04,
 -2.83352546e-05,-1.17930562e-03,-3.36649702e-04,-3.27583349e-04,
 -3.48996079e-05,-1.39304079e-04,-5.88135576e-05,-4.17800923e-04,
 -3.04998431e-06,-1.24028546e-05, 1.13553338e-05,-8.53447853e-05,
  2.45749532e-06,-2.12069889e-06,-1.21644247e+00, 1.58503862e-03,
  5.44160717e-04, 2.52320163e-05]


--- Step 2068 ---
qpos:
[-0.01458402, 1.10835867,-0.02163123, 0.94024288, 0.00433656, 1.09551506,
 -0.0286601 , 0.93293045, 0.01645794, 1.12677714,-0.02293829, 0.94122741,
  1.37330082,-0.00142261, 1.16485086, 0.06310043,-0.00362442,-0.09245613,
  0.08162347, 0.62429193,-0.01214319,-0.00440128, 0.78108435]

qacc:
[ 1.40263015e-01,-2.82589537e-02, 9.26208193e+00,-5.39361564e+01,
 -9.14101347e-02,-1.53858354e+01, 5.40926106e+01,-1.17392638e+02,
 -6.26120749e-02,-5.33234321e+00, 3.19815174e+01,-9.62556871e+01,
  1.17039924e-01,-2.05513312e-01,-3.20811559e+00, 1.07330015e+01,
  9.14315234e-01, 1.12640074e+00,-1.07602271e+00, 5.60319674e+01,
  4.93952681e+01, 2.12847812e-01]

qfrc_actuator:
[ 2.62312449e-03, 9.67661642e-02, 9.81447324e-03, 1.02322391e-02,
 -2.06483114e-05, 9.88109937e-02, 9.89206540e-03, 1.54195036e-02,
 -2.74796191e-03, 1.08300527e-01, 9.81560374e-03, 1.56908563e-02,
  0.00000000e+00,-1.72389052e-03, 0.00000000e+00,-1.71106233e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013422554320955404
  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([-0.03612484, -0.1191612 ,  0.06188111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.55584955e-05, 1.11713045e-05,-1.25821999e-04,-2.03799560e-04,
 -2.32089766e-05,-7.99408811e-04,-2.57261036e-04,-3.57407859e-04,
 -1.59708879e-05, 1.55837965e-04,-2.76609910e-05,-2.93054224e-04,
 -4.87311845e-06,-6.83025299e-06,-8.64773968e-06, 4.94541873e-05,
  1.06587694e-05,-1.15306228e-06,-1.21644338e+00, 1.58505392e-03,
  5.43781934e-04, 2.63388278e-05]


--- Step 2069 ---
qpos:
[-0.01458811, 1.10964936,-0.02164211, 0.94040536, 0.0043361 , 1.0968539 ,
 -0.02866634, 0.93319242, 0.01645996, 1.12829273,-0.02295126, 0.94149654,
  1.37337468,-0.00142374, 1.1650188 , 0.06310419,-0.0036058 ,-0.09244883,
  0.08162432, 0.62430483,-0.01192261,-0.00395576, 0.78107981]

qacc:
[ 1.17562840e-01,-2.13368294e+00, 1.14052554e+01,-3.05067851e+01,
 -1.38978237e-01,-1.18155871e+01, 4.60582872e+01,-1.07950751e+02,
 -2.67280373e-02,-4.70256480e+00, 2.71259179e+01,-7.62390352e+01,
  7.82866850e-01,-1.32796949e+00,-1.27997193e+01, 4.35313453e+01,
  8.74937005e-01, 1.08087675e+00,-1.46247811e+00, 5.36639706e+01,
  4.72683462e+01, 1.82709734e-01]

qfrc_actuator:
[ 2.63463350e-03, 9.68669841e-02, 9.84322024e-03, 1.01517773e-02,
 -4.26705788e-05, 9.88863243e-02, 9.92858444e-03, 1.51327181e-02,
 -2.74763821e-03, 1.08428752e-01, 9.81750493e-03, 1.54706445e-02,
  0.00000000e+00,-1.76089041e-03, 0.00000000e+00,-1.50176099e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013048128820365157
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.59537678e-14,  4.25433807e-14,  1.00000000e+00,  6.78727217e-28,
        1.00000000e+00, -4.25433807e-14, -1.00000000e+00,  0.00000000e+00,
       -1.59537678e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0361814 , -0.11920701,  0.06188426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.97184035e-05, 5.77254535e-05, 6.23836491e-06,-8.71924887e-05,
 -3.49454146e-05,-4.48216706e-04,-1.64675500e-04,-3.25366787e-04,
 -6.81218947e-06, 1.79393811e-04, 1.58349725e-05,-2.21424380e-04,
 -4.45819291e-06,-3.98422371e-05,-1.16697516e-06, 2.10317931e-04,
  2.27341294e-05, 5.59593627e-06,-1.21644648e+00, 1.58521885e-03,
  5.42983623e-04, 3.47802313e-05]


--- Step 2070 ---
qpos:
[-0.01459214, 1.11093899,-0.02165228, 0.94056538, 0.00433567, 1.09819325,
 -0.02867486, 0.93344694, 0.0164618 , 1.12980719,-0.02296184, 0.94176039,
  1.3734485 ,-0.00142503, 1.16518713, 0.06310672,-0.00358382,-0.09243736,
  0.08161802, 0.62431888,-0.01170856,-0.0033726 , 0.78107456]

qacc:
[ 2.28258685e-02,-7.60102900e+00, 2.81392136e+01,-5.22729143e+01,
  1.26650538e-02,-5.96911334e+00, 3.58190332e+01,-1.18288515e+02,
 -7.78079444e-02,-1.70608493e+01, 6.47221147e+01,-1.16966651e+02,
 -1.38745163e-02,-1.03676365e-01, 4.28362539e+00,-1.41467027e+01,
  8.41864978e-01, 1.04319353e+00,-1.78558440e+00, 5.17181366e+01,
  4.55188488e+01, 1.65564639e-01]

qfrc_actuator:
[ 2.62526287e-03, 9.67304204e-02, 9.84710886e-03, 1.00218038e-02,
 -2.00073220e-05, 9.91612470e-02, 9.90031617e-03, 1.47706906e-02,
 -2.76596933e-03, 1.08253497e-01, 9.89501732e-03, 1.51980270e-02,
  0.00000000e+00,-1.76455374e-03, 0.00000000e+00,-1.57534304e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012608086405339891
  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([-0.03624743, -0.11926056,  0.06188795])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.59724206e-06,-1.24490284e-04, 8.99766311e-06,-1.28720501e-04,
  3.24989959e-06,-3.50717246e-05,-1.49150760e-04,-3.86521062e-04,
 -2.03353830e-05,-1.00321748e-04, 1.03142058e-04,-2.70184604e-04,
 -1.15987658e-05,-1.55154205e-05, 2.08078740e-05,-6.25135205e-05,
  3.82010022e-05, 1.73760017e-05,-1.21645151e+00, 1.58551371e-03,
  5.41807185e-04, 4.96272956e-05]


--- Step 2071 ---
qpos:
[-0.01459636, 1.11222584,-0.02166204, 0.94072177, 0.00433553, 1.09953479,
 -0.02868512, 0.9336936 , 0.01646346, 1.13131774,-0.02296972, 0.94201849,
  1.37352218,-0.00142615, 1.16535583, 0.06310603,-0.00356775,-0.092432  ,
  0.08161805, 0.62433705,-0.01148738,-0.00301054, 0.7810648 ]

qacc:
[-7.89511022e-02,-1.10329928e+01, 3.91088263e+01,-7.46396317e+01,
  1.32525868e-01,-5.91726966e+00, 3.91960430e+01,-1.27149819e+02,
 -8.05019305e-02,-2.24018076e+01, 7.87143185e+01,-1.32795612e+02,
 -4.58162956e-01, 6.67347554e-01, 1.02885991e+01,-3.51045924e+01,
 -1.47713431e+00,-1.53055136e+00, 1.57904843e+00,-8.40977101e+01,
 -7.17686381e+01,-4.32530987e+00]

qfrc_actuator:
[ 2.60347235e-03, 9.64705760e-02, 9.81756916e-03, 9.82801836e-03,
  1.14996212e-05, 9.94292544e-02, 9.87037625e-03, 1.43851203e-02,
 -2.77759870e-03, 1.07880545e-01, 9.96208471e-03, 1.48965794e-02,
  0.00000000e+00,-1.74837856e-03, 0.00000000e+00,-1.74403593e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013246908469423321
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04762465e-14,  2.09524929e-14,  1.00000000e+00,  2.19503480e-28,
        1.00000000e+00, -2.09524929e-14, -1.00000000e+00,  0.00000000e+00,
       -1.04762465e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03577416, -0.06172285,  0.06188256])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.02803252e-05,-3.49214576e-04,-6.09608857e-05,-1.98862341e-04,
  3.33112076e-05, 1.87842016e-04,-6.99401201e-05,-3.98530394e-04,
 -2.12549792e-05,-4.37050593e-04, 4.65240533e-05,-3.05940567e-04,
 -9.95558035e-06, 9.34949991e-06,-2.24513537e-06,-1.70640648e-04,
  5.67126018e-05, 3.36381729e-05,-1.21645831e+00, 1.58592072e-03,
  5.40284685e-04, 7.02039761e-05]


--- Step 2072 ---
qpos:
[-0.01460094, 1.11350883,-0.02167153, 0.94087476, 0.00433541, 1.10087971,
 -0.02869696, 0.9339357 , 0.01646512, 1.13282267,-0.02297599, 0.94227123,
  1.37359571,-0.00142684, 1.16552421, 0.06310568,-0.00355707,-0.09243233,
  0.08162081, 0.62435935,-0.01125978,-0.00285167, 0.78105089]

qacc:
[-1.64220943e-01,-1.17152330e+01, 3.90796918e+01,-7.11424382e+01,
  6.07313211e-03, 8.93818887e-01, 1.19656228e+01,-6.57214473e+01,
  2.37975437e-03,-2.09890454e+01, 7.06020832e+01,-1.20281893e+02,
 -3.87469918e-01, 7.24040622e-01,-1.42932569e+00, 4.40199475e+00,
 -1.34841663e+00,-1.41999022e+00, 6.84836166e-01,-7.73398655e+01,
 -6.59082560e+01,-4.08343538e+00]

qfrc_actuator:
[ 2.57443813e-03, 9.62098944e-02, 9.80350812e-03, 9.65137616e-03,
 -5.22336387e-06, 9.97267273e-02, 9.83980696e-03, 1.41663440e-02,
 -2.76737574e-03, 1.07463206e-01, 9.98609325e-03, 1.46159140e-02,
  0.00000000e+00,-1.72058213e-03, 0.00000000e+00,-1.71878226e-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,  -7.42087211,  -4.417854  ,  -7.42087211,
        21.00802166, -20.78124173,  -4.417854  , -20.78124173,
        43.54356904,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013673652249445514
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04478735e-14,  2.02985823e-14,  1.00000000e+00, -6.18048668e-28,
        1.00000000e+00, -2.02985823e-14, -1.00000000e+00,  0.00000000e+00,
        3.04478735e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03570374, -0.06178179,  0.061879  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.19751584e-05,-4.90079500e-04,-9.94514141e-05,-1.92123689e-04,
  1.78915757e-06, 3.55832878e-04,-1.82316459e-05,-2.22947396e-04,
  4.20171723e-08,-6.79741967e-04,-6.98613828e-05,-2.97713396e-04,
 -3.73877635e-06, 2.83252383e-05,-2.43446976e-05, 1.44557468e-05,
  2.85128432e-05, 9.83976898e-06,-1.21644822e+00, 1.58439047e-03,
  5.41305266e-04, 4.00113179e-05]


--- Step 2073 ---
qpos:
[-0.01460572, 1.11478674,-0.02167976, 0.94102486, 0.0043352 , 1.10222949,
 -0.02870954, 0.93417453, 0.016467  , 1.13432156,-0.02298109, 0.94252012,
  1.37366916,-0.0014272 , 1.16569234, 0.06310626,-0.00355136,-0.09243797,
  0.08162329, 0.62438568,-0.01102637,-0.00288118, 0.78103306]

qacc:
[-8.74327765e-02,-1.50775791e+01, 4.70822853e+01,-7.13102987e+01,
 -3.70233693e-02, 2.73919811e+00, 5.61161344e+00,-4.61974543e+01,
  9.90101859e-02,-1.77985406e+01, 5.64178318e+01,-9.00609742e+01,
 -2.08545098e-01, 4.56133382e-01,-3.15088056e+00, 1.05366350e+01,
 -1.24208188e+00,-1.32776669e+00,-6.87610404e-02,-7.17286163e+01,
 -6.10513289e+01,-3.86205775e+00]

qfrc_actuator:
[ 2.57682540e-03, 9.59154227e-02, 9.85196600e-03, 9.50398973e-03,
 -1.52170249e-05, 1.00128574e-01, 9.86265922e-03, 1.40119843e-02,
 -2.74415390e-03, 1.07146784e-01, 1.00375568e-02, 1.44206507e-02,
  0.00000000e+00,-1.70388662e-03, 0.00000000e+00,-1.66818151e-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,  -7.51165896,  -4.26166124,  -7.51165896,
        21.93682123, -23.44355779,  -4.26166124, -23.44355779,
        49.95828041,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013865121635150413
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00091353e-14,  2.00182706e-14,  1.00000000e+00,  2.00365578e-28,
        1.00000000e+00, -2.00182706e-14, -1.00000000e+00,  0.00000000e+00,
       -1.00091353e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03567315, -0.06180868,  0.06187742])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.26755082e-05,-6.09011254e-04,-6.86381440e-05,-1.68056003e-04,
 -8.97136720e-06, 5.68662616e-04, 7.91782270e-05,-1.47870091e-04,
  2.49761521e-05,-7.35449041e-04,-1.02842081e-04,-2.22789740e-04,
  4.19857454e-06, 2.37318090e-05,-1.18440573e-05, 4.77604805e-05,
  1.07632166e-05,-9.99825768e-07,-1.21644293e+00, 1.58238466e-03,
  5.42360765e-04, 2.55948453e-05]


--- Step 2074 ---
qpos:
[-0.01461029, 1.11605809,-0.02168609, 0.94117251, 0.00433522, 1.10358451,
 -0.02872157, 0.93440853, 0.01646913, 1.13581609,-0.02298674, 0.94276367,
  1.37374261,-0.00142734, 1.16586091, 0.06310305,-0.00355027,-0.09244861,
  0.08162297, 0.62441586,-0.0107876 ,-0.00308674, 0.78101148]

qacc:
[ 9.95832931e-02,-1.80088710e+01, 5.34391555e+01,-7.10857308e+01,
  9.75215908e-02,-2.90306272e+00, 2.78409246e+01,-8.37852957e+01,
  1.12934352e-01,-1.34558015e+01, 4.79271801e+01,-1.00888605e+02,
 -4.22962951e-01, 6.85748775e-01, 1.20853446e+01,-4.12638201e+01,
 -1.15408467e+00,-1.25068809e+00,-7.03481106e-01,-6.70671750e+01,
 -5.70246559e+01,-3.65909521e+00]

qfrc_actuator:
[ 2.61579549e-03, 9.55146619e-02, 9.91907833e-03, 9.37499384e-03,
  1.44218131e-05, 1.00465947e-01, 9.91735027e-03, 1.37725498e-02,
 -2.73110387e-03, 1.07017844e-01, 1.00342552e-02, 1.41529909e-02,
  0.00000000e+00,-1.69392078e-03, 0.00000000e+00,-1.86939268e-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,  -7.58201964,  -4.13518501,  -7.58201964,
        23.44125911, -27.14534128,  -4.13518501, -27.14534128,
        58.40838362,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013866681954983681
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.00320361e-14, -2.00160180e-14,  1.00000000e+00, -8.01281956e-28,
        1.00000000e+00,  2.00160180e-14, -1.00000000e+00,  0.00000000e+00,
       -4.00320361e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03567427, -0.06181005,  0.06187742])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.46805112e-05,-7.74206429e-04,-6.89881046e-05,-1.51757105e-04,
  2.46960823e-05, 6.43314111e-04, 1.66014013e-04,-2.21909074e-04,
  2.88087035e-05,-5.82812913e-04,-1.70002254e-04,-2.96078653e-04,
  7.54474615e-06, 1.75262011e-05,-2.74699185e-06,-2.00680238e-04,
  1.29987541e-06,-1.61270600e-06,-1.21644144e+00, 1.57999316e-03,
  5.43483457e-04, 2.35982916e-05]


--- Step 2075 ---
qpos:
[-0.01461452, 1.11732213,-0.02169142, 0.9413183 , 0.00433551, 1.10494267,
 -0.02873203, 0.93463731, 0.01647132, 1.13730715,-0.02299349, 0.94300106,
  1.37381609,-0.00142734, 1.16602962, 0.06309613,-0.00355535,-0.09245423,
  0.08161819, 0.62443804,-0.0107613 ,-0.00328661, 0.7809933 ]

qacc:
[ 1.48757064e-01,-1.55454205e+01, 4.29658401e+01,-5.44945057e+01,
  1.25087359e-01,-9.07167622e+00, 4.54871444e+01,-1.02440585e+02,
  2.80121544e-02,-1.22069037e+01, 4.69652864e+01,-1.10127682e+02,
 -3.31916691e-01, 5.30819493e-01, 1.14623933e+01,-3.97439936e+01,
 -1.54324270e+00, 1.25647154e+00,-1.11203514e+00,-6.41492010e+01,
  8.47160485e+01, 4.54540604e+00]

qfrc_actuator:
[ 2.64087211e-03, 9.50891471e-02, 9.94298901e-03, 9.27551842e-03,
  3.20686144e-05, 1.00513784e-01, 9.95464416e-03, 1.35026780e-02,
 -2.74203039e-03, 1.06913374e-01, 9.99936469e-03, 1.38449176e-02,
  0.00000000e+00,-1.68801206e-03, 0.00000000e+00,-2.05758138e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013736497873395037
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.02057146e-14,  1.21234288e-13,  1.00000000e+00,  2.44962542e-27,
        1.00000000e+00, -1.21234288e-13, -1.00000000e+00,  0.00000000e+00,
       -2.02057146e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04767606, -0.11423848,  0.0618785 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.72513283e-05,-8.89769866e-04,-1.44018667e-04,-1.26807413e-04,
  3.14278532e-05, 4.09812877e-04, 1.70936893e-04,-2.49248978e-04,
  6.99562933e-06,-4.89138383e-04,-1.81522388e-04,-3.35606731e-04,
  7.37578498e-06, 1.28175660e-05,-2.78575277e-05,-2.00711929e-04,
 -1.45991300e-06, 6.02202914e-06,-1.21644303e+00, 1.57728979e-03,
  5.44689920e-04, 3.15861981e-05]


--- Step 2076 ---
qpos:
[-0.0146186 , 1.11858158,-0.02169749, 0.9414606 , 0.00433589, 1.10630272,
 -0.02874134, 0.93486228, 0.01647335, 1.13879832,-0.023003  , 0.94323306,
  1.37388967,-0.0014275 , 1.16619795, 0.06308864,-0.00356627,-0.09245518,
  0.08160668, 0.62445289,-0.01093346,-0.00348104, 0.78097819]

qacc:
[ 7.18979608e-02,-1.00592762e+01, 3.27199908e+01,-6.61173285e+01,
  4.01615673e-02,-7.13622748e+00, 3.42471958e+01,-7.54511916e+01,
 -7.61801057e-02,-1.76915320e+00, 1.69827409e+01,-7.73731454e+01,
  1.77337607e-01,-2.96322139e-01, 1.13551735e+00,-4.81133367e+00,
 -1.45869060e+00, 1.16597125e+00,-1.68279104e+00,-5.98727535e+01,
  7.91646203e+01, 4.17557582e+00]

qfrc_actuator:
[ 2.63966190e-03, 9.50249626e-02, 9.95886548e-03, 9.10537538e-03,
  2.46205059e-05, 1.00529916e-01, 9.98026071e-03, 1.33056318e-02,
 -2.76725307e-03, 1.07161726e-01, 9.94629177e-03, 1.35865623e-02,
  0.00000000e+00,-1.70230506e-03, 0.00000000e+00,-2.07672916e-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, -3.86371526,  7.72389029, -3.86371526, 35.84784602,
       13.61197735,  7.72389029, 13.61197735, 15.44547182,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013750882951213128
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.03691541e-14,  2.01845770e-14,  1.00000000e+00,  8.14834300e-28,
        1.00000000e+00, -2.01845770e-14, -1.00000000e+00,  0.00000000e+00,
       -4.03691541e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04767015, -0.11423828,  0.06187836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.80058878e-05,-6.06137838e-04,-1.82424722e-04,-2.02556992e-04,
  1.00675165e-05, 2.49047824e-04, 1.13293530e-04,-1.83963942e-04,
 -1.95745545e-05,-8.78283745e-05,-1.83830972e-04,-2.84348580e-04,
  5.84303118e-06,-8.53253673e-06,-3.80402662e-05,-3.45729932e-05,
  3.08543093e-06, 5.49444791e-06,-1.21644153e+00, 1.58123052e-03,
  5.45616786e-04, 3.67317395e-05]


--- Step 2077 ---
qpos:
[-0.01462228, 1.11984054,-0.02170476, 0.94159806, 0.00433644, 1.10766385,
 -0.02875014, 0.93508361, 0.01647515, 1.14029571,-0.02301681, 0.94345972,
  1.37396332,-0.0014278 , 1.16636642, 0.0630779 ,-0.00358273,-0.09245177,
  0.08158652, 0.62446093,-0.01129241,-0.00367027, 0.78096579]

qacc:
[ 1.75933704e-01,-5.84942509e+00, 2.82336085e+01,-8.05182572e+01,
  7.43673073e-02,-6.20079307e+00, 2.95220054e+01,-6.86892394e+01,
 -9.94651163e-02, 1.05776995e+01,-1.37409759e+01,-5.37778545e+01,
 -7.93836782e-02, 3.34640134e-02, 1.00141486e+01,-3.47325838e+01,
 -1.38605338e+00, 1.09118244e+00,-2.16492431e+00,-5.63175949e+01,
  7.45393508e+01, 3.86265966e+00]

qfrc_actuator:
[ 2.67597577e-03, 9.53020392e-02, 1.00067710e-02, 8.87745013e-03,
  3.76986579e-05, 1.00527019e-01, 9.98092015e-03, 1.31174562e-02,
 -2.78309312e-03, 1.07903633e-01, 9.88439275e-03, 1.33419855e-02,
  0.00000000e+00,-1.71072192e-03, 0.00000000e+00,-2.24465777e-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, -4.06238067,  7.6212755 , -4.06238067, 40.95322514,
       17.22590837,  7.6212755 , 17.22590837, 17.81831713,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013607794861067307
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  4.0793642e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -4.0793642e-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([ 0.04769865, -0.11425303,  0.06187949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.48041379e-05,-1.17673861e-04,-1.01511621e-04,-2.54751046e-04,
  1.87010467e-05, 1.31791599e-04, 5.22236701e-05,-1.80130910e-04,
 -2.51335158e-05, 6.28876614e-04,-1.12914291e-04,-2.57468472e-04,
  2.24823520e-07,-8.89623710e-06,-2.27253960e-05,-1.75055027e-04,
  1.05574037e-05, 2.10706174e-06,-1.21644353e+00, 1.58397456e-03,
  5.46219038e-04, 2.95954117e-05]


--- Step 2078 ---
qpos:
[-0.01462586, 1.1211005 ,-0.02171333, 0.94173091, 0.00433714, 1.10902335,
 -0.02875763, 0.93530052, 0.01647706, 1.1418024 ,-0.02303257, 0.94368166,
  1.37403688,-0.00142793, 1.16653442, 0.06306789,-0.00360346,-0.09245327,
  0.08156217, 0.62447294,-0.01164669,-0.00402942, 0.78094921]

qacc:
[ 4.30264989e-02,-3.09695957e+00, 2.11335270e+01,-7.23984939e+01,
  7.23310504e-02,-1.33096742e+01, 5.00973455e+01,-9.42530041e+01,
  4.78857799e-02, 9.30386249e+00,-5.93006789e+00,-5.54418167e+01,
 -1.03996826e-01, 2.21107696e-01,-2.85744444e+00, 9.01716233e+00,
 -1.06978332e+00,-1.22770659e+00,-1.04350461e+00,-6.48846199e+01,
 -5.48485758e+01,-3.82632837e+00]

qfrc_actuator:
[ 2.66349496e-03, 9.54798307e-02, 9.98587404e-03, 8.65311547e-03,
  4.52279106e-05, 1.00281973e-01, 9.98452693e-03, 1.28826878e-02,
 -2.75768075e-03, 1.08686983e-01, 9.90862232e-03, 1.31255319e-02,
  0.00000000e+00,-1.69781730e-03, 0.00000000e+00,-2.19714941e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001335536622100772
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.15646792e-14,  4.15646792e-14,  1.00000000e+00, -1.72762256e-27,
        1.00000000e+00, -4.15646792e-14, -1.00000000e+00,  0.00000000e+00,
        4.15646792e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03575882, -0.06174848,  0.06188149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10546973e-05, 6.75485731e-05,-6.71000241e-05,-2.35398282e-04,
  1.79544508e-05,-1.87040038e-04, 2.53765721e-05,-2.31969258e-04,
  1.30292015e-05, 1.08143355e-03, 1.22220497e-04,-2.05248101e-04,
 -2.96006255e-06, 1.10576635e-05,-3.28948955e-05, 3.41679773e-05,
  2.04367162e-05,-3.62939573e-06,-1.21644844e+00, 1.58577824e-03,
  5.46548298e-04, 1.24206651e-05]


--- Step 2079 ---
qpos:
[-0.01463008, 1.12236008,-0.02172273, 0.9418619 , 0.00433781, 1.11037847,
 -0.02876394, 0.93551356, 0.01647903, 1.14331891,-0.02304793, 0.94390154,
  1.37411049,-0.00142816, 1.16670179, 0.0630618 ,-0.00361886,-0.09244878,
  0.08154694, 0.62448604,-0.01201174,-0.00418148, 0.7809324 ]

qacc:
[-2.83780988e-01,-1.52840802e+00, 8.22058968e+00,-2.86413573e+01,
 -1.25732323e-02,-1.55410365e+01, 5.18216718e+01,-8.73701121e+01,
  2.04288386e-02, 8.27201207e+00,-7.24820696e+00,-2.35539180e+01,
  3.94683849e-01,-5.69695009e-01,-1.28439469e+01, 4.34968807e+01,
  1.33518391e+00, 1.49700309e+00, 2.27741961e+00, 7.75059035e+01,
  6.88723014e+01, 7.32855256e-01]

qfrc_actuator:
[ 2.58637153e-03, 9.54014637e-02, 9.92429711e-03, 8.55689535e-03,
  3.16153287e-05, 9.98761648e-02, 9.97113996e-03, 1.26754776e-02,
 -2.76101887e-03, 1.09312093e-01, 9.98388626e-03, 1.30339928e-02,
  0.00000000e+00,-1.70787998e-03, 0.00000000e+00,-1.98754450e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00132447512738635
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.57169291e-14,  8.38236220e-14,  1.00000000e+00,  1.31744993e-27,
        1.00000000e+00, -8.38236220e-14, -1.00000000e+00,  0.00000000e+00,
       -1.57169291e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03616179, -0.11915971,  0.0618823 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.24590539e-05,-7.88024625e-05,-6.70545240e-05,-1.00289879e-04,
 -3.62109668e-06,-5.30970048e-04,-5.86070628e-05,-2.16024279e-04,
  5.81849461e-06, 1.22105160e-03, 2.90048945e-04,-5.87125341e-05,
  4.52228232e-07,-7.46810195e-06,-1.28578104e-05, 2.06959446e-04,
  3.91719319e-05, 5.07632284e-06,-1.21645266e+00, 1.58526694e-03,
  5.47333434e-04, 2.41038118e-05]


--- Step 2080 ---
qpos:
[-0.01463475, 1.12361606,-0.02173153, 0.94199268, 0.0043384 , 1.11172673,
 -0.02876937, 0.93572239, 0.01648054, 1.1448423 ,-0.02306203, 0.94411955,
  1.37418411,-0.0014285 , 1.16686927, 0.06305623,-0.00362937,-0.09243874,
  0.08153711, 0.62450031,-0.01238666,-0.00414268, 0.78091535]

qacc:
[-1.97752916e-01,-6.69707345e+00, 1.65612576e+01,-1.45529762e+01,
 -3.91094390e-02,-1.86228635e+01, 5.86764110e+01,-9.58137549e+01,
 -1.97359110e-01, 2.41493808e+00, 6.85589868e+00,-3.19465620e+01,
  1.13095681e-01,-2.07453247e-01,-1.37140460e+00, 5.02484481e+00,
  1.22081059e+00, 1.38863501e+00, 1.35010173e+00, 7.14526296e+01,
  6.34528566e+01, 6.31606114e-01]

qfrc_actuator:
[ 2.57767296e-03, 9.50461193e-02, 9.89160229e-03, 8.53665674e-03,
  2.31969695e-05, 9.93595520e-02, 9.94718007e-03, 1.24505014e-02,
 -2.81709438e-03, 1.09482977e-01, 9.98168993e-03, 1.29278503e-02,
  0.00000000e+00,-1.71375911e-03, 0.00000000e+00,-1.96822422e-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,   6.78464147,   5.34372689,   6.78464147,
        38.36867196, -37.74950632,   5.34372689, -37.74950632,
        56.56487333,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013598654689550571
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.08210610e-14,  1.22463183e-13,  1.00000000e+00,  4.99907706e-27,
        1.00000000e+00, -1.22463183e-13, -1.00000000e+00,  0.00000000e+00,
       -4.08210610e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03610897, -0.11911398,  0.06187926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.08242292e-05,-4.32591632e-04,-6.27742573e-05,-2.55430085e-05,
 -1.04738803e-05,-8.47912118e-04,-1.45579816e-04,-2.46270128e-04,
 -5.09697107e-05, 8.81253644e-04, 2.63309189e-04,-6.08170663e-05,
 -1.47468447e-06,-7.79521147e-06, 1.55629880e-05, 2.88573257e-05,
  1.74686059e-05,-4.55632456e-06,-1.21644841e+00, 1.58760675e-03,
  5.46897459e-04, 1.23395557e-05]


--- Step 2081 ---
qpos:
[-0.01463924, 1.12486583,-0.02173931, 0.9421214 , 0.00433888, 1.11306699,
 -0.02877409, 0.9359267 , 0.01648169, 1.14636812,-0.02307434, 0.94433224,
  1.37425781,-0.00142917, 1.16703658, 0.06305262,-0.00363538,-0.0924235 ,
  0.08152956, 0.62451572,-0.01277071,-0.00392647, 0.78089795]

qacc:
[ 8.06905454e-02,-1.44651633e+01, 4.15904993e+01,-5.62259598e+01,
 -4.14139096e-02,-2.01632963e+01, 6.25186846e+01,-1.01985963e+02,
 -1.65801044e-01,-1.08390873e+01, 5.00943951e+01,-1.06788661e+02,
  4.28994272e-01,-7.39376638e-01,-6.22214952e+00, 2.13129447e+01,
  1.12622500e+00, 1.29847426e+00, 5.69344752e-01, 6.64278050e+01,
  5.89622317e+01, 5.66638274e-01]

qfrc_actuator:
[ 2.62784571e-03, 9.45634698e-02, 9.87514943e-03, 8.41906540e-03,
  1.79677206e-05, 9.88871983e-02, 9.95219685e-03, 1.22167596e-02,
 -2.83332768e-03, 1.09291569e-01, 9.94975390e-03, 1.26360605e-02,
  0.00000000e+00,-1.73484143e-03, 0.00000000e+00,-1.86594375e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013732943632556657
  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([-0.03608921, -0.11909571,  0.06187809])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.01372076e-05,-7.52392486e-04,-1.12986851e-04,-1.31602113e-04,
 -1.11301455e-05,-9.96813537e-04,-1.89412139e-04,-2.67857309e-04,
 -4.31914937e-05, 3.25689443e-04, 1.64025337e-04,-2.57427788e-04,
 -2.61914745e-06,-2.35207342e-05, 6.38233160e-06, 1.04978492e-04,
  4.51599385e-06,-3.71388700e-06,-1.21644819e+00, 1.59000254e-03,
  5.45855037e-04, 1.38703462e-05]


--- Step 2082 ---
qpos:
[-0.01464352, 1.12610877,-0.02174674, 0.94224681, 0.00433913, 1.11439813,
 -0.02877791, 0.93612674, 0.01648255, 1.14789261,-0.02308415, 0.94454047,
  1.37433169,-0.00143059, 1.16720366, 0.06305193,-0.00363635,-0.09241284,
  0.08153087, 0.62453017,-0.01297743,-0.00371965, 0.78088399]

qacc:
[ 9.48351491e-02,-1.57020563e+01, 4.72276403e+01,-7.54549419e+01,
 -1.04889241e-01,-2.17425473e+01, 6.53792234e+01,-1.00847699e+02,
 -1.23883141e-01,-1.62339028e+01, 6.00102722e+01,-1.03177655e+02,
  8.76588842e-01,-1.56214142e+00,-9.24147216e+00, 3.16499188e+01,
  1.26139810e+00,-1.14437370e+00, 2.21509892e+00, 5.17023873e+01,
 -7.21950866e+01, 1.03683789e+00]

qfrc_actuator:
[ 2.64188562e-03, 9.41682512e-02, 9.86778043e-03, 8.24499455e-03,
 -3.05862556e-06, 9.83742778e-02, 9.97442646e-03, 1.19975020e-02,
 -2.84329905e-03, 1.08991007e-01, 9.98770613e-03, 1.23968543e-02,
  0.00000000e+00,-1.78253301e-03, 0.00000000e+00,-1.71554716e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013723880388461715
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.02242914e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.02242914e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03214054, -0.07732263,  0.06187812])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.37705494e-05,-8.54738111e-04,-1.75252356e-04,-2.01571800e-04,
 -2.73066701e-05,-1.12883439e-03,-2.06933601e-04,-2.59654919e-04,
 -3.25909566e-05,-1.16081674e-04, 1.08201123e-04,-2.28889312e-04,
 -6.89628475e-06,-5.46650165e-05, 1.15841862e-05, 1.56367474e-04,
 -1.44714712e-06, 5.42120381e-06,-1.21645118e+00, 1.59242489e-03,
  5.44307662e-04, 2.59700971e-05]


--- Step 2083 ---
qpos:
[-0.01464776, 1.12734557,-0.02175419, 0.94236845, 0.00433913, 1.11571884,
 -0.02878115, 0.9363238 , 0.01648321, 1.14941291,-0.02309221, 0.94474559,
  1.37440545,-0.00143206, 1.16737067, 0.06305372,-0.00363258,-0.09240642,
  0.08153775, 0.62454383,-0.01301909,-0.00352162, 0.7808733 ]

qacc:
[ 1.75109800e-02,-1.45418795e+01, 4.54418929e+01,-7.94515071e+01,
 -1.06965846e-01,-2.03908282e+01, 5.61877852e+01,-7.69946789e+01,
 -8.59784063e-02,-1.56243940e+01, 5.07158233e+01,-7.76246084e+01,
  9.73089844e-02,-1.93267160e-01,-7.59677710e+00, 2.64002612e+01,
  1.18358816e+00,-1.06123556e+00, 1.39384506e+00, 4.81138928e+01,
 -6.72104280e+01, 9.67160167e-01]

qfrc_actuator:
[ 2.63414286e-03, 9.39173650e-02, 9.88386912e-03, 8.05687927e-03,
 -1.56293796e-05, 9.77703235e-02, 9.97099518e-03, 1.18417500e-02,
 -2.84945578e-03, 1.08574473e-01, 9.99514541e-03, 1.22259770e-02,
  0.00000000e+00,-1.77461591e-03, 0.00000000e+00,-1.59128133e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013823604305683163
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00391964e-14,  4.01567855e-14,  1.00000000e+00,  4.03141855e-28,
        1.00000000e+00, -4.01567855e-14, -1.00000000e+00,  0.00000000e+00,
       -1.00391964e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03212647, -0.07732837,  0.0618773 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.03702443e-06,-7.81165522e-04,-1.80928461e-04,-2.22129669e-04,
 -2.78945548e-05,-1.29590551e-03,-2.60140665e-04,-2.00458469e-04,
 -2.28373773e-05,-4.86378163e-04,-1.41688646e-05,-1.74706093e-04,
 -1.63575820e-05,-8.55172378e-06, 1.98203056e-05, 1.33781818e-04,
 -2.87902759e-07, 6.26962574e-06,-1.21644509e+00, 1.58911128e-03,
  5.42973347e-04, 3.97043092e-05]


--- Step 2084 ---
qpos:
[-0.01465202, 1.12857825,-0.02176243, 0.94248711, 0.00433893, 1.11702898,
 -0.02878488, 0.93651825, 0.01648389, 1.15092753,-0.02309924, 0.94494796,
  1.37447894,-0.00143297, 1.16753781, 0.06305633,-0.00362829,-0.09240548,
  0.08155251, 0.62455959,-0.01295661,-0.00342344, 0.78086216]

qacc:
[-7.76803840e-03,-8.41284481e+00, 2.70193855e+01,-5.54273303e+01,
 -8.81910613e-02,-1.70060871e+01, 4.41590414e+01,-6.21070265e+01,
  1.21161495e-02,-1.49960506e+01, 4.55226149e+01,-6.78271731e+01,
 -5.51545733e-01, 9.83365793e-01,-2.22333412e+00, 8.19367853e+00,
  1.27750966e-01,-1.36886830e+00, 1.96939267e+00,-6.45337444e+00,
 -7.18335209e+01,-1.79228236e+00]

qfrc_actuator:
[ 2.63117247e-03, 9.38616351e-02, 9.89651369e-03, 7.91536680e-03,
 -2.30262405e-05, 9.72232320e-02, 9.93437595e-03, 1.17067672e-02,
 -2.83554323e-03, 1.08180511e-01, 1.00017796e-02, 1.20787789e-02,
  0.00000000e+00,-1.73374835e-03, 0.00000000e+00,-1.55442943e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001377485107131357
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.02989121e-14, -4.02989121e-14,  1.00000000e+00,  1.62400232e-27,
        1.00000000e+00,  4.02989121e-14, -1.00000000e+00,  0.00000000e+00,
        4.02989121e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00376841, -0.07076996,  0.06187774])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24215122e-06,-5.46911276e-04,-1.71204611e-04,-1.73977252e-04,
 -2.30686038e-05,-1.33988621e-03,-3.30289723e-04,-1.84923022e-04,
  2.69955812e-06,-6.90799140e-04,-9.96644908e-05,-1.64396373e-04,
 -1.03577906e-05, 3.45619637e-05, 2.01099691e-05, 4.59528787e-05,
  2.90756494e-06, 5.25570034e-06,-1.21644230e+00, 1.58670058e-03,
  5.42268430e-04, 4.34724254e-05]


--- Step 2085 ---
qpos:
[-0.01465615, 1.12981154,-0.02177282, 0.94260352, 0.00433843, 1.11832926,
 -0.02878878, 0.93670849, 0.01648483, 1.15243933,-0.0231067 , 0.9451472 ,
  1.37455239,-0.0014337 , 1.16770535, 0.0630567 ,-0.0036235 ,-0.09240973,
  0.08157243, 0.62457739,-0.01279603,-0.00341938, 0.7808506 ]

qacc:
[ 5.74328318e-02, 2.69684331e+00,-3.22291099e+00,-2.37260091e+01,
 -1.34903277e-01,-1.97264976e+01, 5.75077580e+01,-9.29069304e+01,
  1.11791688e-01,-7.93470252e+00, 2.78210068e+01,-5.87593716e+01,
 -3.23707050e-01, 5.25457297e-01, 7.35468807e+00,-2.48278487e+01,
  1.28020004e-01,-1.29664004e+00, 1.29160736e+00,-6.09974388e+00,
 -6.76887881e+01,-1.70771567e+00]

qfrc_actuator:
[ 2.64885892e-03, 9.42252233e-02, 9.90787217e-03, 7.82028011e-03,
 -4.50164643e-05, 9.68033245e-02, 9.94970171e-03, 1.14963035e-02,
 -2.80973206e-03, 1.08229330e-01, 1.00434566e-02, 1.19289074e-02,
  0.00000000e+00,-1.72695085e-03, 0.00000000e+00,-1.67587623e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013643964835101524
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.06854986e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.06854986e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00376839, -0.07075747,  0.06187891])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49161416e-05, 5.44161523e-06,-1.24127627e-04,-1.19155913e-04,
 -3.49754567e-05,-1.25008847e-03,-2.94427875e-04,-2.63433859e-04,
  2.90043921e-05,-3.77350217e-04,-1.13972622e-04,-1.75430370e-04,
  2.83814536e-06, 1.36381467e-05, 9.79748594e-06,-1.17353189e-04,
  2.22513179e-06, 6.54937861e-07,-1.21644055e+00, 1.58499737e-03,
  5.42458067e-04, 3.74475544e-05]


--- Step 2086 ---
qpos:
[-0.01465996, 1.13105039,-0.02178509, 0.94271675, 0.00433764, 1.11962084,
 -0.02879256, 0.93689463, 0.01648621, 1.15395299,-0.02311643, 0.94534141,
  1.37462593,-0.00143458, 1.16787266, 0.06305765,-0.00361823,-0.09242436,
  0.08159593, 0.62459654,-0.0125525 ,-0.00349412, 0.7808389 ]

qacc:
[  0.14165742,  6.8501742 , -7.05588565,-34.12363758, -0.12504618,
 -18.78385506, 56.00315838,-90.88313693,  0.19359289, -0.11787717,
  13.59711209,-71.13421478,  0.22169656, -0.35625842, -2.0634337 ,
   6.69370677,  0.12042591, -2.59507811,  0.89285992, -4.84804002,
 -56.98805036, -1.2126718 ]

qfrc_actuator:
[ 2.67879754e-03, 9.48905864e-02, 9.95563968e-03, 7.68251400e-03,
 -5.78246287e-05, 9.64809971e-02, 9.99606362e-03, 1.12964619e-02,
 -2.77701918e-03, 1.08631991e-01, 1.00362090e-02, 1.16901593e-02,
  0.00000000e+00,-1.74044503e-03, 0.00000000e+00,-1.64103662e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364e+00, -8.63622160e+00, -4.95313749e-02, -8.63622160e+00,
        8.63639378e+00, -5.25517085e-03, -4.95313749e-02, -5.25517085e-03,
        9.55264791e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.00146447522051761
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.        , -0.40355064,  0.91495731,  0.        ,  0.91495731,
        0.40355064, -1.        ,  0.        ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00376923, -0.07073397,  0.06188106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.68484450e-05, 6.23647602e-04, 2.72786061e-05,-1.42688209e-04,
 -3.24495798e-05,-1.09799485e-03,-2.43988788e-04,-2.50870639e-04,
  5.07978258e-05, 1.46843687e-04,-1.03548358e-04,-2.55640671e-04,
  4.32243497e-06,-8.91131121e-06,-1.30905217e-05, 2.85009081e-05,
  1.22882187e-06,-1.04836445e-06,-1.21644070e+00, 1.58336024e-03,
  5.42747340e-04, 3.24108141e-05]


--- Step 2087 ---
qpos:
[-0.01466375, 1.13229684,-0.02179846, 0.94282759, 0.00433694, 1.12090591,
 -0.02879714, 0.93707611, 0.01648771, 1.15546801,-0.02312528, 0.94553014,
  1.37469943,-0.00143532, 1.1680397 , 0.06306031,-0.00361686,-0.09244231,
  0.0816123 , 0.62461726,-0.01230239,-0.00372723, 0.78082522]

qacc:
[ 9.94515797e-03, 8.85110985e+00,-1.19241739e+01,-2.21023093e+01,
  4.12385499e-02,-1.43673062e+01, 4.62338577e+01,-9.03097231e+01,
  5.29119748e-02,-1.01014141e+01, 4.63156198e+01,-1.04811213e+02,
 -8.37592705e-04, 7.07537946e-02,-5.59160962e+00, 1.89833536e+01,
 -9.76631526e-01,-8.32110790e-01,-1.78287203e+00,-5.97771106e+01,
 -5.20146272e+01,-2.24033058e+00]

qfrc_actuator:
[ 2.66258633e-03, 9.54655359e-02, 9.97257601e-03, 7.57422018e-03,
 -2.95179717e-05, 9.63087699e-02, 1.00075657e-02, 1.10690516e-02,
 -2.79371208e-03, 1.08764073e-01, 1.01081168e-02, 1.14189781e-02,
  0.00000000e+00,-1.73034677e-03, 0.00000000e+00,-1.54983967e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364e+00, 8.63621172e+00, 5.12242692e-02, 8.63621172e+00,
       8.63633286e+00, 5.18874960e-03, 5.12242692e-02, 5.18874960e-03,
       7.76156072e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
       0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
       0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
       0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
       0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
       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: -0.0013130977904455068
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.22749559e-14,  4.22749559e-14,  1.00000000e+00,  1.78717190e-27,
        1.00000000e+00, -4.22749559e-14, -1.00000000e+00,  0.00000000e+00,
       -4.22749559e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03580871, -0.06174184,  0.06188342])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.06780507e-06, 9.04068733e-04, 1.33872246e-04,-9.08551152e-05,
  1.00795962e-05,-8.53303595e-04,-2.42908969e-04,-2.72083327e-04,
  1.37638462e-05, 1.65871219e-04, 7.69105778e-05,-2.74012209e-04,
 -1.99891295e-07, 8.93080586e-06,-5.26873497e-06, 9.05267239e-05,
  1.40754399e-07,-5.19177049e-07,-1.21644219e+00, 1.58200978e-03,
  5.43116304e-04, 2.84979924e-05]


--- Step 2088 ---
qpos:
[-0.0146676 , 1.13354943,-0.02181128, 0.94293772, 0.00433644, 1.12218645,
 -0.02880271, 0.93725366, 0.01648904, 1.15698072,-0.02313086, 0.94571403,
  1.37477281,-0.00143569, 1.16820663, 0.06306436,-0.00361924,-0.09246367,
  0.08162013, 0.6246398 ,-0.01204642,-0.00411158, 0.78080926]

qacc:
[-3.19705197e-02, 5.34758769e+00,-6.26415762e+00,-6.63987588e+00,
  9.04543673e-02,-1.00393464e+01, 3.37447452e+01,-7.22922204e+01,
 -7.05421087e-02,-2.02028181e+01, 7.21417957e+01,-1.17296058e+02,
 -2.54175500e-01, 5.35370619e-01,-4.32419575e+00, 1.49496930e+01,
 -9.37170890e-01,-8.51922898e-01,-2.13367055e+00,-5.72042228e+01,
 -4.95028953e+01,-2.36545654e+00]

qfrc_actuator:
[ 2.65435785e-03, 9.57334213e-02, 9.98875319e-03, 7.53735626e-03,
 -1.23079549e-05, 9.62456421e-02, 1.00167818e-02, 1.08805587e-02,
 -2.82215074e-03, 1.08467295e-01, 1.02075343e-02, 1.11663271e-02,
  0.00000000e+00,-1.70631682e-03, 0.00000000e+00,-1.47946559e-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, -8.6189832 , -0.54763623, -8.6189832 ,  8.6570481 ,
       -0.32554281, -0.54763623, -0.32554281, 13.75992531,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012788417636494243
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.34073650e-14,  4.34073650e-14,  1.00000000e+00,  1.88419934e-27,
        1.00000000e+00, -4.34073650e-14, -1.00000000e+00,  0.00000000e+00,
       -4.34073650e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03586938, -0.06170111,  0.06188637])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.91656113e-06, 7.74472512e-04, 2.01603767e-04,-6.71464557e-06,
  2.27922485e-05,-6.09108070e-04,-1.97761825e-04,-2.26252265e-04,
 -1.89409694e-05,-2.17665222e-04, 1.28159610e-04,-2.50047367e-04,
  1.89398201e-06, 2.64790191e-05, 4.95369081e-06, 7.41065399e-05,
 -1.41810485e-06, 7.81704481e-06,-1.21644442e+00, 1.58054104e-03,
  5.43884901e-04, 3.72950499e-05]


--- Step 2089 ---
qpos:
[-0.01467138, 1.13480547,-0.02182205, 0.94304638, 0.00433599, 1.12346214,
 -0.02880802, 0.9374279 , 0.01649015, 1.15848803,-0.02313437, 0.9458928 ,
  1.37484633,-0.00143629, 1.16837437, 0.06306252,-0.00361686,-0.09247926,
  0.08163048, 0.62466411,-0.01179872,-0.00431818, 0.78079248]

qacc:
[ 3.29642402e-02,-3.55426515e+00, 2.00631435e+01,-3.65520882e+01,
  2.25318412e-02,-1.27397002e+01, 4.07608751e+01,-7.08971019e+01,
 -9.91440854e-02,-2.15420830e+01, 7.21665780e+01,-1.18652674e+02,
 -1.52515894e-01, 9.18695889e-02, 1.89752396e+01,-6.46371893e+01,
  1.18765681e+00, 1.44500306e+00, 6.28880734e-01, 6.68182855e+01,
  5.87469400e+01, 1.47249754e-01]

qfrc_actuator:
[ 2.66875722e-03, 9.57622394e-02, 1.00387664e-02, 7.45386351e-03,
 -1.96558488e-05, 9.60355684e-02, 1.00428835e-02, 1.07165578e-02,
 -2.83964908e-03, 1.07951809e-01, 1.02141976e-02, 1.08908205e-02,
  0.00000000e+00,-1.72748603e-03, 0.00000000e+00,-1.79474529e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012813884120228547
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.33210966e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.33210966e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03624488, -0.11922003,  0.0618862 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.52120181e-06, 4.79473650e-04, 2.20293619e-04,-5.32619827e-05,
  5.37156059e-06,-6.10590289e-04,-1.26546766e-04,-1.92014412e-04,
 -2.65566280e-05,-6.37663168e-04,-3.29977757e-05,-2.82264918e-04,
  7.25741930e-06,-1.35391998e-05, 7.11233032e-06,-3.11314269e-04,
  1.49339960e-06, 2.17767675e-05,-1.21644870e+00, 1.57894556e-03,
  5.44644377e-04, 5.28879001e-05]


--- Step 2090 ---
qpos:
[-0.01467536, 1.13606351,-0.02183182, 0.94315273, 0.00433584, 1.12473264,
 -0.02881349, 0.93759925, 0.01649104, 1.15998792,-0.02313717, 0.94606718,
  1.37491994,-0.0014371 , 1.16854226, 0.06305594,-0.00361009,-0.09248947,
  0.08164072, 0.62469016,-0.01155871,-0.00435811, 0.780775  ]

qacc:
[-8.54364241e-02,-4.09653354e+00, 2.12730311e+01,-4.66763318e+01,
  1.35314702e-01,-1.13585356e+01, 3.48243995e+01,-6.06779347e+01,
 -9.01369663e-02,-1.92582772e+01, 6.00476595e+01,-9.85348383e+01,
 -1.09046277e-01, 3.36001906e-02, 1.45514608e+01,-5.05526624e+01,
  1.09980081e+00, 1.34170321e+00,-2.49694989e-02, 6.26761962e+01,
  5.50745200e+01, 9.69299967e-02]

qfrc_actuator:
[ 2.64335946e-03, 9.57366071e-02, 1.00363393e-02, 7.32566991e-03,
  1.15920989e-05, 9.57572051e-02, 1.00250058e-02, 1.05681987e-02,
 -2.85045246e-03, 1.07415639e-01, 1.01828484e-02, 1.06570745e-02,
  0.00000000e+00,-1.73980304e-03, 0.00000000e+00,-2.03290142e-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, -5.03556796,  7.01639738, -5.03556796, 49.43625637,
       29.28149898,  7.01639738, 29.28149898, 29.6512763 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012845626188223297
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.32140484e-14,  4.32140484e-14,  1.00000000e+00,  1.86745398e-27,
        1.00000000e+00, -4.32140484e-14, -1.00000000e+00,  0.00000000e+00,
       -4.32140484e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03624264, -0.11921834,  0.06188599])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.20505232e-05, 2.64104977e-04, 1.10929612e-04,-1.07292507e-04,
  3.42149811e-05,-6.64588737e-04,-1.61655618e-04,-1.73533095e-04,
 -2.42208234e-05,-9.23005381e-04,-1.72366654e-04,-2.58487646e-04,
 -2.85599968e-07,-1.37814969e-05,-3.65101246e-05,-2.55797307e-04,
 -1.51176360e-06, 6.00010536e-06,-1.21644358e+00, 1.57998706e-03,
  5.44589950e-04, 3.29291609e-05]


--- Step 2091 ---
qpos:
[-0.01467972, 1.13732171,-0.02184061, 0.94325656, 0.00433602, 1.12599831,
 -0.02881909, 0.93776817, 0.01649208, 1.16148102,-0.02314022, 0.94623813,
  1.37499356,-0.00143804, 1.16870921, 0.06305253,-0.00359921,-0.09249466,
  0.08164868, 0.6247179 ,-0.01132593,-0.00424052, 0.78075687]

qacc:
[-1.74363029e-01,-6.78459309e+00, 2.75532050e+01,-5.32680422e+01,
  1.48902908e-01,-1.01320883e+01, 3.04472554e+01,-5.16743089e+01,
  6.50168981e-02,-1.41841417e+01, 4.25167295e+01,-7.25029490e+01,
  3.54706971e-01,-5.36903034e-01,-1.10204610e+01, 3.64546739e+01,
  1.02771987e+00, 1.25708193e+00,-5.73682327e-01, 5.92425125e+01,
  5.20279834e+01, 6.19886528e-02]

qfrc_actuator:
[ 2.61207324e-03, 9.56251293e-02, 1.00381931e-02, 7.18985354e-03,
  3.02197570e-05, 9.55644302e-02, 1.00343156e-02, 1.04478863e-02,
 -2.82166268e-03, 1.07119776e-01, 1.01824885e-02, 1.04852188e-02,
  0.00000000e+00,-1.74674124e-03, 0.00000000e+00,-1.85077149e-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, -4.95724434,  7.07195202, -4.95724434, 58.46550945,
       34.92886408,  7.07195202, 34.92886408, 33.12053903,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012733620906289211
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.90434305e-14,  7.62897807e-14,  1.00000000e+00, -3.74151255e-27,
        1.00000000e+00, -7.62897807e-14, -1.00000000e+00,  0.00000000e+00,
        4.90434305e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0362616 , -0.11923384,  0.06188698])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.51572778e-05, 3.61274949e-05, 5.90553340e-05,-1.25805701e-04,
  3.77556346e-05,-6.15058736e-04,-1.48455224e-04,-1.47717861e-04,
  1.66574716e-05,-8.66896457e-04,-2.12269206e-04,-2.08630638e-04,
 -4.76119610e-06,-1.00384697e-05,-4.78863650e-05, 1.62577108e-04,
  1.06597709e-06,-1.48124129e-06,-1.21644158e+00, 1.58120783e-03,
  5.44002212e-04, 2.34420445e-05]


--- Step 2092 ---
qpos:
[-0.01468432, 1.13857746,-0.0218481 , 0.94335925, 0.00433649, 1.12725967,
 -0.02882401, 0.93793392, 0.01649321, 1.16296984,-0.02314422, 0.94640622,
  1.37506725,-0.00143932, 1.1688761 , 0.06304924,-0.00359134,-0.09249289,
  0.0816598 , 0.62474109,-0.01125071,-0.00404863, 0.78074042]

qacc:
[-9.92491419e-02,-8.73534728e+00, 2.69636057e+01,-3.53089726e+01,
  1.26560822e-01,-1.29343995e+01, 4.19509779e+01,-7.06001209e+01,
  3.90819142e-02,-7.99463476e+00, 2.51163137e+01,-5.21987888e+01,
  2.99441241e-01,-5.82298719e-01,-4.36440546e-01, 1.33135270e+00,
 -7.51164479e-01, 1.74055869e+00, 7.93569277e-01,-2.02319875e+01,
  8.46922381e+01, 3.05933645e+00]

qfrc_actuator:
[ 2.61303763e-03, 9.53389030e-02, 1.00422339e-02, 7.12159654e-03,
  4.11238678e-05, 9.54247134e-02, 1.00954827e-02, 1.02918348e-02,
 -2.82264492e-03, 1.07094705e-01, 1.02013956e-02, 1.03512925e-02,
  0.00000000e+00,-1.76820479e-03, 0.00000000e+00,-1.84855500e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012502506159311707
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90379012e-07,  4.44000191e-14,  1.00000000e+00,  4.39728470e-20,
        1.00000000e+00, -4.44000191e-14, -1.00000000e+00,  0.00000000e+00,
       -9.90379012e-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([ 0.01476286, -0.11633153,  0.06188895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.59350907e-05,-2.75382221e-04, 1.02268042e-05,-6.70003871e-05,
  3.20292110e-05,-5.31105249e-04,-8.46029631e-05,-1.80979443e-04,
  1.00580674e-05,-5.71207906e-04,-1.85062813e-04,-1.69044907e-04,
 -5.39800798e-06,-2.50246907e-05,-3.91818037e-06, 5.13150365e-06,
  8.30608396e-06,-2.04443772e-06,-1.21644219e+00, 1.58258049e-03,
  5.42950860e-04, 2.27086081e-05]


--- Step 2093 ---
qpos:
[-0.01468887, 1.13982829,-0.02185428, 0.9434616 , 0.00433732, 1.1285165 ,
 -0.02882898, 0.93809626, 0.01649439, 1.16445673,-0.02315009, 0.94657023,
  1.37514078,-0.00144034, 1.16904318, 0.06304397,-0.00358957,-0.0924859 ,
  0.08166354, 0.6247559 ,-0.01136903,-0.00385249, 0.78072784]

qacc:
[ 1.78182308e-02,-1.05861887e+01, 2.74459374e+01,-2.47075558e+01,
  1.64673902e-01,-1.16819787e+01, 3.80107245e+01,-6.99521033e+01,
  2.37523649e-02,-4.49942322e+00, 1.99487753e+01,-6.33637460e+01,
 -4.45214147e-01, 6.95817867e-01, 6.26820122e+00,-2.14165742e+01,
 -1.52786153e+00, 1.30212007e+00,-1.84791609e+00,-5.88390129e+01,
  7.68466208e+01, 4.89478268e+00]

qfrc_actuator:
[ 2.63334175e-03, 9.49326363e-02, 1.00468769e-02, 7.09351689e-03,
  6.50641422e-05, 9.51762201e-02, 1.00804804e-02, 1.01160489e-02,
 -2.82373829e-03, 1.07161304e-01, 1.01616498e-02, 1.01521531e-02,
  0.00000000e+00,-1.74486147e-03, 0.00000000e+00,-1.95248542e-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,  8.14749241,  2.86446231,  8.14749241, 11.43125424,
       -7.94960713,  2.86446231, -7.94960713, 31.24771503,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001253456782953015
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.2143225e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.2143225e-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([ 0.04792776, -0.11442963,  0.06188874])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.20742070e-06,-5.75421568e-04,-5.38788530e-05,-3.61847852e-05,
  4.18690250e-05,-5.81831636e-04,-1.38017833e-04,-1.97079982e-04,
  6.21350875e-06,-3.09352265e-04,-1.81622056e-04,-2.23739122e-04,
 -9.08675974e-06, 1.54853251e-05,-4.24857311e-06,-1.04846711e-04,
  6.55382965e-06, 3.42841868e-06,-1.21644197e+00, 1.58545120e-03,
  5.43121516e-04, 3.47373146e-05]


--- Step 2094 ---
qpos:
[-0.01469314, 1.14107522,-0.02185994, 0.94356108, 0.00433848, 1.12977092,
 -0.02883561, 0.93825445, 0.01649576, 1.16594396,-0.02315833, 0.94673078,
  1.37521438,-0.00144162, 1.16920976, 0.06304118,-0.00359358,-0.09247412,
  0.0816581 , 0.62476307,-0.01167044,-0.00365202, 0.78071862]

qacc:
[  0.12713312,-11.48826283, 37.1916743 ,-63.31844745,  0.1456127 ,
  -5.77116512, 23.5931348 ,-67.13905671,  0.08190881,  0.81384722,
   4.91703061,-44.53182393,  0.43281963, -0.70671846, -8.25376311,
  27.69498621, -1.44392184,  1.19987575, -2.29435001,-55.5326301 ,
  72.7868526 ,  4.41110612]

qfrc_actuator:
[ 2.66507674e-03, 9.47950791e-02, 1.00868481e-02, 6.94716352e-03,
  7.88746591e-05, 9.51839648e-02, 1.00379932e-02, 9.91218838e-03,
 -2.80714716e-03, 1.07353269e-01, 1.01057745e-02, 9.98726445e-03,
  0.00000000e+00,-1.76611466e-03, 0.00000000e+00,-1.81627902e-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, -8.51844076,  1.42230231, -8.51844076,  8.98405569,
        2.08239423,  1.42230231,  2.08239423, 21.10822118,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012424380315020078
  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([ 0.04795244, -0.11444518,  0.06188968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.26086897e-05,-4.84164102e-04,-8.35722766e-05,-1.64576526e-04,
  3.72655740e-05,-3.64492205e-04,-1.81959254e-04,-2.28625315e-04,
  2.17261399e-05,-4.00325103e-05,-1.47763127e-04,-1.82865883e-04,
 -1.68368015e-06,-1.89182858e-05,-1.74878554e-05, 1.28942494e-04,
  1.05154328e-06, 5.61518812e-06,-1.21644315e+00, 1.58713142e-03,
  5.43996965e-04, 3.69201353e-05]


--- Step 2095 ---
qpos:
[-0.01469724, 1.14232074,-0.0218662 , 0.94365651, 0.00433973, 1.13102681,
 -0.0288447 , 0.93840835, 0.01649718, 1.1674333 ,-0.0231681 , 0.94688863,
  1.37528792,-0.00144287, 1.16937595, 0.06304201,-0.00360241,-0.09246732,
  0.08165129, 0.62477373,-0.01196591,-0.00363631, 0.7807057 ]

qacc:
[ 7.65246794e-02,-7.26554153e+00, 2.97546081e+01,-7.19520384e+01,
  4.11388824e-02, 1.16495349e+00, 7.44282749e+00,-5.74424471e+01,
  2.01392604e-02, 2.26037519e+00, 1.49595102e+00,-3.39443741e+01,
  1.84803807e-01,-2.36653809e-01,-1.15165043e+01, 3.94186188e+01,
 -1.20421373e+00,-1.24604193e+00,-3.42144426e-01,-7.02608147e+01,
 -6.00006040e+01,-3.61013751e+00]

qfrc_actuator:
[ 2.66790271e-03, 9.48907139e-02, 1.01127919e-02, 6.75027635e-03,
  6.87484117e-05, 9.55404139e-02, 1.00161522e-02, 9.71132462e-03,
 -2.81560564e-03, 1.07636724e-01, 1.00947076e-02, 9.86169286e-03,
  0.00000000e+00,-1.76044087e-03, 0.00000000e+00,-1.62840619e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012561311871623002
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.41921607e-14,  4.41921607e-14,  1.00000000e+00,  1.95294706e-27,
        1.00000000e+00, -4.41921607e-14, -1.00000000e+00,  0.00000000e+00,
       -4.41921607e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03592557, -0.06169984,  0.0618885 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.97297128e-05,-2.10071459e-04,-8.69040402e-05,-2.16242279e-04,
  1.07706260e-05, 9.49778232e-05,-1.24688664e-04,-2.21106610e-04,
  5.50055143e-06, 2.08341387e-04,-4.52342963e-05,-1.33592245e-04,
 -5.56307019e-06, 2.90667309e-07, 4.64446309e-06, 1.92426332e-04,
 -1.36284077e-06, 5.21866295e-06,-1.21644710e+00, 1.58776613e-03,
  5.44471772e-04, 2.89820041e-05]


--- Step 2096 ---
qpos:
[-0.01470138, 1.14356614,-0.02187331, 0.94375048, 0.00434082, 1.13228471,
 -0.02885535, 0.93855959, 0.01649874, 1.16892625,-0.02317887, 0.94704257,
  1.37536116,-0.00144328, 1.16954211, 0.06304507,-0.00361573,-0.09246527,
  0.08164078, 0.62478785,-0.01225609,-0.00379385, 0.78068914]

qacc:
[-1.87962315e-02,-3.95526027e-01, 4.05761587e+00,-2.02830992e+01,
 -7.20798252e-02, 2.32306981e+00, 1.07685519e+00,-3.29355710e+01,
  6.29301257e-02, 7.26200137e-01, 1.12904149e+01,-5.71939486e+01,
 -6.63408629e-01, 1.29161481e+00,-6.71703642e+00, 2.35916899e+01,
 -1.12423648e+00,-1.18649972e+00,-9.23287077e-01,-6.59601564e+01,
 -5.61668176e+01,-3.53508762e+00]

qfrc_actuator:
[ 2.65338205e-03, 9.50010626e-02, 1.01134635e-02, 6.68516447e-03,
  4.43621387e-05, 9.57303664e-02, 9.97264723e-03, 9.58508945e-03,
 -2.80352330e-03, 1.07955399e-01, 1.00928979e-02, 9.67157887e-03,
  0.00000000e+00,-1.70330179e-03, 0.00000000e+00,-1.51818478e-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, -8.09183403, -3.01811182, -8.09183403, 12.32739455,
       -9.89599171, -3.01811182, -9.89599171, 35.16842316,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012572757090348122
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.41519317e-14,  4.41519317e-14,  1.00000000e+00,  1.94939307e-27,
        1.00000000e+00, -4.41519317e-14, -1.00000000e+00,  0.00000000e+00,
       -4.41519317e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03592396, -0.06170425,  0.06188837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.84811669e-06,-4.58947388e-05,-6.04766428e-05,-7.75904059e-05,
 -1.83285724e-05, 1.94156970e-04,-4.96727723e-05,-1.30788244e-04,
  1.68364462e-05, 4.02517059e-04, 2.57058854e-05,-1.86591545e-04,
 -2.61402621e-06, 5.58082458e-05, 2.08548150e-05, 1.20917377e-04,
  3.42037450e-06,-2.64469389e-06,-1.21644500e+00, 1.58732742e-03,
  5.45212345e-04, 2.04679970e-05]


--- Step 2097 ---
qpos:
[-0.01470562, 1.14481327,-0.02188146, 0.94384419, 0.0043417 , 1.13354342,
 -0.02886593, 0.93870889, 0.01650061, 1.17042348,-0.02318985, 0.94719228,
  1.37543445,-0.00144356, 1.16970832, 0.06304944,-0.00363329,-0.09246776,
  0.08162463, 0.62480536,-0.01254146,-0.00411511, 0.78066897]

qacc:
[-4.38283282e-02, 4.66621923e+00,-1.19249185e+01, 6.25132925e+00,
 -9.82072412e-02,-2.44909659e+00, 1.33387104e+01,-3.48330372e+01,
  1.33541492e-01,-1.16717597e+00, 1.92023199e+01,-6.83870266e+01,
  2.79125092e-02, 6.38831087e-02,-3.88732601e+00, 1.37169109e+01,
 -1.05738580e+00,-1.13593329e+00,-1.41266608e+00,-6.23891808e+01,
 -5.29885650e+01,-3.45824671e+00]

qfrc_actuator:
[ 2.64635144e-03, 9.52437903e-02, 1.01172164e-02, 6.68038927e-03,
  2.93896696e-05, 9.57482844e-02, 9.96949427e-03, 9.48593972e-03,
 -2.77923275e-03, 1.08257363e-01, 1.01144809e-02, 9.46276801e-03,
  0.00000000e+00,-1.70485750e-03, 0.00000000e+00,-1.45461646e-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,  -8.03029431,  -3.17823066,  -8.03029431,
        13.47728996, -12.23135362,  -3.17823066, -12.23135362,
        39.54078184,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001244377730099805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.46095666e-14,  4.46095666e-14,  1.00000000e+00,  1.99001343e-27,
        1.00000000e+00, -4.46095666e-14, -1.00000000e+00,  0.00000000e+00,
       -4.46095666e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03594574, -0.06168968,  0.06188941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12070011e-05, 1.86690211e-04,-1.81808434e-05,-8.36077581e-06,
 -2.52557138e-05, 9.44540842e-05, 2.13123096e-05,-9.64210534e-05,
  3.55009303e-05, 5.05508048e-04, 9.35700630e-05,-1.98661417e-04,
  1.21567065e-05, 1.27843887e-05, 1.87980178e-05, 7.20108876e-05,
  1.38055504e-05,-2.09077299e-06,-1.21644593e+00, 1.58656865e-03,
  5.46032826e-04, 2.20907692e-05]


--- Step 2098 ---
qpos:
[-0.0147101 , 1.14606337,-0.02189052, 0.94393564, 0.00434252, 1.13480502,
 -0.02887707, 0.93885433, 0.01650294, 1.17192321,-0.02319914, 0.94734013,
  1.37550771,-0.00144355, 1.16987476, 0.06305322,-0.00364568,-0.09246453,
  0.08161533, 0.62482384,-0.01283731,-0.00423864, 0.78064871]

qacc:
[-1.08329049e-01, 2.41731305e+00, 1.42082662e+00,-2.92706283e+01,
 -2.24740089e-02,-1.34200855e+00, 1.69322875e+01,-6.14012753e+01,
  2.01119808e-01,-4.47537730e+00, 2.23502841e+01,-4.24236531e+01,
 -2.70366052e-01, 5.29581803e-01, 2.14482381e+00,-6.96895572e+00,
  1.29109471e+00, 1.43109097e+00, 1.71386490e+00, 7.39115207e+01,
  6.58626103e+01, 8.51895610e-01]

qfrc_actuator:
[ 2.62613468e-03, 9.54931140e-02, 1.01056047e-02, 6.56918764e-03,
  3.79427521e-05, 9.60361731e-02, 9.98954984e-03, 9.29689287e-03,
 -2.74783562e-03, 1.08334163e-01, 1.01852010e-02, 9.36890466e-03,
  0.00000000e+00,-1.68800577e-03, 0.00000000e+00,-1.49002459e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012866422282484316
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.15721006e-14,  8.62884025e-14,  1.00000000e+00,  1.86142210e-27,
        1.00000000e+00, -8.62884025e-14, -1.00000000e+00,  0.00000000e+00,
       -2.15721006e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03624783, -0.11921579,  0.06188579])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.79657867e-05, 3.32319665e-04, 1.87965604e-05,-1.04997776e-04,
 -5.63574360e-06, 3.24250251e-04, 3.41241801e-05,-1.86436920e-04,
  5.32329885e-05, 3.50233993e-04, 1.70209466e-04,-7.89389520e-05,
  9.59650956e-06, 2.31372495e-05, 1.27374846e-05,-2.99097142e-05,
  2.88846648e-05, 5.48013745e-06,-1.21644936e+00, 1.58550250e-03,
  5.46958362e-04, 3.21393794e-05]


--- Step 2099 ---
qpos:
[-0.01471467, 1.14731595,-0.02189964, 0.94402473, 0.00434335, 1.1360728 ,
 -0.02888962, 0.93899683, 0.01650569, 1.17342392,-0.02320792, 0.94748699,
  1.37558091,-0.00144306, 1.17004143, 0.06305489,-0.00365333,-0.09245595,
  0.08160956, 0.62484339,-0.01314277,-0.00417898, 0.7806283 ]

qacc:
[-3.74662498e-02,-6.50811066e-01, 1.08836890e+01,-3.84275633e+01,
  4.86247954e-03, 6.90024498e+00,-6.61505479e+00,-3.23086509e+01,
  1.86987225e-01,-1.81215604e+00, 9.49870045e+00,-2.04837228e+01,
 -5.36622689e-01, 9.75873970e-01, 6.78340640e+00,-2.30962617e+01,
  1.18514736e+00, 1.33537047e+00, 8.81711933e-01, 6.85118690e+01,
  6.09882003e+01, 7.30956776e-01]

qfrc_actuator:
[ 2.63369646e-03, 9.56202141e-02, 1.01028032e-02, 6.44949044e-03,
  4.27756322e-05, 9.65901751e-02, 1.00063716e-02, 9.16310967e-03,
 -2.73020188e-03, 1.08258163e-01, 1.01593202e-02, 9.30781303e-03,
  0.00000000e+00,-1.66032276e-03, 0.00000000e+00,-1.60118900e-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,   6.5055615 ,   5.68018014,   6.5055615 ,
        36.43898023, -31.84258731,   5.68018014, -31.84258731,
        45.10596582,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001312305326744298
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.23004846e-14,  4.23004846e-14,  1.00000000e+00,  1.78933100e-27,
        1.00000000e+00, -4.23004846e-14, -1.00000000e+00,  0.00000000e+00,
       -4.23004846e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03621024, -0.11918238,  0.0618836 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.64242294e-06, 2.94980032e-04, 5.74442648e-05,-1.10305503e-04,
  1.68720891e-06, 7.17278942e-04, 7.46670718e-05,-1.25964642e-04,
  4.95553095e-05, 1.30187244e-04, 5.55268297e-05,-4.57514986e-05,
  1.03826915e-05, 3.63122881e-05,-1.69093175e-06,-1.12189622e-04,
  1.16211781e-05,-2.80633042e-06,-1.21644593e+00, 1.58810812e-03,
  5.46195686e-04, 2.20674543e-05]


--- Step 2100 ---
qpos:
[-0.01471909, 1.14856943,-0.02190812, 0.94411147, 0.00434406, 1.13734788,
 -0.02890248, 0.93913683, 0.01650862, 1.17492406,-0.02321701, 0.94763218,
  1.37565436,-0.00144299, 1.17020791, 0.06305656,-0.00365603,-0.0924519 ,
  0.08161136, 0.62486203,-0.01327548,-0.00412849, 0.7806114 ]

qacc:
[ 6.65822010e-02,-4.63746356e+00, 2.13482965e+01,-4.63074808e+01,
 -5.66555170e-02, 6.13753438e+00,-3.27279874e+00,-3.08710208e+01,
  8.04104152e-02,-2.77678142e+00, 1.15336458e+01,-2.88327538e+01,
  5.00590446e-01,-8.37013229e-01,-3.23493189e-01, 5.88278147e-01,
  1.23713678e+00,-1.12946606e+00, 1.89474092e+00, 5.03847742e+01,
 -7.03163708e+01, 1.03006589e+00]

qfrc_actuator:
[ 2.65786339e-03, 9.55845149e-02, 1.01048156e-02, 6.32570437e-03,
  2.75801611e-05, 9.70863466e-02, 1.00400832e-02, 9.04535478e-03,
 -2.73873026e-03, 1.08108769e-01, 1.00937457e-02, 9.21301998e-03,
  0.00000000e+00,-1.69745333e-03, 0.00000000e+00,-1.59627794e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013207495603266423
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.20300357e-14,  2.10150179e-14,  1.00000000e+00,  8.83261952e-28,
        1.00000000e+00, -2.10150179e-14, -1.00000000e+00,  0.00000000e+00,
       -4.20300357e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0322028 , -0.07729586,  0.06188286])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73069487e-05, 1.18946489e-04, 5.92105121e-05,-1.14493460e-04,
 -1.41965000e-05, 8.86629371e-04, 1.74863170e-04,-9.55143369e-05,
  2.12942276e-05,-8.62781935e-05,-3.92244500e-05,-8.85817924e-05,
  1.35407895e-05,-2.45706039e-05,-1.72089592e-05,-2.48198857e-06,
  2.09768114e-06,-1.55347208e-06,-1.21644614e+00, 1.59069469e-03,
  5.44919706e-04, 2.41092650e-05]


--- Step 2101 ---
qpos:
[-0.01472329, 1.149821  ,-0.02191551, 0.94419597, 0.00434462, 1.1386289 ,
 -0.02891445, 0.93927406, 0.01651177, 1.1764206 ,-0.02322466, 0.94777706,
  1.37572802,-0.00144356, 1.17037438, 0.06305723,-0.00365407,-0.09245204,
  0.08161769, 0.6248799 ,-0.01324683,-0.00408666, 0.7805978 ]

qacc:
[  0.0950013 , -9.33156403, 32.02219813,-52.73679495, -0.06774983,
   0.64726997, 13.0244715 ,-47.20298762,  0.09556772, -9.19255809,
  24.91774359,-23.11970044,  0.54302659, -1.03536018,  2.94035763,
 -10.41259218,  1.1645234 , -1.04983049,  1.13091877, 47.04292229,
 -65.71491797,  0.94168062]

qfrc_actuator:
[ 2.67404009e-03, 9.53097018e-02, 1.00912698e-02, 6.20038859e-03,
  1.82537408e-05, 9.73312084e-02, 1.00656454e-02, 8.90245277e-03,
 -2.72737814e-03, 1.07774467e-01, 1.01114781e-02, 9.18782282e-03,
  0.00000000e+00,-1.73725520e-03, 0.00000000e+00,-1.64724910e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013272510023622855
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.09120773e-14,  8.36483094e-14,  1.00000000e+00,  1.74925992e-27,
        1.00000000e+00, -8.36483094e-14, -1.00000000e+00,  0.00000000e+00,
       -2.09120773e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03219344, -0.0772992 ,  0.06188233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.45369234e-05,-2.17275416e-04, 9.32743535e-06,-1.21315044e-04,
 -1.72557325e-05, 7.49503826e-04, 2.12153501e-04,-1.11914232e-04,
  2.50707562e-05,-4.10645525e-04,-1.02385768e-05,-2.91915370e-05,
  8.16619424e-07,-4.29785827e-05,-1.03171188e-05,-5.38441879e-05,
  2.23010447e-07, 2.00977801e-07,-1.21644158e+00, 1.58769909e-03,
  5.43629164e-04, 3.53544555e-05]


--- Step 2102 ---
qpos:
[-0.01472729, 1.15106717,-0.02192106, 0.9442793 , 0.00434489, 1.13991375,
 -0.0289248 , 0.93940869, 0.0165151 , 1.17791019,-0.02322891, 0.9479197 ,
  1.37580151,-0.00144381, 1.17054102, 0.06305525,-0.0036477 ,-0.09245612,
  0.08162599, 0.62489708,-0.01306618,-0.00405305, 0.78058727]

qacc:
[  0.09261523,-14.07903939, 39.77386528,-44.7828447 , -0.12845093,
  -3.81040419, 23.9183287 ,-53.4802316 ,  0.08248476,-22.15288551,
  65.8200764 ,-78.73665161, -0.54276083,  0.84659034,  8.27874353,
 -28.48165247,  1.10409579, -0.98471312,  0.49076375, 44.28118445,
 -61.90878864,  0.86266235]

qfrc_actuator:
[ 2.68529948e-03, 9.48228556e-02, 1.01031990e-02, 6.12825289e-03,
 -5.22736782e-06, 9.74059751e-02, 1.01029893e-02, 8.76347613e-03,
 -2.72195636e-03, 1.07243731e-01, 1.02130753e-02, 9.06168791e-03,
  0.00000000e+00,-1.70727096e-03, 0.00000000e+00,-1.78401966e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001318442317293854
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05258968e-14,  8.42071746e-14,  1.00000000e+00,  8.86356033e-28,
        1.00000000e+00, -8.42071746e-14, -1.00000000e+00,  0.00000000e+00,
       -1.05258968e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03220481, -0.07729272,  0.0618831 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.36950663e-05,-6.25164571e-04,-3.67882677e-05,-7.97815263e-05,
 -3.31458658e-05, 5.10316619e-04, 2.00857926e-04,-1.11395346e-04,
  2.12675008e-05,-7.78902056e-04, 1.53240577e-05,-1.37539349e-04,
 -1.02908600e-05, 1.88303954e-05,-1.35281600e-05,-1.41769226e-04,
  4.95527320e-07, 1.15199795e-07,-1.21644007e+00, 1.58555285e-03,
  5.42951080e-04, 3.72178321e-05]


--- Step 2103 ---
qpos:
[-0.01473111, 1.15230751,-0.02192595, 0.94436091, 0.00434503, 1.14120176,
 -0.02893444, 0.9395404 , 0.01651827, 1.17939647,-0.02323336, 0.9480579 ,
  1.3758748 ,-0.00144349, 1.17070733, 0.06305365,-0.00363711,-0.09246393,
  0.0816341 , 0.62491361,-0.0127413 ,-0.00402729, 0.78057954]

qacc:
[ 7.88619370e-02,-1.24487384e+01, 3.48964344e+01,-4.67426438e+01,
 -5.79334127e-02,-2.76878016e+00, 2.00748695e+01,-5.33628163e+01,
 -7.44378206e-02,-1.14880221e+01, 4.12757163e+01,-8.52228047e+01,
 -5.03418425e-01, 9.50655378e-01,-1.56329238e+00, 4.85678876e+00,
  1.05385689e+00,-9.31550818e-01,-4.50336833e-02, 4.20021521e+01,
 -5.87656361e+01, 7.90863431e-01]

qfrc_actuator:
[ 2.69353005e-03, 9.44793314e-02, 1.01114727e-02, 6.03458328e-03,
 -1.49716984e-06, 9.75026726e-02, 1.01108047e-02, 8.61004631e-03,
 -2.75565207e-03, 1.07256753e-01, 1.02559431e-02, 8.84152489e-03,
  0.00000000e+00,-1.67161876e-03, 0.00000000e+00,-1.75719227e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012975116239360152
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.27827776e-14,  4.27827776e-14,  1.00000000e+00,  1.83036606e-27,
        1.00000000e+00, -4.27827776e-14, -1.00000000e+00,  0.00000000e+00,
       -4.27827776e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03223249, -0.07727852,  0.06188489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.01781287e-05,-7.15100470e-04,-1.24177660e-04,-1.13865314e-04,
 -1.49056924e-05, 3.97719841e-04, 1.23251425e-04,-1.33359138e-04,
 -2.00464649e-05,-4.36920501e-04,-1.15611753e-04,-2.44281766e-04,
 -1.73080589e-06, 3.87005383e-05,-2.56070187e-05, 1.63619464e-05,
  2.53475503e-06,-1.48902545e-06,-1.21644106e+00, 1.58408972e-03,
  5.42790589e-04, 3.12810973e-05]


--- Step 2104 ---
qpos:
[-0.01473494, 1.15354335,-0.02193096, 0.94444071, 0.00434543, 1.14249139,
 -0.02894352, 0.93967012, 0.01652101, 1.18088733,-0.02324126, 0.94819258,
  1.3759481 ,-0.00144302, 1.17087354, 0.06305166,-0.00362256,-0.09246709,
  0.08163914, 0.6249313 ,-0.01242417,-0.00384654, 0.7805714 ]

qacc:
[-4.35021784e-03,-8.69044566e+00, 2.49324969e+01,-3.98536257e+01,
  1.13388463e-01,-2.80410147e+00, 1.58552834e+01,-3.80245853e+01,
 -1.85708816e-01, 9.26673455e+00,-1.58154488e+01,-2.98462023e+01,
 -1.19362146e-01, 2.59380151e-01, 1.03385963e+00,-3.78980606e+00,
  9.88252291e-01, 1.16142197e+00,-7.68696209e-01, 5.80768769e+01,
  5.14527655e+01, 4.16020834e-01]

qfrc_actuator:
[ 2.68213863e-03, 9.43486690e-02, 1.01357468e-02, 5.94677202e-03,
  3.62690437e-05, 9.74874130e-02, 1.01011734e-02, 8.50255886e-03,
 -2.79478395e-03, 1.08003486e-01, 1.02658093e-02, 8.69231837e-03,
  0.00000000e+00,-1.66844968e-03, 0.00000000e+00,-1.77618130e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012733360431578175
  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([-0.03627606, -0.11922716,  0.06188695])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.42303750e-06,-5.69978599e-04,-1.36684204e-04,-1.14047585e-04,
  2.93938861e-05, 2.07615983e-04, 7.42856628e-05,-9.35872139e-05,
 -4.90273205e-05, 4.57216528e-04,-9.98071357e-05,-1.69479673e-04,
  7.71169152e-06, 1.35134469e-05,-1.21395889e-05,-2.18615751e-05,
  6.06175268e-06,-4.37566731e-06,-1.21644416e+00, 1.58318304e-03,
  5.43075931e-04, 1.86991514e-05]


--- Step 2105 ---
qpos:
[-0.01473869, 1.15477508,-0.02193575, 0.94452055, 0.00434601, 1.14378026,
 -0.02895148, 0.93979637, 0.01652346, 1.1823857 ,-0.0232508 , 0.94832477,
  1.37602143,-0.00144246, 1.17103921, 0.06305312,-0.0036055 ,-0.09247015,
  0.08165131, 0.62494911,-0.01205671,-0.00362421, 0.78056397]

qacc:
[ 4.00379080e-02,-5.96032411e+00, 1.28700678e+01,-8.32996974e+00,
  8.24077522e-02,-9.95755255e+00, 3.84602977e+01,-7.32134431e+01,
 -1.25419555e-01, 9.98181222e+00,-1.56372626e+01,-1.97415400e+01,
  2.23075780e-01,-2.30302720e-01,-1.12390268e+01, 3.80997131e+01,
  6.29880213e-01, 2.50926831e-02, 1.78325037e+00, 3.19564559e+01,
 -6.64931056e+00, 3.36249920e-01]

qfrc_actuator:
[ 2.69459645e-03, 9.42046915e-02, 1.01701454e-02, 5.95201151e-03,
  4.08648234e-05, 9.72987337e-02, 1.00986916e-02, 8.31636768e-03,
 -2.80135410e-03, 1.08669055e-01, 1.02947179e-02, 8.58654431e-03,
  0.00000000e+00,-1.66683440e-03, 0.00000000e+00,-1.59127031e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012467539243791687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.31675037e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.31675037e-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([-0.01902544, -0.09346047,  0.0618892 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02218864e-05,-5.05371578e-04,-9.95918873e-05,-1.70445487e-05,
  2.11813334e-05,-7.93203654e-05, 3.98412818e-05,-1.78521178e-04,
 -3.29547376e-05, 8.75922904e-04, 9.79644633e-05,-9.72712886e-05,
  6.79937679e-06, 7.33955283e-06,-1.08131854e-05, 1.81483450e-04,
  1.70641638e-05,-3.01846683e-06,-1.21644549e+00, 1.58359324e-03,
  5.42432639e-04, 2.02856341e-05]


--- Step 2106 ---
qpos:
[-0.01474231, 1.1560021 ,-0.02193989, 0.94459918, 0.00434656, 1.14506535,
 -0.028958  , 0.93992074, 0.01652588, 1.18389036,-0.0232601 , 0.94845402,
  1.37609478,-0.00144186, 1.17120447, 0.06305909,-0.00359331,-0.0924783 ,
  0.08166214, 0.62497054,-0.01168359,-0.00358648, 0.78055266]

qacc:
[ 5.20501967e-02,-1.00346373e+01, 2.77210881e+01,-3.50366313e+01,
 -1.16835839e-02,-1.20834904e+01, 3.73543274e+01,-5.20519982e+01,
 -1.67824731e-02, 2.56162988e+00, 7.61656375e+00,-4.46462637e+01,
  3.01338801e-01,-3.54961118e-01,-1.42359609e+01, 4.88897104e+01,
 -1.21797660e+00,-1.27171584e+00,-3.35523896e-01,-7.02665861e+01,
 -5.98647376e+01,-3.74613592e+00]

qfrc_actuator:
[ 2.70351500e-03, 9.39476316e-02, 1.01925688e-02, 5.88770125e-03,
  2.55272964e-05, 9.69189688e-02, 1.00997132e-02, 8.20948764e-03,
 -2.78835632e-03, 1.08961622e-01, 1.02991031e-02, 8.43618414e-03,
  0.00000000e+00,-1.66613397e-03, 0.00000000e+00,-1.35870839e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001256005308979527
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.41965896e-14, -2.20982948e-14,  1.00000000e+00, -9.76669268e-28,
        1.00000000e+00,  2.20982948e-14, -1.00000000e+00,  0.00000000e+00,
       -4.41965896e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03593948, -0.06172576,  0.06188848])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.32896873e-05,-5.72440792e-04,-9.18237628e-05,-8.13269688e-05,
 -3.39550855e-06,-4.38409808e-04,-1.92111911e-05,-1.10816649e-04,
 -4.19922024e-06, 7.75319887e-04, 1.79891496e-04,-1.21937211e-04,
  5.34998806e-06, 4.29151406e-06, 1.34096297e-05, 2.40856368e-04,
  2.42310203e-05,-3.57187263e-06,-1.21644782e+00, 1.58316643e-03,
  5.42419051e-04, 1.49463222e-05]


--- Step 2107 ---
qpos:
[-0.01474614, 1.15722409,-0.02194352, 0.94467547, 0.00434701, 1.14634332,
 -0.02896223, 0.94004383, 0.0165282 , 1.18539942,-0.02326909, 0.948581  ,
  1.37616815,-0.00144125, 1.17137053, 0.06306144,-0.00358567,-0.09249128,
  0.0816693 , 0.62499551,-0.01130527,-0.00372195, 0.7805376 ]

qacc:
[-8.50026120e-02,-1.20462928e+01, 3.61415238e+01,-5.55998937e+01,
 -4.13271059e-02,-1.76854679e+01, 4.90338968e+01,-5.28528750e+01,
 -4.44354205e-02, 1.00228201e+00, 8.29456195e+00,-3.61032646e+01,
 -2.68049979e-01, 3.63859160e-01, 1.21344874e+01,-4.06959856e+01,
 -1.13654545e+00,-1.20763067e+00,-9.16019834e-01,-6.59531788e+01,
 -5.61228653e+01,-3.57561130e+00]

qfrc_actuator:
[ 2.67474245e-03, 9.36782183e-02, 1.02072810e-02, 5.76511779e-03,
  1.61221395e-05, 9.63568632e-02, 1.01375745e-02, 8.13225307e-03,
 -2.79925626e-03, 1.09064095e-01, 1.02698139e-02, 8.31379202e-03,
  0.00000000e+00,-1.66598047e-03, 0.00000000e+00,-1.56156705e-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,  -8.06416165,  -3.09128999,  -8.06416165,
        14.57633566, -15.4954387 ,  -3.09128999, -15.4954387 ,
        49.05888071,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012582225095774252
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.41187078e-14,  4.41187078e-14,  1.00000000e+00, -1.94646038e-27,
        1.00000000e+00, -4.41187078e-14, -1.00000000e+00,  0.00000000e+00,
        4.41187078e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0359379 , -0.06172979,  0.06188835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.26556542e-05,-6.22195606e-04,-1.13627801e-04,-1.42864708e-04,
 -1.13495742e-05,-8.28811924e-04,-5.73355396e-05,-9.21317119e-05,
 -1.16901170e-05, 5.44863842e-04, 1.35158368e-04,-9.51257660e-05,
  4.31850587e-06, 2.34870024e-06, 3.01664274e-05,-1.88384556e-04,
  8.51969858e-06,-5.91191401e-06,-1.21644535e+00, 1.58116487e-03,
  5.43197325e-04, 1.03163920e-05]


--- Step 2108 ---
qpos:
[-0.01475006, 1.15844096,-0.02194725, 0.94475079, 0.00434736, 1.14761255,
 -0.02896518, 0.94016355, 0.01653042, 1.18691204,-0.02327849, 0.94870568,
  1.37624165,-0.00144089, 1.17153726, 0.06305705,-0.00358446,-0.0924991 ,
  0.08167233, 0.62501236,-0.01114213,-0.00385155, 0.78052583]

qacc:
[-4.49883544e-02,-8.10783384e+00, 2.03040973e+01,-2.55952604e+01,
 -4.44542970e-02,-2.07450463e+01, 6.08100878e+01,-8.65836659e+01,
 -4.74110923e-02, 1.81694781e+00, 4.37633772e+00,-3.26347336e+01,
 -2.10780867e-01, 1.46468260e-01, 2.13826854e+01,-7.33200885e+01,
 -1.60931015e+00, 1.29138213e+00,-1.03441002e+00,-6.49926676e+01,
  8.57742121e+01, 4.63366362e+00]

qfrc_actuator:
[ 2.67687793e-03, 9.34213518e-02, 1.01995059e-02, 5.71572296e-03,
  1.03566672e-05, 9.57789768e-02, 1.01428641e-02, 7.94867037e-03,
 -2.80666361e-03, 1.09176161e-01, 1.02201361e-02, 8.19092058e-03,
  0.00000000e+00,-1.68389429e-03, 0.00000000e+00,-1.91283178e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012481150530757185
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.44759889e-14,  8.89519778e-14,  1.00000000e+00, -3.95622718e-27,
        1.00000000e+00, -8.89519778e-14, -1.00000000e+00,  0.00000000e+00,
        4.44759889e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04792571, -0.11447913,  0.06188923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.21100420e-05,-6.43174643e-04,-1.50109721e-04,-7.32305168e-05,
 -1.22266327e-05,-1.06732314e-03,-1.70048283e-04,-2.10903213e-04,
 -1.24937159e-05, 4.19080019e-04, 6.54479176e-05,-1.03133261e-04,
  2.52024326e-06,-1.61015842e-05,-1.29546501e-05,-3.59263426e-04,
 -3.31445562e-07,-1.86787271e-07,-1.21644589e+00, 1.57882825e-03,
  5.44074321e-04, 1.54711930e-05]


--- Step 2109 ---
qpos:
[-0.01475419, 1.15965125,-0.02195043, 0.94482438, 0.00434746, 1.14887306,
 -0.02896849, 0.94028061, 0.01653269, 1.18842698,-0.02328727, 0.94882629,
  1.37631519,-0.00144073, 1.17170364, 0.06305081,-0.00358932,-0.09250212,
  0.08166893, 0.62502179,-0.01117996,-0.00397556, 0.78051711]

qacc:
[-8.62480873e-02,-1.31454738e+01, 3.60405258e+01,-4.75051043e+01,
 -1.06547255e-01,-1.50500604e+01, 4.08052680e+01,-6.09693897e+01,
  2.58197187e-02,-5.67738345e+00, 3.04864100e+01,-7.50849495e+01,
  6.98314380e-02,-1.97870843e-01, 4.99863143e+00,-1.82737263e+01,
 -1.51497511e+00, 1.19637456e+00,-1.60797439e+00,-6.06582373e+01,
  8.01526970e+01, 4.26370023e+00]

qfrc_actuator:
[ 2.66203973e-03, 9.30143386e-02, 1.01963954e-02, 5.62102481e-03,
 -1.09312781e-05, 9.53203592e-02, 1.01109396e-02, 7.81041171e-03,
 -2.79417580e-03, 1.09239814e-01, 1.02298462e-02, 7.97994386e-03,
  0.00000000e+00,-1.69463105e-03, 0.00000000e+00,-1.99351506e-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, -5.34628675,  6.78262448, -5.34628675, 34.55752496,
       20.4319083 ,  6.78262448, 20.4319083 , 24.74146293,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012596104049011556
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.61051437e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.61051437e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04789903, -0.11446941,  0.06188828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.31011656e-05,-8.09849634e-04,-1.51615787e-04,-1.18615257e-04,
 -2.82616668e-05,-1.10551042e-03,-2.70225960e-04,-1.78812974e-04,
  6.92916715e-06, 2.87260193e-04, 9.21028682e-05,-1.97198734e-04,
 -3.77073509e-06,-1.38670442e-05,-5.02749544e-05,-1.03381408e-04,
 -6.59361553e-07, 2.32390983e-06,-1.21644144e+00, 1.58199249e-03,
  5.44793452e-04, 3.06991967e-05]


--- Step 2110 ---
qpos:
[-0.01475835, 1.16085318,-0.02195278, 0.94489608, 0.00434731, 1.15012647,
 -0.02897236, 0.94039533, 0.01653491, 1.18994331,-0.02329595, 0.94894185,
  1.37638856,-0.00144017, 1.1718694 , 0.06304627,-0.00359991,-0.09250068,
  0.08165715, 0.62502436,-0.01140696,-0.00409421, 0.78051116]

qacc:
[-1.25702236e-02,-1.65112266e+01, 4.44482847e+01,-5.52434012e+01,
 -1.08600448e-01,-1.17830729e+01, 3.19812660e+01,-5.03363424e+01,
 -2.11273811e-02,-7.13438500e+00, 3.57219141e+01,-9.02289513e+01,
 -2.63373246e-01, 5.33955794e-01,-5.96220622e+00, 1.95950463e+01,
 -1.43492376e+00, 1.11806695e+00,-2.09227145e+00,-5.70544940e+01,
  7.54692475e+01, 3.95067317e+00]

qfrc_actuator:
[ 2.67265895e-03, 9.24852359e-02, 1.01954727e-02, 5.51806672e-03,
 -2.35988471e-05, 9.50965427e-02, 1.01288269e-02, 7.69998959e-03,
 -2.80537951e-03, 1.09238718e-01, 1.02033026e-02, 7.71879978e-03,
  0.00000000e+00,-1.66551716e-03, 0.00000000e+00,-1.89631171e-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, -5.46700375,  6.68570466, -5.46700375, 38.49180918,
       24.41325799,  6.68570466, 24.41325799, 28.59946098,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012547660512377476
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.42402400e-14,  2.21201200e-14,  1.00000000e+00,  9.78599417e-28,
        1.00000000e+00, -2.21201200e-14, -1.00000000e+00,  0.00000000e+00,
       -4.42402400e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04790832, -0.11447542,  0.06188867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.87979133e-06,-1.02565478e-03,-1.83483498e-04,-1.32943550e-04,
 -2.87054563e-05,-9.10304663e-04,-2.38303072e-04,-1.54324944e-04,
 -5.67109944e-06, 1.52039194e-04, 3.03687339e-05,-2.52684511e-04,
 -6.43850088e-06, 2.50432977e-05,-3.57765870e-05, 8.47219997e-05,
  2.35046816e-06, 1.69327551e-06,-1.21644079e+00, 1.58396065e-03,
  5.45190917e-04, 3.26421565e-05]


--- Step 2111 ---
qpos:
[-0.01476216, 1.16204492,-0.02195451, 0.9449662 , 0.00434727, 1.15137398,
 -0.02897674, 0.94050741, 0.0165369 , 1.19145941,-0.02330431, 0.94905562,
  1.37646176,-0.00143904, 1.17203502, 0.06304218,-0.00361597,-0.09249502,
  0.08163537, 0.62502045,-0.01181328,-0.00420769, 0.78050764]

qacc:
[ 1.54395683e-01,-1.77909408e+01, 4.51560816e+01,-5.13652894e+01,
  4.67070331e-02,-1.09464100e+01, 3.18404438e+01,-5.47237242e+01,
 -1.00517303e-01,-4.29021910e+00, 1.72476012e+01,-3.54908149e+01,
 -4.93983465e-01, 9.49609927e-01,-1.56907703e+00, 5.28040311e+00,
 -1.36653777e+00, 1.05326828e+00,-2.50120275e+00,-5.40590409e+01,
  7.15692068e+01, 3.68320864e+00]

qfrc_actuator:
[ 2.71621827e-03, 9.18517998e-02, 1.01776030e-02, 5.42873530e-03,
  4.51273038e-06, 9.49089718e-02, 1.01414516e-02, 7.57148952e-03,
 -2.83071412e-03, 1.09145520e-01, 1.01907949e-02, 7.62543238e-03,
  0.00000000e+00,-1.63075444e-03, 0.00000000e+00,-1.87268466e-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, -5.87348342,  6.33158506, -5.87348342, 41.02843953,
       30.04845061,  6.33158506, 30.04845061, 36.51075449,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012368591150913322
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.97614782e-14, -2.24403695e-14,  1.00000000e+00, -2.01428074e-27,
        1.00000000e+00,  2.24403695e-14, -1.00000000e+00,  0.00000000e+00,
       -8.97614782e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04794598, -0.11449386,  0.06189012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.99609952e-05,-1.25585871e-03,-2.46627106e-04,-1.27020807e-04,
  1.18290281e-05,-7.58927203e-04,-2.00974420e-04,-1.65035286e-04,
 -2.70202413e-05,-2.85316131e-05, 9.34143965e-06,-9.20211296e-05,
  2.02137257e-06, 4.02815700e-05,-8.27482585e-06, 2.34834091e-05,
  8.10291072e-06,-1.51778501e-06,-1.21644326e+00, 1.58498714e-03,
  5.45316624e-04, 2.37158439e-05]


--- Step 2112 ---
qpos:
[-0.01476555, 1.16322474,-0.02195558, 0.94503489, 0.00434744, 1.15261724,
 -0.02898243, 0.94061734, 0.01653864, 1.19297396,-0.02331166, 0.94916923,
  1.37653508,-0.00143802, 1.172201  , 0.0630347 ,-0.00362722,-0.09248339,
  0.0816189 , 0.62501856,-0.01222825,-0.00413085, 0.78050317]

qacc:
[ 1.87977843e-01,-1.99480194e+01, 4.91154089e+01,-5.19293380e+01,
  9.05918222e-02,-5.66910740e+00, 1.62041140e+01,-3.63324966e+01,
 -1.10372920e-01,-5.00977800e+00, 1.42331969e+01,-1.32666975e+01,
 -6.88522557e-02, 5.85959223e-02, 1.07764319e+01,-3.69056274e+01,
  1.20292586e+00, 1.49296776e+00, 1.32559655e+00, 7.15808308e+01,
  6.28620020e+01, 5.78507374e-02]

qfrc_actuator:
[ 2.74367029e-03, 9.11431733e-02, 1.01672054e-02, 5.34804023e-03,
  2.13339843e-05, 9.48157891e-02, 1.01155662e-02, 7.46890097e-03,
 -2.84657301e-03, 1.09015884e-01, 1.02219385e-02, 7.61373770e-03,
  0.00000000e+00,-1.64620161e-03, 0.00000000e+00,-2.05243085e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012706865681594223
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.18429755e-14,  1.31057853e-13,  1.00000000e+00,  2.86269348e-27,
        1.00000000e+00, -1.31057853e-13, -1.00000000e+00,  0.00000000e+00,
       -2.18429755e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03628966, -0.11922503,  0.06188718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.87385262e-05,-1.47036727e-03,-2.91124322e-04,-1.26966806e-04,
  2.34612638e-05,-5.73678671e-04,-2.05895666e-04,-1.33730816e-04,
 -2.97813868e-05,-1.64040804e-04, 2.00751483e-05,-1.25880635e-05,
  1.03086150e-05,-3.90717362e-06,-4.19393162e-06,-1.80175767e-04,
  1.61717817e-05,-6.90276676e-06,-1.21644838e+00, 1.58526197e-03,
  5.45209158e-04, 5.69107092e-06]


--- Step 2113 ---
qpos:
[-0.01476871, 1.16439176,-0.02195632, 0.9451029 , 0.00434765, 1.15385831,
 -0.02898953, 0.94072468, 0.01654031, 1.19448613,-0.02331833, 0.94928022,
  1.37660857,-0.00143739, 1.17236677, 0.06302647,-0.00363401,-0.09246624,
  0.08160464, 0.62501847,-0.01265138,-0.00387686, 0.7804978 ]

qacc:
[ 1.01961806e-01,-1.88856407e+01, 4.27551281e+01,-3.72051921e+01,
  2.08741917e-02,-3.53823825e+00, 1.33816040e+01,-4.02525295e+01,
 -2.83557087e-02,-9.48914313e+00, 3.24877678e+01,-5.70299140e+01,
  3.65133272e-01,-6.69168299e-01, 1.94085099e+00,-7.31994807e+00,
  1.11374106e+00, 1.38216666e+00, 5.55337472e-01, 6.65889220e+01,
  5.85541981e+01, 1.17364838e-01]

qfrc_actuator:
[ 2.74349073e-03, 9.04485075e-02, 1.01609952e-02, 5.30851144e-03,
  1.34863197e-05, 9.48687050e-02, 1.01031084e-02, 7.34691079e-03,
 -2.83887823e-03, 1.08830275e-01, 1.02252091e-02, 7.47260863e-03,
  0.00000000e+00,-1.67356516e-03, 0.00000000e+00,-2.08424449e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012881822757208339
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.30926215e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.30926215e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03626248, -0.11920324,  0.06188563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.61033028e-05,-1.58355376e-03,-3.33882349e-04,-9.35052029e-05,
  5.38712094e-06,-3.25000833e-04,-1.55829718e-04,-1.46986857e-04,
 -7.83151749e-06,-2.90377864e-04,-3.06854097e-05,-1.43880186e-04,
  3.76363288e-06,-2.56199807e-05,-2.58224012e-05,-4.32765838e-05,
  3.25932228e-06,-3.64708763e-06,-1.21644869e+00, 1.58638721e-03,
  5.44933076e-04, 1.02326967e-05]


--- Step 2114 ---
qpos:
[-0.01477174, 1.16554559,-0.02195691, 0.94516997, 0.00434784, 1.15509713,
 -0.02899645, 0.94082933, 0.01654199, 1.19599534,-0.02332405, 0.94938874,
  1.37668212,-0.00143706, 1.17253192, 0.06302156,-0.00363571,-0.0924484 ,
  0.08159972, 0.62501855,-0.01298275,-0.00353141, 0.78049394]

qacc:
[ 5.77978256e-02,-1.93221262e+01, 4.40439465e+01,-4.08906609e+01,
 -6.14275012e-03,-8.06310469e+00, 2.83329793e+01,-5.45601076e+01,
  4.71880480e-03,-1.07512765e+01, 3.54162426e+01,-5.75980170e+01,
  5.04119882e-01,-8.21184217e-01,-1.09940455e+01, 3.70152774e+01,
  1.27334345e+00, 1.69571548e-01, 2.33217514e+00, 6.43739962e+01,
 -7.23381994e+00, 8.04692365e-01]

qfrc_actuator:
[ 2.74451121e-03, 8.97678536e-02, 1.01573666e-02, 5.25800319e-03,
  8.66539404e-06, 9.48136629e-02, 1.01348207e-02, 7.21457630e-03,
 -2.83488982e-03, 1.08665809e-01, 1.02649410e-02, 7.34510590e-03,
  0.00000000e+00,-1.68999663e-03, 0.00000000e+00,-1.90430674e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012883144472675757
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.55725154e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.55725154e-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([-0.03410898, -0.09674913,  0.06188554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.44668507e-05,-1.63929444e-03,-3.57254304e-04,-1.08343932e-04,
 -1.79220586e-06,-2.85907205e-04,-5.76701578e-05,-1.48698600e-04,
  1.01134005e-06,-3.52872897e-04,-2.85213419e-05,-1.38542611e-04,
 -4.79432814e-06,-2.21395954e-05,-1.86339168e-05, 1.73766189e-04,
 -2.62671830e-06, 7.66082728e-06,-1.21645218e+00, 1.58773170e-03,
  5.44013446e-04, 2.50659635e-05]


--- Step 2115 ---
qpos:
[-0.01477485, 1.16668601,-0.02195773, 0.94523565, 0.004348  , 1.1563333 ,
 -0.02900234, 0.94093263, 0.01654355, 1.19750198,-0.02332941, 0.94949491,
  1.37675557,-0.00143668, 1.1726967 , 0.06302047,-0.00363671,-0.09243648,
  0.0816066 , 0.62502099,-0.01320124,-0.0032947 , 0.78048936]

qacc:
[-3.17474135e-02,-1.94539290e+01, 4.50988663e+01,-4.71924770e+01,
 -1.43064221e-02,-8.54299377e+00, 2.64350338e+01,-3.69099702e+01,
 -5.11396853e-02,-8.37742829e+00, 2.80164575e+01,-4.97915376e+01,
  1.62633008e-01,-2.02954679e-01,-1.20767077e+01, 4.14493717e+01,
  1.75249350e-01,-1.48006883e+00, 2.95098100e+00,-7.14173629e+00,
 -7.80242348e+01,-2.04943639e+00]

qfrc_actuator:
[ 2.72850860e-03, 8.90833691e-02, 1.01375901e-02, 5.18367139e-03,
  5.70396448e-06, 9.46947621e-02, 1.01920089e-02, 7.14819414e-03,
 -2.85092680e-03, 1.08568811e-01, 1.02904948e-02, 7.22668669e-03,
  0.00000000e+00,-1.68205534e-03, 0.00000000e+00,-1.70760867e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001313765764137692
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.22534616e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.22534616e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00374986, -0.0707474 ,  0.06188339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.14791023e-06,-1.67876054e-03,-3.87342276e-04,-1.34868831e-04,
 -3.99351703e-06,-3.08896359e-04,-1.33956145e-05,-7.87322962e-05,
 -1.39619892e-05,-3.19274641e-04,-5.44772019e-05,-1.31126003e-04,
 -7.86924039e-06, 8.50933344e-07, 9.40769883e-06, 2.03681776e-04,
 -1.36325961e-06, 1.73682089e-05,-1.21645144e+00, 1.58717808e-03,
  5.42788257e-04, 4.62567471e-05]


--- Step 2116 ---
qpos:
[-0.01477809, 1.16781282,-0.02195872, 0.94529962, 0.00434797, 1.15756734,
 -0.02900827, 0.94103333, 0.01654482, 1.19900629,-0.02333545, 0.94959926,
  1.37682879,-0.00143571, 1.17286111, 0.06302475,-0.00363704,-0.09243013,
  0.08162195, 0.62502573,-0.01331439,-0.00315948, 0.7804842 ]

qacc:
[-5.32820963e-02,-2.03577654e+01, 4.83375417e+01,-5.33397117e+01,
 -8.28152047e-02,-7.17192194e+00, 2.54071657e+01,-5.09546229e+01,
 -1.27426164e-01,-4.37538095e+00, 1.42845254e+01,-3.20946525e+01,
 -2.12493828e-01, 5.70806905e-01,-1.67559570e+01, 5.78681014e+01,
  1.65840561e-01,-1.38936564e+00, 2.11935203e+00,-6.67262855e+00,
 -7.28215109e+01,-1.92180810e+00]

qfrc_actuator:
[ 2.72019768e-03, 8.84020816e-02, 1.01261843e-02, 5.09589348e-03,
 -1.38693021e-05, 9.46098733e-02, 1.01925649e-02, 7.01459245e-03,
 -2.87885492e-03, 1.08459825e-01, 1.02544977e-02, 7.13232198e-03,
  0.00000000e+00,-1.64197251e-03, 0.00000000e+00,-1.43167179e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013216703833713733
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.40015059e-14,  4.20007529e-14,  1.00000000e+00, -3.52812649e-27,
        1.00000000e+00, -4.20007529e-14, -1.00000000e+00,  0.00000000e+00,
        8.40015059e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00374917, -0.07075514,  0.06188276])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.48606977e-05,-1.70386102e-03,-3.90839048e-04,-1.51001169e-04,
 -2.18544742e-05,-2.76730437e-04,-6.74002299e-05,-1.43720967e-04,
 -3.44427710e-05,-3.17433032e-04,-1.12170634e-04,-1.06661098e-04,
 -3.59710643e-06, 3.82783946e-05, 2.41016063e-05, 2.87835952e-04,
 -4.33234489e-07, 8.17991996e-06,-1.21644533e+00, 1.58647978e-03,
  5.42600977e-04, 4.27265981e-05]


--- Step 2117 ---
qpos:
[-0.01478129, 1.1689258 ,-0.02195981, 0.94536208, 0.00434774, 1.15879931,
 -0.02901426, 0.94113202, 0.01654594, 1.20050784,-0.02334154, 0.94970205,
  1.376902  ,-0.00143455, 1.17302549, 0.06303299,-0.00363674,-0.09242903,
  0.08164301, 0.62503269,-0.0133284 ,-0.00311979, 0.78047855]

qacc:
[ 1.94916974e-02,-2.05339524e+01, 4.81496476e+01,-5.07513216e+01,
 -9.10541522e-02,-5.97300180e+00, 2.03701987e+01,-3.97871615e+01,
 -6.46663688e-02,-6.20902815e+00, 1.90423808e+01,-3.28214840e+01,
  1.21980175e-01,-4.24114079e-02,-1.19818634e+01, 4.18432520e+01,
  1.58044563e-01,-1.31472966e+00, 1.42441718e+00,-6.28555864e+00,
 -6.85344027e+01,-1.81527683e+00]

qfrc_actuator:
[ 2.73433430e-03, 8.77105244e-02, 1.01198437e-02, 5.01866052e-03,
 -2.54886605e-05, 9.45281652e-02, 1.01952845e-02, 6.91346458e-03,
 -2.87819057e-03, 1.08326689e-01, 1.02534810e-02, 7.05281511e-03,
  0.00000000e+00,-1.63641401e-03, 0.00000000e+00,-1.23554190e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013144143666260627
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.22326115e-14, -4.22326115e-14,  1.00000000e+00, -1.78359347e-27,
        1.00000000e+00,  4.22326115e-14, -1.00000000e+00,  0.00000000e+00,
       -4.22326115e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00374942, -0.07074811,  0.06188344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.35366275e-06,-1.72896730e-03,-3.91499047e-04,-1.41693319e-04,
 -2.40177716e-05,-2.68223314e-04,-6.69877470e-05,-1.13371764e-04,
 -1.76071220e-05,-3.51006891e-04,-8.26434071e-05,-9.28687189e-05,
  7.92147588e-06, 1.47163065e-05, 3.96671927e-05, 2.14472216e-04,
  2.94506960e-08, 2.68313869e-06,-1.21644171e+00, 1.58576313e-03,
  5.42524453e-04, 4.03036358e-05]


--- Step 2118 ---
qpos:
[-0.0147847 , 1.1700248 ,-0.02196152, 0.94542285, 0.00434763, 1.16002748,
 -0.02901958, 0.9412306 , 0.01654713, 1.20200814,-0.02334888, 0.94980305,
  1.37697532,-0.00143357, 1.17319051, 0.06303953,-0.00363584,-0.09243294,
  0.08166744, 0.62504177,-0.01324838,-0.00317072, 0.78047243]

qacc:
[-9.00978355e-02,-1.96007169e+01, 4.52697318e+01,-5.02871783e+01,
  5.86568297e-02,-7.00888178e+00, 1.70575462e+01,-1.36770181e+01,
  3.39652181e-02,-1.34192682e+00, 6.01133909e+00,-2.50836202e+01,
  6.74539003e-02,-1.60473709e-01, 6.04797190e+00,-1.97971001e+01,
  1.51622178e-01,-1.25360166e+00, 8.44763807e-01,-5.96673262e+00,
 -6.50078826e+01,-1.72635252e+00]

qfrc_actuator:
[ 2.70856635e-03, 8.70007245e-02, 1.00810265e-02, 4.93048583e-03,
  3.26378689e-06, 9.42538794e-02, 1.01993570e-02, 6.90328463e-03,
 -2.86039704e-03, 1.08357949e-01, 1.02198222e-02, 6.96492979e-03,
  0.00000000e+00,-1.65140627e-03, 0.00000000e+00,-1.33656158e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012951767464547403
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.28599042e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.28599042e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00375043, -0.07072949,  0.06188516])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.46063103e-05,-1.76072797e-03,-4.28629413e-04,-1.53198481e-04,
  1.51234975e-05,-4.55017404e-04,-6.30077407e-05,-2.14528968e-05,
  9.16101099e-06,-1.98883682e-04,-1.18047811e-04,-1.01057455e-04,
  8.42586857e-06,-9.50844600e-06, 3.77550021e-05,-8.50055709e-05,
  1.07876715e-07, 2.21828636e-07,-1.21644013e+00, 1.58502996e-03,
  5.42556501e-04, 3.87415742e-05]


--- Step 2119 ---
qpos:
[-0.0147882 , 1.17110963,-0.02196338, 0.94548177, 0.0043476 , 1.16124974,
 -0.02902402, 0.94132712, 0.01654847, 1.20350911,-0.0233574 , 0.9499031 ,
  1.3770488 ,-0.00143301, 1.17335603, 0.06304219,-0.00363435,-0.09244167,
  0.08169332, 0.62505288,-0.01307853,-0.00330826, 0.78046583]

qacc:
[-4.04282347e-02,-2.14236887e+01, 5.12387422e+01,-5.72697718e+01,
  3.21378580e-02,-1.36675284e+01, 3.94671924e+01,-5.44906158e+01,
  6.20912566e-02, 2.44381351e+00,-4.98036673e+00,-7.01632127e+00,
  1.30420362e-01,-3.82423132e-01, 1.24404739e+01,-4.24852126e+01,
  1.46365316e-01,-1.20379206e+00, 3.62251289e-01,-5.70482480e+00,
 -6.21151421e+01,-1.65212412e+00]

qfrc_actuator:
[ 2.71234706e-03, 8.63033985e-02, 1.00765464e-02, 4.83653236e-03,
  2.72550296e-06, 9.38133558e-02, 1.01857695e-02, 6.78679943e-03,
 -2.85024654e-03, 1.08558457e-01, 1.02210688e-02, 6.92612777e-03,
  0.00000000e+00,-1.67844115e-03, 0.00000000e+00,-1.54079692e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012666006624427045
  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([-0.00375202, -0.07070188,  0.06188767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.15193674e-05,-1.77321188e-03,-4.05011563e-04,-1.61293629e-04,
  8.00746268e-06,-7.20922240e-04,-1.14021847e-04,-1.31120589e-04,
  1.68776493e-05, 4.74189935e-05,-5.76642093e-05,-4.86865480e-05,
  2.21115286e-06,-2.76403041e-05, 2.29290904e-06,-2.05457259e-04,
 -1.37528805e-07, 3.16526015e-07,-1.21644027e+00, 1.58428126e-03,
  5.42694699e-04, 3.78607855e-05]


--- Step 2120 ---
qpos:
[-0.01479128, 1.17218044,-0.02196519, 0.94554015, 0.00434745, 1.1624642 ,
 -0.02902702, 0.94142062, 0.01655011, 1.20501059,-0.02336489, 0.9500015 ,
  1.37712235,-0.00143275, 1.17352122, 0.06304508,-0.00363229,-0.09245506,
  0.08171905, 0.62506587,-0.01282226,-0.0035291 , 0.7804587 ]

qacc:
[ 1.88509485e-01,-1.95453511e+01, 4.26551519e+01,-3.47247492e+01,
 -4.95060381e-02,-1.92683642e+01, 5.67457825e+01,-7.93709004e+01,
  1.27373685e-01,-4.94715059e+00, 2.03102771e+01,-3.71165483e+01,
  2.88999903e-01,-5.49022656e-01,-1.18642152e+00, 3.37650317e+00,
  1.42093190e-01,-1.16342847e+00,-3.84862564e-02,-5.49048695e+00,
 -5.97518895e+01,-1.59015310e+00]

qfrc_actuator:
[ 2.76933338e-03, 8.56370966e-02, 1.00924454e-02, 4.81096262e-03,
 -1.53785072e-05, 9.33122276e-02, 1.02143723e-02, 6.62627944e-03,
 -2.82702583e-03, 1.08646051e-01, 1.02969418e-02, 6.84563878e-03,
  0.00000000e+00,-1.69463659e-03, 0.00000000e+00,-1.52005331e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001230878369048699
  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([-0.00375405, -0.0706674 ,  0.06189079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.91493136e-05,-1.74449840e-03,-3.84567733e-04,-9.27900315e-05,
 -1.36073770e-05,-9.41813483e-04,-1.32858014e-04,-1.87182147e-04,
  3.43880003e-05, 8.41666795e-05, 7.35150200e-05,-8.00763582e-05,
 -6.11093727e-06,-2.28196704e-05,-2.61116080e-05, 8.56106573e-06,
 -6.63016580e-07, 2.61813283e-06,-1.21644190e+00, 1.58351739e-03,
  5.42936574e-04, 3.75306599e-05]


--- Step 2121 ---
qpos:
[-0.01479383, 1.17323839,-0.02196684, 0.94559871, 0.00434729, 1.16366985,
 -0.02902906, 0.94151128, 0.01655203, 1.20651337,-0.02337235, 0.9500975 ,
  1.37719579,-0.00143244, 1.17368599, 0.06305015,-0.00362968,-0.09247296,
  0.08174329, 0.62508063,-0.01248235,-0.00383057, 0.78045098]

qacc:
[ 2.36165135e-01,-1.69409271e+01, 3.45340735e+01,-1.98803184e+01,
 -5.52780975e-04,-1.90678400e+01, 5.40955988e+01,-7.44824975e+01,
  1.26692851e-01,-2.55226489e+00, 1.52422146e+01,-4.18167505e+01,
  5.60310507e-02,-6.63350450e-02,-7.22205355e+00, 2.43626799e+01,
  1.38649018e-01,-1.13091101e+00,-3.70462266e-01,-5.31596771e+00,
 -5.78319428e+01,-1.53838922e+00]

qfrc_actuator:
[ 2.80450204e-03, 8.51014568e-02, 1.01381746e-02, 4.82585576e-03,
 -8.35818582e-06, 9.27967225e-02, 1.02318697e-02, 6.47661931e-03,
 -2.81392179e-03, 1.08754553e-01, 1.03093465e-02, 6.72347518e-03,
  0.00000000e+00,-1.68651970e-03, 0.00000000e+00,-1.40237836e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011898228439258113
  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([-0.00375642, -0.07062781,  0.06189437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.18967254e-05,-1.59168178e-03,-3.44725449e-04,-4.92929575e-05,
 -7.59750385e-07,-1.08363070e-03,-1.90936701e-04,-1.84812286e-04,
  3.43287664e-05, 1.50170912e-04, 3.12449616e-05,-1.17545619e-04,
 -9.21394888e-06, 7.65709853e-07,-1.29082678e-05, 1.14346029e-04,
 -1.43721260e-06, 6.87458070e-06,-1.21644484e+00, 1.58273822e-03,
  5.43279715e-04, 3.76568593e-05]


--- Step 2122 ---
qpos:
[-0.01479604, 1.17428551,-0.0219689 , 0.94565618, 0.00434717, 1.16486618,
 -0.0290309 , 0.94160025, 0.01655404, 1.20801766,-0.02338009, 0.95019131,
  1.37726927,-0.00143232, 1.17385086, 0.06305489,-0.00362652,-0.09249529,
  0.08176496, 0.62509699,-0.01206104,-0.00421053, 0.78044254]

qacc:
[ 1.45711265e-01,-1.50415362e+01, 3.41573055e+01,-3.56968493e+01,
  1.65033517e-02,-1.56374626e+01, 3.97521930e+01,-4.83233960e+01,
  3.80050594e-02,-1.01043712e+00, 1.01213751e+01,-3.49119412e+01,
  1.25949627e-01,-2.78053542e-01, 1.14394581e+00,-3.83042817e+00,
  1.35897115e-01,-1.10487388e+00,-6.44696022e-01,-5.17481458e+00,
 -5.62837913e+01,-1.49510340e+00]

qfrc_actuator:
[ 2.80854825e-03, 8.47019014e-02, 1.01661899e-02, 4.77574650e-03,
 -4.08052502e-06, 9.22944984e-02, 1.02248505e-02, 6.38777200e-03,
 -2.82475654e-03, 1.08856866e-01, 1.03019997e-02, 6.61322153e-03,
  0.00000000e+00,-1.69956056e-03, 0.00000000e+00,-1.42387760e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011449281538779277
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69687941e-14,  4.84843971e-14,  1.00000000e+00,  4.70147352e-27,
        1.00000000e+00, -4.84843971e-14, -1.00000000e+00,  0.00000000e+00,
       -9.69687941e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00375903, -0.07058453,  0.06189826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.80716986e-05,-1.36178001e-03,-3.26702426e-04,-1.07573723e-04,
  3.77877633e-06,-1.15994016e-03,-2.49700458e-04,-1.29912355e-04,
  1.03627250e-05, 1.71152614e-04, 1.84931905e-05,-1.05783236e-04,
 -4.82896790e-06,-1.49370991e-05, 4.57693852e-06,-1.73133560e-05,
 -2.43799120e-06, 1.29065612e-05,-1.21644895e+00, 1.58194334e-03,
  5.43721829e-04, 3.81720296e-05]


--- Step 2123 ---
qpos:
[-0.01479805, 1.17532316,-0.02197224, 0.94571221, 0.00434709, 1.16605279,
 -0.02903298, 0.94168893, 0.01655605, 1.20952174,-0.0233872 , 0.95028287,
  1.37734284,-0.00143262, 1.17401605, 0.06305665,-0.00361916,-0.09251272,
  0.0817853 , 0.62511448,-0.01164775,-0.00442722, 0.78043361]

qacc:
[ 9.06392707e-02,-1.15094102e+01, 2.54895027e+01,-3.30223597e+01,
  1.97536823e-02,-1.26408230e+01, 2.63997658e+01,-2.01143922e+01,
  5.56062640e-04,-5.87801770e+00, 2.34090122e+01,-4.62438971e+01,
  1.48214968e-01,-4.28151033e-01, 9.42517131e+00,-3.23208284e+01,
  1.05097266e+00, 1.22450314e+00,-3.31611729e-01, 6.12055169e+01,
  5.41584225e+01, 4.05531232e-01]

qfrc_actuator:
[ 2.81166525e-03, 8.43161065e-02, 1.01308071e-02, 4.70559893e-03,
 -1.48564765e-06, 9.17865052e-02, 1.02035106e-02, 6.37090313e-03,
 -2.83211484e-03, 1.08759438e-01, 1.03008551e-02, 6.49309802e-03,
  0.00000000e+00,-1.72506807e-03, 0.00000000e+00,-1.58048958e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011460814315857881
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21089021e-14,  9.68712165e-14,  1.00000000e+00,  1.17300407e-27,
        1.00000000e+00, -9.68712165e-14, -1.00000000e+00,  0.00000000e+00,
       -1.21089021e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03649676, -0.11938593,  0.06189826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.36083618e-05,-1.21891951e-03,-3.44786173e-04,-1.21598507e-04,
  4.66832785e-06,-1.21759499e-03,-2.83979662e-04,-6.06818567e-05,
  6.66725494e-08,-1.90676266e-05, 2.77081801e-05,-1.15127124e-04,
 -6.32792879e-06,-3.05829330e-05,-3.46423204e-06,-1.57856700e-04,
 -3.65018412e-06, 2.05897082e-05,-1.21645415e+00, 1.58113221e-03,
  5.44260771e-04, 3.90289787e-05]


--- Step 2124 ---
qpos:
[-0.01479994, 1.17635212,-0.0219765 , 0.9457662 , 0.00434705, 1.16722838,
 -0.02903482, 0.94177822, 0.01655789, 1.21102296,-0.02339361, 0.95037221,
  1.37741634,-0.00143298, 1.17418138, 0.06305519,-0.00360784,-0.09252548,
  0.08180237, 0.62513322,-0.0112419 ,-0.00448903, 0.7804242 ]

qacc:
[ 5.75007700e-02,-1.24355214e+01, 3.09490542e+01,-4.50588942e+01,
  1.80759988e-02,-1.40536634e+01, 2.71331963e+01,-9.55466526e+00,
 -7.83158029e-02,-9.51297342e+00, 3.09867850e+01,-5.08275503e+01,
 -2.34563619e-01, 2.49572759e-01, 9.96316706e+00,-3.45293051e+01,
  9.91821289e-01, 1.16591490e+00,-8.16001292e-01, 5.81209402e+01,
  5.13247863e+01, 2.82040610e-01]

qfrc_actuator:
[ 2.81421775e-03, 8.39592967e-02, 1.01116753e-02, 4.60646305e-03,
  7.82064339e-08, 9.11726814e-02, 1.01916775e-02, 6.39649128e-03,
 -2.85508778e-03, 1.08436774e-01, 1.02671260e-02, 6.36799902e-03,
  0.00000000e+00,-1.72224738e-03, 0.00000000e+00,-1.74439131e-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,   6.72646907,   5.41676939,   6.72646907,
        39.42164894, -38.22874014,   5.41676939, -38.22874014,
        56.10828271,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0011370205752512519
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83080959e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.83080959e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03651298, -0.11939782,  0.06189912])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48298301e-05,-1.11472309e-03,-3.03043092e-04,-1.47197954e-04,
  4.13975238e-06,-1.35975811e-03,-2.87568138e-04,-1.93616134e-05,
 -2.14836295e-05,-3.47905600e-04,-4.12404671e-05,-1.25689737e-04,
 -1.12653049e-05,-6.63677685e-06,-2.29997798e-05,-1.74055689e-04,
 -2.33609883e-06, 4.61716199e-06,-1.21644911e+00, 1.58121430e-03,
  5.44701511e-04, 1.85473126e-05]


--- Step 2125 ---
qpos:
[-0.01480189, 1.17737228,-0.02198085, 0.94581926, 0.00434719, 1.16839154,
 -0.0290361 , 0.94186692, 0.01655935, 1.21251722,-0.02339926, 0.95045907,
  1.37748979,-0.00143332, 1.17434656, 0.06305174,-0.00359274,-0.09253378,
  0.08181456, 0.62515325,-0.01084303,-0.00440285, 0.78041429]

qacc:
[-2.91629702e-02,-1.29143429e+01, 3.00910972e+01,-3.14740886e+01,
  8.22019578e-02,-1.88507485e+01, 4.30306786e+01,-3.64377798e+01,
 -1.57003062e-01,-1.54242696e+01, 4.43457839e+01,-6.28796603e+01,
 -1.69915211e-01, 2.01653356e-01, 5.79628789e+00,-2.05411213e+01,
  9.43083273e-01, 1.11762899e+00,-1.22187863e+00, 5.55697942e+01,
  4.89789740e+01, 1.84612459e-01]

qfrc_actuator:
[ 2.79867282e-03, 8.35518737e-02, 1.01202086e-02, 4.56210970e-03,
  1.87637656e-05, 9.04650280e-02, 1.01851732e-02, 6.35800996e-03,
 -2.88724727e-03, 1.07804190e-01, 1.01957712e-02, 6.22303392e-03,
  0.00000000e+00,-1.72038387e-03, 0.00000000e+00,-1.84020916e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011177716729998816
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.58701268e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.58701268e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03654414, -0.11942204,  0.06190082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.24939877e-06,-1.10016839e-03,-2.50975950e-04,-8.86907116e-05,
  2.09530791e-05,-1.53149315e-03,-3.09189790e-04,-8.68518231e-05,
 -4.30947432e-05,-8.53375273e-04,-1.51229155e-04,-1.57572404e-04,
 -8.47653087e-06,-2.11796508e-06,-3.30469586e-05,-1.09192825e-04,
  3.52021928e-06,-4.26046458e-06,-1.21644672e+00, 1.58139157e-03,
  5.44681950e-04, 7.02011099e-06]


--- Step 2126 ---
qpos:
[-0.01480412, 1.1783831 ,-0.02198526, 0.94587248, 0.00434768, 1.16954117,
 -0.02903621, 0.94195249, 0.0165606 , 1.21400018,-0.02340273, 0.95054387,
  1.37756319,-0.00143366, 1.17451123, 0.0630498 ,-0.00358438,-0.09253671,
  0.08182234, 0.62516504,-0.01065756,-0.00431115, 0.78040791]

qacc:
[-1.18758007e-01,-1.18536196e+01, 2.35662807e+01,-1.28569984e+01,
  1.57091159e-01,-2.62893941e+01, 7.07484030e+01,-8.91822898e+01,
 -9.04223641e-02,-2.43277341e+01, 6.56099475e+01,-7.37062357e+01,
  8.17557702e-02,-1.11696404e-01,-5.33485262e+00, 1.75179622e+01,
 -1.68656120e+00, 1.34161269e+00,-1.10200213e+00,-6.45820862e+01,
  8.49625670e+01, 4.82179277e+00]

qfrc_actuator:
[ 2.77241615e-03, 8.30644095e-02, 1.01093746e-02, 4.56808768e-03,
  4.75622645e-05, 8.97246445e-02, 1.02169487e-02, 6.19328273e-03,
 -2.88915805e-03, 1.06973119e-01, 1.02080314e-02, 6.10280174e-03,
  0.00000000e+00,-1.71912734e-03, 0.00000000e+00,-1.75311078e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011340668687988276
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.34231192e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.34231192e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04818638, -0.11463206,  0.06189949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.21085522e-05,-1.16007865e-03,-2.59809910e-04,-3.50461071e-05,
  4.06149944e-05,-1.66529845e-03,-3.08900740e-04,-2.20459717e-04,
 -2.53286132e-05,-1.35370929e-03,-1.79765579e-04,-1.51794779e-04,
 -5.91437193e-06,-8.45851052e-07,-2.95719970e-05, 7.62576161e-05,
  1.33193032e-05,-7.03386162e-06,-1.21644663e+00, 1.58167763e-03,
  5.44238891e-04, 3.21423720e-06]


--- Step 2127 ---
qpos:
[-0.01480649, 1.17938494,-0.02198986, 0.94592398, 0.00434836, 1.17067755,
 -0.02903544, 0.94203579, 0.01656173, 1.21546935,-0.02340354, 0.95062854,
  1.37763656,-0.00143399, 1.17467577, 0.06304819,-0.00358235,-0.09253468,
  0.0818235 , 0.62516933,-0.01067185,-0.00421408, 0.78040481]

qacc:
[-5.96883646e-02,-1.42689702e+01, 3.58208428e+01,-4.55221955e+01,
  8.67944456e-02,-2.36500647e+01, 6.08607637e+01,-7.09374874e+01,
 -5.10753709e-02,-2.55123980e+01, 6.16420552e+01,-4.65105212e+01,
 -4.21771089e-03, 1.38793833e-03,-1.17063892e+00, 3.84758914e+00,
 -1.57950453e+00, 1.23800647e+00,-1.65723452e+00,-6.03840746e+01,
  7.95882593e+01, 4.40923270e+00]

qfrc_actuator:
[ 2.77547018e-03, 8.26394889e-02, 1.01046647e-02, 4.47927854e-03,
  4.66807695e-05, 8.90949769e-02, 1.02708594e-02, 6.07984374e-03,
 -2.89067773e-03, 1.06136615e-01, 1.02864685e-02, 6.08673799e-03,
  0.00000000e+00,-1.71824718e-03, 0.00000000e+00,-1.73648575e-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, -8.34118136,  2.23863136, -8.34118136, 10.9365271 ,
        8.57045108,  2.23863136,  8.57045108, 40.57002094,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011503670411926112
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.82551649e-14,  2.41275824e-14,  1.00000000e+00,  1.16428047e-27,
        1.00000000e+00, -2.41275824e-14, -1.00000000e+00,  0.00000000e+00,
       -4.82551649e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04815046, -0.11461853,  0.06189816])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64021005e-05,-1.13063903e-03,-2.64782302e-04,-1.30637528e-04,
  2.21137208e-05,-1.63237962e-03,-3.16789564e-04,-1.76288087e-04,
 -1.47630093e-05,-1.64104888e-03,-2.14353253e-04,-6.31707699e-05,
 -3.77959984e-06,-5.06279624e-07,-6.55205595e-06, 1.67455541e-05,
  5.13166616e-06,-1.24338345e-06,-1.21644170e+00, 1.58366963e-03,
  5.44915236e-04, 2.35272584e-05]


--- Step 2128 ---
qpos:
[-0.01480892, 1.18037826,-0.02199419, 0.94597363, 0.004349  , 1.17180349,
 -0.02903561, 0.94211799, 0.01656279, 1.21692579,-0.02340389, 0.95071276,
  1.37770991,-0.0014343 , 1.17484004, 0.06304845,-0.00358627,-0.09252805,
  0.08181614, 0.62516668,-0.01087453,-0.00411182, 0.78040467]

qacc:
[-2.66641100e-02,-1.51241026e+01, 3.96327704e+01,-5.06608005e+01,
 -2.13803235e-02,-1.30722055e+01, 2.83535255e+01,-3.08229063e+01,
 -2.86982238e-02,-1.87508563e+01, 4.19204693e+01,-3.36621478e+01,
  1.12114654e-01,-1.45688708e-01,-6.06108832e+00, 2.05896199e+01,
 -1.48979892e+00, 1.15291066e+00,-2.12579963e+00,-5.68925165e+01,
  7.51099986e+01, 4.06006483e+00]

qfrc_actuator:
[ 2.77833286e-03, 8.22732405e-02, 1.01393008e-02, 4.38867297e-03,
  2.80100327e-05, 8.87498878e-02, 1.02846196e-02, 6.03308465e-03,
 -2.89196739e-03, 1.05534644e-01, 1.03145138e-02, 6.06106421e-03,
  0.00000000e+00,-1.71759475e-03, 0.00000000e+00,-1.63730313e-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, -8.35230403,  2.19676904, -8.35230403, 11.18179063,
        9.67793145,  2.19676904,  9.67793145, 45.43268793,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011506624763699264
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.82427752e-14,  4.82427752e-14,  1.00000000e+00,  2.32736536e-27,
        1.00000000e+00, -4.82427752e-14, -1.00000000e+00,  0.00000000e+00,
       -4.82427752e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04814969, -0.11462029,  0.06189814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.62066717e-06,-1.05938163e-03,-2.23028392e-04,-1.33932346e-04,
 -6.19018798e-06,-1.32958990e-03,-3.50046945e-04,-1.07837141e-04,
 -8.48838108e-06,-1.56930223e-03,-3.22147078e-04,-8.02587317e-05,
 -2.41452232e-06,-2.15744009e-07,-4.07946887e-06, 9.85972298e-05,
  7.63329207e-07, 1.23935087e-06,-1.21644051e+00, 1.58448023e-03,
  5.45230723e-04, 3.04388407e-05]


--- Step 2129 ---
qpos:
[-0.01481167, 1.18136178,-0.02199683, 0.9460236 , 0.0043495 , 1.17292099,
 -0.0290373 , 0.94219851, 0.01656381, 1.21837037,-0.02340447, 0.95079395,
  1.37778314,-0.00143435, 1.17500388, 0.0630529 ,-0.00359585,-0.09251708,
  0.08179871, 0.62515751,-0.01125617,-0.00400449, 0.78040717]

qacc:
[-1.40968441e-01,-1.68796516e+01, 3.89206240e+01,-2.41426616e+01,
 -5.52843801e-02,-9.84631945e+00, 2.21744949e+01,-3.33314389e+01,
 -1.51806780e-02,-2.01845290e+01, 5.31935963e+01,-7.38859774e+01,
  2.89573225e-02, 1.00031051e-01,-1.32654564e+01, 4.54728774e+01,
 -1.41416174e+00, 1.08271412e+00,-2.52132248e+00,-5.39885180e+01,
  7.13801776e+01, 3.76113457e+00]

qfrc_actuator:
[ 2.74555596e-03, 8.17500377e-02, 1.02149122e-02, 4.40432547e-03,
  1.65855397e-05, 8.84715319e-02, 1.02580006e-02, 5.95505873e-03,
 -2.89312282e-03, 1.04989075e-01, 1.03134448e-02, 5.90572225e-03,
  0.00000000e+00,-1.69933034e-03, 0.00000000e+00,-1.41924596e-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, -8.42113229,  1.9160657 , -8.42113229, 10.82942573,
        9.63853487,  1.9160657 ,  9.63853487, 50.99784291,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001138118531479243
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.87744903e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.87744903e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04817673, -0.11463415,  0.06189916])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.82340767e-05,-1.16872262e-03,-1.63436463e-04,-2.44114002e-05,
 -1.50280943e-05,-1.09961802e-03,-3.32920155e-04,-1.29411083e-04,
 -4.75568635e-06,-1.49459691e-03,-3.49957343e-04,-2.11359819e-04,
 -1.40147637e-06, 1.76881695e-05, 6.46307139e-06, 2.22414545e-04,
 -4.50428589e-07, 9.86064362e-07,-1.21644244e+00, 1.58437657e-03,
  5.45247889e-04, 2.63135450e-05]


--- Step 2130 ---
qpos:
[-0.01481463, 1.18233465,-0.02199804, 0.94607313, 0.00434987, 1.17403571,
 -0.02904232, 0.94227639, 0.01656496, 1.2198057 ,-0.02340581, 0.95087351,
  1.37785625,-0.00143393, 1.17516797, 0.06305756,-0.00361083,-0.09250202,
  0.08176985, 0.62514212,-0.01180888,-0.00389221, 0.7804119 ]

qacc:
[-8.56848776e-02,-1.86217368e+01, 4.47696909e+01,-3.73660679e+01,
 -5.90187847e-02, 8.23849457e-01,-1.62732028e+00,-2.75499940e+01,
  5.73220894e-02,-1.29085207e+01, 3.07712027e+01,-3.97838555e+01,
 -4.19514668e-01, 7.93627121e-01,-2.40565563e-01, 1.50440708e+00,
 -1.34986489e+00, 1.02448354e+00,-2.85528880e+00,-5.15749480e+01,
  6.82778221e+01, 3.50177783e+00]

qfrc_actuator:
[ 2.74494109e-03, 8.11550973e-02, 1.02603244e-02, 4.37578853e-03,
  9.60578842e-06, 8.87147146e-02, 1.02258657e-02, 5.84153055e-03,
 -2.87644851e-03, 1.04730118e-01, 1.03486856e-02, 5.83512056e-03,
  0.00000000e+00,-1.67076299e-03, 0.00000000e+00,-1.41696511e-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, -8.53643983,  1.3099511 , -8.53643983,  9.76831635,
        7.37649385,  1.3099511 ,  7.37649385, 56.70609391,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011153833702061064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.97686739e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.97686739e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04822558, -0.11465751,  0.061901  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.35487915e-05,-1.28584791e-03,-2.04960934e-04,-6.75695249e-05,
 -1.56013256e-05,-4.48011075e-04,-2.92093434e-04,-1.58015997e-04,
  1.52116368e-05,-1.17583889e-03,-3.06024933e-04,-1.28278433e-04,
  3.80889068e-06, 3.28809764e-05, 2.50456945e-05, 1.48774298e-05,
  1.00316320e-06,-1.58434760e-06,-1.21644704e+00, 1.58355730e-03,
  5.45014417e-04, 1.28944576e-05]


--- Step 2131 ---
qpos:
[-0.0148174 , 1.18329693,-0.02199941, 0.94612135, 0.00435013, 1.17515472,
 -0.02905142, 0.94235173, 0.01656628, 1.22123695,-0.02340791, 0.9509529 ,
  1.3779294 ,-0.00143343, 1.175332  , 0.06306359,-0.00363028,-0.09249224,
  0.08173974, 0.62513124,-0.01235695,-0.00396621, 0.78041176]

qacc:
[ 8.42071615e-02,-1.57681528e+01, 3.73354449e+01,-4.11068198e+01,
 -5.14615696e-02, 1.22548914e+01,-2.79586043e+01,-7.95710913e+00,
  7.20329568e-02,-3.61766805e+00, 5.65366613e+00,-4.28692085e+00,
  7.40650375e-02,-2.70090708e-02,-4.22509566e+00, 1.46175782e+01,
 -1.11677889e+00,-1.31995763e+00,-3.14238290e-01,-7.12188624e+01,
 -5.99975148e+01,-4.39772080e+00]

qfrc_actuator:
[ 2.78138053e-03, 8.05929007e-02, 1.02339370e-02, 4.30360749e-03,
  5.34976470e-06, 8.94460448e-02, 1.02105919e-02, 5.74384961e-03,
 -2.86698210e-03, 1.04929288e-01, 1.04595811e-02, 5.85067464e-03,
  0.00000000e+00,-1.67182128e-03, 0.00000000e+00,-1.34658571e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011156765939426272
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.97555936e-14,  4.97555936e-14,  1.00000000e+00,  2.47561910e-27,
        1.00000000e+00, -4.97555936e-14, -1.00000000e+00,  0.00000000e+00,
       -4.97555936e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03619937, -0.06156568,  0.06190085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.18940741e-05,-1.32714079e-03,-3.05614910e-04,-1.16930336e-04,
 -1.31663357e-05, 4.07805342e-04,-1.43937895e-04,-1.22082635e-04,
  1.95182145e-05,-5.30178441e-04,-1.60617853e-04,-2.94611920e-05,
  9.90479222e-06, 8.73444145e-06, 8.42510086e-06, 7.33157633e-05,
  4.76817262e-06,-6.16599318e-06,-1.21645397e+00, 1.58217284e-03,
  5.44567696e-04,-8.53574782e-06]


--- Step 2132 ---
qpos:
[-0.01482002, 1.18424789,-0.02200108, 0.94616877, 0.0043503 , 1.17627855,
 -0.02906172, 0.94242581, 0.0165676 , 1.22266594,-0.02340957, 0.95103029,
  1.3780026 ,-0.00143291, 1.17549623, 0.06306874,-0.00364491,-0.09247623,
  0.0817151 , 0.62512269,-0.01291336,-0.00384847, 0.78041019]

qacc:
[ 6.41512437e-02,-1.54287657e+01, 3.40376316e+01,-3.18203377e+01,
 -3.91558093e-02, 7.44568663e+00,-1.40822924e+01,-5.33082139e+00,
  1.07144383e-04,-7.59227167e+00, 2.52808314e+01,-4.38038942e+01,
 -4.39856099e-02, 8.63374632e-02, 2.95700798e+00,-9.89048725e+00,
  1.20491233e+00, 1.55490357e+00, 1.37083564e+00, 7.22210947e+01,
  6.31917439e+01,-1.52324079e-01]

qfrc_actuator:
[ 2.78648541e-03, 7.99835466e-02, 1.02009950e-02, 4.25955135e-03,
  2.76149266e-06, 8.98252287e-02, 1.02075111e-02, 5.69214054e-03,
 -2.87968069e-03, 1.04993576e-01, 1.05451645e-02, 5.75733823e-03,
  0.00000000e+00,-1.67270672e-03, 0.00000000e+00,-1.39635010e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011554591263138597
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.00531317e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.00531317e-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([-0.03648384, -0.11938129,  0.06189736])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.65313311e-05,-1.41813920e-03,-3.33114765e-04,-9.41462754e-05,
 -1.00621229e-05, 5.59166673e-04, 5.35928688e-05,-4.52484968e-05,
 -1.35249285e-07,-2.76495074e-04,-4.03303330e-05,-1.12656117e-04,
  7.30256983e-06, 3.82961038e-06, 8.69220457e-06,-4.53980506e-05,
  2.05432611e-05,-1.25601507e-05,-1.21645386e+00, 1.58434231e-03,
  5.44502394e-04,-1.41869715e-05]


--- Step 2133 ---
qpos:
[-0.01482254, 1.18518693,-0.02200318, 0.94621538, 0.00435056, 1.1774065 ,
 -0.02907123, 0.94250109, 0.01656855, 1.22409257,-0.02341116, 0.95110532,
  1.37807585,-0.00143238, 1.17566065, 0.06307193,-0.00365374,-0.09246482,
  0.08170267, 0.62511389,-0.01327856,-0.00374208, 0.78041162]

qacc:
[ 4.87486912e-02,-1.59329380e+01, 3.47572795e+01,-3.22425786e+01,
  3.87573215e-02, 5.32293330e+00,-1.32767820e+01, 2.28113911e+01,
 -1.54481787e-01,-7.38029427e+00, 2.50788036e+01,-4.74369065e+01,
 -1.14530026e-01, 1.63700421e-01, 6.21038036e+00,-2.13121532e+01,
  1.45019857e+00,-1.14685093e+00, 3.05047686e+00, 5.53430624e+01,
 -7.81719618e+01, 5.91459878e-01]

qfrc_actuator:
[ 2.79051243e-03, 7.93508564e-02, 1.01643288e-02, 4.21462711e-03,
  1.89454262e-05, 9.00618897e-02, 1.02637707e-02, 5.75650203e-03,
 -2.92333070e-03, 1.04870210e-01, 1.05436635e-02, 5.63608583e-03,
  0.00000000e+00,-1.67345981e-03, 0.00000000e+00,-1.49875358e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011953962864763995
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.48280850e-14,  4.64374466e-14,  1.00000000e+00,  1.61732734e-27,
        1.00000000e+00, -4.64374466e-14, -1.00000000e+00,  0.00000000e+00,
       -3.48280850e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03237265, -0.07721545,  0.06189388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24013944e-05,-1.49633121e-03,-3.57042150e-04,-9.80127282e-05,
  1.04846248e-05, 5.41345504e-04, 1.67292522e-04, 8.29416311e-05,
 -4.24170560e-05,-3.02748322e-04,-6.66023062e-05,-1.31465636e-04,
  4.49276522e-06, 2.14605444e-06,-5.01339318e-06,-1.04761304e-04,
  4.72388361e-06,-5.84509335e-06,-1.21645508e+00, 1.58549352e-03,
  5.44327322e-04,-5.17328937e-06]


--- Step 2134 ---
qpos:
[-0.01482513, 1.18611356,-0.0220055 , 0.9462608 , 0.00435095, 1.17853957,
 -0.02908063, 0.94257479, 0.01656909, 1.22551571,-0.02341372, 0.95117816,
  1.37814911,-0.00143184, 1.17582481, 0.06307553,-0.0036572 ,-0.09245767,
  0.08169868, 0.62510489,-0.01346698,-0.00364606, 0.78041606]

qacc:
[-2.87645463e-02,-1.77445081e+01, 4.06660795e+01,-4.14425062e+01,
  5.76004236e-02, 3.71865437e+00,-8.00167042e-01,-2.07412500e+01,
 -1.80418224e-01,-5.73265756e+00, 1.76112490e+01,-3.84205088e+01,
  5.30346609e-02,-5.81179125e-02,-1.63553833e+00, 5.16620722e+00,
  1.33955262e+00,-1.06894493e+00, 2.10937032e+00, 5.12100120e+01,
 -7.22428451e+01, 6.22128841e-01]

qfrc_actuator:
[ 2.77611814e-03, 7.87092943e-02, 1.01434186e-02, 4.15176315e-03,
  2.84983248e-05, 9.03715662e-02, 1.02830988e-02, 5.67552662e-03,
 -2.94968887e-03, 1.04599764e-01, 1.04545862e-02, 5.51697798e-03,
  0.00000000e+00,-1.67412760e-03, 0.00000000e+00,-1.47152844e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012311199464143247
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12724904e-14,  4.50899617e-14,  1.00000000e+00,  5.08276162e-28,
        1.00000000e+00, -4.50899617e-14, -1.00000000e+00,  0.00000000e+00,
       -1.12724904e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0323247 , -0.07724013,  0.06189082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.36749799e-06,-1.55307023e-03,-3.59362934e-04,-1.19084561e-04,
  1.55618645e-05, 6.30626857e-04, 1.43593367e-04,-5.66162853e-05,
 -4.95402972e-05,-4.69955364e-04,-1.62822956e-04,-1.31306092e-04,
  2.29549298e-06, 1.26405505e-06,-1.75198993e-05, 1.98968321e-05,
  8.03565864e-07,-1.29365003e-06,-1.21644651e+00, 1.58461076e-03,
  5.43255008e-04, 2.12867927e-05]


--- Step 2135 ---
qpos:
[-0.01482813, 1.18702776,-0.02200779, 0.94630513, 0.00435131, 1.17967816,
 -0.02909049, 0.94264525, 0.01656972, 1.22693418,-0.02341711, 0.9512488 ,
  1.37822238,-0.0014313 , 1.17598872, 0.0630804 ,-0.00365568,-0.09245455,
  0.08169997, 0.62509567,-0.01349056,-0.00355962, 0.78042343]

qacc:
[-1.80132639e-01,-1.83138959e+01, 4.22751853e+01,-4.17210707e+01,
 -1.36520674e-02, 2.93041389e+00, 5.90172511e+00,-4.63596493e+01,
  3.78096651e-02,-7.69381530e+00, 2.21457603e+01,-4.17531573e+01,
  1.01455750e-01,-1.26262605e-01,-4.20491411e+00, 1.41546996e+01,
  1.24811083e+00,-1.00423353e+00, 1.31913573e+00, 4.77878242e+01,
 -6.73387906e+01, 6.35997595e-01]

qfrc_actuator:
[ 2.73305297e-03, 7.81031679e-02, 1.01496897e-02, 4.09658931e-03,
  1.62407648e-05, 9.06691664e-02, 1.02628836e-02, 5.50963667e-03,
 -2.91221106e-03, 1.04296395e-01, 1.03849941e-02, 5.39993762e-03,
  0.00000000e+00,-1.67474581e-03, 0.00000000e+00,-1.40362603e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012465938951496391
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.33976956e-14,  8.90605215e-14,  1.00000000e+00,  2.97441619e-27,
        1.00000000e+00, -8.90605215e-14, -1.00000000e+00,  0.00000000e+00,
       -3.33976956e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03230418, -0.07725117,  0.06188951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.89001733e-05,-1.54992436e-03,-3.44112009e-04,-1.13654071e-04,
 -3.34517763e-06, 6.59054631e-04, 1.14703058e-04,-1.42777251e-04,
  1.01560564e-05,-6.14045468e-04,-1.86907207e-04,-1.37009829e-04,
  1.06216065e-06, 4.88548250e-07,-8.12697999e-06, 6.62104201e-05,
 -4.58844152e-07, 8.52361628e-07,-1.21644183e+00, 1.58440443e-03,
  5.42807287e-04, 3.54729279e-05]


--- Step 2136 ---
qpos:
[-0.01483159, 1.18792931,-0.02200996, 0.94634849, 0.0043516 , 1.18082122,
 -0.02909967, 0.94271426, 0.01657059, 1.22834714,-0.02342057, 0.95132067,
  1.37829583,-0.00143129, 1.17615308, 0.06308167,-0.00364947,-0.09245523,
  0.08170388, 0.62508621,-0.01335916,-0.00348211, 0.78043362]

qacc:
[-1.96746606e-01,-1.86362517e+01, 4.27548123e+01,-4.05905436e+01,
 -3.57773009e-02, 1.56055158e+00, 4.96799332e+00,-2.38520866e+01,
  1.07788843e-01,-4.92234670e+00, 4.85493370e+00, 1.33668738e+01,
  2.40430448e-01,-5.84282197e-01, 1.15099157e+01,-3.93592623e+01,
  1.17259598e+00,-9.50597232e-01, 6.56300190e-01, 4.49554027e+01,
 -6.32835844e+01, 6.37112609e-01]

qfrc_actuator:
[ 2.70866513e-03, 7.74700420e-02, 1.01543531e-02, 4.04640979e-03,
  8.75879604e-06, 9.08682957e-02, 1.02904814e-02, 5.43713031e-03,
 -2.89002652e-03, 1.04011363e-01, 1.03806006e-02, 5.46255181e-03,
  0.00000000e+00,-1.71083869e-03, 0.00000000e+00,-1.59637749e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012457830754883381
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.11398108e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.11398108e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03230555, -0.07725135,  0.06188958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.33922739e-05,-1.57186398e-03,-3.43165822e-04,-1.08004684e-04,
 -9.34935811e-06, 5.68018851e-04, 1.62245761e-04,-5.13821791e-05,
  2.93170227e-05,-6.80149574e-04,-1.52727066e-04, 3.75322216e-05,
  4.62886516e-07,-3.56048108e-05, 1.07303473e-06,-1.90720810e-04,
  4.23372710e-07, 1.06162494e-06,-1.21644029e+00, 1.58476284e-03,
  5.42890446e-04, 3.97265429e-05]


--- Step 2137 ---
qpos:
[-0.01483543, 1.18881774,-0.02201183, 0.94638993, 0.00435179, 1.18196993,
 -0.02910922, 0.94278116, 0.01657143, 1.22975298,-0.02342316, 0.95139459,
  1.37836927,-0.00143143, 1.17631748, 0.06308029,-0.00363881,-0.09245953,
  0.08170819, 0.62507646,-0.01308094,-0.003413  , 0.78044645]

qacc:
[-1.63424477e-01,-2.13475307e+01, 5.27878328e+01,-6.00038149e+01,
 -3.81158188e-02, 4.78434676e+00,-2.27566201e+00,-2.62202564e+01,
 -1.50616369e-02,-8.18619325e+00, 1.12846550e+01, 1.82589605e+01,
 -8.18233300e-02, 5.27622098e-03, 8.04168176e+00,-2.80415231e+01,
  1.11025622e+00,-9.06239823e-01, 1.00990046e-01, 4.26140412e+01,
 -5.99340776e+01, 6.28296256e-01]

qfrc_actuator:
[ 2.69568853e-03, 7.67903903e-02, 1.01579417e-02, 3.94628347e-03,
  4.20536062e-06, 9.12202180e-02, 1.02925486e-02, 5.33137977e-03,
 -2.91271940e-03, 1.03580258e-01, 1.03971452e-02, 5.55940004e-03,
  0.00000000e+00,-1.71443215e-03, 0.00000000e+00,-1.72812843e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001231998136448767
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12644552e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.12644552e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03232423, -0.07724295,  0.06189075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.45444885e-05,-1.62999145e-03,-3.48211835e-04,-1.58458372e-04,
 -9.85383219e-06, 6.82507936e-04, 1.27008553e-04,-8.38391481e-05,
 -4.50210528e-06,-8.50736912e-04,-1.35642204e-04, 7.48672332e-05,
 -8.90022569e-06,-1.28211895e-05,-2.48391656e-05,-1.43220477e-04,
  3.07332977e-06,-3.21856174e-07,-1.21644132e+00, 1.58559741e-03,
  5.43432646e-04, 3.57604115e-05]


--- Step 2138 ---
qpos:
[-0.01483954, 1.18969241,-0.02201341, 0.94643096, 0.00435207, 1.18312532,
 -0.02911984, 0.94284623, 0.01657199, 1.23115083,-0.02342459, 0.95146608,
  1.37844267,-0.00143163, 1.17648128, 0.063081  ,-0.00362744,-0.09246918,
  0.08171689, 0.6250689 ,-0.01270663,-0.00343672, 0.78045859]

qacc:
[-1.18461512e-01,-1.95743766e+01, 4.28789462e+01,-3.34439559e+01,
  3.37585296e-02, 8.52898575e+00,-1.35075074e+01,-1.35755150e+01,
 -1.18569584e-01,-1.77832205e+01, 5.02609076e+01,-6.66479134e+01,
  1.79941704e-01,-2.86197534e-01,-7.18611574e+00, 2.38084102e+01,
  1.79855809e-01,-1.33476149e+00, 1.09692880e+00,-6.17876323e+00,
 -6.65029822e+01,-1.84026029e+00]

qfrc_actuator:
[ 2.68966472e-03, 7.60705976e-02, 1.01606673e-02, 3.92404111e-03,
  1.91984651e-05, 9.16253415e-02, 1.02623250e-02, 5.24244649e-03,
 -2.94440024e-03, 1.03118583e-01, 1.04253337e-02, 5.42694034e-03,
  0.00000000e+00,-1.71644249e-03, 0.00000000e+00,-1.60976442e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012123262586143657
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.5788954e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -4.5788954e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00375568, -0.07066391,  0.06189242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.25238632e-05,-1.70459883e-03,-3.62453242e-04,-8.36394419e-05,
  9.41020017e-06, 7.91136357e-04, 1.12139524e-04,-6.53679782e-05,
 -3.30540125e-05,-9.71043061e-04,-1.54236830e-04,-1.58127257e-04,
 -8.64490438e-06,-7.14592049e-06,-3.01219470e-05, 1.06546418e-04,
  7.21425308e-06,-3.04547699e-06,-1.21644453e+00, 1.58683781e-03,
  5.44378675e-04, 2.48270851e-05]


--- Step 2139 ---
qpos:
[-0.01484383, 1.19055447,-0.02201575, 0.94647208, 0.00435247, 1.18428693,
 -0.02913014, 0.94290868, 0.01657224, 1.23254173,-0.02342574, 0.95153508,
  1.37851595,-0.00143162, 1.17664542, 0.0630787 ,-0.00362028,-0.09248405,
  0.08172092, 0.62506616,-0.01232898,-0.00362809, 0.78046597]

qacc:
[-7.75266663e-02,-1.43749166e+01, 2.67716401e+01,-1.45563013e+01,
  5.23899668e-02, 2.83527600e+00, 6.01883078e+00,-3.95319152e+01,
 -1.33081684e-01,-1.42191283e+01, 4.04163719e+01,-5.95977624e+01,
 -4.56379966e-01, 6.84426340e-01, 9.59338173e+00,-3.27523185e+01,
 -1.05361848e+00,-1.30744602e+00,-1.16727460e+00,-6.43588113e+01,
 -5.36597588e+01,-4.43982250e+00]

qfrc_actuator:
[ 2.68786122e-03, 7.55101479e-02, 1.01450096e-02, 3.93002947e-03,
  2.80359548e-05, 9.19525913e-02, 1.02845849e-02, 5.11089053e-03,
 -2.96346591e-03, 1.02837558e-01, 1.04598811e-02, 5.30256701e-03,
  0.00000000e+00,-1.69977650e-03, 0.00000000e+00,-1.77106063e-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, -8.53743478, -1.30345091, -8.53743478,  9.5402269 ,
       -5.92018739, -1.30345091, -5.92018739, 47.41282476,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011935112239269963
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.30215822e-14,  4.65107911e-14,  1.00000000e+00,  4.32650738e-27,
        1.00000000e+00, -4.65107911e-14, -1.00000000e+00,  0.00000000e+00,
       -9.30215822e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03605621, -0.06167117,  0.06189404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.14177451e-05,-1.58687125e-03,-3.94791726e-04,-5.63235457e-05,
  1.42585003e-05, 7.70966883e-04, 1.84715583e-04,-1.04734339e-04,
 -3.69667349e-05,-8.67394982e-04,-1.80307870e-04,-1.59575381e-04,
 -6.64145422e-06, 1.28810966e-05,-3.24406591e-06,-1.59523045e-04,
  5.16028584e-06,-4.28096551e-06,-1.21644759e+00, 1.58801726e-03,
  5.44789030e-04, 1.51370620e-05]


--- Step 2140 ---
qpos:
[-0.01484823, 1.19140615,-0.02201907, 0.94651243, 0.00435298, 1.18545472,
 -0.02913991, 0.94297013, 0.01657237, 1.23392792,-0.02342697, 0.9516019 ,
  1.37858917,-0.00143142, 1.17680919, 0.06307718,-0.00361713,-0.09250385,
  0.08171851, 0.62506782,-0.011948  ,-0.00397873, 0.78046885]

qacc:
[-4.46846597e-02,-1.23322999e+01, 2.53349157e+01,-2.43978309e+01,
  4.85978369e-02, 4.95212352e+00,-4.29378816e+00,-1.18571755e+01,
 -4.91775065e-02,-9.71382066e+00, 2.86129713e+01,-4.70053399e+01,
 -1.02883721e-01, 2.25875602e-01,-2.83739025e+00, 9.17182670e+00,
 -1.00321122e+00,-1.23243354e+00,-1.61112751e+00,-6.10894307e+01,
 -5.10443658e+01,-4.11231719e+00]

qfrc_actuator:
[ 2.68860546e-03, 7.51561649e-02, 1.01547609e-02, 3.89937764e-03,
  3.31066572e-05, 9.22841472e-02, 1.03196217e-02, 5.06180370e-03,
 -2.95706591e-03, 1.02773603e-01, 1.05164017e-02, 5.20184137e-03,
  0.00000000e+00,-1.68991079e-03, 0.00000000e+00,-1.72309905e-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,   7.36496394,   4.51044155,   7.36496394,
        24.47927938, -25.86941922,   4.51044155, -25.86941922,
        50.87775792,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0011790981500837266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.35396651e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.35396651e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03608082, -0.06165036,  0.06189528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24931395e-05,-1.32061886e-03,-3.49206846e-04,-8.97858912e-05,
  1.32612097e-05, 7.77093838e-04, 2.00643244e-04,-2.16502591e-05,
 -1.37768171e-05,-5.98010672e-04,-1.41063855e-04,-1.33658416e-04,
 -1.11537412e-06, 1.21379407e-05,-2.33587512e-05, 3.77086342e-05,
 -1.36207040e-06, 3.54864033e-06,-1.21644924e+00, 1.58765599e-03,
  5.44258759e-04, 2.32545788e-05]


--- Step 2141 ---
qpos:
[-0.01485268, 1.19224944,-0.02202336, 0.94655159, 0.00435342, 1.18662663,
 -0.02914899, 0.94303278, 0.01657248, 1.23531259,-0.02342916, 0.95166749,
  1.37866253,-0.00143163, 1.17697287, 0.06307552,-0.00360967,-0.09251821,
  0.0817184 , 0.62507127,-0.01157516,-0.00415054, 0.78047082]

qacc:
[-2.02249356e-02,-1.04613113e+01, 2.32658635e+01,-2.87807711e+01,
 -2.82529696e-02, 5.63531254e+00,-1.43218971e+01, 2.38312122e+01,
 -1.04427873e-02,-1.55165346e+00, 5.17091810e+00,-1.79076209e+01,
  3.82342695e-01,-6.94919019e-01, 2.30277691e-01,-1.07375793e+00,
  1.07896683e+00, 1.35972581e+00, 5.75236450e-01, 6.72504311e+01,
  5.90774855e+01, 1.03702642e-01]

qfrc_actuator:
[ 2.69087484e-03, 7.48933778e-02, 1.01625223e-02, 3.84754976e-03,
  1.81247451e-05, 9.23673156e-02, 1.03087297e-02, 5.11489335e-03,
 -2.95321002e-03, 1.02929195e-01, 1.05508583e-02, 5.15148488e-03,
  0.00000000e+00,-1.71968138e-03, 0.00000000e+00,-1.72967545e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011700550745074034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.55823964e-14,  4.74431951e-14,  1.00000000e+00,  1.68814257e-27,
        1.00000000e+00, -4.74431951e-14, -1.00000000e+00,  0.00000000e+00,
       -3.55823964e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03645455, -0.11936879,  0.06189603])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.83059293e-06,-1.07410449e-03,-2.94917633e-04,-1.02485674e-04,
 -7.35884612e-06, 5.37694225e-04, 1.60164566e-04, 8.31109769e-05,
 -2.90596988e-06,-2.20929816e-04,-1.05256735e-04,-7.35591967e-05,
  1.81572343e-06,-2.64897130e-05,-8.51827987e-06,-7.92992862e-06,
 -2.53524791e-06, 1.76368585e-05,-1.21645318e+00, 1.58679139e-03,
  5.44035171e-04, 3.88689565e-05]


--- Step 2142 ---
qpos:
[-0.01485699, 1.19308736,-0.02202964, 0.94658928, 0.0043536 , 1.18779993,
 -0.02915703, 0.94309481, 0.01657231, 1.23669697,-0.02343181, 0.95173254,
  1.3787358 ,-0.00143165, 1.17713744, 0.06306607,-0.00359814,-0.09252747,
  0.08171805, 0.62507647,-0.01120989,-0.00415461, 0.78047197]

qacc:
[ 6.26543606e-02,-4.17997513e+00, 8.13042470e+00,-2.07397395e+01,
 -1.16092819e-01,-2.07097746e+00, 1.02490984e+01,-1.70791788e+01,
 -1.22260500e-01,-4.75625564e-02, 7.72973934e-01,-6.60411745e+00,
 -7.58441518e-01, 1.05932844e+00, 2.48569815e+01,-8.49385606e+01,
  1.01560213e+00, 1.27632619e+00,-6.09495759e-02, 6.31002976e+01,
  5.53907872e+01, 4.39040964e-02]

qfrc_actuator:
[ 2.71179739e-03, 7.48294847e-02, 1.01339682e-02, 3.78374774e-03,
 -8.75752935e-06, 9.22477685e-02, 1.02876638e-02, 5.06770401e-03,
 -2.98643086e-03, 1.03037680e-01, 1.05729848e-02, 5.13129013e-03,
  0.00000000e+00,-1.70172000e-03, 0.00000000e+00,-2.14118989e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011782533846225116
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.71130845e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.71130845e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03644187, -0.11935869,  0.06189534])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.66631522e-05,-7.28509583e-04,-2.77215990e-04,-1.05831805e-04,
 -3.10568623e-05, 1.97790792e-04, 1.01644015e-04,-2.30968075e-05,
 -3.36810062e-05,-5.06265541e-05,-3.80721396e-05,-2.97787349e-05,
 -5.71830779e-06, 1.13828883e-05,-7.49282088e-06,-4.13685797e-04,
 -1.09095985e-06, 2.27319777e-06,-1.21644811e+00, 1.58552641e-03,
  5.45005540e-04, 1.91744858e-05]


--- Step 2143 ---
qpos:
[-0.01486079, 1.19392168,-0.02203708, 0.94662573, 0.0043538 , 1.18897176,
 -0.02916353, 0.94315605, 0.01657181, 1.23807967,-0.02343347, 0.95179692,
  1.37880885,-0.00143096, 1.17730151, 0.06305547,-0.00359361,-0.09253165,
  0.08171447, 0.62507433,-0.01106574,-0.00415183, 0.78047575]

qacc:
[ 2.17539207e-01,-3.77505028e+00, 9.14038381e+00,-2.01094532e+01,
  7.14078294e-03,-7.43954009e+00, 2.35693190e+01,-2.86634881e+01,
 -1.37164594e-01,-6.04753230e+00, 1.84215317e+01,-2.26690956e+01,
 -7.15216169e-01, 1.29221210e+00, 2.86008790e+00,-1.08885180e+01,
 -1.74910451e+00, 1.27113056e+00,-8.05495629e-01,-6.64718057e+01,
  8.83952127e+01, 4.18774913e+00]

qfrc_actuator:
[ 2.76149232e-03, 7.48142503e-02, 1.01383049e-02, 3.73127107e-03,
  1.07056768e-05, 9.19899328e-02, 1.02953695e-02, 5.01495881e-03,
 -3.00612376e-03, 1.02904243e-01, 1.06053496e-02, 5.09347008e-03,
  0.00000000e+00,-1.65553873e-03, 0.00000000e+00,-2.18437119e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001196561539071217
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.95883364e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.95883364e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04803835, -0.11456464,  0.06189379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.83520211e-05,-4.85258209e-04,-1.74839678e-04,-8.37833795e-05,
  1.71869960e-06,-1.43165432e-04, 5.41546928e-05,-4.30203015e-05,
 -3.79695409e-05,-1.83859012e-04, 1.43796430e-05,-3.93711496e-05,
 -1.64212550e-06, 4.85886728e-05,-5.46146925e-05,-6.83627382e-05,
  5.74074743e-06,-4.74318326e-06,-1.21644621e+00, 1.58458535e-03,
  5.45367753e-04, 1.00195492e-05]


--- Step 2144 ---
qpos:
[-0.01486421, 1.19475176,-0.02204385, 0.94666125, 0.0043541 , 1.19014042,
 -0.02916836, 0.9432167 , 0.01657135, 1.23945985,-0.0234351 , 0.95185982,
  1.37888196,-0.00143025, 1.17746461, 0.0630497 ,-0.00359559,-0.09253109,
  0.08170524, 0.62506539,-0.01112759,-0.00414267, 0.78048208]

qacc:
[ 1.71546125e-01,-9.01460296e+00, 2.45896549e+01,-2.95869312e+01,
  4.79838564e-02,-9.68846268e+00, 2.77797094e+01,-2.89031912e+01,
  1.24502304e-02,-5.94430235e+00, 1.83808212e+01,-3.14908523e+01,
  4.06922733e-01,-4.82573811e-01,-1.60788630e+01, 5.40570349e+01,
 -1.62822694e+00, 1.18226473e+00,-1.41319155e+00,-6.19260179e+01,
  8.23593936e+01, 3.91064765e+00]

qfrc_actuator:
[ 2.77478022e-03, 7.46155646e-02, 1.01800796e-02, 3.68595215e-03,
  2.22964582e-05, 9.17224300e-02, 1.03371703e-02, 4.97704102e-03,
 -2.98204553e-03, 1.02698168e-01, 1.05715749e-02, 5.00992029e-03,
  0.00000000e+00,-1.66403277e-03, 0.00000000e+00,-1.92129918e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001216684752646191
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.28124628e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.28124628e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04799306, -0.11454433,  0.06189209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.58598114e-05,-5.13425438e-04,-7.75386434e-05,-6.58719058e-05,
  1.25652754e-05,-3.51276203e-04, 1.55854097e-05,-4.02696793e-05,
  3.29742323e-06,-3.20130634e-04,-7.20765490e-05,-8.77340338e-05,
  9.52352987e-06, 4.90918251e-06,-3.37949328e-05, 2.52039060e-04,
  1.02276060e-06,-7.42757930e-07,-1.21644109e+00, 1.58475550e-03,
  5.45239972e-04, 2.69725681e-05]


--- Step 2145 ---
qpos:
[-0.01486763, 1.19557608,-0.02204884, 0.94669569, 0.00435437, 1.19130602,
 -0.02917192, 0.94327577, 0.01657118, 1.2408366 ,-0.02343806, 0.95192004,
  1.37895513,-0.00142959, 1.17762741, 0.06304738,-0.00360369,-0.0925261 ,
  0.0816883 , 0.62505005,-0.01138288,-0.0041275 , 0.78049076]

qacc:
[-2.00650962e-03,-1.42061019e+01, 3.94185329e+01,-4.31157357e+01,
 -1.32337741e-02,-1.01267724e+01, 3.14301030e+01,-4.36441347e+01,
  1.28871819e-01,-5.53221768e+00, 1.80563253e+01,-4.45266117e+01,
  3.20684702e-01,-4.23866800e-01,-1.08741851e+01, 3.73739841e+01,
 -1.52683589e+00, 1.10837581e+00,-1.92658853e+00,-5.81414915e+01,
  7.73333868e+01, 3.66649717e+00]

qfrc_actuator:
[ 2.74837858e-03, 7.42556347e-02, 1.02429538e-02, 3.62736355e-03,
  1.13122429e-05, 9.15756920e-02, 1.03986809e-02, 4.89487479e-03,
 -2.94967671e-03, 1.02432280e-01, 1.04631844e-02, 4.86450783e-03,
  0.00000000e+00,-1.66943087e-03, 0.00000000e+00,-1.74629347e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012191417459850168
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.55329755e-14,  1.13832439e-13,  1.00000000e+00,  5.18312964e-27,
        1.00000000e+00, -1.13832439e-13, -1.00000000e+00,  0.00000000e+00,
       -4.55329755e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04798656, -0.1145415 ,  0.06189184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.79058908e-07,-6.70617031e-04,-5.03238753e-05,-7.67118375e-05,
 -3.81616992e-06,-3.53017820e-04,-9.69863317e-06,-9.18244656e-05,
  3.54751530e-05,-4.73558458e-04,-1.84537994e-04,-1.57289144e-04,
  6.06356257e-06,-1.75101337e-06, 1.23895692e-05, 1.84694861e-04,
  8.13801943e-08,-1.06469703e-07,-1.21644007e+00, 1.58408567e-03,
  5.44903370e-04, 2.98800068e-05]


--- Step 2146 ---
qpos:
[-0.01487103, 1.19639306,-0.02205192, 0.94672933, 0.00435457, 1.19246976,
 -0.0291757 , 0.94333168, 0.01657136, 1.24220949,-0.02344194, 0.95197949,
  1.37902849,-0.00142949, 1.1777901 , 0.06304818,-0.00361754,-0.09251693,
  0.08166192, 0.6250286 ,-0.01182112,-0.00410666, 0.78050154]

qacc:
[ 8.84983973e-03,-1.62438248e+01, 4.30187209e+01,-4.22982638e+01,
 -3.26409623e-02,-7.26126487e+00, 2.72817624e+01,-5.93351101e+01,
  1.49016516e-01,-3.93779831e+00, 8.27503681e+00,-1.37025688e+01,
  7.55406354e-01,-1.26239812e+00,-9.66306779e+00, 3.33926925e+01,
 -1.44127747e+00, 1.04665153e+00,-2.36035826e+00,-5.49907164e+01,
  7.31491164e+01, 3.44913419e+00]

qfrc_actuator:
[ 2.75166372e-03, 7.37844091e-02, 1.02993633e-02, 3.57907381e-03,
  4.63256754e-06, 9.15380742e-02, 1.04007484e-02, 4.73412678e-03,
 -2.93036782e-03, 1.02238923e-01, 1.04178836e-02, 4.82579311e-03,
  0.00000000e+00,-1.70841175e-03, 0.00000000e+00,-1.58917746e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012074074850655092
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.59754904e-14,  2.29877452e-14,  1.00000000e+00,  1.05687286e-27,
        1.00000000e+00, -2.29877452e-14, -1.00000000e+00,  0.00000000e+00,
       -4.59754904e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04801082, -0.11455252,  0.06189274])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.85541069e-06,-8.63772816e-04,-8.47135568e-05,-7.05496163e-05,
 -8.88399284e-06,-2.51292631e-04,-7.38595300e-05,-1.72395346e-04,
  4.10486591e-05,-5.09837540e-04,-1.66221407e-04,-6.00497116e-05,
  3.11376890e-06,-3.81912979e-05, 2.33424414e-05, 1.68330191e-04,
  2.22965506e-06,-2.22277116e-06,-1.21644242e+00, 1.58274073e-03,
  5.44375526e-04, 2.13736813e-05]


--- Step 2147 ---
qpos:
[-0.01487426, 1.1972017 ,-0.02205402, 0.94676366, 0.00435469, 1.19363198,
 -0.02917999, 0.94338489, 0.01657169, 1.24357953,-0.02344578, 0.95203859,
  1.3791021 ,-0.00143034, 1.1779528 , 0.06305121,-0.00362683,-0.09250146,
  0.08163966, 0.62501005,-0.01226659,-0.00390118, 0.78051057]

qacc:
[ 8.07725904e-02,-1.23705478e+01, 2.57462926e+01,-9.13426449e+00,
 -3.37291215e-02,-5.26896181e+00, 2.03213583e+01,-4.79495686e+01,
  6.74594634e-02,-4.41683518e+00, 1.05999695e+01,-1.14046560e+01,
  9.97323492e-01,-1.80652929e+00,-6.78949991e+00, 2.35826109e+01,
  1.14210071e+00, 1.57128917e+00, 1.02882067e+00, 6.98051070e+01,
  6.05367759e+01,-5.68112155e-01]

qfrc_actuator:
[ 2.77273959e-03, 7.32858079e-02, 1.03155368e-02, 3.60814577e-03,
  5.91906121e-07, 9.14949340e-02, 1.03858852e-02, 4.59946821e-03,
 -2.93681361e-03, 1.02215173e-01, 1.04638165e-02, 4.81475466e-03,
  0.00000000e+00,-1.76700796e-03, 0.00000000e+00,-1.47934746e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012354358389347897
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.34797331e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.34797331e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03634945, -0.11929439,  0.06189026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.12692294e-05,-1.00441483e-03,-1.66412074e-04, 1.90372040e-07,
 -9.14020577e-06,-2.15472644e-04,-8.05524128e-05,-1.47007134e-04,
  1.85203656e-05,-3.53695088e-04,-7.71005686e-05,-3.06522749e-05,
 -6.97321976e-06,-6.84800293e-05, 2.60859216e-05, 1.21409437e-04,
  6.96944889e-06,-6.64680168e-06,-1.21644757e+00, 1.58084900e-03,
  5.43673127e-04, 3.38066547e-06]


--- Step 2148 ---
qpos:
[-0.01487727, 1.19800346,-0.02205698, 0.94679841, 0.00435474, 1.19479661,
 -0.02918604, 0.94343684, 0.01657194, 1.24495185,-0.02345192, 0.95209507,
  1.37917559,-0.00143138, 1.17811527, 0.06305823,-0.00363186,-0.09248023,
  0.08161863, 0.62499392,-0.01271911,-0.00352317, 0.78051804]

qacc:
[ 9.44328211e-02,-5.99214780e+00, 7.79151545e+00, 2.32132557e+00,
 -2.93908281e-02, 5.79573676e+00,-1.25116801e+01,-5.19993999e+00,
 -3.66493065e-02, 4.68090461e+00,-6.35011474e+00,-2.61644509e+01,
  3.14630937e-01,-5.51870907e-01,-1.24474490e+01, 4.29715778e+01,
  1.06451949e+00, 1.44288656e+00, 3.07659188e-01, 6.51383727e+01,
  5.66853457e+01,-3.64151121e-01]

qfrc_actuator:
[ 2.78656495e-03, 7.30054842e-02, 1.02899891e-02, 3.62918839e-03,
 -1.83290600e-06, 9.18927064e-02, 1.03967324e-02, 4.55226489e-03,
 -2.95866090e-03, 1.02648759e-01, 1.04573891e-02, 4.69593336e-03,
  0.00000000e+00,-1.76574409e-03, 0.00000000e+00,-1.27397685e-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, -8.51103877, -1.46594538, -8.51103877,  9.54420895,
       -5.27080118, -1.46594538, -5.27080118, 39.23777205,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012479864608294713
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.44805717e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.44805717e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03632836, -0.11928039,  0.0618891 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51574208e-05,-8.77659525e-04,-2.42811279e-04,-1.27858903e-05,
 -7.67071164e-06, 2.44774964e-04,-4.78336621e-05,-5.80872902e-05,
 -9.93844963e-06, 2.08379232e-04,-8.79386623e-05,-1.30518121e-04,
 -1.95294483e-05,-1.92174736e-05, 2.17995621e-05, 2.14599965e-04,
 -1.90897706e-06, 3.09486186e-06,-1.21645006e+00, 1.58086780e-03,
  5.43872749e-04, 1.61780106e-05]


--- Step 2149 ---
qpos:
[-0.01487978, 1.19880166,-0.02206236, 0.94683259, 0.00435474, 1.19596976,
 -0.02919533, 0.94348772, 0.01657234, 1.24632976,-0.02346   , 0.95214837,
  1.3792489 ,-0.00143221, 1.17827792, 0.06306667,-0.0036359 ,-0.09246523,
  0.08161291, 0.62498051,-0.01305094,-0.00326196, 0.78052444]

qacc:
[ 2.16891027e-01, 8.51934397e-01,-7.29517540e+00, 2.09549846e+00,
 -2.40243275e-02, 1.80561653e+01,-4.31825257e+01, 1.96025651e+01,
  6.29951713e-02, 7.04681972e+00,-7.71954558e+00,-3.35002811e+01,
 -2.05079371e-01, 3.30893827e-01,-3.98182795e+00, 1.43646741e+01,
  2.46001494e-01,-1.55871060e+00, 3.82844753e+00,-7.84769736e+00,
 -8.35900907e+01,-2.35281249e+00]

qfrc_actuator:
[ 2.83143941e-03, 7.30355451e-02, 1.02408597e-02, 3.60991216e-03,
 -3.26913680e-06, 9.27469827e-02, 1.03889729e-02, 4.52166618e-03,
 -2.93631411e-03, 1.03192984e-01, 1.04573672e-02, 4.55036346e-03,
  0.00000000e+00,-1.74671192e-03, 0.00000000e+00,-1.20922146e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012875034219647502
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.31153427e-14,  4.31153427e-14,  1.00000000e+00,  1.85893277e-27,
        1.00000000e+00, -4.31153427e-14, -1.00000000e+00,  0.00000000e+00,
       -4.31153427e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00375744, -0.07074747,  0.06188568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.84572840e-05,-5.12392674e-04,-2.50671595e-04,-5.18812011e-05,
 -5.81553121e-06, 9.64986345e-04, 2.99257255e-05,-2.46604875e-05,
  1.77754661e-05, 6.24779141e-04, 2.40916962e-05,-1.43258279e-04,
 -1.42758956e-05, 8.92155264e-06, 3.03946174e-05, 7.86858416e-05,
 -4.33353842e-06, 1.99940529e-05,-1.21645544e+00, 1.58123110e-03,
  5.43338776e-04, 3.81505590e-05]


--- Step 2150 ---
qpos:
[-0.01488162, 1.19959816,-0.02206976, 0.94686611, 0.00435471, 1.1971509 ,
 -0.02920447, 0.94353702, 0.0165731 , 1.24771019,-0.02346574, 0.95219993,
  1.37932212,-0.00143287, 1.17844135, 0.0630705 ,-0.00363909,-0.09246083,
  0.0816192 , 0.6249692 ,-0.01327994,-0.00309954, 0.78053029]

qacc:
[ 2.89341245e-01, 2.11849779e+00,-8.23230779e+00, 4.83356186e-01,
 -1.67040587e-02, 7.43119322e+00,-8.35535436e+00,-1.59469936e+01,
  1.53257080e-01,-5.97555599e+00, 2.70081915e+01,-4.50717561e+01,
 -5.40602470e-01, 7.72683656e-01, 1.51135488e+01,-5.10989650e+01,
  2.15520688e-01,-2.64935535e+00, 3.00236793e+00,-6.40997531e+00,
 -7.09953785e+01,-1.79903641e+00]

qfrc_actuator:
[ 2.87682147e-03, 7.31092518e-02, 1.01972243e-02, 3.58500773e-03,
 -4.10094763e-06, 9.32112385e-02, 1.04254751e-02, 4.44809933e-03,
 -2.90540210e-03, 1.03231301e-01, 1.05505040e-02, 4.46136554e-03,
  0.00000000e+00,-1.73508210e-03, 0.00000000e+00,-1.45863526e-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, -8.63622651,  0.04866693, -8.63622651,  8.63630443,
       -0.01050679,  0.04866693, -0.01050679,  6.77187398,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014130046693877512
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.92858937e-14, -3.70958748e-01,  9.28649346e-01, -1.56931634e-14,
        9.28649346e-01,  3.70958748e-01, -1.00000000e+00,  0.00000000e+00,
       -4.23043357e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0037567 , -0.07077206,  0.06188358])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.81064847e-05,-2.69365934e-04,-1.75815186e-04,-4.77803790e-05,
 -4.10771868e-06, 9.89544534e-04, 2.24876374e-04,-4.29761031e-05,
  4.24403926e-05, 3.70667406e-04, 2.10949592e-04,-7.13689764e-05,
 -5.05405840e-06, 1.05367705e-05, 1.79531369e-05,-2.42248658e-04,
 -2.36626355e-06, 9.36293233e-06,-1.21644778e+00, 1.58243841e-03,
  5.42932966e-04, 3.68439071e-05]


--- Step 2151 ---
qpos:
[-0.01488331, 1.20039338,-0.02207783, 0.94689829, 0.00435465, 1.19833746,
 -0.02921181, 0.94358454, 0.01657407, 1.24909077,-0.02346943, 0.95225097,
  1.37939538,-0.00143365, 1.17860507, 0.06306968,-0.00364148,-0.09246564,
  0.08163411, 0.62495998,-0.01341148,-0.00303084, 0.7805357 ]

qacc:
[ 6.80917912e-02,-2.21752136e+00, 7.94563292e+00,-2.16671548e+01,
 -1.07713787e-02,-8.39850096e-01, 1.50111112e+01,-3.71907418e+01,
  9.45521349e-02,-6.20859060e+00, 2.15274280e+01,-2.47209122e+01,
 -1.94494975e-01, 1.81908978e-01, 1.44903351e+01,-5.00390303e+01,
  1.97709897e-01,-2.30033326e+00, 2.15409662e+00,-6.10344320e+00,
 -6.73136252e+01,-1.72805659e+00]

qfrc_actuator:
[ 2.85113133e-03, 7.31199335e-02, 1.01929800e-02, 3.52155420e-03,
 -4.56438766e-06, 9.33498427e-02, 1.04687037e-02, 4.34967025e-03,
 -2.90512257e-03, 1.03073405e-01, 1.05895293e-02, 4.42389112e-03,
  0.00000000e+00,-1.74569820e-03, 0.00000000e+00,-1.69581259e-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, 8.63156198, 0.28794917, 8.63156198, 8.6355074 ,
       0.02566651, 0.28794917, 0.02566651, 7.86698444, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0014161825156566064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.        , -0.36524766,  0.93091038,  0.        ,  0.93091038,
        0.36524766, -1.        ,  0.        ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00375692, -0.07078369,  0.0618831 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.83385101e-05,-1.83174868e-04,-8.02705449e-05,-7.68064061e-05,
 -2.76081252e-06, 7.15025675e-04, 2.58048700e-04,-6.18057113e-05,
  2.61111770e-05, 7.26374483e-05, 1.30581204e-04,-2.02255987e-05,
 -7.54778410e-07,-8.62906961e-06,-2.43362105e-05,-2.49692025e-04,
 -1.10504170e-06, 3.45511145e-06,-1.21644330e+00, 1.58328227e-03,
  5.42640548e-04, 3.68322050e-05]


--- Step 2152 ---
qpos:
[-0.01488534, 1.20118852,-0.02208571, 0.94692862, 0.00435457, 1.19952774,
 -0.02921803, 0.9436328 , 0.01657533, 1.25047003,-0.02347313, 0.9523011 ,
  1.37946867,-0.00143455, 1.17876857, 0.06306667,-0.00364311,-0.09247385,
  0.08165423, 0.62495331,-0.01344124,-0.00306075, 0.78054041]

qacc:
[-1.50179827e-01,-3.82583874e+00, 1.60921543e+01,-3.52126896e+01,
 -7.09774660e-03, 3.16544866e+00,-5.94017381e+00, 1.14028725e+01,
  1.21795867e-01,-3.30860486e+00, 1.05322176e+01,-1.88575443e+01,
 -4.50191651e-02,-3.68631996e-03, 6.30039426e+00,-2.25069679e+01,
  1.89928355e-01,-8.52113726e-01, 1.30203284e+00,-6.66940801e+00,
 -7.05288410e+01,-2.02890976e+00]

qfrc_actuator:
[ 2.80079338e-03, 7.32350837e-02, 1.02473161e-02, 3.43591356e-03,
 -4.80415795e-06, 9.34167003e-02, 1.04787343e-02, 4.37919371e-03,
 -2.88772274e-03, 1.02852406e-01, 1.05244341e-02, 4.36354490e-03,
  0.00000000e+00,-1.75167393e-03, 0.00000000e+00,-1.79949279e-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, 8.63630343, 0.03224763, 8.63630343, 8.63631301,
       0.01355919, 0.03224763, 0.01355919, 5.00505016, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0013097026270930123
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -8.4769092e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  8.4769092e-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([-0.00375791, -0.07078498,  0.0618839 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.06068960e-05,-1.31919666e-05, 5.18737654e-06,-9.43002910e-05,
 -1.78176795e-06, 4.97323808e-04, 1.74376851e-04, 5.84603484e-05,
  3.37378036e-05,-1.69395356e-04,-3.93660629e-05,-5.30791070e-05,
 -3.61648917e-06,-7.90950450e-06,-4.22190386e-05,-1.21486178e-04,
 -2.53717923e-07, 4.51863941e-07,-1.21644081e+00, 1.58405506e-03,
  5.42460952e-04, 3.75023350e-05]


--- Step 2153 ---
qpos:
[-0.01488737, 1.20198489,-0.02209337, 0.94695898, 0.00435464, 1.20071885,
 -0.02922298, 0.94368236, 0.01657699, 1.25184524,-0.02347566, 0.95234896,
  1.37954186,-0.00143524, 1.17893129, 0.06306672,-0.00364404,-0.09248561,
  0.08167732, 0.62494901,-0.01337491,-0.00318372, 0.78054449]

qacc:
[-2.98540917e-04, 1.10627123e+00,-1.68674152e+00, 8.88803631e-01,
  6.18336243e-02,-1.37208633e-01,-9.17692465e-01, 1.53255948e+01,
  1.74778125e-01,-1.24156094e+01, 3.86863495e+01,-5.73234102e+01,
  3.00681833e-02, 5.54269253e-02,-1.04164735e+01, 3.47756875e+01,
  1.76872604e-01,-8.88188974e-01, 7.45018567e-01,-6.27138649e+00,
 -6.65701054e+01,-1.89580457e+00]

qfrc_actuator:
[ 2.82486919e-03, 7.34122303e-02, 1.03006994e-02, 3.44450740e-03,
  1.28440316e-05, 9.32625073e-02, 1.04688228e-02, 4.43041673e-03,
 -2.86020222e-03, 1.02488448e-01, 1.05223656e-02, 4.23682206e-03,
  0.00000000e+00,-1.73708513e-03, 0.00000000e+00,-1.62839443e-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, -8.63075377,  0.31123344, -8.63075377,  8.64479057,
        0.23368575,  0.31123344,  0.23368575, 15.11665771,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00128938941555308
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.30522777e-14,  8.61045555e-14,  1.00000000e+00,  3.70699724e-27,
        1.00000000e+00, -8.61045555e-14, -1.00000000e+00,  0.00000000e+00,
       -4.30522777e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00375949, -0.07077298,  0.0618857 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.97060242e-08, 1.59018628e-04, 4.66729442e-05, 7.09508492e-06,
  1.66541329e-05, 1.43112835e-04, 1.05875135e-04, 7.39800560e-05,
  4.82747627e-05,-4.80319256e-04,-4.38789321e-05,-1.32357982e-04,
 -4.87800144e-06, 1.21408044e-05,-3.46101365e-05, 1.58513335e-04,
  2.85027335e-07, 1.98565246e-08,-1.21644006e+00, 1.58482589e-03,
  5.42401163e-04, 3.88494321e-05]


--- Step 2154 ---
qpos:
[-0.01488929, 1.20278274,-0.02210056, 0.94698883, 0.00435503, 1.20190726,
 -0.0292262 , 0.94373213, 0.01657888, 1.2532135 ,-0.02347573, 0.95239792,
  1.37961482,-0.00143526, 1.17909383, 0.06306842,-0.0036443 ,-0.09250103,
  0.08170154, 0.62494692,-0.01321712,-0.00339518, 0.78054797]

qacc:
[ 5.33682233e-02,-2.26144874e-01, 4.09909649e+00,-1.02719600e+01,
  1.40937911e-01,-7.83455042e+00, 2.08708232e+01,-1.40142258e+01,
  9.88243134e-02,-1.38438329e+01, 3.19109624e+01,-1.06516805e+01,
 -5.26483755e-01, 1.03451960e+00,-5.18763876e+00, 1.78681233e+01,
  1.66410489e-01,-9.15173906e-01, 2.80901409e-01,-5.94762950e+00,
 -6.33395243e+01,-1.78672030e+00]

qfrc_actuator:
[ 2.84012848e-03, 7.35187751e-02, 1.03356763e-02, 3.41975997e-03,
  4.10738817e-05, 9.28883365e-02, 1.04640919e-02, 4.42279633e-03,
 -2.86234953e-03, 1.01988705e-01, 1.05924391e-02, 4.28503152e-03,
  0.00000000e+00,-1.69266761e-03, 0.00000000e+00,-1.54535255e-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, -8.63134849,  0.29427906, -8.63134849,  8.64651231,
        0.29766561,  0.29427906,  0.29766561, 17.36704136,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001259991059509323
  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([-0.00376152, -0.07075064,  0.06188827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.44655596e-05, 1.94818000e-04, 6.96310393e-05,-1.75444266e-05,
  3.77930832e-05,-2.85700551e-04, 3.44524867e-05, 2.87849193e-06,
  2.70352275e-05,-7.91199497e-04,-3.52795414e-05, 3.13883253e-05,
 -1.96606760e-08, 4.67621778e-05, 9.17455445e-07, 8.72441993e-05,
  4.57675858e-07, 2.18275124e-06,-1.21644106e+00, 1.58545488e-03,
  5.42457239e-04, 4.07932625e-05]


--- Step 2155 ---
qpos:
[-0.0148912 , 1.20358099,-0.02210679, 0.94701721, 0.00435544, 1.20309006,
 -0.02922755, 0.94378102, 0.01658074, 1.25457315,-0.0234738 , 0.9524504 ,
  1.37968787,-0.00143527, 1.17925658, 0.06306908,-0.00364393,-0.0925202 ,
  0.08172534, 0.62494684,-0.01297164,-0.00369145, 0.7805508 ]

qacc:
[-1.12808675e-03,-4.63599406e+00, 1.87529910e+01,-3.36325074e+01,
  1.17744396e-02,-1.39429350e+01, 3.83990473e+01,-3.99971080e+01,
 -9.55117830e-03,-1.06694759e+01, 1.40686153e+01, 3.36735542e+01,
 -9.24459327e-03, 3.93933852e-02, 3.43594563e+00,-1.15764724e+01,
  1.58065852e-01,-9.35463266e-01,-1.04890254e-01,-5.68511194e+00,
 -6.07125259e+01,-1.69727812e+00]

qfrc_actuator:
[ 2.83222218e-03, 7.34757043e-02, 1.03592474e-02, 3.34001213e-03,
  2.21578081e-05, 9.24031135e-02, 1.04792592e-02, 4.36268786e-03,
 -2.88228179e-03, 1.01447523e-01, 1.06507982e-02, 4.45348449e-03,
  0.00000000e+00,-1.70192622e-03, 0.00000000e+00,-1.60370972e-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, -8.63199329,  0.27471561, -8.63199329,  8.64802973,
        0.36656703,  0.27471561,  0.36656703, 20.15447188,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012236564005627948
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.53649825e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.53649825e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0037639 , -0.07072039,  0.06189144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.70114494e-07, 6.87560636e-05, 6.71109413e-05,-7.13752556e-05,
  2.75909109e-06,-6.50008341e-04,-3.97158030e-05,-6.62020838e-05,
 -3.11171337e-06,-9.97845418e-04,-1.01885459e-04, 1.46488114e-04,
  1.10388541e-05, 3.52636258e-06, 6.91934629e-06,-5.41146146e-05,
  3.19070065e-07, 6.55749323e-06,-1.21644356e+00, 1.58597401e-03,
  5.42624715e-04, 4.32037175e-05]


--- Step 2156 ---
qpos:
[-0.01489316, 1.20438   ,-0.02211393, 0.94704519, 0.00435547, 1.20426467,
 -0.02922722, 0.94382735, 0.01658264, 1.25592441,-0.02347145, 0.95250182,
  1.37976115,-0.00143586, 1.17941904, 0.06307139,-0.00363962,-0.09254196,
  0.08174524, 0.62494733,-0.01259347,-0.00399662, 0.7805551 ]

qacc:
[-1.87084606e-02, 2.80969125e+00,-7.14799537e+00, 1.13472067e+00,
 -1.66200383e-01,-1.96450203e+01, 5.63474326e+01,-7.33293078e+01,
  1.70591596e-02,-1.39868594e+01, 3.44501819e+01,-3.68080327e+01,
  7.02148667e-01,-1.18533475e+00,-5.46035500e+00, 1.83415673e+01,
  9.83439230e-01,-6.49166027e-01,-9.74963064e-01, 3.79907357e+01,
 -5.45782985e+01,-6.43888991e-02]

qfrc_actuator:
[ 2.82824605e-03, 7.35031308e-02, 1.03042915e-02, 3.31720208e-03,
 -2.48768031e-05, 9.18020010e-02, 1.04877710e-02, 4.21883276e-03,
 -2.87721847e-03, 1.00992430e-01, 1.06483325e-02, 4.38943718e-03,
  0.00000000e+00,-1.74297974e-03, 0.00000000e+00,-1.51409817e-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, -8.5951193 ,  0.84303085, -8.5951193 ,  8.97746544,
        3.47770276,  0.84303085,  3.47770276, 44.09327492,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011870819650454667
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.16906736e-14,  4.67626945e-14,  1.00000000e+00,  5.46687398e-28,
        1.00000000e+00, -4.67626945e-14, -1.00000000e+00,  0.00000000e+00,
       -1.16906736e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03239238, -0.07727292,  0.06189463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.96900807e-06, 6.74395046e-05,-3.79215773e-05,-1.95131848e-05,
 -4.54871731e-05,-9.83918395e-04,-1.28068648e-04,-1.64644596e-04,
  4.34008333e-06,-1.03545844e-03,-2.07220394e-04,-9.14003105e-05,
  6.33261858e-06,-3.73175133e-05,-6.65419989e-06, 8.65864973e-05,
 -9.12515259e-08, 1.28734145e-05,-1.21644737e+00, 1.58640658e-03,
  5.42899556e-04, 4.59920876e-05]


--- Step 2157 ---
qpos:
[-0.01489531, 1.20518448,-0.02212442, 0.94707309, 0.00435519, 1.20542949,
 -0.02922674, 0.94387255, 0.01658474, 1.25726756,-0.02346942, 0.95255041,
  1.37983445,-0.00143663, 1.17958138, 0.06307507,-0.00363139,-0.09255822,
  0.08176339, 0.62495038,-0.01222157,-0.00414162, 0.78055781]

qacc:
[ -0.08665927, 16.08052046,-43.65750658, 33.73723588, -0.13272131,
 -15.18658865, 36.35902747,-38.55954479,  0.08607946,-14.66041747,
  40.71840977,-63.09472627,  0.23547528, -0.41610778, -4.32411802,
  14.82460617,  0.98137117,  1.37518495, -0.43846738, 60.57071647,
  52.51115537, -0.47691807]

qfrc_actuator:
[ 2.80891577e-03, 7.40694035e-02, 1.02392267e-02, 3.32806900e-03,
 -3.51243367e-05, 9.11716846e-02, 1.04384823e-02, 4.15102064e-03,
 -2.85721012e-03, 1.00592218e-01, 1.06279029e-02, 4.24230513e-03,
  0.00000000e+00,-1.74928178e-03, 0.00000000e+00,-1.44449098e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001156791722947581
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.19887663e-14,  4.79871615e-14,  1.00000000e+00,  2.01492171e-27,
        1.00000000e+00, -4.79871615e-14, -1.00000000e+00,  0.00000000e+00,
       -4.19887663e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03647109, -0.11945007,  0.06189727])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.29650922e-05, 5.86589046e-04,-5.87112903e-05, 1.22481537e-05,
 -3.64270227e-05,-1.21796407e-03,-2.64093984e-04,-1.03487461e-04,
  2.36053045e-05,-1.02894026e-03,-2.51465477e-04,-1.84221632e-04,
 -5.66732596e-06,-1.48969139e-05, 4.39592933e-06, 7.30435072e-05,
 -2.66728865e-06, 1.29714064e-05,-1.21645175e+00, 1.58740695e-03,
  5.43722135e-04, 3.53526919e-05]


--- Step 2158 ---
qpos:
[-0.01489752, 1.20600013,-0.02213748, 0.94710002, 0.00435483, 1.20658435,
 -0.029227  , 0.94391737, 0.01658705, 1.25860147,-0.02346753, 0.95259698,
  1.37990754,-0.00143698, 1.17974346, 0.06308156,-0.00361941,-0.09256934,
  0.08177791, 0.62495579,-0.01185576,-0.00413424, 0.78055917]

qacc:
[-2.78612691e-02, 1.99420179e+01,-4.53856066e+01, 2.13105631e+01,
 -3.18733211e-02,-1.17537144e+01, 2.33269902e+01,-1.83733715e+01,
  9.42151770e-02,-1.52515526e+01, 3.91819453e+01,-5.15130459e+01,
 -2.45598231e-01, 5.20403567e-01,-8.84678859e+00, 3.04498790e+01,
  9.35804144e-01, 1.28429849e+00,-9.07599663e-01, 5.75773683e+01,
  5.00055671e+01,-3.97859949e-01]

qfrc_actuator:
[ 2.81604867e-03, 7.50782447e-02, 1.02773985e-02, 3.30572071e-03,
 -2.32227533e-05, 9.06529875e-02, 1.03908792e-02, 4.12843924e-03,
 -2.84616327e-03, 1.00068232e-01, 1.05972799e-02, 4.13629631e-03,
  0.00000000e+00,-1.71713578e-03, 0.00000000e+00,-1.29850216e-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, -8.39729463, -2.01797415, -8.39729463, 10.53039374,
       -7.88153247, -2.01797415, -7.88153247, 41.43338943,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001144423396887445
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.81896681e-14,  9.70115630e-14,  1.00000000e+00,  1.76460813e-27,
        1.00000000e+00, -9.70115630e-14, -1.00000000e+00,  0.00000000e+00,
       -1.81896681e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03649081, -0.11946915,  0.0618984 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.82097477e-06, 1.31313595e-03, 1.44551994e-04,-5.38385864e-06,
 -9.09426001e-06,-1.26042184e-03,-3.21824053e-04,-6.78464270e-05,
  2.58400098e-05,-1.16039529e-03,-2.68111437e-04,-1.46368978e-04,
 -6.53393965e-06, 2.67699959e-05, 7.00897120e-06, 1.49879150e-04,
 -3.29365732e-07, 6.71112756e-07,-1.21644770e+00, 1.58594343e-03,
  5.44561779e-04, 1.93257022e-05]


--- Step 2159 ---
qpos:
[-0.01489988, 1.20682785,-0.02215043, 0.94712592, 0.00435434, 1.20772952,
 -0.02922714, 0.94396119, 0.0165894 , 1.25992568,-0.02346692, 0.95264102,
  1.37998038,-0.00143647, 1.17990573, 0.06308807,-0.00360385,-0.09257562,
  0.08178722, 0.62496333,-0.01149589,-0.00398094, 0.78055931]

qacc:
[-6.56385403e-02, 1.37781692e+01,-2.37377467e+01, 1.18445269e+00,
 -5.61384692e-02,-1.47436618e+01, 3.48134637e+01,-3.57793457e+01,
  1.53499858e-02,-1.36514928e+01, 3.42758063e+01,-5.29270306e+01,
 -8.08109923e-01, 1.49841740e+00, 3.09041440e-01,-4.79502427e-01,
  8.97802775e-01, 1.21056991e+00,-1.30053814e+00, 5.51043768e+01,
  4.79243506e+01,-3.34796596e-01]

qfrc_actuator:
[ 2.80349615e-03, 7.58299045e-02, 1.03425707e-02, 3.26437070e-03,
 -3.36460686e-05, 9.02231050e-02, 1.04161183e-02, 4.07943677e-03,
 -2.85834396e-03, 9.95276136e-02, 1.05072185e-02, 4.00201249e-03,
  0.00000000e+00,-1.66245795e-03, 0.00000000e+00,-1.30395445e-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, -8.38898053, -2.05226279, -8.38898053, 11.08087014,
       -9.99234481, -2.05226279, -9.99234481, 49.48180822,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011224307539859923
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23640481e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.23640481e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03652486, -0.1194992 ,  0.06190031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.71942284e-05, 1.49689965e-03, 3.36143090e-04, 2.80200159e-06,
 -1.57200671e-05,-1.20514992e-03,-2.62765212e-04,-9.64137226e-05,
  3.89782889e-06,-1.25169273e-03,-3.53966063e-04,-1.78151911e-04,
  3.10831798e-06, 6.03594382e-05, 1.67188337e-05, 3.05295632e-06,
  6.44223182e-06,-4.99044540e-06,-1.21644621e+00, 1.58490125e-03,
  5.44842207e-04, 1.17372325e-05]


--- Step 2160 ---
qpos:
[-0.01490254, 1.20766403,-0.02216141, 0.94715135, 0.00435388, 1.20886639,
 -0.02922798, 0.94400437, 0.01659141, 1.26124037,-0.02346764, 0.95268486,
  1.3800533 ,-0.00143583, 1.18006814, 0.06309381,-0.00359512,-0.09257662,
  0.08179196, 0.62496288,-0.01134883,-0.00382182, 0.78056262]

qacc:
[-1.29656841e-01, 4.99664290e+00,-1.96168332e+00,-8.86737353e+00,
  1.12666990e-02,-1.01260410e+01, 2.11878697e+01,-2.05616827e+01,
 -1.43784753e-01,-9.23768818e+00, 1.54776747e+01,-9.86603931e+00,
 -7.53618943e-02, 2.03421528e-01, 2.51504631e+00,-8.49494402e+00,
 -1.71044269e+00, 1.32107706e+00,-1.14357135e+00,-6.42687583e+01,
  8.48442403e+01, 4.56581514e+00]

qfrc_actuator:
[ 2.77924438e-03, 7.60490912e-02, 1.03690399e-02, 3.22982366e-03,
 -2.18723841e-05, 8.99034747e-02, 1.04134981e-02, 4.05086466e-03,
 -2.90211734e-03, 9.90876900e-02, 1.04537046e-02, 3.99410641e-03,
  0.00000000e+00,-1.66588168e-03, 0.00000000e+00,-1.34534652e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001100219252654397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.04546263e-14,  5.04546263e-14,  1.00000000e+00,  2.54566931e-27,
        1.00000000e+00, -5.04546263e-14, -1.00000000e+00,  0.00000000e+00,
       -5.04546263e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04826807, -0.1147122 ,  0.06190223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.48603365e-05, 1.10364937e-03, 3.55376937e-04, 2.08981572e-05,
  2.66956310e-06,-1.05347635e-03,-2.73894616e-04,-7.32677133e-05,
 -4.04782185e-05,-1.21906312e-03,-3.45906902e-04,-5.77404479e-05,
  1.59101026e-05, 1.38122900e-05, 3.48975937e-06,-4.01333457e-05,
  1.70699690e-05,-4.88566104e-06,-1.21644694e+00, 1.58419554e-03,
  5.44636784e-04, 1.14888572e-05]


--- Step 2161 ---
qpos:
[-0.01490518, 1.20850375,-0.02216956, 0.94717625, 0.00435364, 1.20999619,
 -0.02923009, 0.94404647, 0.01659316, 1.26254748,-0.02347001, 0.95272849,
  1.3801264 ,-0.00143542, 1.18023062, 0.06309834,-0.00359279,-0.09257273,
  0.08178994, 0.62495511,-0.01140114,-0.0036571 , 0.78056887]

qacc:
[ 5.17532142e-03,-3.94152514e+00, 1.95805599e+01,-2.55051787e+01,
  9.86268566e-02,-7.67318748e+00, 1.60222212e+01,-2.19289349e+01,
 -1.12502045e-01,-5.89914765e+00, 7.64304145e+00,-4.36293055e+00,
  2.12992683e-01,-3.67655301e-01, 3.73191641e+00,-1.29516632e+01,
 -1.59839259e+00, 1.22147288e+00,-1.69096643e+00,-6.01456467e+01,
  7.95265376e+01, 4.18806452e+00]

qfrc_actuator:
[ 2.80143953e-03, 7.58943116e-02, 1.03881307e-02, 3.18144313e-03,
  3.11635854e-06, 8.96347316e-02, 1.03771683e-02, 3.99908011e-03,
 -2.91123141e-03, 9.88538958e-02, 1.04226862e-02, 3.98970021e-03,
  0.00000000e+00,-1.68601955e-03, 0.00000000e+00,-1.40752496e-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, -8.62409561,  0.46016493, -8.62409561,  8.75421085,
        2.20861172,  0.46016493,  2.20861172, 50.02865004,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011173165454146788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.96825644e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.96825644e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04823034, -0.11469723,  0.0619008 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.39309600e-06, 5.16413456e-04, 2.73848463e-04,-3.64270914e-06,
  2.64655190e-05,-9.20026858e-04,-2.78491087e-04,-9.17316360e-05,
 -3.16654951e-05,-9.89562759e-04,-3.12543328e-04,-5.02464318e-05,
  1.13106367e-05,-1.24416899e-05,-6.44456227e-06,-6.48290053e-05,
  7.29638687e-06, 1.11282346e-06,-1.21644224e+00, 1.58432312e-03,
  5.44757359e-04, 3.04644043e-05]


--- Step 2162 ---
qpos:
[-0.01490755, 1.20934273,-0.02217482, 0.94720147, 0.00435365, 1.21112017,
 -0.02923284, 0.94408785, 0.01659471, 1.26384968,-0.0234742 , 0.95277187,
  1.3801995 ,-0.00143496, 1.18039309, 0.06310175,-0.00359488,-0.09257385,
  0.08178537, 0.6249515 ,-0.01144848,-0.00367232, 0.78057099]

qacc:
[  0.11920943, -8.22215276, 24.97456195,-17.50900942,  0.11194557,
  -7.18853491, 15.71506612,-18.3810492 , -0.08344092, -1.93657855,
  -0.93414965,  1.00005482, -0.11115421,  0.18196188,  3.38784492,
 -11.86105627, -1.10366306, -1.25195125, -0.63579589,-68.6628938 ,
 -58.13320518, -3.94707741]

qfrc_actuator:
[ 2.83356063e-03, 7.55521879e-02, 1.04188933e-02, 3.17828520e-03,
  1.80701737e-05, 8.94696292e-02, 1.03924921e-02, 3.96956670e-03,
 -2.91724124e-03, 9.88166777e-02, 1.04060088e-02, 3.98748399e-03,
  0.00000000e+00,-1.68036893e-03, 0.00000000e+00,-1.46367331e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011301200866924432
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.68397694e-14, -2.45598463e-14,  1.00000000e+00,  9.04779075e-28,
        1.00000000e+00,  2.45598463e-14, -1.00000000e+00,  0.00000000e+00,
        3.68397694e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0361608 , -0.06163237,  0.06189971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.21378576e-05,-1.24085244e-05, 1.60746672e-04, 2.11487932e-05,
  3.01269981e-05,-7.43897428e-04,-2.01771335e-04,-6.60319051e-05,
 -2.34365585e-05,-6.59195682e-04,-2.49331838e-04,-4.01196493e-05,
  2.48279760e-06, 5.18058695e-06,-1.32453570e-05,-6.13351749e-05,
  1.40858377e-06, 3.81929755e-06,-1.21644128e+00, 1.58348470e-03,
  5.44580508e-04, 3.62187786e-05]


--- Step 2163 ---
qpos:
[-0.01490991, 1.21017817,-0.02217798, 0.94722643, 0.00435404, 1.21223969,
 -0.02923588, 0.94412809, 0.01659598, 1.26514867,-0.02347966, 0.95281543,
  1.38027268,-0.00143469, 1.1805555 , 0.06310411,-0.00360115,-0.09257974,
  0.08177616, 0.62495187,-0.01149122,-0.00385707, 0.78056917]

qacc:
[ 9.40196186e-03,-1.07751668e+01, 3.00923873e+01,-2.70360450e+01,
  1.62256856e-01,-6.98026122e+00, 1.80516532e+01,-2.60512218e+01,
 -1.23100690e-01,-4.81175083e-01,-3.88895004e+00, 7.43290659e+00,
  1.29823733e-01,-2.60556529e-01, 3.09494544e+00,-1.09760064e+01,
 -1.04669707e+00,-1.19280331e+00,-1.15906965e+00,-6.47116809e+01,
 -5.47403760e+01,-3.76655003e+00]

qfrc_actuator:
[ 2.81811345e-03, 7.51537959e-02, 1.04377233e-02, 3.14835286e-03,
  4.46346316e-05, 8.93682838e-02, 1.04209130e-02, 3.91798987e-03,
 -2.93910427e-03, 9.88089801e-02, 1.03987700e-02, 4.00445414e-03,
  0.00000000e+00,-1.69495292e-03, 0.00000000e+00,-1.51580271e-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, -8.12585016,  2.92529248, -8.12585016, 14.47652112,
       16.22273496,  2.92529248, 16.22273496, 53.69972546,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011319601253700629
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.90398469e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.90398469e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03615675, -0.06163665,  0.06189954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.23484414e-06,-3.82494602e-04, 3.33262153e-05,-2.41012291e-05,
  4.38587691e-05,-5.66813535e-04,-1.44711921e-04,-7.99784757e-05,
 -3.44952780e-05,-4.34220145e-04,-1.67858420e-04,-9.07325696e-06,
  1.94991654e-06,-1.22958749e-05,-1.58339878e-05,-5.79451886e-05,
  2.39068248e-07,-9.93607032e-08,-1.21644009e+00, 1.58417804e-03,
  5.44405523e-04, 3.16000313e-05]


--- Step 2164 ---
qpos:
[-0.01491233, 1.21100725,-0.02217959, 0.94725081, 0.00435448, 1.21335345,
 -0.02923851, 0.94416889, 0.01659727, 1.26644466,-0.02348462, 0.95285774,
  1.3803459 ,-0.00143457, 1.18071784, 0.06310545,-0.00361141,-0.0925902 ,
  0.08176056, 0.62495601,-0.01152965,-0.00420271, 0.78056351]

qacc:
[-2.74181548e-02,-1.35629609e+01, 3.53741004e+01,-3.36601941e+01,
  2.05075044e-02,-7.73685252e+00, 1.49541980e+01,-2.89928627e+00,
  1.12388345e-02,-7.43837305e+00, 2.20548358e+01,-3.17558397e+01,
  7.30890033e-02,-1.80909999e-01, 2.92399230e+00,-1.03916520e+01,
 -9.98305090e-01,-1.14282270e+00,-1.59977961e+00,-6.14322770e+01,
 -5.19269650e+01,-3.60451155e+00]

qfrc_actuator:
[ 2.80977483e-03, 7.46182108e-02, 1.04312722e-02, 3.10281392e-03,
  2.46888576e-05, 8.90221103e-02, 1.04216110e-02, 3.94264040e-03,
 -2.91705100e-03, 9.87305150e-02, 1.04506336e-02, 3.94384630e-03,
  0.00000000e+00,-1.70369747e-03, 0.00000000e+00,-1.56513991e-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, -8.15577025,  2.84080771, -8.15577025, 15.34409033,
       19.25743784,  2.84080771, 19.25743784, 63.9231887 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001121075101878824
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.95159969e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.95159969e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03617423, -0.06162384,  0.06190042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.87986659e-06,-7.50581975e-04,-8.01036985e-05,-5.55109732e-05,
  5.26725262e-06,-7.02849023e-04,-1.31694949e-04, 2.89979412e-06,
  2.97603478e-06,-3.63636742e-04,-5.46163055e-05,-7.68872647e-05,
 -2.49916205e-06,-1.13425255e-05,-1.63795724e-05,-5.52367244e-05,
  4.79159481e-06, 3.77686632e-06,-1.21644171e+00, 1.58435888e-03,
  5.44416722e-04, 3.63795375e-05]


--- Step 2165 ---
qpos:
[-0.01491467, 1.2118277 ,-0.02218058, 0.94727506, 0.00435483, 1.2144589 ,
 -0.02923971, 0.9442109 , 0.01659869, 1.26773533,-0.0234868 , 0.95289808,
  1.38041887,-0.00143379, 1.18088021, 0.06310517,-0.00361685,-0.09259471,
  0.08175015, 0.62496213,-0.01157678,-0.0043574 , 0.78055706]

qacc:
[ 3.25823164e-02,-1.32153970e+01, 2.96801220e+01,-2.17714616e+01,
 -3.19301216e-02,-1.27025506e+01, 2.57630281e+01,-3.00770731e+00,
  5.66082545e-02,-1.79154506e+01, 5.39674546e+01,-6.62607476e+01,
 -7.60860474e-01, 1.31529381e+00, 5.02491440e+00,-1.73787930e+01,
  1.20769676e+00, 1.48819070e+00, 1.29691379e+00, 7.18173007e+01,
  6.30698465e+01, 1.03342846e-01]

qfrc_actuator:
[ 2.82353159e-03, 7.40045518e-02, 1.03916128e-02, 3.08384878e-03,
  1.25203304e-05, 8.84611262e-02, 1.04405865e-02, 3.99403636e-03,
 -2.90435071e-03, 9.83621121e-02, 1.05544494e-02, 3.83805309e-03,
  0.00000000e+00,-1.65563887e-03, 0.00000000e+00,-1.64793704e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011396747600185692
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.69733468e-14, -2.43539443e-14,  1.00000000e+00, -1.63106516e-27,
        1.00000000e+00,  2.43539443e-14, -1.00000000e+00,  0.00000000e+00,
       -6.69733468e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03649754, -0.11948785,  0.06189878])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.38019244e-06,-1.05526139e-03,-1.99062288e-04,-4.39529054e-05,
 -9.17451214e-06,-9.87752894e-04,-1.36073381e-04, 2.78705514e-05,
  1.54531280e-05,-5.94353915e-04, 2.20260375e-05,-1.18250232e-04,
 -4.60645964e-06, 4.46678532e-05,-1.63456877e-05,-8.86128008e-05,
  1.41928823e-05, 1.42488519e-05,-1.21644568e+00, 1.58410494e-03,
  5.44603402e-04, 4.90862532e-05]


--- Step 2166 ---
qpos:
[-0.01491691, 1.21263816,-0.02218122, 0.94729838, 0.00435523, 1.21555912,
 -0.02924167, 0.94425031, 0.01660011, 1.26901945,-0.02348725, 0.95293704,
  1.38049182,-0.00143273, 1.18104262, 0.06310253,-0.0036178 ,-0.09259369,
  0.08174191, 0.62497016,-0.01163202,-0.00433423, 0.78054994]

qacc:
[ 5.02530588e-02,-1.57006077e+01, 3.73320293e+01,-3.72215450e+01,
  1.93279590e-02,-9.25648356e+00, 2.72550519e+01,-5.05648408e+01,
 -1.37119839e-03,-1.56682066e+01, 4.35196324e+01,-4.96462037e+01,
 -3.64713983e-01, 6.33796571e-01, 7.21837231e+00,-2.50642915e+01,
  1.12037937e+00, 1.38191208e+00, 5.45257058e-01, 6.68904773e+01,
  5.87509380e+01, 8.87098155e-02]

qfrc_actuator:
[ 2.83268117e-03, 7.34021166e-02, 1.03678391e-02, 3.02732873e-03,
  2.28747051e-05, 8.83619435e-02, 1.04515882e-02, 3.86531671e-03,
 -2.91512907e-03, 9.79297963e-02, 1.05981902e-02, 3.75962417e-03,
  0.00000000e+00,-1.64526943e-03, 0.00000000e+00,-1.76753304e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011645403220323994
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.17093822e-14,  3.57508990e-14,  1.00000000e+00,  1.49114791e-27,
        1.00000000e+00, -3.57508990e-14, -1.00000000e+00,  0.00000000e+00,
       -4.17093822e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03645967, -0.11945713,  0.06189664])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31288419e-05,-1.23533951e-03,-2.55892275e-04,-9.38037716e-05,
  5.01642007e-06,-6.83519357e-04,-1.99494693e-04,-1.60334359e-04,
 -7.70412816e-07,-7.72009573e-04,-7.55849252e-05,-9.64386109e-05,
  7.49055089e-06, 2.18156197e-05,-2.06048215e-05,-1.27371732e-04,
  3.66275807e-06, 2.57356470e-06,-1.21644123e+00, 1.58451365e-03,
  5.45007064e-04, 3.44964783e-05]


--- Step 2167 ---
qpos:
[-0.01491918, 1.21343814,-0.02218152, 0.94732021, 0.00435541, 1.21665925,
 -0.0292457 , 0.9442875 , 0.01660162, 1.27029783,-0.0234877 , 0.95297618,
  1.38056496,-0.00143203, 1.18120445, 0.06310213,-0.00361456,-0.0925875 ,
  0.08173333, 0.62497998,-0.01169488,-0.00414406, 0.78054217]

qacc:
[-1.52475188e-02,-1.72637673e+01, 4.27257192e+01,-4.77925309e+01,
 -9.81049184e-02, 1.67300618e+00,-1.03968076e+00,-2.47781091e+01,
  4.10028068e-02,-7.20983042e+00, 1.40547491e+01,-6.42334762e+00,
  5.69738262e-01,-8.93896191e-01,-7.68327577e+00, 2.55020319e+01,
  1.04785073e+00, 1.29405790e+00,-8.71357086e-02, 6.28008177e+01,
  5.51666652e+01, 8.75994554e-02]

qfrc_actuator:
[ 2.82124453e-03, 7.28467299e-02, 1.03713743e-02, 2.94915392e-03,
 -6.60428754e-06, 8.87176127e-02, 1.04771876e-02, 3.77388407e-03,
 -2.90440605e-03, 9.76755160e-02, 1.06058224e-02, 3.76882367e-03,
  0.00000000e+00,-1.67514183e-03, 0.00000000e+00,-1.64154379e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011717873498272718
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.92163237e-15,  2.36865295e-14,  1.00000000e+00, -1.40262920e-28,
        1.00000000e+00, -2.36865295e-14, -1.00000000e+00,  0.00000000e+00,
        5.92163237e-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([-0.03644847, -0.11944804,  0.06189599])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.71929664e-06,-1.30035834e-03,-2.71680826e-04,-1.23653589e-04,
 -2.66253374e-05,-7.83756130e-05,-1.38129073e-04,-1.20162154e-04,
  1.12550622e-05,-7.10528553e-04,-1.56820404e-04,-1.64204544e-05,
  8.26669310e-06,-2.17343391e-05,-2.65289647e-05, 1.15577748e-04,
  3.10807151e-08, 5.41187859e-08,-1.21644028e+00, 1.58521828e-03,
  5.44754645e-04, 3.15086061e-05]


--- Step 2168 ---
qpos:
[-0.01492183, 1.21422746,-0.02218169, 0.94734098, 0.00435561, 1.21776006,
 -0.02925062, 0.94432457, 0.01660339, 1.27156933,-0.02348841, 0.95301495,
  1.3806381 ,-0.00143138, 1.18136605, 0.06310353,-0.00360737,-0.09257642,
  0.08172227, 0.62499142,-0.01176496,-0.00379591, 0.78053373]

qacc:
[-1.63206162e-01,-1.61777627e+01, 3.80581884e+01,-3.87475862e+01,
  8.99010566e-03, 3.08151028e+00,-8.72754118e+00, 5.78160741e+00,
  1.11734511e-01,-8.98703933e+00, 1.91795286e+01,-1.68375725e+01,
  1.70018128e-01,-2.48099429e-01,-5.75533387e+00, 1.96182917e+01,
  9.87470893e-01, 1.22133843e+00,-6.18855585e-01, 5.94075938e+01,
  5.21940024e+01, 9.79380757e-02]

qfrc_actuator:
[ 2.77980967e-03, 7.23063155e-02, 1.03734109e-02, 2.89440495e-03,
  1.12785455e-05, 8.88638209e-02, 1.04776507e-02, 3.77649071e-03,
 -2.88087999e-03, 9.72458149e-02, 1.05573180e-02, 3.74081541e-03,
  0.00000000e+00,-1.67538026e-03, 0.00000000e+00,-1.54938311e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011648877783256018
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.19134118e-14,  9.53072944e-14,  1.00000000e+00, -1.13543505e-27,
        1.00000000e+00, -9.53072944e-14, -1.00000000e+00,  0.00000000e+00,
        1.19134118e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03645848, -0.11945615,  0.06189653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.49895983e-05,-1.32519151e-03,-2.88530959e-04,-1.03331432e-04,
  2.53724491e-06, 6.01678078e-05,-3.67419144e-05,-5.26344191e-06,
  3.10658306e-05,-8.65324855e-04,-2.07807658e-04,-5.23256432e-05,
 -1.15221790e-06,-4.06158568e-06,-3.75323377e-07, 9.49359993e-05,
  2.04443383e-06, 5.02384911e-06,-1.21644221e+00, 1.58614954e-03,
  5.43951274e-04, 3.80383201e-05]


--- Step 2169 ---
qpos:
[-0.01492536, 1.21500608,-0.02218189, 0.947362  , 0.00435621, 1.21886121,
 -0.02925639, 0.94436109, 0.01660542, 1.27283143,-0.02348967, 0.95305231,
  1.38071139,-0.00143125, 1.18152752, 0.06310667,-0.00360551,-0.09257082,
  0.0817128 , 0.62500661,-0.01182872,-0.0036474 , 0.78052131]

qacc:
[ -0.37833899,-13.55464495, 26.7761552 ,-13.76420343,  0.17433119,
   1.80978759, -4.23828366, -2.91171628,  0.11654922,-13.30036657,
  31.32998802,-37.50539758,  0.60880388, -1.06352866, -5.53371399,
  18.94788681, -1.3323793 , -1.36984505,  0.39725901,-75.92203939,
 -64.82066622, -3.89146791]

qfrc_actuator:
[ 2.70297975e-03, 7.17792477e-02, 1.03746256e-02, 2.90714006e-03,
  5.74218296e-05, 8.88658625e-02, 1.04271678e-02, 3.74554352e-03,
 -2.86762749e-03, 9.65900481e-02, 1.04576550e-02, 3.65547977e-03,
  0.00000000e+00,-1.71125830e-03, 0.00000000e+00,-1.46021392e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011744762652335441
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.36323001e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.36323001e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03608197, -0.06170901,  0.06189567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03579053e-04,-1.32812946e-03,-2.95494608e-04,-3.66206675e-05,
  4.76092454e-05, 1.59847198e-05,-4.56630726e-05,-2.90286415e-05,
  3.23356478e-05,-1.18790887e-03,-2.96017789e-04,-1.16567770e-04,
 -1.60345883e-06,-3.72494066e-05, 7.62497971e-06, 9.37618970e-05,
  8.78099997e-06, 1.62605003e-05,-1.21644655e+00, 1.58725238e-03,
  5.42676796e-04, 5.25608384e-05]


--- Step 2170 ---
qpos:
[-0.01492978, 1.21577441,-0.02218231, 0.94738404, 0.00435697, 1.21996217,
 -0.02926197, 0.94439594, 0.01660754, 1.27408182,-0.02349099, 0.95308824,
  1.38078482,-0.0014318 , 1.1816887 , 0.0631132 ,-0.00360857,-0.09257037,
  0.08170215, 0.62502553,-0.01188682,-0.00368464, 0.7805051 ]

qacc:
[-3.82336593e-01,-1.11540917e+01, 1.80029456e+01, 2.53106196e+00,
  7.03207560e-02,-3.65028668e+00, 1.50377789e+01,-3.23161352e+01,
  3.39139368e-02,-1.76855247e+01, 4.20466396e+01,-4.58204758e+01,
  8.04137105e-01,-1.40788136e+00,-1.07333917e+01, 3.67483916e+01,
 -1.23111544e+00,-1.28990584e+00,-2.96225591e-01,-7.07049484e+01,
 -6.02289250e+01,-3.75489910e+00]

qfrc_actuator:
[ 2.65881857e-03, 7.12999940e-02, 1.03754474e-02, 2.95948026e-03,
  4.91208869e-05, 8.88524866e-02, 1.04352050e-02, 3.65943825e-03,
 -2.87840624e-03, 9.58571580e-02, 1.03986820e-02, 3.57241955e-03,
  0.00000000e+00,-1.75026798e-03, 0.00000000e+00,-1.28475153e-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,  -7.58960192,  -4.12125217,  -7.58960192,
        16.78610269, -15.00836944,  -4.12125217, -15.00836944,
        36.27542691,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0011976551125017984
  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([ 0.03604291, -0.06174302,  0.06189367])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04671421e-04,-1.28116792e-03,-2.95258570e-04, 4.23175236e-06,
  1.91497271e-05,-2.62952732e-05, 2.51608848e-06,-8.63221810e-05,
  9.02409633e-06,-1.46243602e-03,-3.30206915e-04,-1.27926248e-04,
 -9.60602590e-06,-4.96073830e-05, 1.09519717e-05, 1.80949892e-04,
  1.09363907e-06, 3.13475127e-06,-1.21644164e+00, 1.58621973e-03,
  5.43594348e-04, 3.66296488e-05]


--- Step 2171 ---
qpos:
[-0.01493461, 1.21653245,-0.02218188, 0.94740547, 0.00435763, 1.22106234,
 -0.0292669 , 0.94442955, 0.01660965, 1.27531836,-0.02349109, 0.95312201,
  1.38085827,-0.00143283, 1.18185025, 0.06311877,-0.00361622,-0.09257482,
  0.08168797, 0.6250481 ,-0.01193978,-0.00389609, 0.78048519]

qacc:
[-1.80683380e-01,-1.68895661e+01, 4.00798028e+01,-3.56624163e+01,
 -4.39392692e-02,-4.88800477e+00, 1.72559995e+01,-2.89272061e+01,
 -1.85609876e-03,-2.52138122e+01, 6.46351571e+01,-7.22966721e+01,
  2.63774223e-01,-6.35877876e-01, 3.43798742e+00,-1.12830547e+01,
 -1.14698163e+00,-1.22253009e+00,-8.80762237e-01,-6.63684205e+01,
 -5.64204435e+01,-3.62305492e+00]

qfrc_actuator:
[ 2.67012324e-03, 7.08178068e-02, 1.04295043e-02, 2.92819789e-03,
  2.59857376e-05, 8.87947513e-02, 1.04598907e-02, 3.59483815e-03,
 -2.88576540e-03, 9.50485601e-02, 1.04171232e-02, 3.45581774e-03,
  0.00000000e+00,-1.77305288e-03, 0.00000000e+00,-1.34389215e-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,  -7.55485171,  -4.18461378,  -7.55485171,
        18.54808432, -17.8945021 ,  -4.18461378, -17.8945021 ,
        40.94288392,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001203013732443907
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.61434061e-14,  2.30717031e-14,  1.00000000e+00, -1.06460696e-27,
        1.00000000e+00, -2.30717031e-14, -1.00000000e+00,  0.00000000e+00,
        4.61434061e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03603393, -0.06175276,  0.06189317])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.98335227e-05,-1.25672385e-03,-2.31584326e-04,-7.70473809e-05,
 -1.20920685e-05,-8.63062788e-05, 1.47062507e-05,-6.60007551e-05,
 -1.18535333e-06,-1.69681715e-03,-3.10587851e-04,-1.70871035e-04,
 -1.64790399e-05,-3.87743493e-05, 2.24165481e-05,-4.83212289e-05,
  7.41493721e-07, 6.95384584e-08,-1.21644040e+00, 1.58481138e-03,
  5.44566068e-04, 3.28896298e-05]


--- Step 2172 ---
qpos:
[-0.01493947, 1.21728008,-0.0221805 , 0.94742741, 0.00435826, 1.22216062,
 -0.02927105, 0.94446293, 0.01661157, 1.27653836,-0.02348945, 0.95315611,
  1.38093161,-0.00143393, 1.18201227, 0.06312061,-0.00362546,-0.09258129,
  0.0816855 , 0.62507147,-0.01199351,-0.00417287, 0.78046422]

qacc:
[-8.16868579e-03,-1.53510061e+01, 3.25186332e+01,-1.57997373e+01,
 -1.15944885e-02,-4.98533896e+00, 1.37470369e+01,-1.33847348e+01,
 -7.83910398e-02,-2.58648655e+01, 5.75395464e+01,-3.60404456e+01,
 -3.24231871e-01, 3.37769794e-01, 1.19768255e+01,-4.08449684e+01,
 -3.96089992e-01,-5.03566156e-01, 2.92532757e+00,-2.57327378e+01,
 -2.01097660e+01,-1.03259135e+00]

qfrc_actuator:
[ 2.69684435e-03, 7.03024562e-02, 1.04790074e-02, 2.95448965e-03,
  2.96546745e-05, 8.86400632e-02, 1.04762948e-02, 3.57888938e-03,
 -2.90877127e-03, 9.40593461e-02, 1.04452451e-02, 3.46239842e-03,
  0.00000000e+00,-1.76826867e-03, 0.00000000e+00,-1.54079881e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011937141711973402
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02064101e-06, -4.94093139e-14,  1.00000000e+00,  5.04291722e-20,
        1.00000000e+00,  4.94093139e-14, -1.00000000e+00,  6.01853108e-36,
        1.02064101e-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([ 0.00812663, -0.08396438,  0.06189389])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.79858655e-06,-1.26621916e-03,-2.26476684e-04,-1.87771806e-05,
 -3.31096946e-06,-2.13410391e-04,-3.31381878e-06,-1.83177927e-05,
 -2.28171844e-05,-2.00431951e-03,-3.45671732e-04,-5.50670850e-05,
 -1.79068700e-05,-9.67314527e-06, 2.42506625e-07,-1.97831483e-04,
  6.38195906e-06, 5.20514383e-06,-1.21644215e+00, 1.58306625e-03,
  5.45621562e-04, 3.90590442e-05]


--- Step 2173 ---
qpos:
[-0.01494419, 1.21801805,-0.02217914, 0.94745019, 0.00435889, 1.22325669,
 -0.02927506, 0.94449629, 0.01661341, 1.27773994,-0.02348704, 0.95319165,
  1.38100477,-0.00143475, 1.18217432, 0.06311974,-0.0036299 ,-0.09258262,
  0.081686  , 0.62509552,-0.01205704,-0.00426786, 0.78044346]

qacc:
[ 5.88711819e-02,-1.11881873e+01, 1.95184101e+01,-1.32437632e+00,
  5.86442314e-04,-3.33371803e+00, 7.39051702e+00,-5.18206831e+00,
 -2.98407795e-02,-2.37865447e+01, 4.54831414e+01,-1.13100429e+01,
 -4.98664199e-01, 7.47243450e-01, 8.24063309e+00,-2.86619651e+01,
  1.20020912e+00, 1.28215958e+00, 7.45550890e-01, 6.78865024e+01,
  6.06400957e+01, 9.13554999e-01]

qfrc_actuator:
[ 2.71483279e-03, 6.98602230e-02, 1.04898381e-02, 2.99668029e-03,
  3.16198980e-05, 8.84996235e-02, 1.04695725e-02, 3.57385880e-03,
 -2.90547701e-03, 9.29877374e-02, 1.04249167e-02, 3.52353036e-03,
  0.00000000e+00,-1.74717276e-03, 0.00000000e+00,-1.67519091e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012209480954330845
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13664028e-14,  4.54656111e-14,  1.00000000e+00,  5.16780447e-28,
        1.00000000e+00, -4.54656111e-14, -1.00000000e+00,  0.00000000e+00,
       -1.13664028e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03637733, -0.11937661,  0.06189159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55978843e-05,-1.19547670e-03,-2.64680067e-04,-1.66672808e-06,
  4.33571722e-08,-2.71496073e-04,-5.19291960e-05,-1.06281966e-05,
 -9.18228701e-06,-2.25995881e-03,-4.54716697e-04,-7.96414113e-06,
 -1.24038129e-05, 1.45817208e-05,-2.63822871e-05,-1.46430937e-04,
  1.01249246e-05, 9.07162381e-06,-1.21644355e+00, 1.58251975e-03,
  5.46093105e-04, 4.36299784e-05]


--- Step 2174 ---
qpos:
[-0.01494888, 1.21874918,-0.02217888, 0.94747208, 0.00435938, 1.22435093,
 -0.02927985, 0.94452972, 0.01661523, 1.27892235,-0.02348339, 0.95322532,
  1.38107792,-0.00143562, 1.18233601, 0.06311891,-0.00362989,-0.09257909,
  0.08168682, 0.62512043,-0.01212952,-0.00419272, 0.7804228 ]

qacc:
[ 1.23367005e-02,-7.57491271e+00, 1.56604016e+01,-1.95850284e+01,
 -6.13095682e-02,-1.70283525e-01,-2.50062027e+00, 4.11857090e+00,
 -8.48690487e-03,-3.17532347e+01, 7.70052157e+01,-7.66339556e+01,
  3.52062046e-02,-7.09919787e-02,-6.43313418e-01, 1.45671113e+00,
  1.11123112e+00, 1.21513977e+00, 7.75087914e-02, 6.35922805e+01,
  5.66702613e+01, 7.41345596e-01]

qfrc_actuator:
[ 2.70968236e-03, 6.96960417e-02, 1.04958030e-02, 2.95912423e-03,
  1.47929558e-05, 8.84220776e-02, 1.04315461e-02, 3.57525664e-03,
 -2.90419373e-03, 9.19817092e-02, 1.04645492e-02, 3.42085192e-03,
  0.00000000e+00,-1.75209490e-03, 0.00000000e+00,-1.66509771e-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,   7.0992811 ,   4.91802651,   7.0992811 ,
        20.72978438, -17.45712291,   4.91802651, -17.45712291,
        33.8361104 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012299867230572137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.69243142e-14,  1.35394513e-13,  1.00000000e+00,  2.29145928e-27,
        1.00000000e+00, -1.35394513e-13, -1.00000000e+00,  0.00000000e+00,
       -1.69243142e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03636557, -0.11936357,  0.06189084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.08474431e-06,-8.85130961e-04,-2.59536388e-04,-8.00408754e-05,
 -1.68162040e-05,-2.49948285e-04,-9.98810919e-05,-7.18548714e-06,
 -3.26088214e-06,-2.35543056e-03,-4.55644577e-04,-1.81452406e-04,
 -3.99812045e-06,-3.38304846e-06,-3.13159188e-05,-2.12091356e-06,
  2.16043770e-06, 9.05229842e-07,-1.21644076e+00, 1.58481193e-03,
  5.45300373e-04, 3.36126188e-05]


--- Step 2175 ---
qpos:
[-0.01495343, 1.21947664,-0.02218047, 0.94749278, 0.00435956, 1.22544437,
 -0.0292853 , 0.94456214, 0.0166166 , 1.2800859 ,-0.02347906, 0.95325753,
  1.38115097,-0.00143626, 1.18249741, 0.06311882,-0.00362573,-0.09257093,
  0.0816857 , 0.62514625,-0.01221029,-0.00395712, 0.78040209]

qacc:
[ 6.46282267e-02,-1.86660411e+00, 2.72244557e+00,-1.39178411e+01,
 -1.37592356e-01,-9.76763898e-01, 4.01755592e+00,-1.46984177e+01,
 -1.89873841e-01,-2.91658602e+01, 6.81915912e+01,-6.42673577e+01,
 -1.57118477e-01, 3.05234648e-01,-2.63661972e+00, 8.66363977e+00,
  1.03795317e+00, 1.15888568e+00,-4.83958392e-01, 6.00286773e+01,
  5.33855350e+01, 6.16117154e-01]

qfrc_actuator:
[ 2.72620680e-03, 6.97352561e-02, 1.04821786e-02, 2.91061033e-03,
 -1.31671303e-05, 8.84715398e-02, 1.04288721e-02, 3.52717686e-03,
 -2.95739449e-03, 9.10586502e-02, 1.05038857e-02, 3.34690681e-03,
  0.00000000e+00,-1.73693005e-03, 0.00000000e+00,-1.62322395e-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,   7.14558195,   4.85050879,   7.14558195,
        22.57573408, -20.5349414 ,   4.85050879, -20.5349414 ,
        38.88764508,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012239701032709105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.26766778e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.26766778e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03637609, -0.11936933,  0.06189135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75686137e-05,-5.11339879e-04,-2.20173001e-04,-8.34427605e-05,
 -3.76819246e-05,-1.20238112e-04,-6.56516104e-05,-5.73427012e-05,
 -5.43079071e-05,-2.33040458e-03,-4.79741294e-04,-1.59632594e-04,
 -3.57369753e-06, 1.36462261e-05,-1.62980896e-05, 3.73433328e-05,
  2.51647396e-07, 9.28756110e-07,-1.21644105e+00, 1.58704953e-03,
  5.44084618e-04, 3.39688393e-05]


--- Step 2176 ---
qpos:
[-0.0149575 , 1.22020208,-0.02218354, 0.94751189, 0.00435941, 1.22653821,
 -0.02929114, 0.94459364, 0.0166176 , 1.28123242,-0.02347575, 0.95329063,
  1.38122406,-0.001437  , 1.18265911, 0.06311585,-0.00361766,-0.09255832,
  0.08168076, 0.62517297,-0.01229879,-0.00356908, 0.78038117]

qacc:
[ 2.07182778e-01,-1.37477111e+00, 4.50396859e+00,-2.09923471e+01,
 -1.40357033e-01,-1.89457287e-02, 2.56639284e+00,-1.31727594e+01,
 -1.58863090e-01,-1.80629151e+01, 3.01458677e+01,-5.28430387e+00,
 -1.13411901e-01, 1.02512275e-01, 9.12660415e+00,-3.12931470e+01,
  9.77463666e-01, 1.11162269e+00,-9.55491559e-01, 5.70746470e+01,
  5.06707151e+01, 5.28728689e-01]

qfrc_actuator:
[ 2.77335594e-03, 6.97717902e-02, 1.04579993e-02, 2.83843491e-03,
 -2.98215177e-05, 8.85968868e-02, 1.04475962e-02, 3.48596629e-03,
 -2.97184120e-03, 9.03170041e-02, 1.04898320e-02, 3.39704404e-03,
  0.00000000e+00,-1.74545273e-03, 0.00000000e+00,-1.77603641e-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,   7.14392174,   4.85295364,   7.14392174,
        25.46007324, -24.76579699,   4.85295364, -24.76579699,
        45.09352528,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012059767103011626
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.60300359e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.60300359e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03640417, -0.11938993,  0.06189285])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.65771111e-05,-2.99634212e-04,-1.53282736e-04,-9.49121015e-05,
 -3.84219350e-05, 3.26275039e-05,-1.64522208e-05,-4.67489741e-05,
 -4.54068657e-05,-2.13900051e-03,-5.30298383e-04,-3.50294540e-05,
  9.78907003e-07,-5.42584377e-06,-5.69805099e-06,-1.53370436e-04,
  3.38217951e-06, 7.73207221e-06,-1.21644388e+00, 1.58926365e-03,
  5.42485838e-04, 4.29445391e-05]


--- Step 2177 ---
qpos:
[-0.01496105, 1.22092608,-0.02218741, 0.94752957, 0.00435913, 1.22763114,
 -0.02929636, 0.94462517, 0.0166186 , 1.28236189,-0.02347301, 0.95332271,
  1.38129718,-0.00143782, 1.18282064, 0.06311208,-0.00361517,-0.09255093,
  0.08167744, 0.62520259,-0.01238015,-0.00338064, 0.78035698]

qacc:
[ 2.25471861e-01,-2.24339957e+00, 7.95446362e+00,-2.26047185e+01,
 -5.14247114e-02,-2.80566939e+00, 7.64904819e+00,-5.63293005e+00,
  5.55227450e-03,-2.26219063e+01, 4.88681006e+01,-4.37128844e+01,
  2.66138698e-02,-7.75161866e-02, 2.17876360e+00,-7.99850985e+00,
 -1.39618037e+00,-1.30379572e+00, 4.05075509e-01,-7.56447548e+01,
 -6.51535714e+01,-3.39118034e+00]

qfrc_actuator:
[ 2.80298553e-03, 6.97710371e-02, 1.04456168e-02, 2.77068316e-03,
 -2.18063625e-05, 8.85006213e-02, 1.04614026e-02, 3.48470003e-03,
 -2.94517712e-03, 8.94768852e-02, 1.04629364e-02, 3.34233609e-03,
  0.00000000e+00,-1.75021918e-03, 0.00000000e+00,-1.81155103e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012259273572096385
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.52809466e-14,  6.79214199e-14,  1.00000000e+00,  3.07554619e-27,
        1.00000000e+00, -6.79214199e-14, -1.00000000e+00,  0.00000000e+00,
       -4.52809466e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03600559, -0.06180209,  0.06189115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.15871421e-05,-2.07057176e-04,-9.28257667e-05,-8.24976818e-05,
 -1.41778032e-05,-9.44439506e-05, 1.44458909e-05,-5.37195521e-07,
  8.91219985e-07,-2.13758817e-03,-5.07804425e-04,-1.32808364e-04,
 -1.47152812e-06,-5.65773059e-06,-2.33796269e-05,-4.56507625e-05,
  1.08017717e-05, 2.02821591e-05,-1.21644892e+00, 1.59146976e-03,
  5.40537513e-04, 5.92577085e-05]


--- Step 2178 ---
qpos:
[-0.01496444, 1.22164859,-0.02219133, 0.94754801, 0.00435914, 1.228722  ,
 -0.02930082, 0.94465692, 0.01661975, 1.28347331,-0.02347046, 0.95335226,
  1.38137004,-0.0014379 , 1.18298173, 0.06311021,-0.00361781,-0.09254849,
  0.08167295, 0.62523531,-0.01245524,-0.00337783, 0.78032959]

qacc:
[ 6.69279263e-02,-4.87734535e-01,-2.31592721e+00, 1.17210432e+01,
  1.18256277e-01,-4.39879111e+00, 1.06318505e+01,-5.47754166e+00,
  6.24372988e-02,-2.75579685e+01, 6.64056796e+01,-7.56120722e+01,
 -5.50697566e-01, 1.08031662e+00,-6.35318350e+00, 2.14119053e+01,
 -1.28093125e+00,-1.23671880e+00,-2.92811058e-01,-7.04493924e+01,
 -6.04441371e+01,-3.37171957e+00]

qfrc_actuator:
[ 2.78636460e-03, 6.97303845e-02, 1.04579585e-02, 2.81258377e-03,
  1.86880793e-05, 8.83257768e-02, 1.04713975e-02, 3.48905603e-03,
 -2.92958613e-03, 8.85135013e-02, 1.04282946e-02, 3.20853433e-03,
  0.00000000e+00,-1.69944737e-03, 0.00000000e+00,-1.70659753e-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, -7.11682726, -4.89260122, -7.11682726, 14.46273251,
       -8.47509513, -4.89260122, -8.47509513, 20.96432281,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012466035606093842
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.45299155e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.45299155e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03597281, -0.06183358,  0.06188939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.82422375e-05,-1.83531479e-04,-4.27544223e-05, 3.19684708e-05,
  3.22971185e-05,-2.35821532e-04,-9.32590793e-06, 3.25783547e-06,
  1.68684858e-05,-2.25840013e-03,-5.15545690e-04,-2.13500209e-04,
 -2.78667586e-06, 4.92266523e-05,-1.80680290e-05, 9.88911159e-05,
  2.00647065e-06, 5.08353355e-06,-1.21644296e+00, 1.58884544e-03,
  5.42323431e-04, 4.07463067e-05]


--- Step 2179 ---
qpos:
[-0.01496797, 1.22237051,-0.02219614, 0.94756782, 0.0043595 , 1.22981018,
 -0.02930449, 0.94468855, 0.01662106, 1.28456589,-0.02346812, 0.9533825 ,
  1.38144278,-0.00143741, 1.18314251, 0.06311092,-0.00362519,-0.09255076,
  0.08166493, 0.62527118,-0.01252476,-0.003549  , 0.78029897]

qacc:
[-6.08867460e-02, 3.98350638e+00,-1.67310193e+01, 3.08161158e+01,
  1.56523163e-01,-5.84159234e+00, 1.50559059e+01,-1.27096367e+01,
  7.14000510e-02,-2.30026192e+01, 4.38111661e+01,-1.84026641e+01,
 -2.99528284e-01, 7.13127003e-01,-8.18005577e+00, 2.80324206e+01,
 -1.18592114e+00,-1.17961005e+00,-8.80788136e-01,-6.61306189e+01,
 -5.65435306e+01,-3.33231862e+00]

qfrc_actuator:
[ 2.75990405e-03, 6.97551844e-02, 1.04314636e-02, 2.88315130e-03,
  4.28205068e-05, 8.81585756e-02, 1.04964783e-02, 3.47884470e-03,
 -2.92077532e-03, 8.75372371e-02, 1.04066052e-02, 3.24221941e-03,
  0.00000000e+00,-1.66938598e-03, 0.00000000e+00,-1.57301366e-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,  -7.1139892 ,  -4.89672692,  -7.1139892 ,
        15.66277663, -10.2080077 ,  -4.89672692, -10.2080077 ,
        23.46660792,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012494800192992123
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.44274021e-14,  2.22137010e-14,  1.00000000e+00,  9.86897029e-28,
        1.00000000e+00, -2.22137010e-14, -1.00000000e+00,  0.00000000e+00,
       -4.44274021e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03596973, -0.06184063,  0.06188913])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.66114779e-05,-9.18215419e-05,-6.79176247e-05, 6.54644525e-05,
  4.27868152e-05,-3.10854863e-04,-2.44642217e-05,-1.61516706e-05,
  1.94114556e-05,-2.34181034e-03,-5.29394090e-04,-5.17186724e-05,
  9.95085372e-06, 4.30223559e-05, 5.32155716e-07, 1.36292783e-04,
  5.93710327e-07, 8.82598219e-08,-1.21644079e+00, 1.58611159e-03,
  5.44025054e-04, 3.46203880e-05]


--- Step 2180 ---
qpos:
[-0.01497141, 1.22309393,-0.0222028 , 0.94758751, 0.00436004, 1.23089575,
 -0.02930745, 0.94471846, 0.01662251, 1.28563844,-0.02346505, 0.95341541,
  1.38151593,-0.00143782, 1.18330319, 0.06311354,-0.003637  ,-0.09255755,
  0.08165141, 0.62531018,-0.01258927,-0.00388454, 0.78026508]

qacc:
[ 3.89968452e-02, 6.76459979e+00,-1.94374348e+01, 1.45921831e+01,
  7.74495169e-02,-8.30014500e+00, 2.64583949e+01,-4.12745111e+01,
  6.21381188e-02,-2.36555213e+01, 4.00300964e+01, 8.54205711e+00,
  1.07097476e+00,-1.80248863e+00,-6.02214827e+00, 2.06287578e+01,
 -1.10732120e+00,-1.13089009e+00,-1.37590881e+00,-6.25423117e+01,
 -5.33135129e+01,-3.27930572e+00]

qfrc_actuator:
[ 2.78103044e-03, 6.99609757e-02, 1.03825144e-02, 2.88123775e-03,
  3.91856398e-05, 8.80328945e-02, 1.05302719e-02, 3.38912342e-03,
 -2.91611050e-03, 8.64902413e-02, 1.04282832e-02, 3.37419018e-03,
  0.00000000e+00,-1.74065793e-03, 0.00000000e+00,-1.47693429e-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,  -7.06307198,  -4.96988844,  -7.06307198,
        17.41903035, -12.48169006,  -4.96988844, -12.48169006,
        26.37500633,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012380890114917359
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.96723107e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.96723107e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03599019, -0.06182832,  0.06189005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08592142e-05, 1.35999869e-04,-7.43178310e-05,-4.24652247e-06,
  2.10851794e-05,-3.14320553e-04,-3.27005520e-05,-9.88027130e-05,
  1.67336362e-05,-2.45633577e-03,-4.99093273e-04, 4.74357125e-05,
  1.54854194e-05,-5.71619308e-05, 1.26583300e-05, 1.03108717e-04,
  5.21114203e-06, 3.39534974e-06,-1.21644168e+00, 1.58322723e-03,
  5.45714154e-04, 3.85448501e-05]


--- Step 2181 ---
qpos:
[-0.01497469, 1.22382194,-0.02221104, 0.9476071 , 0.00436066, 1.23197853,
 -0.02931017, 0.94474644, 0.01662392, 1.28669047,-0.02346103, 0.9534473 ,
  1.38158955,-0.00143976, 1.1834645 , 0.06311227,-0.00364345,-0.09255927,
  0.08164351, 0.62534882,-0.01266549,-0.00402643, 0.78023216]

qacc:
[ 7.04414373e-02, 1.01502540e+01,-2.56422696e+01, 1.82564795e+01,
  3.58082716e-02,-7.58262803e+00, 2.43030222e+01,-4.17418270e+01,
 -1.50713589e-02,-3.13132292e+01, 7.17169077e+01,-6.13870946e+01,
  1.12120220e+00,-2.25382329e+00, 1.25578886e+01,-4.28287195e+01,
  1.33996654e+00, 1.26919260e+00, 1.40365673e+00, 7.18822885e+01,
  6.51015864e+01, 1.68778504e+00]

qfrc_actuator:
[ 2.79502805e-03, 7.04332703e-02, 1.03924196e-02, 2.89003791e-03,
  3.66816378e-05, 8.78798857e-02, 1.05335552e-02, 3.28885504e-03,
 -2.93172896e-03, 8.54272949e-02, 1.04573850e-02, 3.31433271e-03,
  0.00000000e+00,-1.83597701e-03, 0.00000000e+00,-1.68777100e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001241197323111315
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11809682e-14,  4.47238728e-14,  1.00000000e+00, -5.00056200e-28,
        1.00000000e+00, -4.47238728e-14, -1.00000000e+00,  0.00000000e+00,
        1.11809682e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03636104, -0.11932847,  0.06188973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.96072643e-05, 5.25172801e-04, 2.62849921e-05, 1.14390239e-05,
  9.67329451e-06,-3.47609578e-04,-6.72406754e-05,-1.11614029e-04,
 -5.13770229e-06,-2.52652147e-03,-5.07630055e-04,-1.44608963e-04,
 -5.28599770e-06,-1.07370126e-04, 1.44598156e-05,-2.04161966e-04,
  1.48740459e-05, 1.36182681e-05,-1.21644510e+00, 1.58017260e-03,
  5.47435928e-04, 5.08139663e-05]


--- Step 2182 ---
qpos:
[-0.0149781 , 1.22455795,-0.02222067, 0.94762599, 0.00436102, 1.23305768,
 -0.02931311, 0.94477416, 0.01662508, 1.28772196,-0.02345682, 0.95347691,
  1.3816633 ,-0.00144282, 1.18362571, 0.06310985,-0.00364501,-0.09255616,
  0.08163811, 0.62538749,-0.0127522 ,-0.00398847, 0.78019995]

qacc:
[-5.72374499e-02, 1.30179187e+01,-2.83886592e+01, 1.16659541e+01,
 -1.14785132e-01,-4.66535101e+00, 9.97135778e+00,-9.31770848e+00,
 -1.03121398e-01,-3.14135913e+01, 7.45177794e+01,-7.81312202e+01,
  8.01280420e-01,-1.68149950e+00, 3.23032057e+00,-1.17017034e+01,
  1.22358768e+00, 1.20694411e+00, 6.26493024e-01, 6.68877330e+01,
  6.03309054e+01, 1.36392243e+00]

qfrc_actuator:
[ 2.76913307e-03, 7.10972927e-02, 1.04203707e-02, 2.86979377e-03,
 -6.24141304e-07, 8.76406732e-02, 1.05009709e-02, 3.27192054e-03,
 -2.95939241e-03, 8.43810260e-02, 1.04549121e-02, 3.19527062e-03,
  0.00000000e+00,-1.89146954e-03, 0.00000000e+00,-1.74042267e-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,  6.99846679,  5.06045843,  6.99846679, 14.93210996,
       -8.70683401,  5.06045843, -8.70683401, 20.67766178,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012630183338177559
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.84572860e-14,  8.79023681e-14,  1.00000000e+00,  3.38048651e-27,
        1.00000000e+00, -8.79023681e-14, -1.00000000e+00,  0.00000000e+00,
       -3.84572860e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03633077, -0.11929729,  0.06188786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52126826e-05, 9.52247466e-04, 1.32293539e-04,-2.70522432e-06,
 -3.17277900e-05,-4.59306328e-04,-1.13908830e-04,-3.05888770e-05,
 -3.00011130e-05,-2.55584377e-03,-5.59476562e-04,-2.10635483e-04,
 -2.87733747e-05,-8.58609983e-05,-2.04955018e-05,-6.32340752e-05,
  4.26005191e-06, 2.30063134e-06,-1.21644143e+00, 1.58424739e-03,
  5.45857780e-04, 3.69530393e-05]


--- Step 2183 ---
qpos:
[-0.0149817 , 1.22530379,-0.02223102, 0.94764326, 0.00436103, 1.23413392,
 -0.02931673, 0.94480145, 0.01662597, 1.28873357,-0.02345325, 0.95350489,
  1.38173675,-0.00144582, 1.18378638, 0.06311014,-0.00364205,-0.09254844,
  0.0816326 , 0.62542645,-0.01284843,-0.00378205, 0.78016817]

qacc:
[-8.76318042e-02, 1.21037524e+01,-2.06333066e+01,-6.81070531e+00,
 -1.47715069e-01,-2.70266342e+00, 5.09535597e+00,-7.60000035e+00,
 -1.16871901e-01,-2.72343902e+01, 6.06489264e+01,-5.92259602e+01,
 -6.89523969e-02, 2.41209420e-02,-8.95433531e+00, 3.01731593e+01,
  1.12813176e+00, 1.15380666e+00,-2.73726977e-02, 6.27389780e+01,
  5.63861974e+01, 1.12029978e+00]

qfrc_actuator:
[ 2.75503620e-03, 7.17468380e-02, 1.04418165e-02, 2.79725285e-03,
 -2.29898992e-05, 8.75469921e-02, 1.04827158e-02, 3.25082409e-03,
 -2.97630804e-03, 8.34240017e-02, 1.04338779e-02, 3.11334985e-03,
  0.00000000e+00,-1.86961613e-03, 0.00000000e+00,-1.59283392e-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,   7.02003844,   5.03049074,   7.02003844,
        16.12829692, -10.45497594,   5.03049074, -10.45497594,
        23.22625888,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012667594840214194
  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([-0.03632721, -0.11928918,  0.06188752])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.35119392e-05, 1.19420424e-03, 2.20886291e-04,-3.95056100e-05,
 -4.07464364e-05,-3.82168541e-04,-1.24329177e-04,-3.75855763e-05,
 -3.38270047e-05,-2.49470521e-03,-5.91554658e-04,-1.77443445e-04,
 -3.60972120e-05,-8.11172238e-06,-1.87726712e-05, 1.40886247e-04,
  5.37949532e-07, 4.23373409e-07,-1.21644124e+00, 1.58795414e-03,
  5.43970284e-04, 3.50146501e-05]


--- Step 2184 ---
qpos:
[-0.01498534, 1.2260667 ,-0.02224476, 0.94765938, 0.00436103, 1.23521198,
 -0.02932271, 0.94482762, 0.0166269 , 1.28972596,-0.02345098, 0.9535327 ,
  1.38180949,-0.00144712, 1.18394738, 0.06310847,-0.0036347 ,-0.09254515,
  0.08163163, 0.62546403,-0.01278282,-0.00358364, 0.78014006]

qacc:
[-1.59443380e-02, 2.95921925e+01,-6.71544520e+01, 3.44800318e+01,
 -5.54172880e-03, 6.85530681e+00,-1.71896035e+01, 7.67537555e-01,
  2.36705667e-02,-2.20116031e+01, 4.16938199e+01,-2.61163053e+01,
 -1.87355718e+00, 3.22960536e+00, 6.56109748e+00,-2.18712625e+01,
  1.09796359e+00,-1.10955545e+00, 1.13472501e+00, 4.74841915e+01,
 -6.56702637e+01, 1.32388544e+00]

qfrc_actuator:
[ 2.76589283e-03, 7.30750129e-02, 1.04415108e-02, 2.76553873e-03,
 -7.03781954e-07, 8.79496624e-02, 1.04736222e-02, 3.20975675e-03,
 -2.95113942e-03, 8.25103347e-02, 1.03847052e-02, 3.10724919e-03,
  0.00000000e+00,-1.74882000e-03, 0.00000000e+00,-1.70129610e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012726200199278948
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09048951e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.09048951e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03225285, -0.07731849,  0.061887  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.35005834e-06, 2.02278295e-03, 2.55401416e-04, 1.02732030e-05,
 -1.31466472e-06, 1.54672111e-04,-1.01454664e-04,-5.57158525e-05,
  5.99881995e-06,-2.42261134e-03,-6.10383775e-04,-1.00007497e-04,
 -2.09895772e-05, 1.10155674e-04, 5.06624594e-06,-1.03464039e-04,
  2.44866589e-06, 6.19009769e-06,-1.21644389e+00, 1.59141230e-03,
  5.41781858e-04, 4.27704206e-05]


--- Step 2185 ---
qpos:
[-0.01498863, 1.22685377,-0.02226249, 0.9476744 , 0.00436129, 1.23629544,
 -0.02933082, 0.94485243, 0.016628  , 1.29069868,-0.02344928, 0.95356095,
  1.3818819 ,-0.00144709, 1.18410808, 0.06310786,-0.00362713,-0.09254729,
  0.08163843, 0.62550341,-0.01261229,-0.00348537, 0.7801117 ]

qacc:
[ 1.44270605e-01, 4.06134732e+01,-9.20173141e+01, 5.23370194e+01,
  1.08956857e-01, 1.04880626e+01,-2.28481454e+01, 6.60652598e-01,
  6.91493896e-02,-2.35274979e+01, 4.47169056e+01,-2.16265679e+01,
 -1.08316469e+00, 2.12788269e+00,-3.54370475e+00, 1.20236902e+01,
  5.51350693e-02,-1.35570735e+00, 1.94255240e+00,-6.24075737e+00,
 -7.22294321e+01,-1.60794272e+00]

qfrc_actuator:
[ 2.80938478e-03, 7.47991901e-02, 1.04311026e-02, 2.74075493e-03,
  3.04264830e-05, 8.85045662e-02, 1.04719841e-02, 3.15756954e-03,
 -2.93644412e-03, 8.15234486e-02, 1.03550701e-02, 3.12806301e-03,
  0.00000000e+00,-1.67683800e-03, 0.00000000e+00,-1.64026026e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012738605296022665
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.35771028e-14,  4.35771028e-14,  1.00000000e+00, -1.89896389e-27,
        1.00000000e+00, -4.35771028e-14, -1.00000000e+00,  0.00000000e+00,
        4.35771028e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00373133, -0.0707982 ,  0.06188689])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.09661148e-05, 2.88512237e-03, 4.12583249e-04, 4.40393275e-05,
  3.03778996e-05, 6.07814093e-04, 1.30610753e-05,-5.05074269e-05,
  1.88297334e-05,-2.45713015e-03,-5.76591342e-04,-6.97341482e-05,
  1.46884511e-05, 9.74506008e-05,-1.42377211e-05, 5.48006548e-05,
  6.84810142e-06, 3.83673208e-06,-1.21644210e+00, 1.58692448e-03,
  5.40638142e-04, 4.07375413e-05]


--- Step 2186 ---
qpos:
[-0.01499166, 1.22766297,-0.02227956, 0.9476886 , 0.00436155, 1.23738346,
 -0.02933896, 0.94487606, 0.01662926, 1.29165127,-0.02344743, 0.95358719,
  1.3819545 ,-0.0014469 , 1.18426829, 0.06311097,-0.00362446,-0.09255393,
  0.08164236, 0.62554534,-0.01243542,-0.0035648 , 0.78008056]

qacc:
[ 1.14995496e-01, 2.58935770e+01,-4.77419400e+01, 1.83012849e+01,
  1.22184738e-03, 4.07296640e+00,-3.64766266e+00,-1.33455269e+01,
  7.32215222e-02,-3.03454243e+01, 7.11624860e+01,-7.24839670e+01,
  3.28097524e-01,-2.65820372e-01,-1.19748705e+01, 4.07698104e+01,
 -1.22264177e+00,-1.12494403e+00,-7.17265998e-01,-6.73157799e+01,
 -5.80311303e+01,-2.99100219e+00]

qfrc_actuator:
[ 2.81883928e-03, 7.58949386e-02, 1.04698499e-02, 2.70278517e-03,
  1.33436756e-05, 8.87381760e-02, 1.04755134e-02, 3.09939656e-03,
 -2.92815977e-03, 8.05007753e-02, 1.03547132e-02, 3.02247604e-03,
  0.00000000e+00,-1.68772847e-03, 0.00000000e+00,-1.44426451e-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, 8.59827331, 0.81023022, 8.59827331, 8.60644125,
       0.31754043, 0.81023022, 0.31754043, 5.26658145, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0012686148054337418
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.18786471e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.18786471e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03595306, -0.06189525,  0.06188736])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.25703988e-05, 2.76513300e-03, 6.49095102e-04, 6.19249840e-05,
  5.38753737e-07, 5.59727225e-04, 1.20027363e-04,-3.94424527e-05,
  1.99161212e-05,-2.50429770e-03,-5.49280294e-04,-1.95489256e-04,
  3.04738096e-05, 1.94806485e-05,-3.12634826e-06, 1.96620292e-04,
  5.24728386e-06,-1.01904563e-06,-1.21644076e+00, 1.58272027e-03,
  5.41092512e-04, 3.15495456e-05]


--- Step 2187 ---
qpos:
[-0.01499462, 1.22848982,-0.02229403, 0.94770083, 0.00436158, 1.23847405,
 -0.02934624, 0.94489966, 0.01663066, 1.29258394,-0.02344549, 0.9536137 ,
  1.38202718,-0.00144648, 1.18442883, 0.06311303,-0.00362633,-0.09256492,
  0.08164134, 0.62558992,-0.01225289,-0.00381164, 0.78004653]

qacc:
[ 2.38295829e-02, 1.27021184e+01,-9.48350976e+00,-2.55738248e+01,
 -1.00924352e-01, 9.67275454e-01, 9.81098831e-01,-2.85764194e+00,
  6.14206156e-02,-2.59492058e+01, 5.25385682e+01,-3.01092589e+01,
 -1.90055302e-01, 4.23476623e-01, 3.69189659e+00,-1.21357522e+01,
 -1.13793092e+00,-1.08873249e+00,-1.23797452e+00,-6.35130259e+01,
 -5.45432503e+01,-2.99319165e+00]

qfrc_actuator:
[ 2.80780504e-03, 7.64994620e-02, 1.04995314e-02, 2.58605178e-03,
 -1.47653517e-05, 8.87599472e-02, 1.04809123e-02, 3.09125140e-03,
 -2.92379414e-03, 7.95359630e-02, 1.03714138e-02, 3.03859896e-03,
  0.00000000e+00,-1.67666783e-03, 0.00000000e+00,-1.50766664e-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, -7.66997955, -3.96965875, -7.66997955, 11.99129402,
       -6.48223161, -3.96965875, -6.48223161, 21.16101299,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012608168138526221
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.40279275e-14,  4.40279275e-14,  1.00000000e+00,  1.93845840e-27,
        1.00000000e+00, -4.40279275e-14, -1.00000000e+00,  0.00000000e+00,
       -4.40279275e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03596907, -0.06188837,  0.06188803])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.20528638e-06, 2.25410424e-03, 6.43977714e-04,-1.30319132e-05,
 -2.77681890e-05, 3.42542340e-04, 1.24992827e-04, 1.25408398e-05,
  1.66176037e-05,-2.47073429e-03,-5.41980667e-04,-7.73317880e-05,
  2.07373212e-05, 2.35556570e-05, 1.86124813e-05,-5.32963051e-05,
 -2.74247078e-07, 4.73222861e-07,-1.21644012e+00, 1.57912602e-03,
  5.43007097e-04, 3.21659347e-05]


--- Step 2188 ---
qpos:
[-0.0149973 , 1.22933015,-0.02230619, 0.94771335, 0.00436148, 1.23956518,
 -0.0293524 , 0.94492317, 0.01663202, 1.29349747,-0.02344351, 0.95364154,
  1.38209977,-0.00144536, 1.18458954, 0.06311368,-0.00363248,-0.09258014,
  0.08163362, 0.62563717,-0.01206525,-0.00421734, 0.78000947]

qacc:
[ 1.20362767e-01, 1.20408254e+01,-1.85284325e+01, 1.11874771e+01,
 -5.43964365e-02,-2.45219184e+00, 9.03571387e+00,-9.16001152e+00,
 -1.67098770e-02,-2.29341434e+01, 4.18341926e+01,-9.14759464e+00,
 -6.50043442e-01, 1.23645093e+00, 4.57102057e+00,-1.55117063e+01,
 -1.06801774e+00,-1.05696873e+00,-1.67612289e+00,-6.03559172e+01,
 -5.16629795e+01,-2.97072256e+00]

qfrc_actuator:
[ 2.83784008e-03, 7.68759071e-02, 1.05038061e-02, 2.58331837e-03,
 -1.37486958e-05, 8.86547842e-02, 1.04865414e-02, 3.07694544e-03,
 -2.93957180e-03, 7.86492217e-02, 1.03983555e-02, 3.10851586e-03,
  0.00000000e+00,-1.63484312e-03, 0.00000000e+00,-1.58140855e-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, -7.65773433, -3.9932295 , -7.65773433, 12.92611291,
       -8.22636423, -3.9932295 , -8.22636423, 24.41189365,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012408600045358403
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.47360307e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.47360307e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03600491, -0.06186484,  0.0618897 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.35684251e-05, 1.73997970e-03, 5.15877544e-04, 8.38929925e-05,
 -1.50529046e-05, 9.80239497e-05, 8.48517513e-05, 1.23333401e-06,
 -5.47196532e-06,-2.36895491e-03,-5.20846196e-04,-1.96063636e-05,
  1.62980912e-05, 5.32717712e-05,-1.77309614e-06,-7.53583543e-05,
 -3.21801909e-09, 9.25811866e-06,-1.21644219e+00, 1.57545165e-03,
  5.44875452e-04, 4.16393894e-05]


--- Step 2189 ---
qpos:
[-0.01499982, 1.23018003,-0.02231621, 0.94772854, 0.00436131, 1.24065551,
 -0.02935796, 0.94494616, 0.01663313, 1.29439233,-0.02344174, 0.95366965,
  1.38217252,-0.00144423, 1.18474974, 0.06311711,-0.00363318,-0.0925904 ,
  0.08163116, 0.6256838 ,-0.01188934,-0.00443134, 0.77997358]

qacc:
[ 7.11612028e-02, 1.13352778e+01,-2.72839020e+01, 4.86804221e+01,
 -2.86631751e-02,-3.54939441e+00, 1.13869823e+01,-1.54266297e+01,
 -1.04655937e-01,-2.35000083e+01, 4.65276032e+01,-2.56501678e+01,
  3.31367831e-01,-3.62988585e-01,-9.18065874e+00, 3.09925508e+01,
  1.35964411e+00, 1.23942945e+00, 1.31529150e+00, 7.10957889e+01,
  6.45362893e+01, 1.79226289e+00]

qfrc_actuator:
[ 2.83901274e-03, 7.70770971e-02, 1.05098628e-02, 2.70075817e-03,
 -1.30229333e-05, 8.85099614e-02, 1.04739572e-02, 3.04125450e-03,
 -2.96730836e-03, 7.77454895e-02, 1.03959578e-02, 3.12078221e-03,
  0.00000000e+00,-1.64611739e-03, 0.00000000e+00,-1.42978275e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001278773435301972
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.68193688e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.68193688e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03632813, -0.11925387,  0.06188649])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.99152150e-05, 1.25811808e-03, 4.05433958e-04, 1.87284736e-04,
 -7.99219405e-06,-8.50532753e-05, 1.39323881e-05,-2.89084637e-05,
 -3.03865771e-05,-2.32362264e-03,-5.26172379e-04,-7.23053590e-05,
  2.06955146e-05, 7.41847934e-06,-1.28891288e-05, 1.46341692e-04,
  5.18436340e-06, 2.42181799e-05,-1.21644654e+00, 1.57166864e-03,
  5.46747788e-04, 5.85815111e-05]


--- Step 2190 ---
qpos:
[-0.01500223, 1.23103529,-0.022324  , 0.94774266, 0.00436111, 1.24174449,
 -0.0293625 , 0.94497033, 0.0166341 , 1.29526828,-0.02343968, 0.95369805,
  1.38224539,-0.00144316, 1.18491029, 0.06311862,-0.00362894,-0.09259593,
  0.08163089, 0.62573031,-0.01172386,-0.00446717, 0.77993857]

qacc:
[ 4.48064501e-02,-8.01039632e-01, 1.33262032e+01,-2.74142231e+01,
 -1.44278115e-02,-2.50217127e+00, 3.59892165e+00, 1.13765831e+01,
 -5.53727778e-02,-2.51339133e+01, 5.14323301e+01,-2.95069527e+01,
 -6.81199094e-03, 7.03419735e-03, 6.32466609e+00,-2.14052234e+01,
  1.23846041e+00, 1.18210622e+00, 5.50127338e-01, 6.62250208e+01,
  5.97987643e+01, 1.40138440e+00]

qfrc_actuator:
[ 2.84062274e-03, 7.70296555e-02, 1.04984537e-02, 2.62152099e-03,
 -1.24806063e-05, 8.84312292e-02, 1.05215306e-02, 3.09971955e-03,
 -2.96649153e-03, 7.68032528e-02, 1.04116891e-02, 3.13448587e-03,
  0.00000000e+00,-1.65334079e-03, 0.00000000e+00,-1.53713369e-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,  6.76692075,  5.3661495 ,  6.76692075, 14.21747352,
       -7.03799405,  5.3661495 , -7.03799405, 17.51154461,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012967471491971833
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.28079994e-14,  8.56159989e-14,  1.00000000e+00,  3.66504963e-27,
        1.00000000e+00, -8.56159989e-14, -1.00000000e+00,  0.00000000e+00,
       -4.28079994e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03630473, -0.11922755,  0.06188498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24254833e-05, 7.24413009e-04, 2.84260571e-04,-2.45460231e-05,
 -4.09437263e-06,-1.34970563e-04, 2.93462503e-05, 5.69898325e-05,
 -1.64507722e-05,-2.33948729e-03,-5.01304138e-04,-7.09322327e-05,
  1.25084504e-05,-2.53142814e-07, 8.73791506e-06,-1.01253455e-04,
 -3.53033659e-07, 7.02620685e-06,-1.21644138e+00, 1.57603052e-03,
  5.45334005e-04, 3.73096168e-05]


--- Step 2191 ---
qpos:
[-0.01500427, 1.23189186,-0.02232964, 0.94775542, 0.00436104, 1.24283229,
 -0.02936583, 0.94499363, 0.0166353 , 1.2961255 ,-0.02343658, 0.95372465,
  1.3823186 ,-0.00144293, 1.18507142, 0.06311415,-0.00362013,-0.09259694,
  0.08163026, 0.62577703,-0.01156774,-0.00433604, 0.77990416]

qacc:
[ 1.59666798e-01,-6.41377255e+00, 2.57433878e+01,-3.88617985e+01,
  5.76195980e-02,-6.31986407e+00, 2.05402947e+01,-2.71570574e+01,
  9.64252897e-02,-3.05205078e+01, 7.35485993e+01,-7.31253071e+01,
  4.02643184e-01,-9.33806527e-01, 1.88617499e+01,-6.48082327e+01,
  1.13940546e+00, 1.13299496e+00,-9.32339447e-02, 6.21800728e+01,
  5.58828715e+01, 1.10147425e+00]

qfrc_actuator:
[ 2.87799640e-03, 7.67978806e-02, 1.04933916e-02, 2.53347405e-03,
  5.69829824e-06, 8.83930282e-02, 1.05867894e-02, 3.05341421e-03,
 -2.93080556e-03, 7.58988810e-02, 1.04733843e-02, 3.04240492e-03,
  0.00000000e+00,-1.71132059e-03, 0.00000000e+00,-1.84952419e-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,  6.79754194,  5.32730705,  6.79754194, 15.30676609,
       -8.51130599,  5.32730705, -8.51130599, 19.49662735,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012970962704376282
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.13982387e-14,  2.13982387e-14,  1.00000000e+00,  4.57884620e-28,
        1.00000000e+00, -2.13982387e-14, -1.00000000e+00,  0.00000000e+00,
       -2.13982387e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03630717, -0.11922369,  0.06188495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.38276596e-05, 2.14839682e-04, 1.66280634e-04,-5.76994708e-05,
  1.57978493e-05,-1.16388312e-04, 4.15648137e-05,-4.68276433e-05,
  2.65686269e-05,-2.30531089e-03,-4.55533223e-04,-1.76450846e-04,
  6.10145203e-06,-5.49096937e-05,-1.13212474e-05,-3.17874534e-04,
  5.12983631e-07,-4.86133255e-07,-1.21643972e+00, 1.57989592e-03,
  5.43625338e-04, 2.81799656e-05]


--- Step 2192 ---
qpos:
[-0.01500606, 1.23274866,-0.02233395, 0.94776823, 0.00436114, 1.24391943,
 -0.02936929, 0.94501383, 0.01663666, 1.29696472,-0.02343305, 0.95374923,
  1.38239194,-0.00144334, 1.18523188, 0.063111  ,-0.00360709,-0.09259357,
  0.08162709, 0.62582416,-0.01142012,-0.00404725, 0.77987006]

qacc:
[ 1.08803220e-01,-3.24636942e+00, 1.08732033e+01,-9.08382184e+00,
  7.25336645e-02,-5.79768947e+00, 2.42367749e+01,-5.65604915e+01,
  7.00142358e-02,-2.83038512e+01, 6.78616634e+01,-7.08999946e+01,
  6.63673467e-01,-1.20777830e+00,-5.02790370e+00, 1.59883385e+01,
  1.05828267e+00, 1.09098233e+00,-6.33732669e-01, 5.88237401e+01,
  5.26470717e+01, 8.73284805e-01]

qfrc_actuator:
[ 2.88326389e-03, 7.67237176e-02, 1.05268343e-02, 2.52961037e-03,
  1.65532372e-05, 8.83617547e-02, 1.05732855e-02, 2.89256438e-03,
 -2.92775807e-03, 7.50423574e-02, 1.05085428e-02, 2.94210124e-03,
  0.00000000e+00,-1.74570036e-03, 0.00000000e+00,-1.76529973e-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,   6.81006169,   5.31129331,   6.81006169,
        16.72286818, -10.36839648,   5.31129331, -10.36839648,
        21.9305682 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012833604241856977
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.78477132e-14,  3.24408971e-14,  1.00000000e+00,  1.22781377e-27,
        1.00000000e+00, -3.24408971e-14, -1.00000000e+00,  0.00000000e+00,
       -3.78477132e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03633008, -0.11923759,  0.06188609])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.98690133e-05, 6.65751927e-05, 9.08030341e-05, 7.09900571e-06,
  2.00104819e-05,-9.98760524e-05,-3.52141363e-05,-1.62865291e-04,
  1.91391649e-05,-2.23258649e-03,-4.73255476e-04,-1.84804151e-04,
 -1.09883107e-05,-4.74347901e-05,-4.43990982e-05, 6.41492870e-05,
  6.62581238e-06,-1.40270389e-07,-1.21644092e+00, 1.58343638e-03,
  5.41617092e-04, 2.89442250e-05]


--- Step 2193 ---
qpos:
[-0.01500768, 1.23360681,-0.0223382 , 0.94778192, 0.00436124, 1.24500722,
 -0.02937362, 0.94503362, 0.01663827, 1.29778613,-0.02343013, 0.95377318,
  1.38246519,-0.00144392, 1.18539211, 0.06310846,-0.00360067,-0.09258415,
  0.0816198 , 0.62586116,-0.01148538,-0.00375426, 0.77984088]

qacc:
[ 7.32840603e-02, 3.16901435e+00,-9.98638266e+00, 1.80278818e+01,
  5.37282415e-04, 2.47281626e+00,-6.20120057e+00, 2.18986225e-01,
  1.10338226e-01,-2.28380720e+01, 4.75820449e+01,-3.76374830e+01,
  1.06309538e-01,-2.70918243e-01,-2.21867609e+00, 7.23636466e+00,
 -1.65200662e+00, 1.51447858e+00,-1.02910016e+00,-6.50193538e+01,
  8.42738550e+01, 5.94353703e+00]

qfrc_actuator:
[ 2.88699022e-03, 7.68511845e-02, 1.05478143e-02, 2.57539925e-03,
  5.17279601e-06, 8.84943638e-02, 1.05666516e-02, 2.87859900e-03,
 -2.90881549e-03, 7.41502977e-02, 1.04747012e-02, 2.90879556e-03,
  0.00000000e+00,-1.74802784e-03, 0.00000000e+00,-1.73204356e-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,  8.60094358,  0.78137466,  8.60094358,  9.32609547,
       -7.59218965,  0.78137466, -7.59218965, 92.207022  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012670119012752612
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.76253036e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.76253036e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04782166, -0.1146614 ,  0.06188744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.02473372e-05, 1.73408048e-04, 4.26876170e-05, 5.16367575e-05,
  2.22639146e-07, 5.46586251e-05,-3.72530902e-05,-2.04296879e-05,
  3.06687443e-05,-2.23144777e-03,-5.30281240e-04,-1.16391496e-04,
 -1.76821405e-05,-1.76036870e-05,-1.36838188e-05, 3.10272482e-05,
  1.71387012e-05, 6.72972724e-06,-1.21644453e+00, 1.58676652e-03,
  5.39312217e-04, 3.79586389e-05]


--- Step 2194 ---
qpos:
[-0.01500934, 1.23446701,-0.02234309, 0.9477957 , 0.00436129, 1.24609597,
 -0.02937807, 0.94505373, 0.01663998, 1.29858988,-0.02342804, 0.95379656,
  1.38253854,-0.0014451 , 1.18555285, 0.06310129,-0.00359987,-0.09257977,
  0.08161371, 0.62590064,-0.01154318,-0.0036585 , 0.7798088 ]

qacc:
[-1.50521138e-02, 4.55699197e+00,-1.18035831e+01, 1.00378646e+01,
 -2.45218999e-02, 2.14671237e+00,-6.15437726e+00, 8.51422353e+00,
  4.20124793e-02,-2.19247520e+01, 4.46840871e+01,-3.43271373e+01,
  1.47340137e-01,-5.36854090e-01, 1.47155536e+01,-5.04415176e+01,
 -1.40858868e+00,-1.25999016e+00, 2.99720754e-01,-7.45673304e+01,
 -6.46099212e+01,-3.02333728e+00]

qfrc_actuator:
[ 2.87201982e-03, 7.69919028e-02, 1.05265701e-02, 2.57911622e-03,
 -1.69724440e-06, 8.85999933e-02, 1.05826717e-02, 2.89805576e-03,
 -2.91600040e-03, 7.32794298e-02, 1.04358442e-02, 2.87961783e-03,
  0.00000000e+00,-1.78459350e-03, 0.00000000e+00,-1.97773509e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012869047600435751
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.31353997e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.31353997e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03594547, -0.0619565 ,  0.06188573])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.00955813e-06, 2.37681755e-04, 1.71794862e-05, 1.23704179e-05,
 -6.73786018e-06, 1.17094705e-04, 1.95868685e-05, 2.08667821e-05,
  1.12910048e-05,-2.21855807e-03,-5.39515535e-04,-1.12330834e-04,
 -1.37837616e-05,-4.53995244e-05,-5.31835551e-06,-2.46285522e-04,
  6.74180379e-06, 1.15349632e-05,-1.21644564e+00, 1.59122790e-03,
  5.41532617e-04, 4.59089063e-05]


--- Step 2195 ---
qpos:
[-0.01501139, 1.23532854,-0.02234763, 0.94780807, 0.00436142, 1.24718356,
 -0.02938178, 0.94507478, 0.01664141, 1.2993766 ,-0.0234268 , 0.95381973,
  1.38261156,-0.0014457 , 1.18571322, 0.06309392,-0.00360423,-0.09258019,
  0.08160608, 0.62594282,-0.01159445,-0.00374631, 0.77977376]

qacc:
[-1.70227417e-01,-1.63850510e+00, 1.03057039e+01,-2.60928854e+01,
  3.54577314e-02,-1.92248688e+00, 2.51287076e+00, 9.41514893e+00,
 -1.15597577e-01,-2.04521341e+01, 4.01730132e+01,-2.68131417e+01,
 -6.57901389e-01, 1.10066681e+00, 1.46956915e-01,-1.14597019e+00,
 -1.28904078e+00,-1.19968441e+00,-3.86758678e-01,-6.95158894e+01,
 -5.99661845e+01,-3.05153157e+00]

qfrc_actuator:
[ 2.82821487e-03, 7.70328175e-02, 1.05339101e-02, 2.50477042e-03,
  1.19492918e-05, 8.84225761e-02, 1.05763847e-02, 2.93699389e-03,
 -2.95655635e-03, 7.24815094e-02, 1.04121930e-02, 2.87084832e-03,
  0.00000000e+00,-1.73469017e-03, 0.00000000e+00,-1.97748087e-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, -6.89238044, -5.20402428, -6.89238044, 13.97607183,
       -7.07208467, -5.20402428, -7.07208467, 18.00286454,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013013715232992329
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.26558828e-14,  4.26558828e-14,  1.00000000e+00,  1.81952434e-27,
        1.00000000e+00, -4.26558828e-14, -1.00000000e+00,  0.00000000e+00,
       -4.26558828e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03592359, -0.0619803 ,  0.06188449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.68834803e-05, 1.67266825e-04, 5.42702214e-05,-6.54379121e-05,
  9.74201180e-06,-1.19016872e-04, 1.71822503e-05, 4.48442826e-05,
 -3.34580638e-05,-2.13999843e-03,-5.22688881e-04,-9.17416979e-05,
 -1.88831519e-05, 3.46393161e-05,-3.39325991e-05,-1.50918793e-05,
  8.44730530e-07, 1.52580083e-06,-1.21644136e+00, 1.58752215e-03,
  5.43784015e-04, 3.35334751e-05]


--- Step 2196 ---
qpos:
[-0.01501374, 1.23618938,-0.02235092, 0.94782029, 0.00436181, 1.24826682,
 -0.0293837 , 0.94509605, 0.01664262, 1.30014706,-0.02342721, 0.95384364,
  1.38268422,-0.00144526, 1.18587343, 0.06308621,-0.00361336,-0.0925852 ,
  0.08159458, 0.6259878 ,-0.01163995,-0.0040063 , 0.77973568]

qacc:
[ -0.12796471, -4.51328022, 13.93686364,-13.36097245,  0.11461986,
 -10.13155486, 25.73383331,-17.0657843 , -0.09014067,-15.59591033,
  23.64125326, -1.86391246, -0.99559684,  1.8071247 ,  0.84641511,
  -3.11511987, -1.19063873, -1.14792547, -0.96515848,-65.31566366,
 -56.12177235, -3.04910191]

qfrc_actuator:
[ 2.82074122e-03, 7.68894895e-02, 1.05576751e-02, 2.49156660e-03,
  3.77900081e-05, 8.80060526e-02, 1.05914010e-02, 2.93362102e-03,
 -2.96354527e-03, 7.17160442e-02, 1.03447608e-02, 2.90970833e-03,
  0.00000000e+00,-1.66935765e-03, 0.00000000e+00,-1.99200892e-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, -6.87189703, -5.23104273, -6.87189703, 15.23234045,
       -8.66497864, -5.23104273, -8.66497864, 20.01934102,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012986345674966607
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.27457829e-14,  4.27457829e-14,  1.00000000e+00,  1.82720195e-27,
        1.00000000e+00, -4.27457829e-14, -1.00000000e+00,  0.00000000e+00,
       -4.27457829e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03593018, -0.0619805 ,  0.06188468])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.53862249e-05,-5.09900148e-05, 5.88706265e-05,-7.10874881e-06,
  3.14896511e-05,-4.88422002e-04,-7.23801446e-06,-4.04813904e-06,
 -2.61548786e-05,-2.06003979e-03,-5.48578180e-04,-4.08387676e-05,
 -2.40522481e-06, 7.07472552e-05,-1.92689667e-05,-2.01468878e-05,
  1.96427924e-06, 1.13866726e-06,-1.21644066e+00, 1.58386510e-03,
  5.45885308e-04, 3.28489587e-05]


--- Step 2197 ---
qpos:
[-0.01501614, 1.23704759,-0.02235323, 0.94783351, 0.00436218, 1.24934257,
 -0.02938345, 0.94511707, 0.01664368, 1.30090219,-0.02342846, 0.95386876,
  1.38275685,-0.00144431, 1.18603362, 0.06307735,-0.00361719,-0.09258536,
  0.08158781, 0.6260323 ,-0.01169678,-0.00407683, 0.77969874]

qacc:
[-2.43335049e-02,-4.41052540e+00, 8.19235315e+00, 6.00533295e+00,
 -5.74898412e-03,-1.61265580e+01, 4.12322012e+01,-3.39839981e+01,
 -6.65177853e-02,-1.58282061e+01, 2.48876139e+01, 1.89488913e+00,
 -4.49699670e-01, 8.76847933e-01, 3.50084232e+00,-1.21848628e+01,
  1.32100769e+00, 1.21315993e+00, 1.17952171e+00, 7.03173428e+01,
  6.37157157e+01, 1.67170715e+00]

qfrc_actuator:
[ 2.83512714e-03, 7.66193383e-02, 1.05547507e-02, 2.53209772e-03,
  1.74740306e-05, 8.74141994e-02, 1.06178610e-02, 2.90520572e-03,
 -2.96809702e-03, 7.10470910e-02, 1.03409651e-02, 2.97627075e-03,
  0.00000000e+00,-1.64870772e-03, 0.00000000e+00,-2.05070059e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012917482233693878
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.59473235e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.59473235e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03632782, -0.11920686,  0.0618852 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.88121377e-06,-2.95846447e-04,-8.22264161e-06, 4.16266081e-05,
 -2.05633749e-06,-8.74259777e-04,-7.22259530e-05,-4.20021450e-05,
 -1.94453981e-05,-1.92269677e-03,-4.70742933e-04,-1.03645539e-05,
  1.49532848e-05, 3.97849338e-05,-1.39037202e-05,-6.28935943e-05,
  8.83058559e-06, 8.59415161e-06,-1.21644287e+00, 1.58018120e-03,
  5.47922274e-04, 4.16637600e-05]


--- Step 2198 ---
qpos:
[-0.01501866, 1.23790163,-0.02235499, 0.9478473 , 0.0043623 , 1.25040861,
 -0.02938196, 0.94513959, 0.01664463, 1.30164171,-0.02342912, 0.95389273,
  1.38282958,-0.00144332, 1.18619308, 0.06307285,-0.00361621,-0.09258088,
  0.08158277, 0.62607671,-0.01176375,-0.00397103, 0.77966262]

qacc:
[-4.59078771e-02,-5.97888053e+00, 1.17662962e+01,-1.10419067e+00,
 -1.11055031e-01,-1.35468081e+01, 2.57055667e+01, 1.23588194e+00,
 -4.71000851e-02,-2.40563653e+01, 5.60864918e+01,-5.23227031e+01,
  3.85517305e-01,-4.21168892e-01,-1.42796974e+01, 4.83247014e+01,
  1.20687379e+00, 1.16015642e+00, 4.34188582e-01, 6.55675932e+01,
  5.91388410e+01, 1.33674616e+00]

qfrc_actuator:
[ 2.82700258e-03, 7.62930737e-02, 1.05355747e-02, 2.55053176e-03,
 -1.26083235e-05, 8.67575584e-02, 1.06145886e-02, 2.96866522e-03,
 -2.97115606e-03, 7.02818656e-02, 1.03751873e-02, 2.91666724e-03,
  0.00000000e+00,-1.65474941e-03, 0.00000000e+00,-1.81538941e-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,  7.05414791,  4.98254695,  7.05414791, 13.86434476,
       -7.40162663,  4.98254695, -7.40162663, 19.11537559,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013058324046546915
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06275413e-14,  8.50203304e-14,  1.00000000e+00,  9.03557072e-28,
        1.00000000e+00, -8.50203304e-14, -1.00000000e+00,  0.00000000e+00,
       -1.06275413e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03630941, -0.1191849 ,  0.06188399])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28885255e-05,-4.98985131e-04,-7.85119930e-05, 1.14118936e-05,
 -3.13196192e-05,-1.16622543e-03,-1.85892712e-04, 3.55311872e-05,
 -1.40245260e-05,-1.92675858e-03,-3.96129935e-04,-1.29497899e-04,
  1.66606378e-05, 8.71238674e-06,-1.62540043e-05, 2.29383420e-04,
  1.72876752e-06, 8.27472901e-07,-1.21644068e+00, 1.58465819e-03,
  5.45946082e-04, 3.23152246e-05]


--- Step 2199 ---
qpos:
[-0.01502127, 1.23875079,-0.02235644, 0.94785992, 0.00436211, 1.25146284,
 -0.02937933, 0.94516223, 0.01664534, 1.3023648 ,-0.02342956, 0.95391557,
  1.38290248,-0.0014426 , 1.1863523 , 0.06307183,-0.00361077,-0.09257193,
  0.08157695, 0.62612129,-0.01183989,-0.0036998 , 0.779627  ]

qacc:
[-4.27216955e-02,-9.23666108e+00, 2.47693206e+01,-3.19884535e+01,
 -1.28165857e-01,-1.83675478e+01, 4.09681723e+01,-2.67273401e+01,
 -9.50892517e-02,-2.41576324e+01, 5.50441041e+01,-5.06181863e+01,
  5.58394769e-01,-8.26814225e-01,-1.08843622e+01, 3.74623666e+01,
  1.11335165e+00, 1.11449728e+00,-1.92739402e-01, 6.16224868e+01,
  5.53563647e+01, 1.08481911e+00]

qfrc_actuator:
[ 2.82319766e-03, 7.59889769e-02, 1.05244397e-02, 2.48472723e-03,
 -3.05465278e-05, 8.60140001e-02, 1.06112816e-02, 2.96132602e-03,
 -2.99105326e-03, 6.93942608e-02, 1.03601326e-02, 2.85425787e-03,
  0.00000000e+00,-1.67655499e-03, 0.00000000e+00,-1.63951668e-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,  7.06950556,  4.96073261,  7.06950556, 14.9387572 ,
       -8.98149727,  4.96073261, -8.98149727, 21.43583298,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013029153593283466
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.13026698e-14,  8.52106790e-14,  1.00000000e+00, -1.81521495e-27,
        1.00000000e+00, -8.52106790e-14, -1.00000000e+00,  0.00000000e+00,
        2.13026698e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03631599, -0.1191846 ,  0.06188421])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20553419e-05,-6.03744691e-04,-1.19038733e-04,-8.16344979e-05,
 -3.61897643e-05,-1.43440848e-03,-2.53641749e-04,-4.55458502e-05,
 -2.76945883e-05,-2.04021143e-03,-4.41185503e-04,-1.33035119e-04,
  1.08550937e-05,-1.55087952e-05, 1.70173016e-05, 1.86334032e-04,
  1.02669798e-06, 1.88225108e-06,-1.21644172e+00, 1.58874414e-03,
  5.43692509e-04, 3.41180536e-05]


--- Step 2200 ---
qpos:
[-0.01502396, 1.23959454,-0.02235718, 0.9478717 , 0.00436166, 1.25250327,
 -0.02937539, 0.94518481, 0.01664583, 1.30307244,-0.0234312 , 0.95393922,
  1.38297522,-0.00144133, 1.18651177, 0.06307125,-0.00361098,-0.09256785,
  0.0815721 , 0.62616801,-0.01190836,-0.00362454, 0.77958879]

qacc:
[-3.12776607e-02,-1.05046351e+01, 2.74007486e+01,-3.01687606e+01,
 -1.11243663e-01,-2.17711191e+01, 4.92582071e+01,-3.47390850e+01,
 -9.63191869e-02,-1.56445562e+01, 2.49428180e+01,-2.73784297e+00,
 -4.86101085e-01, 9.09554194e-01,-9.48780208e-01, 3.95364373e+00,
 -1.41466151e+00,-1.21495322e+00, 2.39807457e-01,-7.39816935e+01,
 -6.43182133e+01,-2.81795367e+00]

qfrc_actuator:
[ 2.82202052e-03, 7.57005673e-02, 1.05536681e-02, 2.44089502e-03,
 -4.10533312e-05, 8.51887556e-02, 1.06253124e-02, 2.94779490e-03,
 -3.00314228e-03, 6.86710892e-02, 1.03156333e-02, 2.89711829e-03,
  0.00000000e+00,-1.63650827e-03, 0.00000000e+00,-1.62443127e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001326217846160875
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.37134735e-14, -2.09283684e-14,  1.00000000e+00, -1.75198641e-27,
        1.00000000e+00,  2.09283684e-14, -1.00000000e+00,  0.00000000e+00,
       -8.37134735e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03589428, -0.06203693,  0.06188222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.94460200e-06,-6.56631612e-04,-1.06479898e-04,-6.61343826e-05,
 -3.16052727e-05,-1.67998927e-03,-2.98802584e-04,-6.36440346e-05,
 -2.79294183e-05,-1.94727539e-03,-4.97983512e-04,-3.25474325e-05,
  2.41665231e-06, 3.81479377e-05, 2.56237761e-05, 2.69671971e-05,
  5.58313020e-06, 1.01117523e-05,-1.21644543e+00, 1.59256588e-03,
  5.41161613e-04, 4.50326599e-05]


--- Step 2201 ---
qpos:
[-0.01502669, 1.24043265,-0.02235745, 0.94788327, 0.00436115, 1.25352857,
 -0.02937023, 0.94520686, 0.01664628, 1.30376648,-0.02343427, 0.95396272,
  1.3830478 ,-0.00143935, 1.1866712 , 0.0630719 ,-0.00361637,-0.09256842,
  0.08156549, 0.62621715,-0.01197017,-0.00373169, 0.77954786]

qacc:
[-1.90182814e-02,-9.04695715e+00, 2.10240311e+01,-1.72931904e+01,
 -2.12881512e-02,-2.40508999e+01, 5.55524405e+01,-4.47816132e+01,
 -1.79243195e-02,-1.42503026e+01, 2.52528385e+01,-1.52077416e+01,
 -5.17410957e-01, 1.05522157e+00,-3.68062472e+00, 1.29322935e+01,
 -1.29279271e+00,-1.16276087e+00,-4.40024226e-01,-6.90073381e+01,
 -5.96878204e+01,-2.89212125e+00]

qfrc_actuator:
[ 2.82243411e-03, 7.54063015e-02, 1.05710696e-02, 2.42813794e-03,
 -2.92667144e-05, 8.43389789e-02, 1.06491184e-02, 2.91292781e-03,
 -2.99270097e-03, 6.81231698e-02, 1.02903104e-02, 2.89513591e-03,
  0.00000000e+00,-1.59556300e-03, 0.00000000e+00,-1.56216255e-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, -6.96715105, -5.10348734, -6.96715105, 12.72495746,
       -5.58164425, -5.10348734, -5.58164425, 16.25628232,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013370568119794451
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.15174215e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.15174215e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0358791 , -0.06205644,  0.06188129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.54793743e-06,-6.88740972e-04,-1.26739289e-04,-3.59091063e-05,
 -6.66422952e-06,-1.84957482e-03,-3.42681463e-04,-9.40894705e-05,
 -5.54789600e-06,-1.72859106e-03,-4.64137066e-04,-7.39826629e-05,
  1.04546334e-05, 5.19114972e-05, 1.01125574e-05, 6.59928201e-05,
  7.92650964e-07, 1.16516012e-06,-1.21644142e+00, 1.58811366e-03,
  5.43782887e-04, 3.39440367e-05]


--- Step 2202 ---
qpos:
[-0.01502945, 1.24126895,-0.02235917, 0.94789437, 0.00436083, 1.25453836,
 -0.02936475, 0.9452274 , 0.0166469 , 1.30444727,-0.02343794, 0.95398458,
  1.3831207 ,-0.00143791, 1.18683089, 0.06307128,-0.00362653,-0.09257346,
  0.08155482, 0.62626885,-0.01202611,-0.00401001, 0.77950409]

qacc:
[-9.45264289e-03, 7.23691593e-01,-4.28529731e+00,-5.09273115e-01,
  7.84075968e-02,-2.38077087e+01, 5.61939210e+01,-5.65421208e+01,
  7.55008565e-02,-1.86394595e+01, 4.31178278e+01,-4.81574227e+01,
  5.15738359e-01,-8.90982914e-01, 4.13434035e+00,-1.40498685e+01,
 -1.19263307e+00,-1.11747099e+00,-1.01273792e+00,-6.48712932e+01,
 -5.58568001e+01,-2.92596386e+00]

qfrc_actuator:
[ 2.82380337e-03, 7.55547291e-02, 1.05813391e-02, 2.41598708e-03,
 -4.20779700e-06, 8.35168365e-02, 1.06428556e-02, 2.83024514e-03,
 -2.96883443e-03, 6.75072057e-02, 1.02772041e-02, 2.81362469e-03,
  0.00000000e+00,-1.64322031e-03, 0.00000000e+00,-1.63230958e-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, -6.95084444, -5.12567443, -6.95084444, 13.77290013,
       -6.96557432, -5.12567443, -6.96557432, 18.08226665,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013310286495831491
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.17054518e-14,  2.08527259e-14,  1.00000000e+00,  8.69672356e-28,
        1.00000000e+00, -2.08527259e-14, -1.00000000e+00,  0.00000000e+00,
       -4.17054518e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03589169, -0.06205273,  0.06188176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.61843174e-06,-2.66781857e-04,-1.41544220e-04,-3.61549555e-05,
  2.10950024e-05,-1.92506694e-03,-4.11759191e-04,-1.48990590e-04,
  2.10152748e-05,-1.67019866e-03,-4.06555372e-04,-1.47031281e-04,
  1.78048199e-05,-3.09564565e-05, 8.34965795e-06,-6.60086337e-05,
  2.85737581e-06, 1.64893111e-06,-1.21644096e+00, 1.58381833e-03,
  5.46208729e-04, 3.43192311e-05]


--- Step 2203 ---
qpos:
[-0.01503221, 1.24210854,-0.02236365, 0.94790591, 0.00436073, 1.25553285,
 -0.02935968, 0.9452458 , 0.01664759, 1.30511449,-0.02344109, 0.95400389,
  1.38319386,-0.00143721, 1.18699062, 0.06306951,-0.00363125,-0.09257373,
  0.08154942, 0.62631968,-0.01209396,-0.00409673, 0.77946175]

qacc:
[-2.33483696e-03, 1.25306881e+01,-3.65564098e+01, 3.47746115e+01,
  1.00254658e-01,-2.26451903e+01, 5.39940256e+01,-6.19755071e+01,
  3.33813174e-02,-2.35844021e+01, 6.05587692e+01,-7.34233697e+01,
  6.33747113e-01,-1.19310663e+00, 3.51972980e+00,-1.23382435e+01,
  1.36096212e+00, 1.19340411e+00, 1.31406910e+00, 7.09442245e+01,
  6.46282261e+01, 1.96392842e+00]

qfrc_actuator:
[ 2.82574021e-03, 7.60737146e-02, 1.05713016e-02, 2.45779208e-03,
  1.08512044e-05, 8.27532042e-02, 1.06189622e-02, 2.72007079e-03,
 -2.97261940e-03, 6.68377603e-02, 1.03066706e-02, 2.68595088e-03,
  0.00000000e+00,-1.68982396e-03, 0.00000000e+00,-1.69114371e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013394533549711193
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.55411770e-14,  8.28862775e-14,  1.00000000e+00,  1.28815031e-27,
        1.00000000e+00, -8.28862775e-14, -1.00000000e+00,  0.00000000e+00,
       -1.55411770e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03627299, -0.11911964,  0.06188101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.26635038e-07, 3.34286768e-04,-8.10742139e-05, 2.99081568e-05,
  2.72325697e-05,-1.92330044e-03,-4.53585176e-04,-1.82058789e-04,
  8.95489221e-06,-1.68219241e-03,-3.48152913e-04,-1.91501149e-04,
  1.66728272e-06,-5.07672088e-05,-7.08136241e-06,-6.22947460e-05,
  1.05445481e-05, 9.82371400e-06,-1.21644336e+00, 1.57957345e-03,
  5.48538274e-04, 4.40142066e-05]


--- Step 2204 ---
qpos:
[-0.0150348 , 1.24295263,-0.02236978, 0.94791632, 0.00436069, 1.25651249,
 -0.02935517, 0.94526169, 0.01664816, 1.30576712,-0.02344242, 0.95402399,
  1.38326693,-0.00143654, 1.18714993, 0.06307004,-0.00363101,-0.09256942,
  0.08154618, 0.62637013,-0.01217241,-0.00400545, 0.77942046]

qacc:
[ 6.80354959e-02, 8.44343466e+00,-1.81407811e+01, 9.75920919e-04,
  2.72131534e-02,-2.22850781e+01, 5.42966920e+01,-6.67953362e+01,
 -4.94088045e-02,-2.27739935e+01, 4.96004374e+01,-2.50206835e+01,
  1.27082246e-01,-2.04439316e-01,-7.62289801e+00, 2.57136264e+01,
  1.23830735e+00, 1.14402843e+00, 5.42990948e-01, 6.60544263e+01,
  5.98615099e+01, 1.57510970e+00]

qfrc_actuator:
[ 2.84576027e-03, 7.64201039e-02, 1.05332217e-02, 2.40699096e-03,
  2.03506396e-06, 8.20484330e-02, 1.06028442e-02, 2.59462961e-03,
 -2.99296565e-03, 6.60885798e-02, 1.03963164e-02, 2.72741177e-03,
  0.00000000e+00,-1.68211144e-03, 0.00000000e+00,-1.56526364e-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,  6.99499364,  5.06525822,  6.99499364, 13.08850911,
       -6.14830043,  5.06525822, -6.14830043, 17.1270112 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013538034911052405
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.07528853e-14,  1.64015388e-13,  1.00000000e+00,  5.04394641e-27,
        1.00000000e+00, -1.64015388e-13, -1.00000000e+00,  0.00000000e+00,
       -3.07528853e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03625491, -0.11909686,  0.06187978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.91159334e-05, 5.07912577e-04, 1.71707626e-05,-4.15092901e-05,
  6.93071868e-06,-1.87246059e-03,-4.51155108e-04,-1.99285616e-04,
 -1.46987490e-05,-1.75835447e-03,-2.84960248e-04,-2.20685820e-05,
 -1.16580368e-05,-5.61819863e-06,-1.30093748e-05, 1.20825656e-04,
  2.47656433e-06, 1.17768998e-06,-1.21644096e+00, 1.58481907e-03,
  5.46209649e-04, 3.36094039e-05]


--- Step 2205 ---
qpos:
[-0.01503736, 1.24380081,-0.02237612, 0.94792533, 0.0043605 , 1.25747813,
 -0.02935177, 0.94527836, 0.01664886, 1.30640463,-0.02344205, 0.95404554,
  1.38333985,-0.00143558, 1.18730949, 0.06306903,-0.00362622,-0.0925607 ,
  0.08154252, 0.62642051,-0.01226038,-0.00374745, 0.77937987]

qacc:
[ 1.95201868e-02, 3.49510355e+00,-2.05874851e+00,-1.69880180e+01,
 -6.66575817e-02,-1.40505021e+01, 2.20545464e+01,-1.40201810e+00,
  5.44132844e-02,-2.19300097e+01, 4.46653646e+01,-1.26816446e+01,
 -4.39586981e-01, 6.93817214e-01, 5.08131782e+00,-1.71353546e+01,
  1.13801851e+00, 1.10116506e+00,-1.05550011e-01, 6.19927222e+01,
  5.59239768e+01, 1.28088608e+00]

qfrc_actuator:
[ 2.84096326e-03, 7.66426577e-02, 1.05315741e-02, 2.33751466e-03,
 -2.10281359e-05, 8.14201502e-02, 1.05739484e-02, 2.63877780e-03,
 -2.96982578e-03, 6.52980126e-02, 1.04672888e-02, 2.79704082e-03,
  0.00000000e+00,-1.65998462e-03, 0.00000000e+00,-1.65110792e-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,  7.01567883,  5.03656901,  7.01567883, 14.05121428,
       -7.54260549,  5.03656901, -7.54260549, 19.14282101,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013505803600108654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.22034036e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.22034036e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03626255, -0.11909654,  0.06188003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.58649973e-06, 4.97153192e-04, 9.66121814e-05,-5.37954035e-05,
 -1.91201835e-05,-1.76771926e-03,-4.54182357e-04,-2.85232968e-05,
  1.48791918e-05,-1.82434240e-03,-3.06331193e-04, 9.62065660e-06,
 -7.56228759e-06, 1.78770738e-05, 5.40680693e-06,-8.12579836e-05,
  9.80529454e-07, 1.60430932e-06,-1.21644186e+00, 1.58953916e-03,
  5.43663278e-04, 3.46678869e-05]


--- Step 2206 ---
qpos:
[-0.0150399 , 1.24465266,-0.02238209, 0.9479345 , 0.0043601 , 1.25842953,
 -0.0293488 , 0.94529543, 0.01664989, 1.30702849,-0.02344233, 0.954065  ,
  1.38341295,-0.00143515, 1.18746908, 0.06306667,-0.00362711,-0.09255668,
  0.08153944, 0.62647269,-0.01234054,-0.00368356, 0.77933697]

qacc:
[ 1.79720157e-03, 4.10971828e+00,-7.93027978e+00, 6.48739706e+00,
 -8.70889305e-02,-1.68313111e+01, 3.15131595e+01,-1.36653700e+01,
  1.43404364e-01,-1.98081806e+01, 4.71878509e+01,-5.65175777e+01,
  4.20594466e-01,-8.18824350e-01, 4.08166163e+00,-1.42944049e+01,
 -1.41942746e+00,-1.17204956e+00, 1.43123861e-01,-7.31910993e+01,
 -6.38213610e+01,-2.62675904e+00]

qfrc_actuator:
[ 2.83907820e-03, 7.68250156e-02, 1.05509913e-02, 2.34632611e-03,
 -3.46930029e-05, 8.07185865e-02, 1.05559242e-02, 2.65813830e-03,
 -2.93854295e-03, 6.46487496e-02, 1.04377016e-02, 2.68730982e-03,
  0.00000000e+00,-1.70052856e-03, 0.00000000e+00,-1.71903553e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013448611335596244
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.12764930e-14,  6.19147396e-14,  1.00000000e+00,  2.55562332e-27,
        1.00000000e+00, -6.19147396e-14, -1.00000000e+00,  0.00000000e+00,
       -4.12764930e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03588133, -0.06209266,  0.06188049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.47011448e-07, 4.66151197e-04, 1.24252102e-04, 2.62209638e-05,
 -2.48745341e-05,-1.77833431e-03,-4.18114119e-04,-4.63176071e-05,
  4.03829151e-05,-1.72262650e-03,-4.21252342e-04,-1.71596995e-04,
 -9.22849365e-08,-3.72499666e-05,-1.07079995e-05,-7.27147985e-05,
  4.86358642e-06, 9.37095949e-06,-1.21644547e+00, 1.59389702e-03,
  5.40883806e-04, 4.50451804e-05]


--- Step 2207 ---
qpos:
[-0.01504231, 1.2455072 ,-0.02238706, 0.94794343, 0.00435966, 1.25936658,
 -0.02934598, 0.94531056, 0.01665113, 1.30763972,-0.0234449 , 0.95408266,
  1.38348613,-0.00143518, 1.18762827, 0.06306617,-0.00363318,-0.09255716,
  0.08153426, 0.626527  ,-0.01241396,-0.0038005 , 0.77929158]

qacc:
[ 6.22106591e-02, 4.28131413e-01, 3.34545648e+00,-7.32859309e+00,
 -1.46476038e-02,-2.18118335e+01, 5.23860110e+01,-5.90075733e+01,
  8.71939110e-02,-1.34887395e+01, 2.76151353e+01,-3.68477921e+01,
  5.10521213e-01,-9.09040505e-01,-6.28930182e+00, 2.10031815e+01,
 -1.29575518e+00,-1.12774223e+00,-5.22496927e-01,-6.83443578e+01,
 -5.92527562e+01,-2.74597062e+00]

qfrc_actuator:
[ 2.85671580e-03, 7.69110391e-02, 1.05825630e-02, 2.33009582e-03,
 -2.48549653e-05, 7.99966335e-02, 1.05441793e-02, 2.55616488e-03,
 -2.93813947e-03, 6.40533458e-02, 1.03316784e-02, 2.59718465e-03,
  0.00000000e+00,-1.72469816e-03, 0.00000000e+00,-1.61601865e-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, -6.9758118 , -5.09164281, -6.9758118 , 11.92513906,
       -4.50579101, -5.09164281, -4.50579101, 14.80952842,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013524546556883052
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.10447411e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.10447411e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03587224, -0.06210825,  0.06187984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73001024e-05, 3.60456506e-04, 1.35847239e-04, 2.93354100e-06,
 -4.72338990e-06,-1.79790596e-03,-4.10289378e-04,-1.67342515e-04,
  2.44836457e-05,-1.64024153e-03,-4.96180576e-04,-1.56581026e-04,
 -9.44683097e-06,-3.41642862e-05,-1.58059323e-05, 9.69302485e-05,
  8.83866223e-07, 1.03789433e-06,-1.21644162e+00, 1.58889938e-03,
  5.43769291e-04, 3.47223131e-05]


--- Step 2208 ---
qpos:
[-0.01504454, 1.24636227,-0.02239056, 0.9479516 , 0.00435925, 1.26029063,
 -0.02934456, 0.945325  , 0.01665219, 1.30823815,-0.02344843, 0.95410183,
  1.38355929,-0.00143552, 1.18778728, 0.06306721,-0.00363896,-0.09256354,
  0.08153717, 0.62658314,-0.0123833 ,-0.00401718, 0.77924584]

qacc:
[ 7.52177367e-02,-4.59312082e+00, 1.73853142e+01,-2.43033464e+01,
  1.34840915e-02,-1.44207663e+01, 2.78306421e+01,-2.38356154e+01,
 -7.26849135e-02,-1.16100194e+01, 1.45889387e+01, 1.26181357e+01,
  3.14657689e-01,-5.96435054e-01,-4.91374421e+00, 1.67581304e+01,
  7.28437083e-02,-1.47293179e+00, 2.02052002e+00,-6.24873837e+00,
 -7.17940642e+01,-1.63422549e+00]

qfrc_actuator:
[ 2.86817264e-03, 7.67967510e-02, 1.06028966e-02, 2.28142201e-03,
 -1.87537233e-05, 7.94280454e-02, 1.05005817e-02, 2.52560642e-03,
 -2.97401876e-03, 6.34591932e-02, 1.03059759e-02, 2.67914195e-03,
  0.00000000e+00,-1.73891853e-03, 0.00000000e+00,-1.53737665e-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,  -8.25555726,  -2.53624747,  -8.25555726,
        13.80208632, -16.81457348,  -2.53624747, -16.81457348,
        63.36827604,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013520120851850184
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.10581768e-14,  4.10581768e-14,  1.00000000e+00,  1.68577388e-27,
        1.00000000e+00, -4.10581768e-14, -1.00000000e+00,  0.00000000e+00,
       -4.10581768e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00367198, -0.07087211,  0.06187985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.07811565e-05, 1.03255783e-04, 1.04589731e-04,-3.28492300e-05,
  3.26684295e-06,-1.65731895e-03,-4.48598947e-04,-9.91121158e-05,
 -2.11448700e-05,-1.60750992e-03,-4.07825638e-04, 1.60757976e-05,
 -1.32644157e-05,-2.57419805e-05, 1.71195428e-06, 8.15868387e-05,
  3.58763818e-06, 1.92670328e-06,-1.21644125e+00, 1.58414590e-03,
  5.46426265e-04, 3.56136395e-05]


--- Step 2209 ---
qpos:
[-0.0150466 , 1.24721688,-0.02239347, 0.94795962, 0.00435903, 1.26120341,
 -0.02934528, 0.9453406 , 0.01665312, 1.30882453,-0.02345182, 0.95412208,
  1.38363225,-0.00143555, 1.18794668, 0.06306583,-0.00363957,-0.0925654 ,
  0.08154245, 0.62663848,-0.01236375,-0.00405508, 0.77920146]

qacc:
[ 6.87040967e-02,-2.45990287e+00, 7.59224757e+00,-7.97470334e+00,
  8.50572287e-02,-7.04242718e+00, 2.75691236e+00, 1.80519894e+01,
 -5.51831318e-02,-1.43655491e+01, 2.55891493e+01,-2.37413273e+00,
 -5.51899121e-01, 8.29258973e-01, 7.92671773e+00,-2.67962046e+01,
  1.29092591e+00, 1.12940918e+00, 5.92615025e-01, 6.61760224e+01,
  6.03303117e+01, 1.86752418e+00]

qfrc_actuator:
[ 2.87583376e-03, 7.66876240e-02, 1.05978635e-02, 2.26716228e-03,
  2.80659304e-06, 7.89913609e-02, 1.04391979e-02, 2.59066371e-03,
 -2.97811487e-03, 6.29420097e-02, 1.03458000e-02, 2.73749696e-03,
  0.00000000e+00,-1.71162619e-03, 0.00000000e+00,-1.66905462e-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,  -4.45307498,  -7.39979054,  -4.45307498,
        65.35475047, -34.13221336,  -7.39979054, -34.13221336,
        29.1765809 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013648653700121319
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.03357607e-14,  4.06715215e-14,  1.00000000e+00,  8.27086330e-28,
        1.00000000e+00, -4.06715215e-14, -1.00000000e+00,  0.00000000e+00,
       -2.03357607e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03625605, -0.11905939,  0.06187879])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.89971096e-05,-4.09959118e-05, 2.43564157e-05,-7.82999413e-06,
  2.33843865e-05,-1.45293073e-03,-4.41211923e-04, 1.15690480e-06,
 -1.61833195e-05,-1.48992960e-03,-3.20776155e-04, 2.94638855e-08,
 -1.30664434e-05, 1.70912052e-05, 6.94737239e-06,-1.27593844e-04,
  3.80787232e-06, 7.06595258e-06,-1.21644106e+00, 1.57822938e-03,
  5.46671358e-04, 4.21295526e-05]


--- Step 2210 ---
qpos:
[-0.01504839, 1.24807001,-0.02239591, 0.94796857, 0.00435904, 1.26210601,
 -0.02934692, 0.94535706, 0.01665454, 1.30939925,-0.02345484, 0.95414006,
  1.38370502,-0.00143504, 1.18810589, 0.06306457,-0.00363547,-0.09256289,
  0.08154747, 0.62669346,-0.01235412,-0.00392562, 0.77915805]

qacc:
[ 1.20599964e-01,-1.60088556e+00, 9.93869719e-01, 1.07475925e+01,
  9.60823277e-02,-9.45200143e+00, 1.28975036e+01, 5.24157567e+00,
  2.08694688e-01,-2.02118467e+01, 5.20210426e+01,-6.39216384e+01,
 -4.98436497e-01, 9.05535769e-01,-6.01115232e-01, 1.80460724e+00,
  1.18027912e+00, 1.08977081e+00,-6.31244535e-02, 6.20949432e+01,
  5.62921967e+01, 1.49776453e+00]

qfrc_actuator:
[ 2.89891530e-03, 7.65468658e-02, 1.05956481e-02, 2.30874032e-03,
  1.57104624e-05, 7.86017747e-02, 1.04394446e-02, 2.64051956e-03,
 -2.90985477e-03, 6.23866390e-02, 1.03709729e-02, 2.62174869e-03,
  0.00000000e+00,-1.67767123e-03, 0.00000000e+00,-1.65729241e-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,  6.68266614,  5.47071752,  6.68266614, 13.47942132,
       -5.91595845,  5.47071752, -5.91595845, 15.8629066 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013626122072136135
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05540808e-14,  8.14775487e-14,  1.00000000e+00, -2.48947160e-27,
        1.00000000e+00, -8.14775487e-14, -1.00000000e+00,  0.00000000e+00,
        3.05540808e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03626395, -0.11905812,  0.06187901])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.33790414e-05,-1.67315775e-04,-9.40205850e-06, 4.19473492e-05,
  2.64535228e-05,-1.28816456e-03,-3.35791838e-04,-5.39536693e-06,
  5.90828660e-05,-1.44646098e-03,-3.03019230e-04,-1.68433673e-04,
 -3.24305866e-06, 3.57929403e-05,-1.55363828e-05, 4.50649905e-06,
  6.26069052e-07, 6.86150315e-07,-1.21643971e+00, 1.58335762e-03,
  5.44307877e-04, 3.45754230e-05]


--- Step 2211 ---
qpos:
[-0.0150502 , 1.24891944,-0.02239704, 0.94797847, 0.00435909, 1.26300133,
 -0.02934937, 0.94537237, 0.01665643, 1.30996215,-0.02345756, 0.95415794,
  1.38377786,-0.00143466, 1.18826435, 0.06306845,-0.003627  ,-0.09255617,
  0.08155004, 0.62674838,-0.01235343,-0.00363826, 0.77911528]

qacc:
[-8.02000103e-03,-6.78467424e+00, 1.43333665e+01, 8.21415977e-01,
  1.96181141e-02,-9.31381353e+00, 2.12325782e+01,-2.72764105e+01,
  2.02688518e-01,-1.65413865e+01, 3.54532733e+01,-2.47000326e+01,
  5.28620969e-01,-7.17199437e-01,-1.66613752e+01, 5.65925830e+01,
  1.09011337e+00, 1.05531210e+00,-6.13821806e-01, 5.87080255e+01,
  5.29599816e+01, 1.21631175e+00]

qfrc_actuator:
[ 2.87780692e-03, 7.62285647e-02, 1.06127711e-02, 2.34730538e-03,
  5.56380693e-06, 7.84569187e-02, 1.04762967e-02, 2.59231883e-03,
 -2.88751151e-03, 6.17950110e-02, 1.03870579e-02, 2.61746836e-03,
  0.00000000e+00,-1.69332421e-03, 0.00000000e+00,-1.38351497e-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,  6.71044908,  5.4366028 ,  6.71044908, 14.62737101,
       -7.39475577,  5.4366028 , -7.39475577, 17.76377902,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013461305727437214
  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([-0.03629231, -0.11907493,  0.06188041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.45795843e-06,-4.19790527e-04,-1.71146004e-05, 3.53454595e-05,
  5.20132464e-06,-9.31740302e-04,-2.55133010e-04,-9.55938788e-05,
  5.73985942e-05,-1.46012018e-03,-3.06522266e-04,-5.90982341e-05,
  6.33754965e-06,-6.35265211e-06,-9.30931240e-06, 2.71427271e-04,
  2.94188016e-06, 2.15254743e-06,-1.21644121e+00, 1.58798978e-03,
  5.41745586e-04, 3.69348211e-05]


--- Step 2212 ---
qpos:
[-0.01505243, 1.24976497,-0.02239817, 0.94798748, 0.00435927, 1.26389361,
 -0.02935387, 0.9453884 , 0.01665827, 1.31051379,-0.02346   , 0.95417525,
  1.38385077,-0.00143442, 1.18842328, 0.06307085,-0.00362427,-0.09255394,
  0.081553  , 0.62680467,-0.01234459,-0.00354439, 0.77907057]

qacc:
[-1.77962205e-01,-6.60817137e+00, 1.72027517e+01,-2.27906343e+01,
  5.22945742e-02, 2.76870203e+00,-1.53642295e+01, 2.37323627e+01,
 -2.24371053e-02,-1.65136764e+01, 3.71789696e+01,-3.18398283e+01,
  2.79821482e-02,-1.11092398e-01, 5.14487126e+00,-1.70085257e+01,
 -1.43278506e+00,-1.12292279e+00, 9.54665144e-02,-7.28090096e+01,
 -6.37961219e+01,-2.34874662e+00]

qfrc_actuator:
[ 2.83037265e-03, 7.59840804e-02, 1.05872002e-02, 2.29490362e-03,
  1.71810263e-05, 7.86020760e-02, 1.04821298e-02, 2.64673537e-03,
 -2.92840492e-03, 6.12752243e-02, 1.04153648e-02, 2.59006178e-03,
  0.00000000e+00,-1.70280046e-03, 0.00000000e+00,-1.47242215e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013457761797090878
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.24968551e-14,  2.06242138e-14,  1.00000000e+00,  1.70143277e-27,
        1.00000000e+00, -2.06242138e-14, -1.00000000e+00,  0.00000000e+00,
       -8.24968551e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03590578, -0.06212759,  0.06188045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.96075831e-05,-4.87254092e-04,-1.10202332e-04,-6.35099321e-05,
  1.46043392e-05,-4.31416160e-04,-2.09905282e-04, 1.79565041e-05,
 -6.83417546e-06,-1.39316204e-03,-2.94141693e-04,-8.02024009e-05,
  2.07541250e-06,-9.85495343e-06, 2.46775020e-05,-7.52853886e-05,
  9.85967421e-06, 1.01086466e-05,-1.21644509e+00, 1.59228094e-03,
  5.38963841e-04, 4.75342914e-05]


--- Step 2213 ---
qpos:
[-0.01505498, 1.25060566,-0.02239911, 0.94799452, 0.00435942, 1.26478607,
 -0.02936049, 0.94540712, 0.01666002, 1.3110545 ,-0.02346219, 0.95419071,
  1.38392371,-0.0014343 , 1.18858236, 0.06307188,-0.00362676,-0.09255607,
  0.0815537 , 0.62686277,-0.01232873,-0.00363082, 0.77902368]

qacc:
[-1.39950866e-01,-1.03573418e+01, 3.01309313e+01,-4.60995449e+01,
 -9.22857152e-03, 1.05582737e+01,-3.96317847e+01, 6.52451323e+01,
 -3.76988797e-02,-1.82304030e+01, 4.58765304e+01,-5.44227521e+01,
 -3.95274726e-03,-5.54205954e-02, 4.37982288e+00,-1.50086118e+01,
 -1.30679675e+00,-1.08887018e+00,-5.61498055e-01,-6.80282460e+01,
 -5.92288260e+01,-2.51867481e+00]

qfrc_actuator:
[ 2.82080356e-03, 7.56790332e-02, 1.05723195e-02, 2.18937785e-03,
  6.25564853e-06, 7.88666659e-02, 1.04709020e-02, 2.79679948e-03,
 -2.93589009e-03, 6.07494502e-02, 1.04331601e-02, 2.49602450e-03,
  0.00000000e+00,-1.70848967e-03, 0.00000000e+00,-1.54359372e-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, -7.1220604 , -4.88498029, -7.1220604 , 10.97126866,
       -3.4041764 , -4.88498029, -3.4041764 , 13.59948497,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013526257886082999
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.10395482e-14,  4.10395482e-14,  1.00000000e+00,  1.68424452e-27,
        1.00000000e+00, -4.10395482e-14, -1.00000000e+00,  0.00000000e+00,
       -4.10395482e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03589901, -0.06214257,  0.06187989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.91374271e-05,-6.06226212e-04,-1.26182173e-04,-1.23671941e-04,
 -2.43535844e-06,-2.28985496e-05,-1.20630487e-04, 1.32542554e-04,
 -1.11900166e-05,-1.36023735e-03,-2.90770885e-04,-1.44994630e-04,
 -1.35907117e-06,-7.85941465e-06,-1.86331472e-06,-7.33339389e-05,
  2.01963694e-06, 1.27905270e-06,-1.21644070e+00, 1.58684084e-03,
  5.42073074e-04, 3.61311842e-05]


--- Step 2214 ---
qpos:
[-0.01505762, 1.25143891,-0.02239831, 0.94800282, 0.00435951, 1.26568044,
 -0.02936771, 0.94542622, 0.01666182, 1.31158441,-0.02346464, 0.95420701,
  1.38399656,-0.00143398, 1.18874095, 0.06307572,-0.00363407,-0.09256243,
  0.08154995, 0.62692296,-0.01230674,-0.00388665, 0.77897435]

qacc:
[-3.54132490e-02,-1.22284327e+01, 2.55323930e+01,-2.88505867e+00,
 -2.90967337e-02, 4.77910084e+00,-1.33812826e+01, 1.50118650e+01,
  2.35307579e-02,-1.20359831e+01, 2.04576755e+01,-1.23962213e+00,
  1.50421728e-02, 7.38127709e-02,-9.22935053e+00, 3.12406389e+01,
 -1.20368251e+00,-1.05817487e+00,-1.11467061e+00,-6.40535239e+01,
 -5.54560153e+01,-2.62781349e+00]

qfrc_actuator:
[ 2.83403168e-03, 7.51803944e-02, 1.06168984e-02, 2.24870591e-03,
 -3.49051181e-07, 7.91298899e-02, 1.05035959e-02, 2.82449163e-03,
 -2.92327230e-03, 6.02242673e-02, 1.04268170e-02, 2.54104972e-03,
  0.00000000e+00,-1.69413531e-03, 0.00000000e+00,-1.39060000e-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, -7.12621478, -4.8789179 , -7.12621478, 11.69870064,
       -4.47289166, -4.8789179 , -4.47289166, 15.16953089,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013433275031421443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.06618085e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.06618085e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03591859, -0.06213509,  0.06188067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02601608e-05,-8.70471116e-04,-9.35443877e-05, 3.57699307e-05,
 -8.02535462e-06, 2.22657049e-04, 1.67133050e-05, 2.76803472e-05,
  6.34519822e-06,-1.34261533e-03,-3.09980398e-04,-6.38332269e-06,
 -3.02801693e-06, 1.20917372e-05,-1.24955106e-05, 1.47849553e-04,
  1.06958110e-06, 1.65043719e-06,-1.21643981e+00, 1.58172550e-03,
  5.44892618e-04, 3.59532915e-05]


--- Step 2215 ---
qpos:
[-0.01506023, 1.25226331,-0.02239684, 0.94801474, 0.00435982, 1.26657711,
 -0.02937452, 0.94544406, 0.01666385, 1.31210388,-0.02346759, 0.95422373,
  1.38406937,-0.00143351, 1.1889    , 0.06307664,-0.00363598,-0.09256431,
  0.08154988, 0.6269819 ,-0.01229662,-0.00395744, 0.77892672]

qacc:
[ 9.78974220e-03,-7.20861362e+00, 2.16254533e+00, 4.53951386e+01,
  9.57897954e-02,-2.39889793e-01, 7.02332949e+00,-2.22146852e+01,
  1.01365781e-01,-1.16254014e+01, 2.05434646e+01,-6.61329000e+00,
 -3.52503983e-01, 5.30147709e-01, 9.53148176e+00,-3.22831387e+01,
  1.34747713e+00, 1.11953561e+00, 9.21954871e-01, 6.83412513e+01,
  6.26075606e+01, 2.17403733e+00]

qfrc_actuator:
[ 2.84307428e-03, 7.46233837e-02, 1.06067897e-02, 2.42223814e-03,
  3.11988579e-05, 7.93017361e-02, 1.05442052e-02, 2.76221489e-03,
 -2.89870073e-03, 5.97214170e-02, 1.04063837e-02, 2.56103045e-03,
  0.00000000e+00,-1.68576448e-03, 0.00000000e+00,-1.55056846e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013396435768544268
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03593135e-14,  4.14372541e-14,  1.00000000e+00,  4.29261506e-28,
        1.00000000e+00, -4.14372541e-14, -1.00000000e+00,  0.00000000e+00,
       -1.03593135e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03631885, -0.11906314,  0.06188096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.33044972e-06,-1.06373669e-03,-1.91443177e-04, 1.46773176e-04,
  2.68801291e-05, 2.90825919e-04, 8.51985873e-05,-5.33419900e-05,
  2.86012779e-05,-1.31007379e-03,-3.18730756e-04,-2.82557951e-05,
  1.21649463e-06, 1.10163618e-05, 8.75363167e-06,-1.53796871e-04,
  5.79679838e-06, 9.55086896e-06,-1.21644176e+00, 1.57677690e-03,
  5.47549982e-04, 4.49309138e-05]


--- Step 2216 ---
qpos:
[-0.01506264, 1.25307845,-0.02239536, 0.94802771, 0.00436041, 1.26747617,
 -0.02938086, 0.94545999, 0.01666614, 1.312613  ,-0.02347138, 0.9542392 ,
  1.38414219,-0.00143294, 1.18905966, 0.06307097,-0.00363299,-0.09256185,
  0.08155068, 0.62704016,-0.01229702,-0.00385569, 0.77888032]

qacc:
[  0.09066424,-10.39051363, 17.09365051,  3.00387284,  0.1224599 ,
  -1.40081973, 12.28170607,-34.31087492,  0.10936651,-13.49443987,
  30.16287536,-34.1815058 , -0.53503081,  0.74000212, 20.84188596,
 -71.50672237,  1.22664063,  1.08371461,  0.21480763, 63.90723638,
  58.17924885,  1.73768751]

qfrc_actuator:
[ 2.86728667e-03, 7.41067461e-02, 1.05819766e-02, 2.46616386e-03,
  4.98690445e-05, 7.94353550e-02, 1.05710527e-02, 2.66521441e-03,
 -2.88491412e-03, 5.92004383e-02, 1.03601119e-02, 2.49507429e-03,
  0.00000000e+00,-1.68102030e-03, 0.00000000e+00,-1.89370233e-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,  6.91459255,  5.17447454,  6.91459255, 12.13313854,
       -4.67270125,  5.17447454, -4.67270125, 14.88044214,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013457984379271482
  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([-0.03631403, -0.11905024,  0.06188045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.48193988e-05,-1.14595475e-03,-2.51762427e-04, 1.11226029e-05,
  3.43556002e-05, 3.01266858e-04, 9.01806830e-05,-8.58955357e-05,
  3.08980893e-05,-1.31247475e-03,-3.39831982e-04,-1.14008447e-04,
  2.73800710e-06, 8.30978355e-06,-1.76254037e-05,-3.51638979e-04,
  1.00012921e-06, 1.30915039e-06,-1.21643981e+00, 1.58253969e-03,
  5.44969291e-04, 3.50794655e-05]


--- Step 2217 ---
qpos:
[-0.01506466, 1.25388355,-0.02239315, 0.94803943, 0.00436112, 1.26837706,
 -0.0293869 , 0.94547472, 0.01666835, 1.31311191,-0.02347529, 0.95425441,
  1.38421519,-0.00143283, 1.18921931, 0.06306055,-0.00362549,-0.09255519,
  0.08154995, 0.6270981 ,-0.01230683,-0.0035917 , 0.77883478]

qacc:
[ 1.70004770e-01,-1.73313532e+01, 4.31800307e+01,-4.57386455e+01,
  4.65273884e-02,-4.53906688e-01, 6.85025611e+00,-2.10474204e+01,
 -3.31723279e-02,-1.35577845e+01, 2.85407936e+01,-2.13441978e+01,
  1.32797021e-01,-3.93113473e-01, 1.42941106e+01,-5.00756342e+01,
  1.12812954e+00, 1.05192135e+00,-3.79559979e-01, 6.02247329e+01,
  5.45247632e+01, 1.40450196e+00]

qfrc_actuator:
[ 2.90040453e-03, 7.35650316e-02, 1.06019955e-02, 2.39794062e-03,
  4.29082436e-05, 7.94917674e-02, 1.05716625e-02, 2.60178935e-03,
 -2.91321726e-03, 5.87259087e-02, 1.03698685e-02, 2.48556863e-03,
  0.00000000e+00,-1.71396334e-03, 0.00000000e+00,-2.12886509e-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,  6.93511363,  5.14693848,  6.93511363, 13.0173827 ,
       -5.90309465,  5.14693848, -5.90309465, 16.590341  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001336168947144875
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.07725046e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.07725046e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03633208, -0.11905761,  0.06188126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.68096366e-05,-1.23224000e-03,-2.33824558e-04,-1.08402124e-04,
  1.30872609e-05, 2.29831284e-04, 6.55957340e-05,-5.26144034e-05,
 -9.84657331e-06,-1.27393635e-03,-2.89168267e-04,-6.02589225e-05,
  2.06674641e-06,-2.93617974e-05,-5.13258778e-05,-2.57965199e-04,
  2.14128052e-06, 1.55543522e-06,-1.21644093e+00, 1.58767312e-03,
  5.42228602e-04, 3.59398395e-05]


--- Step 2218 ---
qpos:
[-0.01506628, 1.25467829,-0.02239075, 0.94804929, 0.0043617 , 1.26927817,
 -0.02939188, 0.94548835, 0.01667037, 1.31360059,-0.02347826, 0.95426935,
  1.38428818,-0.00143281, 1.18937839, 0.06304967,-0.00362378,-0.09255305,
  0.08154977, 0.62715743,-0.01230854,-0.00352185, 0.77878729]

qacc:
[ 1.70335403e-01,-1.73184220e+01, 4.38809126e+01,-5.32830889e+01,
 -5.20012464e-02,-4.45628412e+00, 1.71193778e+01,-2.76399632e+01,
 -8.01812534e-02,-1.64339781e+01, 3.79690558e+01,-2.97780226e+01,
  5.56098524e-02,-1.36640348e-01, 5.52424854e-01,-3.16238773e+00,
 -1.44647922e+00,-1.13186434e+00, 1.35563614e-01,-7.30519311e+01,
 -6.40114681e+01,-2.35578182e+00]

qfrc_actuator:
[ 2.92084565e-03, 7.30127476e-02, 1.05949259e-02, 2.29980821e-03,
  2.06316316e-05, 7.94126983e-02, 1.05920226e-02, 2.54081411e-03,
 -2.93103561e-03, 5.82477641e-02, 1.04306109e-02, 2.47393057e-03,
  0.00000000e+00,-1.71575479e-03, 0.00000000e+00,-2.13867937e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013512942154169094
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.05399944e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.05399944e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03592266, -0.06216945,  0.06187999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.69321229e-05,-1.29048287e-03,-2.79223850e-04,-1.43141186e-04,
 -1.46328104e-05, 5.10370064e-05, 6.95610401e-05,-5.22488408e-05,
 -2.33306984e-05,-1.24466032e-03,-2.23305840e-04,-5.85311182e-05,
 -7.43275985e-06,-8.63200535e-06,-5.38835896e-05,-3.11403131e-05,
  8.20370012e-06, 8.74447880e-06,-1.21644458e+00, 1.59237313e-03,
  5.39294427e-04, 4.56060352e-05]


--- Step 2219 ---
qpos:
[-0.01506757, 1.25546283,-0.02238886, 0.94805897, 0.0043621 , 1.27017835,
 -0.02939599, 0.94550163, 0.01667234, 1.31407849,-0.02347995, 0.95428478,
  1.38436121,-0.00143308, 1.18953658, 0.06304336,-0.00362733,-0.0925553 ,
  0.08154747, 0.62721859,-0.01230328,-0.00363283, 0.77873762]

qacc:
[ 1.42454863e-01,-1.23404719e+01, 2.44630028e+01,-1.69454503e+01,
 -7.83520885e-02,-4.16951953e+00, 1.28708582e+01,-1.46946696e+01,
 -2.32290005e-02,-1.67755399e+01, 3.66634166e+01,-1.95787590e+01,
  5.81222831e-01,-9.06209823e-01,-1.51587914e+01, 5.09899711e+01,
 -1.31769796e+00,-1.09574138e+00,-5.28813943e-01,-6.82259668e+01,
 -5.94029715e+01,-2.52353865e+00]

qfrc_actuator:
[ 2.93352271e-03, 7.25117164e-02, 1.05718657e-02, 2.29136186e-03,
  7.10535690e-06, 7.92887276e-02, 1.06055930e-02, 2.51718365e-03,
 -2.92466736e-03, 5.76827734e-02, 1.04854333e-02, 2.49664155e-03,
  0.00000000e+00,-1.73453169e-03, 0.00000000e+00,-1.89140248e-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, -7.01428315, -5.03851255, -7.01428315, 11.15382123,
       -3.50463757, -5.03851255, -3.50463757, 13.51528772,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013585357807369275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.04305076e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.04305076e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03591501, -0.06218511,  0.06187938])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.92523260e-05,-1.28123733e-03,-3.12759666e-04,-5.73401373e-05,
 -2.20597928e-05,-9.19558148e-05, 2.82771374e-05,-2.01315258e-05,
 -7.08237702e-06,-1.30231607e-03,-2.15956925e-04,-2.13608944e-05,
 -6.96835924e-06,-2.24037220e-05,-2.87839457e-05, 2.38522861e-04,
  1.52360864e-06, 9.69639850e-07,-1.21644055e+00, 1.58662006e-03,
  5.42554726e-04, 3.55095865e-05]


--- Step 2220 ---
qpos:
[-0.01506876, 1.2562372 ,-0.0223871 , 0.94806986, 0.00436203, 1.2710786 ,
 -0.02940086, 0.94551593, 0.01667429, 1.31454649,-0.02348215, 0.95430141,
  1.38443423,-0.00143357, 1.18969479, 0.06303798,-0.00363574,-0.0925618 ,
  0.08154082, 0.62728182,-0.01229197,-0.00391363, 0.7786855 ]

qacc:
[ 4.56661957e-02,-1.09282408e+01, 1.70794045e+01, 5.39634419e+00,
 -2.01731489e-01, 3.87531583e+00,-1.46316532e+01, 2.44367421e+01,
 -1.78225554e-03,-9.53641830e+00, 1.29899575e+01, 8.87474693e+00,
  2.12046506e-01,-4.12124082e-01,-2.79246482e+00, 9.79529015e+00,
 -1.21227736e+00,-1.06330562e+00,-1.08833220e+00,-6.42130295e+01,
 -5.55954416e+01,-2.63048708e+00]

qfrc_actuator:
[ 2.92369554e-03, 7.20276652e-02, 1.05753254e-02, 2.35353487e-03,
 -3.65655426e-05, 7.93341444e-02, 1.05793501e-02, 2.56891735e-03,
 -2.92159717e-03, 5.72123504e-02, 1.04649844e-02, 2.55706852e-03,
  0.00000000e+00,-1.74551619e-03, 0.00000000e+00,-1.84976631e-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, -7.01089936, -5.0432199 , -7.01089936, 11.93591449,
       -4.5869146 , -5.0432199 , -4.5869146 , 15.0129241 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001349445231287369
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.05681379e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.05681379e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03593402, -0.06217811,  0.06188013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.22955500e-05,-1.26301330e-03,-2.85698978e-04, 1.45518249e-05,
 -5.65459551e-05,-8.73845261e-06,-4.32423776e-05, 5.04880789e-05,
 -8.33411452e-07,-1.23700128e-03,-3.00547279e-04, 1.57156072e-05,
 -9.00803075e-06,-1.87701754e-05, 1.29015906e-05, 5.11538453e-05,
  1.70636564e-06, 2.37326383e-06,-1.21644002e+00, 1.58121491e-03,
  5.45518300e-04, 3.66154685e-05]


--- Step 2221 ---
qpos:
[-0.01506994, 1.25700248,-0.02238578, 0.94808031, 0.00436162, 1.27197893,
 -0.02940558, 0.94553139, 0.01667611, 1.31500546,-0.0234855 , 0.95431724,
  1.3845069 ,-0.00143319, 1.18985325, 0.06303148,-0.0036386 ,-0.09256381,
  0.08153875, 0.62734361,-0.01229289,-0.00400553, 0.77863524]

qacc:
[ 4.84183698e-03,-1.15021193e+01, 2.40312146e+01,-2.03276904e+01,
 -1.46586129e-01, 1.68215235e+00,-7.75923174e+00, 2.02478607e+01,
 -5.81942486e-02,-1.01583403e+01, 2.04902741e+01,-2.16052332e+01,
 -9.65614519e-01, 1.65970882e+00, 3.82680958e+00,-1.26666339e+01,
  1.38423956e+00, 1.12196804e+00, 1.14440959e+00, 6.97040402e+01,
  6.39955830e+01, 2.33015368e+00]

qfrc_actuator:
[ 2.91821211e-03, 7.16466290e-02, 1.05767790e-02, 2.33250267e-03,
 -4.47048103e-05, 7.93740650e-02, 1.06015151e-02, 2.62913455e-03,
 -2.93828692e-03, 5.68020903e-02, 1.04183931e-02, 2.51492910e-03,
  0.00000000e+00,-1.68076224e-03, 0.00000000e+00,-1.91195733e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013513171966548151
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.10792902e-14,  4.10792902e-14,  1.00000000e+00,  1.68750808e-27,
        1.00000000e+00, -4.10792902e-14, -1.00000000e+00,  0.00000000e+00,
       -4.10792902e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03632616, -0.11901622,  0.06187994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.67562957e-07,-1.14235939e-03,-2.78922070e-04,-6.56576117e-05,
 -4.11377924e-05, 1.99621767e-05, 1.53859012e-05, 6.10096001e-05,
 -1.69220958e-05,-1.15605667e-03,-3.22445653e-04,-8.65409825e-05,
 -9.10558078e-06, 5.74355869e-05, 8.01365123e-06,-5.85032638e-05,
  7.53707665e-06, 1.12771625e-05,-1.21644233e+00, 1.57599613e-03,
  5.48313533e-04, 4.68451683e-05]


--- Step 2222 ---
qpos:
[-0.01507129, 1.25775968,-0.0223842 , 0.94809135, 0.00436141, 1.27287788,
 -0.02940965, 0.94554724, 0.01667747, 1.31545448,-0.02348735, 0.95433135,
  1.38457973,-0.00143313, 1.19001138, 0.06302698,-0.00363644,-0.09256148,
  0.08153828, 0.62740456,-0.01230461,-0.0039217 , 0.77858637]

qacc:
[ -0.07292901,-10.30554331, 19.61051226, -5.15582586,  0.08839391,
  -2.86302917,  6.38009778, -0.22322863, -0.19378256,-20.0796385 ,
  53.15064872,-59.60957019,  0.4992997 , -0.77598947, -6.5511626 ,
  22.10105704,  1.25645398,  1.08618641,  0.40017204, 65.02765218,
  59.31475223,  1.86075063]

qfrc_actuator:
[ 2.89763551e-03, 7.13481274e-02, 1.06306453e-02, 2.36922412e-03,
  4.04011123e-06, 7.92153637e-02, 1.05988511e-02, 2.64062321e-03,
 -2.98445039e-03, 5.63067474e-02, 1.04989841e-02, 2.43054870e-03,
  0.00000000e+00,-1.71359671e-03, 0.00000000e+00,-1.80397925e-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,  6.95672601,  5.11768894,  6.95672601, 11.80131552,
       -4.30227459,  5.11768894, -4.30227459, 14.48465685,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013615402288942452
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.03854246e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.03854246e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03631532, -0.1189978 ,  0.06187908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.07018302e-05,-9.94064314e-04,-2.04495633e-04,-5.99220904e-06,
  2.47346878e-05,-1.50968489e-04, 3.15870456e-06, 1.51048702e-05,
 -5.58646748e-05,-1.20361909e-03,-1.84927229e-04,-1.29420292e-04,
  8.57194190e-06,-1.90195546e-05,-7.23897784e-06, 1.04768080e-04,
  1.51222224e-06, 1.83988373e-06,-1.21643999e+00, 1.58223080e-03,
  5.45553974e-04, 3.55168268e-05]


--- Step 2223 ---
qpos:
[-0.01507284, 1.25851145,-0.02238386, 0.94810399, 0.00436142, 1.27377442,
 -0.02941393, 0.94556154, 0.01667819, 1.31589381,-0.02348833, 0.9543454 ,
  1.38465275,-0.00143365, 1.19016933, 0.06302444,-0.00362968,-0.09255493,
  0.0815369 , 0.62746509,-0.01232596,-0.00367304, 0.77853846]

qacc:
[ -0.08701533, -1.01328754, -8.53456131, 29.23893863,  0.09251664,
  -5.2676409 , 16.51963032,-30.73892528, -0.272506  ,-15.19959871,
  34.35642304,-24.53950755,  0.68209958, -1.17130165, -6.27280215,
  21.42461887,  1.15229026,  1.0542257 , -0.22556923, 61.14294578,
  55.45177127,  1.50201087]

qfrc_actuator:
[ 2.88593312e-03, 7.12438010e-02, 1.06266677e-02, 2.45749218e-03,
  1.54936962e-05, 7.89921667e-02, 1.05452420e-02, 2.55218295e-03,
 -3.03016966e-03, 5.58359120e-02, 1.05471799e-02, 2.42855603e-03,
  0.00000000e+00,-1.75088695e-03, 0.00000000e+00,-1.70307976e-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,  6.9771303 ,  5.08983591,  6.9771303 , 12.61184398,
       -5.44957537,  5.08983591, -5.44957537, 16.10662361,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00135496701296893
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.07264775e-14,  4.09686367e-14,  1.00000000e+00,  1.25882189e-27,
        1.00000000e+00, -4.09686367e-14, -1.00000000e+00,  0.00000000e+00,
       -3.07264775e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03632886, -0.11900099,  0.06187962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.44265758e-05,-7.01442353e-04,-2.23114486e-04, 5.35263392e-05,
  2.58860324e-05,-3.13746684e-04,-8.39390655e-05,-9.13647128e-05,
 -7.83436592e-05,-1.17974817e-03,-2.12224652e-04,-4.54291829e-05,
 -1.31025337e-07,-4.04510263e-05, 6.28560852e-06, 1.05334653e-04,
  1.72992099e-06, 1.30072900e-06,-1.21644086e+00, 1.58775295e-03,
  5.42660210e-04, 3.54152044e-05]


--- Step 2224 ---
qpos:
[-0.01507457, 1.25926189,-0.02238692, 0.94811563, 0.00436146, 1.27466754,
 -0.0294186 , 0.94557411, 0.0166783 , 1.31632436,-0.02349021, 0.954359  ,
  1.38472566,-0.00143408, 1.19032739, 0.06302213,-0.00362871,-0.09255286,
  0.08153594, 0.62752688,-0.0123392 ,-0.0036179 , 0.77848871]

qacc:
[-7.62134998e-02, 5.72017028e+00,-1.87424110e+01, 5.54768310e+00,
  1.50321001e-02,-6.40768805e+00, 1.90476267e+01,-3.44929046e+01,
 -2.54835886e-01,-9.87609007e+00, 1.92515629e+01,-1.65292782e+01,
 -1.32344065e-01, 1.85684400e-01,-4.88661927e-01, 1.97834049e+00,
 -1.45072565e+00,-1.11869322e+00, 1.02791272e-01,-7.27844290e+01,
 -6.38572968e+01,-2.27921256e+00]

qfrc_actuator:
[ 2.87965540e-03, 7.14163336e-02, 1.05361287e-02, 2.41567713e-03,
  4.48045526e-06, 7.87496234e-02, 1.04971608e-02, 2.45882098e-03,
 -3.05750129e-03, 5.54190007e-02, 1.05049547e-02, 2.40402548e-03,
  0.00000000e+00,-1.73719966e-03, 0.00000000e+00,-1.69596653e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013549366687894068
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.09695542e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.09695542e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03594214, -0.06221008,  0.06187962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.11519509e-05,-2.64530866e-04,-2.52842601e-04,-6.70216728e-05,
  4.08737300e-06,-4.43333058e-04,-1.23266864e-04,-1.06185473e-04,
 -7.31922226e-05,-1.11538263e-03,-2.98612114e-04,-6.61158853e-05,
 -9.56860670e-06, 2.47218502e-06, 1.18771162e-05, 1.31505910e-05,
  7.08666553e-06, 7.98746757e-06,-1.21644435e+00, 1.59278227e-03,
  5.39591542e-04, 4.44766457e-05]


--- Step 2225 ---
qpos:
[-0.01507658, 1.26001396,-0.0223922 , 0.94812498, 0.00436162, 1.27555578,
 -0.02942233, 0.94558555, 0.01667823, 1.31674619,-0.0234929 , 0.95437082,
  1.38479849,-0.00143439, 1.19048527, 0.0630216 ,-0.00363303,-0.09255513,
  0.08153275, 0.62759039,-0.01234549,-0.00374309, 0.77843682]

qacc:
[-1.21182222e-01, 4.16503149e+00,-6.35048497e+00,-2.19287747e+01,
  4.88467792e-02,-1.08764273e+01, 3.00601459e+01,-3.60965041e+01,
 -8.08066022e-02,-1.23386695e+01, 2.99908681e+01,-4.10794533e+01,
 -1.60105131e-02, 7.21863983e-02,-5.66835977e+00, 1.94431007e+01,
 -1.32084851e+00,-1.08480443e+00,-5.56823098e-01,-6.80035047e+01,
 -5.92700884e+01,-2.46260205e+00]

qfrc_actuator:
[ 2.85893421e-03, 7.17530601e-02, 1.05205828e-02, 2.31552484e-03,
  1.55873558e-05, 7.84441781e-02, 1.05236711e-02, 2.39881897e-03,
 -3.03807993e-03, 5.49841373e-02, 1.04631564e-02, 2.31313154e-03,
  0.00000000e+00,-1.72886327e-03, 0.00000000e+00,-1.60214222e-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, -6.98393581, -5.08049382, -6.98393581, 11.01678479,
       -3.27226234, -5.08049382, -3.27226234, 13.13460159,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001361151818154674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.07824833e-14,  6.11737249e-14,  1.00000000e+00,  2.49481641e-27,
        1.00000000e+00, -6.11737249e-14, -1.00000000e+00,  0.00000000e+00,
       -4.07824833e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0359363 , -0.06222459,  0.06187909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.36657878e-05, 1.31919975e-04,-9.93868657e-05,-1.16043305e-04,
  1.34744348e-05,-5.85999422e-04,-7.89108842e-05,-7.82067106e-05,
 -2.34147420e-05,-1.11515760e-03,-2.96027226e-04,-1.33595738e-04,
 -4.46914127e-06, 6.79240090e-06, 3.01531115e-06, 9.51894889e-05,
  1.31685594e-06, 8.76030304e-07,-1.21644057e+00, 1.58678691e-03,
  5.42964348e-04, 3.52279622e-05]


--- Step 2226 ---
qpos:
[-0.01507901, 1.26076976,-0.02239871, 0.94813283, 0.0043619 , 1.27643772,
 -0.02942389, 0.94559626, 0.01667843, 1.31715889,-0.0234961 , 0.95438391,
  1.38487127,-0.00143461, 1.19064283, 0.06302454,-0.00363718,-0.09256753,
  0.08153742, 0.62765518,-0.01225751,-0.00395804, 0.77838491]

qacc:
[-1.77736673e-01, 5.64161953e+00,-9.45238995e+00,-1.14219134e+01,
  5.24540786e-02,-1.53604958e+01, 4.16113270e+01,-4.04960891e+01,
  1.18955118e-01,-8.43703585e+00, 1.05166340e+01, 1.11332354e+01,
  1.50541704e-01,-1.44884739e-01,-1.09407346e+01, 3.75604053e+01,
  4.25412997e-02,-2.53405203e+00, 1.96485925e+00,-5.34608710e+00,
 -6.48537320e+01,-1.23436380e+00]

qfrc_actuator:
[ 2.82972229e-03, 7.21326064e-02, 1.05324445e-02, 2.25306597e-03,
  2.21218016e-05, 7.80683180e-02, 1.06115166e-02, 2.35892125e-03,
 -2.99077581e-03, 5.45242244e-02, 1.04396417e-02, 2.37920059e-03,
  0.00000000e+00,-1.72380977e-03, 0.00000000e+00,-1.42244221e-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, -8.51154773, -1.46298736, -8.51154773,  9.59494216,
       -5.57693598, -1.46298736, -5.57693598, 41.08254741,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014324799868965586
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.87517813e-14, -3.28786346e-01,  9.44404330e-01, -1.34911035e-14,
        9.44404330e-01,  3.28786346e-01, -1.00000000e+00,  0.00000000e+00,
       -4.10330407e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00361585, -0.07087035,  0.06187977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.94272794e-05, 4.22537426e-04, 2.15178631e-05,-6.31994124e-05,
  1.43786769e-05,-7.25739965e-04,-3.95889624e-05,-6.04310132e-05,
  3.37544173e-05,-1.14150993e-03,-2.79371335e-04, 2.18634600e-05,
 -7.06765146e-07, 5.87129877e-06, 8.98747775e-06, 1.84703961e-04,
  2.31578698e-06, 2.84031269e-06,-1.21644024e+00, 1.58117569e-03,
  5.46028967e-04, 3.70593084e-05]


--- Step 2227 ---
qpos:
[-0.01508167, 1.26153322,-0.02240764, 0.9481396 , 0.00436242, 1.27731286,
 -0.02942428, 0.94560654, 0.01667903, 1.31756252,-0.02349986, 0.954397  ,
  1.38494413,-0.00143503, 1.1908005 , 0.0630286 ,-0.00363599,-0.09257479,
  0.08154404, 0.62772004,-0.01217914,-0.00399762, 0.77833363]

qacc:
[ -0.10164016, 14.72318506,-33.69735355, 12.00962012,  0.10732544,
 -12.85759897, 32.04855637,-28.59116823,  0.16949968,-10.37181591,
  19.45613222,-11.17215198,  0.25478304, -0.42394717, -3.23730877,
  11.51574966,  1.33379215,  1.2837999 ,  0.48744021, 65.24247652,
  58.76954129,  1.26381942]

qfrc_actuator:
[ 2.83116540e-03, 7.27836331e-02, 1.05074004e-02, 2.21334982e-03,
  4.36127794e-05, 7.76713275e-02, 1.06457912e-02, 2.33113006e-03,
 -2.96264095e-03, 5.40709210e-02, 1.04093627e-02, 2.37734119e-03,
  0.00000000e+00,-1.73849921e-03, 0.00000000e+00,-1.37113288e-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,  8.14007979, -2.88545974,  8.14007979, 11.42128214,
        7.85644607, -2.88545974,  7.85644607, 30.79993671,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013584406862341622
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.08638756e-14,  8.17277512e-14,  1.00000000e+00,  3.33971266e-27,
        1.00000000e+00, -8.17277512e-14, -1.00000000e+00,  0.00000000e+00,
       -4.08638756e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03634174, -0.11897937,  0.06187933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.79443307e-05, 8.79946174e-04, 5.67143344e-05,-2.70367923e-05,
  2.98584808e-05,-8.15860057e-04,-1.15472864e-04,-5.09494007e-05,
  4.82239339e-05,-1.14152164e-03,-2.84817789e-04,-4.27516439e-05,
  1.33134786e-06,-1.33780852e-05, 2.18797432e-05, 6.20994914e-05,
  2.06460591e-06, 7.42311599e-06,-1.21644043e+00, 1.57506910e-03,
  5.46347809e-04, 4.13594375e-05]


--- Step 2228 ---
qpos:
[-0.01508415, 1.26230704,-0.02241877, 0.94814663, 0.00436334, 1.27818071,
 -0.02942481, 0.94561723, 0.01667999, 1.31795806,-0.02350493, 0.95440856,
  1.38501709,-0.00143586, 1.19095832, 0.06303259,-0.00362995,-0.09257722,
  0.08155005, 0.62778524,-0.01210943,-0.0038726 , 0.77828276]

qacc:
[  0.07206633, 20.01199218,-49.42743709, 39.65115711,  0.17045513,
  -8.46127694, 15.19989918, -3.78908096,  0.15803418, -9.74748601,
  22.08391463,-31.91439014,  0.36200679, -0.68465344,  0.38281305,
  -1.08661843,  1.21434264,  1.21067224, -0.15157292, 61.33522199,
  55.02866688,  1.01219108]

qfrc_actuator:
[ 2.86874040e-03, 7.35211158e-02, 1.04796441e-02, 2.24072351e-03,
  7.39009489e-05, 7.72469382e-02, 1.06125472e-02, 2.34611306e-03,
 -2.94623805e-03, 5.37139378e-02, 1.03575337e-02, 2.29997158e-03,
  0.00000000e+00,-1.76478244e-03, 0.00000000e+00,-1.37814750e-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,  2.85779675,  8.1498328 ,  2.85779675, 24.47949498,
       -5.55550652,  8.1498328 , -5.55550652, 10.58444145,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013538846921449799
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.10013877e-14,  4.10013877e-14,  1.00000000e+00,  1.68111380e-27,
        1.00000000e+00, -4.10013877e-14, -1.00000000e+00,  0.00000000e+00,
       -4.10013877e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03635378, -0.1189841 ,  0.06187975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.07163049e-05, 1.22728895e-03, 1.48447102e-04, 5.55358472e-05,
  4.76982896e-05,-9.07581918e-04,-2.08951190e-04,-1.28823851e-05,
  4.50041824e-05,-1.04811629e-03,-3.08868241e-04,-1.19938679e-04,
 -2.28917823e-06,-2.97389093e-05, 1.30095027e-05,-1.68181505e-06,
  5.97266802e-07, 6.11147281e-07,-1.21643914e+00, 1.58068399e-03,
  5.43703560e-04, 3.32534707e-05]


--- Step 2229 ---
qpos:
[-0.01508635, 1.2630911 ,-0.02242992, 0.94815384, 0.0043642 , 1.27904085,
 -0.02942561, 0.9456305 , 0.01668126, 1.31834569,-0.02351007, 0.9544211 ,
  1.38509018,-0.00143725, 1.19111626, 0.06303582,-0.00361943,-0.09257504,
  0.08155331, 0.62785094,-0.01204762,-0.00359194, 0.77823207]

qacc:
[ 1.23355311e-01, 1.38205988e+01,-2.92344875e+01, 2.11635587e+01,
 -2.69091216e-02,-4.94763752e+00,-1.36980032e+00, 3.59630644e+01,
  1.26442948e-01,-8.50890822e+00, 1.32630060e+01, 4.71716703e+00,
  4.18205101e-01,-8.46736455e-01, 2.45599265e+00,-8.44063682e+00,
  1.11736477e+00, 1.14985616e+00,-6.87847561e-01, 5.80925732e+01,
  5.19358958e+01, 8.22937290e-01]

qfrc_actuator:
[ 2.89217720e-03, 7.40916797e-02, 1.05042660e-02, 2.25417518e-03,
  3.82091649e-05, 7.68448156e-02, 1.05929006e-02, 2.47484552e-03,
 -2.93700674e-03, 5.33818937e-02, 1.03825099e-02, 2.35636796e-03,
  0.00000000e+00,-1.79772134e-03, 0.00000000e+00,-1.41942191e-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,  2.87698976,  8.14307723,  2.87698976, 28.0499849 ,
       -6.85892913,  8.14307723, -6.85892913, 11.05965747,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013356775370123378
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.63652573e-14,  1.24680882e-13,  1.00000000e+00,  4.53405237e-27,
        1.00000000e+00, -1.24680882e-13, -1.00000000e+00,  0.00000000e+00,
       -3.63652573e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03638535, -0.11900547,  0.0618813 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.49388122e-05, 1.27280216e-03, 2.81557181e-04, 5.65645027e-05,
 -7.85673462e-06,-9.53097733e-04,-2.22784808e-04, 9.62586564e-05,
  3.59375702e-05,-9.78450038e-04,-2.18805725e-04, 1.40783335e-05,
 -8.32523841e-06,-4.16298252e-05, 2.03489536e-06,-4.05941070e-05,
  4.41445502e-06, 1.35836292e-06,-1.21644062e+00, 1.58591602e-03,
  5.40813855e-04, 3.47207590e-05]


--- Step 2230 ---
qpos:
[-0.01508841, 1.2638853 ,-0.0224404 , 0.94816011, 0.00436454, 1.27989352,
 -0.02942642, 0.94564451, 0.01668274, 1.31872589,-0.02351569, 0.95443386,
  1.38516321,-0.0014388 , 1.19127464, 0.06303484,-0.00361478,-0.09257674,
  0.08155697, 0.62791669,-0.01197636,-0.00350604, 0.77818051]

qacc:
[ 5.86644967e-02, 9.90716013e+00,-1.43560659e+01,-4.68861010e+00,
 -2.18500156e-01,-8.56196534e+00, 1.45714200e+01, 5.95760296e-01,
  9.23970694e-02,-8.07162985e+00, 1.41054953e+01,-5.07033916e+00,
 -2.54006557e-01, 2.09422518e-01, 1.33529925e+01,-4.57318464e+01,
 -1.46589137e+00,-9.69510740e-01, 9.89188677e-02,-7.28219792e+01,
 -6.48220350e+01,-1.48249750e+00]

qfrc_actuator:
[ 2.88919123e-03, 7.46113216e-02, 1.05412608e-02, 2.20599426e-03,
 -1.90153316e-05, 7.64948905e-02, 1.05993547e-02, 2.50972025e-03,
 -2.93215214e-03, 5.30323533e-02, 1.03640846e-02, 2.36684792e-03,
  0.00000000e+00,-1.79883531e-03, 0.00000000e+00,-1.64029244e-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,   6.67576998,   5.47913059,   6.67576998,
        42.08084204, -40.74873585,   5.47913059, -40.74873585,
        58.28460312,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013532658579712975
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.10201373e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.10201373e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03597642, -0.06226103,  0.06187984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.68014538e-05, 1.27302962e-03, 3.17989575e-04, 2.26594210e-07,
 -6.18591390e-05,-9.25398649e-04,-2.03926685e-04, 3.16002697e-06,
  2.62216437e-05,-9.35783515e-04,-2.34425890e-04,-2.40304635e-05,
 -1.45296536e-05,-1.43926957e-05,-6.96054093e-06,-2.23679562e-04,
  1.26789336e-05, 8.40997591e-06,-1.21644443e+00, 1.59087487e-03,
  5.37677699e-04, 4.42080552e-05]


--- Step 2231 ---
qpos:
[-0.0150904 , 1.26468765,-0.0224499 , 0.94816835, 0.00436445, 1.28073971,
 -0.0294275 , 0.94565671, 0.01668437, 1.31909787,-0.02352089, 0.95444599,
  1.385236  ,-0.00143987, 1.19143265, 0.0630339 ,-0.00361547,-0.09258231,
  0.08155839, 0.62798321,-0.01189707,-0.00360149, 0.77812761]

qacc:
[ 2.80184658e-02, 1.14422032e+01,-2.84244933e+01, 4.24367791e+01,
 -1.85738849e-01,-1.08525811e+01, 2.88482209e+01,-4.19682803e+01,
  6.33635756e-02,-1.30541480e+01, 3.08176504e+01,-2.89100480e+01,
 -4.82224089e-01, 8.26634361e-01,-6.24263301e-01, 1.49041187e+00,
 -1.33366781e+00,-9.67217373e-01,-5.58482213e-01,-6.80345084e+01,
 -6.00476917e+01,-1.82145000e+00]

qfrc_actuator:
[ 2.88813944e-03, 7.49011410e-02, 1.05495035e-02, 2.29940963e-03,
 -3.54273864e-05, 7.62323939e-02, 1.06035469e-02, 2.41808312e-03,
 -2.92996211e-03, 5.25862473e-02, 1.03733235e-02, 2.33239274e-03,
  0.00000000e+00,-1.76329438e-03, 0.00000000e+00,-1.62788085e-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, -7.55055042, -4.19236988, -7.55055042,  9.32611944,
       -1.24226538, -4.19236988, -1.24226538, 10.87371092,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013601371253525799
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.16258158e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.16258158e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03597054, -0.06227898,  0.06187928])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.16060572e-06, 1.04869320e-03, 2.91756134e-04, 1.41601595e-04,
 -5.26161133e-05,-8.21675266e-04,-2.01338993e-04,-1.24137569e-04,
  1.78350029e-05,-1.01287698e-03,-2.01309472e-04,-6.90564789e-05,
 -1.18706111e-05, 2.85846829e-05,-3.21762434e-05,-1.89639195e-06,
  3.06366264e-06, 5.68292893e-07,-1.21644003e+00, 1.58430520e-03,
  5.41388395e-04, 3.35743536e-05]


--- Step 2232 ---
qpos:
[-0.01509206, 1.26549524,-0.02245753, 0.94817858, 0.00436417, 1.28158008,
 -0.02942865, 0.94566767, 0.01668595, 1.31946105,-0.02352396, 0.95445793,
  1.38530858,-0.0014403 , 1.1915905 , 0.06303273,-0.00362105,-0.09259173,
  0.08155536, 0.62805098,-0.01181088,-0.00386715, 0.77807295]

qacc:
[ 1.41614000e-01, 5.28201531e+00,-1.29393255e+01, 3.08819762e+01,
 -7.92781180e-02,-9.59901962e+00, 2.46330661e+01,-3.20972346e+01,
 -2.12058059e-02,-1.76139684e+01, 4.39141931e+01,-3.48409534e+01,
 -6.07598872e-01, 1.10808666e+00, 5.31196783e-01,-2.07067783e+00,
 -1.22561926e+00,-9.61608919e-01,-1.11218221e+00,-6.40530703e+01,
 -5.61116489e+01,-2.06259570e+00]

qfrc_actuator:
[ 2.92376970e-03, 7.49799889e-02, 1.05754071e-02, 2.38648502e-03,
 -2.72235921e-05, 7.60065982e-02, 1.06244187e-02, 2.35931074e-03,
 -2.94714106e-03, 5.21569788e-02, 1.04872042e-02, 2.32499863e-03,
  0.00000000e+00,-1.72406625e-03, 0.00000000e+00,-1.63783545e-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, -7.55705939, -4.18062558, -7.55705939,  9.69952041,
       -1.92180301, -4.18062558, -1.92180301, 12.11028858,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013507773111661736
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.10957089e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.10957089e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.035991  , -0.06227382,  0.06188007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.97908800e-05, 7.12698513e-04, 2.66744008e-04, 1.31120401e-04,
 -2.25968219e-05,-7.30849343e-04,-1.67804915e-04,-9.10548001e-05,
 -6.47908528e-06,-1.03347555e-03,-1.09267469e-04,-4.43690705e-05,
 -1.05337014e-07, 4.46687812e-05,-1.68782917e-05,-1.46143458e-05,
  5.10459439e-07, 1.96807597e-06,-1.21643920e+00, 1.57835723e-03,
  5.44636871e-04, 3.42700494e-05]


--- Step 2233 ---
qpos:
[-0.0150935 , 1.26630479,-0.02246266, 0.94818763, 0.00436412, 1.2824153 ,
 -0.02942993, 0.94567745, 0.01668726, 1.31981664,-0.02352743, 0.95446903,
  1.38538109,-0.00144027, 1.1917484 , 0.06303007,-0.00363119,-0.09260497,
  0.08154602, 0.62812028,-0.01171871,-0.00429379, 0.77801616]

qacc:
[  0.09548343, -6.22264344, 25.76469098,-37.13250982,  0.09790346,
  -8.42815376, 21.72978863,-29.17912359, -0.11177351,-10.34664065,
  23.39158683,-25.21333436, -0.47266147,  0.87096193,  4.57833981,
 -15.81834321, -1.13706633, -0.95382037, -1.57821657,-60.7453906 ,
 -52.86838781, -2.22866432]

qfrc_actuator:
[ 2.92786053e-03, 7.48431304e-02, 1.06106356e-02, 2.30918455e-03,
  1.34276108e-05, 7.58047548e-02, 1.06374386e-02, 2.30265809e-03,
 -2.97580046e-03, 5.17949202e-02, 1.04667221e-02, 2.28039498e-03,
  0.00000000e+00,-1.70074344e-03, 0.00000000e+00,-1.71420814e-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, -7.54586668, -4.20079433, -7.54586668, 10.2008333 ,
       -2.81024935, -4.20079433, -2.81024935, 13.68440104,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013285149945592434
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.17843618e-14,  2.08921809e-14,  1.00000000e+00,  8.72966447e-28,
        1.00000000e+00, -2.08921809e-14, -1.00000000e+00,  0.00000000e+00,
       -4.17843618e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03603219, -0.06225048,  0.06188192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.66759532e-05, 3.05939392e-04, 2.07254591e-04,-4.42127810e-05,
  2.74047039e-05,-6.49024444e-04,-1.53093275e-04,-8.44736543e-05,
 -3.22817341e-05,-9.58879007e-04,-2.36458221e-04,-7.89304573e-05,
  1.00131202e-05, 3.58996030e-05,-1.20766545e-05,-7.99657767e-05,
  3.77006266e-06, 1.09058973e-05,-1.21644126e+00, 1.57277741e-03,
  5.47604257e-04, 4.41746026e-05]


--- Step 2234 ---
qpos:
[-0.01509479, 1.2671139 ,-0.02246587, 0.94819458, 0.00436455, 1.28324624,
 -0.02943237, 0.94568647, 0.01668813, 1.3201648 ,-0.02353229, 0.95447749,
  1.38545386,-0.00144068, 1.19190603, 0.06302784,-0.00363539,-0.09261344,
  0.08154349, 0.62818804,-0.01163908,-0.00452246, 0.77796135]

qacc:
[ 6.41202765e-02,-9.39785036e+00, 3.42544872e+01,-5.38982377e+01,
  2.06065226e-01,-3.75365775e+00, 7.02388910e+00,-1.21890589e+01,
 -1.88137169e-01,-1.05417299e+01, 2.79658329e+01,-5.01695853e+01,
  5.54115733e-01,-9.04296492e-01,-1.71952131e+00, 5.33768779e+00,
  1.48393083e+00, 1.18931244e+00, 1.70023150e+00, 7.30712857e+01,
  6.70409827e+01, 2.41114957e+00]

qfrc_actuator:
[ 2.93075695e-03, 7.46313050e-02, 1.06323219e-02, 2.18887228e-03,
  5.54545369e-05, 7.56366939e-02, 1.05925776e-02, 2.26545588e-03,
 -3.01111492e-03, 5.14045074e-02, 1.03850504e-02, 2.14317607e-03,
  0.00000000e+00,-1.74030366e-03, 0.00000000e+00,-1.68707200e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013695777512188964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.05315808e-14,  4.05315808e-14,  1.00000000e+00,  1.64280904e-27,
        1.00000000e+00, -4.05315808e-14, -1.00000000e+00,  0.00000000e+00,
       -4.05315808e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03635894, -0.11894183,  0.06187845])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.78189164e-05,-1.08657257e-05, 1.02300215e-04,-1.05135207e-04,
  5.80278895e-05,-5.66834356e-04,-1.93092024e-04,-6.19967476e-05,
 -5.41324125e-05,-9.71793583e-04,-2.98539173e-04,-1.73874154e-04,
  1.31178620e-05,-2.69693632e-05,-1.75273118e-05, 2.04226523e-05,
  1.19300239e-05, 2.61501136e-05,-1.21644569e+00, 1.56740081e-03,
  5.50411348e-04, 6.17513670e-05]


--- Step 2235 ---
qpos:
[-0.01509568, 1.26792099,-0.02246755, 0.94819987, 0.00436518, 1.28407171,
 -0.02943499, 0.94569575, 0.01668856, 1.32050552,-0.02353791, 0.95448388,
  1.38552676,-0.0014415 , 1.19206361, 0.06302525,-0.00363424,-0.09261735,
  0.08154441, 0.62825496,-0.01157043,-0.00456794, 0.77790807]

qacc:
[  0.16984604, -9.66090439, 31.68061588,-45.4320004 ,  0.08282326,
  -6.29454616, 11.33123612, -3.46291666, -0.18394035,-11.31955075,
  29.31375324,-44.7520946 ,  0.35311833, -0.65478093,  0.99208362,
  -3.64930377,  1.3375988 ,  1.14111291,  0.86501505, 67.80541202,
  61.79690924,  1.89520337]

qfrc_actuator:
[ 2.96842672e-03, 7.44116096e-02, 1.06632203e-02, 2.09741765e-03,
  4.47039125e-05, 7.53125591e-02, 1.05673397e-02, 2.27548441e-03,
 -3.03238429e-03, 5.10531973e-02, 1.03565827e-02, 2.04129589e-03,
  0.00000000e+00,-1.76360033e-03, 0.00000000e+00,-1.70565897e-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,  6.64106544,  5.52114361,  6.64106544, 12.3510118 ,
       -4.46813618,  5.52114361, -4.46813618, 14.01082712,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013907028024315315
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49053853e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.49053853e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03633238, -0.11891031,  0.06187668])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.74164499e-05,-2.16267403e-04, 3.58725004e-05,-9.01921400e-05,
  2.31712534e-05,-6.84529096e-04,-1.61272724e-04,-1.29616092e-05,
 -5.29605311e-05,-9.54721426e-04,-2.57686032e-04,-1.42959566e-04,
  1.08704532e-08,-2.74115982e-05,-7.60609835e-06,-2.01385831e-05,
  2.77072459e-06, 8.32935762e-06,-1.21644058e+00, 1.57454759e-03,
  5.47652397e-04, 3.98973418e-05]


--- Step 2236 ---
qpos:
[-0.01509631, 1.2687244 ,-0.02246824, 0.94820458, 0.00436571, 1.28489042,
 -0.02943676, 0.94570551, 0.01668864, 1.320839  ,-0.02354379, 0.95448964,
  1.3855997 ,-0.00144258, 1.19222113, 0.06302244,-0.00362821,-0.09261687,
  0.08154598, 0.62832153,-0.0115115 ,-0.00444249, 0.77785591]

qacc:
[ 1.14819820e-01,-8.52669568e+00, 2.31718008e+01,-2.46870440e+01,
 -3.80053072e-02,-1.03313289e+01, 2.20048253e+01,-9.29652197e+00,
 -1.51533143e-01,-9.89813393e+00, 2.20463017e+01,-2.17304091e+01,
  1.99650380e-01,-4.10724656e-01, 5.34295550e-01,-2.06964929e+00,
  1.21849707e+00, 1.09892976e+00, 1.62627738e-01, 6.34307233e+01,
  5.74674762e+01, 1.49919058e+00]

qfrc_actuator:
[ 2.97339659e-03, 7.41001881e-02, 1.06637570e-02, 2.05917258e-03,
  2.01357400e-05, 7.49154475e-02, 1.05888529e-02, 2.29539204e-03,
 -3.04505853e-03, 5.07283417e-02, 1.03599558e-02, 2.01436528e-03,
  0.00000000e+00,-1.77701326e-03, 0.00000000e+00,-1.71555692e-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,  6.6722289 ,  5.48344221,  6.6722289 , 13.2265305 ,
       -5.58529529,  5.48344221, -5.58529529, 15.43252693,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013925323940975065
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.98293177e-15, -1.99317271e-14,  1.00000000e+00,  9.93184360e-29,
        1.00000000e+00,  1.99317271e-14, -1.00000000e+00,  0.00000000e+00,
        4.98293177e-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([-0.036334  , -0.11890344,  0.06187653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.19773629e-05,-4.34094020e-04,-4.17404822e-05,-4.46932599e-05,
 -1.10404405e-05,-8.14835554e-04,-1.32457010e-04,-4.54262925e-06,
 -4.36816080e-05,-9.09871381e-04,-2.16953548e-04,-6.56037990e-05,
 -6.89061904e-06,-2.07693835e-05,-8.45579152e-06,-1.26332288e-05,
  6.47386113e-07, 8.09391303e-07,-1.21643916e+00, 1.58081891e-03,
  5.44765070e-04, 3.09950335e-05]


--- Step 2237 ---
qpos:
[-0.01509706, 1.26952323,-0.02246898, 0.94820963, 0.00436621, 1.28570321,
 -0.0294388 , 0.94571474, 0.01668844, 1.32116517,-0.02354907, 0.95449501,
  1.38567271,-0.00144409, 1.19237843, 0.06302052,-0.0036177 ,-0.09261213,
  0.08154584, 0.62838805,-0.01146128,-0.00415626, 0.77780449]

qacc:
[-5.07876538e-02,-5.27665353e+00, 9.25719654e+00,-1.13775254e+00,
 -1.20905464e-02,-7.95396066e+00, 1.76559576e+01,-1.76685550e+01,
 -1.14012395e-01,-1.18833013e+01, 2.80078067e+01,-2.43867407e+01,
  4.13491616e-01,-7.68753086e-01,-3.02503028e+00, 1.00526119e+01,
  1.12142776e+00, 1.06215761e+00,-4.27522765e-01, 5.97987990e+01,
  5.38935038e+01, 1.19745293e+00]

qfrc_actuator:
[ 2.94096428e-03, 7.37894674e-02, 1.06282614e-02, 2.07020336e-03,
  2.29888055e-05, 7.46555500e-02, 1.05842129e-02, 2.26764271e-03,
 -3.05247811e-03, 5.03866352e-02, 1.03999865e-02, 1.99626884e-03,
  0.00000000e+00,-1.80221820e-03, 0.00000000e+00,-1.66698247e-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,  6.69434363,  5.45642193,  6.69434363, 14.31784494,
       -6.97046318,  5.45642193, -6.97046318, 17.18824551,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013789290899948875
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.53529790e-14, -2.01283560e-14,  1.00000000e+00, -1.11416447e-27,
        1.00000000e+00,  2.01283560e-14, -1.00000000e+00,  0.00000000e+00,
       -5.53529790e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03635794, -0.11891607,  0.06187767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44333770e-05,-5.67622236e-04,-1.27820924e-04,-3.11678451e-06,
 -3.64295124e-06,-7.43729435e-04,-1.80545943e-04,-5.50679432e-05,
 -3.29676187e-05,-8.91610919e-04,-1.64632128e-04,-5.24605445e-05,
 -8.90705247e-06,-3.23613139e-05,-8.06201079e-06, 4.61444435e-05,
  4.23229651e-06, 1.54275976e-06,-1.21644070e+00, 1.58648551e-03,
  5.41702921e-04, 3.25150372e-05]


--- Step 2238 ---
qpos:
[-0.01509789, 1.27031727,-0.02246998, 0.94821483, 0.00436671, 1.28651335,
 -0.02944212, 0.94572438, 0.01668835, 1.32148418,-0.02355336, 0.95450114,
  1.38574545,-0.00144513, 1.19253521, 0.06302286,-0.00360302,-0.09260328,
  0.08154201, 0.6284547 ,-0.01141894,-0.00371764, 0.77775348]

qacc:
[-3.64569818e-02,-5.31916837e+00, 9.47892342e+00,-3.58263852e+00,
 -2.10835001e-03, 6.86868952e-01,-7.31687075e+00, 1.28288285e+01,
  4.30350828e-02,-1.07972149e+01, 2.23353593e+01,-6.23928599e+00,
 -2.11648027e-01, 4.81292446e-01,-1.36176507e+01, 4.65564922e+01,
  1.04214844e+00, 1.03018821e+00,-9.22870435e-01, 5.67880892e+01,
  5.09460334e+01, 9.70281113e-01]

qfrc_actuator:
[ 2.93962820e-03, 7.35347831e-02, 1.06072864e-02, 2.07458810e-03,
  2.45170449e-05, 7.47461211e-02, 1.06001502e-02, 2.30087281e-03,
 -3.02118435e-03, 5.00555187e-02, 1.04612646e-02, 2.03676159e-03,
  0.00000000e+00,-1.76322340e-03, 0.00000000e+00,-1.44232355e-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,  6.69083868,  5.46071924,  6.69083868, 15.75758602,
       -8.72539827,  5.46071924, -8.72539827, 19.32730557,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013531191700581757
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.53842190e-14, -1.02561460e-14,  1.00000000e+00, -1.57782797e-28,
        1.00000000e+00,  1.02561460e-14, -1.00000000e+00,  0.00000000e+00,
       -1.53842190e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0363994 , -0.118944  ,  0.06187982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04167775e-05,-6.00956321e-04,-1.47950183e-04,-1.52959844e-05,
 -6.35686043e-07,-3.64784232e-04,-1.53003188e-04, 5.45239221e-06,
  1.20501461e-05,-8.60256837e-04,-1.33477957e-04, 8.49623361e-06,
 -1.25570468e-05, 2.80923950e-05,-1.01362340e-06, 2.25626440e-04,
  1.25521560e-05, 9.03803515e-06,-1.21644471e+00, 1.59173105e-03,
  5.38439618e-04, 4.26172182e-05]


--- Step 2239 ---
qpos:
[-0.01509878, 1.27110605,-0.02247099, 0.94821906, 0.00436706, 1.28732521,
 -0.02944772, 0.94573368, 0.01668847, 1.32179678,-0.0235578 , 0.95450908,
  1.38581797,-0.00144551, 1.19269213, 0.06302617,-0.00359482,-0.09259897,
  0.08154185, 0.62852176,-0.01136694,-0.00348887, 0.77770111]

qacc:
[-2.46426892e-02,-8.58563462e+00, 2.16442440e+01,-2.68013318e+01,
 -6.22397067e-02, 7.82173976e+00,-2.20614356e+01, 1.39965433e+01,
  9.14584743e-02,-4.84362966e+00, 2.01074088e+00, 2.31689577e+01,
 -5.70227995e-01, 1.06970814e+00,-2.68014475e+00, 9.81104501e+00,
 -1.61902648e+00,-1.13481329e+00, 9.15620669e-01,-7.85693742e+01,
 -6.96909594e+01,-1.80632177e+00]

qfrc_actuator:
[ 2.93921160e-03, 7.32447510e-02, 1.05952613e-02, 2.02179265e-03,
  7.48497552e-06, 7.51348568e-02, 1.05940617e-02, 2.29895071e-03,
 -3.00242971e-03, 4.97690580e-02, 1.04636486e-02, 2.12916651e-03,
  0.00000000e+00,-1.72194078e-03, 0.00000000e+00,-1.39978207e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001366499466974709
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.06228854e-14,  4.06228854e-14,  1.00000000e+00,  1.65021882e-27,
        1.00000000e+00, -4.06228854e-14, -1.00000000e+00,  0.00000000e+00,
       -4.06228854e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03599942, -0.0623486 ,  0.06187867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.15011080e-06,-6.58973021e-04,-1.48146968e-04,-7.43460092e-05,
 -1.74196750e-05, 1.50251252e-04,-9.60058979e-05,-1.61450647e-05,
  2.60213372e-05,-7.90310174e-04,-1.80913010e-04, 6.36594372e-05,
  3.86806116e-07, 4.59630677e-05, 2.22803969e-05, 5.44485670e-05,
  2.48949007e-05, 2.22093997e-05,-1.21645083e+00, 1.59668022e-03,
  5.34961095e-04, 5.99648015e-05]


--- Step 2240 ---
qpos:
[-0.01509971, 1.27188769,-0.02247079, 0.94822344, 0.0043671 , 1.28814035,
 -0.02945447, 0.94574235, 0.01668866, 1.32210363,-0.02356362, 0.95451808,
  1.38589033,-0.00144514, 1.19284926, 0.06302899,-0.00359245,-0.09259906,
  0.08154218, 0.62858994,-0.01130675,-0.00345391, 0.77764703]

qacc:
[-1.53778122e-02,-1.24091300e+01, 2.88601688e+01,-1.89254190e+01,
 -1.35772113e-01, 6.34108363e+00,-1.42086387e+01, 3.01853036e+00,
  3.12189107e-02,-2.04688675e+00,-4.57694558e+00, 1.97611249e+01,
 -6.70048088e-01, 1.26465434e+00, 1.85563390e+00,-5.90802973e+00,
 -1.45842482e+00,-1.10110832e+00, 1.25293423e-01,-7.27832129e+01,
 -6.40791643e+01,-2.09011324e+00]

qfrc_actuator:
[ 2.93935390e-03, 7.27938856e-02, 1.06239591e-02, 2.02451271e-03,
 -2.05417726e-05, 7.54506277e-02, 1.05940172e-02, 2.27653557e-03,
 -3.00910580e-03, 4.94937299e-02, 1.03959417e-02, 2.18034271e-03,
  0.00000000e+00,-1.67967014e-03, 0.00000000e+00,-1.42942644e-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, -7.05350836, -4.98345229, -7.05350836, 10.24541617,
       -2.27743035, -4.98345229, -2.27743035, 11.85980656,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013914205391152012
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.98691352e-14,  1.99476541e-14,  1.00000000e+00, -9.94772260e-28,
        1.00000000e+00, -1.99476541e-14, -1.00000000e+00,  0.00000000e+00,
        4.98691352e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03596314, -0.0623896 ,  0.06187659])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.68179602e-06,-8.53629582e-04,-1.20504748e-04,-2.19408473e-05,
 -3.82184176e-05, 3.72684577e-04, 1.66047213e-05,-2.00476390e-05,
  8.81839224e-06,-7.48071818e-04,-2.41108644e-04, 2.43916727e-05,
  1.12637146e-05, 5.49970445e-05, 1.18928128e-05,-2.47669828e-05,
  9.00272926e-06, 5.62658363e-06,-1.21644302e+00, 1.58932292e-03,
  5.39229281e-04, 3.86104812e-05]


--- Step 2241 ---
qpos:
[-0.01510052, 1.2726617 ,-0.02246995, 0.9482293 , 0.00436681, 1.28895777,
 -0.02946106, 0.94575211, 0.01668886, 1.32240427,-0.0235696 , 0.95452933,
  1.38596276,-0.00144449, 1.19300653, 0.06303044,-0.00359539,-0.09260343,
  0.08154035, 0.62865972,-0.01123954,-0.00359944, 0.77759094]

qacc:
[ 5.40554533e-02,-9.18338868e+00, 1.48930734e+01, 8.83037601e+00,
 -1.38181720e-01, 4.42260347e+00,-1.30150839e+01, 2.23863796e+01,
  4.96806069e-03,-3.80254675e+00,-1.95774475e+00, 3.15341172e+01,
 -2.32083282e-01, 4.83702476e-01, 4.37498793e+00,-1.49303481e+01,
 -1.32735095e+00,-1.07000981e+00,-5.40703865e-01,-6.79702942e+01,
 -5.94456820e+01,-2.28480075e+00]

qfrc_actuator:
[ 2.95758702e-03, 7.23747745e-02, 1.06403679e-02, 2.09531298e-03,
 -3.71824372e-05, 7.55428524e-02, 1.05973828e-02, 2.33100316e-03,
 -3.01323206e-03, 4.91914987e-02, 1.03939679e-02, 2.29557455e-03,
  0.00000000e+00,-1.67265475e-03, 0.00000000e+00,-1.50130252e-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, -7.06756091, -4.96350276, -7.06756091, 10.80652601,
       -3.09010703, -4.96350276, -3.09010703, 13.03638529,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013960978171575211
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.98808244e-14,  3.97616489e-14,  1.00000000e+00, -7.90494361e-28,
        1.00000000e+00, -3.97616489e-14, -1.00000000e+00,  0.00000000e+00,
        1.98808244e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03596014, -0.06240223,  0.06187621])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48474670e-05,-9.22475463e-04,-1.66126737e-04, 4.23724725e-05,
 -3.90032268e-05, 2.94082133e-04, 7.62094281e-05, 6.67061463e-05,
  1.23321374e-06,-7.64493076e-04,-1.75107717e-04, 8.70148720e-05,
  1.87408443e-05, 2.49667812e-05,-1.46882694e-06,-7.27000331e-05,
  1.67876609e-06, 2.82684428e-07,-1.21643955e+00, 1.58269816e-03,
  5.42925939e-04, 3.10696444e-05]


--- Step 2242 ---
qpos:
[-0.01510161, 1.27342973,-0.0224701 , 0.94823557, 0.00436641, 1.28977536,
 -0.02946687, 0.94576193, 0.01668905, 1.32269836,-0.02357427, 0.95454184,
  1.38603519,-0.00144345, 1.19316373, 0.06303136,-0.00360369,-0.09260223,
  0.0815323 , 0.62871959,-0.01137297,-0.00374062, 0.77753993]

qacc:
[-1.20469334e-01,-4.44008590e+00, 4.17596530e+00, 4.90782130e+00,
 -5.20163631e-02,-1.79225923e+00, 5.96336243e+00,-4.50421775e+00,
 -4.88853513e-03,-1.00035201e+01, 1.97172446e+01, 1.42147658e+00,
 -3.10899464e-01, 6.44981729e-01, 1.55483645e+00,-5.52668066e+00,
 -1.33949805e+00, 1.39123282e+00,-1.55521251e+00,-6.14199174e+01,
  7.93354070e+01, 5.83814458e+00]

qfrc_actuator:
[ 2.91551686e-03, 7.21555763e-02, 1.06139898e-02, 2.11681379e-03,
 -2.91056856e-05, 7.54118628e-02, 1.05841895e-02, 2.32362754e-03,
 -3.01579531e-03, 4.88758717e-02, 1.04662885e-02, 2.35885780e-03,
  0.00000000e+00,-1.65111174e-03, 0.00000000e+00,-1.52643543e-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,  0.5460955 , -8.61908096,  0.5460955 , 60.38242032,
        3.2785733 , -8.61908096,  3.2785733 ,  8.84409044,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013887254649324193
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.99727323e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.99727323e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04737321, -0.11492249,  0.06187681])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.40481946e-05,-7.67542180e-04,-2.25646814e-04,-8.82399273e-06,
 -1.47527804e-05, 4.16671244e-05, 5.36147775e-05, 6.27367781e-06,
 -1.67727331e-06,-7.72167890e-04,-9.46725885e-05, 3.79627971e-05,
  1.52284879e-05, 3.31011091e-05,-1.21833300e-05,-3.01809071e-05,
  1.24833773e-06, 3.90433763e-06,-1.21643954e+00, 1.57652804e-03,
  5.46261710e-04, 3.45174842e-05]


--- Step 2243 ---
qpos:
[-0.01510292, 1.27419416,-0.02247141, 0.94824083, 0.00436612, 1.29059104,
 -0.02947146, 0.94577212, 0.01668922, 1.32298633,-0.02357777, 0.95455327,
  1.38610756,-0.00144186, 1.19332088, 0.0630316 ,-0.00361715,-0.09259595,
  0.08151602, 0.62877059,-0.01169504,-0.00387723, 0.77749324]

qacc:
[-9.71144510e-02,-3.35762775e+00, 7.29171659e+00,-1.57826051e+01,
  5.05993907e-02,-5.16122439e+00, 1.30635140e+01,-5.86773025e+00,
 -7.55984430e-03,-1.30340487e+01, 3.50258024e+01,-3.91458073e+01,
 -4.53742652e-01, 9.00373023e-01, 1.97876575e+00,-6.93091997e+00,
 -1.29019856e+00, 1.27211777e+00,-2.05828546e+00,-5.75675793e+01,
  7.47263046e+01, 5.18069899e+00]

qfrc_actuator:
[ 2.90863232e-03, 7.21464894e-02, 1.06165735e-02, 2.07369722e-03,
 -6.27026387e-06, 7.51836649e-02, 1.05958792e-02, 2.33298700e-03,
 -3.01740113e-03, 4.85905469e-02, 1.05285107e-02, 2.30230731e-03,
  0.00000000e+00,-1.62109422e-03, 0.00000000e+00,-1.55930771e-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, -6.77522958,  5.35565505, -6.77522958, 10.87922058,
        2.83735054,  5.35565505,  2.83735054, 12.22578475,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013771279745014992
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.06187257e-14, -4.03093629e-14,  1.00000000e+00, -3.24968947e-27,
        1.00000000e+00,  4.03093629e-14, -1.00000000e+00,  0.00000000e+00,
       -8.06187257e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04739357, -0.1149395 ,  0.06187774])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.74022749e-05,-4.84836923e-04,-1.74669858e-04,-7.17762509e-05,
  1.41959242e-05,-2.01381685e-04, 2.48018040e-05, 1.33889803e-05,
 -2.43908705e-06,-7.31804434e-04,-9.85550520e-05,-8.08919468e-05,
  1.52841882e-05, 4.30064901e-05,-1.16942278e-05,-3.67616565e-05,
  6.67770796e-06, 2.05609862e-06,-1.21644281e+00, 1.58492810e-03,
  5.48800284e-04, 3.07941822e-05]


--- Step 2244 ---
qpos:
[-0.01510396, 1.27495799,-0.02247424, 0.94824461, 0.00436615, 1.29140267,
 -0.02947473, 0.9457822 , 0.01668937, 1.32326838,-0.02358135, 0.95456294,
  1.38618045,-0.00144142, 1.19347801, 0.06303076,-0.00363563,-0.0925943 ,
  0.08149612, 0.62882412,-0.01201174,-0.00418635, 0.77744351]

qacc:
[ 1.17807561e-01, 7.34232439e-01,-3.38147821e-01,-1.64637578e+01,
  1.41332772e-01,-9.07349400e+00, 2.33668144e+01,-1.88623859e+01,
 -7.27490424e-03,-1.06296209e+01, 2.87865767e+01,-4.14110953e+01,
  1.12278908e+00,-1.97580604e+00, 3.15009064e+00,-1.13108078e+01,
 -1.25634142e+00,-1.15953544e+00,-9.04879270e-01,-6.53681498e+01,
 -5.62976373e+01,-2.95379267e+00]

qfrc_actuator:
[ 2.95842233e-03, 7.23345040e-02, 1.06193438e-02, 2.01082408e-03,
  2.52293315e-05, 7.48281317e-02, 1.06039969e-02, 2.31655410e-03,
 -3.01842090e-03, 4.82723217e-02, 1.05132941e-02, 2.21120339e-03,
  0.00000000e+00,-1.71056502e-03, 0.00000000e+00,-1.61423487e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013686937114942843
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.05577601e-14,  2.02788801e-14,  1.00000000e+00,  8.22465953e-28,
        1.00000000e+00, -2.02788801e-14, -1.00000000e+00,  0.00000000e+00,
       -4.05577601e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03601591, -0.06238041,  0.06187835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.31688054e-05,-1.23247606e-04,-1.15277213e-04,-8.30997068e-05,
  3.98069892e-05,-4.68541034e-04,-2.93554834e-05,-2.03590216e-05,
 -2.30378913e-06,-7.46626596e-04,-1.72028273e-04,-1.17137901e-04,
  1.76497866e-05,-7.37331548e-05,-1.23213716e-05,-5.91425817e-05,
  1.47550563e-05,-2.39274602e-06,-1.21644879e+00, 1.59152886e-03,
  5.50773963e-04, 1.65293785e-05]


--- Step 2245 ---
qpos:
[-0.01510474, 1.27572302,-0.02247816, 0.94824778, 0.00436654, 1.29220803,
 -0.02947638, 0.94579154, 0.01668951, 1.32354388,-0.02358455, 0.95457184,
  1.38625377,-0.00144245, 1.19363508, 0.0630289 ,-0.00364837,-0.0925878 ,
  0.08148465, 0.62887652,-0.01234075,-0.00429031, 0.77739541]

qacc:
[ 1.10373496e-01, 3.49247045e+00,-8.26477782e+00,-5.55656103e-01,
  1.49351391e-01,-1.38649208e+01, 3.68621197e+01,-3.68139560e+01,
 -5.65074579e-03,-1.09304949e+01, 2.68695071e+01,-2.82666647e+01,
  1.26276054e+00,-2.38865512e+00, 2.84315334e+00,-1.03422712e+01,
  1.43492422e+00, 1.21336040e+00, 2.10870425e+00, 7.58792089e+01,
  6.92789789e+01, 2.20684947e+00]

qfrc_actuator:
[ 2.97079431e-03, 7.25504531e-02, 1.06230435e-02, 1.99023068e-03,
  4.39155220e-05, 7.43636095e-02, 1.06271315e-02, 2.26721332e-03,
 -3.01908237e-03, 4.79188712e-02, 1.05233846e-02, 2.17146970e-03,
  0.00000000e+00,-1.79923686e-03, 0.00000000e+00,-1.66395243e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001416535721522512
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.79699107e-15,  7.83759285e-14,  1.00000000e+00, -7.67848272e-28,
        1.00000000e+00, -7.83759285e-14, -1.00000000e+00,  0.00000000e+00,
        9.79699107e-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([-0.03632918, -0.11882155,  0.06187426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.11517820e-05, 1.15966196e-04,-3.72569910e-05,-2.85914788e-05,
  4.19894072e-05,-7.36862408e-04,-7.37192799e-05,-6.36381678e-05,
 -1.86984920e-06,-8.05431125e-04,-1.59022462e-04,-6.92105552e-05,
 -8.83207027e-06,-1.04623249e-04,-1.43720242e-05,-5.51306179e-05,
  3.06911984e-05, 4.77411726e-06,-1.21645157e+00, 1.58719301e-03,
  5.53314743e-04, 2.62438127e-05]


--- Step 2246 ---
qpos:
[-0.01510532, 1.27648997,-0.02248263, 0.94825164, 0.00436722, 1.29300564,
 -0.02947718, 0.94580109, 0.01668964, 1.32381288,-0.02358769, 0.95458228,
  1.38632686,-0.00144352, 1.19379248, 0.0630231 ,-0.00365592,-0.09257666,
  0.08147799, 0.62892832,-0.01268065,-0.0042052 , 0.7773485 ]

qacc:
[ 8.91188948e-02, 5.18813270e+00,-1.52733574e+01, 2.00236080e+01,
  1.26176384e-01,-1.20936780e+01, 2.66949518e+01,-1.56464395e+01,
 -4.13155466e-03,-6.05891431e+00, 6.34741908e+00, 1.63543047e+01,
 -4.33518955e-01, 4.55030719e-01, 1.24398674e+01,-4.27558748e+01,
  1.29975550e+00, 1.16029208e+00, 1.20179049e+00, 7.00657671e+01,
  6.36746912e+01, 1.79762939e+00]

qfrc_actuator:
[ 2.97837480e-03, 7.27283447e-02, 1.06274901e-02, 2.03022678e-03,
  5.47634971e-05, 7.38552690e-02, 1.06229527e-02, 2.26983667e-03,
 -3.01952512e-03, 4.76005220e-02, 1.05305004e-02, 2.25105583e-03,
  0.00000000e+00,-1.78013094e-03, 0.00000000e+00,-1.86996313e-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,  7.5237668 ,  4.24024882,  7.5237668 , 11.79735009,
       -5.60875692,  4.24024882, -5.60875692, 18.58836903,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014434619999879605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.88427152e-14, -3.84569537e-14,  1.00000000e+00, -1.10920296e-27,
        1.00000000e+00,  3.84569537e-14, -1.00000000e+00,  0.00000000e+00,
       -2.88427152e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0362915 , -0.11878228,  0.06187197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51960901e-05, 2.27099734e-04, 2.07206408e-05, 4.26674380e-05,
  3.54225690e-05,-9.39011137e-04,-1.59803868e-04,-2.20177799e-05,
 -1.40209110e-06,-7.98836462e-04,-1.70591809e-04, 4.98539502e-05,
 -2.99576002e-05,-1.16393244e-05,-1.48830264e-05,-2.11455839e-04,
  1.27546023e-05,-2.99333120e-06,-1.21644893e+00, 1.59353507e-03,
  5.50318124e-04, 1.68000304e-05]


--- Step 2247 ---
qpos:
[-0.01510559, 1.27726152,-0.02248799, 0.94825506, 0.00436783, 1.29379333,
 -0.02947716, 0.94581014, 0.01668975, 1.32407591,-0.02359117, 0.95459254,
  1.38639952,-0.0014437 , 1.19394946, 0.06301754,-0.00365871,-0.09256107,
  0.08147309, 0.62897985,-0.0130303 ,-0.00394435, 0.77730239]

qacc:
[ 1.28992594e-01, 7.69695677e+00,-1.69254412e+01, 6.71834107e+00,
 -2.92641466e-02,-1.60905228e+01, 3.78113896e+01,-3.24788771e+01,
 -2.80253985e-03,-7.23287778e+00, 1.44944340e+01,-1.09694070e+01,
 -9.07357719e-01, 1.56334951e+00,-1.25973614e+00, 3.71321100e+00,
  1.18894739e+00, 1.11395259e+00, 4.38301619e-01, 6.52371338e+01,
  5.90454324e+01, 1.49112918e+00]

qfrc_actuator:
[ 3.00077916e-03, 7.31484874e-02, 1.06500248e-02, 2.01676389e-03,
  2.53182739e-05, 7.32003675e-02, 1.06025003e-02, 2.23194637e-03,
 -3.01983456e-03, 4.73235679e-02, 1.05182323e-02, 2.24044404e-03,
  0.00000000e+00,-1.71496238e-03, 0.00000000e+00,-1.84685483e-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,  7.54955784,  4.19415704,  7.54955784, 12.38633789,
       -6.75002088,  4.19415704, -6.75002088, 20.78652221,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014492275739267715
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43639840e-14,  7.66079148e-14,  1.00000000e+00,  1.10039486e-27,
        1.00000000e+00, -7.66079148e-14, -1.00000000e+00,  0.00000000e+00,
       -1.43639840e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03628523, -0.11876995,  0.06187145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.65473766e-05, 5.44283387e-04, 6.92228830e-05,-4.12644404e-06,
 -8.72401437e-06,-1.21288949e-03,-2.24158451e-04,-7.01472594e-05,
 -9.97837947e-07,-7.52468496e-04,-1.86505223e-04,-3.77228300e-05,
 -1.93159379e-05, 5.53340499e-05,-3.41643094e-05, 8.56020004e-06,
  3.05820694e-06,-5.96584958e-07,-1.21645007e+00, 1.59924648e-03,
  5.47152572e-04, 2.03304899e-05]


--- Step 2248 ---
qpos:
[-0.01510542, 1.27803979,-0.02249394, 0.94825774, 0.00436825, 1.2945691 ,
 -0.02947579, 0.94581918, 0.01669001, 1.3243338 ,-0.02359465, 0.9546032 ,
  1.38647179,-0.00144266, 1.1941059 , 0.06301491,-0.003657  ,-0.09255047,
  0.08147682, 0.62902954,-0.01320423,-0.00369255, 0.77726048]

qacc:
[ 1.83263631e-01, 9.16805612e+00,-1.77801877e+01, 2.90161487e+00,
 -7.93573039e-02,-1.93293177e+01, 4.41719682e+01,-3.08478822e+01,
  6.00907799e-02,-6.05414744e+00, 1.08312285e+01,-1.64409714e+00,
 -9.02126763e-01, 1.78586393e+00,-9.58707783e+00, 3.25753878e+01,
  1.12379601e+00,-1.25082138e+00, 2.16079672e+00, 5.17434774e+01,
 -7.11653788e+01, 1.63546306e+00]

qfrc_actuator:
[ 3.03190021e-03, 7.36572799e-02, 1.06839832e-02, 1.98983537e-03,
  7.44988618e-06, 7.24805504e-02, 1.06252417e-02, 2.22365332e-03,
 -3.00231031e-03, 4.71445349e-02, 1.05479769e-02, 2.26558672e-03,
  0.00000000e+00,-1.64081629e-03, 0.00000000e+00,-1.68888986e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014460550429272329
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.83879933e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.83879933e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03187818, -0.07718795,  0.06187168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.19131488e-05, 8.16415914e-04, 1.46769224e-04,-7.81905237e-06,
 -2.30327162e-05,-1.44323674e-03,-2.43232231e-04,-5.17638837e-05,
  1.70721653e-05,-6.34568158e-04,-1.39802779e-04,-3.10779665e-06,
  2.36119116e-06, 8.52279074e-05,-1.67089430e-05, 1.53644792e-04,
 -3.02922499e-08, 9.82107686e-06,-1.21645421e+00, 1.60450240e-03,
  5.43798362e-04, 3.41563961e-05]


--- Step 2249 ---
qpos:
[-0.01510486, 1.27882329,-0.02249908, 0.94826155, 0.00436877, 1.29533194,
 -0.02947328, 0.94582957, 0.01669044, 1.32458772,-0.0235994 , 0.95461267,
  1.38654403,-0.00144099, 1.19426248, 0.06301182,-0.00365101,-0.09254447,
  0.08148592, 0.62907771,-0.01321457,-0.00344939, 0.77722243]

qacc:
[ 1.70199439e-01, 6.58611576e+00,-1.54819083e+01, 2.31046486e+01,
  4.12634480e-02,-1.77473957e+01, 3.46274677e+01,-6.35548026e+00,
  7.18238224e-02,-3.86040167e+00, 8.69540091e+00,-1.88309852e+01,
 -4.84324705e-01, 9.89923574e-01, 1.69288868e+00,-5.50061669e+00,
  1.07129691e+00,-1.14613006e+00, 1.34128154e+00, 4.80920868e+01,
 -6.63241048e+01, 1.44003505e+00]

qfrc_actuator:
[ 3.05025008e-03, 7.38602394e-02, 1.07070896e-02, 2.04404859e-03,
  3.21794693e-05, 7.17632524e-02, 1.06552697e-02, 2.28607263e-03,
 -2.99198373e-03, 4.69902886e-02, 1.04962042e-02, 2.20516002e-03,
  0.00000000e+00,-1.61523174e-03, 0.00000000e+00,-1.71909320e-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,  5.05741733, -7.00066474,  5.05741733, 28.53285886,
       14.37361784, -7.00066474, 14.37361784, 19.02014669,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014509037246775158
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.86947802e-14,  7.65194138e-14,  1.00000000e+00,  2.19570776e-27,
        1.00000000e+00, -7.65194138e-14, -1.00000000e+00,  0.00000000e+00,
       -2.86947802e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03186921, -0.0771884 ,  0.0618713 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.81354981e-05, 6.76097458e-04, 1.97804478e-04, 8.36118470e-05,
  1.11662019e-05,-1.57119234e-03,-2.82593504e-04, 1.19058389e-05,
  2.05233440e-05,-5.34393970e-04,-1.91966255e-04,-8.30195625e-05,
  2.13106897e-05, 4.97782543e-05, 7.36514521e-06,-2.42281677e-05,
  2.37410094e-06, 9.50050185e-06,-1.21644733e+00, 1.59708793e-03,
  5.41295318e-04, 4.53885997e-05]


--- Step 2250 ---
qpos:
[-0.01510326, 1.27955717,-0.02250632, 0.94827107, 0.00436946, 1.29608063,
 -0.02946971, 0.94583971, 0.01669102, 1.32483694,-0.02360509, 0.95462036,
  1.38661713,-0.00144437, 1.19440234, 0.06300702,-0.00364092,-0.0925427 ,
  0.08149765, 0.62912462,-0.01307133,-0.00321452, 0.7771879 ]

qacc:
[ 4.48656015e-01,-4.96281646e+01, 7.16980535e+01, 3.45858138e+01,
  7.62891266e-02,-2.18425887e+01, 4.93167244e+01,-3.65905561e+01,
  6.37205927e-02,-6.71277490e+00, 1.80337572e+01,-3.32439992e+01,
  4.90739502e+00,-9.07822867e+00,-2.00499023e+01, 3.31361088e+01,
  1.02665379e+00,-1.06113576e+00, 6.54614342e-01, 4.50792591e+01,
 -6.23161687e+01, 1.27827154e+00]

qfrc_actuator:
[ 3.02529114e-03, 7.38430105e-02, 1.07047667e-02, 2.07438667e-03,
  4.67553535e-05, 7.09644968e-02, 1.06716061e-02, 2.26530844e-03,
 -2.98606030e-03, 4.67097967e-02, 1.04322947e-02, 2.11257531e-03,
  0.00000000e+00,-1.67192760e-03, 0.00000000e+00,-1.75344453e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14541412, -0.1408099 ,  0.03630206, -0.1408099 ,  0.22607485,
        0.3128701 ,  0.03630206,  0.3128701 ,  1.3589873 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.9902515571966e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09279231e-01,  8.75358473e-02, -9.46933912e-01, -2.71773433e-02,
        9.96161370e-01,  8.32100750e-02,  9.50582847e-01, -6.93889390e-18,
        3.10471014e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0727751 , -0.0426279 ,  0.22417624])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  4.8856736 , -7.12158482,  4.8856736 , 36.56394372,
       19.1593647 , -7.12158482, 19.1593647 , 21.78040457,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014394325097973545
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.85646085e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.85646085e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03188263, -0.07717855,  0.0618723 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.61356024e-06, 3.90991631e-04, 1.53450113e-04, 5.91952559e-05,
  2.10575419e-05,-1.72908061e-03,-3.23887250e-04,-7.47979249e-05,
  1.81558620e-05,-6.17773199e-04,-1.92803794e-04,-1.15605386e-04,
  2.26731814e-05,-3.77854955e-05,-3.04412689e-06,-3.56117888e-05,
  6.74415307e-06, 7.38164395e-06,-1.21644381e+00, 1.59103012e-03,
  5.39551600e-04, 4.69343104e-05]


--- Step 2251 ---
qpos:
[-0.01510188, 1.28023981,-0.02252396, 0.94828019, 0.00437032, 1.29681466,
 -0.02946586, 0.9458493 , 0.01669171, 1.32508104,-0.02361055, 0.95462755,
  1.38668915,-0.00145179, 1.19452468, 0.06300027,-0.00363067,-0.09254605,
  0.08151611, 0.62917329,-0.01282631,-0.00307771, 0.77715313]

qacc:
[-8.90566729e-02,-3.98963045e+01, 4.98312336e+01,-1.61299738e+01,
  7.47416989e-02,-2.09476430e+01, 4.62521392e+01,-3.73968031e+01,
  4.96524536e-02,-8.16911190e+00, 1.95336219e+01,-1.94737537e+01,
  2.73263338e+00,-6.33204085e+00,-2.02378785e+01, 3.25032778e+01,
  3.69008211e-02,-1.27739345e+00, 1.68611267e+00,-6.07590295e+00,
 -7.03960738e+01,-1.56281103e+00]

qfrc_actuator:
[ 2.99129941e-03, 7.37641747e-02, 1.07075298e-02, 2.01433985e-03,
  5.51196868e-05, 7.01764992e-02, 1.06615866e-02, 2.23117810e-03,
 -2.98282693e-03, 4.64623875e-02, 1.04500432e-02, 2.09052266e-03,
  0.00000000e+00,-1.68381991e-03, 0.00000000e+00,-1.61134678e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14612395, -0.06983499,  0.12835607, -0.06983499,  0.27485457,
        0.07003877,  0.12835607,  0.07003877,  0.18423011,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.688386887584996e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30858823,  0.08754452, -0.94715852, -0.02711933,  0.99616061,
        0.08323813,  0.95080905,  0.        ,  0.30977759])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07276924, -0.04263832,  0.22419534])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0014267569838016109
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.89072224e-14,  3.89072224e-14,  1.00000000e+00,  1.51377195e-27,
        1.00000000e+00, -3.89072224e-14, -1.00000000e+00,  0.00000000e+00,
       -3.89072224e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00352444, -0.07096216,  0.06187341])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.39418896e-05, 2.78683846e-03, 2.60286086e-04,-2.85482039e-04,
  2.06415928e-05,-1.81621083e-03,-3.88333859e-04,-9.61305108e-05,
  1.40651189e-05,-6.31893883e-04,-1.28473096e-04,-4.83360830e-05,
 -2.05335218e-05, 2.02306005e-04, 8.30320367e-04, 1.90642871e-04,
  1.27007286e-05, 3.79406813e-06,-1.21644301e+00, 1.58604316e-03,
  5.38433470e-04, 4.05091933e-05]


--- Step 2252 ---
qpos:
[-0.0151004 , 1.28087348,-0.02255359, 0.9482874 , 0.00437132, 1.29753448,
 -0.0294623 , 0.94585877, 0.01669234, 1.32532017,-0.02361615, 0.95463478,
  1.3867594 ,-0.00146306, 1.19463573, 0.06299194,-0.00362535,-0.09255361,
  0.08153205, 0.62922409,-0.01257529,-0.00311961, 0.77711593]

qacc:
[ 4.16519477e-02,-3.52341257e+01, 4.12407531e+01,-2.74541016e+01,
  6.03268613e-02,-1.80892142e+01, 3.67191328e+01,-2.43450283e+01,
 -2.63899963e-02,-6.12054035e+00, 1.20187894e+01,-6.93201335e+00,
  1.73496226e+00,-5.16271808e+00,-1.21548019e+01, 1.77644453e+01,
 -1.23053104e+00,-1.05393940e+00,-6.32166124e-01,-6.75447795e+01,
 -5.85282136e+01,-2.75074459e+00]

qfrc_actuator:
[ 2.98823273e-03, 7.37053358e-02, 1.07224839e-02, 1.92164833e-03,
  5.96902924e-05, 6.94898899e-02, 1.06538688e-02, 2.22495376e-03,
 -2.99898647e-03, 4.62193732e-02, 1.04449948e-02, 2.09246354e-03,
  0.00000000e+00,-1.70330955e-03, 0.00000000e+00,-1.62872534e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1477251 ,  0.0742145 , -0.12772984,  0.0742145 ,  0.30754687,
        0.09286078, -0.12772984,  0.09286078,  0.20167973,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011916365704290471
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.07955699e-01,  8.75524508e-02, -9.47363635e-01, -2.70662128e-02,
        9.96159911e-01,  8.32637482e-02,  9.51015619e-01, -3.46944695e-18,
        3.09142835e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0727633 , -0.04264785,  0.22421315])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.58122945,  0.97430897,  8.58122945,  8.78849527,
       -1.33989983,  0.97430897, -1.33989983, 20.43753579,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014217578874562709
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  7.8088051e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -7.8088051e-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([ 0.03595925, -0.06249485,  0.06187393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.67347244e-05, 5.28346857e-03, 7.94336024e-04,-3.56835776e-04,
  1.66025403e-05,-1.77612808e-03,-4.11000451e-04,-7.32356082e-05,
 -7.74237058e-06,-6.20708428e-04,-1.44740283e-04,-2.13204316e-05,
  3.32680035e-05, 3.85385680e-04, 1.70348864e-03, 2.70779738e-04,
  1.03968775e-05,-2.23028568e-06,-1.21644183e+00, 1.58099946e-03,
  5.39030195e-04, 2.80203120e-05]


--- Step 2253 ---
qpos:
[-0.01509821, 1.28146178,-0.02259593, 0.94829455, 0.00437242, 1.29824015,
 -0.02945897, 0.94586844, 0.01669315, 1.32555419,-0.02362286, 0.95464204,
  1.3868277 ,-0.00147764, 1.19473909, 0.06298151,-0.0036246 ,-0.09256529,
  0.08154327, 0.62927725,-0.01231902,-0.00332945, 0.77707613]

qacc:
[ 3.08781092e-01,-2.53837882e+01, 1.10481651e+01, 1.80245443e+01,
  4.38313429e-02,-1.76149425e+01, 3.46250282e+01,-1.87504707e+01,
  7.41310470e-02,-3.64481226e+00, 3.71558342e+00, 3.80654135e-01,
  9.79785376e-01,-3.94418099e+00,-5.13848939e+00, 1.12421374e+00,
 -1.14401065e+00,-1.02876594e+00,-1.17679802e+00,-6.35933021e+01,
 -5.48547311e+01,-2.79538676e+00]

qfrc_actuator:
[ 3.02125298e-03, 7.37122424e-02, 1.06972500e-02, 1.93530499e-03,
  6.19492683e-05, 6.87985316e-02, 1.06479932e-02, 2.23526091e-03,
 -2.97339115e-03, 4.59276380e-02, 1.03732705e-02, 2.09071509e-03,
  0.00000000e+00,-1.70819187e-03, 0.00000000e+00,-1.72364314e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00016732970664255428
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30738104,  0.08755955, -0.94754959, -0.02701791,  0.99615929,
        0.0832869 ,  0.95120288,  0.        ,  0.30856616])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07275775, -0.04265656,  0.22422969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.010172  , -3.22860982, -8.010172  , 10.24203469,
       -3.98366542, -3.22860982, -3.98366542, 18.51982651,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014077745075653722
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.94318486e-14,  3.94318486e-14,  1.00000000e+00,  1.55487068e-27,
        1.00000000e+00, -3.94318486e-14, -1.00000000e+00,  0.00000000e+00,
       -3.94318486e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03598727, -0.0624802 ,  0.06187518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.87570061e-05, 7.73383260e-03, 1.36802184e-03,-2.46683734e-04,
  1.19252303e-05,-1.76231409e-03,-4.03199200e-04,-5.56556591e-05,
  2.11573154e-05,-6.65582396e-04,-2.10282775e-04,-2.45325894e-05,
  1.21047988e-04, 5.72857629e-04, 2.26599588e-03, 2.53906413e-04,
  1.32211895e-06,-1.66512816e-06,-1.21644045e+00, 1.57659119e-03,
  5.41397188e-04, 2.69779772e-05]


--- Step 2254 ---
qpos:
[-0.01509697, 1.28201239,-0.02264752, 0.94830234, 0.00437344, 1.29893179,
 -0.0294558 , 0.94587782, 0.01669432, 1.32578258,-0.02362932, 0.95464852,
  1.38689341,-0.00149467, 1.1948309 , 0.06296911,-0.00362815,-0.09258099,
  0.08154796, 0.62933283,-0.0120581 ,-0.00369832, 0.77703354]

qacc:
[-4.05974893e-01,-2.33820560e+01, 1.53146826e+01, 1.74184189e+01,
 -3.32372481e-02,-1.84820865e+01, 3.86394556e+01,-2.80442996e+01,
  1.58387961e-01,-9.41166518e+00, 2.33787999e+01,-2.58676036e+01,
  1.31490771e-01,-2.52701604e+00,-1.11986464e+01, 1.41872961e+01,
 -1.07288301e+00,-1.00588848e+00,-1.63466247e+00,-6.03149177e+01,
 -5.18254242e+01,-2.80559740e+00]

qfrc_actuator:
[ 3.00425179e-03, 7.37213225e-02, 1.07599207e-02, 2.01167797e-03,
  4.50518589e-05, 6.81099302e-02, 1.06432670e-02, 2.21970092e-03,
 -2.94070763e-03, 4.56443072e-02, 1.03868453e-02, 2.05123111e-03,
  0.00000000e+00,-1.65004312e-03, 0.00000000e+00,-1.57987736e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002118084414249391
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30686154,  0.08756568, -0.94771739, -0.02697415,  0.99615875,
        0.08330752,  0.95137184,  0.        ,  0.30804482])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07275278, -0.04266454,  0.22424504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.03214574, -3.17354875, -8.03214574, 10.63059771,
       -5.04733974, -3.17354875, -5.04733974, 21.41101171,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013813500096523448
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.01861591e-14,  2.00930795e-14,  1.00000000e+00,  8.07463691e-28,
        1.00000000e+00, -2.00930795e-14, -1.00000000e+00,  0.00000000e+00,
       -4.01861591e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03603554, -0.06244865,  0.06187744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02103340e-04, 1.00064331e-02, 2.06486483e-03,-1.66724421e-04,
 -9.97313942e-06,-1.74972643e-03,-3.97917015e-04,-8.04914169e-05,
  4.52735086e-05,-6.94848200e-04,-1.41282435e-04,-6.55984478e-05,
  2.18963428e-04, 7.97034046e-04, 2.64827940e-03, 5.02596594e-04,
 -1.64386495e-06, 6.25049052e-06,-1.21644186e+00, 1.57220061e-03,
  5.43646786e-04, 3.49628564e-05]


--- Step 2255 ---
qpos:
[-0.01509745, 1.28253047,-0.02270574, 0.94830935, 0.00437418, 1.29960925,
 -0.02945206, 0.9458859 , 0.01669558, 1.3260051 ,-0.02363472, 0.95465688,
  1.38695688,-0.00151385, 1.19490998, 0.06295553,-0.00363575,-0.09260063,
  0.08154458, 0.62939081,-0.01179299,-0.00421886, 0.77698799]

qacc:
[-7.31119647e-01,-2.62074127e+01, 3.55495264e+01,-1.97002466e+01,
 -1.18201125e-01,-2.23651671e+01, 5.31427603e+01,-5.22382927e+01,
  3.63643646e-02,-7.33532704e+00, 1.08449353e+01, 1.58904742e+01,
  3.22399950e-01,-2.47037477e+00,-1.53292656e+01, 2.61081528e+01,
 -1.01418785e+00,-9.85136448e-01,-2.01927068e+00,-5.75999831e+01,
 -4.93320780e+01,-2.78962365e+00]

qfrc_actuator:
[ 2.95862331e-03, 7.36534009e-02, 1.08414731e-02, 2.00075034e-03,
  1.68015762e-05, 6.74107793e-02, 1.06747652e-02, 2.15352879e-03,
 -2.95729680e-03, 4.53685717e-02, 1.04506836e-02, 2.14968941e-03,
  0.00000000e+00,-1.64237824e-03, 0.00000000e+00,-1.38096101e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025293896546959085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.06386630e-01,  8.75714971e-02, -9.47870490e-01, -2.69342107e-02,
        9.96158237e-01,  8.33265588e-02,  9.51526028e-01, -3.46944695e-18,
        3.07568234e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07274785, -0.04267177,  0.22425944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.02977508, -3.17954228, -8.02977508, 11.23300664,
       -6.5576921 , -3.17954228, -6.5576921 , 25.19748722,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013452091373624686
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.12658149e-14,  6.18987223e-14,  1.00000000e+00,  2.55430122e-27,
        1.00000000e+00, -6.18987223e-14, -1.00000000e+00,  0.00000000e+00,
       -4.12658149e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03609944, -0.06240403,  0.06188049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00378083e-04, 1.18178299e-02, 2.60886941e-03,-2.08333244e-04,
 -3.41731988e-05,-1.75289669e-03,-3.59332722e-04,-1.31167295e-04,
  1.02110297e-05,-6.91136364e-04,-9.00885937e-05, 7.25313174e-05,
  3.47870296e-04, 9.27496752e-04, 3.22432762e-03, 7.99530606e-04,
  5.37791115e-07, 2.03429121e-05,-1.21644560e+00, 1.56777464e-03,
  5.45848731e-04, 5.05007632e-05]


--- Step 2256 ---
qpos:
[-0.01509852, 1.28301711,-0.02277122, 0.94831577, 0.00437461, 1.30027263,
 -0.02944836, 0.94589454, 0.01669652, 1.32622264,-0.02363929, 0.95466526,
  1.38701846,-0.00153515, 1.19498036, 0.06294088,-0.00363751,-0.09261549,
  0.08154776, 0.62944737,-0.01153979,-0.00454245, 0.77694415]

qacc:
[ -0.24967846,-22.70694052, 25.46351793, -9.38196046, -0.12898228,
 -17.42573628, 33.34864374,-13.48256771, -0.13815029, -8.74693358,
  20.58984694,-14.56120216,  0.3478374 , -2.37204832, -9.66108201,
  14.9485254 ,  1.45976581,  1.19388133,  1.6418393 , 72.76188156,
  66.59656654,  2.28203685]

qfrc_actuator:
[ 2.98572496e-03, 7.36734735e-02, 1.08821579e-02, 1.97410655e-03,
 -2.75526430e-07, 6.67110603e-02, 1.06740790e-02, 2.18238444e-03,
 -3.00331059e-03, 4.51709011e-02, 1.05082634e-02, 2.15103539e-03,
  0.00000000e+00,-1.62881496e-03, 0.00000000e+00,-1.36199231e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002910514189509335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3059489 ,  0.08757733, -0.94801133, -0.02689754,  0.99615772,
        0.08334454,  0.9516679 ,  0.        ,  0.30712898])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07274275, -0.04267831,  0.22427304])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013674321140785262
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.05951788e-14,  4.05951788e-14,  1.00000000e+00,  1.64796855e-27,
        1.00000000e+00, -4.05951788e-14, -1.00000000e+00,  0.00000000e+00,
       -4.05951788e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03645188, -0.11883612,  0.06187862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21829924e-05, 1.34602661e-02, 2.97985502e-03,-1.95191880e-04,
 -3.72019698e-05,-1.74906749e-03,-3.89210613e-04,-3.63000434e-05,
 -3.98838357e-05,-5.96877681e-04,-8.57503110e-05,-1.97624253e-05,
  4.59544188e-04, 1.04908344e-03, 3.85908758e-03, 8.76898921e-04,
  7.16122288e-06, 3.97657539e-05,-1.21645130e+00, 1.56328493e-03,
  5.48047339e-04, 7.25249148e-05]


--- Step 2257 ---
qpos:
[-0.01509984, 1.28347395,-0.02284454, 0.94832206, 0.00437478, 1.30092236,
 -0.02944517, 0.94590313, 0.01669703, 1.32643614,-0.02364348, 0.9546718 ,
  1.38707776,-0.00155823, 1.19504384, 0.062925  ,-0.003634  ,-0.09262578,
  0.08155421, 0.62950321,-0.01129701,-0.00468371, 0.77690164]

qacc:
[ -0.10954609,-18.18633036, 12.40672745,  6.25233256, -0.11127585,
 -16.64605787, 32.81319617,-20.62163006, -0.1776088 , -9.52202823,
  28.35864558,-43.22076197, -0.2906194 , -1.48266424, -6.50669887,
   7.87035643,  1.31923391,  1.1438469 ,  0.81703618, 67.55109977,
  61.41679425,  1.76835251]

qfrc_actuator:
[ 3.02051832e-03, 7.38470310e-02, 1.09193658e-02, 1.97365864e-03,
 -1.05114118e-05, 6.60520842e-02, 1.06544568e-02, 2.17814527e-03,
 -3.03109626e-03, 4.50215370e-02, 1.05441486e-02, 2.05971835e-03,
  0.00000000e+00,-1.53987711e-03, 0.00000000e+00,-1.37960850e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032644526804422036
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30554796,  0.08758285, -0.94814012, -0.02686399,  0.99615724,
        0.08336115,  0.95179765,  0.        ,  0.30672664])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07273777, -0.04268425,  0.22428583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  6.74258497,  5.39669573,  6.74258497, 12.47459051,
       -4.79544747,  5.39669573, -4.79544747, 14.62775423,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013877797450741608
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49999826e-14,  9.99999305e-15,  1.00000000e+00,  2.49999653e-28,
        1.00000000e+00, -9.99999305e-15, -1.00000000e+00,  0.00000000e+00,
       -2.49999826e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03642655, -0.11880641,  0.06187694])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.60602875e-05, 1.52020371e-02, 3.37957704e-03,-1.65515820e-04,
 -3.21409670e-05,-1.70906433e-03,-4.07985159e-04,-6.79719831e-05,
 -5.11834079e-05,-4.98304085e-04,-9.12411289e-05,-1.11660077e-04,
  5.54187939e-04, 1.24429468e-03, 4.29230609e-03, 9.12897116e-04,
 -3.73821798e-07, 1.57421278e-05,-1.21644401e+00, 1.56899004e-03,
  5.46402196e-04, 4.27100608e-05]


--- Step 2258 ---
qpos:
[-0.01510141, 1.28390313,-0.0229248 , 0.94832772, 0.00437474, 1.30155877,
 -0.02944269, 0.94591091, 0.01669746, 1.32664608,-0.02364807, 0.95467824,
  1.38713492,-0.00158301, 1.19510293, 0.06290829,-0.00362566,-0.09263167,
  0.08156115, 0.62955884,-0.01106342,-0.00465476, 0.77686009]

qacc:
[-1.03107981e-01,-1.86547805e+01, 1.83062703e+01,-5.94427624e+00,
 -8.61540868e-02,-1.69666400e+01, 3.58731625e+01,-3.20797083e+01,
 -3.85459255e-02,-3.73930361e+00, 6.77995857e+00,-4.88224491e+00,
 -3.49949041e-01,-1.30153334e+00,-4.00497031e+00, 4.54688079e+00,
  1.20483336e+00, 1.10038281e+00, 1.23754236e-01, 6.32241151e+01,
  5.71397085e+01, 1.37081186e+00]

qfrc_actuator:
[ 2.98882289e-03, 7.40170854e-02, 1.09934716e-02, 1.95319956e-03,
 -1.65620384e-05, 6.54049860e-02, 1.06239582e-02, 2.13670110e-03,
 -3.01221617e-03, 4.48666900e-02, 1.05316112e-02, 2.05666778e-03,
  0.00000000e+00,-1.47620958e-03, 0.00000000e+00,-1.43634310e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003593232447079084
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30518279,  0.08758797, -0.94825725, -0.02683347,  0.99615679,
        0.08337636,  0.95191566,  0.        ,  0.3063602 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07273301, -0.04268963,  0.22429785])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  6.78577973,  5.34228138,  6.78577973, 13.29239619,
       -5.91410468,  5.34228138, -5.91410468, 16.14847482,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001389086620251119
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49858773e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.49858773e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03642917, -0.11880087,  0.06187687])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.70297232e-05, 1.68577464e-02, 3.84494050e-03,-1.78859312e-04,
 -2.49858509e-05,-1.67955787e-03,-4.14079341e-04,-1.05282766e-04,
 -1.11776621e-05,-4.53048984e-04,-1.23725996e-04,-2.27806815e-05,
  6.68107225e-04, 1.39771120e-03, 4.63644013e-03, 9.17514689e-04,
 -1.02409300e-06, 2.34295851e-06,-1.21644054e+00, 1.57388774e-03,
  5.44541339e-04, 2.62350784e-05]


--- Step 2259 ---
qpos:
[-0.01510247, 1.28430622,-0.02301079, 0.94833255, 0.00437441, 1.30218241,
 -0.0294412 , 0.94591811, 0.01669806, 1.32685223,-0.02365241, 0.9546839 ,
  1.38719081,-0.0016097 , 1.19516142, 0.06289119,-0.00361288,-0.09263331,
  0.08156626, 0.62961459,-0.01083804,-0.00446564, 0.7768192 ]

qacc:
[  0.22114664,-20.25955872, 26.46011685,-16.40822658, -0.12489747,
 -15.06522977, 30.06966016,-24.69408261,  0.07879664, -7.03235634,
  18.48719454,-22.71891278,  0.29655015, -1.98688958,  0.23277091,
  -2.23653046,  1.11157722,  1.06278095, -0.45844658, 59.63355707,
  53.60791353,  1.06437401]

qfrc_actuator:
[ 2.95282829e-03, 7.40705631e-02, 1.10919635e-02, 1.92128268e-03,
 -3.78076166e-05, 6.48056648e-02, 1.05873381e-02, 2.10920771e-03,
 -2.98324972e-03, 4.46741823e-02, 1.05439252e-02, 2.01681852e-03,
  0.00000000e+00,-1.49809487e-03, 0.00000000e+00,-1.56972001e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038999283493831166
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04850542e-01,  8.75927241e-02, -9.48363676e-01, -2.68057206e-02,
        9.96156371e-01,  8.33902791e-02,  9.52022899e-01,  6.93889390e-18,
        3.06026795e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07272863, -0.04269452,  0.22430914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  6.82259653,  5.2951821 ,  6.82259653, 14.28422376,
       -7.27700581,  5.2951821 , -7.27700581, 18.0124481 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001375171328612125
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.55042353e-14,  4.03667166e-14,  1.00000000e+00, -2.24052373e-27,
        1.00000000e+00, -4.03667166e-14, -1.00000000e+00,  0.00000000e+00,
        5.55042353e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0364539 , -0.11881443,  0.06187807])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.29659682e-05, 1.82910246e-02, 4.29037806e-03,-1.78874695e-04,
 -3.59812428e-05,-1.61765161e-03,-4.16195247e-04,-9.15124450e-05,
  2.24897992e-05,-4.69363147e-04,-9.11216715e-05,-5.71264886e-05,
  7.74561575e-04, 1.46090198e-03, 4.85472667e-03, 8.25209619e-04,
  3.91703085e-06,-2.51507251e-06,-1.21644015e+00, 1.57824475e-03,
  5.42432075e-04, 2.05224601e-05]


--- Step 2260 ---
qpos:
[-0.01510254, 1.28468492,-0.02310224, 0.94833645, 0.00437366, 1.30279307,
 -0.0294399 , 0.94592457, 0.01669863, 1.32705355,-0.0236556 , 0.95468977,
  1.3872461 ,-0.00163824, 1.19521858, 0.06287356,-0.0036066 ,-0.09262867,
  0.08156774, 0.62965988,-0.0108272 ,-0.00427165, 0.77678373]

qacc:
[ 4.21020343e-01,-1.88656631e+01, 2.47977203e+01,-1.70783072e+01,
 -1.78805493e-01,-1.77912793e+01, 3.89851252e+01,-3.42104379e+01,
 -1.70564362e-02,-9.07687593e+00, 2.15421299e+01,-1.31983740e+01,
  8.13498951e-01,-2.37314189e+00,-4.75430567e-01,-1.42759205e+00,
 -1.62423649e+00, 1.56910062e+00,-9.07227354e-01,-6.56945606e+01,
  8.48063726e+01, 6.27101420e+00]

qfrc_actuator:
[ 2.94909821e-03, 7.40990897e-02, 1.11533805e-02, 1.88294863e-03,
 -6.79974079e-05, 6.41687769e-02, 1.05831216e-02, 2.07242174e-03,
 -3.00172917e-03, 4.43897418e-02, 1.05884049e-02, 2.02662256e-03,
  0.00000000e+00,-1.55265567e-03, 0.00000000e+00,-1.64267319e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00041880334200313646
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30454855,  0.08759692, -0.94846031, -0.02678046,  0.996156  ,
        0.08340281,  0.95212026,  0.        ,  0.30572375])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07272488, -0.04269904,  0.22431972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.60287018,  0.75986941,  8.60287018,  9.2234821 ,
       -6.6470684 ,  0.75986941, -6.6470684 , 83.89122403,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001381921722967902
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.01695337e-14,  4.01695337e-14,  1.00000000e+00,  1.61359144e-27,
        1.00000000e+00, -4.01695337e-14, -1.00000000e+00,  0.00000000e+00,
       -4.01695337e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04732968, -0.1150482 ,  0.06187753])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.21958085e-06, 1.96207379e-02, 4.63737182e-03,-1.75022023e-04,
 -5.13801698e-05,-1.62085717e-03,-3.71498995e-04,-9.87126018e-05,
 -5.11188138e-06,-5.64939707e-04,-5.94383561e-05,-7.80798774e-06,
  8.38225363e-04, 1.50282787e-03, 4.88324775e-03, 7.71483136e-04,
  1.35037996e-05,-3.58072028e-07,-1.21644232e+00, 1.58224249e-03,
  5.40058472e-04, 2.36868449e-05]


--- Step 2261 ---
qpos:
[-0.01510268, 1.28504271,-0.02319823, 0.94833951, 0.00437251, 1.30339071,
 -0.02943843, 0.94593124, 0.01669879, 1.32725055,-0.02365783, 0.95469742,
  1.38730081,-0.00166797, 1.1952683 , 0.06285509,-0.0036064 ,-0.09261837,
  0.08156317, 0.62969592,-0.01101662,-0.00407263, 0.77675292]

qacc:
[-2.64583648e-02,-1.66826024e+01, 2.30118498e+01,-1.67538749e+01,
 -1.66126021e-01,-1.72112042e+01, 3.50774090e+01,-1.98816338e+01,
 -1.72388979e-01,-5.19720839e+00, 6.53242154e+00, 1.74351880e+01,
  7.06036649e-01,-1.82850777e+00,-8.52846234e+00, 1.36576751e+01,
 -1.52148433e+00, 1.41654828e+00,-1.51252083e+00,-6.11299065e+01,
  7.93211815e+01, 5.52189822e+00]

qfrc_actuator:
[ 2.92854739e-03, 7.41923881e-02, 1.12123393e-02, 1.85894184e-03,
 -8.55557613e-05, 6.35324103e-02, 1.05979367e-02, 2.08371252e-03,
 -3.04852363e-03, 4.42124455e-02, 1.06511774e-02, 2.11878872e-03,
  0.00000000e+00,-1.57287285e-03, 0.00000000e+00,-1.50155166e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004458248805781391
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04274970e-01,  8.76004513e-02, -9.48547787e-01, -2.67574888e-02,
        9.96155691e-01,  8.34138829e-02,  9.52208370e-01, -3.46944695e-18,
        3.05449211e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07272164, -0.04270326,  0.22432963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.34776096,  2.21397014, -8.34776096,  9.07086863,
        1.63829842,  2.21397014,  1.63829842, 14.81355789,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013877148336268602
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.00027649e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.00027649e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04731553, -0.1150494 ,  0.06187705])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.67542002e-05, 2.09302343e-02, 4.96923449e-03,-1.52320083e-04,
 -4.77933139e-05,-1.61346627e-03,-3.48197526e-04,-4.96084667e-05,
 -4.97052139e-05,-5.02963484e-04,-5.47605685e-05, 7.37931876e-05,
  8.67913926e-04, 1.57531875e-03, 4.94874654e-03, 9.38771910e-04,
  5.05418903e-06, 4.48183774e-06,-1.21644234e+00, 1.58833081e-03,
  5.42637028e-04, 3.48379363e-05]


--- Step 2262 ---
qpos:
[-0.01510489, 1.28538499,-0.02329658, 0.94834477, 0.0043712 , 1.30397611,
 -0.02943714, 0.94593761, 0.01669877, 1.32744464,-0.02366062, 0.95470399,
  1.38735459,-0.0016976 , 1.19530116, 0.06283498,-0.00361194,-0.09260289,
  0.08155051, 0.62972359,-0.0113944 ,-0.00386844, 0.77672608]

qacc:
[-8.83848456e-01,-1.02006749e+01, 4.24926041e+00, 3.13652230e+01,
 -6.94149888e-02,-1.60970347e+01, 3.37285673e+01,-2.50207189e+01,
 -7.48523060e-02,-4.16881021e+00, 1.11384385e+01,-2.01818002e+01,
  2.83431950e-02,-2.58381039e-01,-1.99640470e+01, 3.36044115e+01,
 -1.43468291e+00, 1.29244746e+00,-2.02344464e+00,-5.73360556e+01,
  7.47391231e+01, 4.90434443e+00]

qfrc_actuator:
[ 2.89855864e-03, 7.43485846e-02, 1.13065832e-02, 2.00359455e-03,
 -7.76431723e-05, 6.29726108e-02, 1.06061377e-02, 2.06994568e-03,
 -3.04091388e-03, 4.41186262e-02, 1.06359063e-02, 2.06345179e-03,
  0.00000000e+00,-1.53688473e-03, 0.00000000e+00,-1.08943684e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047094122701406976
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3040256 ,  0.08760368, -0.94862744, -0.02673655,  0.99615541,
        0.08342399,  0.95228861,  0.        ,  0.30519897])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07271833, -0.04270713,  0.22433901])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.36190611,  2.15993128, -8.36190611,  9.16763903,
        2.05676679,  2.15993128,  2.05676679, 16.59888121,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00137680979327022
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.03186784e-14,  2.01593392e-14,  1.00000000e+00,  8.12797913e-28,
        1.00000000e+00, -2.01593392e-14, -1.00000000e+00,  0.00000000e+00,
       -4.03186784e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04733767, -0.11506584,  0.06187793])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.37546451e-05, 2.21292219e-02, 5.28982580e-03, 3.49641106e-05,
 -2.02193380e-05,-1.52665819e-03,-3.49250850e-04,-7.26399357e-05,
 -2.15919623e-05,-3.81848154e-04,-1.17773234e-04,-6.98400386e-05,
  8.97160259e-04, 1.67185951e-03, 5.31998513e-03, 1.39291328e-03,
  5.66071428e-07, 5.95456764e-06,-1.21644567e+00, 1.59254580e-03,
  5.44511986e-04, 3.30664975e-05]


--- Step 2263 ---
qpos:
[-0.0151084 , 1.2857112 ,-0.02339697, 0.94835209, 0.00436998, 1.30454901,
 -0.02943606, 0.94594519, 0.01669898, 1.32763555,-0.02366497, 0.95470994,
  1.38740744,-0.00172744, 1.19532282, 0.06281397,-0.00362293,-0.09258265,
  0.08152803, 0.6297436 ,-0.01195061,-0.00365901, 0.77670252]

qacc:
[-5.50599951e-01,-1.20223035e+01, 9.56258779e+00, 2.56005469e+01,
  4.08426908e-02,-1.37752332e+01, 2.26477307e+01, 2.21566104e+00,
  9.60738714e-02,-1.06000537e+00,-3.04077166e-01,-5.05265053e+00,
 -2.17053742e-02,-4.01570137e-01,-1.38240345e+01, 2.42938458e+01,
 -1.36090878e+00, 1.19113242e+00,-2.45466550e+00,-5.41832532e+01,
  7.09156129e+01, 4.39059126e+00]

qfrc_actuator:
[ 2.90044612e-03, 7.46164888e-02, 1.14571421e-02, 2.10471756e-03,
 -5.45182668e-05, 6.23389006e-02, 1.05928952e-02, 2.13032776e-03,
 -3.00072923e-03, 4.39154361e-02, 1.05394295e-02, 2.02826086e-03,
  0.00000000e+00,-1.48575245e-03, 0.00000000e+00,-9.75163010e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004939792684609187
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03793227e-01,  8.76073168e-02, -9.48701551e-01, -2.67172349e-02,
        9.96155087e-01,  8.34339938e-02,  9.52363305e-01,  3.46944695e-18,
        3.04965794e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07271401, -0.04271061,  0.22434806])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.39828506,  2.0138483 , -8.39828506,  9.21359895,
        2.40722536,  2.0138483 ,  2.40722536, 18.67513602,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013526056773875625
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.20803168e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.20803168e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04738837, -0.11509429,  0.06187988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15443636e-05, 2.31697053e-02, 5.55799639e-03, 2.65704980e-05,
  1.11881383e-05,-1.55333932e-03,-3.54494305e-04, 3.52646083e-06,
  2.75599165e-05,-4.40789602e-04,-1.86690560e-04,-5.12992780e-05,
  9.43337077e-04, 1.71818869e-03, 6.16226953e-03, 1.58899351e-03,
 -6.92014695e-07, 4.67247550e-06,-1.21645178e+00, 1.59539056e-03,
  5.45849285e-04, 2.07631172e-05]


--- Step 2264 ---
qpos:
[-0.01511146, 1.28601794,-0.02350116, 0.94835856, 0.00436908, 1.30510936,
 -0.02943538, 0.94595312, 0.01669937, 1.32782276,-0.02367003, 0.95471576,
  1.38745912,-0.00175841, 1.19534266, 0.06279313,-0.00363938,-0.09256774,
  0.0815068 , 0.62976695,-0.01250157,-0.00364567, 0.77667497]

qacc:
[ 1.89839116e-01,-1.67909797e+01, 2.56667048e+01,-2.00800239e+01,
  1.36919588e-01,-1.47926889e+01, 2.76244951e+01,-1.19870009e+01,
  7.85931236e-02,-3.14201223e+00, 4.62297224e+00,-3.04465622e+00,
 -5.80445184e-02,-1.00686086e+00,-3.22276690e+00, 7.30608030e+00,
 -1.36693015e+00,-1.33207021e+00, 3.12612644e-01,-7.44882969e+01,
 -6.37542383e+01,-3.74016865e+00]

qfrc_actuator:
[ 2.93926078e-03, 7.49404308e-02, 1.15888584e-02, 2.03695206e-03,
 -2.24588752e-05, 6.17015063e-02, 1.05668905e-02, 2.14504850e-03,
 -2.99459021e-03, 4.37190677e-02, 1.05019697e-02, 2.02290032e-03,
  0.00000000e+00,-1.40749984e-03, 0.00000000e+00,-1.12843947e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000515250683207704
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03578081e-01,  8.76111168e-02, -9.48770067e-01, -2.66994808e-02,
        9.96154753e-01,  8.34436667e-02,  9.52432405e-01,  3.46944695e-18,
        3.04749920e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07270917, -0.04271375,  0.22435673])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013713008663334275
  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([ 0.03608543, -0.0624817 ,  0.0618782 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14761392e-04, 2.42945282e-02, 5.79148656e-03,-1.44262906e-04,
  3.85680498e-05,-1.57040161e-03,-3.70811157e-04,-4.13359171e-05,
  2.24888460e-05,-4.79445191e-04,-1.46469201e-04,-2.48073434e-05,
  9.89672723e-04, 1.80785999e-03, 6.72150614e-03, 1.48069699e-03,
  7.47098619e-07, 1.08026538e-06,-1.21646026e+00, 1.59722808e-03,
  5.46769666e-04,-3.25336946e-07]


--- Step 2265 ---
qpos:
[-0.01511351, 1.28630525,-0.02361088, 0.94836427, 0.00436852, 1.30565786,
 -0.02943477, 0.94596075, 0.0166999 , 1.32800606,-0.02367428, 0.95472039,
  1.38750986,-0.0017903 , 1.19536047, 0.06277197,-0.00365543,-0.0925594 ,
  0.0815001 , 0.62979248,-0.01293484,-0.00374635, 0.77664669]

qacc:
[ 4.34367040e-01,-1.19002124e+01, 9.59580338e+00,-5.04453264e+00,
  1.48893578e-01,-1.58826383e+01, 3.36452575e+01,-2.51696786e+01,
  5.89678667e-02,-9.38757620e+00, 2.68471029e+01,-3.47152593e+01,
 -1.86022634e-02,-8.54962733e-01,-2.03005297e+00, 2.69922198e+00,
  1.01886698e-01,-1.64140671e+00, 3.63422728e+00,-7.20325959e+00,
 -8.15948442e+01,-1.99959269e+00]

qfrc_actuator:
[ 2.94575654e-03, 7.54853547e-02, 1.16940933e-02, 1.99421837e-03,
 -3.05467501e-06, 6.11734783e-02, 1.05867665e-02, 2.13274575e-03,
 -2.99117494e-03, 4.35463359e-02, 1.05529525e-02, 1.96416325e-03,
  0.00000000e+00,-1.36524153e-03, 0.00000000e+00,-1.21216988e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005350729143352821
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3033851 ,  0.0876145 , -0.94883148, -0.02668355,  0.99615446,
        0.08345231,  0.95249434,  0.        ,  0.30455628])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07270469, -0.0427166 ,  0.22436488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013852531528519424
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.0072929e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -4.0072929e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00349622, -0.07092067,  0.06187692])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.89433101e-05, 2.58107610e-02, 6.08651948e-03,-1.43899437e-04,
  4.19972474e-05,-1.47490108e-03,-3.31417134e-04,-7.04065777e-05,
  1.67716484e-05,-4.68515111e-04,-6.02232098e-05,-7.75418215e-05,
  1.04846732e-03, 1.90682717e-03, 6.81230935e-03, 1.38855250e-03,
  1.35492185e-05,-9.93091488e-06,-1.21645772e+00, 1.59566184e-03,
  5.48445407e-04,-1.14777982e-05]


--- Step 2266 ---
qpos:
[-0.01511417, 1.28657356,-0.02372723, 0.94836876, 0.00436812, 1.30619536,
 -0.02943467, 0.94596848, 0.01670082, 1.32818512,-0.02367727, 0.95472671,
  1.38756007,-0.00182307, 1.1953771 , 0.0627503 ,-0.00366625,-0.09255619,
  0.08150368, 0.62981663,-0.01318696,-0.00385717, 0.77662232]

qacc:
[ 5.92088948e-01,-9.13634360e+00, 2.19710094e+00,-4.18669296e+00,
  6.62989086e-02,-1.28957420e+01, 2.44217581e+01,-1.30975064e+01,
  1.65013420e-01,-6.06084776e+00, 9.64858454e+00, 1.37177047e+01,
  2.03223632e-01,-9.79059566e-01,-2.67824248e-01,-1.68746495e+00,
  1.30617844e+00,-1.28444462e+00, 2.56806098e+00, 5.31001151e+01,
 -7.35705475e+01, 1.35968626e+00]

qfrc_actuator:
[ 2.91435789e-03, 7.61706095e-02, 1.17866862e-02, 1.93124659e-03,
 -9.15212892e-06, 6.06798717e-02, 1.05807337e-02, 2.14024180e-03,
 -2.95391570e-03, 4.33362157e-02, 1.06202624e-02, 2.05205957e-03,
  0.00000000e+00,-1.34432727e-03, 0.00000000e+00,-1.34250875e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005534014611214486
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03215886e-01,  8.76172613e-02, -9.48885316e-01, -2.66695108e-02,
        9.96154213e-01,  8.34597009e-02,  9.52548615e-01,  3.46944695e-18,
        3.04386492e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07270056, -0.04271921,  0.2243725 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.97103016,  -3.32407206,  -7.97103016,
        13.00478319, -10.47534571,  -3.32407206, -10.47534571,
        33.75594439,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0014099979579335828
  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([-0.03189963, -0.07710567,  0.06187483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.65585176e-05, 2.74650777e-02, 6.45526235e-03,-1.68517438e-04,
  1.85167379e-05,-1.38071827e-03,-3.35002752e-04,-4.72844535e-05,
  4.72431916e-05,-4.84552609e-04,-3.35010845e-05, 7.07054526e-05,
  1.09498691e-03, 1.97465912e-03, 6.91334609e-03, 1.27452271e-03,
  1.72367991e-05,-7.25171916e-06,-1.21645176e+00, 1.59194491e-03,
  5.47974215e-04, 6.07751133e-06]


--- Step 2267 ---
qpos:
[-0.01511307, 1.28682403,-0.02384948, 0.94837232, 0.00436793, 1.30672205,
 -0.02943566, 0.94597593, 0.01670215, 1.32836048,-0.02368013, 0.95473404,
  1.38760978,-0.0018569 , 1.1953959 , 0.06272829,-0.0036722 ,-0.09255768,
  0.081514  , 0.62983967,-0.01327089,-0.00397762, 0.77660161]

qacc:
[  0.75033257, -9.10585041,  3.31610123, -2.47014534,  0.08886549,
 -11.76155508, 21.81628588,-15.45863529,  0.1733461 , -3.43351631,
   3.29257151, 11.18171387,  0.18147453, -1.05584935,  4.18437248,
 -10.05314707,  1.21745682, -1.17484162,  1.68554884, 49.227748  ,
 -68.3651926 ,  1.19682341]

qfrc_actuator:
[ 2.89495152e-03, 7.67521216e-02, 1.19105164e-02, 1.89240088e-03,
  5.00942564e-06, 6.01398025e-02, 1.05241216e-02, 2.12383321e-03,
 -2.93216060e-03, 4.31588191e-02, 1.06255851e-02, 2.10125842e-03,
  0.00000000e+00,-1.31814350e-03, 0.00000000e+00,-1.55376401e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005702931756679207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03071089e-01,  8.76192960e-02, -9.48931385e-01, -2.66573989e-02,
        9.96154034e-01,  8.34657062e-02,  9.52595034e-01, -3.46944695e-18,
        3.04241190e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07269683, -0.04272161,  0.22437958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.92321304, -3.43649124,  7.92321304, 17.98381907,
       21.55159889, -3.43649124, 21.55159889, 58.32597361,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001424854660336164
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73979185e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.73979185e-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([-0.03187995, -0.07711294,  0.06187362])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.23262829e-05, 2.89941918e-02, 6.91057375e-03,-1.46093421e-04,
  2.49860939e-05,-1.37499242e-03,-3.66874820e-04,-6.79517800e-05,
  4.97025258e-05,-4.51047664e-04,-9.12366999e-05, 3.57630817e-05,
  1.12173037e-03, 2.04543634e-03, 6.97226653e-03, 1.08838639e-03,
  8.96363198e-06,-1.84138773e-06,-1.21644472e+00, 1.58806832e-03,
  5.45848674e-04, 2.73688571e-05]


--- Step 2268 ---
qpos:
[-0.01511111, 1.28706137,-0.0239751 , 0.94837517, 0.00436808, 1.30723754,
 -0.02943639, 0.94598344, 0.01670353, 1.32853288,-0.02368392, 0.95473845,
  1.38765878,-0.00189144, 1.19541089, 0.06270586,-0.00367357,-0.09256351,
  0.0815281 , 0.62986175,-0.01319736,-0.00410724, 0.77658427]

qacc:
[ 3.68672961e-01,-9.38719909e+00, 1.12478528e+01,-9.73207328e+00,
  1.44648342e-01,-1.52554195e+01, 3.18685235e+01,-1.97826099e+01,
  2.17534176e-02,-6.46446434e+00, 2.22867403e+01,-5.12236820e+01,
  1.01818647e-01,-7.98466875e-01,-4.35826507e+00, 7.00056326e+00,
  1.14395355e+00,-1.08575481e+00, 9.45835731e-01, 4.60272932e+01,
 -6.40556407e+01, 1.05858051e+00]

qfrc_actuator:
[ 2.93507335e-03, 7.72068284e-02, 1.20550080e-02, 1.88597729e-03,
  3.12115613e-05, 5.95938205e-02, 1.05444568e-02, 2.12893535e-03,
 -2.95538861e-03, 4.30199607e-02, 1.05765940e-02, 1.94970592e-03,
  0.00000000e+00,-1.28826325e-03, 0.00000000e+00,-1.47623544e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005860317306752016
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02948921e-01,  8.76205120e-02, -9.48970283e-01, -2.66470260e-02,
        9.96153927e-01,  8.34702949e-02,  9.52634183e-01, -3.46944695e-18,
        3.04118583e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07269374, -0.04272387,  0.22438615])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.7918664 , -3.72472749,  7.7918664 , 21.42250956,
       26.7477127 , -3.72472749, 26.7477127 , 64.59068629,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014217125155208815
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.95226358e-14,  1.17135815e-13,  1.00000000e+00,  2.28679985e-27,
        1.00000000e+00, -1.17135815e-13, -1.00000000e+00,  0.00000000e+00,
       -1.95226358e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03188447, -0.07710862,  0.06187394])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20209401e-04, 3.03393175e-02, 7.34985723e-03,-1.06003556e-04,
  4.08297588e-05,-1.38449670e-03,-2.93020555e-04,-4.76991193e-05,
  6.16936359e-06,-4.06265543e-04,-1.46586459e-04,-1.66501866e-04,
  1.14656483e-03, 2.12911264e-03, 6.86330577e-03, 1.18266144e-03,
  3.50620048e-06, 1.27317923e-06,-1.21644121e+00, 1.58527759e-03,
  5.44480494e-04, 3.77438484e-05]


--- Step 2269 ---
qpos:
[-0.01510843, 1.28728708,-0.02410363, 0.94837777, 0.00436826, 1.3077422 ,
 -0.02943673, 0.94599024, 0.01670482, 1.32870115,-0.02368759, 0.95474141,
  1.38770688,-0.00192649, 1.19542069, 0.06268289,-0.00367061,-0.0925734 ,
  0.08154351, 0.629883  ,-0.01297523,-0.00424565, 0.77657004]

qacc:
[ 3.10747052e-01,-7.84240767e+00, 7.71539752e+00,-2.52515103e+00,
  1.51250190e-02,-1.64874897e+01, 3.80884023e+01,-3.45093129e+01,
 -3.69929620e-02,-8.22123816e+00, 2.31898564e+01,-3.42535274e+01,
 -1.12669155e-01,-4.65134224e-01,-6.04848394e+00, 1.00119144e+01,
  1.08316124e+00,-1.01342556e+00, 3.26630299e-01, 4.33842718e+01,
 -6.04920964e+01, 9.39467290e-01]

qfrc_actuator:
[ 2.99335109e-03, 7.76056309e-02, 1.21584608e-02, 1.88140259e-03,
  1.11667114e-05, 5.90845071e-02, 1.05745548e-02, 2.09344310e-03,
 -2.96990722e-03, 4.27629466e-02, 1.05670134e-02, 1.87651914e-03,
  0.00000000e+00,-1.23834172e-03, 0.00000000e+00,-1.42048699e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006006220206883767
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02842472e-01,  8.76212680e-02, -9.49004189e-01, -2.66378944e-02,
        9.96153860e-01,  8.34740030e-02,  9.52668284e-01, -3.46944695e-18,
        3.04011743e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07269068, -0.0427259 ,  0.22439237])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.61485599, -4.0744012 ,  7.61485599, 26.54532641,
       33.47097301, -4.0744012 , 33.47097301, 71.19197047,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014042530349658855
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.97653663e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.97653663e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03190809, -0.07709514,  0.06187547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05208487e-04, 3.13930316e-02, 7.62124052e-03,-7.52097282e-05,
  3.89454039e-06,-1.33793259e-03,-2.76100735e-04,-8.59597240e-05,
 -1.07897618e-05,-5.16449539e-04,-1.10641869e-04,-9.31458079e-05,
  1.18199333e-03, 2.21511585e-03, 7.05361641e-03, 1.25990000e-03,
  3.26724061e-07, 2.52500903e-06,-1.21644054e+00, 1.58333341e-03,
  5.43735856e-04, 3.91977840e-05]


--- Step 2270 ---
qpos:
[-0.01510429, 1.28750037,-0.02423517, 0.94838071, 0.00436806, 1.30823663,
 -0.02943761, 0.94599761, 0.01670613, 1.32886517,-0.02369076, 0.9547445 ,
  1.3877543 ,-0.00196232, 1.19543079, 0.0626596 ,-0.00366334,-0.09257857,
  0.08155811, 0.62990518,-0.0127607 ,-0.00422002, 0.77655574]

qacc:
[ 6.22532742e-01,-7.59003135e+00, 4.37327786e+00, 7.96154763e+00,
 -1.57862078e-01,-1.10385797e+01, 1.86234664e+01,-3.14968270e+00,
  8.56991278e-03,-6.69393678e+00, 1.48530338e+01,-8.75573022e+00,
 -5.68976749e-02,-6.32659252e-01, 1.37970013e+00,-4.22891648e+00,
  1.07847411e+00, 1.17930896e+00,-2.04457012e-01, 6.13086160e+01,
  5.46173216e+01, 6.96025897e-01]

qfrc_actuator:
[ 3.00905508e-03, 7.79568766e-02, 1.22736947e-02, 1.89553210e-03,
 -3.64568619e-05, 5.86013012e-02, 1.05570128e-02, 2.12311459e-03,
 -2.96132883e-03, 4.25616608e-02, 1.05981728e-02, 1.88555019e-03,
  0.00000000e+00,-1.21181414e-03, 0.00000000e+00,-1.57280921e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006140908097818538
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30274987,  0.08762163, -0.9490337 , -0.02662986,  0.99615383,
        0.08347695,  0.95269794,  0.        ,  0.3039188 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0726875 , -0.0427277 ,  0.22439831])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013941641776075361
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.98625973e-14,  7.96335928e-14,  1.00000000e+00,  2.37806592e-27,
        1.00000000e+00, -7.96335928e-14, -1.00000000e+00,  0.00000000e+00,
       -2.98625973e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03644365, -0.11876249,  0.06187639])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.25995174e-04, 3.23235296e-02, 7.88214349e-03,-4.77005960e-05,
 -4.53873787e-05,-1.28381803e-03,-3.13816530e-04,-1.98082713e-05,
  2.30007596e-06,-5.12428104e-04,-8.51837852e-05,-1.14404821e-05,
  1.22697747e-03, 2.26789561e-03, 7.31256857e-03, 1.13432018e-03,
 -9.73519293e-07, 2.23414304e-06,-1.21644223e+00, 1.58205751e-03,
  5.43514723e-04, 3.31915529e-05]


--- Step 2271 ---
qpos:
[-0.01509952, 1.287704  ,-0.02436789, 0.94838449, 0.00436771, 1.3087205 ,
 -0.02943811, 0.946007  , 0.01670763, 1.3290262 ,-0.02369403, 0.95474691,
  1.38780079,-0.00199861, 1.19543832, 0.062636  ,-0.00365203,-0.09257925,
  0.08156976, 0.62992837,-0.01255317,-0.00403929, 0.77654127]

qacc:
[  0.26794061, -8.0560062 ,  9.26220487,  7.69895181, -0.06695326,
 -11.42177789, 16.37419282, 15.84561895,  0.08314566, -4.85753893,
  12.45940082,-16.80582605, -0.29170884, -0.2241182 , -2.82802986,
   4.41606238,  1.01090691,  1.12372391, -0.73329802, 58.02327041,
  51.57440226,  0.56257988]

qfrc_actuator:
[ 3.03369884e-03, 7.81785240e-02, 1.24150096e-02, 1.95588296e-03,
 -2.92241677e-05, 5.80842406e-02, 1.05826603e-02, 2.22639365e-03,
 -2.93896439e-03, 4.24843390e-02, 1.06178390e-02, 1.85414948e-03,
  0.00000000e+00,-1.16335228e-03, 0.00000000e+00,-1.53042850e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006267017780510475
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02671986e-01,  8.76213645e-02, -9.49058568e-01, -2.66229281e-02,
        9.96153852e-01,  8.34788789e-02,  9.52722881e-01,  6.93889390e-18,
        3.03840602e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07268465, -0.04272933,  0.2244039 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   6.77801525,   5.35212912,   6.77801525,
        28.97647068, -25.75901154,   5.35212912, -25.75901154,
        41.25795575,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013732434098451818
  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([-0.03647784, -0.1187875 ,  0.06187821])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.74362779e-04, 3.31647334e-02, 8.17382129e-03,-4.60540330e-06,
 -1.94954416e-05,-1.29303872e-03,-2.62376209e-04, 5.58369289e-05,
  2.38022123e-05,-3.78813746e-04,-9.06015584e-05,-4.91117828e-05,
  1.26122295e-03, 2.35568951e-03, 7.29778093e-03, 1.19265972e-03,
  3.00181974e-06,-2.08971443e-06,-1.21644135e+00, 1.58323939e-03,
  5.42915545e-04, 2.78237735e-05]


--- Step 2272 ---
qpos:
[-0.01509427, 1.28789892,-0.02450096, 0.94838952, 0.00436744, 1.30919407,
 -0.02943802, 0.9460158 , 0.01670921, 1.32918429,-0.02369723, 0.95475064,
  1.38784635,-0.00203529, 1.19544334, 0.06261218,-0.00363689,-0.09257562,
  0.08157672, 0.62995255,-0.01235217,-0.00371083, 0.77652652]

qacc:
[ 2.04500822e-01,-8.34777910e+00, 1.08800471e+01, 1.04521080e+01,
  3.93253561e-02,-1.61101639e+01, 3.74273959e+01,-3.27515575e+01,
  3.18607050e-02,-1.77387985e+00,-1.51897580e+00, 1.83477088e+01,
 -3.47460558e-01,-1.00183464e-01,-3.02539260e+00, 5.20207376e+00,
  9.55291368e-01, 1.07756990e+00,-1.17638368e+00, 5.53069763e+01,
  4.90611195e+01, 4.62851763e-01]

qfrc_actuator:
[ 3.06395457e-03, 7.83246216e-02, 1.25535948e-02, 2.02558142e-03,
 -6.89454805e-06, 5.75867951e-02, 1.06157772e-02, 2.19463100e-03,
 -2.94401761e-03, 4.23575858e-02, 1.06310060e-02, 1.92351802e-03,
  0.00000000e+00,-1.11947397e-03, 0.00000000e+00,-1.51312582e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006385004952494458
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02604433e-01,  8.76207807e-02, -9.49080163e-01, -2.66168075e-02,
        9.96153903e-01,  8.34802179e-02,  9.52744511e-01,  3.46944695e-18,
        3.03772772e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07268183, -0.04273078,  0.22440924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   6.84869188,   5.26138731,   6.84869188,
        31.58675338, -29.87427813,   5.26138731, -29.87427813,
        47.52339361,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001341807891004916
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.55139062e-14,  4.13704164e-14,  1.00000000e+00,  6.41816759e-28,
        1.00000000e+00, -4.13704164e-14, -1.00000000e+00,  0.00000000e+00,
       -1.55139062e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03652736, -0.11882507,  0.06188089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75555112e-04, 3.37924732e-02, 8.37130324e-03, 2.31448409e-05,
  1.08182993e-05,-1.26609422e-03,-2.48618254e-04,-7.62300871e-05,
  9.06784958e-06,-3.56511120e-04,-7.27231250e-05, 5.45748615e-05,
  1.30755063e-03, 2.42387900e-03, 7.42559755e-03, 1.22562966e-03,
  1.14422911e-05, 8.26102236e-08,-1.21644292e+00, 1.58442366e-03,
  5.41927331e-04, 3.07459059e-05]


--- Step 2273 ---
qpos:
[-0.0150896 , 1.28808709,-0.02463313, 0.94839373, 0.0043672 , 1.30965803,
 -0.02943827, 0.94602139, 0.0167108 , 1.32933907,-0.02369988, 0.95475691,
  1.38789095,-0.00207219, 1.19544184, 0.06258865,-0.00362157,-0.09258135,
  0.08159095, 0.62997807,-0.01205679,-0.00347303, 0.77651156]

qacc:
[-2.44952114e-01,-1.27178975e+01, 3.25013198e+01,-3.36286065e+01,
  8.28155970e-03,-1.72130452e+01, 4.74888720e+01,-7.23319604e+01,
  6.39419920e-03,-1.45765858e+00,-5.59610906e+00, 3.61791487e+01,
 -2.26581422e-01,-1.54983008e-01,-1.04971977e+01, 2.27463804e+01,
  4.64068293e-02,-2.34191143e+00, 1.82037323e+00,-5.46555587e+00,
 -6.51886623e+01,-1.31568537e+00]

qfrc_actuator:
[ 3.06197045e-03, 7.84638120e-02, 1.27079358e-02, 1.99362551e-03,
 -1.11979551e-05, 5.71228303e-02, 1.05997524e-02, 2.03038169e-03,
 -2.94772611e-03, 4.21845545e-02, 1.06578960e-02, 2.05161906e-03,
  0.00000000e+00,-1.07824316e-03, 0.00000000e+00,-1.31555210e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000649565370406481
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30254552,  0.08761994, -0.94909902, -0.02661137,  0.99615398,
        0.08348107,  0.95276337,  0.        ,  0.30371361])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07267902, -0.04273205,  0.22441437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   8.37910017,   2.09223737,   8.37910017,
        11.69838172, -12.26292801,   2.09223737, -12.26292801,
        57.74757049,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013839915577905499
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.        , -0.32565579,  0.94548839,  0.        ,  0.94548839,
        0.32565579, -1.        ,  0.        ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00349013, -0.07084715,  0.0618837 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.01541751e-04, 3.43659910e-02, 8.54300738e-03,-7.13052527e-05,
  2.00664215e-06,-1.21890088e-03,-2.94785675e-04,-2.10585035e-04,
  1.72205754e-06,-3.83866278e-04,-4.95719244e-05, 1.16902204e-04,
  1.35395517e-03, 2.48512129e-03, 7.55155187e-03, 1.43458236e-03,
  2.37217809e-05, 7.80118061e-06,-1.21644660e+00, 1.58563128e-03,
  5.40581424e-04, 4.07720975e-05]


--- Step 2274 ---
qpos:
[-0.0150857 , 1.28826877,-0.02476422, 0.94839679, 0.00436709, 1.31011231,
 -0.02943823, 0.94602565, 0.01671253, 1.3294896 ,-0.02370195, 0.95476406,
  1.38793481,-0.00210919, 1.19543351, 0.06256561,-0.0036112 ,-0.09259119,
  0.08160399, 0.63000544,-0.01175489,-0.00342212, 0.77649421]

qacc:
[-3.28914354e-01,-1.34091940e+01, 3.57537585e+01,-4.01656242e+01,
  5.87134472e-02,-1.57446274e+01, 3.87691413e+01,-4.30120455e+01,
  5.61205252e-02,-5.62574175e+00, 9.84342259e+00, 4.26806162e+00,
 -1.05105096e-01,-1.66719710e-01,-1.15956539e+01, 2.58926939e+01,
 -1.23775432e+00,-1.02770412e+00,-2.98762334e-01,-7.04989208e+01,
 -6.13836352e+01,-2.61681555e+00]

qfrc_actuator:
[ 3.05925758e-03, 7.85116037e-02, 1.28351134e-02, 1.93776249e-03,
  4.06069657e-06, 5.66646371e-02, 1.06259412e-02, 1.96702639e-03,
 -2.93284476e-03, 4.18965393e-02, 1.06570052e-02, 2.08894299e-03,
  0.00000000e+00,-1.05636637e-03, 0.00000000e+00,-1.13451255e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006598287117485918
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02492162e-01,  8.76192110e-02, -9.49116097e-01, -2.66064519e-02,
        9.96154041e-01,  8.34818715e-02,  9.52780452e-01, -3.46944695e-18,
        3.03660026e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07267584, -0.04273309,  0.22441935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364e+00,  8.63635143e+00,  1.45196705e-02,  8.63635143e+00,
        8.63637783e+00, -8.44046117e-03,  1.45196705e-02, -8.44046117e-03,
        1.36567798e+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: -0.0013244761184562914
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.19117797e-14,  4.19117797e-14,  1.00000000e+00,  1.75659727e-27,
        1.00000000e+00, -4.19117797e-14, -1.00000000e+00,  0.00000000e+00,
       -4.19117797e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03619087, -0.06244649,  0.06188244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75570501e-04, 3.47493020e-02, 8.62499042e-03,-8.56250870e-05,
  1.63912616e-05,-1.20001451e-03,-2.52525865e-04,-1.12764849e-04,
  1.59763262e-05,-5.07580412e-04,-7.82321804e-05, 2.74424372e-05,
  1.40180548e-03, 2.51863789e-03, 7.87729486e-03, 1.60108445e-03,
  2.11514069e-05,-5.72812583e-07,-1.21644577e+00, 1.58318037e-03,
  5.41159206e-04, 2.45131253e-05]


--- Step 2275 ---
qpos:
[-0.01508132, 1.28844149,-0.02489505, 0.94840047, 0.00436699, 1.31055732,
 -0.0294381 , 0.94602945, 0.0167144 , 1.32963562,-0.02370347, 0.95477129,
  1.38797826,-0.0021466 , 1.1954261 , 0.06254311,-0.00360544,-0.09260508,
  0.08161348, 0.63003498,-0.0114473 ,-0.0035461 , 0.77647428]

qacc:
[ 2.10707366e-01,-1.14304917e+01, 2.18751707e+01,-6.41200513e+00,
  4.55192999e-03,-1.32050764e+01, 2.93068339e+01,-2.49125820e+01,
  6.19989612e-02,-7.26228814e+00, 1.63900381e+01,-1.05255105e+01,
 -6.87040087e-02,-3.01206688e-01,-2.44483980e-01, 2.82339973e+00,
 -1.15371902e+00,-1.01151885e+00,-8.88865977e-01,-6.61006969e+01,
 -5.72828259e+01,-2.68804860e+00]

qfrc_actuator:
[ 3.05653469e-03, 7.84892654e-02, 1.29632118e-02, 1.95695862e-03,
 -4.57416337e-06, 5.62315602e-02, 1.06414689e-02, 1.94586403e-03,
 -2.92468492e-03, 4.16483137e-02, 1.06747028e-02, 2.09019470e-03,
  0.00000000e+00,-1.04613062e-03, 0.00000000e+00,-1.24775904e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000669293711645879
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30244398,  0.08761865, -0.94913151, -0.02660204,  0.99615409,
        0.08348268,  0.95279587,  0.        ,  0.30361164])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07267228, -0.04273393,  0.22442421])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.44275718, -1.81841361, -8.44275718,  9.02220557,
       -1.79143499, -1.81841361, -1.79143499, 16.95386113,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013242708591309355
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04795690e-14,  2.09591379e-14,  1.00000000e+00,  2.19642732e-28,
        1.00000000e+00, -2.09591379e-14, -1.00000000e+00,  0.00000000e+00,
       -1.04795690e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03619435, -0.06245161,  0.06188252])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39762363e-04, 3.50508701e-02, 8.69926677e-03,-9.46501618e-06,
  9.56004862e-07,-1.15316366e-03,-2.51802302e-04,-6.65129404e-05,
  1.76545866e-05,-5.44422441e-04,-8.96744279e-05,-1.52192142e-05,
  1.43899057e-03, 2.53470712e-03, 8.21904950e-03, 1.46300991e-03,
  6.79986996e-06,-4.21415193e-06,-1.21644301e+00, 1.58077162e-03,
  5.42545239e-04, 1.81477108e-05]


--- Step 2276 ---
qpos:
[-0.0150769 , 1.28860646,-0.0250244 , 0.94840383, 0.0043667 , 1.3109933 ,
 -0.02943883, 0.94603369, 0.01671624, 1.32977819,-0.02370515, 0.95477808,
  1.38802121,-0.00218444, 1.1954188 , 0.06252149,-0.00360402,-0.09262296,
  0.08161742, 0.63006684,-0.01113468,-0.00383504, 0.7764516 ]

qacc:
[ 1.35114580e-02,-1.46865129e+01, 3.62715206e+01,-3.02751228e+01,
 -7.73506910e-02,-8.79199957e+00, 1.34649940e+01,-8.46744504e-01,
 -1.07715087e-02,-4.87459378e+00, 1.13033488e+01,-1.27122712e+01,
 -5.06242758e-02,-3.62077266e-01,-2.51630925e+00, 9.01503601e+00,
 -1.08417635e+00,-9.95492735e-01,-1.38555899e+00,-6.24485650e+01,
 -5.38993374e+01,-2.71801289e+00]

qfrc_actuator:
[ 3.03509771e-03, 7.84654023e-02, 1.31455001e-02, 1.94889070e-03,
 -2.74723185e-05, 5.57815274e-02, 1.05974259e-02, 1.96742915e-03,
 -2.93837700e-03, 4.15324364e-02, 1.06856029e-02, 2.07025484e-03,
  0.00000000e+00,-1.02478238e-03, 0.00000000e+00,-1.21826026e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006782297772545479
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02404068e-01,  8.76178278e-02, -9.49144297e-01, -2.65982802e-02,
        9.96154163e-01,  8.34830237e-02,  9.52808644e-01, -3.46944695e-18,
        3.03571554e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07266902, -0.0427347 ,  0.22442881])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.45726684, -1.7496898 , -8.45726684,  9.10155021,
       -2.24851685, -1.7496898 , -2.24851685, 19.50475129,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013097663367288084
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.35737265e-14,  2.11912422e-14,  1.00000000e+00,  1.34720623e-27,
        1.00000000e+00, -2.11912422e-14, -1.00000000e+00,  0.00000000e+00,
       -6.35737265e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03622163, -0.06243695,  0.06188379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.85897053e-04, 3.54732937e-02, 8.86821672e-03,-4.77819316e-05,
 -2.23809594e-05,-1.14259453e-03,-3.00757720e-04,-2.13005684e-05,
 -3.21122348e-06,-4.35915262e-04,-1.06211238e-04,-3.88352907e-05,
  1.45974931e-03, 2.57710025e-03, 8.17319420e-03, 1.46613107e-03,
 -6.00890380e-07, 3.96640201e-07,-1.21644336e+00, 1.57829899e-03,
  5.43810440e-04, 2.19550002e-05]


--- Step 2277 ---
qpos:
[-0.01507308, 1.28876457,-0.0251522 , 0.94840698, 0.00436634, 1.31142014,
 -0.02943952, 0.94603848, 0.01671785, 1.32991834,-0.02370769, 0.95478245,
  1.38806345,-0.00222233, 1.19540877, 0.06250055,-0.00360876,-0.09263529,
  0.08161672, 0.63008967,-0.01103277,-0.00411782, 0.77643308]

qacc:
[-2.55290424e-01,-1.35845424e+01, 3.38631246e+01,-2.75371940e+01,
 -3.02406807e-02,-1.11567073e+01, 2.07648174e+01,-5.90420993e+00,
 -9.89214362e-02,-5.03188016e+00, 1.74445526e+01,-4.14825777e+01,
 -3.22141128e-01, 1.43793548e-01,-6.06001101e+00, 1.53925178e+01,
 -1.53947456e+00, 1.38356827e+00,-1.16032617e+00,-6.40339032e+01,
  8.37040206e+01, 5.25388178e+00]

qfrc_actuator:
[ 3.02045066e-03, 7.84074947e-02, 1.32879792e-02, 1.94289180e-03,
 -2.32344670e-05, 5.53425273e-02, 1.06073050e-02, 1.99615660e-03,
 -2.96506704e-03, 4.14612173e-02, 1.06574041e-02, 1.94932171e-03,
  0.00000000e+00,-9.78831703e-04, 0.00000000e+00,-1.10367923e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006866958019435924
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30237014,  0.08761693, -0.94915519, -0.02659502,  0.99615424,
        0.08348312,  0.9528195 ,  0.        ,  0.30353747])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07266595, -0.04273537,  0.22443321])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013164756760558755
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.32497268e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.32497268e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04745699, -0.1151951 ,  0.06188325])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.02110766e-04, 3.58015045e-02, 8.93705306e-03,-3.81728216e-05,
 -8.96816298e-06,-1.13385423e-03,-2.48995662e-04,-1.42193146e-05,
 -2.85134120e-05,-3.35159952e-04,-1.26686784e-04,-1.37653208e-04,
  1.48457664e-03, 2.64509742e-03, 8.16808569e-03, 1.53668078e-03,
 -2.21713584e-06, 1.18508511e-05,-1.21644628e+00, 1.57571450e-03,
  5.45034861e-04, 3.41621252e-05]


--- Step 2278 ---
qpos:
[-0.01507074, 1.28891635,-0.02527911, 0.94841072, 0.00436611, 1.31183808,
 -0.02943963, 0.94604285, 0.01671919, 1.33005581,-0.02370965, 0.95478357,
  1.38810443,-0.00225964, 1.19539268, 0.06247982,-0.00361932,-0.09264255,
  0.08160914, 0.63010436,-0.011128  ,-0.00439461, 0.77641828]

qacc:
[-6.27847173e-01,-9.71167338e+00, 2.04566471e+01,-7.08397601e+00,
  5.42937363e-02,-1.39922201e+01, 3.24231920e+01,-2.74557708e+01,
 -1.15170854e-01,-1.06777057e+01, 3.71612214e+01,-6.81447019e+01,
 -1.03619498e+00, 1.27262191e+00,-9.52858520e+00, 2.04874965e+01,
 -1.45399343e+00, 1.27056328e+00,-1.71936656e+00,-5.98174899e+01,
  7.83834434e+01, 4.76652991e+00]

qfrc_actuator:
[ 3.01049571e-03, 7.83491299e-02, 1.33703922e-02, 1.97366084e-03,
 -2.75210514e-06, 5.49316367e-02, 1.06489978e-02, 1.97564266e-03,
 -2.98158518e-03, 4.13461270e-02, 1.06952708e-02, 1.78769860e-03,
  0.00000000e+00,-8.65057794e-04, 0.00000000e+00,-9.20447388e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00069458381486091
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02341265e-01,  8.76161409e-02, -9.49164460e-01, -2.65922404e-02,
        9.96154311e-01,  8.34831773e-02,  9.52828742e-01,  3.46944695e-18,
        3.03508464e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07266282, -0.04273592,  0.22443744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.26136272,  4.67540248, -7.26136272, 14.03556379,
        8.38549212,  4.67540248,  8.38549212, 21.6598627 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013200775394848902
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.10257161e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.10257161e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04744703, -0.11519515,  0.06188295])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.82133165e-04, 3.60852398e-02, 8.94149886e-03, 3.03958711e-06,
  1.51638010e-05,-1.09049461e-03,-2.09360794e-04,-6.15300163e-05,
 -3.32620639e-05,-3.30229706e-04,-4.61639665e-05,-1.78265179e-04,
  1.51998727e-03, 2.76258297e-03, 8.30450224e-03, 1.68598912e-03,
  3.66162177e-06, 1.13857499e-05,-1.21644343e+00, 1.58032897e-03,
  5.45921884e-04, 4.27130630e-05]


--- Step 2279 ---
qpos:
[-0.01506908, 1.28906039,-0.0254058 , 0.94841495, 0.0043662 , 1.31224776,
 -0.02943951, 0.94604691, 0.01672029, 1.33018991,-0.0237107 , 0.95478555,
  1.38814432,-0.0022966 , 1.19537442, 0.06245955,-0.00363539,-0.09264509,
  0.0815928 , 0.6301116 ,-0.01140906,-0.00466556, 0.77640675]

qacc:
[ -0.2920665 , -9.90388225, 19.04177485, -5.92953464,  0.13732605,
 -11.97194939, 26.58219485,-21.39895839, -0.10320054, -5.3930934 ,
  10.48563263,  2.991298  , -0.94849228,  1.06985002, -4.46117161,
  11.13912779, -1.38091284,  1.17809213, -2.19131805,-56.31487752,
  73.94509077,  4.36318306]

qfrc_actuator:
[ 3.02222162e-03, 7.82749569e-02, 1.34523211e-02, 1.99027862e-03,
  2.73074610e-05, 5.45587641e-02, 1.06737012e-02, 1.96184338e-03,
 -2.99186775e-03, 4.11526705e-02, 1.07361821e-02, 1.83425558e-03,
  0.00000000e+00,-7.82218656e-04, 0.00000000e+00,-9.08862931e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007017154304378992
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02317581e-01,  8.76157342e-02, -9.49172041e-01, -2.65900328e-02,
        9.96154347e-01,  8.34834536e-02,  9.52836319e-01,  3.46944695e-18,
        3.03484677e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07265936, -0.04273629,  0.22444153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.34426567,  4.54406631, -7.34426567, 14.91203294,
       10.14293796,  4.54406631, 10.14293796, 25.02970521,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013081896956885913
  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([ 0.04747084, -0.11520997,  0.0618839 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.68291564e-05, 3.63268636e-02, 8.97915919e-03,-9.40207073e-06,
  3.89358312e-05,-1.02208791e-03,-2.14737624e-04,-5.34650387e-05,
 -2.98287341e-05,-3.91333369e-04,-3.41957494e-05, 3.14643777e-05,
  1.58289190e-03, 2.81700918e-03, 8.60821044e-03, 1.68697981e-03,
  1.23457745e-05, 8.00222230e-06,-1.21644403e+00, 1.58343752e-03,
  5.46412650e-04, 3.88688660e-05]


--- Step 2280 ---
qpos:
[-0.01506723, 1.28919545,-0.02553256, 0.94841949, 0.00436648, 1.31264901,
 -0.02943878, 0.94605112, 0.01672104, 1.33032082,-0.02371189, 0.95478949,
  1.38818368,-0.00233358, 1.19535878, 0.06244   ,-0.00364634,-0.09264162,
  0.08158332, 0.63012078,-0.01169793,-0.00474023, 0.77639454]

qacc:
[  0.08271249,-11.08025032, 21.31547313, -9.46720043,  0.08132815,
 -12.44498502, 26.91664059,-16.25703009, -0.14480327, -0.45394668,
  -7.52239862, 31.13134881, -0.50422406,  0.45224233,  1.68743853,
  -0.21749312,  1.28216579,  1.50528688,  1.71491161, 73.74448467,
  64.87824877,  0.1740988 ]

qfrc_actuator:
[ 2.99350051e-03, 7.81774749e-02, 1.35520172e-02, 1.99825464e-03,
  2.73621266e-05, 5.41406201e-02, 1.07060950e-02, 1.96987601e-03,
 -3.01608078e-03, 4.09849886e-02, 1.07251037e-02, 1.93188775e-03,
  0.00000000e+00,-7.53448303e-04, 0.00000000e+00,-1.01833697e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007082184583752579
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02301046e-01,  8.76154439e-02, -9.49177334e-01, -2.65884897e-02,
        9.96154373e-01,  8.34836404e-02,  9.52841608e-01,  3.46944695e-18,
        3.03468071e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07265591, -0.04273654,  0.22444542])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013517718766002246
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53995523e-14,  4.10654728e-14,  1.00000000e+00, -6.32389896e-28,
        1.00000000e+00, -4.10654728e-14, -1.00000000e+00,  0.00000000e+00,
        1.53995523e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03652861, -0.11881903,  0.06188019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.13177009e-05, 3.66149263e-02, 9.06754154e-03,-2.64034956e-05,
  2.29170306e-05,-1.03025969e-03,-1.94033363e-04,-2.95655086e-05,
 -4.17396028e-05,-3.90766945e-04,-9.06145658e-05, 8.59585923e-05,
  1.63737240e-03, 2.82889009e-03, 8.71644307e-03, 1.55534483e-03,
  2.33415080e-05, 2.21873266e-06,-1.21644751e+00, 1.58538276e-03,
  5.46583578e-04, 2.48456811e-05]


--- Step 2281 ---
qpos:
[-0.0150656 , 1.2893229 ,-0.02565834, 0.94842356, 0.00436672, 1.31304184,
 -0.02943818, 0.94605476, 0.01672147, 1.33044889,-0.02371355, 0.95479319,
  1.38822292,-0.00237056, 1.1953445 , 0.06242139,-0.00365257,-0.09263258,
  0.08157734, 0.6301318 ,-0.01199407,-0.004633  , 0.77638173]

qacc:
[-9.59006664e-02,-1.34410856e+01, 3.27184798e+01,-2.89850842e+01,
 -1.47004766e-02,-1.17257159e+01, 2.60710106e+01,-2.40005882e+01,
 -1.35927624e-01,-2.87417874e+00, 5.40365716e+00,-5.84248884e+00,
 -1.00489176e-01, 8.25759194e-02,-8.00449831e-01, 5.76483441e+00,
  1.17951314e+00, 1.39034025e+00, 8.76623323e-01, 6.83309799e+01,
  6.01429630e+01, 1.76653701e-01]

qfrc_actuator:
[ 2.92215482e-03, 7.80348417e-02, 1.36803360e-02, 1.98329550e-03,
  9.41720792e-06, 5.36987865e-02, 1.06893711e-02, 1.93741249e-03,
 -3.03070402e-03, 4.08516844e-02, 1.07012569e-02, 1.91670015e-03,
  0.00000000e+00,-7.56888860e-04, 0.00000000e+00,-1.00562837e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007142847017103729
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30229314,  0.08761499, -0.94917989, -0.02658765,  0.99615441,
        0.08348343,  0.95284414,  0.        ,  0.30346012])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07265289, -0.04273676,  0.22444905])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013733765752363541
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.54719021e-14,  5.05243356e-14,  1.00000000e+00,  2.29743764e-27,
        1.00000000e+00, -5.05243356e-14, -1.00000000e+00,  0.00000000e+00,
       -4.54719021e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03649619, -0.11879302,  0.06187834])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.72341120e-04, 3.69202682e-02, 9.19956949e-03,-5.62191475e-05,
 -4.50412539e-06,-1.05363246e-03,-2.41679631e-04,-6.91557412e-05,
 -3.91779164e-05,-3.65453714e-04,-1.08082690e-04,-2.72286829e-05,
  1.66410598e-03, 2.82713920e-03, 8.58633798e-03, 1.53174377e-03,
  7.98534314e-06,-3.37189856e-06,-1.21644483e+00, 1.58702480e-03,
  5.46338596e-04, 1.78975699e-05]


--- Step 2282 ---
qpos:
[-0.01506319, 1.28944137,-0.0257832 , 0.9484272 , 0.00436685, 1.31342651,
 -0.02943853, 0.94605939, 0.01672178, 1.33057405,-0.02371584, 0.95479842,
  1.38826224,-0.00240805, 1.1953371 , 0.06240396,-0.00365443,-0.09261836,
  0.08157205, 0.63014449,-0.01229705,-0.0043558 , 0.7763683 ]

qacc:
[ 3.40619140e-01,-1.50087353e+01, 3.56095935e+01,-3.03118038e+01,
 -4.64733220e-02,-6.42344088e+00, 5.99494831e+00, 1.14475239e+01,
 -4.86137895e-02, 5.35927473e-01,-9.44985450e+00, 2.77013727e+01,
  9.57749061e-02,-4.14019370e-01, 6.54844156e+00,-8.18428383e+00,
  1.09459740e+00, 1.29548329e+00, 1.71400701e-01, 6.38376396e+01,
  5.62150997e+01, 1.92700658e-01]

qfrc_actuator:
[ 2.89658701e-03, 7.78495938e-02, 1.38248042e-02, 1.95521440e-03,
 -1.42486845e-06, 5.32993682e-02, 1.06436635e-02, 1.98783699e-03,
 -3.02170490e-03, 4.07044162e-02, 1.06701435e-02, 1.99502470e-03,
  0.00000000e+00,-7.61905324e-04, 0.00000000e+00,-1.20415370e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007199522212286112
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30229156,  0.08761452, -0.94918044, -0.02658737,  0.99615445,
        0.08348302,  0.95284465,  0.        ,  0.30345852])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07265016, -0.04273698,  0.22445245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.001375695477644684
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.52195854e-14, -1.00878341e-14,  1.00000000e+00,  2.54410994e-28,
        1.00000000e+00,  1.00878341e-14, -1.00000000e+00,  0.00000000e+00,
        2.52195854e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03649295, -0.11879012,  0.06187811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.86636912e-04, 3.71149307e-02, 9.29506454e-03,-6.12593679e-05,
 -1.35322425e-05,-1.03458582e-03,-2.81803019e-04, 1.07053276e-05,
 -1.40455186e-05,-3.72167387e-04,-1.15700919e-04, 6.38830224e-05,
  1.67008135e-03, 2.82332838e-03, 8.51800236e-03, 1.28640822e-03,
  3.33240577e-07, 1.23669724e-07,-1.21644570e+00, 1.58887160e-03,
  5.45447509e-04, 2.26270263e-05]


--- Step 2283 ---
qpos:
[-0.01505981, 1.28955086,-0.02590751, 0.94843015, 0.00436672, 1.31380268,
 -0.0294391 , 0.94606562, 0.01672179, 1.33069663,-0.02371924, 0.95480489,
  1.38830133,-0.00244606, 1.19533625, 0.0623875 ,-0.00365218,-0.09259927,
  0.08156508, 0.63015863,-0.01260651,-0.00391851, 0.77635419]

qacc:
[  0.40749874,-14.46861787, 34.38956941,-32.2385593 , -0.11176506,
  -7.81319343,  8.72997542, 16.38362855, -0.13331946,  1.72166617,
 -12.21270324, 26.50888068, -0.11866172, -0.25454416,  6.77087571,
  -9.613852  ,  1.0242568 ,  1.21709883, -0.42138219, 60.1094955 ,
  52.95966795,  0.2204038 ]

qfrc_actuator:
[ 2.89755377e-03, 7.77319528e-02, 1.39608835e-02, 1.91941599e-03,
 -2.56690354e-05, 5.28752337e-02, 1.06347048e-02, 2.06890041e-03,
 -3.05186798e-03, 4.05854906e-02, 1.06172687e-02, 2.05675857e-03,
  0.00000000e+00,-7.31867272e-04, 0.00000000e+00,-1.35251668e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007254510946913609
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02297668e-01,  8.76137125e-02, -9.49178570e-01, -2.65876632e-02,
        9.96154525e-01,  8.34820867e-02,  9.52842703e-01, -3.46944695e-18,
        3.03464634e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0726482 , -0.04273725,  0.22445556])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.001362579919614637
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.22219219e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.22219219e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03651284, -0.11880556,  0.06187918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25541310e-04, 3.74455874e-02, 9.38547650e-03,-7.54451347e-05,
 -3.22453602e-05,-1.05414427e-03,-2.43536146e-04, 4.25815362e-05,
 -3.83862161e-05,-3.46298773e-04,-1.36966035e-04, 4.89881975e-05,
  1.66645169e-03, 2.87915603e-03, 8.17466148e-03, 1.07879403e-03,
 -1.09786573e-06, 1.09292453e-05,-1.21644943e+00, 1.59085061e-03,
  5.44025043e-04, 3.67891667e-05]


--- Step 2284 ---
qpos:
[-0.01505771, 1.2896558 ,-0.02602976, 0.94843252, 0.00436617, 1.31417093,
 -0.02943994, 0.94607102, 0.0167216 , 1.33081743,-0.02372364, 0.95481128,
  1.38833948,-0.00248362, 1.19533093, 0.06237143,-0.00364608,-0.09257557,
  0.08155443, 0.63017397,-0.01292215,-0.00332933, 0.7763393 ]

qacc:
[ -0.54048053,-12.56606643, 34.95414677,-34.24174033, -0.17769598,
 -11.10539361, 25.38400353,-26.77659363, -0.07897338,  0.25044697,
  -3.46329202,  3.2188758 , -0.78502673,  0.9798822 , -7.72560967,
  17.57390833,  0.96585612,  1.15219951, -0.91918738, 57.01996435,
  50.26641576,  0.25850239]

qfrc_actuator:
[ 2.87846068e-03, 7.76229525e-02, 1.40919229e-02, 1.91492322e-03,
 -5.77562161e-05, 5.25108836e-02, 1.06296888e-02, 2.02531621e-03,
 -3.05202485e-03, 4.05554233e-02, 1.05875654e-02, 2.05495952e-03,
  0.00000000e+00,-6.45065596e-04, 0.00000000e+00,-1.09822701e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007307552346321987
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02311804e-01,  8.76125186e-02, -9.49174178e-01, -2.65885414e-02,
        9.96154630e-01,  8.34805539e-02,  9.52838193e-01, -3.46944695e-18,
        3.03478793e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07264699, -0.04273755,  0.22445837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.001337248337617239
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.07557376e-14,  8.30229504e-14,  1.00000000e+00,  1.72320258e-27,
        1.00000000e+00, -8.30229504e-14, -1.00000000e+00,  0.00000000e+00,
       -2.07557376e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03655091, -0.11883542,  0.06188125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.92345093e-04, 3.77844159e-02, 9.48880420e-03,-4.54446070e-05,
 -5.10998937e-05,-9.96664749e-04,-2.38113982e-04,-8.08010676e-05,
 -2.27388729e-05,-2.47709788e-04,-1.11589291e-04,-1.47505341e-05,
  1.67765149e-03, 2.99303439e-03, 7.84711302e-03, 1.28503444e-03,
  2.60171811e-06, 2.77575580e-05,-1.21645554e+00, 1.59290480e-03,
  5.42157562e-04, 5.87600668e-05]


--- Step 2285 ---
qpos:
[-0.01505732, 1.28975744,-0.02614963, 0.94843468, 0.00436536, 1.3145317 ,
 -0.02944104, 0.94607444, 0.0167216 , 1.33093624,-0.0237282 , 0.95481966,
  1.38837691,-0.00252035, 1.19531792, 0.06235561,-0.0036397 ,-0.09255791,
  0.08155849, 0.63019124,-0.01311836,-0.00285573, 0.77632388]

qacc:
[-7.28536491e-01,-1.10980340e+01, 3.14158795e+01,-2.76535939e+01,
 -1.07890459e-01,-1.25432838e+01, 3.30972540e+01,-4.68888663e+01,
  7.74880282e-02, 1.21010971e+00,-1.10889767e+01, 3.36586703e+01,
 -6.73540932e-01, 1.13495685e+00,-1.20467543e+01, 2.57661268e+01,
  6.75300366e-02,-1.50952119e+00, 3.67768788e+00,-7.22518078e+00,
 -8.27746690e+01,-1.86307702e+00]

qfrc_actuator:
[ 2.86692493e-03, 7.75183140e-02, 1.42004542e-02, 1.91163021e-03,
 -5.87828906e-05, 5.21674825e-02, 1.06271821e-02, 1.92650143e-03,
 -3.01642779e-03, 4.04723710e-02, 1.05898574e-02, 2.15788321e-03,
  0.00000000e+00,-5.95993801e-04, 0.00000000e+00,-8.50699536e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007355336862550216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30232831,  0.08761168, -0.949169  , -0.02658974,  0.9961547 ,
        0.08347929,  0.95283292,  0.        ,  0.30349534])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07264551, -0.04273772,  0.2244611 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013608045077388928
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.07928919e-14,  8.15857839e-14,  1.00000000e+00,  3.32812007e-27,
        1.00000000e+00, -8.15857839e-14, -1.00000000e+00,  0.00000000e+00,
       -4.07928919e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00347598, -0.0709229 ,  0.06187922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.40493952e-04, 3.79070861e-02, 9.49415197e-03,-1.96011874e-05,
 -3.11319061e-05,-9.46503688e-04,-2.27355543e-04,-1.37025825e-04,
  2.22472376e-05,-2.43095481e-04,-5.93191973e-05, 9.21479294e-05,
  1.72488238e-03, 3.01973848e-03, 8.07055164e-03, 1.51292744e-03,
  1.06305128e-05, 4.96785605e-05,-1.21646369e+00, 1.59498787e-03,
  5.39910656e-04, 8.73695693e-05]


--- Step 2286 ---
qpos:
[-0.01505752, 1.28985431,-0.02626773, 0.94843625, 0.00436454, 1.31488483,
 -0.02944216, 0.94607632, 0.01672173, 1.33105186,-0.02373137, 0.95483026,
  1.38841417,-0.0025567 , 1.19530135, 0.0623404 ,-0.00363882,-0.09254552,
  0.08156502, 0.63021193,-0.01330933,-0.00258437, 0.77630478]

qacc:
[-2.53762709e-01,-1.20875971e+01, 3.30452089e+01,-3.24536481e+01,
 -1.61031784e-03,-1.25869064e+01, 3.21294057e+01,-4.09660282e+01,
  5.84949329e-02,-4.06229197e+00, 3.71861010e+00, 2.44657377e+01,
 -1.58295564e-01, 3.93886492e-01,-7.06688712e+00, 1.71225515e+01,
 -1.37499518e+00,-1.31755031e+00, 6.19838909e-01,-7.68328085e+01,
 -6.57234691e+01,-3.82259079e+00]

qfrc_actuator:
[ 2.87862443e-03, 7.74346012e-02, 1.43120974e-02, 1.87341277e-03,
 -4.11696578e-05, 5.17861240e-02, 1.06262637e-02, 1.84927749e-03,
 -3.01293072e-03, 4.02696990e-02, 1.06464064e-02, 2.26835818e-03,
  0.00000000e+00,-5.87849098e-04, 0.00000000e+00,-7.84768016e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000739685359859063
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02345689e-01,  8.76113382e-02, -9.49163494e-01, -2.65911605e-02,
        9.96154734e-01,  8.34784809e-02,  9.52827369e-01,  3.46944695e-18,
        3.03512776e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07264347, -0.04273776,  0.22446378])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.63525937,  0.138103  ,  8.63525937,  8.63826004,
       -0.11857771,  0.138103  , -0.11857771, 16.05075209,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013931535760509095
  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([ 0.03608654, -0.06258374,  0.06187654])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43371428e-04, 3.79873156e-02, 9.48709846e-03,-4.72972323e-05,
 -7.41899408e-07,-9.56239259e-04,-2.16374530e-04,-1.14934780e-04,
  1.66821463e-05,-3.46766285e-04, 4.91389104e-06, 1.03852819e-04,
  1.76064077e-03, 2.98789697e-03, 8.45521750e-03, 1.56652716e-03,
  1.02196966e-05, 3.14604838e-05,-1.21645424e+00, 1.59198513e-03,
  5.39951860e-04, 7.29036212e-05]


--- Step 2287 ---
qpos:
[-0.01505734, 1.28994442,-0.02638488, 0.94843654, 0.00436382, 1.31523064,
 -0.02944376, 0.9460776 , 0.01672182, 1.33116459,-0.02373285, 0.95483966,
  1.38845152,-0.00259314, 1.1952866 , 0.06232617,-0.003643  ,-0.0925381 ,
  0.08157106, 0.63023617,-0.01349577,-0.00250046, 0.77628215]

qacc:
[ 1.63326305e-01,-1.36046646e+01, 3.63028539e+01,-4.21315107e+01,
  3.72818481e-02,-9.32429181e+00, 2.00273069e+01,-1.96017901e+01,
 -1.98720325e-02,-1.05010266e+01, 3.20933202e+01,-4.00190034e+01,
  9.52783193e-02,-1.53897458e-01,-2.85359614e-01, 4.87474152e+00,
 -1.26496287e+00,-1.24295926e+00,-1.24011539e-01,-7.13130477e+01,
 -6.08023394e+01,-3.73940390e+00]

qfrc_actuator:
[ 2.86833081e-03, 7.73484968e-02, 1.44252530e-02, 1.79694566e-03,
 -3.02730232e-05, 5.14383871e-02, 1.06084248e-02, 1.82087278e-03,
 -3.02872112e-03, 4.01392592e-02, 1.07340354e-02, 2.20479355e-03,
  0.00000000e+00,-5.86410750e-04, 0.00000000e+00,-8.63756582e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007433485044736413
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30236592,  0.08761114, -0.94915707, -0.02659288,  0.99615475,
        0.08347773,  0.9528209 ,  0.        ,  0.30353308])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07264125, -0.04273776,  0.22446636])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.74309763, -3.82507724, -7.74309763, 13.43627002,
       -9.71644268, -3.82507724, -9.71644268, 28.30534275,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014096151968201742
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.93803581e-14,  7.87607162e-14,  1.00000000e+00,  3.10162521e-27,
        1.00000000e+00, -7.87607162e-14, -1.00000000e+00,  0.00000000e+00,
       -3.93803581e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03606105, -0.06260774,  0.06187521])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23882388e-04, 3.81396238e-02, 9.51132462e-03,-9.45822882e-05,
  1.04235587e-05,-9.25129609e-04,-2.33291794e-04,-6.55856098e-05,
 -5.89397089e-06,-3.18946748e-04, 2.33960076e-05,-7.11055459e-05,
  1.76894819e-03, 2.97049035e-03, 8.63334947e-03, 1.45733552e-03,
  1.38506882e-06, 1.07030823e-05,-1.21644672e+00, 1.59048242e-03,
  5.41364579e-04, 4.80142512e-05]


--- Step 2288 ---
qpos:
[-0.01505606, 1.29002689,-0.02650183, 0.94843638, 0.00436334, 1.31556891,
 -0.02944504, 0.9460806 , 0.01672194, 1.3312745 ,-0.02373308, 0.95484547,
  1.3884889 ,-0.00262984, 1.19527666, 0.06231267,-0.00365188,-0.0925354 ,
  0.08157411, 0.63026397,-0.01367823,-0.00259176, 0.77625609]

qacc:
[ 4.70804930e-01,-1.13786261e+01, 2.59136181e+01,-2.29176578e+01,
  1.07977043e-01,-7.83601404e+00, 1.00818820e+01, 1.58188846e+01,
  1.74544052e-02,-1.32054918e+01, 4.58067780e+01,-7.91982806e+01,
 -2.33216809e-02,-1.23847594e-01, 4.89168582e+00,-6.76769589e+00,
 -1.17409456e+00,-1.18002932e+00,-7.50265465e-01,-6.67289558e+01,
 -5.67253104e+01,-3.65118062e+00]

qfrc_actuator:
[ 2.87960767e-03, 7.73003401e-02, 1.45394431e-02, 1.76947148e-03,
 -5.74341259e-06, 5.10780556e-02, 1.06341531e-02, 1.91018547e-03,
 -3.02044839e-03, 3.99821405e-02, 1.07861808e-02, 2.02160504e-03,
  0.00000000e+00,-5.70913688e-04, 0.00000000e+00,-1.01255939e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007466980288196555
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30239169,  0.08761076, -0.94914889, -0.02659503,  0.99615478,
        0.08347665,  0.95281266,  0.        ,  0.30355894])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07263933, -0.04273778,  0.22446873])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.77621146,  -3.75730118,  -7.77621146,
        14.04492391, -11.19370165,  -3.75730118, -11.19370165,
        31.8031493 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001407408239446059
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.94421105e-14,  3.94421105e-14,  1.00000000e+00,  1.55568008e-27,
        1.00000000e+00, -3.94421105e-14, -1.00000000e+00,  0.00000000e+00,
       -3.94421105e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03606701, -0.06260688,  0.06187542])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31700168e-04, 3.84281926e-02, 9.57852753e-03,-5.79551413e-05,
  3.06285813e-05,-9.22281986e-04,-1.84107367e-04, 5.37018457e-05,
  4.85148304e-06,-3.31803745e-04,-9.67550985e-06,-1.93439738e-04,
  1.76484288e-03, 2.99147686e-03, 8.54296493e-03, 1.25970759e-03,
  2.55920464e-07, 6.94332348e-07,-1.21644319e+00, 1.58870872e-03,
  5.42763716e-04, 3.62827633e-05]


--- Step 2289 ---
qpos:
[-0.01505402, 1.29010345,-0.026618  , 0.94843812, 0.00436299, 1.31590037,
 -0.02944631, 0.94608425, 0.01672213, 1.33138139,-0.02373348, 0.95485087,
  1.388526  ,-0.00266638, 1.19526926, 0.06229918,-0.00366516,-0.09253721,
  0.08157204, 0.63029525,-0.01385717,-0.00284809, 0.77622662]

qacc:
[ 3.27241220e-01,-6.58348264e+00, 8.24208470e+00, 1.85465095e+01,
  5.32193748e-02,-7.84723750e+00, 1.34812481e+01, 1.91793024e-01,
  2.74660946e-02,-4.25926327e+00, 9.94639456e+00,-1.15693294e+01,
 -4.56131976e-01, 5.82750116e-01, 3.73721541e+00,-7.55505508e+00,
 -1.09882128e+00,-1.12687841e+00,-1.27713041e+00,-6.29239254e+01,
 -5.33481315e+01,-3.56150880e+00]

qfrc_actuator:
[ 2.90295350e-03, 7.72075436e-02, 1.46546115e-02, 1.87758933e-03,
 -8.74010596e-06, 5.07843427e-02, 1.06499170e-02, 1.94379622e-03,
 -3.01555928e-03, 3.97923352e-02, 1.07635617e-02, 2.00027466e-03,
  0.00000000e+00,-5.29031252e-04, 0.00000000e+00,-1.06137840e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007498309163837674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30242456,  0.08760996, -0.94913849, -0.02659768,  0.99615485,
        0.08347496,  0.95280216,  0.        ,  0.30359191])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07263799, -0.04273784,  0.22447085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.77597328,  -3.75779408,  -7.77597328,
        15.02355531, -13.21696471,  -3.75779408, -13.21696471,
        35.98612312,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013902877971569833
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.9927813e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -3.9927813e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03609782, -0.06258641,  0.06187686])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63493244e-04, 3.87173715e-02, 9.68341761e-03, 7.26239803e-05,
  1.49937891e-05,-8.40821450e-04,-1.84407479e-04, 2.28626960e-06,
  7.80563204e-06,-3.81672023e-04,-9.42931599e-05,-3.57845018e-05,
  1.76355899e-03, 3.04683590e-03, 8.30226459e-03, 1.17417812e-03,
  5.35914350e-06,-6.38435520e-07,-1.21644287e+00, 1.58666238e-03,
  5.44204098e-04, 3.51470415e-05]


--- Step 2290 ---
qpos:
[-0.01505191, 1.29017566,-0.02673248, 0.9484413 , 0.00436255, 1.3162257 ,
 -0.02944852, 0.94608759, 0.01672224, 1.33148641,-0.02373584, 0.95485769,
  1.38856291,-0.00270263, 1.19526188, 0.06228577,-0.00367335,-0.09254403,
  0.0815769 , 0.63032511,-0.01386813,-0.00311348, 0.77620116]

qacc:
[ 2.67053449e-02,-7.80138767e+00, 1.56313545e+01, 5.75046948e+00,
 -3.67255172e-02,-6.06523603e+00, 1.06963645e+01,-9.07167201e+00,
 -3.58182481e-02, 5.32158905e+00,-2.31735256e+01, 3.76601064e+01,
 -3.54432392e-01, 5.73186100e-01,-1.58747111e-01, 6.72950520e-01,
  1.26964941e+00,-1.25299136e+00, 1.73332144e+00, 4.94132784e+01,
 -6.80804594e+01, 1.51691464e+00]

qfrc_actuator:
[ 2.88017829e-03, 7.70715263e-02, 1.47697144e-02, 1.95837378e-03,
 -2.82249506e-05, 5.04973574e-02, 1.06066133e-02, 1.92660227e-03,
 -3.03049327e-03, 3.97440261e-02, 1.06792338e-02, 2.07433093e-03,
  0.00000000e+00,-5.07127825e-04, 0.00000000e+00,-1.03202505e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007527225567747278
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30246231,  0.08760887, -0.94912656, -0.02660066,  0.99615495,
        0.08347286,  0.95279009,  0.        ,  0.30362978])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07263696, -0.04273791,  0.22447279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013891227947612425
  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([-0.03191591, -0.07707888,  0.06187695])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24591103e-04, 3.88761748e-02, 9.75975752e-03, 5.82221749e-05,
 -1.06921271e-05,-7.90581676e-04,-2.29076983e-04,-4.72877830e-05,
 -1.02786464e-05,-2.79582668e-04,-1.70739823e-04, 5.93133247e-05,
  1.77717793e-03, 3.06186414e-03, 8.17586636e-03, 1.20300019e-03,
  1.56269108e-05, 5.19102749e-06,-1.21644518e+00, 1.58435066e-03,
  5.45719484e-04, 4.27337346e-05]


--- Step 2291 ---
qpos:
[-0.01505026, 1.29024433,-0.02684475, 0.94844359, 0.00436226, 1.31654433,
 -0.02945113, 0.9460921 , 0.01672252, 1.33158964,-0.02373931, 0.95486357,
  1.38859939,-0.00273867, 1.19525255, 0.06227294,-0.0036768 ,-0.09255545,
  0.08158572, 0.63035375,-0.01372172,-0.00338763, 0.77617935]

qacc:
[-1.91215313e-01,-1.21331292e+01, 3.57774623e+01,-3.90951764e+01,
  6.26328653e-02,-5.66857085e+00, 5.45845996e+00, 1.31499540e+01,
  7.14542516e-02,-9.91064302e-01, 2.30040399e+00,-1.17546640e+01,
 -3.22793177e-01, 3.98384754e-01,-4.60691034e+00, 1.19961330e+01,
  1.18587647e+00,-1.14844632e+00, 9.88019825e-01, 4.61965250e+01,
 -6.38608492e+01, 1.31444682e+00]

qfrc_actuator:
[ 2.88338670e-03, 7.69991472e-02, 1.49013104e-02, 1.91594938e-03,
 -4.18303303e-06, 5.01454626e-02, 1.05820785e-02, 1.98615093e-03,
 -3.00394054e-03, 3.96741531e-02, 1.06307646e-02, 2.02641803e-03,
  0.00000000e+00,-4.61916030e-04, 0.00000000e+00,-9.38081832e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007553459127400027
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30250261,  0.08760772, -0.94911383, -0.02660386,  0.99615505,
        0.08347064,  0.95277721,  0.        ,  0.30367021])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.072636  , -0.04273799,  0.22447461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.63028315, -0.3240209 ,  8.63028315,  8.69059919,
        1.44456168, -0.3240209 ,  1.44456168, 47.11220397,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013883238653332464
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.99882214e-14,  7.99685904e-14,  1.00000000e+00,  2.39811579e-27,
        1.00000000e+00, -7.99685904e-14, -1.00000000e+00,  0.00000000e+00,
       -2.99882214e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03191758, -0.07707507,  0.06187705])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24471025e-04, 3.90209142e-02, 9.80712245e-03,-5.59858488e-05,
  1.77184396e-05,-8.37876666e-04,-2.07009356e-04, 2.84912727e-05,
  2.05414336e-05,-2.56785986e-04,-1.20842345e-04,-5.96581912e-05,
  1.78699826e-03, 3.09275517e-03, 8.17491094e-03, 1.29334641e-03,
  7.46876108e-06, 9.04418411e-06,-1.21644286e+00, 1.58153181e-03,
  5.44215229e-04, 5.08540557e-05]


--- Step 2292 ---
qpos:
[-0.01504939, 1.29031001,-0.02695459, 0.9484446 , 0.00436218, 1.31685572,
 -0.02945347, 0.94609628, 0.01672317, 1.33169044,-0.02374185, 0.9548712 ,
  1.38863521,-0.00277441, 1.19524035, 0.06226081,-0.00367579,-0.09257112,
  0.08159599, 0.63038133,-0.01342672,-0.00367027, 0.77616083]

qacc:
[ -0.33508797,-12.73090685, 39.3863406 ,-47.10293963,  0.08774271,
 -10.8511373 , 24.61103777,-20.68832443,  0.15897748, -2.68037807,
   1.3725989 , 20.48804073, -0.52586546,  0.64506249, -6.29253374,
  15.94808423,  1.11682739, -1.06385168,  0.36389237, 43.53817911,
 -60.36739505,  1.14288392]

qfrc_actuator:
[ 2.88491931e-03, 7.69481273e-02, 1.50416060e-02, 1.85460572e-03,
  1.02708780e-05, 4.97576330e-02, 1.05864023e-02, 1.96610706e-03,
 -2.97046750e-03, 3.95742567e-02, 1.06924964e-02, 2.12015225e-03,
  0.00000000e+00,-4.02738524e-04, 0.00000000e+00,-8.23675870e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007576634789708027
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30254417,  0.0876067 , -0.94910067, -0.0266072 ,  0.99615514,
        0.0834685 ,  0.95276392,  0.        ,  0.3037119 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07263496, -0.042738  ,  0.22447636])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.62252729, -0.48867161,  8.62252729,  8.78299022,
        2.58720112, -0.48867161,  2.58720112, 54.28708673,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001373040599122563
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.04293589e-14,  8.08587179e-14,  1.00000000e+00,  3.26906613e-27,
        1.00000000e+00, -8.08587179e-14, -1.00000000e+00,  0.00000000e+00,
       -4.04293589e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03193843, -0.07706225,  0.06187837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.00470163e-04, 3.91464707e-02, 9.83709455e-03,-7.30150091e-05,
  2.48516199e-05,-8.93323257e-04,-1.82653987e-04,-5.01217608e-05,
  4.56440441e-05,-2.67971240e-04,-3.99872728e-06, 8.13497997e-05,
  1.80814278e-03, 3.14265104e-03, 8.27233810e-03, 1.37870306e-03,
  1.79180915e-06, 1.09939941e-05,-1.21644332e+00, 1.57962580e-03,
  5.43388774e-04, 5.01925183e-05]


--- Step 2293 ---
qpos:
[-0.01504927, 1.29037303,-0.02706206, 0.94844622, 0.00436213, 1.31716023,
 -0.02945555, 0.94609983, 0.01672391, 1.33178909,-0.02374313, 0.95487985,
  1.38867062,-0.00280956, 1.19522521, 0.06224895,-0.00367053,-0.09259077,
  0.08160563, 0.6304079 ,-0.01299036,-0.00396117, 0.77614524]

qacc:
[-3.22113380e-01,-8.80121663e+00, 2.32604077e+01,-1.14641653e+01,
  1.98512693e-02,-1.07784705e+01, 2.55650917e+01,-2.52450280e+01,
  3.88782214e-02,-4.48224013e+00, 9.14241556e+00, 5.20212668e+00,
 -5.40173338e-01, 9.21950349e-01,-5.14385071e+00, 1.17817409e+01,
  1.05996076e+00,-9.95434637e-01,-1.58040624e-01, 4.13446471e+01,
 -5.74821651e+01, 9.95032592e-01]

qfrc_actuator:
[ 2.86821111e-03, 7.68752912e-02, 1.51682498e-02, 1.88917372e-03,
  1.10210313e-06, 4.94402273e-02, 1.06075102e-02, 1.93485760e-03,
 -2.98637350e-03, 3.94932069e-02, 1.07655002e-02, 2.17229055e-03,
  0.00000000e+00,-3.70873183e-04, 0.00000000e+00,-7.32842934e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007596648188942963
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02586258e-01,  8.76059020e-02, -9.49087331e-01, -2.66106544e-02,
        9.96155212e-01,  8.34665630e-02,  9.52750455e-01, -3.46944695e-18,
        3.03754129e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07263376, -0.04273794,  0.22447804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.61017511, -0.67205767,  8.61017511,  8.96694071,
        4.2352414 , -0.67205767,  4.2352414 , 62.89684079,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013463529982178507
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03076889e-14,  4.12307555e-14,  1.00000000e+00,  4.24993799e-28,
        1.00000000e+00, -4.12307555e-14, -1.00000000e+00,  0.00000000e+00,
       -1.03076889e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03197428, -0.07704237,  0.06188065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.77843453e-04, 3.92231148e-02, 9.84162356e-03, 2.54892184e-05,
  5.42680422e-06,-8.51109697e-04,-1.76237300e-04,-6.41093372e-05,
  1.10720340e-05,-2.28289874e-04, 2.24994933e-05, 4.61232655e-05,
  1.84127654e-03, 3.15990330e-03, 8.41593651e-03, 1.43487898e-03,
 -1.84210031e-06, 1.13683568e-05,-1.21644609e+00, 1.57842684e-03,
  5.43125400e-04, 4.21749559e-05]


--- Step 2294 ---
qpos:
[-0.01504966, 1.29043373,-0.02716743, 0.94844857, 0.00436193, 1.31745856,
 -0.02945796, 0.94610225, 0.01672447, 1.33188639,-0.02374425, 0.95488664,
  1.38870576,-0.00284409, 1.1952058 , 0.06223726,-0.00366122,-0.09261419,
  0.0816129 , 0.63043351,-0.01241861,-0.00426015, 0.77613222]

qacc:
[ -0.21253075, -7.48630303, 19.25809215, -6.83298228, -0.06945157,
  -9.18214491, 22.44425793,-28.53009327, -0.07296664, -5.41536239,
  19.28144074,-37.43579526, -0.39269189,  0.79930816, -6.74602992,
  14.51037195,  1.01313522, -0.94012017, -0.59384393, 39.53908964,
 -55.10786226,  0.86509221]

qfrc_actuator:
[ 2.91185323e-03, 7.68079738e-02, 1.52680591e-02, 1.92665302e-03,
 -2.21625076e-05, 4.91676112e-02, 1.06031120e-02, 1.87956906e-03,
 -3.01402054e-03, 3.94419169e-02, 1.07735500e-02, 2.07522992e-03,
  0.00000000e+00,-3.38047883e-04, 0.00000000e+00,-6.02758453e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000761354847562918
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30262862,  0.08760533, -0.94907388, -0.02661421,  0.99615526,
        0.08346483,  0.9527369 ,  0.        ,  0.30379664])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07263235, -0.04273783,  0.22447967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.59579698, -0.83609279,  8.59579698,  9.24478284,
        6.25510471, -0.83609279,  6.25510471, 72.94454934,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013108244728795154
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.11741360e-14, -2.11741360e-14,  1.00000000e+00, -4.48344034e-28,
        1.00000000e+00,  2.11741360e-14, -1.00000000e+00,  0.00000000e+00,
       -2.11741360e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03202168, -0.07701703,  0.06188367])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.63978235e-05, 3.92881508e-02, 9.82365475e-03, 3.24184867e-05,
 -2.01020040e-05,-7.82081735e-04,-1.93159806e-04,-8.70299800e-05,
 -2.10648984e-05,-1.72441860e-04,-3.27220518e-05,-1.01944367e-04,
  1.86171579e-03, 3.16395671e-03, 8.56341501e-03, 1.55109145e-03,
 -3.76121390e-06, 1.04111245e-05,-1.21645081e+00, 1.57778110e-03,
  5.43339064e-04, 2.78431169e-05]


--- Step 2295 ---
qpos:
[-0.01504923, 1.29049041,-0.027271  , 0.94845083, 0.00436166, 1.31775068,
 -0.02946015, 0.94610363, 0.0167248 , 1.33198288,-0.02374669, 0.95489258,
  1.38874061,-0.00287868, 1.19518786, 0.06222626,-0.00364733,-0.09263265,
  0.08162101, 0.63045991,-0.01185464,-0.00438756, 0.77611888]

qacc:
[ 3.51071771e-01,-1.02895755e+01, 2.73770918e+01,-2.22916800e+01,
 -2.67243721e-02,-1.05006575e+01, 2.65313782e+01,-3.11795038e+01,
 -1.01138485e-01, 1.05336695e+00,-3.00274747e+00,-6.58345934e+00,
 -2.15196458e-01, 1.41316780e-01, 7.11482649e-02, 2.93648344e+00,
  1.14579452e+00, 1.23614073e+00, 2.10102021e-01, 6.41360870e+01,
  5.71041070e+01, 6.74605727e-01]

qfrc_actuator:
[ 2.99175113e-03, 7.67624490e-02, 1.54043327e-02, 1.91225919e-03,
 -1.81874595e-05, 4.88706655e-02, 1.06193750e-02, 1.82834447e-03,
 -3.03073239e-03, 3.94085425e-02, 1.07077272e-02, 2.03315496e-03,
  0.00000000e+00,-3.04914717e-04, 0.00000000e+00,-6.79896635e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007626738623517405
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30267119,  0.08760491, -0.94906034, -0.02661782,  0.9961553 ,
        0.08346323,  0.95272328,  0.        ,  0.30383936])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07263063, -0.04273769,  0.22448126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.001316077013807107
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.16344431e-14,  4.21792575e-14,  1.00000000e+00,  1.33431732e-27,
        1.00000000e+00, -4.21792575e-14, -1.00000000e+00,  0.00000000e+00,
       -3.16344431e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03661206, -0.11884105,  0.06188327])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.45064620e-06, 3.93583450e-02, 9.85465194e-03,-1.84274861e-05,
 -7.88908192e-06,-7.72178976e-04,-1.61589746e-04,-8.19355507e-05,
 -2.90877068e-05,-1.38811846e-04,-1.06298899e-04,-5.03701850e-05,
  1.87552506e-03, 3.16667501e-03, 8.77738118e-03, 1.46622191e-03,
 -4.21209965e-06, 8.30369602e-06,-1.21645723e+00, 1.57757163e-03,
  5.43964638e-04, 7.95389188e-06]


--- Step 2296 ---
qpos:
[-0.01504763, 1.29054206,-0.02737326, 0.94845232, 0.00436152, 1.31803679,
 -0.029462  , 0.94610471, 0.01672491, 1.33207828,-0.02375044, 0.95489801,
  1.38877525,-0.00291358, 1.19517416, 0.06221614,-0.00362917,-0.09264644,
  0.08162759, 0.63048727,-0.01129772,-0.00435351, 0.77610516]

qacc:
[ 4.98706090e-01,-1.14614188e+01, 3.09717052e+01,-3.25411693e+01,
  5.52929340e-02,-9.34878830e+00, 2.16037333e+01,-1.84378834e+01,
 -9.42868955e-02, 1.20412692e+00,-4.62360244e+00,-1.30844523e+00,
 -1.36256320e-01,-9.73658459e-02, 3.64037923e+00,-3.58503585e+00,
  1.06745869e+00, 1.17120951e+00,-3.79668665e-01, 6.04312967e+01,
  5.36360896e+01, 4.82102276e-01]

qfrc_actuator:
[ 3.00351819e-03, 7.66793710e-02, 1.55264469e-02, 1.86726981e-03,
  2.09684167e-06, 4.85971380e-02, 1.06476423e-02, 1.81543562e-03,
 -3.04074826e-03, 3.93326434e-02, 1.06344906e-02, 2.00603619e-03,
  0.00000000e+00,-2.88914108e-04, 0.00000000e+00,-7.93210126e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007638499078215649
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30271588,  0.08760421, -0.94904615, -0.02662154,  0.99615536,
        0.08346132,  0.95270897,  0.        ,  0.3038842 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07262911, -0.04273753,  0.22448273])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   6.27165954,   5.93742903,   6.27165954,
        29.43048188, -21.96466339,   5.93742903, -21.96466339,
        31.83746464,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013082694127715816
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.24309784e-14,  4.24309784e-14,  1.00000000e+00,  1.80038793e-27,
        1.00000000e+00, -4.24309784e-14, -1.00000000e+00,  0.00000000e+00,
       -4.24309784e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03662614, -0.11884983,  0.06188396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.08794808e-05, 3.94760570e-02, 9.88699892e-03,-5.88960620e-05,
  1.56104307e-05,-7.36907058e-04,-1.43900507e-04,-4.22896609e-05,
 -2.71246112e-05,-1.75574233e-04,-1.13996158e-04,-3.53741212e-05,
  1.88971261e-03, 3.18647974e-03, 8.70431525e-03, 1.31806619e-03,
  4.08109811e-06,-6.12376133e-06,-1.21645333e+00, 1.57819698e-03,
  5.43943338e-04,-1.03619041e-05]


--- Step 2297 ---
qpos:
[-0.01504602, 1.29058932,-0.02747513, 0.94845395, 0.00436155, 1.31831639,
 -0.02946301, 0.94610601, 0.01672499, 1.33217184,-0.02375359, 0.95490096,
  1.38880921,-0.0029481 , 1.19516089, 0.06220618,-0.003607  ,-0.09265575,
  0.08163068, 0.63051564,-0.01074727,-0.00416641, 0.77609095]

qacc:
[ 1.24120944e-03,-6.57565312e+00, 1.42296934e+01,-8.07194890e+00,
  7.53143375e-02,-1.04336273e+01, 2.32841221e+01,-1.36600767e+01,
 -1.39516652e-02,-8.30748679e+00, 2.91704199e+01,-5.26570640e+01,
 -8.03356189e-01, 1.04096829e+00, 1.91298551e-01, 3.66713632e-01,
  1.00294698e+00, 1.11724267e+00,-8.74412888e-01, 5.73634359e+01,
  5.07645100e+01, 3.30682722e-01]

qfrc_actuator:
[ 2.97373215e-03, 7.65763768e-02, 1.55688185e-02, 1.87564126e-03,
  1.42465696e-05, 4.82511640e-02, 1.06828782e-02, 1.82519040e-03,
 -3.02891468e-03, 3.92318554e-02, 1.06638483e-02, 1.88139193e-03,
  0.00000000e+00,-2.11905709e-04, 0.00000000e+00,-7.68912786e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007649736933627582
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02764113e-01,  8.76031140e-02, -9.49030867e-01, -2.66254418e-02,
        9.96155457e-01,  8.34589206e-02,  9.52693538e-01,  3.46944695e-18,
        3.03932595e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07262806, -0.04273739,  0.22448405])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   6.34422337,   5.85982992,   6.34422337,
        31.82601655, -25.10658843,   5.85982992, -25.10658843,
        35.81834798,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012879602074824942
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.38750643e-15,  3.23250386e-14,  1.00000000e+00, -1.74151353e-28,
        1.00000000e+00, -3.23250386e-14, -1.00000000e+00,  0.00000000e+00,
        5.38750643e-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([-0.0366587 , -0.11887364,  0.06188569])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09061832e-04, 3.96242341e-02, 9.86372083e-03,-1.24597867e-05,
  2.13132089e-05,-7.85144927e-04,-1.26851598e-04,-1.71391910e-05,
 -4.11928454e-06,-2.21842330e-04,-1.90149811e-05,-1.33868924e-04,
  1.90075198e-03, 3.27990110e-03, 8.49181804e-03, 1.29859715e-03,
  1.69809366e-05,-1.29215259e-05,-1.21645228e+00, 1.57880147e-03,
  5.43468601e-04,-1.90274922e-05]


--- Step 2298 ---
qpos:
[-0.01504478, 1.29063346,-0.02757636, 0.94845657, 0.00436175, 1.31858927,
 -0.02946312, 0.94610708, 0.0167251 , 1.33226304,-0.02375524, 0.9549017 ,
  1.38884275,-0.00298193, 1.19514589, 0.06219605,-0.0035923 ,-0.09265878,
  0.08163444, 0.63053438,-0.01043912,-0.00397158, 0.77608095]

qacc:
[-1.53598666e-01,-4.08944638e+00, 6.37332345e+00, 7.92747448e+00,
  6.96872526e-02,-1.16239480e+01, 2.76871219e+01,-2.22563868e+01,
  1.69005077e-02,-1.09453523e+01, 3.63740060e+01,-5.54623013e+01,
 -7.08978597e-01, 1.18957460e+00,-1.98708405e+00, 3.40151702e+00,
 -1.86910307e+00, 1.57138015e+00, 1.67927930e-01,-7.34318004e+01,
  9.64220156e+01, 5.60887556e+00]

qfrc_actuator:
[ 2.95521818e-03, 7.65515650e-02, 1.56347578e-02, 1.93319230e-03,
  2.14170678e-05, 4.79001391e-02, 1.07216768e-02, 1.81264778e-03,
 -3.02182381e-03, 3.90995490e-02, 1.07356136e-02, 1.77140320e-03,
  0.00000000e+00,-1.69878043e-04, 0.00000000e+00,-7.14940975e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007658351947478353
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30281616,  0.08760197, -0.94901437, -0.02662967,  0.99615556,
        0.08345637,  0.95267688,  0.        ,  0.30398481])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07262714, -0.04273722,  0.22448524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.001337337061898626
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.15087212e-14,  4.15087212e-14,  1.00000000e+00,  1.72297393e-27,
        1.00000000e+00, -4.15087212e-14, -1.00000000e+00,  0.00000000e+00,
       -4.15087212e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04738054, -0.11524544,  0.06188158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27685345e-04, 3.98185046e-02, 9.91045072e-03, 3.84229528e-05,
  1.96904323e-05,-8.12737989e-04,-1.30036164e-04,-3.98065787e-05,
  4.70873356e-06,-2.63306794e-04, 2.22666728e-05,-1.20102656e-04,
  1.93435149e-03, 3.30329369e-03, 8.47135045e-03, 1.34463586e-03,
  3.37910598e-05,-1.33026596e-05,-1.21645363e+00, 1.57943181e-03,
  5.42575517e-04,-1.95534889e-05]


--- Step 2299 ---
qpos:
[-0.01504253, 1.29067272,-0.027677  , 0.94845898, 0.00436193, 1.31885623,
 -0.02946331, 0.9461073 , 0.01672527, 1.33235203,-0.02375581, 0.95490286,
  1.38887668,-0.00301592, 1.19513644, 0.06218648,-0.00358451,-0.09265611,
  0.08163579, 0.63054456,-0.0103543 ,-0.00376936, 0.77607483]

qacc:
[ 4.32181755e-01,-8.42578998e+00, 2.01552861e+01,-1.68371728e+01,
 -6.46657275e-03,-9.02774702e+00, 2.18492665e+01,-2.52372642e+01,
  2.47527465e-02,-5.10567493e+00, 1.23298121e+01,-4.57868656e+00,
  1.40058176e-01,-1.54551455e-01, 6.50208541e+00,-1.08630515e+01,
 -1.72478136e+00, 1.42519547e+00,-6.03924320e-01,-6.75797960e+01,
  8.89464018e+01, 5.02907922e+00]

qfrc_actuator:
[ 2.92607688e-03, 7.65386422e-02, 1.57499438e-02, 1.91282001e-03,
  7.79039725e-06, 4.76376716e-02, 1.07267098e-02, 1.76931438e-03,
 -3.01763753e-03, 3.90028616e-02, 1.07961893e-02, 1.79519589e-03,
  0.00000000e+00,-2.02547550e-04, 0.00000000e+00,-9.26948148e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007663903777024653
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02870569e-01,  8.76009029e-02, -9.48997102e-01, -2.66341262e-02,
        9.96155651e-01,  8.34538286e-02,  9.52659457e-01, -6.93889390e-18,
        3.04039403e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07262612, -0.04273704,  0.22448635])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.27412636,  2.47499693, -8.27412636, 10.92245849,
        7.64261057,  2.47499693,  7.64261057, 34.18626428,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013748349603971283
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.07531854e-14, -4.03765927e-14,  1.00000000e+00, -3.26053848e-27,
        1.00000000e+00,  4.03765927e-14, -1.00000000e+00,  0.00000000e+00,
       -8.07531854e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04729784, -0.11521055,  0.06187848])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.38795323e-04, 3.99612087e-02, 9.99419039e-03,-3.17446929e-05,
 -2.06261035e-06,-7.40695802e-04,-1.70216273e-04,-7.20518242e-05,
  7.01008717e-06,-2.42134491e-04, 8.07210305e-06, 1.39742914e-05,
  1.95533135e-03, 3.23715251e-03, 8.55759491e-03, 1.14083476e-03,
  1.78681419e-05,-2.46661584e-06,-1.21644548e+00, 1.58264919e-03,
  5.43821872e-04, 1.54692635e-05]


--- Step 2300 ---
qpos:
[-0.01503958, 1.29070793,-0.02777657, 0.94846034, 0.00436218, 1.31911806,
 -0.02946414, 0.94610765, 0.01672549, 1.33243947,-0.02375556, 0.95490391,
  1.38891074,-0.00305012, 1.19513147, 0.06217754,-0.00358312,-0.09264822,
  0.08163211, 0.63054697,-0.01047699,-0.00356008, 0.77607221]

qacc:
[ 2.98159115e-01,-9.94848602e+00, 2.81990773e+01,-3.41046921e+01,
  2.93946750e-02,-4.77062816e+00, 7.15013474e+00,-1.39764671e+00,
  2.31913842e-02,-4.42943937e+00, 1.22025855e+01,-1.08983880e+01,
  3.80063807e-02,-1.36058977e-01, 4.73224189e+00,-6.93664430e+00,
 -1.60419012e+00, 1.30531438e+00,-1.25586553e+00,-6.27145321e+01,
  8.27179704e+01, 4.54224234e+00]

qfrc_actuator:
[ 2.90708336e-03, 7.65358768e-02, 1.58766959e-02, 1.86425216e-03,
  1.73045953e-05, 4.74302105e-02, 1.07120998e-02, 1.77925225e-03,
 -3.01522839e-03, 3.89638333e-02, 1.08498668e-02, 1.79100799e-03,
  0.00000000e+00,-1.90706690e-04, 0.00000000e+00,-1.01515253e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007669549579178044
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30292907,  0.08759948, -0.94897856, -0.02663883,  0.99615578,
        0.08345083,  0.95264073,  0.        ,  0.30409809])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07262566, -0.04273695,  0.22448728])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.26100872,  2.51843441, -8.26100872, 11.31042009,
        8.77148264,  2.51843441,  8.77148264, 37.40872092,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013894344289528265
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.99523361e-14,  3.99523361e-14,  1.00000000e+00,  1.59618916e-27,
        1.00000000e+00, -3.99523361e-14, -1.00000000e+00,  0.00000000e+00,
       -3.99523361e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04726545, -0.11519838,  0.06187727])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.08396750e-04, 4.02029697e-02, 1.00906566e-02,-6.99331076e-05,
  8.27191866e-06,-6.54620952e-04,-1.81280868e-04,-1.85563897e-05,
  6.58986980e-06,-1.71549638e-04, 7.62131058e-06,-1.06748578e-05,
  1.93628237e-03, 3.25747777e-03, 8.28059760e-03, 1.02496867e-03,
  7.32113034e-06, 3.75484653e-06,-1.21644226e+00, 1.58420604e-03,
  5.44563429e-04, 3.23809929e-05]


--- Step 2301 ---
qpos:
[-0.01503876, 1.29074443,-0.0278733 , 0.94846053, 0.00436251, 1.31937519,
 -0.02946603, 0.94610914, 0.01672576, 1.33252543,-0.02375557, 0.9549053 ,
  1.38894416,-0.00308333, 1.19511719, 0.06216866,-0.00358776,-0.0926355 ,
  0.08162121, 0.63054224,-0.01079402,-0.003344  , 0.77607267]

qacc:
[-9.11271760e-01,-8.02309012e+00, 3.05982543e+01,-4.08770219e+01,
  3.67310082e-02,-1.35469415e+00,-5.37673849e+00, 2.08485488e+01,
  1.83920218e-02,-6.88311490e-01,-7.53110974e-01, 5.43696725e+00,
 -6.53717229e-01, 1.24409233e+00,-1.38785947e+01, 2.87017605e+01,
 -1.50301534e+00, 1.20666552e+00,-1.80645267e+00,-5.86663352e+01,
  7.75268367e+01, 4.12954184e+00]

qfrc_actuator:
[ 2.87633539e-03, 7.65048013e-02, 1.59741941e-02, 1.83519933e-03,
  2.28723493e-05, 4.72218319e-02, 1.06685465e-02, 1.83825104e-03,
 -3.01390508e-03, 3.88708719e-02, 1.08282318e-02, 1.80589538e-03,
  0.00000000e+00,-1.16543347e-04, 0.00000000e+00,-6.03303248e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007675345105110955
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30299041,  0.08759781, -0.94895913, -0.02664372,  0.99615592,
        0.08344752,  0.95262108,  0.        ,  0.30415963])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07262565, -0.04273693,  0.22448808])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.28658564,  2.43295609, -8.28658564, 11.44067382,
        9.55140808,  2.43295609,  9.55140808, 41.16821299,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013855457725457931
  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([ 0.04727304, -0.11520431,  0.06187757])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.74036797e-04, 4.03736166e-02, 1.01356140e-02,-4.64396147e-05,
  1.04146045e-05,-6.08441854e-04,-1.93073956e-04, 3.39932314e-05,
  5.25789346e-06,-1.87258937e-04,-5.46786410e-05, 9.90339820e-06,
  1.92974502e-03, 3.34256143e-03, 8.05652141e-03, 1.40566701e-03,
  1.04385951e-06, 6.31187281e-06,-1.21644300e+00, 1.58453662e-03,
  5.44905480e-04, 3.49928882e-05]


--- Step 2302 ---
qpos:
[-0.01503874, 1.2907792 ,-0.02796848, 0.94846174, 0.00436278, 1.31962777,
 -0.02946895, 0.94611304, 0.0167262 , 1.33260923,-0.02375633, 0.95490625,
  1.38897697,-0.00311583, 1.19510199, 0.06215981,-0.00359806,-0.09261828,
  0.08160122, 0.63053079,-0.01129444,-0.00312136, 0.77607578]

qacc:
[-3.38398851e-01,-4.69277757e+00, 1.04794076e+01, 3.77371469e+00,
 -2.92569751e-02, 9.03338800e-01,-1.51050916e+01, 4.39068585e+01,
  7.50495421e-02,-1.52930377e+00, 2.41698657e+00,-5.70649638e+00,
 -9.12864509e-01, 1.40461882e+00,-1.37643382e+00, 3.00738464e+00,
 -1.41768261e+00, 1.12514530e+00,-2.27137984e+00,-5.52977775e+01,
  7.32024037e+01, 3.77583177e+00]

qfrc_actuator:
[ 2.87659597e-03, 7.64530287e-02, 1.60519155e-02, 1.87165230e-03,
  8.27463196e-06, 4.70145274e-02, 1.06260571e-02, 1.96113129e-03,
 -2.99549140e-03, 3.86928248e-02, 1.07621397e-02, 1.77856683e-03,
  0.00000000e+00,-4.15996518e-05, 0.00000000e+00,-6.72227705e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007677028879957901
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3030478 ,  0.08759683, -0.9489409 , -0.02664846,  0.99615601,
        0.08344498,  0.95260269,  0.        ,  0.30421721])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07262483, -0.04273679,  0.22448897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.36627926,  2.1429298 , -8.36627926, 11.04370234,
        9.39856633,  2.1429298 ,  9.39856633, 45.3296004 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013668625761426231
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.06120939e-14,  4.06120939e-14,  1.00000000e+00, -1.64934217e-27,
        1.00000000e+00, -4.06120939e-14, -1.00000000e+00,  0.00000000e+00,
        4.06120939e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04731223, -0.11522454,  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:
[-1.66918878e-04, 4.02572553e-02, 1.00706161e-02, 4.84575224e-05,
 -8.48713396e-06,-5.82511986e-04,-1.82770727e-04, 1.00125998e-04,
  2.15609334e-05,-2.92577605e-04,-1.08679031e-04,-3.41236828e-05,
  1.96149239e-03, 3.36887444e-03, 8.52207797e-03, 1.33360460e-03,
 -1.77184765e-06, 5.89586958e-06,-1.21644697e+00, 1.58395624e-03,
  5.44926114e-04, 2.60857436e-05]


--- Step 2303 ---
qpos:
[-0.01503832, 1.29081142,-0.02806222, 0.94846311, 0.00436279, 1.31987488,
 -0.02947026, 0.9461173 , 0.01672684, 1.33269109,-0.02375847, 0.95490516,
  1.38900953,-0.00314816, 1.19508882, 0.06215133,-0.00361319,-0.09260649,
  0.08158244, 0.63052395,-0.011791  ,-0.00309493, 0.77607406]

qacc:
[  0.17287867, -6.94841682, 18.30201024,-12.38825646, -0.10932909,
 -10.88437506, 26.12078847,-15.09210427,  0.08179947, -2.35918203,
   8.74282461,-29.96331831, -0.38782723,  0.51320233,  1.9174457 ,
  -2.26452653, -1.20643368, -1.35792423,  0.30315445,-74.90541097,
 -63.31970604, -4.42043244]

qfrc_actuator:
[ 2.93047882e-03, 7.64091009e-02, 1.61534497e-02, 1.87467854e-03,
 -1.83014074e-05, 4.67385863e-02, 1.07088570e-02, 1.97859214e-03,
 -2.98472716e-03, 3.85892858e-02, 1.06877437e-02, 1.67328228e-03,
  0.00000000e+00,-1.95684102e-05, 0.00000000e+00,-7.45565067e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007677196717503498
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30310536,  0.08759609, -0.94892258, -0.0266533 ,  0.99615607,
        0.08344266,  0.95258424,  0.        ,  0.30427497])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07262395, -0.04273663,  0.22448982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013688791315473042
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.04141998e-14,  2.02761332e-14,  1.00000000e+00,  6.16682367e-28,
        1.00000000e+00, -2.02761332e-14, -1.00000000e+00,  0.00000000e+00,
       -3.04141998e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03614984, -0.06258815,  0.06187879])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.33323398e-05, 4.03000431e-02, 1.00952498e-02, 5.35335412e-07,
 -3.15967107e-05,-6.32765021e-04,-4.92883186e-05,-2.68428481e-06,
  2.35261902e-05,-2.88144595e-04,-1.44973443e-04,-1.17809154e-04,
  1.99209199e-03, 3.35584934e-03, 8.56857020e-03, 1.25888568e-03,
 -1.71712703e-06, 3.01003850e-06,-1.21645366e+00, 1.58269709e-03,
  5.44684529e-04, 7.68909326e-06]


--- Step 2304 ---
qpos:
[-0.01503769, 1.29084296,-0.02815294, 0.94846529, 0.00436266, 1.32011674,
 -0.02947019, 0.94612002, 0.01672764, 1.33277121,-0.02376118, 0.95490379,
  1.38904179,-0.0031803 , 1.1950763 , 0.06214323,-0.00363283,-0.09259979,
  0.0815621 , 0.63052147,-0.01228411,-0.003251  , 0.77606779]

qacc:
[ 8.65247177e-02,-7.66386581e+00, 2.22544625e+01,-9.47679649e+00,
 -5.72828135e-02,-1.32854532e+01, 3.81772924e+01,-4.77534683e+01,
  6.96280076e-02,-1.23070688e+00, 1.82389282e+00,-3.68666072e+00,
 -3.79921104e-01, 5.00679059e-01,-1.64890401e-01, 2.02834911e+00,
 -1.12878149e+00,-1.27296092e+00,-3.92226541e-01,-6.97142987e+01,
 -5.88428621e+01,-4.20647003e+00]

qfrc_actuator:
[ 2.96239639e-03, 7.63536278e-02, 1.63220127e-02, 1.92910662e-03,
 -1.63415433e-05, 4.64774510e-02, 1.07758526e-02, 1.89838770e-03,
 -2.97863946e-03, 3.85488419e-02, 1.06802932e-02, 1.66503318e-03,
  0.00000000e+00, 6.48623344e-06, 0.00000000e+00,-7.15387608e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000767710478915367
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30316398,  0.08759522, -0.94890394, -0.02665818,  0.99615615,
        0.08344018,  0.95256545,  0.        ,  0.30433379])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07262329, -0.04273649,  0.22449059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.34366462,  2.2293581 , -8.34366462, 12.8111315 ,
       15.62461545,  2.2293581 , 15.62461545, 67.11353308,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013778005002145557
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.02896872e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.02896872e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03613184, -0.06260245,  0.06187794])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.16328408e-05, 4.03715936e-02, 1.01918639e-02, 4.67305063e-05,
 -1.66738829e-05,-6.22697530e-04,-6.27427107e-05,-1.00335016e-04,
  2.00088556e-05,-2.32154574e-04,-8.37353622e-05,-2.36595595e-05,
  2.00423351e-03, 3.37441146e-03, 8.46703111e-03, 1.27059924e-03,
  9.16228197e-06,-8.36558665e-06,-1.21645157e+00, 1.58448518e-03,
  5.44778287e-04,-4.00973278e-06]


--- Step 2305 ---
qpos:
[-0.01503628, 1.29087206,-0.02824193, 0.94846901, 0.00436275, 1.32035403,
 -0.02947044, 0.94612281, 0.01672842, 1.33284963,-0.02376296, 0.95490295,
  1.3890737 ,-0.00321234, 1.19506747, 0.06213526,-0.00365673,-0.0925979 ,
  0.08153784, 0.63052307,-0.01277411,-0.00357821, 0.77605714]

qacc:
[ 3.36982980e-01,-5.20702937e+00, 9.97193999e+00, 1.07699573e+01,
  9.45752294e-02,-4.96896506e+00, 8.78465467e+00,-3.71521324e+00,
 -8.96850873e-03,-3.82899407e+00, 8.74226152e+00,-5.15335866e-01,
 -5.43101770e-01, 6.37649481e-01, 5.09638996e+00,-9.80446364e+00,
 -1.06293845e+00,-1.20161992e+00,-9.78411908e-01,-6.54030771e+01,
 -5.51231751e+01,-4.01912963e+00]

qfrc_actuator:
[ 2.98117580e-03, 7.63436469e-02, 1.64398735e-02, 1.99591006e-03,
  2.04735382e-05, 4.62626875e-02, 1.07619345e-02, 1.90336863e-03,
 -2.99315869e-03, 3.85113200e-02, 1.07482536e-02, 1.69630085e-03,
  0.00000000e+00, 5.26150469e-05, 0.00000000e+00,-8.54042309e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007677419854525899
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30322038,  0.08759431, -0.948886  , -0.02666286,  0.99615623,
        0.08343773,  0.95254737,  0.        ,  0.30439038])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07262266, -0.04273636,  0.22449135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.44762398,  1.79566867, -8.44762398, 11.81146506,
       14.93708907,  1.79566867, 14.93708907, 78.9070732 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001369585795740605
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.05313427e-14,  2.02656713e-14,  1.00000000e+00,  8.21394870e-28,
        1.00000000e+00, -2.02656713e-14, -1.00000000e+00,  0.00000000e+00,
       -4.05313427e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03614314, -0.06259434,  0.06187852])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.29384673e-05, 4.03958470e-02, 1.01587902e-02, 7.29116266e-05,
  2.69709375e-05,-5.76282193e-04,-1.46078125e-04,-1.75153538e-05,
 -2.67284473e-06,-1.83507534e-04, 1.23270861e-05, 2.14952725e-05,
  2.01955098e-03, 3.41166934e-03, 8.43507943e-03, 1.11305237e-03,
  2.60191932e-05,-1.02175061e-05,-1.21645282e+00, 1.58560744e-03,
  5.45070204e-04,-4.14302348e-06]


--- Step 2306 ---
qpos:
[-0.01503453, 1.29089825,-0.0283306 , 0.94847052, 0.00436301, 1.32058657,
 -0.0294705 , 0.94612496, 0.01672926, 1.3329266 ,-0.02376408, 0.9549042 ,
  1.38910523,-0.00324433, 1.1950588 , 0.06212771,-0.00367983,-0.09260212,
  0.08152602, 0.63052713,-0.01315127,-0.00401602, 0.77604539]

qacc:
[ 1.43068243e-01,-8.50896559e+00, 2.76666686e+01,-4.78187222e+01,
  7.04802567e-02,-7.90394532e+00, 1.95935211e+01,-2.16169011e+01,
  2.52360389e-02,-5.71084706e-02,-6.32938580e+00, 3.05821743e+01,
 -3.16072510e-01, 3.06175435e-01,-1.01252476e+00, 3.94466298e+00,
  1.97377026e-01,-1.52703304e+00, 3.11155771e+00,-7.32998606e+00,
 -7.86444549e+01,-2.20987205e+00]

qfrc_actuator:
[ 2.99140431e-03, 7.63629838e-02, 1.64741412e-02, 1.87380029e-03,
  2.46398219e-05, 4.60239020e-02, 1.07716332e-02, 1.86967863e-03,
 -2.98441650e-03, 3.84584596e-02, 1.07891891e-02, 1.80384969e-03,
  0.00000000e+00, 9.30434178e-05, 0.00000000e+00,-8.27610825e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007678487451118973
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30327745,  0.08759315, -0.94886787, -0.02666753,  0.99615633,
        0.08343502,  0.95252907,  0.        ,  0.30444764])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07262236, -0.04273627,  0.22449202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013639501746724736
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.06988116e-14,  4.06988116e-14,  1.00000000e+00, -1.65639327e-27,
        1.00000000e+00, -4.06988116e-14, -1.00000000e+00,  0.00000000e+00,
        4.06988116e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00346542, -0.07093779,  0.06187887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.21630021e-05, 4.05368268e-02, 1.01068336e-02,-1.26573949e-04,
  2.00313891e-05,-5.88403282e-04,-1.20429996e-04,-5.53218800e-05,
  7.20539014e-06,-1.51834651e-04, 7.04287615e-06, 1.03078903e-04,
  2.03720160e-03, 3.44742214e-03, 8.25065147e-03, 1.13296236e-03,
  4.77405336e-05,-4.31506040e-06,-1.21645675e+00, 1.58616605e-03,
  5.45553901e-04, 5.11288174e-06]


--- Step 2307 ---
qpos:
[-0.01503355, 1.29092361,-0.02841797, 0.94846963, 0.00436323, 1.32081473,
 -0.02947056, 0.94612563, 0.01673018, 1.33300218,-0.02376551, 0.95490644,
  1.38913629,-0.00327589, 1.19504646, 0.06212057,-0.00369738,-0.09261111,
  0.08152532, 0.63053055,-0.0133436 ,-0.00446564, 0.77603687]

qacc:
[-3.30637284e-01,-8.69640104e+00, 3.19318379e+01,-5.49340806e+01,
 -1.22610664e-02,-8.24393360e+00, 2.29809238e+01,-3.42495099e+01,
  3.19304740e-02, 6.67960494e-01,-6.36378909e+00, 1.76925269e+01,
 -4.33776733e-01, 6.71682449e-01,-6.59547541e+00, 1.52821358e+01,
  1.39032663e+00,-1.19290706e+00, 2.77612543e+00, 5.36872420e+01,
 -7.54651977e+01, 8.14834087e-01]

qfrc_actuator:
[ 2.96113587e-03, 7.63658548e-02, 1.65477225e-02, 1.76575606e-03,
  9.18502652e-06, 4.58259744e-02, 1.07773550e-02, 1.79574419e-03,
 -2.97954236e-03, 3.83613160e-02, 1.07605477e-02, 1.84886486e-03,
  0.00000000e+00, 1.30067397e-04, 0.00000000e+00,-6.66966084e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007677856051761661
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30333698,  0.08759186, -0.94884896, -0.02667237,  0.99615645,
        0.08343212,  0.95250998,  0.        ,  0.30450737])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07262215, -0.04273614,  0.22449261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0014019833314012492
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.95947298e-14,  3.95947298e-14,  1.00000000e+00,  1.56774263e-27,
        1.00000000e+00, -3.95947298e-14, -1.00000000e+00,  0.00000000e+00,
       -3.95947298e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03189404, -0.07708519,  0.06187564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.29162339e-04, 4.06851021e-02, 1.01640441e-02,-1.23826861e-04,
 -3.67713258e-06,-5.50333262e-04,-1.24962187e-04,-9.60624277e-05,
  9.16600289e-06,-1.77204001e-04,-5.45576021e-05, 4.32294976e-05,
  2.05639693e-03, 3.48268140e-03, 8.24262672e-03, 1.27252969e-03,
  5.25785660e-05, 9.60925726e-06,-1.21645596e+00, 1.58557689e-03,
  5.45035111e-04, 3.39655684e-05]


--- Step 2308 ---
qpos:
[-0.01503379, 1.29094892,-0.02850415, 0.94846841, 0.00436337, 1.32103846,
 -0.02947089, 0.94612612, 0.01673087, 1.33307694,-0.02376829, 0.95490782,
  1.38916705,-0.00330652, 1.1950289 , 0.06211331,-0.00370991,-0.0926142 ,
  0.08153178, 0.63053567,-0.0135442 ,-0.00471779, 0.77602774]

qacc:
[-5.14259907e-01,-3.83957825e+00, 1.31347588e+01,-1.51288238e+01,
 -3.97091502e-02,-5.39944967e+00, 1.09518491e+01,-8.74765116e+00,
 -9.57415814e-02, 1.11268510e+00,-3.20047486e+00,-6.54720612e+00,
 -5.75302323e-01, 1.21053833e+00,-7.32052588e+00, 1.45024278e+01,
  1.25173925e+00, 1.47546522e+00, 1.79362146e+00, 7.40262898e+01,
  6.54749734e+01, 4.84557411e-01]

qfrc_actuator:
[ 2.92529864e-03, 7.63579409e-02, 1.65905422e-02, 1.75598497e-03,
 -1.60939619e-07, 4.56008230e-02, 1.07630637e-02, 1.78750527e-03,
 -3.01253406e-03, 3.83268947e-02, 1.06908552e-02, 1.80338018e-03,
  0.00000000e+00, 1.64644589e-04, 0.00000000e+00,-5.14706069e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007674817957555695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03396074e-01,  8.75908145e-02, -9.48830159e-01, -2.66772422e-02,
        9.96156539e-01,  8.34294644e-02,  9.52491022e-01,  6.93889390e-18,
        3.04566664e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07262166, -0.04273594,  0.22449321])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0014395756460950787
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64019351e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.64019351e-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([-0.03642732, -0.11869196,  0.06187253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.26203376e-04, 4.07191302e-02, 1.01424856e-02,-1.36247391e-05,
 -1.15322756e-05,-5.58576651e-04,-1.39236535e-04,-3.03119756e-05,
 -2.75444586e-05,-1.42303502e-04,-1.09312227e-04,-5.12182236e-05,
  2.07971138e-03, 3.49622410e-03, 8.42615506e-03, 1.40470507e-03,
  3.61097646e-05, 1.90736257e-05,-1.21645124e+00, 1.58523582e-03,
  5.43806400e-04, 5.71113785e-05]


--- Step 2309 ---
qpos:
[-0.0150346 , 1.29097289,-0.0285895 , 0.94846688, 0.0043634 , 1.32125777,
 -0.02947228, 0.9461269 , 0.01673155, 1.3331505 ,-0.02377077, 0.95491067,
  1.38919753,-0.00333654, 1.19501036, 0.06210624,-0.00371783,-0.09261182,
  0.081542  , 0.6305425 ,-0.01375246,-0.00478722, 0.77601811]

qacc:
[-2.46286619e-01,-4.54798616e+00, 1.33376968e+01,-1.43892987e+01,
 -4.29224548e-02,-2.45609053e+00, 3.93079684e-01, 5.81130781e+00,
 -2.09058267e-03, 1.54195690e-01,-5.35712260e+00, 2.22923685e+01,
 -5.77151000e-01, 1.02661144e+00,-1.93993765e+00, 4.81319449e+00,
  1.15511606e+00, 1.36570580e+00, 9.37718696e-01, 6.84940660e+01,
  6.05888344e+01, 4.35148773e-01]

qfrc_actuator:
[ 2.92236595e-03, 7.63075799e-02, 1.66322313e-02, 1.73305208e-03,
 -5.76514802e-06, 4.53611434e-02, 1.07015212e-02, 1.80022258e-03,
 -2.99696386e-03, 3.82945784e-02, 1.07219722e-02, 1.88256299e-03,
  0.00000000e+00, 2.14847951e-04, 0.00000000e+00,-5.26893135e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007668842444582026
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03454053e-01,  8.75901438e-02, -9.48811680e-01, -2.66821343e-02,
        9.96156597e-01,  8.34271958e-02,  9.52472415e-01, -3.46944695e-18,
        3.04624849e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07262074, -0.04273572,  0.22449383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.001459030477254375
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.60932031e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.60932031e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03639943, -0.11866939,  0.06187096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.88330031e-05, 4.06703615e-02, 1.01242652e-02,-2.03626923e-05,
 -1.24185374e-05,-5.78448198e-04,-1.87789411e-04,-8.50202427e-06,
 -6.43719236e-07,-1.34387361e-04,-1.06725653e-05, 7.06789168e-05,
  2.09443063e-03, 3.50110604e-03, 8.68801109e-03, 1.39839232e-03,
  1.64486367e-05, 3.73668275e-06,-1.21644499e+00, 1.58615689e-03,
  5.44308657e-04, 3.76232863e-05]


--- Step 2310 ---
qpos:
[-0.01503646, 1.29099724,-0.02867277, 0.94846555, 0.00436334, 1.32147281,
 -0.02947453, 0.94612816, 0.0167323 , 1.33322177,-0.02377211, 0.95491485,
  1.38922772,-0.00336578, 1.19498895, 0.06209936,-0.00372144,-0.09260435,
  0.08155309, 0.63055096,-0.01396789,-0.00468614, 0.776008  ]

qacc:
[-4.46551800e-01,-4.73299529e+00, 1.56279854e+01,-1.14020376e+01,
 -3.67547199e-02,-2.44746986e+00, 2.51263813e-01, 7.94392946e+00,
  3.07143201e-02,-3.80213535e+00, 6.10219351e+00, 1.14042676e+01,
 -5.93061699e-01, 1.14505304e+00,-4.78242365e+00, 1.07095339e+01,
  1.07523213e+00, 1.27521157e+00, 2.18434562e-01, 6.39070291e+01,
  5.65397442e+01, 4.06478488e-01]

qfrc_actuator:
[ 2.90352508e-03, 7.62685895e-02, 1.67263947e-02, 1.75560253e-03,
 -9.07929936e-06, 4.51677772e-02, 1.06657877e-02, 1.82511742e-03,
 -2.98789204e-03, 3.81222168e-02, 1.07592114e-02, 1.94580523e-03,
  0.00000000e+00, 2.56606314e-04, 0.00000000e+00,-4.07216803e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007661519904980443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03512532e-01,  8.75896412e-02, -9.48793022e-01, -2.66871219e-02,
        9.96156642e-01,  8.34250728e-02,  9.52453642e-01, -3.46944695e-18,
        3.04683540e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07261975, -0.04273551,  0.22449442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.001458892941749071
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90250942e-14,  1.14150565e-13,  1.00000000e+00,  2.17172525e-27,
        1.00000000e+00, -1.14150565e-13, -1.00000000e+00,  0.00000000e+00,
       -1.90250942e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03640116, -0.11867034,  0.06187103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.87759240e-05, 4.06989846e-02, 1.01772707e-02, 1.79976152e-05,
 -1.06515718e-05,-5.51931465e-04,-1.70742337e-04, 2.15636383e-06,
  8.73046257e-06,-2.47166591e-04, 1.17762800e-05, 6.06966655e-05,
  2.10864606e-03, 3.51250131e-03, 8.73706037e-03, 1.50900763e-03,
  4.87853195e-06,-1.69142067e-06,-1.21644259e+00, 1.58726789e-03,
  5.44163252e-04, 3.08484096e-05]


--- Step 2311 ---
qpos:
[-0.01503884, 1.29102138,-0.02875398, 0.94846524, 0.00436337, 1.32168335,
 -0.02947693, 0.94613038, 0.01673314, 1.33329049,-0.02377359, 0.95491984,
  1.38925791,-0.0033944 , 1.19496752, 0.06209274,-0.00372102,-0.09259207,
  0.08156264, 0.63056093,-0.01419007,-0.0044247 , 0.77599741]

qacc:
[-2.21804847e-01,-4.12894369e+00, 1.10511823e+01, 2.35566444e+00,
  3.37688814e-02,-3.87240314e+00, 3.53282112e+00, 1.09530125e+01,
  3.59669125e-02,-1.58504300e+00,-5.19315297e-01, 1.14662730e+01,
 -3.94741105e-01, 8.89039012e-01,-7.50621253e-01, 2.65026542e+00,
  1.00915283e+00, 1.20056645e+00,-3.85478749e-01, 6.01049909e+01,
  5.31864417e+01, 3.95143701e-01]

qfrc_actuator:
[ 2.87584014e-03, 7.62529767e-02, 1.68327131e-02, 1.80504657e-03,
  6.75935597e-06, 4.49505492e-02, 1.06635244e-02, 1.87477275e-03,
 -2.98279410e-03, 3.79384092e-02, 1.07281514e-02, 1.98128517e-03,
  0.00000000e+00, 2.75135412e-04, 0.00000000e+00,-4.21546295e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007653097609848711
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30356866,  0.08758949, -0.94877508, -0.02669201,  0.99615666,
        0.08342335,  0.95243562,  0.        ,  0.30473988])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07261851, -0.04273529,  0.22449503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0014431031939995675
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.61662885e-15,  7.69330308e-14,  1.00000000e+00,  7.39836403e-28,
        1.00000000e+00, -7.69330308e-14, -1.00000000e+00,  0.00000000e+00,
       -9.61662885e-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([-0.03642628, -0.11868987,  0.0618724 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.40825056e-05, 4.06640374e-02, 1.01800723e-02, 5.70770794e-05,
  9.54289349e-06,-5.57436732e-04,-1.29827197e-04, 2.84518770e-05,
  1.02828107e-05,-3.16873002e-04,-7.62852886e-05, 3.00178979e-05,
  2.12352395e-03, 3.49254263e-03, 8.88056994e-03, 1.48467988e-03,
 -1.71929981e-07, 8.40539836e-07,-1.21644327e+00, 1.58851417e-03,
  5.43480113e-04, 3.43173575e-05]


--- Step 2312 ---
qpos:
[-0.01504047, 1.2910424 ,-0.0288345 , 0.94846551, 0.00436395, 1.32188849,
 -0.02947864, 0.94613289, 0.01673406, 1.33335741,-0.02377625, 0.95492487,
  1.38928806,-0.00342297, 1.19495266, 0.06208659,-0.00371609,-0.0925839 ,
  0.08157698, 0.63057035,-0.0142504 ,-0.00417343, 0.77599004]

qacc:
[ 3.19375026e-01,-4.93816311e+00, 9.97003825e+00, 7.70634051e-02,
  2.38842010e-01,-8.47885652e+00, 1.85056278e+01,-9.42380794e+00,
  3.04922504e-02, 8.96251071e-01,-5.82189435e+00, 6.52481864e+00,
 -3.91300608e-01, 5.08727060e-01, 8.29674905e+00,-1.48299401e+01,
  1.12884528e+00,-1.02650090e+00, 1.19922053e+00, 4.70800972e+01,
 -6.60310470e+01, 8.04016624e-01]

qfrc_actuator:
[ 2.87824628e-03, 7.62163279e-02, 1.69099882e-02, 1.81647279e-03,
  6.94638757e-05, 4.46321724e-02, 1.06809596e-02, 1.88534419e-03,
 -2.98012197e-03, 3.78731801e-02, 1.06746800e-02, 1.98233146e-03,
  0.00000000e+00, 3.15082088e-04, 0.00000000e+00,-6.58425553e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007644807538874088
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30362302,  0.08758951, -0.94875768, -0.0266968 ,  0.99615665,
        0.08342184,  0.95241816,  0.        ,  0.30479445])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07261724, -0.04273512,  0.22449564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0014406509223632777
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  3.8531993e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -3.8531993e-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([-0.03184477, -0.07710892,  0.06187265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.63978454e-06, 4.06378992e-02, 1.01537267e-02, 1.74536618e-05,
  6.83059321e-05,-6.52802772e-04,-1.05772084e-04,-8.99325180e-06,
  8.76926512e-06,-2.54929797e-04,-1.23211403e-04,-9.77406602e-06,
  2.12321607e-03, 3.50211017e-03, 8.88253089e-03, 1.23558516e-03,
  1.40095442e-07, 9.91132846e-06,-1.21644648e+00, 1.58985143e-03,
  5.42342560e-04, 4.62321331e-05]


--- Step 2313 ---
qpos:
[-0.01504196, 1.29106156,-0.02891415, 0.94846511, 0.00436502, 1.32208876,
 -0.02948084, 0.94613517, 0.01673458, 1.33342328,-0.02377957, 0.95492771,
  1.38931803,-0.00345136, 1.19494042, 0.06208084,-0.00370686,-0.09257959,
  0.08159348, 0.63057927,-0.01415862,-0.00393172, 0.77598573]

qacc:
[ 6.11593902e-02,-5.93231161e+00, 1.77884856e+01,-2.20674040e+01,
  2.07970263e-01,-5.43748544e+00, 1.04904517e+01,-8.59247188e+00,
 -1.62639724e-01,-3.36127721e+00, 1.36963292e+01,-3.64557966e+01,
 -3.85709373e-01, 5.44789082e-01, 2.69216823e+00,-3.70922540e+00,
  1.07224255e+00,-9.67069124e-01, 5.38489713e-01, 4.42540695e+01,
 -6.20524975e+01, 7.70554334e-01]

qfrc_actuator:
[ 2.86214144e-03, 7.62233084e-02, 1.69881518e-02, 1.78736303e-03,
  8.87630278e-05, 4.43978477e-02, 1.06561896e-02, 1.87276723e-03,
 -3.03218455e-03, 3.78793587e-02, 1.06621229e-02, 1.87441343e-03,
  0.00000000e+00, 3.50449153e-04, 0.00000000e+00,-6.74112951e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007638390937579169
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03679695e-01,  8.75892775e-02, -9.48739565e-01, -2.67017084e-02,
        9.96156674e-01,  8.34200234e-02,  9.52399948e-01, -3.46944695e-18,
        3.04851338e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07261656, -0.04273506,  0.22449612])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.001427261935212358
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.40317752e-14, -1.94467287e-14,  1.00000000e+00, -6.61806699e-28,
        1.00000000e+00,  1.94467287e-14, -1.00000000e+00,  0.00000000e+00,
       -3.40317752e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03186229, -0.07709967,  0.06187384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.91405902e-05, 4.08008292e-02, 1.01978532e-02,-4.09514813e-05,
  5.95193417e-05,-6.17878874e-04,-1.64980554e-04,-3.51701786e-05,
 -4.68573299e-05,-1.59598465e-04,-7.66943009e-05,-1.19206494e-04,
  2.12530213e-03, 3.53561693e-03, 8.55403550e-03, 1.19603575e-03,
  4.30535551e-06, 8.48928728e-06,-1.21644352e+00, 1.58779917e-03,
  5.41759028e-04, 5.02593366e-05]


--- Step 2314 ---
qpos:
[-0.01504393, 1.29108138,-0.02899156, 0.94846371, 0.00436589, 1.32228434,
 -0.0294829 , 0.94613828, 0.01673463, 1.33348831,-0.02378245, 0.95493019,
  1.38934785,-0.00347936, 1.19492606, 0.06207547,-0.00369354,-0.09257896,
  0.08160993, 0.63058772,-0.01392276,-0.00369905, 0.77598428]

qacc:
[-2.05425347e-01,-6.89312553e+00, 2.55474575e+01,-3.40346802e+01,
 -8.69376616e-02,-5.11436661e+00, 7.53944076e+00, 5.99183339e+00,
 -2.04144597e-01,-2.93359732e+00, 8.95200627e+00,-1.13488563e+01,
 -2.35507483e-01, 4.86998735e-01,-4.24283451e+00, 1.03257463e+01,
  1.02518942e+00,-9.18410039e-01,-1.40099703e-02, 4.19244527e+01,
 -5.87695568e+01, 7.37066082e-01]

qfrc_actuator:
[ 2.87074141e-03, 7.62386965e-02, 1.71018957e-02, 1.75271033e-03,
  2.86086429e-05, 4.41978083e-02, 1.06780044e-02, 1.91769830e-03,
 -3.06340284e-03, 3.78928578e-02, 1.07095766e-02, 1.86309903e-03,
  0.00000000e+00, 3.65158444e-04, 0.00000000e+00,-5.39447754e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007632437466450794
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30373731,  0.08758899, -0.94872115, -0.02670669,  0.9961567 ,
        0.08341813,  0.95238144,  0.        ,  0.30490917])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07261612, -0.04273504,  0.22449653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0014015586211433423
  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([-0.03189621, -0.07708227,  0.06187606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.76721283e-05, 4.09089163e-02, 1.02683103e-02,-4.19132731e-05,
 -2.51082682e-05,-5.76603481e-04,-1.19062725e-04, 2.10347618e-05,
 -5.88360418e-05,-9.37166545e-05, 4.01660491e-06,-2.09697376e-05,
  2.13441817e-03, 3.54156035e-03, 8.42303914e-03, 1.31064438e-03,
  9.97683064e-06, 5.60194675e-06,-1.21644313e+00, 1.58638898e-03,
  5.41668400e-04, 4.63652077e-05]


--- Step 2315 ---
qpos:
[-0.01504557, 1.29110111,-0.02906691, 0.94846233, 0.00436634, 1.32247465,
 -0.0294833 , 0.94614118, 0.01673453, 1.33355202,-0.02378406, 0.9549339 ,
  1.38937786,-0.0035072 , 1.19491221, 0.0620704 ,-0.00367627,-0.09258185,
  0.08162447, 0.63059568,-0.01354944,-0.00347497, 0.77598546]

qacc:
[ 1.40996368e-01,-5.64152536e+00, 1.82344131e+01,-1.56048937e+01,
 -1.77308371e-01,-1.17768857e+01, 3.04814843e+01,-2.54618588e+01,
 -6.09546039e-02,-3.03339940e+00, 5.34333111e+00, 1.03054733e+01,
  3.79231343e-02, 1.21806184e-01,-1.34950002e-01, 1.58513727e+00,
  9.86102177e-01,-8.78696746e-01,-4.75231604e-01, 4.00091707e+01,
 -5.60672100e+01, 7.03502584e-01]

qfrc_actuator:
[ 2.89473229e-03, 7.62041032e-02, 1.71997593e-02, 1.75082489e-03,
 -7.70786184e-06, 4.39313635e-02, 1.07628505e-02, 1.90741263e-03,
 -3.04635746e-03, 3.78221933e-02, 1.07744347e-02, 1.92654238e-03,
  0.00000000e+00, 3.49454234e-04, 0.00000000e+00,-5.63238542e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007626078392141897
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30379216,  0.08758888, -0.94870359, -0.02671148,  0.99615671,
        0.08341648,  0.95236381,  0.        ,  0.30496423])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07261549, -0.042735  ,  0.22449698])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013662840563982426
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.03146450e-14,  4.06292901e-14,  1.00000000e+00,  8.25369605e-28,
        1.00000000e+00, -4.06292901e-14, -1.00000000e+00,  0.00000000e+00,
       -2.03146450e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03194279, -0.07705857,  0.06187907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.56138879e-06, 4.08415203e-02, 1.02540697e-02, 5.77442847e-06,
 -5.11321861e-05,-6.09476579e-04,-4.10808523e-05,-3.03003348e-05,
 -1.76401253e-05,-1.22769719e-04, 4.63344996e-05, 6.03867419e-05,
  2.14205260e-03, 3.50749169e-03, 8.52964794e-03, 1.26831928e-03,
  1.69177901e-05, 1.47930854e-06,-1.21644493e+00, 1.58551423e-03,
  5.42005998e-04, 3.57622121e-05]


--- Step 2316 ---
qpos:
[-0.01504651, 1.2911193 ,-0.02914129, 0.94846147, 0.00436666, 1.32266092,
 -0.02948449, 0.94614327, 0.01673458, 1.33361439,-0.02378525, 0.95493666,
  1.38940812,-0.00353495, 1.1949012 , 0.06206543,-0.00365518,-0.09258812,
  0.08163558, 0.63060311,-0.01304406,-0.00325912, 0.77598901]

qacc:
[ 3.03175914e-01,-3.76933141e+00, 8.79463503e+00,-6.34177879e-01,
 -5.66372825e-02,-4.51547135e+00, 1.00001503e+01,-1.55399938e+01,
  6.17995349e-02,-4.51617943e+00, 1.45006918e+01,-2.26436470e+01,
 -2.42387649e-02, 1.63831744e-01, 3.87182464e+00,-7.43833372e+00,
  9.53615069e-01,-8.46388955e-01,-8.59536426e-01, 3.84405292e+01,
 -5.38507535e+01, 6.69602545e-01]

qfrc_actuator:
[ 2.89183326e-03, 7.61400039e-02, 1.72518808e-02, 1.76799234e-03,
  6.07969399e-06, 4.37517919e-02, 1.07241479e-02, 1.86469519e-03,
 -3.01825133e-03, 3.77195929e-02, 1.07777290e-02, 1.87362756e-03,
  0.00000000e+00, 3.51066754e-04, 0.00000000e+00,-6.64424916e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007620292333078357
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03845145e-01,  8.75887026e-02, -9.48686643e-01, -2.67160793e-02,
        9.96156724e-01,  8.34148184e-02,  9.52346774e-01,  3.46944695e-18,
        3.05017411e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07261488, -0.04273501,  0.22449742])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.001323716292820347
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.09679187e-14,  4.19358374e-14,  1.00000000e+00, -8.79307230e-28,
        1.00000000e+00, -4.19358374e-14, -1.00000000e+00,  0.00000000e+00,
        2.09679187e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03199899, -0.07703009,  0.06188269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.89488103e-05, 4.07818529e-02, 1.02035355e-02, 2.22851168e-05,
 -1.63641310e-05,-5.27040548e-04,-1.63686896e-04,-6.26287889e-05,
  1.77289982e-05,-1.60084736e-04,-1.37110966e-05,-5.36989672e-05,
  2.13198483e-03, 3.50128524e-03, 8.50402908e-03, 1.15230716e-03,
  2.49598182e-05,-3.71270934e-06,-1.21644862e+00, 1.58509251e-03,
  5.42722684e-04, 1.93309314e-05]


--- Step 2317 ---
qpos:
[-0.01504763, 1.2911376 ,-0.02921451, 0.94846066, 0.00436696, 1.32284364,
 -0.02948674, 0.94614551, 0.01673485, 1.33367541,-0.02378604, 0.95493807,
  1.3894383 ,-0.00356223, 1.19488761, 0.06206031,-0.00363361,-0.09259947,
  0.0816503 , 0.63061245,-0.01244463,-0.00313508, 0.77599178]

qacc:
[-8.28397601e-02,-2.86648943e+00, 9.40133518e+00,-7.55369104e+00,
 -4.72670205e-03,-1.59915502e+00,-7.15625825e-01, 4.46650677e+00,
  9.48736119e-02,-5.19989367e+00, 1.75386610e+01,-2.98605363e+01,
 -2.36722269e-01, 5.66871342e-01,-3.33193452e+00, 6.17421747e+00,
  1.21688000e-01,-1.27211251e+00, 9.05829905e-01,-5.95359558e+00,
 -6.54271497e+01,-1.73733087e+00]

qfrc_actuator:
[ 2.90779330e-03, 7.61306957e-02, 1.72945641e-02, 1.77832565e-03,
  1.43067148e-05, 4.36074631e-02, 1.06841339e-02, 1.87421932e-03,
 -3.00149354e-03, 3.76516461e-02, 1.07976887e-02, 1.80583698e-03,
  0.00000000e+00, 3.80828621e-04, 0.00000000e+00,-5.45687767e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007615247950299962
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03898661e-01,  8.75882989e-02, -9.48669539e-01, -2.67206607e-02,
        9.96156760e-01,  8.34129270e-02,  9.52329570e-01, -3.46944695e-18,
        3.05071123e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07261451, -0.0427351 ,  0.2244978 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0012853745403631905
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.31867518e-14,  4.31867518e-14,  1.00000000e+00, -1.86509553e-27,
        1.00000000e+00, -4.31867518e-14, -1.00000000e+00,  0.00000000e+00,
        4.31867518e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00346247, -0.07086562,  0.06188594])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.84957155e-05, 4.08494137e-02, 1.01973815e-02, 6.53245595e-06,
 -1.43486003e-06,-4.71114433e-04,-1.63768272e-04,-1.22667565e-05,
  2.72516683e-05,-1.61165218e-04,-1.44959892e-05,-7.40950637e-05,
  2.12021985e-03, 3.52691489e-03, 8.36232851e-03, 1.26573349e-03,
  3.39843228e-05,-9.85539044e-06,-1.21645399e+00, 1.58505951e-03,
  5.43780969e-04,-2.29424380e-06]


--- Step 2318 ---
qpos:
[-0.01504919, 1.29115634,-0.02928666, 0.9484603 , 0.0043673 , 1.32302272,
 -0.02948894, 0.94614744, 0.01673518, 1.33373459,-0.0237846 , 0.95493793,
  1.38946854,-0.00358891, 1.19487052, 0.06205494,-0.00361676,-0.09261602,
  0.08166309, 0.630626  ,-0.01184184,-0.00319191, 0.77598997]

qacc:
[-1.81842725e-01,-1.56802357e+00, 4.91799070e+00, 6.03006199e-01,
  1.42429629e-02,-5.39549956e+00, 1.24452015e+01,-1.19355662e+01,
  2.89436302e-02,-1.11077694e+01, 3.64235126e+01,-4.84187648e+01,
 -1.94518440e-01, 6.45408928e-01,-4.37987678e+00, 7.86513400e+00,
 -1.18013066e+00,-1.29596571e+00,-4.86242572e-01,-6.90989174e+01,
 -5.82985964e+01,-4.21225709e+00]

qfrc_actuator:
[ 2.90018423e-03, 7.61354808e-02, 1.73310216e-02, 1.80256660e-03,
  1.91284359e-05, 4.34499178e-02, 1.06971619e-02, 1.86120473e-03,
 -3.00943360e-03, 3.75695190e-02, 1.09162431e-02, 1.72989672e-03,
  0.00000000e+00, 3.91570161e-04, 0.00000000e+00,-4.54556232e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007608893834302292
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03950979e-01,  8.75879693e-02, -9.48652808e-01, -2.67251595e-02,
        9.96156789e-01,  8.34111396e-02,  9.52312747e-01, -3.46944695e-18,
        3.05123634e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07261391, -0.04273517,  0.2244982 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0012890789816749834
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.61252910e-14,  2.15313228e-14,  1.00000000e+00,  1.85439144e-27,
        1.00000000e+00, -2.15313228e-14, -1.00000000e+00,  0.00000000e+00,
       -8.61252910e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03629915, -0.06249917,  0.0618857 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.63745972e-05, 4.08488662e-02, 1.01764254e-02, 2.78676448e-05,
  3.95891768e-06,-4.51870378e-04,-9.83161803e-05,-3.19693392e-05,
  8.17304672e-06,-1.76693262e-04, 8.32007910e-05,-8.27776519e-05,
  2.12373117e-03, 3.51514061e-03, 8.49146987e-03, 1.36441165e-03,
  2.99132883e-05,-1.56795090e-05,-1.21645734e+00, 1.58465383e-03,
  5.44558471e-04,-2.29061247e-05]


--- Step 2319 ---
qpos:
[-0.01505115, 1.2911757 ,-0.02935705, 0.94846087, 0.00436782, 1.32319846,
 -0.0294915 , 0.94615094, 0.01673537, 1.3337926 ,-0.0237828 , 0.95493657,
  1.38949898,-0.00361507, 1.19485166, 0.06204953,-0.00360434,-0.09263745,
  0.08167169, 0.6306435 ,-0.01123583,-0.00341879, 0.77598379]

qacc:
[-1.75482615e-01,-2.32655942e+00, 6.65732298e+00, 4.63446429e+00,
  7.97790242e-02,-7.85500268e-01,-5.91888471e+00, 2.52361435e+01,
 -6.17263327e-02,-4.62803246e+00, 1.57215596e+01,-2.69713569e+01,
 -9.31677050e-02, 5.02853831e-01,-2.47631433e+00, 4.87676463e+00,
 -1.10827557e+00,-1.22296560e+00,-1.04591827e+00,-6.49465041e+01,
 -5.48361580e+01,-3.92231908e+00]

qfrc_actuator:
[ 2.87874353e-03, 7.60773261e-02, 1.73988574e-02, 1.85249435e-03,
  3.96198975e-05, 4.33036923e-02, 1.06880821e-02, 1.94156196e-03,
 -3.03212540e-03, 3.75154405e-02, 1.09322167e-02, 1.66757422e-03,
  0.00000000e+00, 3.90569109e-04, 0.00000000e+00,-4.15330836e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007600883613293682
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04001837e-01,  8.75877875e-02, -9.48636528e-01, -2.67295752e-02,
        9.96156805e-01,  8.34095337e-02,  9.52296389e-01, -3.46944695e-18,
        3.05174682e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07261299, -0.04273525,  0.22449863])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0012857459149841488
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.31742777e-14,  2.15871389e-14,  1.00000000e+00,  9.32009129e-28,
        1.00000000e+00, -2.15871389e-14, -1.00000000e+00,  0.00000000e+00,
       -4.31742777e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03630648, -0.06249433,  0.06188604])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.64864576e-05, 4.07682326e-02, 1.01902745e-02, 5.55057370e-05,
  2.28078276e-05,-4.17669045e-04,-1.09788080e-04, 6.34344717e-05,
 -1.78391632e-05,-1.38401439e-04,-1.15661868e-05,-6.69651719e-05,
  2.12104566e-03, 3.48430538e-03, 8.66664360e-03, 1.41633456e-03,
  1.11986925e-05,-1.13498743e-05,-1.21645652e+00, 1.58288374e-03,
  5.44599585e-04,-2.04845963e-05]


--- Step 2320 ---
qpos:
[-0.01505364, 1.29119654,-0.02942509, 0.94846227, 0.00436841, 1.32337084,
 -0.02949442, 0.94615468, 0.01673566, 1.33385044,-0.02378272, 0.95493622,
  1.38952971,-0.00364074, 1.19482955, 0.06204416,-0.00359612,-0.09266353,
  0.08167422, 0.63066466,-0.0106267 ,-0.00380675, 0.77597337]

qacc:
[-2.24467887e-01,-3.00310758e+00, 1.04365587e+01,-3.79164571e-01,
  2.69791109e-02,-2.99644073e+00, 3.94278607e+00, 1.59876741e+00,
  3.93477720e-02, 6.19503889e+00,-2.25265895e+01, 3.13489269e+01,
  6.87463914e-02, 3.22692738e-01,-4.91863684e+00, 1.02469324e+01,
 -1.04857912e+00,-1.16214739e+00,-1.51670275e+00,-6.14992425e+01,
 -5.19697281e+01,-3.66327850e+00]

qfrc_actuator:
[ 2.88466509e-03, 7.60520743e-02, 1.74844175e-02, 1.89941647e-03,
  3.38400151e-05, 4.31299141e-02, 1.06661132e-02, 1.95194224e-03,
 -3.01022394e-03, 3.75314880e-02, 1.08520898e-02, 1.72022093e-03,
  0.00000000e+00, 3.82376582e-04, 0.00000000e+00,-3.00839501e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007592448494112315
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30405044,  0.08758776, -0.94862095, -0.02673384,  0.99615681,
        0.08340814,  0.95228075,  0.        ,  0.30522347])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07261189, -0.04273536,  0.22449909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0012691563740701434
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09346556e-14, -4.37386223e-14,  1.00000000e+00, -4.78266769e-28,
        1.00000000e+00,  4.37386223e-14, -1.00000000e+00,  0.00000000e+00,
       -1.09346556e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03633611, -0.06247238,  0.06188747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.99716772e-05, 4.07122777e-02, 1.01883387e-02, 5.57766966e-05,
  7.64538872e-06,-4.25654924e-04,-1.14490067e-04,-3.64291422e-06,
  1.14039729e-05,-6.51343881e-05,-1.10496549e-04, 4.67310794e-05,
  2.11105955e-03, 3.45111470e-03, 8.75597072e-03, 1.53317901e-03,
 -5.78222989e-07, 2.60273146e-07,-1.21645849e+00, 1.58069330e-03,
  5.44881279e-04,-9.15181157e-06]


--- Step 2321 ---
qpos:
[-0.01505562, 1.29121545,-0.02949294, 0.94846395, 0.00436886, 1.32353967,
 -0.02949747, 0.94615784, 0.01673625, 1.33390636,-0.02378184, 0.95493687,
  1.38956043,-0.00366632, 1.19481001, 0.06203897,-0.0035949 ,-0.09268411,
  0.08167595, 0.6306775 ,-0.01025266,-0.00418607, 0.77596601]

qacc:
[ 2.21560689e-01,-2.53373020e+00, 4.65570242e+00, 3.91421675e-01,
 -5.88122766e-02,-5.28418111e+00, 1.28007117e+01,-1.56288245e+01,
  1.30464930e-01,-2.96229333e+00, 4.59908903e+00, 8.75547892e+00,
 -1.86851039e-01, 2.90886764e-01, 3.25180113e+00,-5.81552388e+00,
 -1.75111813e+00, 1.37769856e+00,-2.00530131e-01,-7.08173939e+01,
  9.38996298e+01, 4.68262162e+00]

qfrc_actuator:
[ 2.90728368e-03, 7.60632130e-02, 1.75082983e-02, 1.89100862e-03,
  1.23468041e-05, 4.29409535e-02, 1.06543161e-02, 1.92101759e-03,
 -2.97950036e-03, 3.73760666e-02, 1.08760330e-02, 1.76909089e-03,
  0.00000000e+00, 4.22931418e-04, 0.00000000e+00,-4.43053623e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007583427031813139
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30409539,  0.08758794, -0.94860653, -0.02673785,  0.99615679,
        0.08340704,  0.95226629,  0.        ,  0.3052686 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07261046, -0.0427355 ,  0.22449961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013187231433245128
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.20946212e-14,  8.41892425e-14,  1.00000000e+00,  3.54391427e-27,
        1.00000000e+00, -8.41892425e-14, -1.00000000e+00,  0.00000000e+00,
       -4.20946212e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04741692, -0.11530281,  0.06188335])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.89846582e-05, 4.06497691e-02, 1.00945822e-02, 5.92259353e-06,
 -1.70032153e-05,-4.48161570e-04,-1.08375930e-04,-4.68860143e-05,
  3.74860536e-05,-2.12032554e-04,-3.05819824e-08, 4.48752280e-05,
  2.09658131e-03, 3.46707502e-03, 8.91859907e-03, 1.38891527e-03,
 -6.53866435e-06, 1.80074016e-05,-1.21646278e+00, 1.57818894e-03,
  5.45369205e-04, 9.65698974e-06]


--- Step 2322 ---
qpos:
[-0.01505701, 1.29123153,-0.02956107, 0.94846493, 0.00436911, 1.32370481,
 -0.02950037, 0.94616164, 0.01673688, 1.33396003,-0.02377983, 0.95493743,
  1.38959063,-0.00369199, 1.19479517, 0.06203419,-0.0036002 ,-0.09269959,
  0.08167403, 0.63068281,-0.01009589,-0.00455741, 0.77596166]

qacc:
[ 2.47921839e-01,-4.18036089e+00, 1.05597765e+01,-1.53854124e+01,
 -7.97618712e-02,-4.18626868e+00, 6.49893803e+00, 4.11402725e+00,
  1.65880074e-02,-6.18789267e+00, 1.68104906e+01,-1.42914741e+01,
 -5.87316256e-01, 5.06146261e-01, 5.78443905e+00,-1.00363718e+01,
 -1.62922325e+00, 1.27152496e+00,-9.10991099e-01,-6.54544100e+01,
  8.67842216e+01, 4.36544165e+00]

qfrc_actuator:
[ 2.92133279e-03, 7.60102240e-02, 1.75319072e-02, 1.84962104e-03,
 -6.44600677e-07, 4.27621768e-02, 1.06662980e-02, 1.95480756e-03,
 -2.99699270e-03, 3.72438472e-02, 1.09250725e-02, 1.76204429e-03,
  0.00000000e+00, 4.92946686e-04, 0.00000000e+00,-5.79677708e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007574657616828823
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.304142  ,  0.08758794, -0.94859159, -0.02674195,  0.99615679,
        0.08340573,  0.95225129,  0.        ,  0.30531539])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07260927, -0.04273568,  0.22450005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   1.19556594,   8.55320986,   1.19556594,
        89.67055278, -11.32694253,   8.55320986, -11.32694253,
        10.21964137,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013480487913786615
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.23577775e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.23577775e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04735149, -0.11527325,  0.06188092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.70811947e-05, 4.06926438e-02, 1.01091672e-02,-4.94460224e-05,
 -2.30284657e-05,-4.50503781e-04,-8.95661311e-05, 1.63240622e-05,
  4.65620079e-06,-2.48530046e-04, 8.88041695e-06,-1.22047768e-05,
  2.09659557e-03, 3.53314544e-03, 8.79035838e-03, 1.24307436e-03,
 -2.20282423e-06, 2.06312122e-05,-1.21645270e+00, 1.58155637e-03,
  5.45668738e-04, 3.71075556e-05]


--- Step 2323 ---
qpos:
[-0.01505851, 1.2912464 ,-0.02962836, 0.94846521, 0.0043692 , 1.32386605,
 -0.02950264, 0.94616443, 0.0167373 , 1.33401318,-0.02377856, 0.95493992,
  1.38962014,-0.00371757, 1.19478306, 0.06202978,-0.0036116 ,-0.09271034,
  0.08166608, 0.63068118,-0.01014159,-0.00492134, 0.77596016]

qacc:
[-4.59408891e-02,-5.04720740e+00, 1.59930203e+01,-2.12839212e+01,
 -7.38672349e-02,-8.52437500e+00, 2.36624796e+01,-2.97018960e+01,
 -8.95004033e-02, 4.64853312e+00,-1.98641774e+01, 3.97840041e+01,
 -7.18236020e-01, 7.49889278e-01, 2.91155906e+00,-4.21767297e+00,
 -1.52648602e+00, 1.18372131e+00,-1.51107081e+00,-6.09955258e+01,
  8.08602160e+01, 4.09364986e+00]

qfrc_actuator:
[ 2.89446562e-03, 7.59914505e-02, 1.76089880e-02, 1.82481030e-03,
 -8.42972989e-06, 4.25555589e-02, 1.06922979e-02, 1.90216611e-03,
 -3.02551586e-03, 3.73041716e-02, 1.09175048e-02, 1.86416653e-03,
  0.00000000e+00, 5.45283561e-04, 0.00000000e+00,-6.06719588e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007566767935036148
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04191568e-01,  8.75877226e-02, -9.48575712e-01, -2.67462375e-02,
        9.96156810e-01,  8.34041242e-02,  9.52235333e-01, -3.46944695e-18,
        3.05365144e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07260854, -0.04273588,  0.22450039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013564055996760013
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.09251858e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.09251858e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04733203, -0.11526499,  0.06188022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.88227750e-05, 4.08154704e-02, 1.01997237e-02,-3.97040248e-05,
 -2.13738572e-05,-4.74036809e-04,-7.20074927e-05,-6.81637215e-05,
 -2.57518737e-05,-7.61075652e-05,-5.55108994e-05, 9.48134089e-05,
  2.12351713e-03, 3.59085911e-03, 8.55533948e-03, 1.19613802e-03,
  5.63035946e-06, 1.95217027e-05,-1.21644757e+00, 1.58367347e-03,
  5.45707640e-04, 4.79355173e-05]


--- Step 2324 ---
qpos:
[-0.01506059, 1.29126154,-0.0296939 , 0.94846534, 0.00436914, 1.32402351,
 -0.02950459, 0.94616589, 0.0167376 , 1.33406555,-0.02377797, 0.95494432,
  1.38964909,-0.00374282, 1.19477163, 0.06202562,-0.00362876,-0.09271665,
  0.08165005, 0.63067305,-0.01037741,-0.00527833, 0.77596131]

qacc:
[-2.46525600e-01,-4.60193339e+00, 1.57178084e+01,-1.53977787e+01,
 -5.94268706e-02,-8.12528279e+00, 2.32662689e+01,-3.32810699e+01,
 -5.06437925e-02, 4.11077442e+00,-1.84861038e+01, 3.85734286e+01,
 -6.93873495e-01, 8.98535671e-01, 3.24925285e-01, 4.38975191e-01,
 -1.43944365e+00, 1.11091453e+00,-2.01782891e+00,-5.72873785e+01,
  7.59262138e+01, 3.85952806e+00]

qfrc_actuator:
[ 2.86125811e-03, 7.60282196e-02, 1.77171563e-02, 1.82799052e-03,
 -1.30291885e-05, 4.23694440e-02, 1.07084374e-02, 1.83456119e-03,
 -3.02491822e-03, 3.72484080e-02, 1.08773962e-02, 1.95879202e-03,
  0.00000000e+00, 5.86859460e-04, 0.00000000e+00,-5.85910095e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007559844693316997
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30424149,  0.08758754, -0.94855972, -0.02675057,  0.99615683,
        0.08340254,  0.95221926,  0.        ,  0.30541525])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07260806, -0.04273606,  0.22450069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.001347878912976691
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.11840787e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.11840787e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04734905, -0.11527363,  0.0618809 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.66133712e-05, 4.09126019e-02, 1.02662350e-02,-1.20946868e-06,
 -1.72139798e-05,-4.65625173e-04,-8.69461918e-05,-8.52843188e-05,
 -1.45717882e-05,-1.06245144e-04,-5.85612973e-05, 9.30327217e-05,
  2.15721124e-03, 3.62816536e-03, 8.41940399e-03, 1.19776060e-03,
  1.62352260e-05, 1.54429050e-05,-1.21644640e+00, 1.58478012e-03,
  5.45510040e-04, 4.55411347e-05]


--- Step 2325 ---
qpos:
[-0.01506279, 1.29127653,-0.0297579 , 0.94846591, 0.00436898, 1.32417791,
 -0.02950635, 0.94616647, 0.01673783, 1.33411649,-0.02377831, 0.95494714,
  1.3896773 ,-0.0037678 , 1.19476203, 0.06202159,-0.00364081,-0.09271662,
  0.08164163, 0.63066757,-0.01062007,-0.00543625, 0.77596139]

qacc:
[-4.97691604e-02,-3.61936775e+00, 1.06855282e+01,-4.21097009e+00,
 -4.42191029e-02,-5.99597858e+00, 1.64944128e+01,-2.24923745e+01,
 -2.86158483e-02,-2.10272221e+00, 7.79301304e+00,-2.41870743e+01,
 -8.49853620e-01, 1.00137795e+00, 2.40806680e+00,-4.32573278e+00,
  1.27776218e+00, 1.58542846e+00, 1.90279742e+00, 7.50889877e+01,
  6.54334486e+01,-3.13805907e-01]

qfrc_actuator:
[ 2.89577054e-03, 7.60440650e-02, 1.78072256e-02, 1.84768073e-03,
 -1.56813327e-05, 4.22680633e-02, 1.07364538e-02, 1.79421628e-03,
 -3.02460800e-03, 3.71057035e-02, 1.08002427e-02, 1.87063639e-03,
  0.00000000e+00, 6.57213297e-04, 0.00000000e+00,-6.42915562e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007553772065217387
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04289482e-01,  8.75875504e-02, -9.48544323e-01, -2.67547937e-02,
        9.96156826e-01,  8.34011991e-02,  9.52203808e-01, -6.93889390e-18,
        3.05463432e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07260761, -0.04273624,  0.224501  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013287364342085967
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.08886991e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.08886991e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03661544, -0.1188311 ,  0.06188241])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.17013138e-06, 4.09150868e-02, 1.02690261e-02, 2.54162392e-05,
 -1.28148000e-05,-3.79647152e-04,-7.56229078e-05,-5.86136960e-05,
 -8.26291837e-06,-2.10491218e-04,-1.01886316e-04,-9.07713238e-05,
  2.18581958e-03, 3.68261328e-03, 8.38581265e-03, 1.12876345e-03,
  2.91033446e-05, 8.94365225e-06,-1.21644845e+00, 1.58505804e-03,
  5.45096554e-04, 3.24055585e-05]


--- Step 2326 ---
qpos:
[-0.01506555, 1.29129299,-0.0298196 , 0.94846582, 0.00436874, 1.32432987,
 -0.02950783, 0.94616686, 0.01673788, 1.33416585,-0.0237795 , 0.95494854,
  1.38970494,-0.00379241, 1.19474997, 0.06201776,-0.00364815,-0.09271076,
  0.08163736, 0.63066455,-0.01086917,-0.00540994, 0.77596058]

qacc:
[-2.42567260e-01,-5.38473180e+00, 2.12222869e+01,-2.67915365e+01,
 -3.11112949e-02,-4.31457167e+00, 1.06351012e+01,-1.00384477e+01,
 -7.79235777e-02,-2.19650963e+00, 7.49510125e+00,-2.17703452e+01,
 -5.59987858e-01, 7.64013636e-01,-4.21753737e+00, 9.57851110e+00,
  1.17781798e+00, 1.45497610e+00, 1.03687493e+00, 6.94553764e+01,
  6.06069988e+01,-2.38824121e-01]

qfrc_actuator:
[ 2.91742718e-03, 7.60654245e-02, 1.79036998e-02, 1.82350796e-03,
 -1.71447477e-05, 4.22005702e-02, 1.07716155e-02, 1.78805154e-03,
 -3.04222688e-03, 3.70183146e-02, 1.07546445e-02, 1.79981808e-03,
  0.00000000e+00, 6.91510056e-04, 0.00000000e+00,-5.15804937e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007548893527483877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04336162e-01,  8.75876168e-02, -9.48529340e-01, -2.67589185e-02,
        9.96156820e-01,  8.33999454e-02,  9.52188774e-01,  3.46944695e-18,
        3.05510293e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0726073, -0.0427364,  0.2245013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.001355676832221639
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55919912e-14,  6.14207788e-14,  1.00000000e+00, -1.57188003e-27,
        1.00000000e+00, -6.14207788e-14, -1.00000000e+00,  0.00000000e+00,
        2.55919912e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03657444, -0.11880006,  0.06188013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.43510177e-05, 4.09442063e-02, 1.02887450e-02,-2.01733710e-05,
 -9.03033808e-06,-2.95163866e-04,-4.95917693e-05,-2.09110845e-05,
 -2.24724611e-05,-2.26722595e-04,-1.00991490e-04,-8.20734640e-05,
  2.22261902e-03, 3.70426773e-03, 8.29398600e-03, 1.24973564e-03,
  1.13950148e-05,-1.27063921e-06,-1.21644380e+00, 1.58495959e-03,
  5.46076538e-04, 1.94345236e-05]


--- Step 2327 ---
qpos:
[-0.01506962, 1.29131229,-0.0298786 , 0.94846461, 0.0043686 , 1.32447924,
 -0.0295094 , 0.94616686, 0.01673774, 1.33421404,-0.02378157, 0.95495078,
  1.38973245,-0.00381632, 1.19473093, 0.06201412,-0.00365111,-0.09269952,
  0.08163432, 0.63066375,-0.0111244 ,-0.00521171, 0.77595897]

qacc:
[-5.52863442e-01,-5.49398484e+00, 2.47229894e+01,-3.62373560e+01,
  4.09787832e-02,-3.84856440e+00, 9.21240079e+00,-1.08001128e+01,
 -8.23621216e-02, 2.24924383e+00,-1.08650040e+01, 1.97366403e+01,
 -1.80884687e-01, 6.27136140e-01,-1.08599935e+01, 2.30215231e+01,
  1.09491780e+00, 1.34780522e+00, 3.08455004e-01, 6.47810130e+01,
  5.66002138e+01,-1.66838587e-01]

qfrc_actuator:
[ 2.89636406e-03, 7.60352657e-02, 1.79671291e-02, 1.77392093e-03,
 -1.31331769e-07, 4.20474882e-02, 1.07576262e-02, 1.76656824e-03,
 -3.05270710e-03, 3.70003460e-02, 1.07282776e-02, 1.84637447e-03,
  0.00000000e+00, 6.86197690e-04, 0.00000000e+00,-2.60607475e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007543954828479679
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04379238e-01,  8.75879020e-02, -9.48515492e-01, -2.67627938e-02,
        9.96156795e-01,  8.33990014e-02,  9.52174896e-01, -3.46944695e-18,
        3.05553544e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07260674, -0.04273651,  0.22450166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013624858435446335
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54640954e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.54640954e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03656412, -0.11879286,  0.06187954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.17532912e-05, 4.08402323e-02, 1.02370265e-02,-3.74548566e-05,
  1.16799108e-05,-3.27780634e-04,-7.81528271e-05,-3.20631370e-05,
 -2.37215843e-05,-1.65836021e-04,-8.45729692e-05, 3.50436715e-05,
  2.25112879e-03, 3.68043734e-03, 8.41704742e-03, 1.49450702e-03,
  1.83663656e-06,-1.84846751e-06,-1.21644294e+00, 1.58533101e-03,
  5.46235650e-04, 1.88441310e-05]


--- Step 2328 ---
qpos:
[-0.01507277, 1.29133008,-0.02993711, 0.94846367, 0.00436889, 1.32462587,
 -0.02951137, 0.94616732, 0.01673728, 1.33426186,-0.02378489, 0.95495212,
  1.3897601 ,-0.00384019, 1.1947147 , 0.06201065,-0.00364997,-0.09268323,
  0.08163007, 0.63066492,-0.01138548,-0.00485176, 0.77595657]

qacc:
[ 0.38812885,-2.82663587, 6.27796422,-1.39682393, 0.18335749,-1.6909502 ,
  0.22794924, 6.92381916,-0.13149341, 1.38027056,-3.27412299,-7.23306554,
 -0.06842486, 0.1577302 , 3.63848166,-6.64544787, 1.02607563, 1.25966329,
 -0.30380678,60.90326544,53.27600329,-0.09625788]

qfrc_actuator:
[ 2.95714000e-03, 7.59899932e-02, 1.79916566e-02, 1.76308250e-03,
  4.55803182e-05, 4.18974564e-02, 1.07321559e-02, 1.78941425e-03,
 -3.07657289e-03, 3.70242524e-02, 1.06783022e-02, 1.80190379e-03,
  0.00000000e+00, 6.92157646e-04, 0.00000000e+00,-4.43441552e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007537280471617801
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04417026e-01,  8.75886484e-02, -9.48503296e-01, -2.67663462e-02,
        9.96156729e-01,  8.33986453e-02,  9.52162716e-01,  3.46944695e-18,
        3.05591497e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07260554, -0.04273657,  0.22450215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.00135314548779112
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.53839198e-14,  2.05118931e-14,  1.00000000e+00,  3.15553319e-28,
        1.00000000e+00, -2.05118931e-14, -1.00000000e+00,  0.00000000e+00,
       -1.53839198e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03657816, -0.11880461,  0.0618803 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57361661e-04, 4.06528630e-02, 1.01263608e-02, 8.03578354e-06,
  5.25842478e-05,-3.48672627e-04,-9.95850119e-05, 1.01886717e-05,
 -3.78436162e-05,-8.36038143e-05,-9.09943242e-05,-5.09750501e-05,
  2.25754874e-03, 3.65207565e-03, 8.76709117e-03, 1.30260565e-03,
 -1.16856740e-06, 5.31077160e-06,-1.21644511e+00, 1.58603897e-03,
  5.45730128e-04, 2.82263010e-05]


--- Step 2329 ---
qpos:
[-0.01507454, 1.29134558,-0.02999548, 0.94846338, 0.00436937, 1.3247698 ,
 -0.02951366, 0.94616806, 0.01673638, 1.33430926,-0.02378911, 0.95495118,
  1.38978778,-0.0038642 , 1.19470367, 0.06200728,-0.00364495,-0.0926622 ,
  0.08162255, 0.63066776,-0.01165221,-0.00433856, 0.77595333]

qacc:
[ 5.92177226e-01,-2.26013928e+00, 2.39546592e+00, 7.02479231e+00,
  7.87107364e-02,-2.21564838e+00, 2.41184928e+00, 2.68507579e+00,
 -1.87533403e-01,-2.08071299e+00, 1.07032665e+01,-3.53203787e+01,
 -1.44749993e-01, 9.73273023e-02, 7.39718325e+00,-1.46968926e+01,
  9.68792351e-01, 1.18705609e+00,-8.17972209e-01, 5.76895582e+01,
  5.05224582e+01,-2.56625748e-02]

qfrc_actuator:
[ 2.99432135e-03, 7.59211158e-02, 1.80294897e-02, 1.79230224e-03,
  3.71260725e-05, 4.17681773e-02, 1.07179064e-02, 1.80265567e-03,
 -3.10827648e-03, 3.70019312e-02, 1.06326479e-02, 1.68645661e-03,
  0.00000000e+00, 7.05250516e-04, 0.00000000e+00,-6.05121518e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007531322060273099
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3044558 ,  0.08758911, -0.94849081, -0.0267699 ,  0.99615669,
        0.08339799,  0.95215022,  0.        ,  0.30563043])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07260459, -0.04273669,  0.22450257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013309838755510839
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.60667842e-14,  1.04267137e-14,  1.00000000e+00,  2.71790896e-28,
        1.00000000e+00, -1.04267137e-14, -1.00000000e+00,  0.00000000e+00,
       -2.60667842e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03661139, -0.1188313 ,  0.06188212])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49065396e-04, 4.06595102e-02, 1.01401904e-02, 2.38484518e-05,
  2.25286859e-05,-3.42376623e-04,-9.36445035e-05, 3.06444671e-07,
 -5.40132551e-05,-8.81592469e-05,-7.38606015e-05,-1.21708638e-04,
  2.25095050e-03, 3.66325477e-03, 8.62614136e-03, 1.13205388e-03,
  1.20609472e-06, 1.88255483e-05,-1.21644979e+00, 1.58698319e-03,
  5.44676357e-04, 4.58328661e-05]


--- Step 2330 ---
qpos:
[-0.01507557, 1.29135976,-0.03005314, 0.94846265, 0.00436977, 1.32491101,
 -0.02951613, 0.94616929, 0.01673522, 1.33435586,-0.02379325, 0.95494954,
  1.38981548,-0.00388832, 1.19469565, 0.06200413,-0.00363624,-0.09263666,
  0.08161002, 0.63067197,-0.01192439,-0.0036791 , 0.77594919]

qacc:
[ 3.12118797e-01,-4.43180378e+00, 1.32883886e+01,-1.59416852e+01,
 -3.40388050e-02,-2.25279024e+00, 1.99562314e+00, 5.75882779e+00,
 -1.12697717e-01,-2.45407992e+00, 8.16784625e+00,-1.46962671e+01,
 -5.95695086e-02, 1.62010161e-02, 3.79806328e+00,-6.81744053e+00,
  9.20971665e-01, 1.12710399e+00,-1.24932902e+00, 5.50311013e+01,
  4.82476175e+01, 4.61987448e-02]

qfrc_actuator:
[ 2.98099851e-03, 7.58394548e-02, 1.80754506e-02, 1.77404433e-03,
  1.39989031e-05, 4.16346514e-02, 1.07104658e-02, 1.82790068e-03,
 -3.10892092e-03, 3.69698365e-02, 1.06429839e-02, 1.65443822e-03,
  0.00000000e+00, 7.05049725e-04, 0.00000000e+00,-6.47580461e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007526871519083975
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04496617e-01,  8.75891175e-02, -9.48477705e-01, -2.67734888e-02,
        9.96156688e-01,  8.33968453e-02,  9.52137065e-01, -3.46944695e-18,
        3.05671408e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07260409, -0.04273687,  0.22450291])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0012987789486257964
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.80836598e-14, -4.27410309e-14,  1.00000000e+00, -2.05514519e-27,
        1.00000000e+00,  4.27410309e-14, -1.00000000e+00,  0.00000000e+00,
       -4.80836598e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03665955, -0.11886962,  0.06188476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.63472784e-05, 4.06921236e-02, 1.01789894e-02,-2.75784581e-05,
 -9.85985927e-06,-3.42255698e-04,-8.52138516e-05, 1.24398458e-05,
 -3.24975574e-05,-9.92019798e-05,-1.88843775e-05,-3.95646928e-05,
  2.24920883e-03, 3.67106801e-03, 8.36654546e-03, 1.08491641e-03,
  8.09807046e-06, 3.76930211e-05,-1.21645661e+00, 1.58808656e-03,
  5.43161767e-04, 7.03980522e-05]


--- Step 2331 ---
qpos:
[-0.01507679, 1.29137444,-0.03010917, 0.94846079, 0.00437015, 1.32504908,
 -0.02951822, 0.94617082, 0.01673404, 1.33440168,-0.02379617, 0.9549485 ,
  1.38984273,-0.00391229, 1.19468633, 0.0620012 ,-0.00363343,-0.09261718,
  0.08160379, 0.63068034,-0.01219153,-0.00324112, 0.77594018]

qacc:
[-7.92099148e-02,-5.64012590e+00, 2.14772678e+01,-3.18618541e+01,
 -6.74680545e-03,-4.59777179e+00, 9.41766958e+00,-2.68708068e+00,
 -3.79323848e-03,-3.28816279e+00, 8.25056375e+00, 3.11834988e-01,
 -3.76008826e-01, 4.23247373e-01,-2.55558323e+00, 6.21575215e+00,
 -1.47211707e+00,-1.51603225e+00, 1.57206331e+00,-8.43222789e+01,
 -7.17621675e+01,-4.47596633e+00]

qfrc_actuator:
[ 3.00848525e-03, 7.58033316e-02, 1.81434160e-02, 1.72815211e-03,
  1.77650673e-05, 4.14641887e-02, 1.07248498e-02, 1.84225673e-03,
 -3.09092919e-03, 3.69679161e-02, 1.07218071e-02, 1.68956355e-03,
  0.00000000e+00, 7.50144237e-04, 0.00000000e+00,-5.47654270e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007523418028832496
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30453802,  0.0875889 , -0.94846443, -0.02677706,  0.99615671,
        0.08339547,  0.95212372,  0.        ,  0.30571296])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07260386, -0.0427371 ,  0.22450319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0012865437895937387
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.31475024e-14,  8.62950048e-14,  1.00000000e+00,  3.72341392e-27,
        1.00000000e+00, -8.62950048e-14, -1.00000000e+00,  0.00000000e+00,
       -4.31475024e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03629829, -0.06251166,  0.06188571])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.72742895e-05, 4.07220722e-02, 1.02114500e-02,-5.07817795e-05,
 -2.05855812e-06,-3.77092534e-04,-6.20463357e-05, 2.07984234e-06,
 -1.16413789e-06,-6.19580915e-05, 5.60977685e-05, 3.07702073e-05,
  2.24806060e-03, 3.72184433e-03, 8.21624199e-03, 1.17414107e-03,
  1.88743630e-05, 6.11889685e-05,-1.21646531e+00, 1.58928803e-03,
  5.41252708e-04, 1.01011142e-04]


--- Step 2332 ---
qpos:
[-0.01507905, 1.29139013,-0.0301637 , 0.94845939, 0.00437053, 1.32518394,
 -0.02952001, 0.94617149, 0.0167331 , 1.3344471 ,-0.0237988 , 0.95494722,
  1.38986891,-0.00393555, 1.19467393, 0.06199805,-0.003636  ,-0.09260333,
  0.08160029, 0.63069291,-0.01245425,-0.0030067 , 0.77592674]

qacc:
[-4.43812086e-01,-1.93249124e+00, 6.96810829e+00,-1.37157989e+00,
  3.54425435e-03,-6.52699294e+00, 1.79579987e+01,-2.35192660e+01,
  9.85458115e-02,-1.76044121e+00, 5.61887210e+00,-7.49881552e+00,
 -1.17385000e+00, 1.58291577e+00,-3.81503427e+00, 6.93065813e+00,
 -1.34770690e+00,-1.40585925e+00, 6.81645604e-01,-7.75656717e+01,
 -6.58690571e+01,-4.27627489e+00]

qfrc_actuator:
[ 3.00782486e-03, 7.57754830e-02, 1.81878787e-02, 1.75528861e-03,
  1.98828049e-05, 4.12908055e-02, 1.07340945e-02, 1.79681730e-03,
 -3.06190601e-03, 3.69489126e-02, 1.07340341e-02, 1.67518515e-03,
  0.00000000e+00, 8.57709312e-04, 0.00000000e+00,-4.51151964e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000751983894889327
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30457739,  0.08758876, -0.9484518 , -0.02678048,  0.99615672,
        0.08339423,  0.95211103,  0.        ,  0.30575248])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07260351, -0.04273729,  0.22450349])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.8436659 ,  -3.61437161,  -7.8436659 ,
        16.49632804, -17.05716553,  -3.61437161, -17.05716553,
        45.65267577,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001331019333543862
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.17057437e-14,  2.08528719e-14,  1.00000000e+00,  8.69684530e-28,
        1.00000000e+00, -2.08528719e-14, -1.00000000e+00,  0.00000000e+00,
       -4.17057437e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03622234, -0.06257226,  0.06188196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.59280935e-05, 4.06690663e-02, 1.01746297e-02, 3.22545032e-05,
  8.90380837e-07,-3.95039626e-04,-7.16620996e-05,-5.83248068e-05,
  2.83608579e-05,-4.17116288e-05, 7.35474217e-06,-1.37979063e-05,
  2.27084848e-03, 3.82240433e-03, 8.28128739e-03, 1.25965188e-03,
  4.24395673e-06, 2.76513919e-05,-1.21645375e+00, 1.58945549e-03,
  5.42188884e-04, 6.08721752e-05]


--- Step 2333 ---
qpos:
[-0.01508139, 1.29140481,-0.03021755, 0.94845855, 0.00437108, 1.32531633,
 -0.0295223 , 0.94617228, 0.01673244, 1.33449212,-0.02380207, 0.95494548,
  1.38989455,-0.00395845, 1.19466361, 0.06199489,-0.00364356,-0.09259473,
  0.0815965 , 0.63070961,-0.01271308,-0.00296097, 0.77590915]

qacc:
[-3.32339561e-02,-2.22825914e+00, 4.50853613e+00, 3.21496879e+00,
  6.76643948e-02,-1.69665324e+00, 1.36936555e+00, 1.76326066e+00,
  1.19434419e-01, 4.45445344e-01,-1.16567417e+00,-3.99299220e+00,
 -7.73801648e-01, 1.03300184e+00, 3.17598444e+00,-6.48357965e+00,
 -1.24458520e+00,-1.31384491e+00,-6.89291587e-02,-7.19556625e+01,
 -6.09823060e+01,-4.09346196e+00]

qfrc_actuator:
[ 2.99120528e-03, 7.57696437e-02, 1.82354713e-02, 1.77185582e-03,
  3.87465497e-05, 4.12057711e-02, 1.07224184e-02, 1.80530617e-03,
 -3.04425476e-03, 3.69018252e-02, 1.06889803e-02, 1.64946925e-03,
  0.00000000e+00, 8.95623643e-04, 0.00000000e+00,-5.69388196e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007515305322986186
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30461437,  0.08758897, -0.94843991, -0.0267838 ,  0.9961567 ,
        0.08339338,  0.95209911,  0.        ,  0.30578961])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07260287, -0.04273739,  0.22450386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.87430974,  -3.54711474,  -7.87430974,
        17.22279528, -19.06118842,  -3.54711474, -19.06118842,
        50.95067057,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013519261950008937
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.10607853e-14,  6.15911779e-14,  1.00000000e+00, -2.52898213e-27,
        1.00000000e+00, -6.15911779e-14, -1.00000000e+00,  0.00000000e+00,
        4.10607853e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03618705, -0.06260134,  0.0618802 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01349042e-04, 4.06127151e-02, 1.01474126e-02, 2.59109372e-05,
  1.93743470e-05,-3.20288685e-04,-9.89545214e-05,-6.62293918e-06,
  3.44156957e-05,-6.94361974e-05,-5.28159736e-05,-2.69996243e-05,
  2.32457250e-03, 3.82541933e-03, 8.43578458e-03, 1.15222149e-03,
 -8.06203471e-07, 7.76801355e-06,-1.21644711e+00, 1.58906102e-03,
  5.43171095e-04, 3.74586630e-05]


--- Step 2334 ---
qpos:
[-0.01508351, 1.29141882,-0.03027067, 0.94845754, 0.00437167, 1.32544628,
 -0.02952506, 0.94617283, 0.01673189, 1.33453575,-0.02380465, 0.95494484,
  1.38992018,-0.00398113, 1.19465426, 0.06199176,-0.00365575,-0.09259108,
  0.08158992, 0.6307303 ,-0.01296843,-0.00309158, 0.77588759]

qacc:
[ 9.67402774e-02,-3.12738137e+00, 9.50329536e+00,-9.80461525e+00,
  1.64530148e-02,-2.35558498e+00, 4.32414115e+00,-5.11862428e+00,
  4.62940106e-02,-1.77298013e+00, 1.34679972e+00, 1.24559569e+01,
 -2.17918216e-01, 4.06058561e-01, 1.36662174e+00,-2.65352306e+00,
 -1.15888027e+00,-1.23690205e+00,-7.01241890e-01,-6.72958948e+01,
 -5.69272969e+01,-3.92714286e+00]

qfrc_actuator:
[ 2.99996930e-03, 7.57786351e-02, 1.82851557e-02, 1.76404348e-03,
  3.19979137e-05, 4.10855253e-02, 1.06988725e-02, 1.79225711e-03,
 -3.05132193e-03, 3.68025447e-02, 1.07169039e-02, 1.70601990e-03,
  0.00000000e+00, 8.91811547e-04, 0.00000000e+00,-5.85802722e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007511368221526163
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30465167,  0.0875892 , -0.94842791, -0.02678715,  0.99615668,
        0.08339255,  0.95208708,  0.        ,  0.30582706])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0726024 , -0.0427375 ,  0.22450418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.87267626,  -3.5507387 ,  -7.87267626,
        18.46994376, -21.80295408,  -3.5507387 , -21.80295408,
        56.97774093,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013537949759907658
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.10041049e-14,  4.10041049e-14,  1.00000000e+00,  1.68133662e-27,
        1.00000000e+00, -4.10041049e-14, -1.00000000e+00,  0.00000000e+00,
       -4.10041049e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03618421, -0.06260532,  0.06188002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14029215e-04, 4.06726349e-02, 1.01629373e-02,-9.93569294e-06,
  4.66122660e-06,-3.17917830e-04,-9.77917816e-05,-2.55242945e-05,
  1.32699712e-05,-1.49099760e-04, 7.52318389e-06, 5.23756004e-05,
  2.35099284e-03, 3.80405422e-03, 8.33149847e-03, 1.13633516e-03,
  1.70529753e-06,-1.31655232e-06,-1.21644440e+00, 1.58817996e-03,
  5.44238617e-04, 2.72490781e-05]


--- Step 2335 ---
qpos:
[-0.01508601, 1.29143393,-0.03032273, 0.9484573 , 0.00437224, 1.32557275,
 -0.0295277 , 0.94617397, 0.01673151, 1.33457752,-0.02380662, 0.95494528,
  1.38994587,-0.00400317, 1.19464114, 0.06198818,-0.00367228,-0.09259212,
  0.08157839, 0.63075481,-0.01322065,-0.00338827, 0.77586217]

qacc:
[-1.67152030e-01,-9.57635031e-02, 4.78843256e-01, 7.83815395e+00,
 -5.04722376e-03,-3.85638962e+00, 5.85168332e+00, 4.00795495e+00,
  7.49767743e-02,-2.27548831e+00, 2.31065846e+00, 1.15281040e+01,
 -2.07203910e-01, 6.92420177e-01,-4.20884139e+00, 6.66142074e+00,
 -1.08738712e+00,-1.17245343e+00,-1.23357155e+00,-6.34270572e+01,
 -5.35628397e+01,-3.77631368e+00]

qfrc_actuator:
[ 3.00593747e-03, 7.57965745e-02, 1.83180247e-02, 1.81312191e-03,
  2.76915553e-05, 4.08563499e-02, 1.06861340e-02, 1.81986628e-03,
 -3.03765447e-03, 3.66731026e-02, 1.07342815e-02, 1.75729228e-03,
  0.00000000e+00, 8.98464120e-04, 0.00000000e+00,-4.52394943e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000750763822901495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3046889 ,  0.08758937, -0.94841593, -0.02679047,  0.99615667,
        0.08339165,  0.95207507,  0.        ,  0.30586444])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07260202, -0.04273765,  0.22450448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.80014414,  -3.70736136,  -7.80014414,
        21.03644331, -26.08928543,  -3.70736136, -26.08928543,
        63.52720562,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013404164846356759
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.14133606e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.14133606e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03620709, -0.06258943,  0.0618811 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08677036e-04, 4.07236123e-02, 1.01594389e-02, 4.77001877e-05,
 -1.56989688e-06,-4.25857635e-04,-8.69391215e-05, 1.47962132e-05,
  2.15199652e-05,-2.09168400e-04,-9.39799112e-06, 4.83505698e-05,
  2.35215886e-03, 3.80011390e-03, 8.28318092e-03, 1.26838075e-03,
  1.03206826e-05,-1.68555621e-06,-1.21644486e+00, 1.58687594e-03,
  5.45413694e-04, 2.76715603e-05]


--- Step 2336 ---
qpos:
[-0.0150898 , 1.29145191,-0.03037237, 0.94845776, 0.00437278, 1.32569545,
 -0.02953002, 0.94617579, 0.01673175, 1.33461804,-0.02380939, 0.95494636,
  1.38997145,-0.00402435, 1.19462157, 0.06198438,-0.00368346,-0.09259834,
  0.08157587, 0.6307779 ,-0.01329678,-0.00369491, 0.77584069]

qacc:
[-5.44321660e-01,-1.58766371e+00, 8.29327893e+00,-8.75715901e-01,
 -1.25592613e-02,-4.65808783e+00, 7.80467499e+00, 3.56789022e+00,
  2.57650232e-01, 1.62796613e+00,-8.55598486e+00, 1.54868334e+01,
 -3.32696869e-01, 9.21858369e-01,-8.79343765e+00, 1.70232447e+01,
  1.33980176e+00,-1.29571409e+00, 2.24864003e+00, 5.16715224e+01,
 -7.14714932e+01, 1.42675853e+00]

qfrc_actuator:
[ 2.99300334e-03, 7.58006323e-02, 1.83934389e-02, 1.85995379e-03,
  2.48862334e-05, 4.06525886e-02, 1.06972315e-02, 1.85337198e-03,
 -2.97615219e-03, 3.66153526e-02, 1.06918624e-02, 1.78723536e-03,
  0.00000000e+00, 9.28633315e-04, 0.00000000e+00,-2.46382554e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007502474508659755
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04724079e-01,  8.75896756e-02, -9.48404600e-01, -2.67936609e-02,
        9.96156639e-01,  8.33909527e-02,  9.52063725e-01, -3.46944695e-18,
        3.05899762e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07260127, -0.0427378 ,  0.22450483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013464661163183067
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.12272916e-14,  4.12272916e-14,  1.00000000e+00,  1.69968957e-27,
        1.00000000e+00, -4.12272916e-14, -1.00000000e+00,  0.00000000e+00,
       -4.12272916e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03196734, -0.07704025,  0.06188054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15341176e-04, 4.06725725e-02, 1.01818817e-02, 5.58620546e-05,
 -3.74644514e-06,-4.56792375e-04,-8.17891634e-05, 1.87069755e-05,
  7.42209104e-05,-1.74103472e-04,-8.29633642e-05, 2.46525237e-05,
  2.34861055e-03, 3.79834069e-03, 8.47244921e-03, 1.49680526e-03,
  2.39884757e-05, 5.13931218e-06,-1.21644792e+00, 1.58520133e-03,
  5.46707835e-04, 3.68453588e-05]


--- Step 2337 ---
qpos:
[-0.01509427, 1.29147124,-0.03042008, 0.94845825, 0.00437314, 1.32581464,
 -0.02953256, 0.94617836, 0.01673264, 1.33465769,-0.0238123 , 0.95494806,
  1.38999713,-0.00404501, 1.19459897, 0.06198077,-0.00368967,-0.0926093 ,
  0.08157903, 0.6307998 ,-0.01320877,-0.00401107, 0.77582282]

qacc:
[ -0.29328455, -3.36625949, 13.04649859,-11.81476131, -0.0757137 ,
  -2.72759287,  1.82630149,  9.20230857,  0.27868546,  0.32759341,
  -3.70814235, 10.99858275, -0.0956765 ,  0.47696285, -5.06402775,
  11.22641121,  1.24375207, -1.18433064,  1.4224825 , 48.08006544,
 -66.70581408,  1.23376003]

qfrc_actuator:
[ 2.98752174e-03, 7.58119064e-02, 1.84570835e-02, 1.85194374e-03,
  5.25177366e-06, 4.04835172e-02, 1.06868692e-02, 1.89008550e-03,
 -2.93970937e-03, 3.66185005e-02, 1.07035070e-02, 1.82214457e-03,
  0.00000000e+00, 9.36943558e-04, 0.00000000e+00,-1.92131036e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007495764304353073
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04754203e-01,  8.75904362e-02, -9.48394850e-01, -2.67965442e-02,
        9.96156572e-01,  8.33908252e-02,  9.52054001e-01,  3.46944695e-18,
        3.05930023e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0725999 , -0.04273791,  0.2245053 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.6326949 ,  0.25170557,  8.6326949 ,  8.67400127,
       -1.29085028,  0.25170557, -1.29085028, 52.90839317,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013579576447172864
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02196028e-14,  8.17568228e-14,  1.00000000e+00, -8.35522258e-28,
        1.00000000e+00, -8.17568228e-14, -1.00000000e+00,  0.00000000e+00,
        1.02196028e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03195255, -0.07704505,  0.06187958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73678848e-04, 4.05403773e-02, 1.01241886e-02, 1.28325753e-05,
 -2.18599515e-05,-4.38061385e-04,-1.08592623e-04, 2.12253286e-05,
  8.02676086e-05,-1.08871751e-04,-3.11027641e-05, 2.79512850e-05,
  2.35424508e-03, 3.76444562e-03, 8.79459146e-03, 1.56232525e-03,
  1.34391971e-05, 1.06181694e-05,-1.21644456e+00, 1.58281068e-03,
  5.45136575e-04, 4.99027712e-05]


--- Step 2338 ---
qpos:
[-0.0150976 , 1.29148795,-0.03046779, 0.94845875, 0.00437345, 1.32593082,
 -0.02953567, 0.94618028, 0.01673366, 1.33469613,-0.02381468, 0.95495051,
  1.39002331,-0.00406589, 1.19458229, 0.0619776 ,-0.00369122,-0.09262464,
  0.08158511, 0.63082065,-0.01296647,-0.00433638, 0.77580821]

qacc:
[ 4.85879270e-01,-3.39858643e+00, 6.92487499e+00,-4.19403830e+00,
 -2.39674018e-02,-3.51621619e+00, 8.00223508e+00,-1.24430718e+01,
  5.31372279e-02,-1.74464620e+00, 2.26963379e+00, 7.37635280e+00,
  2.44086680e-01,-2.79594869e-01, 7.41852337e+00,-1.32725191e+01,
  1.16453205e+00,-1.09396486e+00, 7.29835971e-01, 4.51091126e+01,
 -6.27573685e+01, 1.06936771e+00]

qfrc_actuator:
[ 2.98643386e-03, 7.58101382e-02, 1.84954524e-02, 1.82917358e-03,
  1.11859541e-05, 4.03542511e-02, 1.06640503e-02, 1.85738459e-03,
 -2.97185299e-03, 3.65517915e-02, 1.07294965e-02, 1.85978469e-03,
  0.00000000e+00, 9.14381463e-04, 0.00000000e+00,-4.42298112e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007488478777643789
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04781221e-01,  8.75914457e-02, -9.48386074e-01, -2.67992311e-02,
        9.96156483e-01,  8.33910222e-02,  9.52045277e-01,  3.46944695e-18,
        3.05957173e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07259824, -0.04273804,  0.22450583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.63577306,  0.10099773,  8.63577306,  8.64350583,
       -0.61069055,  0.10099773, -0.61069055, 60.85322879,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001352766918121591
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.10352667e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.10352667e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03195995, -0.07703922,  0.06188003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.06989431e-04, 4.04715182e-02, 1.00667081e-02,-1.13398832e-05,
 -6.96972238e-06,-3.93034887e-04,-1.20355795e-04,-4.83586424e-05,
  1.52519677e-05,-1.32422638e-04, 1.97360535e-06, 3.42083542e-05,
  2.34944738e-03, 3.71649755e-03, 8.94688835e-03, 1.30244528e-03,
  5.72877163e-06, 1.39190638e-05,-1.21644431e+00, 1.58135319e-03,
  5.44283697e-04, 5.30959297e-05]


--- Step 2339 ---
qpos:
[-0.01510008, 1.29150281,-0.03051502, 0.94845958, 0.0043739 , 1.32604482,
 -0.0295389 , 0.94618171, 0.01673458, 1.33473358,-0.02381699, 0.95495201,
  1.3900498 ,-0.00408692, 1.19457079, 0.0619747 ,-0.00368801,-0.0926349 ,
  0.08159385, 0.63084231,-0.01273245,-0.00448245, 0.77579364]

qacc:
[ 3.64241237e-01,-3.20689774e+00, 6.84331340e+00,-9.68944118e-01,
  5.97682707e-02,-3.41630089e+00, 8.71453552e+00,-1.20074628e+01,
 -3.71617373e-02,-3.10383637e+00, 1.04360449e+01,-1.92907266e+01,
  8.90908272e-02,-1.15135411e-01, 6.81687654e+00,-1.27392136e+01,
  1.18892982e+00, 1.26728237e+00, 6.64176274e-01, 6.69236530e+01,
  5.97465265e+01, 8.75816305e-01]

qfrc_actuator:
[ 2.96867814e-03, 7.57506969e-02, 1.85553114e-02, 1.85080733e-03,
  3.24107783e-05, 4.03207897e-02, 1.06874488e-02, 1.83737602e-03,
 -2.99162093e-03, 3.64971171e-02, 1.07279699e-02, 1.80993188e-03,
  0.00000000e+00, 9.09316674e-04, 0.00000000e+00,-5.55885158e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000748294680931974
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30481073,  0.08759208, -0.94837653, -0.02680202,  0.99615643,
        0.08339079,  0.95203575,  0.        ,  0.30598681])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07259712, -0.04273828,  0.22450624])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.001361608362579557
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.07688090e-14,  4.07688090e-14,  1.00000000e+00,  1.66209579e-27,
        1.00000000e+00, -4.07688090e-14, -1.00000000e+00,  0.00000000e+00,
       -4.07688090e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03657839, -0.11877291,  0.06187933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.32298899e-04, 4.05423188e-02, 1.01265863e-02, 9.53807460e-06,
  1.71015328e-05,-2.76689129e-04,-6.87075522e-05,-3.62816683e-05,
 -1.07481969e-05,-1.26759820e-04,-2.61976337e-05,-5.28686328e-05,
  2.32446968e-03, 3.72215706e-03, 8.65106057e-03, 1.16723505e-03,
  3.33514933e-07, 1.54397296e-05,-1.21644658e+00, 1.58061110e-03,
  5.44023086e-04, 4.81413738e-05]


--- Step 2340 ---
qpos:
[-0.01510206, 1.29151673,-0.03056148, 0.94846022, 0.00437438, 1.32615656,
 -0.02954104, 0.94618317, 0.01673536, 1.33477009,-0.02381927, 0.95495118,
  1.39007639,-0.00410802, 1.19456181, 0.06197197,-0.00368039,-0.09264038,
  0.08160258, 0.63086495,-0.01250596,-0.00446077, 0.77577904]

qacc:
[ 2.10333345e-01,-3.59201715e+00, 1.06288661e+01,-1.08406034e+01,
  1.70973752e-02,-5.81277586e+00, 1.53035859e+01,-1.13945554e+01,
 -6.40672201e-02,-5.34605828e+00, 2.06828549e+01,-4.43272468e+01,
  8.88928700e-03,-2.67492058e-02, 3.24231882e+00,-5.92730631e+00,
  1.10276843e+00, 1.19748735e+00,-1.98769182e-03, 6.27002152e+01,
  5.58322711e+01, 6.91351382e-01]

qfrc_actuator:
[ 2.97625675e-03, 7.57279581e-02, 1.86098210e-02, 1.84550694e-03,
  2.71300061e-05, 4.02386701e-02, 1.07561041e-02, 1.84285499e-03,
 -3.00380042e-03, 3.64499358e-02, 1.07279441e-02, 1.69122033e-03,
  0.00000000e+00, 9.14784605e-04, 0.00000000e+00,-5.87537100e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007479271041432971
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30484154,  0.08759243, -0.9483666 , -0.02680484,  0.9961564 ,
        0.08339026,  0.95202581,  0.        ,  0.30601775])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07259644, -0.04273862,  0.22450657])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   6.9885428 ,   5.07415475,   6.9885428 ,
        23.84318221, -20.94407989,   5.07415475, -20.94407989,
        37.48227117,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013611653189833511
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.15641575e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.15641575e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03658144, -0.11877256,  0.06187941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.72042336e-05, 4.06125098e-02, 1.01565983e-02,-1.21620162e-05,
  4.79214043e-06,-2.50511129e-04, 5.53269635e-06,-5.51698937e-06,
 -1.85058921e-05,-1.24212916e-04,-2.93408917e-05,-1.24413012e-04,
  2.30910632e-03, 3.73594955e-03, 8.39230297e-03, 1.12196941e-03,
 -1.07028482e-06, 2.48011664e-06,-1.21644252e+00, 1.58185941e-03,
  5.43856041e-04, 3.18112356e-05]


--- Step 2341 ---
qpos:
[-0.01510394, 1.29152998,-0.03060701, 0.94846006, 0.00437487, 1.32626607,
 -0.02954253, 0.94618299, 0.01673599, 1.33480541,-0.02382126, 0.95495101,
  1.39010278,-0.00412917, 1.19455476, 0.06196948,-0.00366864,-0.0926413 ,
  0.08160907, 0.63088865,-0.01228638,-0.00428087, 0.77576429]

qacc:
[ 4.84870462e-02,-4.76804825e+00, 1.61168831e+01,-2.27320660e+01,
 -1.59456744e-03,-7.51334842e+00, 2.43579439e+01,-3.88374168e+01,
 -6.38155580e-02,-1.24103067e+00, 7.92141896e-01, 7.76419747e+00,
 -2.15178242e-01, 1.78187131e-01, 2.11234315e+00,-3.20455842e+00,
  1.03186701e+00, 1.13932872e+00,-5.61216651e-01, 5.91993966e+01,
  5.25928184e+01, 5.51326548e-01]

qfrc_actuator:
[ 2.96355012e-03, 7.57448112e-02, 1.86784125e-02, 1.80668216e-03,
  2.37433302e-05, 4.01105505e-02, 1.07797532e-02, 1.75676993e-03,
 -3.01132804e-03, 3.63898203e-02, 1.07465706e-02, 1.72824668e-03,
  0.00000000e+00, 9.44306406e-04, 0.00000000e+00,-6.23281487e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007476559595235022
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30487252,  0.08759264, -0.94835662, -0.02680763,  0.99615638,
        0.08338958,  0.95201581,  0.        ,  0.30604885])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07259598, -0.042739  ,  0.22450686])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.07870924,   4.94759057,   7.07870924,
        25.38046606, -23.95643512,   4.94759057, -23.95643512,
        42.91176219,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013461938271465412
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.54633614e-14,  8.24712610e-14,  1.00000000e+00,  1.27528292e-27,
        1.00000000e+00, -8.24712610e-14, -1.00000000e+00,  0.00000000e+00,
       -1.54633614e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03660607, -0.11878979,  0.06188071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.98639738e-05, 4.06759909e-02, 1.01874526e-02,-4.14077929e-05,
 -5.70453155e-07,-2.66573937e-04,-2.50053324e-05,-9.34087327e-05,
 -1.84329053e-05,-1.38470226e-04,-1.26443404e-05, 2.96387775e-05,
  2.30390499e-03, 3.76971400e-03, 8.26632470e-03, 1.07828492e-03,
  3.12082199e-06,-2.29370664e-06,-1.21644152e+00, 1.58307708e-03,
  5.43241889e-04, 2.59000413e-05]


--- Step 2342 ---
qpos:
[-0.0151061 , 1.29154289,-0.03065159, 0.94845975, 0.00437547, 1.32637385,
 -0.02954477, 0.94618215, 0.01673663, 1.33483983,-0.02382198, 0.95495121,
  1.39012875,-0.00415013, 1.19454883, 0.06196701,-0.003653  ,-0.09263786,
  0.08161144, 0.63091339,-0.0120732 ,-0.00395062, 0.77574927]

qacc:
[-1.22402760e-01,-3.25458437e+00, 1.03698074e+01,-1.04822380e+01,
  5.29507327e-02,-1.37014457e+00, 3.04701108e+00,-9.09096323e+00,
  7.94838326e-03,-3.94156875e+00, 1.06999651e+01,-4.49821511e+00,
 -5.18982191e-01, 6.43271631e-01, 1.61890577e+00,-3.18126148e+00,
  9.73373687e-01, 1.09086964e+00,-1.03020447e+00, 5.63020477e+01,
  4.99149007e+01, 4.46815674e-01]

qfrc_actuator:
[ 2.93885481e-03, 7.57500217e-02, 1.87372141e-02, 1.80168015e-03,
  3.92739467e-05, 4.00267159e-02, 1.07408880e-02, 1.72393608e-03,
 -2.99825192e-03, 3.63936075e-02, 1.08293696e-02, 1.75012779e-03,
  0.00000000e+00, 9.88260022e-04, 0.00000000e+00,-6.43883711e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007474703812041864
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30490324,  0.08759281, -0.94834673, -0.02681038,  0.99615636,
        0.08338887,  0.95200589,  0.        ,  0.3060797 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07259568, -0.04273939,  0.22450712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.11257192,   4.89878532,   7.11257192,
        27.77101554, -27.78170078,   4.89878532, -27.78170078,
        48.97275971,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013197519495658089
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.15463549e-14,  8.41236132e-14,  1.00000000e+00,  2.65379336e-27,
        1.00000000e+00, -8.41236132e-14, -1.00000000e+00,  0.00000000e+00,
       -3.15463549e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0366476 , -0.11882075,  0.06188294])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.95107344e-05, 4.07145477e-02, 1.01993102e-02,-6.70417029e-06,
  1.51848361e-05,-2.39769955e-04,-9.67113065e-05,-4.35774942e-05,
  2.21205526e-06,-7.46166292e-05, 5.51511964e-05, 1.81447316e-05,
  2.31395208e-03, 3.81635781e-03, 8.16977091e-03, 1.04517469e-03,
  1.19697699e-05,-2.85901591e-07,-1.21644308e+00, 1.58430116e-03,
  5.42223084e-04, 2.86477486e-05]


--- Step 2343 ---
qpos:
[-0.01510897, 1.29155674,-0.03069528, 0.948461  , 0.00437623, 1.32648003,
 -0.02954766, 0.94618264, 0.0167372 , 1.33487404,-0.02382248, 0.95495063,
  1.39015439,-0.00417039, 1.19453993, 0.06196389,-0.00363366,-0.09263021,
  0.08160811, 0.6309391 ,-0.01186601,-0.00347652, 0.77573383]

qacc:
[-3.03884755e-01, 1.47594654e+00,-6.49154741e+00, 2.30111102e+01,
  6.25126734e-02, 1.92499774e+00,-1.15276836e+01, 2.63435179e+01,
 -3.06524484e-02,-2.21441086e+00, 8.46500879e+00,-1.62213217e+01,
 -6.27602213e-01, 1.12557194e+00,-2.35162378e+00, 1.97137679e+00,
  9.24927469e-01, 1.05046122e+00,-1.42307244e+00, 5.39100965e+01,
  4.77057817e+01, 3.71020967e-01]

qfrc_actuator:
[ 2.94282686e-03, 7.57304400e-02, 1.87542565e-02, 1.88765445e-03,
  4.82748170e-05, 3.99698534e-02, 1.07189153e-02, 1.79372416e-03,
 -3.00842756e-03, 3.64004007e-02, 1.08430774e-02, 1.70969854e-03,
  0.00000000e+00, 1.02289856e-03, 0.00000000e+00,-5.48756064e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007473382439177959
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30493339,  0.08759308, -0.94833701, -0.02681312,  0.99615634,
        0.08338828,  0.95199616,  0.        ,  0.30610998])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07259547, -0.04273977,  0.22450737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.04271517,   4.99869382,   7.04271517,
        32.0980555 , -33.05543789,   4.99869382, -33.05543789,
        55.20853672,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012843888378129137
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.40248693e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.40248693e-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([-0.03670216, -0.11886232,  0.06188591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.78522323e-05, 4.07122587e-02, 1.01692122e-02, 8.66833878e-05,
  1.79456582e-05,-2.10485610e-04,-8.12714215e-05, 5.88987207e-05,
 -8.85244788e-06,-2.33947481e-05, 5.89848144e-06,-4.05567537e-05,
  2.33480526e-03, 3.84169822e-03, 8.11417837e-03, 1.13924374e-03,
  2.47930694e-05, 7.47022419e-06,-1.21644682e+00, 1.58555327e-03,
  5.40834302e-04, 3.87626466e-05]


--- Step 2344 ---
qpos:
[-0.01511206, 1.29157089,-0.0307383 , 0.94846368, 0.00437711, 1.32658467,
 -0.02955058, 0.94618358, 0.01673768, 1.33490754,-0.02382319, 0.95494998,
  1.39018002,-0.00419014, 1.19452978, 0.06196027,-0.00362023,-0.09262806,
  0.08160903, 0.63096802,-0.01165298,-0.0032141 , 0.77571466]

qacc:
[-9.11294486e-02, 1.04482053e+00,-5.87545455e+00, 2.15032475e+01,
  5.43918360e-02,-1.17318727e+00, 4.74071701e-01, 5.76640281e+00,
 -3.98471745e-02,-4.95792055e-01, 6.31822508e-01,-8.78653755e-01,
 -3.04044906e-01, 6.94702048e-01,-2.84782865e-01,-1.60368281e+00,
 -1.47841903e+00,-1.37416540e+00, 1.06064128e+00,-8.02470128e+01,
 -6.90171517e+01,-3.68627699e+00]

qfrc_actuator:
[ 2.94678676e-03, 7.57480881e-02, 1.87814192e-02, 1.95556106e-03,
  5.32852807e-05, 3.99119772e-02, 1.07250320e-02, 1.81685459e-03,
 -3.01471819e-03, 3.63199065e-02, 1.08158660e-02, 1.70389527e-03,
  0.00000000e+00, 1.03360944e-03, 0.00000000e+00,-5.61047676e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007470916303429775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30496179,  0.08759359, -0.94832783, -0.02681577,  0.99615629,
        0.08338796,  0.95198699,  0.        ,  0.30613849])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07259496, -0.04274014,  0.22450766])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013103864853137026
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.47248531e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.47248531e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03627363, -0.06256868,  0.06188371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.74349599e-05, 4.06826227e-02, 1.01516359e-02, 7.68787787e-05,
  1.55839684e-05,-1.89192373e-04,-4.26905017e-05, 1.59476980e-05,
 -1.14961599e-05,-9.37156707e-05,-3.23337646e-05,-7.22148812e-06,
  2.35184053e-03, 3.81767317e-03, 8.26289360e-03, 1.15980032e-03,
  4.10947297e-05, 2.02161202e-05,-1.21645250e+00, 1.58684479e-03,
  5.39103655e-04, 5.53000943e-05]


--- Step 2345 ---
qpos:
[-0.01511489, 1.29158403,-0.03078047, 0.94846553, 0.00437809, 1.3266875 ,
 -0.02955268, 0.94618373, 0.01673807, 1.3349395 ,-0.02382273, 0.95495031,
  1.39020546,-0.00421002, 1.19452265, 0.061957  ,-0.0036122 ,-0.09263108,
  0.08161094, 0.63100029,-0.01143482,-0.00314715, 0.77569193]

qacc:
[ 1.09744526e-01,-5.03380993e+00, 1.65136439e+01,-2.32240795e+01,
  4.12579769e-02,-5.92021282e+00, 1.80389803e+01,-2.35650662e+01,
 -3.67440619e-02,-3.48711674e+00, 6.96031633e+00, 6.17185430e+00,
 -2.07191303e-01, 1.31125561e-01, 3.39634087e+00,-5.37788096e+00,
 -1.35072078e+00,-1.29114351e+00, 2.50994545e-01,-7.41803881e+01,
 -6.36286011e+01,-3.57031396e+00]

qfrc_actuator:
[ 2.95052562e-03, 7.57528435e-02, 1.88500346e-02, 1.90560941e-03,
  5.58619292e-05, 3.98185617e-02, 1.07653901e-02, 1.77682984e-03,
 -3.01862719e-03, 3.62231276e-02, 1.08709536e-02, 1.75397037e-03,
  0.00000000e+00, 1.06539476e-03, 0.00000000e+00,-6.73186339e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007467869482661489
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30498927,  0.08759417, -0.94831894, -0.02681837,  0.99615624,
        0.08338773,  0.95197811,  0.        ,  0.3061661 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07259431, -0.04274053,  0.22450797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.35326716,  -4.52948551,  -7.35326716,
        15.45160925, -11.06402076,  -4.52948551, -11.06402076,
        26.59794012,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013418245656348568
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.13699023e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.13699023e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0362223 , -0.06261308,  0.06188108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01858682e-04, 4.06727206e-02, 1.01871884e-02,-4.48050638e-05,
  1.17586552e-05,-2.06684788e-04,-1.15262198e-06,-4.64368201e-05,
 -1.06779642e-05,-1.55361005e-04, 3.28636007e-05, 4.62292820e-05,
  2.35199850e-03, 3.82505628e-03, 8.32519424e-03, 1.07288375e-03,
  1.83589507e-05, 3.28852799e-06,-1.21644473e+00, 1.58406684e-03,
  5.40791468e-04, 3.29255176e-05]


--- Step 2346 ---
qpos:
[-0.01511827, 1.29159826,-0.03082089, 0.94846758, 0.00437913, 1.32678808,
 -0.02955437, 0.94618416, 0.01673825, 1.33496996,-0.02382226, 0.95495509,
  1.3902304 ,-0.00422953, 1.19451371, 0.06195366,-0.00360916,-0.09263898,
  0.08161114, 0.63103592,-0.01121211,-0.0032622 , 0.77566572]

qacc:
[-2.37650605e-01,-2.96379228e+00, 1.10030624e+01,-8.01450751e+00,
  2.82301117e-02,-3.59351038e+00, 7.60886985e+00,-2.02946970e+00,
 -9.18768562e-02, 5.66992510e+00,-2.98339051e+01, 7.81267569e+01,
 -5.55506172e-01, 7.59540713e-01,-2.42491092e+00, 4.71497382e+00,
 -1.24549052e+00,-1.22110602e+00,-4.31227563e-01,-6.91396918e+01,
 -5.91659538e+01,-3.44920468e+00]

qfrc_actuator:
[ 2.97149955e-03, 7.56800325e-02, 1.89075587e-02, 1.92865040e-03,
  5.69584611e-05, 3.96692121e-02, 1.07722042e-02, 1.78872773e-03,
 -3.03882894e-03, 3.61354507e-02, 1.08676207e-02, 1.97857766e-03,
  0.00000000e+00, 1.11023466e-03, 0.00000000e+00,-5.61846985e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007466090094573087
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3050169 ,  0.08759468, -0.94831   , -0.02682095,  0.9961562 ,
        0.08338743,  0.95196918,  0.        ,  0.30619385])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07259393, -0.04274093,  0.22450823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.39771223,  -4.45652674,  -7.39771223,
        16.45246068, -12.97450686,  -4.45652674, -12.97450686,
        30.17368942,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013522830749991
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.05249745e-14,  2.05249745e-14,  1.00000000e+00,  4.21274578e-28,
        1.00000000e+00, -2.05249745e-14, -1.00000000e+00,  0.00000000e+00,
       -2.05249745e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03620661, -0.06262928,  0.06188022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09995510e-04, 4.06500980e-02, 1.02020154e-02, 1.95085395e-05,
  8.02260244e-06,-2.66031857e-04,-3.52201971e-05, 4.72865543e-06,
 -2.64912223e-05,-1.66020745e-04,-2.86204484e-05, 2.22087485e-04,
  2.36117706e-03, 3.87591853e-03, 8.17460127e-03, 1.16656834e-03,
  5.03381201e-06,-2.28634608e-06,-1.21644125e+00, 1.58107768e-03,
  5.42392099e-04, 2.45719649e-05]


--- Step 2347 ---
qpos:
[-0.01512175, 1.29161292,-0.03086017, 0.94847031, 0.00438007, 1.32688662,
 -0.02955658, 0.94618545, 0.01673863, 1.3349994 ,-0.02382303, 0.95496082,
  1.39025525,-0.00424872, 1.19450357, 0.0619501 ,-0.00361075,-0.09265152,
  0.08160731, 0.63107483,-0.01098529,-0.0035481 , 0.77563606]

qacc:
[-3.65135037e-02,-1.33753688e+00, 3.62940116e+00, 4.60175734e+00,
 -4.44901222e-02, 2.00268744e-01,-5.67884484e+00, 1.62395590e+01,
  8.86729425e-02, 3.64627561e+00,-1.53981493e+01, 2.49239364e+01,
 -2.34206339e-01, 4.75250676e-01,-1.09096506e+00, 1.26911668e+00,
 -1.15858710e+00,-1.16189682e+00,-1.00574772e+00,-6.49510862e+01,
 -5.54700467e+01,-3.32612517e+00]

qfrc_actuator:
[ 2.98577355e-03, 7.56477547e-02, 1.89394403e-02, 1.95929709e-03,
  3.94062482e-05, 3.95584662e-02, 1.07412150e-02, 1.83103711e-03,
 -2.99763129e-03, 3.60715650e-02, 1.07944164e-02, 2.01999421e-03,
  0.00000000e+00, 1.10922690e-03, 0.00000000e+00,-5.46929494e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007464220506847412
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05041830e-01,  8.75953849e-02, -9.48301920e-01, -2.68233618e-02,
        9.96156137e-01,  8.33874015e-02,  9.51961128e-01, -3.46944695e-18,
        3.06218893e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07259335, -0.0427413 ,  0.22450854])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.41522584,  -4.42732455,  -7.41522584,
        17.91533465, -15.54113888,  -4.42732455, -15.54113888,
        34.66586597,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001345863613270229
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.18686218e-14,  2.06228739e-14,  1.00000000e+00, -1.27590879e-27,
        1.00000000e+00, -2.06228739e-14, -1.00000000e+00,  0.00000000e+00,
        6.18686218e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03621926, -0.0626231 ,  0.06188076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.52147829e-04, 4.05633930e-02, 1.01465366e-02, 4.06784151e-05,
 -1.28313021e-05,-2.65367290e-04,-8.70020762e-05, 3.35479377e-05,
  2.55719342e-05,-1.54904339e-04,-1.02407047e-04, 4.08790981e-05,
  2.38702611e-03, 3.85753955e-03, 8.26479769e-03, 1.18469242e-03,
 -7.41839440e-07, 1.20023434e-06,-1.21644121e+00, 1.57788701e-03,
  5.43972529e-04, 2.73782746e-05]


--- Step 2348 ---
qpos:
[-0.01512581, 1.29162817,-0.03089804, 0.94847095, 0.00438086, 1.32698299,
 -0.02955828, 0.94618755, 0.01673948, 1.3350288 ,-0.02382503, 0.95496485,
  1.39028004,-0.00426776, 1.19449095, 0.06194698,-0.00361828,-0.09265884,
  0.08159889, 0.6311053 ,-0.01097015,-0.00382698, 0.77561016]

qacc:
[-2.51706245e-01,-6.60280664e+00, 2.67595756e+01,-4.78225281e+01,
 -6.37693786e-02,-2.85848861e+00, 4.26305073e+00, 6.92901831e+00,
  1.98733807e-01, 3.61941227e-01, 2.17723090e+00,-2.14882616e+01,
  1.15367062e-02, 6.80146483e-02,-4.96898536e+00, 1.20630638e+01,
 -1.48413809e+00, 1.30701381e+00,-1.14888212e+00,-6.41087549e+01,
  8.42681580e+01, 4.87612626e+00]

qfrc_actuator:
[ 2.96027367e-03, 7.56577716e-02, 1.89913472e-02, 1.85190756e-03,
  2.85621411e-05, 3.94715886e-02, 1.07770789e-02, 1.87313877e-03,
 -2.95543910e-03, 3.61285764e-02, 1.07515409e-02, 1.93546549e-03,
  0.00000000e+00, 1.11610249e-03, 0.00000000e+00,-4.47659086e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007462030748806303
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05065257e-01,  8.75961390e-02, -9.48294314e-01, -2.68256546e-02,
        9.96156070e-01,  8.33874561e-02,  9.51953556e-01,  3.46944695e-18,
        3.06242431e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07259265, -0.04274167,  0.22450888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.001352633580120416
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.10393118e-14,  4.10393118e-14,  1.00000000e+00,  1.68422511e-27,
        1.00000000e+00, -4.10393118e-14, -1.00000000e+00,  0.00000000e+00,
       -4.10393118e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04729865, -0.11532256,  0.06188017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30940326e-04, 4.05518421e-02, 1.01413221e-02,-1.01336665e-04,
 -1.84199795e-05,-2.50377544e-04,-2.50604810e-05, 3.25092768e-05,
  5.72976254e-05,-4.76287053e-05,-8.35917914e-05,-9.11151524e-05,
  2.39107690e-03, 3.84847399e-03, 8.32543307e-03, 1.29515976e-03,
 -3.31401998e-07, 1.20879620e-05,-1.21644395e+00, 1.57451284e-03,
  5.45573739e-04, 3.92669830e-05]


--- Step 2349 ---
qpos:
[-0.01513069, 1.29164333,-0.03093439, 0.94846931, 0.00438165, 1.32707735,
 -0.0295598 , 0.94618875, 0.01674038, 1.33505827,-0.02382698, 0.95496948,
  1.39030425,-0.00428667, 1.19447843, 0.06194459,-0.00363144,-0.09266132,
  0.08158361, 0.63112808,-0.01115282,-0.00409914, 0.77558762]

qacc:
[-3.46424217e-01,-8.09719100e+00, 3.09129793e+01,-5.30029568e+01,
  8.04305404e-04,-4.65437966e+00, 1.37944806e+01,-2.09505126e+01,
  1.82815155e-02, 9.40857066e-01,-4.18453784e+00, 1.05505055e+01,
 -5.02647711e-01, 5.22582921e-01,-2.02059337e+00, 7.39211171e+00,
 -1.40834869e+00, 1.21016727e+00,-1.71281491e+00,-5.98518714e+01,
  7.88047903e+01, 4.45673201e+00]

qfrc_actuator:
[ 2.92920125e-03, 7.56573281e-02, 1.90722996e-02, 1.73522079e-03,
  3.95834376e-05, 3.93644547e-02, 1.07812138e-02, 1.82607201e-03,
 -2.98400447e-03, 3.61865555e-02, 1.07806224e-02, 1.97292148e-03,
  0.00000000e+00, 1.18100413e-03, 0.00000000e+00,-4.40365616e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007459097434541276
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05086778e-01,  8.75970972e-02, -9.48287302e-01, -2.68278428e-02,
        9.96155986e-01,  8.33877587e-02,  9.51946598e-01, -6.93889390e-18,
        3.06264061e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07259173, -0.04274201,  0.22450924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -4.51643376,  7.36129085, -4.51643376, 26.16309834,
       10.75332275,  7.36129085, 10.75332275, 15.23393883,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013542065691772298
  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([ 0.04729139, -0.11532257,  0.06188   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29398467e-04, 4.05218249e-02, 1.01519036e-02,-1.13112239e-04,
  1.50220309e-07,-2.50243701e-04,-4.68390211e-05,-5.44200950e-05,
  5.27092875e-06, 1.24248900e-05, 7.59009354e-06, 3.15220556e-05,
  2.39385362e-03, 3.90586027e-03, 8.44954419e-03, 1.28081917e-03,
  7.01999851e-06, 1.03375285e-05,-1.21644302e+00, 1.57988613e-03,
  5.46822964e-04, 4.25147890e-05]


--- Step 2350 ---
qpos:
[-0.01513587, 1.29165809,-0.0309693 , 0.94846667, 0.00438235, 1.32717006,
 -0.02956172, 0.94619008, 0.01674116, 1.33508654,-0.0238269 , 0.95497419,
  1.39032801,-0.00430546, 1.19446752, 0.06194271,-0.00364998,-0.09265928,
  0.08155958, 0.63114375,-0.01152179,-0.00436483, 0.77556803]

qacc:
[-1.29210492e-01,-6.12191826e+00, 2.13899803e+01,-2.99205379e+01,
 -3.94434615e-02,-8.49992489e-01,-7.63745591e-02, 2.46484680e+00,
 -4.95431296e-02,-6.87327983e+00, 2.03721693e+01,-1.60483152e+01,
 -4.82038248e-01, 5.40956092e-01, 8.60426075e-01, 4.94969743e-01,
 -1.34257336e+00, 1.13030378e+00,-2.18928723e+00,-5.63141910e+01,
  7.42504403e+01, 4.10582524e+00]

qfrc_actuator:
[ 2.93074913e-03, 7.56332984e-02, 1.91522497e-02, 1.68497958e-03,
  2.81267200e-05, 3.92991502e-02, 1.07664405e-02, 1.83338560e-03,
 -3.00152793e-03, 3.60852515e-02, 1.08698177e-02, 1.97542690e-03,
  0.00000000e+00, 1.20968471e-03, 0.00000000e+00,-4.70981376e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007456552931086914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05106930e-01,  8.75983202e-02, -9.48280705e-01, -2.68299923e-02,
        9.96155879e-01,  8.33883518e-02,  9.51940078e-01, -3.46944695e-18,
        3.06284325e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07259084, -0.04274232,  0.22450961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -4.68518957,  7.25505173, -4.68518957, 29.73521828,
       13.6252831 ,  7.25505173, 13.6252831 , 17.43534077,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013402003197753448
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.14200403e-14,  4.14200403e-14,  1.00000000e+00,  1.71561974e-27,
        1.00000000e+00, -4.14200403e-14, -1.00000000e+00,  0.00000000e+00,
       -4.14200403e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04731812, -0.11533784,  0.06188109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.71590353e-04, 4.05021592e-02, 1.01557855e-02,-4.97503932e-05,
 -1.13770182e-05,-2.15193088e-04,-7.07453906e-05,-2.69463569e-06,
 -1.43951800e-05,-9.22089125e-05, 9.33836107e-05, 3.87408068e-06,
  2.42323716e-03, 3.92887460e-03, 8.44415641e-03, 1.21345826e-03,
  1.70684179e-05, 5.75002641e-06,-1.21644548e+00, 1.58385187e-03,
  5.47692999e-04, 3.36571065e-05]


--- Step 2351 ---
qpos:
[-0.0151405 , 1.29167234,-0.03100359, 0.94846591, 0.00438278, 1.32726155,
 -0.02956412, 0.94619317, 0.01674178, 1.33511396,-0.02382706, 0.95497657,
  1.39035187,-0.00432394, 1.19445783, 0.06194042,-0.00366318,-0.09265155,
  0.08154382, 0.63116043,-0.01189972,-0.00442717, 0.77554839]

qacc:
[ 2.37102410e-01, 8.75475730e-01,-7.50932842e+00, 2.86610321e+01,
 -1.09763550e-01, 2.70620051e+00,-1.43791810e+01, 3.37376907e+01,
 -6.66495699e-02,-4.52236029e+00, 1.81098670e+01,-4.20946143e+01,
 -2.30704392e-01, 5.16171392e-01, 3.07384664e+00,-8.06349295e+00,
  1.33269345e+00, 1.42063604e+00, 2.06719927e+00, 7.60348663e+01,
  6.76568039e+01, 7.84811164e-01]

qfrc_actuator:
[ 2.96943771e-03, 7.56487225e-02, 1.91955685e-02, 1.78076552e-03,
  3.27724165e-06, 3.92771284e-02, 1.07585939e-02, 1.92593604e-03,
 -3.01228244e-03, 3.59961225e-02, 1.08333348e-02, 1.85073288e-03,
  0.00000000e+00, 1.19883360e-03, 0.00000000e+00,-5.24407613e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007454972505974607
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30512609,  0.08759965, -0.94827442, -0.02683209,  0.99615576,
        0.08338907,  0.95193388,  0.        ,  0.3063036 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07259008, -0.04274262,  0.22450997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013620825892686622
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54716342e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.54716342e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03659785, -0.11874192,  0.06187915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.25457198e-04, 4.05375590e-02, 1.01272428e-02, 9.63862970e-05,
 -3.15661875e-05,-1.55633208e-04,-5.81651193e-05, 8.40899918e-05,
 -1.92388182e-05,-1.21954380e-04,-4.37883296e-05,-1.24557374e-04,
  2.44539817e-03, 3.91245293e-03, 8.36464022e-03, 1.13475101e-03,
  2.93370976e-05,-1.16809116e-06,-1.21645076e+00, 1.58671507e-03,
  5.48249674e-04, 1.48919226e-05]


--- Step 2352 ---
qpos:
[-0.01514419, 1.29168576,-0.0310377 , 0.94846843, 0.00438295, 1.3273514 ,
 -0.02956645, 0.94619737, 0.01674225, 1.33514225,-0.02382949, 0.9549767 ,
  1.39037581,-0.00434209, 1.19445008, 0.06193732,-0.0036715 ,-0.09263853,
  0.08153274, 0.63117819,-0.01228586,-0.00430178, 0.77552863]

qacc:
[ 3.98710600e-01, 4.03925446e+00,-2.12076430e+01, 5.68439442e+01,
 -1.16519477e-01,-4.74978247e-01,-3.31250284e+00, 1.66187022e+01,
 -6.26627421e-02, 3.42507787e+00,-5.28654127e+00,-2.18230443e+01,
 -3.15355043e-01, 6.34897484e-01, 5.33110539e+00,-1.44190548e+01,
  1.22089144e+00, 1.32383331e+00, 1.17050592e+00, 7.02137040e+01,
  6.24210109e+01, 6.74846413e-01]

qfrc_actuator:
[ 3.01192023e-03, 7.56348229e-02, 1.92171467e-02, 1.94392351e-03,
 -1.16522831e-05, 3.91747874e-02, 1.07551284e-02, 1.97916596e-03,
 -3.01888875e-03, 3.61097081e-02, 1.07406327e-02, 1.74086305e-03,
  0.00000000e+00, 1.21728092e-03, 0.00000000e+00,-6.26311771e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007453730929120744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05145143e-01,  8.76008092e-02, -9.48268179e-01, -2.68341210e-02,
        9.96155660e-01,  8.33896380e-02,  9.51927713e-01, -3.46944695e-18,
        3.06322752e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0725894 , -0.04274297,  0.2245103 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.43062412,   4.40143181,   7.43062412,
        24.90918906, -27.47225318,   4.40143181, -27.47225318,
        55.01581376,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013906573424399202
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.99172028e-14,  3.99172028e-14,  1.00000000e+00,  1.59338308e-27,
        1.00000000e+00, -3.99172028e-14, -1.00000000e+00,  0.00000000e+00,
       -3.99172028e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03655462, -0.11870484,  0.06187668])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.40151616e-04, 4.05487110e-02, 1.01176292e-02, 1.65165037e-04,
 -3.35501172e-05,-1.97931966e-04,-3.81574754e-05, 4.89373132e-05,
 -1.79502969e-05, 3.37188703e-05,-1.25165738e-04,-1.17621790e-04,
  2.44078437e-03, 3.91567714e-03, 8.30338809e-03, 1.05337434e-03,
  1.10833576e-05,-5.66442457e-06,-1.21644841e+00, 1.58945086e-03,
  5.47332427e-04, 9.25801356e-06]


--- Step 2353 ---
qpos:
[-0.01514679, 1.29169677,-0.03107212, 0.94847168, 0.00438288, 1.32743883,
 -0.0295681 , 0.94620117, 0.0167426 , 1.335171  ,-0.02383177, 0.95497748,
  1.39039961,-0.00436038, 1.19444738, 0.06193408,-0.0036753 ,-0.09262054,
  0.08152332, 0.63119699,-0.01267955,-0.00400164, 0.77550859]

qacc:
[ 4.64023627e-01,-1.12726279e+00,-1.62010061e+00, 1.12641289e+01,
 -9.92649414e-02,-5.67671512e+00, 1.54860223e+01,-1.64307829e+01,
 -5.08618162e-02, 1.31637908e+00,-4.89410517e+00, 1.15764809e+01,
 -2.97284324e-01, 2.35960581e-01, 7.90635872e+00,-1.67662040e+01,
  1.12837835e+00, 1.24299333e+00, 4.15544347e-01, 6.53806171e+01,
  5.80833907e+01, 6.03940405e-01]

qfrc_actuator:
[ 3.02057248e-03, 7.55683613e-02, 1.92258875e-02, 1.96783127e-03,
 -2.05100316e-05, 3.90074228e-02, 1.07716922e-02, 1.95551069e-03,
 -3.02295355e-03, 3.61837814e-02, 1.07761182e-02, 1.78275203e-03,
  0.00000000e+00, 1.25315984e-03, 0.00000000e+00,-8.09998861e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007452855638833931
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30516484,  0.08760168, -0.94826176, -0.02683612,  0.99615558,
        0.08338991,  0.95192134,  0.        ,  0.30634254])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07258885, -0.04274339,  0.2245106 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.47590912,   4.3240675 ,   7.47590912,
        26.94736901, -31.65801925,   4.3240675 , -31.65801925,
        63.37012415,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001398275687098105
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.97747889e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.97747889e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03654319, -0.11869337,  0.06187599])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.02061562e-04, 4.05241458e-02, 1.01180145e-02, 2.50809847e-05,
 -2.86500327e-05,-2.83481440e-04,-2.51506424e-05,-2.94459027e-05,
 -1.46420378e-05, 6.45988981e-05, 2.43766432e-05, 3.65246037e-05,
  2.43647895e-03, 3.93519157e-03, 8.20657962e-03, 9.10101442e-04,
  1.19665652e-06,-5.39885947e-07,-1.21644980e+00, 1.59218897e-03,
  5.45868691e-04, 1.60283604e-05]


--- Step 2354 ---
qpos:
[-0.01514876, 1.2917053 ,-0.03110747, 0.94847281, 0.00438248, 1.32752399,
 -0.02956949, 0.94620398, 0.01674301, 1.33519931,-0.02383307, 0.95498088,
  1.39042329,-0.00437888, 1.19444728, 0.06193096,-0.0036749 ,-0.09259785,
  0.08151302, 0.6312167 ,-0.01308028,-0.00353752, 0.77548815]

qacc:
[ 2.71574027e-01,-4.33203191e+00, 1.45233093e+01,-3.54764715e+01,
 -1.38120436e-01,-5.37168715e+00, 1.59571009e+01,-2.38911280e+01,
  2.31008126e-02, 1.28043575e+00,-1.00971105e+01, 3.90159986e+01,
 -8.01345849e-02,-7.23878757e-02, 3.48243354e+00,-6.59156950e+00,
  1.05173895e+00, 1.17539236e+00,-2.19554456e-01, 6.13684408e+01,
  5.44916700e+01, 5.64769611e-01]

qfrc_actuator:
[ 3.00839985e-03, 7.55787865e-02, 1.92095736e-02, 1.85617745e-03,
 -4.34075577e-05, 3.88912354e-02, 1.07818821e-02, 1.90452573e-03,
 -3.00770906e-03, 3.61276869e-02, 1.08159782e-02, 1.91368871e-03,
  0.00000000e+00, 1.26433749e-03, 0.00000000e+00,-8.65572432e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007453207422234674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05187116e-01,  8.76021828e-02, -9.48254545e-01, -2.68382361e-02,
        9.96155539e-01,  8.33897567e-02,  9.51914142e-01, -3.46944695e-18,
        3.06364924e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07258876, -0.04274386,  0.22451079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013890748391029717
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.99066963e-15,  3.99626785e-14,  1.00000000e+00, -3.99253919e-28,
        1.00000000e+00, -3.99626785e-14, -1.00000000e+00,  0.00000000e+00,
        9.99066963e-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([-0.03655706, -0.1187023 ,  0.0618767 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35507540e-04, 4.06551215e-02, 1.01167380e-02,-1.22658066e-04,
 -3.98033044e-05,-2.79417527e-04,-4.90700229e-05,-6.07806361e-05,
  6.62048671e-06,-1.47222618e-05, 5.62872908e-05, 1.34452018e-04,
  2.44375948e-03, 3.95395960e-03, 7.95407509e-03, 8.61617296e-04,
 -1.98733048e-06, 1.22200629e-05,-1.21645418e+00, 1.59491120e-03,
  5.43946259e-04, 3.26911204e-05]


--- Step 2355 ---
qpos:
[-0.01515168, 1.29171593,-0.03114166, 0.94847138, 0.00438163, 1.32760734,
 -0.02957128, 0.94620719, 0.01674381, 1.33522733,-0.02383466, 0.95498587,
  1.39044714,-0.004397  , 1.19443962, 0.06192777,-0.00366966,-0.09257983,
  0.08151205, 0.63123526,-0.01330207,-0.00308423, 0.7754712 ]

qacc:
[-4.09396253e-01,-4.76695318e+00, 2.41057772e+01,-5.18142246e+01,
 -1.89821161e-01,-6.29440964e-01,-1.62700199e+00, 7.16215394e+00,
  1.67855339e-01, 3.13568755e+00,-1.39206527e+01, 3.06812612e+01,
  2.66602682e-01,-3.57842775e-02,-1.09460923e+01, 2.20282666e+01,
  1.20775321e+00,-1.16920465e+00, 2.33113799e+00, 5.22780072e+01,
 -7.28325976e+01, 1.16861598e+00]

qfrc_actuator:
[ 3.00150104e-03, 7.55831157e-02, 1.92322406e-02, 1.75449550e-03,
 -7.45434858e-05, 3.88243251e-02, 1.07706446e-02, 1.92666289e-03,
 -2.96325266e-03, 3.60829625e-02, 1.07865709e-02, 1.98933253e-03,
  0.00000000e+00, 1.22531674e-03, 0.00000000e+00,-5.42687568e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007453312985631275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30521265,  0.08760245, -0.9482463 , -0.02684056,  0.99615552,
        0.08338929,  0.95190589,  0.        ,  0.30639056])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07258894, -0.04274433,  0.2245109 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0014041600950215616
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.96500118e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.96500118e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03187114, -0.07704501,  0.06187538])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.67860709e-05, 4.07832741e-02, 1.01862294e-02,-1.18725737e-04,
 -5.46190555e-05,-2.33495624e-04,-7.33410248e-05, 1.10313492e-05,
  4.83795001e-05,-3.80757014e-05,-2.19757380e-05, 8.00262132e-05,
  2.44968631e-03, 3.92602535e-03, 7.82400594e-03, 1.17852866e-03,
  3.08210835e-07, 3.11857587e-05,-1.21646102e+00, 1.59759648e-03,
  5.41633256e-04, 5.74396250e-05]


--- Step 2356 ---
qpos:
[-0.01515598, 1.29172937,-0.03117419, 0.94846967, 0.00438066, 1.32768916,
 -0.02957334, 0.94621061, 0.01674477, 1.33525549,-0.02383746, 0.95498863,
  1.39047075,-0.00441435, 1.19442406, 0.06192423,-0.00366416,-0.09256768,
  0.0815233 , 0.63125584,-0.01341081,-0.00274075, 0.77545387]

qacc:
[-5.83267674e-01,-1.22490170e+00, 9.01832675e+00,-1.27127699e+01,
 -5.12962604e-02,-9.02051233e-01, 6.33077784e-02, 3.37177844e+00,
  6.64327323e-02,-3.84727295e-01, 5.97229022e+00,-3.09614529e+01,
 -2.96622809e-01, 7.86079032e-01,-1.06011680e+01, 2.01892017e+01,
  6.79730983e-02,-1.46723695e+00, 3.05706173e+00,-6.88585148e+00,
 -7.84819076e+01,-1.81030331e+00]

qfrc_actuator:
[ 3.01686104e-03, 7.55802036e-02, 1.92588122e-02, 1.74885242e-03,
 -5.71124187e-05, 3.87696737e-02, 1.07648516e-02, 1.93842227e-03,
 -2.97264354e-03, 3.60806087e-02, 1.07164768e-02, 1.87198961e-03,
  0.00000000e+00, 1.26217445e-03, 0.00000000e+00,-3.29879656e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000745059643727574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05235062e-01,  8.76030543e-02, -9.48239032e-01, -2.68427216e-02,
        9.96155462e-01,  8.33892285e-02,  9.51898642e-01,  3.46944695e-18,
        3.06413079e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07258846, -0.04274474,  0.22451112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.001422135895550028
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.8067295e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -7.8067295e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00343149, -0.07100345,  0.06187388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.60145014e-04, 4.06754447e-02, 1.01543415e-02, 3.61711011e-06,
 -1.47883202e-05,-1.98413603e-04,-5.95691961e-05, 2.98281350e-06,
  1.91808935e-05,-2.55100679e-05,-7.77071168e-05,-1.17207798e-04,
  2.44143669e-03, 3.94373854e-03, 8.20200381e-03, 1.39518775e-03,
  7.66965137e-06, 2.91387866e-05,-1.21645403e+00, 1.59294280e-03,
  5.40202698e-04, 6.90135073e-05]


--- Step 2357 ---
qpos:
[-0.01516078, 1.29174319,-0.03120628, 0.9484682 , 0.00437986, 1.32776918,
 -0.02957484, 0.94621447, 0.01674563, 1.33528314,-0.02384004, 0.95498995,
  1.39049392,-0.0044312 , 1.19440615, 0.06192052,-0.00366385,-0.09256054,
  0.08153482, 0.63127985,-0.01351504,-0.00258835, 0.77543304]

qacc:
[-2.15454687e-01,-2.85208310e-01, 1.04344864e+00, 1.51544135e+00,
  6.96390200e-02,-3.12370452e+00, 6.46071230e+00, 6.02149548e-01,
 -4.33546658e-02,-3.73797743e+00, 1.42916125e+01,-2.87021140e+01,
 -5.82915218e-01, 9.05693847e-01,-2.93791164e+00, 5.31842282e+00,
 -1.29946956e+00,-1.25126493e+00, 6.65161387e-02,-7.26466727e+01,
 -6.20316647e+01,-3.72152014e+00]

qfrc_actuator:
[ 3.04636789e-03, 7.56246435e-02, 1.92690204e-02, 1.74631005e-03,
 -2.84413799e-05, 3.86873305e-02, 1.07978762e-02, 1.96173454e-03,
 -2.99650946e-03, 3.60500932e-02, 1.07295232e-02, 1.80181655e-03,
  0.00000000e+00, 1.32627459e-03, 0.00000000e+00,-3.42594328e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007445333429986524
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30525321,  0.08760413, -0.94823309, -0.02684465,  0.99615537,
        0.08338973,  0.95189277,  0.        ,  0.30643133])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07258725, -0.04274507,  0.22451146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.62210359,  0.4960913 ,  8.62210359,  8.65068908,
       -0.24897731,  0.4960913 , -0.24897731, 12.96360781,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001430917950793198
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.87940840e-14,  5.81911261e-14,  1.00000000e+00,  2.25747143e-27,
        1.00000000e+00, -5.81911261e-14, -1.00000000e+00,  0.00000000e+00,
       -3.87940840e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03608229, -0.06276493,  0.06187321])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.58026290e-04, 4.05788422e-02, 1.00818087e-02, 1.46226350e-05,
  1.99424855e-05,-2.04234516e-04,-1.25578424e-05, 1.58018301e-05,
 -1.25280500e-05,-6.34556134e-05,-4.21952796e-06,-7.58912324e-05,
  2.45280026e-03, 3.96986778e-03, 8.59731159e-03, 1.39970005e-03,
  7.07900289e-06, 1.61377822e-05,-1.21644735e+00, 1.58997404e-03,
  5.40299943e-04, 5.78998454e-05]


--- Step 2358 ---
qpos:
[-0.01516425, 1.29175375,-0.03123902, 0.94846675, 0.00437915, 1.32784789,
 -0.02957659, 0.94621686, 0.01674646, 1.33530933,-0.02384037, 0.95499109,
  1.39051701,-0.0044484 , 1.19439637, 0.06191718,-0.00366835,-0.09255814,
  0.08154398, 0.63130735,-0.01361534,-0.00261413, 0.77540881]

qacc:
[ 5.67158510e-01,-2.51629645e+00, 3.00886654e+00,-3.07437958e-01,
  3.98886347e-02,-3.56742035e+00, 1.25615188e+01,-2.71338463e+01,
 -1.41918119e-02,-8.32121843e+00, 2.51811671e+01,-2.30214937e+01,
 -2.25839367e-01, 3.51516059e-02, 1.09548826e+01,-2.07971566e+01,
 -1.20256307e+00,-1.18673101e+00,-5.91090953e-01,-6.78213939e+01,
 -5.77378935e+01,-3.63411237e+00]

qfrc_actuator:
[ 3.04854226e-03, 7.56278093e-02, 1.93054803e-02, 1.72748391e-03,
 -2.87681068e-05, 3.86247379e-02, 1.07824451e-02, 1.88515153e-03,
 -2.99335820e-03, 3.59677683e-02, 1.08447687e-02, 1.79555569e-03,
  0.00000000e+00, 1.33566826e-03, 0.00000000e+00,-6.68189236e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00074389634394759
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3052706 ,  0.08760536, -0.94822738, -0.02684656,  0.99615526,
        0.08339042,  0.95188714,  0.        ,  0.30644881])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07258584, -0.04274537,  0.22451183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.7497559 ,  -3.81156928,  -7.7497559 ,
        13.80134259, -10.50153444,  -3.81156928, -10.50153444,
        29.98828522,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001432345421024786
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  3.8755422e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -3.8755422e-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([ 0.03608289, -0.06276858,  0.06187315])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.85456657e-04, 4.05636181e-02, 1.00968535e-02,-1.56633509e-05,
  1.14268400e-05,-1.78111474e-04,-5.64262252e-05,-8.25942329e-05,
 -4.22989315e-06,-1.20672448e-04, 1.00128015e-04,-9.99382175e-06,
  2.47560158e-03, 3.95453685e-03, 8.71565727e-03, 1.08246510e-03,
  7.44180766e-07, 3.41601097e-06,-1.21644249e+00, 1.58814418e-03,
  5.41671067e-04, 4.24266795e-05]


--- Step 2359 ---
qpos:
[-0.01516714, 1.29176336,-0.03127155, 0.94846622, 0.00437864, 1.32792564,
 -0.02957948, 0.94621625, 0.01674727, 1.33533451,-0.02383991, 0.95499148,
  1.39054014,-0.00446555, 1.19438976, 0.06191365,-0.00367735,-0.09256027,
  0.08154856, 0.6313383 ,-0.01371216,-0.00280738, 0.77538123]

qacc:
[ 2.46291113e-01,-2.37458301e-01,-2.62364342e+00, 1.35339917e+01,
  8.52734223e-02,-3.29804621e+00, 1.53855441e+01,-4.74115950e+01,
 -2.89335235e-03,-4.73896588e+00, 1.53446577e+01,-2.11912364e+01,
 -1.84776523e-01, 2.79411826e-01, 5.24348503e+00,-1.15243996e+01,
 -1.12253776e+00,-1.13228018e+00,-1.14428433e+00,-6.38157399e+01,
 -5.41821497e+01,-3.54368206e+00]

qfrc_actuator:
[ 3.03268472e-03, 7.55919290e-02, 1.93408314e-02, 1.78776571e-03,
 -1.09838405e-05, 3.85742459e-02, 1.07207831e-02, 1.73261552e-03,
 -2.99177628e-03, 3.59087761e-02, 1.08771909e-02, 1.75594848e-03,
  0.00000000e+00, 1.33064846e-03, 0.00000000e+00,-7.02651564e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007435120789005684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30529169,  0.08760615, -0.94822052, -0.02684866,  0.99615519,
        0.08339057,  0.95188031,  0.        ,  0.30647001])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07258516, -0.04274575,  0.22451206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.78291346,  -3.74339885,  -7.78291346,
        14.51057037, -12.21308348,  -3.74339885, -12.21308348,
        34.02862762,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001417922909618112
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.91496257e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.91496257e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03610999, -0.06275138,  0.0618744 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.03131023e-04, 4.06902529e-02, 1.01640170e-02, 4.34803525e-05,
  2.45172098e-05,-1.63083662e-04,-1.05422873e-04,-1.61336656e-04,
 -9.04023368e-07,-1.06641274e-04, 1.99164814e-05,-4.04478144e-05,
  2.47912033e-03, 3.96773200e-03, 8.30845641e-03, 1.02999823e-03,
  1.22633510e-06,-1.55075401e-07,-1.21644104e+00, 1.58604600e-03,
  5.43063858e-04, 3.81768882e-05]


--- Step 2360 ---
qpos:
[-0.01517123, 1.29177662,-0.03130147, 0.94846587, 0.00437848, 1.32800187,
 -0.02958245, 0.9462152 , 0.01674795, 1.33535929,-0.02384071, 0.95499215,
  1.39056302,-0.00448207, 1.19437588, 0.06190986,-0.00368584,-0.09256809,
  0.08155964, 0.63137142,-0.01371008,-0.00309738, 0.77535319]

qacc:
[-5.11221790e-01,-1.93137012e+00, 1.17227477e+01,-1.03602546e+01,
  1.49575487e-01,-2.56153188e+00, 6.83157451e+00,-1.00884803e+01,
 -6.13825941e-02, 3.36528151e+00,-1.21486822e+01, 1.38771163e+01,
 -2.64948120e-01, 6.51512882e-01,-9.94133181e+00, 1.92191443e+01,
  1.25400573e-01,-1.42201933e+00, 1.62359585e+00,-6.27205391e+00,
 -6.88770388e+01,-1.78456919e+00]

qfrc_actuator:
[ 3.05948630e-03, 7.55671313e-02, 1.94104359e-02, 1.82359400e-03,
  1.75220945e-05, 3.84956644e-02, 1.07211289e-02, 1.71414210e-03,
 -3.00890200e-03, 3.58816649e-02, 1.08072193e-02, 1.76797319e-03,
  0.00000000e+00, 1.35221740e-03, 0.00000000e+00,-3.84504910e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007432431379333429
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3053135 ,  0.08760675, -0.94821344, -0.02685076,  0.99615514,
        0.08339052,  0.95187326,  0.        ,  0.30649192])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07258474, -0.04274619,  0.22451224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.001407249957325496
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.94465468e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.94465468e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00342812, -0.0709865 ,  0.06187532])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.01069703e-04, 4.07132107e-02, 1.02233978e-02, 3.32253839e-05,
  4.29601657e-05,-1.94799307e-04,-4.83593858e-05,-3.00932019e-05,
 -1.76481265e-05,-8.35632188e-05,-8.97446921e-05, 8.54282528e-06,
  2.47703384e-03, 3.98694052e-03, 8.15062648e-03, 1.35750360e-03,
  7.31731126e-06, 3.77881829e-06,-1.21644238e+00, 1.58368616e-03,
  5.44518222e-04, 4.31067325e-05]


--- Step 2361 ---
qpos:
[-0.0151762 , 1.29179168,-0.03132928, 0.94846475, 0.00437867, 1.32807605,
 -0.02958466, 0.94621464, 0.01674845, 1.33538386,-0.02384341, 0.95499436,
  1.39058535,-0.00449824, 1.19435861, 0.06190638,-0.00368973,-0.09258046,
  0.08157357, 0.63140325,-0.01355474,-0.003396  , 0.77532875]

qacc:
[ -0.3728609 , -4.63959546, 19.55178515,-26.89880084,  0.14738046,
  -3.90691472,  8.52138216, -0.54241987, -0.07267918,  7.49303684,
 -27.8663112 , 42.0102732 , -0.45950986,  0.62735304, -5.86639506,
  13.35626086,  1.15084207, -1.13688957,  0.71570778, 45.04059309,
 -62.16419844,  1.33978268]

qfrc_actuator:
[ 3.07792326e-03, 7.55270037e-02, 1.94626022e-02, 1.77411349e-03,
  3.44765581e-05, 3.83834412e-02, 1.07580752e-02, 1.73924835e-03,
 -3.01935952e-03, 3.58734797e-02, 1.07130622e-02, 1.84577025e-03,
  0.00000000e+00, 1.40689031e-03, 0.00000000e+00,-3.16217234e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007428276942958098
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30532935,  0.08760779, -0.94820824, -0.02685248,  0.99615505,
        0.08339106,  0.95186813,  0.        ,  0.30650786])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07258362, -0.04274655,  0.22451258])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.30321266, -2.37559181, -8.30321266, 10.5928399 ,
       -6.8383122 , -2.37559181, -6.8383122 , 32.53775952,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013946562615334834
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.98520607e-14,  7.96054953e-14,  1.00000000e+00, -2.37638808e-27,
        1.00000000e+00, -7.96054953e-14, -1.00000000e+00,  0.00000000e+00,
        2.98520607e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03188347, -0.07702393,  0.06187643])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.79444595e-04, 4.04903503e-02, 1.01451823e-02,-2.52162588e-05,
  4.22843053e-05,-2.30877115e-04,-7.62152368e-06, 1.72499647e-05,
 -2.08633673e-05,-7.18358707e-05,-1.20449976e-04, 7.29287558e-05,
  2.49022958e-03, 4.01020400e-03, 8.51450733e-03, 1.43865768e-03,
  8.24603932e-06, 1.10011416e-05,-1.21644331e+00, 1.58042856e-03,
  5.44636637e-04, 5.27276520e-05]


--- Step 2362 ---
qpos:
[-0.0151817 , 1.29180647,-0.03135671, 0.94846368, 0.00437901, 1.32814812,
 -0.02958582, 0.94621575, 0.0167488 , 1.33540758,-0.02384649, 0.95499745,
  1.39060763,-0.00451396, 1.19434051, 0.06190292,-0.00368926,-0.09259705,
  0.08158805, 0.63143394,-0.01325421,-0.00370301, 0.77530755]

qacc:
[ -0.22801697, -1.28877395,  3.67352585, -2.49431623,  0.05970608,
  -2.74265419,  2.16821834, 18.88744888, -0.06478885,  1.43978867,
  -7.82942888, 17.59064962, -0.29364368,  0.63747042, -1.29537866,
   2.79142125,  1.08757926, -1.05442872,  0.13583808, 42.57752581,
 -58.96282144,  1.16146851]

qfrc_actuator:
[ 3.02048633e-03, 7.54780677e-02, 1.94504977e-02, 1.76308309e-03,
  2.66119896e-05, 3.82876621e-02, 1.08161776e-02, 1.82526211e-03,
 -3.02573194e-03, 3.58233661e-02, 1.06942925e-02, 1.89064386e-03,
  0.00000000e+00, 1.41044840e-03, 0.00000000e+00,-3.27292055e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007423747159295696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05341458e-01,  8.76091422e-02, -9.48204214e-01, -2.68539587e-02,
        9.96154927e-01,  8.33920062e-02,  9.51864202e-01, -3.46944695e-18,
        3.06520050e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07258218, -0.04274685,  0.22451299])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.61402591, -0.62075315,  8.61402591,  8.84132672,
        2.84421797, -0.62075315,  2.84421797, 48.10481773,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013739227722140424
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.04033999e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.04033999e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03191181, -0.07700702,  0.06187823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.65737160e-04, 4.03512030e-02, 1.00273551e-02, 1.98215100e-06,
  1.70654234e-05,-2.24988461e-04, 1.25033708e-05, 7.93669246e-05,
 -1.86764827e-05,-1.11362210e-04,-4.43733801e-05, 4.09521228e-05,
  2.51718530e-03, 3.99670441e-03, 8.68356779e-03, 1.41246301e-03,
  2.27910169e-06, 1.30173916e-05,-1.21644386e+00, 1.57839385e-03,
  5.43750707e-04, 5.17556609e-05]


--- Step 2363 ---
qpos:
[-0.01518752, 1.29182143,-0.03138328, 0.94846346, 0.00437923, 1.32821867,
 -0.02958643, 0.94621785, 0.01674888, 1.33543009,-0.02384893, 0.95499794,
  1.39063032,-0.00452928, 1.19432202, 0.06189944,-0.00368466,-0.09261759,
  0.08160114, 0.63146356,-0.01281514,-0.00401826, 0.77528923]

qacc:
[-1.34357368e-01,-6.68997109e-01, 7.31364899e-01, 9.07643373e+00,
 -4.36888422e-02,-1.73842092e+00, 1.21358652e+00, 1.14695776e+01,
 -1.12974084e-01,-7.82771934e+00, 2.88836519e+01,-5.44375667e+01,
  6.36542087e-02, 3.02924292e-01,-4.86254080e-01, 8.78429178e-01,
  1.03556479e+00,-9.87898991e-01,-3.48598553e-01, 4.05473398e+01,
 -5.63218031e+01, 1.00841257e+00]

qfrc_actuator:
[ 2.98854557e-03, 7.54429581e-02, 1.94894920e-02, 1.81012509e-03,
  3.92407147e-06, 3.82381354e-02, 1.08508679e-02, 1.87541969e-03,
 -3.04735553e-03, 3.57488131e-02, 1.07199925e-02, 1.75602038e-03,
  0.00000000e+00, 1.38309797e-03, 0.00000000e+00,-3.14818760e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007418572476933886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05353477e-01,  8.76106611e-02, -9.48200204e-01, -2.68554848e-02,
        9.96154793e-01,  8.33931105e-02,  9.51860303e-01,  3.46944695e-18,
        3.06532156e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07258067, -0.04274717,  0.2245134 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.59861191, -0.80662886,  8.59861191,  9.05220112,
        4.43280086, -0.80662886,  4.43280086, 55.88973636,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013429190911934535
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03340461e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.03340461e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03195358, -0.07698382,  0.0618809 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.60530252e-04, 4.03298861e-02, 1.00478309e-02, 4.68080852e-05,
 -1.26314528e-05,-1.69664555e-04,-5.64360012e-06, 4.57191284e-05,
 -3.26388626e-05,-1.43742215e-04, 8.97473550e-08,-1.38234849e-04,
  2.51958215e-03, 3.94725569e-03, 8.72592648e-03, 1.42365579e-03,
 -1.72479944e-06, 1.35294549e-05,-1.21644661e+00, 1.57704321e-03,
  5.43415087e-04, 4.37761534e-05]


--- Step 2364 ---
qpos:
[-0.01519257, 1.29183456,-0.03140961, 0.94846436, 0.00437929, 1.32828801,
 -0.0295875 , 0.9462185 , 0.01674869, 1.33545183,-0.02385119, 0.95499644,
  1.39065297,-0.00454467, 1.19430891, 0.06189611,-0.0036754 ,-0.09263331,
  0.08161473, 0.63149372,-0.01238396,-0.0041632 , 0.77527091]

qacc:
[  0.32475225, -1.12989378, -1.53544131, 15.51273118, -0.07325464,
  -2.88179701, 10.4845494 ,-25.2673328 , -0.11124818, -4.88797864,
  18.67729312,-38.45909346, -0.25632725,  0.26529713,  7.51645838,
 -14.70076418,  1.16257063,  1.20334471,  0.1260957 , 63.52718919,
  56.82967913,  0.90348647]

qfrc_actuator:
[ 3.02515480e-03, 7.54335512e-02, 1.95407437e-02, 1.85568349e-03,
 -9.71762160e-06, 3.81633596e-02, 1.08183494e-02, 1.79755642e-03,
 -3.06020161e-03, 3.57313025e-02, 1.07359998e-02, 1.65887009e-03,
  0.00000000e+00, 1.42583015e-03, 0.00000000e+00,-5.18957347e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007413363078119031
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05364493e-01,  8.76122888e-02, -9.48196506e-01, -2.68569565e-02,
        9.96154650e-01,  8.33943466e-02,  9.51856728e-01, -3.46944695e-18,
        3.06543259e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07257911, -0.04274755,  0.22451381])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013156860916619592
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00,  4.219179e-14,  1.000000e+00,  0.000000e+00,
        1.000000e+00, -4.219179e-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([-0.03669856, -0.11877255,  0.06188324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.12896480e-04, 4.03114316e-02, 1.00555155e-02, 4.99429445e-05,
 -2.10980093e-05,-1.68858537e-04,-6.50815104e-05,-8.19555167e-05,
 -3.21043276e-05,-1.01228843e-04,-1.61196634e-05,-1.04594881e-04,
  2.49946153e-03, 3.97006957e-03, 8.74561953e-03, 1.22095874e-03,
 -4.06937125e-06, 1.27588142e-05,-1.21645123e+00, 1.57622952e-03,
  5.43547721e-04, 2.97234018e-05]


--- Step 2365 ---
qpos:
[-0.01519648, 1.29184523,-0.03143668, 0.94846626, 0.00437903, 1.32835599,
 -0.02958894, 0.94621891, 0.01674873, 1.33547386,-0.02385433, 0.95499376,
  1.39067545,-0.00456018, 1.19430092, 0.06189261,-0.00366182,-0.09264445,
  0.08162653, 0.63152461,-0.01195993,-0.00414773, 0.77525249]

qacc:
[  0.49038881,  0.48580253, -7.49632475, 19.52679044, -0.13307978,
  -1.1792348 ,  2.16297271, -3.72635616,  0.0930083 ,  0.70185208,
   0.59077379,-14.46317463, -0.33952514,  0.29155275,  8.07301778,
 -17.20483661,  1.08117768,  1.14474341, -0.44889576, 59.92877126,
  53.42529183,  0.6885362 ]

qfrc_actuator:
[ 3.06643862e-03, 7.54415155e-02, 1.95463814e-02, 1.89973544e-03,
 -3.55733448e-05, 3.80914794e-02, 1.07995305e-02, 1.78696230e-03,
 -3.01442070e-03, 3.58013332e-02, 1.07109017e-02, 1.60236101e-03,
  0.00000000e+00, 1.45766846e-03, 0.00000000e+00,-6.75700596e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007410081216403103
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05377044e-01,  8.76136655e-02, -9.48192336e-01, -2.68584857e-02,
        9.96154529e-01,  8.33953004e-02,  9.51852658e-01,  3.46944695e-18,
        3.06555895e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07257801, -0.04274801,  0.22451413])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   6.24576853,   5.96465861,   6.24576853,
        24.71786684, -16.83941247,   5.96465861, -16.83941247,
        26.26940508,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013064623459652785
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.59336255e-14,  8.49793358e-14,  1.00000000e+00,  1.35402891e-27,
        1.00000000e+00, -8.49793358e-14, -1.00000000e+00,  0.00000000e+00,
       -1.59336255e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03671579, -0.118783  ,  0.06188408])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.16125367e-04, 4.04114264e-02, 1.00494925e-02, 3.77193565e-05,
 -3.83051249e-05,-1.80963332e-04,-6.17274838e-05,-1.93703512e-05,
  2.68393599e-05, 7.65549203e-06,-4.97824835e-05,-6.23890032e-05,
  2.50121632e-03, 4.00581422e-03, 8.47693027e-03, 1.05689856e-03,
  9.85929367e-08,-1.10387159e-06,-1.21644733e+00, 1.57768141e-03,
  5.43256977e-04, 1.22244747e-05]


--- Step 2366 ---
qpos:
[-0.01519886, 1.29185282,-0.03146469, 0.94846735, 0.00437846, 1.3284223 ,
 -0.02959079, 0.94621957, 0.01674912, 1.33549646,-0.02385826, 0.95499004,
  1.39069798,-0.00457622, 1.1942996 , 0.06188928,-0.00364419,-0.09265122,
  0.0816346 , 0.63155636,-0.01154245,-0.00398002, 0.77523383]

qacc:
[ 6.50881738e-01,-2.87122054e+00, 6.11283066e+00,-1.26043706e+01,
 -1.31369176e-01,-6.63313506e-01,-9.94773750e-01, 4.76959738e+00,
  1.49684089e-01, 1.11159613e+00,-6.59605212e-01,-1.16502993e+01,
  4.58072280e-02,-3.70081287e-01, 9.32650739e+00,-1.83149980e+01,
  1.01443447e+00, 1.09594475e+00,-9.31049176e-01, 5.69490361e+01,
  5.06092477e+01, 5.20730312e-01]

qfrc_actuator:
[ 3.07432892e-03, 7.54434926e-02, 1.95610398e-02, 1.85380166e-03,
 -5.07945247e-05, 3.79864723e-02, 1.07712869e-02, 1.79833376e-03,
 -2.98709920e-03, 3.58521103e-02, 1.06798713e-02, 1.55249389e-03,
  0.00000000e+00, 1.44754671e-03, 0.00000000e+00,-8.74764237e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007407976305279264
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05392639e-01,  8.76146537e-02, -9.48187222e-01, -2.68601626e-02,
        9.96154442e-01,  8.33957985e-02,  9.51847608e-01,  3.46944695e-18,
        3.06571577e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07257737, -0.04274851,  0.22451436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   6.33851668,   5.86600231,   6.33851668,
        26.80043702, -19.62721391,   5.86600231, -19.62721391,
        29.84457601,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012851186297841571
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07988379e-14,  4.31953517e-14,  1.00000000e+00,  4.66459603e-28,
        1.00000000e+00, -4.31953517e-14, -1.00000000e+00,  0.00000000e+00,
       -1.07988379e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03675083, -0.11880804,  0.06188592])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.66532167e-04, 4.05357589e-02, 1.01013698e-02,-5.79238621e-05,
 -3.78202901e-05,-2.18243575e-04,-7.13018023e-05, 3.78009073e-06,
  4.31785329e-05, 4.32898341e-05,-3.70423754e-05,-5.25263370e-05,
  2.51008510e-03, 4.00224076e-03, 8.22134114e-03, 8.66094588e-04,
  9.04552370e-06,-7.47445858e-06,-1.21644622e+00, 1.57902385e-03,
  5.42563732e-04, 4.23570064e-06]


--- Step 2367 ---
qpos:
[-0.01520008, 1.2918577 ,-0.03149291, 0.94846747, 0.00437778, 1.32848685,
 -0.02959259, 0.94621896, 0.01674956, 1.3355182 ,-0.02386091, 0.95498646,
  1.39072011,-0.00459282, 1.19430611, 0.06188624,-0.00362271,-0.09265376,
  0.08163733, 0.63158899,-0.011131  ,-0.00366684, 0.77521481]

qacc:
[ 4.93777843e-01,-4.68524247e+00, 1.29691283e+01,-2.08042705e+01,
 -4.59390117e-02,-4.60954884e+00, 1.48333858e+01,-2.64016714e+01,
  2.11730968e-02,-4.35414206e+00, 1.25608425e+01,-8.75538317e+00,
 -3.30661972e-01,-6.85174599e-02, 1.07208056e+01,-2.06476378e+01,
  9.59515259e-01, 1.05532383e+00,-1.33493030e+00, 5.44871752e+01,
  4.82831107e+01, 3.90491493e-01]

qfrc_actuator:
[ 3.06134716e-03, 7.54079857e-02, 1.96171105e-02, 1.80852951e-03,
 -4.17607135e-05, 3.78979495e-02, 1.07730810e-02, 1.73373468e-03,
 -3.00658042e-03, 3.57666840e-02, 1.07343143e-02, 1.56018340e-03,
  0.00000000e+00, 1.48370329e-03, 0.00000000e+00,-1.08173862e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007407590941884631
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05412071e-01,  8.76151286e-02, -9.48180920e-01, -2.68620184e-02,
        9.96154400e-01,  8.33956997e-02,  9.51841320e-01,  3.46944695e-18,
        3.06591097e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07257735, -0.04274908,  0.22451446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   6.36567499,   5.83651941,   6.36567499,
        29.65589808, -22.92522568,   5.83651941, -22.92522568,
        33.64005598,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001254287999065594
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.42571015e-14,  8.85142029e-14,  1.00000000e+00,  3.91738206e-27,
        1.00000000e+00, -8.85142029e-14, -1.00000000e+00,  0.00000000e+00,
       -4.42571015e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0367997 , -0.1188444 ,  0.06188854])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.77263280e-04, 4.06543506e-02, 1.02045160e-02,-6.32769658e-05,
 -1.32810226e-05,-2.23545928e-04,-4.89620336e-05,-7.30540033e-05,
  6.02250971e-06,-7.04315423e-05, 5.71252114e-05, 6.68651588e-06,
  2.50755186e-03, 4.06466268e-03, 7.88760941e-03, 6.50504720e-04,
  2.20615942e-05,-7.52707063e-06,-1.21644748e+00, 1.58032150e-03,
  5.41492529e-04, 4.29214910e-06]


--- Step 2368 ---
qpos:
[-0.01520197, 1.29186373,-0.03151977, 0.94846765, 0.00437709, 1.32855014,
 -0.02959466, 0.94621894, 0.01675008, 1.33553922,-0.02386284, 0.95498302,
  1.39074155,-0.00460911, 1.19431136, 0.06188283,-0.00360843,-0.09265001,
  0.0816391 , 0.6316118 ,-0.01095189,-0.00334628, 0.77520022]

qacc:
[-2.83462048e-01,-2.03876717e+00, 8.35961263e+00,-7.27109600e+00,
 -7.14933736e-03, 7.54692128e-02,-3.43183479e+00, 1.05358363e+01,
  3.28814096e-02,-2.67707344e+00, 7.30353798e+00,-4.29321436e+00,
 -7.10114505e-01, 8.69934158e-01,-6.81622847e-01,-1.97066853e-01,
 -1.80019674e+00, 1.57125071e+00,-2.38891223e-01,-7.05575388e+01,
  9.23378268e+01, 5.67625007e+00]

qfrc_actuator:
[ 3.03560046e-03, 7.54041132e-02, 1.96799126e-02, 1.83516068e-03,
 -3.60038066e-05, 3.78733334e-02, 1.07748485e-02, 1.76698665e-03,
 -3.00072253e-03, 3.57249984e-02, 1.07672699e-02, 1.56614467e-03,
  0.00000000e+00, 1.53012893e-03, 0.00000000e+00,-9.56341640e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007409974006711215
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30543429,  0.08761522, -0.94817376, -0.026864  ,  0.99615439,
        0.08339515,  0.95183414,  0.        ,  0.3066134 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07257802, -0.04274968,  0.22451444])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013023419995665461
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.52481933e-14,  4.26240966e-14,  1.00000000e+00,  3.63362723e-27,
        1.00000000e+00, -4.26240966e-14, -1.00000000e+00,  0.00000000e+00,
       -8.52481933e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04737917, -0.11544637,  0.06188453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.36604277e-05, 4.07863016e-02, 1.02774151e-02, 1.20811546e-05,
 -2.08435606e-06,-1.60496090e-04,-4.97357879e-05, 2.35057765e-05,
  9.42345640e-06,-6.94293021e-05, 2.58630561e-05, 5.72313368e-06,
  2.52743285e-03, 4.13973388e-03, 7.49579966e-03, 7.61589160e-04,
  3.86316949e-05,-2.13185051e-06,-1.21645082e+00, 1.58161796e-03,
  5.40064266e-04, 1.13117132e-05]


--- Step 2369 ---
qpos:
[-0.01520549, 1.29187289,-0.03154504, 0.94846761, 0.00437641, 1.32861197,
 -0.0295967 , 0.94622036, 0.01675038, 1.3355599 ,-0.02386503, 0.9549797 ,
  1.39076246,-0.00462455, 1.19430823, 0.06187876,-0.00360083,-0.09264057,
  0.0816371 , 0.63162586,-0.01098793,-0.00301856, 0.77518961]

qacc:
[-6.98193388e-01,-5.78135242e-01, 7.29727079e+00,-1.08817611e+01,
  8.86271489e-03, 4.74875120e-01,-6.79690371e+00, 2.34574350e+01,
 -9.25530889e-02, 4.93525718e-01,-2.37414852e+00, 3.60954153e+00,
 -5.90987695e-01, 1.11287662e+00,-1.03332118e+01, 1.82757247e+01,
 -1.66752549e+00, 1.42386715e+00,-9.44877208e-01,-6.52099777e+01,
  8.56219476e+01, 5.04577994e+00]

qfrc_actuator:
[ 3.03905924e-03, 7.54341885e-02, 1.96920187e-02, 1.83327924e-03,
 -3.22613361e-05, 3.77984947e-02, 1.07768971e-02, 1.83985337e-03,
 -3.03296669e-03, 3.57097683e-02, 1.07518717e-02, 1.57101454e-03,
  0.00000000e+00, 1.56431550e-03, 0.00000000e+00,-6.84236207e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007412500586537682
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05454107e-01,  8.76155362e-02, -9.48167341e-01, -2.68658416e-02,
        9.96154364e-01,  8.33948964e-02,  9.51827724e-01,  3.46944695e-18,
        3.06633306e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07257855, -0.04275022,  0.22451447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.43332574,  1.86166427, -8.43332574,  9.41709657,
        3.53671455,  1.86166427,  3.53671455, 24.65765505,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013309043417136096
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.17093472e-14,  4.17093472e-14,  1.00000000e+00,  1.73966964e-27,
        1.00000000e+00, -4.17093472e-14, -1.00000000e+00,  0.00000000e+00,
       -4.17093472e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04731572, -0.11542133,  0.06188215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30363755e-04, 4.07585871e-02, 1.02217440e-02, 7.22330196e-06,
  2.50718040e-06,-1.73087208e-04,-3.43804236e-05, 6.72270644e-05,
 -2.66712548e-05,-4.85488159e-05,-2.58756736e-05, 3.72449102e-06,
  2.56188843e-03, 4.15883000e-03, 7.55860497e-03, 1.05228098e-03,
  2.14398087e-05, 7.95202891e-06,-1.21644611e+00, 1.58480113e-03,
  5.41683582e-04, 3.78822534e-05]


--- Step 2370 ---
qpos:
[-0.01521031, 1.29188493,-0.0315683 , 0.94846823, 0.00437591, 1.32867228,
 -0.02959806, 0.94622227, 0.01675025, 1.33558015,-0.02386746, 0.95497854,
  1.39078303,-0.00463921, 1.19429858, 0.06187422,-0.00359857,-0.0926364 ,
  0.08163663, 0.63164357,-0.01101912,-0.0028888 , 0.77517522]

qacc:
[ -0.54909775, -0.48998004,  4.81269954,  1.72310312,  0.07580725,
  -3.01331174,  6.39041976,  1.1157998 , -0.1833276 ,  3.80763433,
 -17.43946207, 40.30831043, -0.47126883,  0.97934766, -8.19097115,
  14.73100957, -1.33722768, -1.31690856,  0.38348561,-75.18877325,
 -64.37414414, -3.70263346]

qfrc_actuator:
[ 3.06127931e-03, 7.53934389e-02, 1.97261860e-02, 1.86780905e-03,
 -1.20057808e-05, 3.77297280e-02, 1.08144309e-02, 1.86439189e-03,
 -3.07005458e-03, 3.56925590e-02, 1.07436737e-02, 1.68171139e-03,
  0.00000000e+00, 1.59049387e-03, 0.00000000e+00,-5.36702539e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007412325983797881
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30546943,  0.08761641, -0.94816232, -0.02686746,  0.99615429,
        0.0833953 ,  0.95182276,  0.        ,  0.30664871])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07257829, -0.04275066,  0.22451464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013498359127399467
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02810924e-14,  2.05621849e-14,  1.00000000e+00, -2.11401724e-28,
        1.00000000e+00, -2.05621849e-14, -1.00000000e+00,  0.00000000e+00,
        1.02810924e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0362563 , -0.06268989,  0.06188056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.34429026e-04, 4.05616146e-02, 1.01762942e-02, 5.30086548e-05,
  2.17278426e-05,-1.69653234e-04, 1.67439999e-06, 1.99857313e-05,
 -5.28214493e-05,-4.91434292e-05,-2.05352348e-05, 1.08609273e-04,
  2.58848607e-03, 4.14281295e-03, 7.97752774e-03, 1.23273715e-03,
  9.36152610e-06, 1.37883062e-05,-1.21644571e+00, 1.58638157e-03,
  5.42730206e-04, 4.83330477e-05]


--- Step 2371 ---
qpos:
[-0.01521538, 1.29189753,-0.03159003, 0.94846915, 0.00437577, 1.32873148,
 -0.0295997 , 0.94622516, 0.01674983, 1.33560033,-0.02387011, 0.95497869,
  1.3908036 ,-0.00465362, 1.19428865, 0.06186976,-0.00360126,-0.09263719,
  0.08163488, 0.63166494,-0.01104603,-0.0029431 , 0.77515723]

qacc:
[ -0.11241661, -2.8882854 ,  9.68587135, -5.26411775,  0.1488944 ,
   0.99608845, -7.01004333, 18.16264971, -0.12274586,  2.72801921,
 -11.65800254, 25.19605482, -0.15485298,  0.35064205, -0.60370076,
   1.5655602 , -1.23575953, -1.24174718, -0.3203131 ,-69.96746347,
 -59.76316   , -3.57683917]

qfrc_actuator:
[ 3.05955629e-03, 7.53269351e-02, 1.97725386e-02, 1.87012788e-03,
  1.79916852e-05, 3.76830201e-02, 1.08015807e-02, 1.91356255e-03,
 -3.07424179e-03, 3.57098898e-02, 1.07398686e-02, 1.74729586e-03,
  0.00000000e+00, 1.59384703e-03, 0.00000000e+00,-5.88108715e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007410454795969759
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05480086e-01,  8.76177399e-02, -9.48158768e-01, -2.68688075e-02,
        9.96154171e-01,  8.33962561e-02,  9.51819302e-01, -3.46944695e-18,
        3.06659446e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07257742, -0.04275104,  0.22451494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.87634487,  -3.54259346,  -7.87634487,
        14.29537489, -12.5818344 ,  -3.54259346, -12.5818344 ,
        36.60989993,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013628223202627882
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01831234e-14,  4.07324934e-14,  1.00000000e+00,  4.14784006e-28,
        1.00000000e+00, -4.07324934e-14, -1.00000000e+00,  0.00000000e+00,
       -1.01831234e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03623544, -0.06270926,  0.06187947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.97079236e-04, 4.03507380e-02, 1.01223098e-02, 2.20868645e-05,
  4.28070945e-05,-1.40049201e-04,-4.53193776e-05, 4.46806036e-05,
 -3.53585204e-05,-1.07761818e-05,-1.25788326e-05, 6.60788586e-05,
  2.60515731e-03, 4.10756667e-03, 8.30418442e-03, 1.20470746e-03,
  1.31712632e-06, 2.25502332e-06,-1.21644115e+00, 1.58499478e-03,
  5.43774892e-04, 3.40194690e-05]


--- Step 2372 ---
qpos:
[-0.01522088, 1.29191077,-0.03161075, 0.94847045, 0.00437583, 1.32878945,
 -0.02960142, 0.94622827, 0.01674951, 1.3356207 ,-0.02387225, 0.95497713,
  1.39082422,-0.00466761, 1.19427634, 0.06186512,-0.00360856,-0.0926427 ,
  0.08162948, 0.63168986,-0.0110691 ,-0.0031699 , 0.77513569]

qacc:
[-1.80973490e-01,-1.19842291e+00, 4.13137566e+00, 5.33882112e-01,
  8.82159848e-02,-1.02664611e+00, 9.36384007e-01, 2.55958477e+00,
  4.33739104e-02,-4.03181243e+00, 1.68797807e+01,-3.43041674e+01,
 -1.33371833e-01, 4.56233724e-01,-2.99960862e+00, 5.40302420e+00,
 -1.15160627e+00,-1.17840652e+00,-9.13071377e-01,-6.56298394e+01,
 -5.59412482e+01,-3.45370892e+00]

qfrc_actuator:
[ 3.06071156e-03, 7.52994145e-02, 1.97903715e-02, 1.88872538e-03,
  1.80848045e-05, 3.76142228e-02, 1.07946960e-02, 1.92356590e-03,
 -3.04090591e-03, 3.57477769e-02, 1.07742827e-02, 1.66153759e-03,
  0.00000000e+00, 1.60147433e-03, 0.00000000e+00,-5.10694446e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007409006092116421
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05488758e-01,  8.76191734e-02, -9.48155841e-01, -2.68700133e-02,
        9.96154045e-01,  8.33973737e-02,  9.51816485e-01,  3.46944695e-18,
        3.06668190e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07257648, -0.04275143,  0.22451525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.88275581,  -3.52830521,  -7.88275581,
        15.23501731, -14.74236849,  -3.52830521, -14.74236849,
        41.57299576,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013582798097229523
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.06515367e-14,  4.08687156e-14,  1.00000000e+00, -1.25268894e-27,
        1.00000000e+00, -4.08687156e-14, -1.00000000e+00,  0.00000000e+00,
        3.06515367e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03624417, -0.0627055 ,  0.06187984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.11431830e-04, 4.02954583e-02, 1.00636670e-02, 2.57379796e-05,
  2.53374375e-05,-1.54202252e-04,-3.81838373e-05, 5.59617273e-06,
  1.24743476e-05, 3.12935091e-05, 3.27950101e-05,-8.48828043e-05,
  2.60549538e-03, 4.10298240e-03, 8.31789606e-03, 1.27854580e-03,
  6.48399555e-07, 3.99846018e-07,-1.21644021e+00, 1.58330470e-03,
  5.44841567e-04, 3.15897800e-05]


--- Step 2373 ---
qpos:
[-0.01522672, 1.29192386,-0.03163125, 0.94847174, 0.00437602, 1.3288458 ,
 -0.02960218, 0.94623147, 0.01674941, 1.33564136,-0.02387434, 0.95497527,
  1.39084479,-0.00468119, 1.19426214, 0.06186036,-0.00362018,-0.09265271,
  0.08161842, 0.63171818,-0.01108871,-0.0035596 , 0.77511064]

qacc:
[-1.43933927e-01,-8.45044203e-01, 2.55586437e+00,-2.34252629e+00,
  5.19330733e-02,-4.57452356e+00, 1.21962510e+01,-8.65346762e+00,
  9.52185897e-02,-3.22382004e-01, 2.12087129e+00,-5.56646282e+00,
 -2.24483825e-01, 5.19734062e-01,-2.35309241e+00, 4.23340052e+00,
 -1.08156633e+00,-1.12490702e+00,-1.41197181e+00,-6.20287537e+01,
 -5.27751868e+01,-3.33452850e+00]

qfrc_actuator:
[ 3.06385993e-03, 7.53127253e-02, 1.97910065e-02, 1.88137459e-03,
  1.79907460e-05, 3.75327431e-02, 1.08445564e-02, 1.92818737e-03,
 -3.02083746e-03, 3.57622388e-02, 1.07777299e-02, 1.64722596e-03,
  0.00000000e+00, 1.62913872e-03, 0.00000000e+00,-4.80043776e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007406682716185505
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05495859e-01,  8.76207563e-02, -9.48153407e-01, -2.68711271e-02,
        9.96153905e-01,  8.33986778e-02,  9.51814174e-01,  3.46944695e-18,
        3.06675362e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07257532, -0.04275184,  0.2245156 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.83659661,  -3.62967359,  -7.83659661,
        16.98238863, -18.01936994,  -3.62967359, -18.01936994,
        47.54083532,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013397536549030614
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.10753871e-14, -2.07169247e-14,  1.00000000e+00, -6.43786455e-28,
        1.00000000e+00,  2.07169247e-14, -1.00000000e+00,  0.00000000e+00,
       -3.10753871e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03627626, -0.06268347,  0.06188136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.35801869e-04, 4.02765225e-02, 1.00141154e-02,-1.09431702e-06,
  1.48456441e-05,-1.74481536e-04, 1.54618420e-05,-9.09185711e-07,
  2.74456770e-05, 3.55176062e-05, 1.07800320e-05,-1.43771309e-05,
  2.60290294e-03, 4.10941716e-03, 8.43750481e-03, 1.31771261e-03,
  5.99197951e-06, 6.41469834e-06,-1.21644219e+00, 1.58133889e-03,
  5.45965385e-04, 3.87951127e-05]


--- Step 2374 ---
qpos:
[-0.01523259, 1.29193601,-0.03165214, 0.94847097, 0.00437627, 1.32890081,
 -0.02960207, 0.94623363, 0.0167494 , 1.33566165,-0.02387575, 0.95497225,
  1.39086539,-0.00469466, 1.19424649, 0.06185586,-0.00363727,-0.09265799,
  0.08159978, 0.63173893,-0.01130195,-0.00394251, 0.7750888 ]

qacc:
[-1.29843542e-02,-3.70146124e+00, 1.48029020e+01,-3.61153584e+01,
  3.00112610e-02,-5.85686494e+00, 1.90899988e+01,-2.75872540e+01,
  3.62729664e-02,-4.27132364e+00, 1.57070207e+01,-2.68443351e+01,
  5.25349257e-02, 1.24521002e-02,-2.95442032e+00, 7.22822014e+00,
 -1.36958065e+00, 1.18078919e+00,-1.89731029e+00,-5.85662318e+01,
  7.71635927e+01, 4.32995374e+00]

qfrc_actuator:
[ 3.08603965e-03, 7.52978147e-02, 1.97639453e-02, 1.76994499e-03,
  1.77872483e-05, 3.74800393e-02, 1.08919555e-02, 1.87637852e-03,
 -3.02664562e-03, 3.57092249e-02, 1.07983467e-02, 1.58630985e-03,
  0.00000000e+00, 1.63317511e-03, 0.00000000e+00,-4.41911924e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007403148488420823
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05502887e-01,  8.76224429e-02, -9.48150987e-01, -2.68722665e-02,
        9.96153757e-01,  8.34000827e-02,  9.51811887e-01, -3.46944695e-18,
        3.06682462e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07257401, -0.04275224,  0.22451595])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.001329390659255067
  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([ 0.04730784, -0.1154351 ,  0.06188217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.74855087e-04, 4.02691188e-02, 9.97570542e-03,-1.11550484e-04,
  8.54689629e-06,-1.46617177e-04, 1.49476597e-05,-5.65272848e-05,
  1.04070603e-05,-3.18341372e-05, 2.83348980e-05,-5.98596654e-05,
  2.60568297e-03, 4.09356554e-03, 8.53203685e-03, 1.36269415e-03,
  1.63575662e-05, 1.89852440e-05,-1.21644658e+00, 1.57912522e-03,
  5.47165963e-04, 5.39979506e-05]


--- Step 2375 ---
qpos:
[-0.01523906, 1.29194908,-0.03167245, 0.94846899, 0.00437657, 1.32895494,
 -0.02960177, 0.94623378, 0.01674941, 1.33568175,-0.02387659, 0.95496712,
  1.3908861 ,-0.00470774, 1.1942264 , 0.06185145,-0.00365961,-0.09265885,
  0.08157177, 0.63175263,-0.01169805,-0.00431889, 0.77506975]

qacc:
[-2.54610744e-01,-2.39270976e+00, 1.17281466e+01,-2.46368090e+01,
  1.67525415e-02,-5.12831203e+00, 1.94527205e+01,-3.97151286e+01,
  9.25535961e-03,-5.45848873e+00, 2.17050370e+01,-4.28624556e+01,
  5.77832404e-02, 2.12461925e-01,-6.84656191e+00, 1.44024491e+01,
 -1.31023062e+00, 1.10686982e+00,-2.34338451e+00,-5.52609903e+01,
  7.28931763e+01, 4.01047903e+00]

qfrc_actuator:
[ 3.08396097e-03, 7.52845737e-02, 1.97740503e-02, 1.72238900e-03,
  1.75210182e-05, 3.74449643e-02, 1.09020751e-02, 1.77403068e-03,
 -3.03017751e-03, 3.57050188e-02, 1.08286400e-02, 1.48066053e-03,
  0.00000000e+00, 1.62317094e-03, 0.00000000e+00,-2.75375413e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007398160854354303
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30551118,  0.08762412, -0.94814816, -0.02687352,  0.99615361,
        0.08340145,  0.95180919,  0.        ,  0.30669083])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07257261, -0.04275263,  0.22451628])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -4.11837785,  7.59116202, -4.11837785, 32.14068068,
       12.75162596,  7.59116202, 12.75162596, 15.5544104 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013118733094336088
  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([ 0.04734188, -0.11545378,  0.06188354])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.74301352e-04, 4.03028520e-02, 1.00053091e-02,-5.59061492e-05,
  4.77007667e-06,-1.15336825e-04,-1.85720250e-05,-1.07538458e-04,
  2.62288441e-06,-1.81910048e-05, 2.55205382e-05,-1.07134537e-04,
  2.60387065e-03, 4.07854257e-03, 8.60454243e-03, 1.51575295e-03,
  3.00471595e-05, 1.25882816e-05,-1.21644941e+00, 1.58303864e-03,
  5.47870658e-04, 4.17523706e-05]


--- Step 2376 ---
qpos:
[-0.01524494, 1.29196083,-0.03169269, 0.94846772, 0.00437688, 1.32900839,
 -0.02960178, 0.94623305, 0.01674913, 1.33570166,-0.02387782, 0.95496531,
  1.39090705,-0.00472081, 1.19421   , 0.06184719,-0.00367638,-0.0926537 ,
  0.08155403, 0.63176748,-0.01210319,-0.00448339, 0.77505049]

qacc:
[ 2.49449399e-01,-7.04698979e-01,-1.24314633e+00, 1.00921104e+01,
  8.77450691e-03,-1.55554659e+00, 5.80849336e+00,-1.47563452e+01,
 -1.25310490e-01, 6.54830951e+00,-2.83169577e+01, 6.28587998e+01,
 -7.48636961e-03, 9.04728450e-02, 5.01058003e+00,-9.59292200e+00,
  1.39401669e+00, 1.50205244e+00, 2.56847573e+00, 7.92574166e+01,
  7.04368067e+01, 7.51573493e-01]

qfrc_actuator:
[ 3.06790596e-03, 7.53241022e-02, 1.98233949e-02, 1.74862544e-03,
  1.72200724e-05, 3.74205593e-02, 1.08901651e-02, 1.73152834e-03,
 -3.06781921e-03, 3.56945751e-02, 1.08112923e-02, 1.65136278e-03,
  0.00000000e+00, 1.62216097e-03, 0.00000000e+00,-4.57788973e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000739131241129648
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30551804,  0.087626  , -0.94814578, -0.0268747 ,  0.99615344,
        0.08340304,  0.95180695,  0.        ,  0.30669777])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07257083, -0.04275299,  0.22451666])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013500347699776094
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.62581013e-14,  3.08387342e-14,  1.00000000e+00, -1.42654129e-27,
        1.00000000e+00, -3.08387342e-14, -1.00000000e+00,  0.00000000e+00,
        4.62581013e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03666366, -0.11871019,  0.06188022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.88093606e-04, 4.02960176e-02, 1.00257162e-02, 3.03953984e-05,
  2.50897029e-06,-9.54456450e-05,-3.97946104e-05,-4.89246553e-05,
 -3.60812407e-05,-1.88370747e-05,-2.11626034e-05, 1.68436282e-04,
  2.59861827e-03, 4.05790366e-03, 8.82731434e-03, 1.32882011e-03,
  4.56683499e-05, 4.04366534e-06,-1.21645492e+00, 1.58590673e-03,
  5.48289013e-04, 2.01699683e-05]


--- Step 2377 ---
qpos:
[-0.01524974, 1.29197035,-0.03171317, 0.94846618, 0.00437721, 1.32906141,
 -0.02960211, 0.94623249, 0.01674863, 1.33572106,-0.0238785 , 0.9549652 ,
  1.3909283 ,-0.00473423, 1.19419969, 0.0618433 ,-0.00368805,-0.09264299,
  0.08154266, 0.63178354,-0.01251659,-0.00445312, 0.775031  ]

qacc:
[ 4.59674213e-01,-2.75405317e+00, 5.99014024e+00,-6.85944529e+00,
  4.02795793e-03, 5.74065477e-01,-2.91222237e+00, 4.74630349e+00,
 -8.95305401e-02, 7.53980495e-01,-6.68976828e+00, 2.56414771e+01,
  1.80805867e-01,-3.52846844e-01, 7.86741015e+00,-1.44871469e+01,
  1.27198021e+00, 1.39017494e+00, 1.59176507e+00, 7.28761490e+01,
  6.47305007e+01, 6.50292479e-01]

qfrc_actuator:
[ 3.06027495e-03, 7.53261591e-02, 1.98610607e-02, 1.72894622e-03,
  1.69011745e-05, 3.74204408e-02, 1.08832043e-02, 1.74234866e-03,
 -3.07236041e-03, 3.56627025e-02, 1.08371222e-02, 1.73476707e-03,
  0.00000000e+00, 1.60902276e-03, 0.00000000e+00,-6.36632867e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007385735799489736
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05526098e-01,  8.76276895e-02, -9.48143023e-01, -2.68759298e-02,
        9.96153295e-01,  8.34044146e-02,  9.51804333e-01, -3.46944695e-18,
        3.06705905e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07256937, -0.04275344,  0.22451698])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   6.98119401,   5.08426072,   6.98119401,
        36.25575215, -37.92415853,   5.08426072, -37.92415853,
        60.709993  ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013900711475143684
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.99505270e-14,  3.99340360e-14,  1.00000000e+00,  1.19604542e-27,
        1.00000000e+00, -3.99340360e-14, -1.00000000e+00,  0.00000000e+00,
       -2.99505270e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0366029 , -0.11865978,  0.06187679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.51227172e-04, 4.03641039e-02, 1.00601649e-02,-2.46486243e-05,
  1.15784073e-06,-6.25447121e-05,-3.16520508e-05, 5.72994111e-06,
 -2.58300791e-05,-4.15693709e-05, 2.46521924e-05, 8.61708984e-05,
  2.58682386e-03, 4.04449391e-03, 8.64301772e-03, 1.14269426e-03,
  2.12752554e-05,-5.94413519e-06,-1.21645030e+00, 1.58861003e-03,
  5.47750421e-04, 7.40725076e-06]


--- Step 2378 ---
qpos:
[-0.01525552, 1.29198225,-0.03173226, 0.94846426, 0.00437739, 1.32911328,
 -0.02960229, 0.94623314, 0.01674813, 1.33574041,-0.02387887, 0.95496295,
  1.3909496 ,-0.00474713, 1.19418328, 0.06183923,-0.00369504,-0.09262709,
  0.08153436, 0.6318008 ,-0.01293761,-0.00424227, 0.7750112 ]

qacc:
[-4.14265990e-01,-1.25639641e+00, 8.63608577e+00,-1.33356324e+01,
 -6.03504752e-02, 1.87898984e-01,-4.90989768e+00, 1.89977035e+01,
  4.98028860e-04,-4.59039410e+00, 1.91961004e+01,-4.12340543e+01,
  7.33642852e-05, 3.42498605e-01,-8.45009686e+00, 1.64900346e+01,
  1.17102983e+00, 1.29711037e+00, 7.69244264e-01, 6.75797463e+01,
  6.00022916e+01, 5.85777711e-01]

qfrc_actuator:
[ 3.05697175e-03, 7.52716654e-02, 1.98742380e-02, 1.73566561e-03,
 -1.17828193e-06, 3.73284162e-02, 1.08793507e-02, 1.80222209e-03,
 -3.05700707e-03, 3.56716380e-02, 1.08525645e-02, 1.62406634e-03,
  0.00000000e+00, 1.60671814e-03, 0.00000000e+00,-3.34291636e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000738223109690541
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05536507e-01,  8.76290185e-02, -9.48139546e-01, -2.68772562e-02,
        9.96153179e-01,  8.34053834e-02,  9.51800954e-01, -3.46944695e-18,
        3.06716390e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07256846, -0.04275397,  0.2245172 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0014068529209956965
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.97288396e-14,  7.89153584e-14,  1.00000000e+00,  1.55690845e-27,
        1.00000000e+00, -7.89153584e-14, -1.00000000e+00,  0.00000000e+00,
       -1.97288396e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03657766, -0.11863776,  0.06187534])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.94052038e-04, 4.04210992e-02, 1.00849890e-02,-4.65033531e-06,
 -1.73987116e-05,-1.33016289e-04,-1.95817105e-05, 5.72752740e-05,
  1.14836326e-07,-6.81679643e-06, 1.26268932e-05,-1.09179441e-04,
  2.57144648e-03, 4.06003942e-03, 8.33887250e-03, 1.42678390e-03,
  6.38522923e-06,-5.13556695e-06,-1.21644991e+00, 1.59134872e-03,
  5.46589735e-04, 8.56757988e-06]


--- Step 2379 ---
qpos:
[-0.01526253, 1.29199728,-0.03174991, 0.9484634 , 0.00437725, 1.32916341,
 -0.02960221, 0.94623455, 0.01674757, 1.33576008,-0.02387992, 0.95496217,
  1.39097082,-0.00475918, 1.19415849, 0.06183467,-0.00369768,-0.09260631,
  0.08152637, 0.63181914,-0.01336573,-0.0038626 , 0.77499097]

qacc:
[-5.25116833e-01, 2.00952944e+00,-3.73604729e+00, 1.34386735e+01,
 -1.34839537e-01,-1.70072818e+00, 1.24071414e+00, 8.82454396e+00,
 -2.88390530e-02, 4.79402333e+00,-1.80846662e+01, 3.24639163e+01,
 -2.26933028e-01, 7.97506299e-01,-1.08599107e+01, 2.00616761e+01,
  1.08745959e+00, 1.21960067e+00, 7.71250498e-02, 6.31826297e+01,
  5.60849167e+01, 5.51160606e-01]

qfrc_actuator:
[ 3.09338826e-03, 7.52505374e-02, 1.98711986e-02, 1.79394792e-03,
 -2.97657412e-05, 3.71998839e-02, 1.08770300e-02, 1.83716011e-03,
 -3.06535016e-03, 3.57047926e-02, 1.08262840e-02, 1.70184956e-03,
  0.00000000e+00, 1.62793805e-03, 0.00000000e+00,-9.78926440e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000737692803641523
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30554333,  0.08763069, -0.94813719, -0.02687837,  0.99615303,
        0.08340678,  0.95179873,  0.        ,  0.30672329])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07256698, -0.04275447,  0.22451751])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0014048972521931297
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.95126057e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.95126057e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03658074, -0.11863839,  0.06187545])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.79031454e-04, 4.02811038e-02, 1.00127547e-02, 7.25201462e-05,
 -3.88556133e-05,-2.04590141e-04,-2.89431973e-05, 3.17771563e-05,
 -8.26347200e-06, 2.84806300e-05,-2.93950035e-05, 7.54331162e-05,
  2.56911070e-03, 4.05563176e-03, 8.64385471e-03, 1.67224822e-03,
 -9.60483256e-07, 4.15437927e-06,-1.21645285e+00, 1.59409242e-03,
  5.44915680e-04, 2.07141519e-05]


--- Step 2380 ---
qpos:
[-0.0152699 , 1.29201312,-0.03176706, 0.94846212, 0.00437708, 1.3292121 ,
 -0.02960223, 0.94623671, 0.01674708, 1.33577951,-0.02388052, 0.95496266,
  1.39099185,-0.0047709 , 1.1941303 , 0.06183027,-0.00369545,-0.0925902 ,
  0.08152788, 0.63183647,-0.01361442,-0.00349408, 0.77497426]

qacc:
[-1.54038417e-01,-1.00033719e+00, 5.39084666e+00,-1.00006353e+01,
 -1.49082233e-02,-3.49432790e-01,-2.68550518e+00, 1.19121179e+01,
  2.83281006e-02, 6.66539079e-01,-5.11824946e+00, 1.92707111e+01,
 -1.74088542e-01, 3.66318006e-01,-5.50113499e+00, 1.19682539e+01,
  1.21915395e+00,-1.16876854e+00, 2.37315879e+00, 5.23622677e+01,
 -7.30732408e+01, 1.08542958e+00]

qfrc_actuator:
[ 3.13653220e-03, 7.53009775e-02, 1.98755668e-02, 1.75762142e-03,
 -1.11671242e-05, 3.71392565e-02, 1.08754443e-02, 1.87485518e-03,
 -3.05233757e-03, 3.56811161e-02, 1.08468453e-02, 1.76569919e-03,
  0.00000000e+00, 1.66273279e-03, 0.00000000e+00,-6.04485362e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007368942688596725
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30554579,  0.08763279, -0.94813621, -0.02687924,  0.99615285,
        0.08340871,  0.95179792,  0.        ,  0.30672581])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07256473, -0.0427549 ,  0.22451797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0014140708779261935
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.85125443e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.85125443e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03184112, -0.07701235,  0.06187464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.83720102e-04, 4.01747066e-02, 9.94485936e-03,-1.63775244e-05,
 -4.32923186e-06,-1.78859677e-04,-4.40141299e-05, 3.15216493e-05,
  8.14690166e-06,-1.15669961e-05, 2.49688982e-05, 6.56141320e-05,
  2.57329697e-03, 4.04812486e-03, 9.06322391e-03, 1.73441245e-03,
 -2.20119439e-06, 2.02577369e-05,-1.21645849e+00, 1.59681197e-03,
  5.42811414e-04, 4.17329164e-05]


--- Step 2381 ---
qpos:
[-0.01527726, 1.29202897,-0.03178376, 0.94846084, 0.00437712, 1.32925985,
 -0.02960281, 0.94623998, 0.01674668, 1.33579856,-0.02388106, 0.95496465,
  1.39101265,-0.00478247, 1.19410192, 0.06182619,-0.00368862,-0.09257844,
  0.08153547, 0.63185296,-0.01369645,-0.00313592, 0.77496091]

qacc:
[-7.75576160e-05,-1.18031611e+00, 3.87366860e+00,-3.37151533e+00,
  9.19185492e-02, 2.17135508e+00,-1.08291089e+01, 2.27790215e+01,
  4.43812745e-02, 1.90235354e+00,-9.80272699e+00, 2.58649733e+01,
 -2.61034018e-01, 3.55860406e-01,-1.24799707e+00, 4.00577023e+00,
  1.14714124e+00,-1.08365812e+00, 1.52237867e+00, 4.86370730e+01,
 -6.78790368e+01, 1.02471906e+00]

qfrc_actuator:
[ 3.14782991e-03, 7.53066720e-02, 1.99025007e-02, 1.75434108e-03,
  1.78347562e-05, 3.71197766e-02, 1.08568071e-02, 1.93166452e-03,
 -3.04437160e-03, 3.56415282e-02, 1.08413986e-02, 1.83855163e-03,
  0.00000000e+00, 1.68810482e-03, 0.00000000e+00,-7.18236598e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007359638224348312
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.305547  ,  0.08763502, -0.94813561, -0.02688003,  0.99615265,
        0.08341079,  0.95179751,  0.        ,  0.30672709])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07256219, -0.04275529,  0.22451847])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  0.12692983, -8.63543083,  0.12692983, 87.82541236,
        1.16397808, -8.63543083,  1.16397808,  8.65347263,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001424833145808914
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.94798778e-14, -3.89597557e-14,  1.00000000e+00, -7.58931281e-28,
        1.00000000e+00,  3.89597557e-14, -1.00000000e+00,  0.00000000e+00,
       -1.94798778e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03182561, -0.07701902,  0.06187375])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.13070013e-04, 4.01400901e-02, 9.94685280e-03, 1.21251745e-06,
  2.64415607e-05,-1.26421391e-04,-5.77529523e-05, 5.09585627e-05,
  1.27860528e-05,-3.92948069e-05,-2.96773524e-06, 7.47944371e-05,
  2.58259796e-03, 4.05745213e-03, 9.23402576e-03, 1.71509266e-03,
  2.52420100e-06, 1.96109257e-05,-1.21645116e+00, 1.59249838e-03,
  5.41288457e-04, 5.60745167e-05]


--- Step 2382 ---
qpos:
[-0.01528483, 1.29204487,-0.03179999, 0.94845952, 0.00437744, 1.32930701,
 -0.02960405, 0.94624318, 0.01674625, 1.33581745,-0.02388229, 0.95496785,
  1.39103322,-0.00479382, 1.19407332, 0.06182247,-0.00367745,-0.09257072,
  0.0815463 , 0.63186871,-0.01362236,-0.00278747, 0.77495071]

qacc:
[-8.20744810e-02,-1.29627080e+00, 4.37742969e+00,-4.20909637e+00,
  1.14146421e-01, 9.13834697e-01,-3.80215749e+00, 2.98250779e+00,
 -1.85728750e-02, 3.76378693e+00,-1.49931339e+01, 2.72028598e+01,
 -2.91781813e-01, 4.30628924e-01,-1.35984811e+00, 4.33524584e+00,
  1.08699726e+00,-1.01381247e+00, 8.09220035e-01, 4.55597006e+01,
 -6.35827845e+01, 9.69246130e-01]

qfrc_actuator:
[ 3.13980353e-03, 7.52327298e-02, 1.99073240e-02, 1.75288648e-03,
  3.50877717e-05, 3.71073001e-02, 1.08284386e-02, 1.92827603e-03,
 -3.05725096e-03, 3.56281388e-02, 1.08028069e-02, 1.89833142e-03,
  0.00000000e+00, 1.70785800e-03, 0.00000000e+00,-4.17102457e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007350376203799983
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30554778,  0.08763725, -0.94813515, -0.02688079,  0.99615245,
        0.08341289,  0.95179723,  0.        ,  0.30672793])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07255964, -0.04275568,  0.22451898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0014183523122246744
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78444332e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.78444332e-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([-0.03183337, -0.07701414,  0.06187433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.05052677e-04, 4.00653472e-02, 9.92948132e-03,-1.87534048e-07,
  3.28460622e-05,-9.25054930e-05,-5.82196446e-05,-7.61942277e-06,
 -5.32199816e-06,-3.36083632e-05,-4.44314516e-05, 6.02980917e-05,
  2.59431644e-03, 4.06940345e-03, 9.24403944e-03, 1.72897188e-03,
  9.04671618e-06, 1.71297565e-05,-1.21644728e+00, 1.58917970e-03,
  5.40416925e-04, 6.02136300e-05]


--- Step 2383 ---
qpos:
[-0.01529243, 1.29205957,-0.03181649, 0.94845732, 0.00437785, 1.32935326,
 -0.02960496, 0.94624595, 0.01674573, 1.33583583,-0.0238832 , 0.95497   ,
  1.39105349,-0.00480509, 1.19404657, 0.06181928,-0.00366591,-0.0925684 ,
  0.08156495, 0.63188653,-0.0134453 ,-0.00253954, 0.77494012]

qacc:
[-1.96411679e-02,-2.31428375e+00, 7.46500848e+00,-1.60027147e+01,
  4.07753019e-02,-2.84554779e+00, 8.71514860e+00,-1.19969658e+01,
 -3.68588770e-02,-3.35765402e+00, 1.22742421e+01,-2.25062335e+01,
 -3.46787914e-01, 3.91485899e-01, 1.14579303e+00, 2.70412068e-02,
  9.17979332e-02,-1.34824092e+00, 1.95333900e+00,-6.40635606e+00,
 -7.16492044e+01,-1.75353280e+00]

qfrc_actuator:
[ 3.12037509e-03, 7.51997261e-02, 1.98986631e-02, 1.69930259e-03,
  2.73995528e-05, 3.70635540e-02, 1.08478196e-02, 1.90724384e-03,
 -3.06477843e-03, 3.55948956e-02, 1.08160648e-02, 1.84341968e-03,
  0.00000000e+00, 1.74187336e-03, 0.00000000e+00,-9.33728552e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007341166915832975
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05548053e-01,  8.76395469e-02, -9.48134852e-01, -2.68815263e-02,
        9.96152252e-01,  8.34150689e-02,  9.51797127e-01, -3.46944695e-18,
        3.06728266e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07255708, -0.04275607,  0.22451948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0014072562702306252
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.94463698e-14,  3.94463698e-14,  1.00000000e+00,  1.55601609e-27,
        1.00000000e+00, -3.94463698e-14, -1.00000000e+00,  0.00000000e+00,
       -3.94463698e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00340181, -0.07099551,  0.0618753 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.95246401e-04, 4.00296904e-02, 9.89660556e-03,-5.20808050e-05,
  1.16844001e-05,-1.06857119e-04,-5.60620503e-06,-2.56209755e-05,
 -1.06598553e-05,-5.88419941e-05, 3.39493335e-06,-5.57749176e-05,
  2.60582696e-03, 4.09286239e-03, 9.25566452e-03, 1.65995586e-03,
  1.70207012e-05, 1.31570408e-05,-1.21644622e+00, 1.58667002e-03,
  5.40093398e-04, 5.60032142e-05]


--- Step 2384 ---
qpos:
[-0.01530053, 1.29207476,-0.03183268, 0.94845568, 0.00437813, 1.32939871,
 -0.02960538, 0.94624809, 0.01674512, 1.33585376,-0.02388426, 0.95497184,
  1.39107351,-0.00481591, 1.19401858, 0.06181616,-0.00365927,-0.09257099,
  0.08158229, 0.63190807,-0.01326449,-0.00247515, 0.77492588]

qacc:
[-2.10401098e-01, 7.38563451e-01,-2.80626013e+00, 8.76470062e+00,
 -5.43900650e-02,-3.45526463e+00, 1.13236058e+01,-1.67068219e+01,
 -3.65314642e-02,-7.12962746e-01, 2.24487895e+00,-5.23498539e+00,
 -4.45209259e-01, 7.65904257e-01,-1.99977107e+00, 4.42929810e+00,
 -1.22396762e+00,-1.22693401e+00,-3.24587473e-01,-6.99077013e+01,
 -5.94133351e+01,-3.83254432e+00]

qfrc_actuator:
[ 3.11178873e-03, 7.52102690e-02, 1.99179954e-02, 1.73957873e-03,
  4.81236262e-06, 3.70371126e-02, 1.08773645e-02, 1.87602304e-03,
 -3.06903363e-03, 3.55679013e-02, 1.08064368e-02, 1.82799975e-03,
  0.00000000e+00, 1.76674612e-03, 0.00000000e+00,-1.68996147e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007332310099265361
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05549739e-01,  8.76418405e-02, -9.48134096e-01, -2.68823836e-02,
        9.96152051e-01,  8.34172025e-02,  9.51796561e-01,  3.46944695e-18,
        3.06730021e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07255472, -0.04275646,  0.22451995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.60476423,  0.7381121 ,  8.60476423,  8.95780306,
       -3.74727692,  0.7381121 , -3.74727692, 52.32137333,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001407993350481529
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.94257197e-14,  1.97128599e-14,  1.00000000e+00,  7.77193688e-28,
        1.00000000e+00, -1.97128599e-14, -1.00000000e+00,  0.00000000e+00,
       -3.94257197e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03616933, -0.06280413,  0.06187534])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.88963961e-04, 4.01001508e-02, 9.93033677e-03, 3.26645731e-05,
 -1.56983082e-05,-8.77371960e-05, 7.20904897e-06,-3.51171865e-05,
 -1.05394251e-05,-6.06451061e-05,-2.23812365e-05,-1.83346178e-05,
  2.62055212e-03, 4.11412410e-03, 9.16358700e-03, 1.70981885e-03,
  1.49032101e-05, 3.73230428e-06,-1.21644409e+00, 1.58476232e-03,
  5.40475737e-04, 4.11816856e-05]


--- Step 2385 ---
qpos:
[-0.01530842, 1.29208971,-0.03184866, 0.94845427, 0.00437837, 1.3294436 ,
 -0.02960607, 0.94624916, 0.01674459, 1.33587141,-0.02388602, 0.95497246,
  1.39109336,-0.0048266 , 1.19399172, 0.06181332,-0.0036572 ,-0.09257824,
  0.08159597, 0.63193327,-0.01308031,-0.00258275, 0.77490811]

qacc:
[ 8.99319728e-02,-4.73287858e-01, 7.16789951e-01, 2.06647950e+00,
 -1.76735149e-02,-1.81854660e+00, 7.21693207e+00,-1.81945577e+01,
  3.21661790e-02,-5.74276406e-01, 3.85988682e+00,-1.72092506e+01,
 -2.52156166e-01, 3.50400640e-01, 8.21021151e-01,-4.13910477e-01,
 -1.14222179e+00,-1.16639018e+00,-9.16982601e-01,-6.55583113e+01,
 -5.56189140e+01,-3.68223825e+00]

qfrc_actuator:
[ 3.14567843e-03, 7.52102246e-02, 1.99358711e-02, 1.74630019e-03,
  8.97728885e-06, 3.70035418e-02, 1.08594586e-02, 1.82131420e-03,
 -3.05353889e-03, 3.55447965e-02, 1.07656674e-02, 1.76493950e-03,
  0.00000000e+00, 1.78572262e-03, 0.00000000e+00,-5.85735881e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007323112808453464
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30555064,  0.08764429, -0.94813358, -0.02688322,  0.99615183,
        0.08341951,  0.95179625,  0.        ,  0.306731  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07255224, -0.04275685,  0.22452043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -8.2300986 ,  -2.61768102,  -8.2300986 ,
        12.18328026, -11.15165419,  -2.61768102, -11.15165419,
        43.69763074,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0014018681631201985
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.91959653e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.91959653e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03618281, -0.06279691,  0.06187594])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.47510653e-04, 4.00755154e-02, 9.93185537e-03, 1.06891869e-05,
 -5.09869250e-06,-8.20656560e-05,-3.53237306e-05,-5.78780274e-05,
  9.28120641e-06,-6.16743959e-05,-5.57083591e-05,-6.59123926e-05,
  2.63369198e-03, 4.11046983e-03, 9.22590830e-03, 1.66474619e-03,
  3.80836247e-06,-1.52156973e-06,-1.21644110e+00, 1.58298948e-03,
  5.41378507e-04, 3.35597752e-05]


--- Step 2386 ---
qpos:
[-0.01531494, 1.29210284,-0.03186505, 0.94845244, 0.00437875, 1.32948777,
 -0.02960661, 0.94624887, 0.01674418, 1.33588794,-0.02388713, 0.95497267,
  1.3911134 ,-0.00483769, 1.19397009, 0.061811  ,-0.00365942,-0.09258995,
  0.08160399, 0.63196202,-0.01289308,-0.00285278, 0.77488685]

qacc:
[ 5.84886670e-01,-2.02717147e+00, 4.58795363e+00,-7.72336356e+00,
  5.98096086e-02,-3.67672144e+00, 1.36344818e+01,-2.71277099e+01,
  5.21046434e-02,-3.94127836e+00, 1.19349041e+01,-1.44314960e+01,
  1.67958562e-01,-4.12571024e-01, 6.15866745e+00,-1.03406808e+01,
 -1.07461293e+00,-1.11547975e+00,-1.41502181e+00,-6.19496020e+01,
 -5.24790423e+01,-3.53980966e+00]

qfrc_actuator:
[ 3.18679442e-03, 7.52043605e-02, 1.99528715e-02, 1.71526150e-03,
  2.91580336e-05, 3.69657793e-02, 1.08669062e-02, 1.75319074e-03,
 -3.04407469e-03, 3.54707960e-02, 1.07955950e-02, 1.74533855e-03,
  0.00000000e+00, 1.76579947e-03, 0.00000000e+00,-2.24635598e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007314499160462305
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30555159,  0.08764668, -0.94813305, -0.02688404,  0.99615162,
        0.08342176,  0.95179592,  0.        ,  0.30673201])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07254987, -0.04275726,  0.2245209 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -8.28260731,  -2.4464654 ,  -8.28260731,
        12.33576724, -12.52448016,  -2.4464654 , -12.52448016,
        51.03849653,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001381822529695556
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.01724173e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.01724173e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03621952, -0.06277161,  0.06187768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.78081124e-04, 4.00814986e-02, 9.93897490e-03,-3.13037304e-05,
  1.71702563e-05,-9.21171170e-05,-1.43669720e-05,-7.28996145e-05,
  1.49516279e-05,-1.21056015e-04, 9.60732840e-06,-2.45692046e-05,
  2.64151548e-03, 4.08421745e-03, 9.17025038e-03, 1.48460116e-03,
 -6.28605081e-07, 1.24854634e-06,-1.21644113e+00, 1.58086084e-03,
  5.42379320e-04, 3.58152055e-05]


--- Step 2387 ---
qpos:
[-0.01532064, 1.2921158 ,-0.03188156, 0.94845181, 0.00437931, 1.3295314 ,
 -0.0296069 , 0.94624844, 0.01674374, 1.33590317,-0.02388717, 0.95497263,
  1.39113372,-0.00484874, 1.19394964, 0.0618085 ,-0.00366572,-0.09260596,
  0.08160468, 0.63199414,-0.01270304,-0.00327733, 0.77486211]

qacc:
[ 3.49890837e-01, 2.18599798e+00,-9.86895931e+00, 2.26304270e+01,
  7.65557277e-02,-1.63336878e+00, 4.77100853e+00,-5.47374834e+00,
 -1.06312566e-02,-5.01648289e+00, 1.47714325e+01,-1.47624099e+01,
  1.23110303e-01,-3.99091189e-02, 2.30935492e+00,-5.55599941e+00,
 -1.01849922e+00,-1.07254532e+00,-1.83341867e+00,-5.89595064e+01,
 -4.98849044e+01,-3.40473563e+00]

qfrc_actuator:
[ 3.19549626e-03, 7.51789315e-02, 1.99521156e-02, 1.78638969e-03,
  4.10296966e-05, 3.69613940e-02, 1.08892548e-02, 1.74875306e-03,
 -3.05605838e-03, 3.54026916e-02, 1.08491056e-02, 1.73374331e-03,
  0.00000000e+00, 1.74077273e-03, 0.00000000e+00,-2.17138192e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007307774008098664
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05554661e-01,  8.76486282e-02, -9.48131883e-01, -2.68849148e-02,
        9.96151453e-01,  8.34235182e-02,  9.51794910e-01, -3.46944695e-18,
        3.06735146e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07254797, -0.04275773,  0.22452128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -8.30122775,  -2.38251855,  -8.30122775,
        12.94619494, -15.01641666,  -2.38251855, -15.01641666,
        60.95691951,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013508193690156475
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.10944294e-14,  4.10944294e-14,  1.00000000e+00,  1.68875213e-27,
        1.00000000e+00, -4.10944294e-14, -1.00000000e+00,  0.00000000e+00,
       -4.10944294e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03627431, -0.06273221,  0.06188031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.18220195e-04, 4.01471213e-02, 9.95836664e-03, 6.09741756e-05,
  2.19975951e-05,-6.06481005e-05, 5.11018120e-07,-9.25237638e-06,
 -3.15169958e-06,-1.34009882e-04, 3.02261029e-05,-1.54509424e-05,
  2.63279825e-03, 4.07966781e-03, 8.90891499e-03, 1.46644275e-03,
  4.84261388e-07, 1.07003667e-05,-1.21644368e+00, 1.57842417e-03,
  5.43490966e-04, 4.62672002e-05]


--- Step 2388 ---
qpos:
[-0.0153268 , 1.29212991,-0.03189733, 0.94845221, 0.00438018, 1.32957418,
 -0.0296074 , 0.9462487 , 0.01674338, 1.335918  ,-0.02388779, 0.95497351,
  1.39115378,-0.00485941, 1.19392769, 0.06180585,-0.0036759 ,-0.09262611,
  0.08159662, 0.6320294 ,-0.01251037,-0.00384985, 0.77483385]

qacc:
[-1.97477076e-01, 1.26151768e+00,-4.40250565e+00, 1.50541209e+01,
  1.30449617e-01, 6.37667471e-01,-4.83328236e+00, 1.27437486e+01,
  3.08083025e-02, 2.60118900e+00,-1.09350006e+01, 2.01405633e+01,
 -3.87612628e-01, 6.48856338e-01,-1.78520141e+00, 3.08946492e+00,
 -9.71680487e-01,-1.03617655e+00,-2.18462204e+00,-5.64875526e+01,
 -4.77472578e+01,-3.27615825e+00]

qfrc_actuator:
[ 3.16699918e-03, 7.51053336e-02, 1.99583467e-02, 1.84634547e-03,
  6.55726172e-05, 3.68883763e-02, 1.08671235e-02, 1.78185523e-03,
 -3.04530626e-03, 3.54097793e-02, 1.08273293e-02, 1.78020120e-03,
  0.00000000e+00, 1.78341181e-03, 0.00000000e+00,-1.40512321e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007301552386510431
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30555802,  0.08765032, -0.94813064, -0.02688573,  0.9961513 ,
        0.08342503,  0.95179381,  0.        ,  0.30673856])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07254616, -0.04275826,  0.22452165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -8.2570583 ,  -2.53135637,  -8.2570583 ,
        14.85442016, -20.28274478,  -2.53135637, -20.28274478,
        74.79686476,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013113292805485566
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.46639392e-14,  2.11659848e-14,  1.00000000e+00,  1.79199565e-27,
        1.00000000e+00, -2.11659848e-14, -1.00000000e+00,  0.00000000e+00,
       -8.46639392e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03634294, -0.062682  ,  0.06188361])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.48692761e-04, 4.00819033e-02, 9.97110414e-03, 6.05171281e-05,
  3.75175562e-05,-1.07051460e-04,-3.42571917e-05, 3.11429907e-05,
  8.89581698e-06,-6.16774847e-05,-4.49807727e-05, 4.30332387e-05,
  2.61857928e-03, 4.12054670e-03, 8.85019618e-03, 1.55261421e-03,
  6.33343245e-06, 2.58585870e-05,-1.21644836e+00, 1.57572099e-03,
  5.44717663e-04, 6.36912789e-05]


--- Step 2389 ---
qpos:
[-0.01533282, 1.29214356,-0.03191279, 0.94845212, 0.00438135, 1.32961573,
 -0.0296077 , 0.94625007, 0.0167434 , 1.3359326 ,-0.02388963, 0.9549746 ,
  1.39117388,-0.00487015, 1.19390786, 0.06180361,-0.00368049,-0.09264096,
  0.08159614, 0.63206442,-0.01232777,-0.00422091, 0.77480628]

qacc:
[ 5.94488975e-02,-2.30132229e+00, 7.78647878e+00,-1.22209444e+01,
  1.26386735e-01,-2.56659490e-01,-3.38236675e+00, 1.64740587e+01,
  1.64018314e-01, 3.35978888e+00,-1.17663343e+01, 1.29076600e+01,
 -8.95849893e-03,-2.34368174e-02, 1.93569156e+00,-2.21276383e+00,
  1.39851448e+00, 1.32400688e+00, 1.89248544e+00, 7.48630728e+01,
  6.75591924e+01, 1.59421945e+00]

qfrc_actuator:
[ 3.15264330e-03, 7.50548385e-02, 1.99679459e-02, 1.81052586e-03,
  7.97661603e-05, 3.68102029e-02, 1.08719199e-02, 1.83670182e-03,
 -3.00324839e-03, 3.53905888e-02, 1.07616033e-02, 1.78943287e-03,
  0.00000000e+00, 1.77752898e-03, 0.00000000e+00,-2.17668147e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007295292572912782
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05559571e-01,  8.76521751e-02, -9.48129973e-01, -2.68864431e-02,
        9.96151141e-01,  8.34267522e-02,  9.51793290e-01,  3.46944695e-18,
        3.06740170e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07254418, -0.04275877,  0.22452206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013003062348472677
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.13454145e-14,  8.53816582e-14,  1.00000000e+00,  1.82250689e-27,
        1.00000000e+00, -8.53816582e-14, -1.00000000e+00,  0.00000000e+00,
       -2.13454145e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03676407, -0.11874814,  0.0618845 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.57479842e-04, 3.99736970e-02, 9.94339461e-03,-2.69874314e-05,
  3.63221016e-05,-1.43455435e-04,-1.91729608e-05, 5.14142211e-05,
  4.73158257e-05,-6.09058368e-05,-8.16377289e-05, 7.11077452e-06,
  2.63130899e-03, 4.09576776e-03, 8.92581760e-03, 1.48224013e-03,
  1.63244301e-05, 4.60192742e-05,-1.21645485e+00, 1.57278742e-03,
  5.46057842e-04, 8.72003656e-05]


--- Step 2390 ---
qpos:
[-0.01533806, 1.29215608,-0.0319288 , 0.94845205, 0.00438261, 1.3296562 ,
 -0.02960748, 0.94625377, 0.01674372, 1.33594652,-0.02389172, 0.95497337,
  1.39119421,-0.00488105, 1.19389065, 0.06180143,-0.00367999,-0.09265082,
  0.08159978, 0.63209967,-0.0121541 ,-0.0044058 , 0.77477925]

qacc:
[ 3.35696867e-01, 5.36267852e-02,-2.00881472e+00, 2.73277151e+00,
  4.02612952e-02, 1.15836094e+00,-1.02950121e+01, 3.67470986e+01,
  1.22150399e-01,-4.19934285e+00, 1.72960826e+01,-4.13622141e+01,
  1.48614569e-01,-2.08937163e-01, 3.65185842e+00,-7.17812123e+00,
  1.27437314e+00, 1.24809193e+00, 1.03237965e+00, 6.93124757e+01,
  6.22939959e+01, 1.24431422e+00]

qfrc_actuator:
[ 3.18186046e-03, 7.50726213e-02, 1.99619500e-02, 1.80712364e-03,
  6.98841144e-05, 3.67829269e-02, 1.09103103e-02, 1.95716688e-03,
 -2.99600892e-03, 3.53378678e-02, 1.07413826e-02, 1.67013235e-03,
  0.00000000e+00, 1.76058743e-03, 0.00000000e+00,-2.98807097e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007290079575882624
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30556127,  0.08765399, -0.94812926, -0.02688715,  0.99615098,
        0.08342843,  0.95179273,  0.        ,  0.30674193])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0725424 , -0.04275931,  0.22452245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.04824992,   4.99088669,   7.04824992,
        15.79849632, -10.1145356 ,   4.99088669, -10.1145356 ,
        22.92035348,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013297502765273472
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.17455459e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.17455459e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0367223 , -0.1187095 ,  0.06188204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.79732994e-04, 4.00147394e-02, 9.92185498e-03,-5.42988343e-06,
  1.15400326e-05,-1.09127104e-04, 9.61495018e-06, 1.16853707e-04,
  3.51784041e-05,-1.02228137e-04,-4.11969025e-05,-1.23309021e-04,
  2.62953610e-03, 4.08266588e-03, 8.82005617e-03, 1.38133670e-03,
  4.02771282e-06, 1.99790197e-05,-1.21644607e+00, 1.57607543e-03,
  5.45611690e-04, 5.44123266e-05]


--- Step 2391 ---
qpos:
[-0.01534338, 1.29216986,-0.03194382, 0.94845234, 0.00438402, 1.32969619,
 -0.02960749, 0.94625681, 0.01674423, 1.33596024,-0.02389388, 0.95497412,
  1.39121444,-0.00489182, 1.1938721 , 0.06179924,-0.00367479,-0.09265595,
  0.08160467, 0.63213545,-0.01198842,-0.00441714, 0.77475256]

qacc:
[-3.50370265e-02,-4.36084418e-01, 2.68577246e+00, 1.00139780e+00,
  6.28207653e-02,-1.14817276e+00, 4.35552695e+00,-1.12412378e+01,
  8.60733573e-02, 3.33525519e+00,-1.51631032e+01, 3.60841395e+01,
 -9.36447060e-02, 1.61454069e-01,-1.93911987e+00, 3.93390318e+00,
  1.17263109e+00, 1.18400025e+00, 3.09126638e-01, 6.47058862e+01,
  5.79394362e+01, 9.75860460e-01]

qfrc_actuator:
[ 3.20101259e-03, 7.50434523e-02, 2.00005933e-02, 1.84059986e-03,
  8.11460456e-05, 3.67687770e-02, 1.08974326e-02, 1.92004243e-03,
 -2.99196350e-03, 3.53898391e-02, 1.07657485e-02, 1.77796501e-03,
  0.00000000e+00, 1.77262201e-03, 0.00000000e+00,-2.04638765e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007285567220388055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05564569e-01,  8.76555377e-02, -9.48128051e-01, -2.68879223e-02,
        9.96150845e-01,  8.34298084e-02,  9.51791644e-01,  3.46944695e-18,
        3.06745279e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07254086, -0.0427599 ,  0.22452279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.10750265,   4.90613728,   7.10750265,
        16.7736382 , -11.78843909,   4.90613728, -11.78843909,
        25.71423107,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001338939213135229
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03647631e-14,  8.29181051e-14,  1.00000000e+00,  8.59426520e-28,
        1.00000000e+00, -8.29181051e-14, -1.00000000e+00,  0.00000000e+00,
       -1.03647631e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03671107, -0.11869602,  0.06188129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.59524084e-04, 4.00417358e-02, 9.98809417e-03, 2.67883958e-05,
  1.80654137e-05,-6.94106408e-05,-2.97436755e-05,-3.73422491e-05,
  2.48178863e-05,-1.63522164e-05,-3.90262190e-06, 1.00743084e-04,
  2.61803811e-03, 4.10239758e-03, 8.68944218e-03, 1.47221250e-03,
 -5.82885768e-07, 5.04489552e-06,-1.21644144e+00, 1.57899299e-03,
  5.44757042e-04, 3.57224694e-05]


--- Step 2392 ---
qpos:
[-0.01534779, 1.2921828 ,-0.0319583 , 0.94845289, 0.00438571, 1.32973579,
 -0.0296083 , 0.94625974, 0.01674503, 1.33597459,-0.02389641, 0.9549761 ,
  1.39123487,-0.00490296, 1.1938582 , 0.06179738,-0.00366524,-0.09265655,
  0.08160835, 0.63217196,-0.01182996,-0.00426543, 0.77472606]

qacc:
[  0.38383169, -2.09505669,  4.97920067, -0.75546837,  0.11987438,
   1.50586279, -5.30869603,  3.68179924,  0.11958022,  3.93288648,
 -14.31843076, 26.18646975,  0.18766566, -0.40675426,  5.86438433,
 -10.57505808,  1.08913769,  1.12994666, -0.29855548, 60.88386859,
  54.33752138,  0.7714625 ]

qfrc_actuator:
[ 0.00319693, 0.07501969, 0.02004694, 0.00184261, 0.000105  , 0.03674458,
  0.01085435, 0.00191471,-0.00297211, 0.0354689 , 0.01076352, 0.00184118,
  0.        , 0.00174857, 0.        ,-0.00037804, 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: -0.000728126377329337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05565722e-01,  8.76571414e-02, -9.48127531e-01, -2.68885196e-02,
        9.96150704e-01,  8.34313008e-02,  9.51791257e-01,  3.46944695e-18,
        3.06746480e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07253917, -0.04276047,  0.22452317])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.16073447,   4.82811129,   7.16073447,
        17.93157458, -13.78604042,   4.82811129, -13.78604042,
        29.0829045 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001331863997017485
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.33585882e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.33585882e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03672412, -0.1187025 ,  0.06188191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.59544846e-04, 3.99550966e-02, 9.98456827e-03, 1.10424695e-05,
  3.45120482e-05,-6.98045766e-05,-6.11828933e-05,-9.09364607e-06,
  3.45092764e-05, 7.21555878e-05,-2.93174683e-06, 6.49749199e-05,
  2.62327763e-03, 4.07250572e-03, 8.75654262e-03, 1.29930835e-03,
  1.00320777e-06,-9.85101742e-07,-1.21644011e+00, 1.58168002e-03,
  5.43518316e-04, 2.83671753e-05]


--- Step 2393 ---
qpos:
[-0.01535132, 1.29219404,-0.03197312, 0.94845393, 0.00438739, 1.32977469,
 -0.02960901, 0.94626361, 0.0167458 , 1.33598897,-0.0238978 , 0.95497672,
  1.39125517,-0.00491441, 1.19384961, 0.06179557,-0.0036516 ,-0.09265282,
  0.08160881, 0.63220926,-0.01167811,-0.00395933, 0.77469955]

qacc:
[ 3.80678183e-01,-4.52649220e-01,-2.23617468e+00, 8.72635455e+00,
 -5.76046058e-03, 3.72729340e-01,-4.25458234e+00, 1.49349268e+01,
 -1.26529997e-02,-5.38837436e+00, 2.03520030e+01,-3.33049295e+01,
 -1.78146971e-01,-1.10605226e-02, 7.70805937e+00,-1.55431251e+01,
  1.02047625e+00, 1.08438436e+00,-8.08666935e-01, 5.77163460e+01,
  5.13602344e+01, 6.17841608e-01]

qfrc_actuator:
[ 3.19570397e-03, 7.50185014e-02, 2.00624620e-02, 1.86118514e-03,
  8.29649053e-05, 3.67144498e-02, 1.08648080e-02, 1.96365245e-03,
 -2.99619613e-03, 3.54569746e-02, 1.08166718e-02, 1.77106020e-03,
  0.00000000e+00, 1.77433023e-03, 0.00000000e+00,-5.34793271e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007279245907212059
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30556716,  0.08765847, -0.94812695, -0.02688906,  0.99615059,
        0.08343252,  0.95179078,  0.        ,  0.30674796])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07253787, -0.0427611 ,  0.2245235 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.18639193,   4.78983798,   7.18639193,
        19.53024445, -16.34453976,   4.78983798, -16.34453976,
        33.15875234,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013118588549638072
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.23148809e-14,  8.46297618e-14,  1.00000000e+00,  3.58109829e-27,
        1.00000000e+00, -8.46297618e-14, -1.00000000e+00,  0.00000000e+00,
       -4.23148809e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03675628, -0.11872469,  0.0618836 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.13334982e-04, 3.99954135e-02, 9.97322759e-03, 1.65513788e-05,
 -1.68047662e-06,-8.12562984e-05,-1.04567592e-05, 4.49043361e-05,
 -3.70109225e-06, 2.92351640e-05, 6.88039294e-05,-6.65331743e-05,
  2.61306515e-03, 4.11706750e-03, 8.52442717e-03, 1.12637394e-03,
  7.69560764e-06, 2.74494129e-07,-1.21644150e+00, 1.58422813e-03,
  5.41919919e-04, 3.03234508e-05]


--- Step 2394 ---
qpos:
[-0.01535518, 1.29220538,-0.03198762, 0.94845395, 0.0043888 , 1.32981304,
 -0.0296093 , 0.94626627, 0.01674628, 1.33600316,-0.02389785, 0.95497754,
  1.391275  ,-0.00492584, 1.19384091, 0.06179384,-0.00363411,-0.0926449 ,
  0.08160431, 0.63224734,-0.01153237,-0.00350603, 0.77467284]

qacc:
[ -0.14227271, -2.4726828 , 10.3119684 ,-20.77304664, -0.11326243,
  -3.92021549, 14.3885199 ,-26.05482365, -0.12007827, -3.49652853,
  10.70192703, -6.84128661, -0.37514166,  0.33310606, -0.40055561,
   1.22636439,  0.96382952,  1.045968  , -1.2364361 , 55.09649872,
  48.90317338,  0.50484087]

qfrc_actuator:
[ 3.17809195e-03, 7.50143165e-02, 2.00779162e-02, 1.81836173e-03,
  5.13259881e-05, 3.66989930e-02, 1.08890588e-02, 1.90214947e-03,
 -3.02868845e-03, 3.54440471e-02, 1.08839374e-02, 1.78281431e-03,
  0.00000000e+00, 1.81229853e-03, 0.00000000e+00,-4.68372477e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007279126428817867
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30557056,  0.0876595 , -0.94812576, -0.02688967,  0.9961505 ,
        0.0834334 ,  0.95178967,  0.        ,  0.3067514 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07253703, -0.04276178,  0.22452376])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.15489375,   4.83676258,   7.15489375,
        21.96972882, -19.72369112,   4.83676258, -19.72369112,
        37.81309328,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012817059973652262
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08275906e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.08275906e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03680333, -0.11875911,  0.06188612])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.51098193e-04, 4.00763776e-02, 1.00061782e-02,-5.09857637e-05,
 -3.26333490e-05,-6.13714746e-05, 8.44657622e-06,-6.31458735e-05,
 -3.46678848e-05, 1.46094980e-05, 7.88344647e-05, 1.31039246e-05,
  2.61974772e-03, 4.17048773e-03, 8.25910577e-03, 1.19048626e-03,
  1.86967727e-05, 7.63892646e-06,-1.21644520e+00, 1.58669686e-03,
  5.39984360e-04, 4.01101170e-05]


--- Step 2395 ---
qpos:
[-0.01535963, 1.29221764,-0.03200148, 0.94845337, 0.00439019, 1.32985079,
 -0.02960955, 0.94626821, 0.01674644, 1.33601654,-0.02389736, 0.95497997,
  1.39129453,-0.00493705, 1.19383022, 0.06179206,-0.00362275,-0.09264215,
  0.08160378, 0.63228773,-0.0113801 ,-0.00326341, 0.77464319]

qacc:
[-2.53248957e-01,-1.58614961e+00, 7.84871337e+00,-1.43682089e+01,
 -1.08101204e-02,-2.12471450e+00, 7.48378049e+00,-1.45810245e+01,
 -1.38567525e-01, 2.36334042e-01,-5.30243710e+00, 2.36906212e+01,
 -2.79907364e-01, 3.96059410e-01,-2.74994680e+00, 5.38607969e+00,
 -1.53235432e+00,-1.28998028e+00, 9.89381932e-01,-7.95353470e+01,
 -6.91139125e+01,-3.04871017e+00]

qfrc_actuator:
[ 3.16926871e-03, 7.50072055e-02, 2.00927946e-02, 1.79326904e-03,
  6.74438229e-05, 3.66569523e-02, 1.08857140e-02, 1.86490266e-03,
 -3.04820738e-03, 3.53419615e-02, 1.08880130e-02, 1.86042798e-03,
  0.00000000e+00, 1.82188816e-03, 0.00000000e+00,-3.92377186e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007279090366332994
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05573545e-01,  8.76606343e-02, -9.48124687e-01, -2.68902877e-02,
        9.96150397e-01,  8.34344008e-02,  9.51788696e-01,  3.46944695e-18,
        3.06754427e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07253619, -0.04276241,  0.22452402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013177738180937051
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.15937097e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.15937097e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03635184, -0.06271777,  0.06188307])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.58956824e-04, 4.00640038e-02, 1.00048301e-02,-2.51698814e-05,
 -3.13607921e-06,-7.64989288e-05,-1.62779956e-05,-4.02483654e-05,
 -3.99765363e-05,-7.83189222e-05, 1.62574120e-05, 8.06790737e-05,
  2.64349153e-03, 4.17941041e-03, 8.26465958e-03, 1.26211344e-03,
  3.34254079e-05, 2.02401226e-05,-1.21645091e+00, 1.58912419e-03,
  5.37731510e-04, 5.66454165e-05]


--- Step 2396 ---
qpos:
[-0.01536471, 1.29223135,-0.03201444, 0.94845277, 0.00439149, 1.32988724,
 -0.02960951, 0.94626939, 0.01674631, 1.33602889,-0.02389707, 0.95498131,
  1.39131369,-0.00494792, 1.19381624, 0.0617901 ,-0.00361696,-0.09264428,
  0.08160401, 0.63233074,-0.01122222,-0.00321542, 0.77461059]

qacc:
[-2.64732337e-01,-5.03839156e-01, 3.98885224e+00,-4.54258918e+00,
 -3.61900055e-02,-3.78877035e+00, 1.18337657e+01,-1.81827148e+01,
 -1.21919218e-01,-2.68392046e+00, 9.32584353e+00,-2.01131686e+01,
 -3.58281318e-01, 5.53721979e-01,-4.27064804e+00, 7.96281507e+00,
 -1.39351171e+00,-1.22348925e+00, 1.90641491e-01,-7.35962224e+01,
 -6.36821945e+01,-3.06559329e+00]

qfrc_actuator:
[ 3.20161762e-03, 7.49974946e-02, 2.01068749e-02, 1.79656208e-03,
  5.88229298e-05, 3.65459731e-02, 1.08837862e-02, 1.82446674e-03,
 -3.05978524e-03, 3.52403392e-02, 1.08544275e-02, 1.79853883e-03,
  0.00000000e+00, 1.84974868e-03, 0.00000000e+00,-2.92774049e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007278582040193896
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30557505,  0.08766197, -0.94812408, -0.02689083,  0.99615028,
        0.08343563,  0.9517882 ,  0.        ,  0.30675597])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07253516, -0.04276301,  0.22452432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.1672571 , -4.81842325, -7.1672571 , 12.99335363,
       -6.48088925, -4.81842325, -6.48088925, 18.27648803,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013470806516102662
  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([ 0.03630511, -0.06276084,  0.06188062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.20993856e-04, 4.00088841e-02, 9.98654637e-03, 8.40070917e-06,
 -1.04736103e-05,-1.57949350e-04,-1.99610927e-05,-4.40860461e-05,
 -3.51734658e-05,-1.39455640e-04,-4.46836703e-05,-6.18334127e-05,
  2.65836920e-03, 4.19659445e-03, 8.36458058e-03, 1.36464611e-03,
  1.35863449e-05, 3.91643138e-06,-1.21644336e+00, 1.58499984e-03,
  5.40253110e-04, 3.51052981e-05]


--- Step 2397 ---
qpos:
[-0.01536952, 1.29224478,-0.03202718, 0.94845172, 0.00439255, 1.32992277,
 -0.02960961, 0.94627006, 0.01674596, 1.33604057,-0.02389735, 0.95498222,
  1.39133274,-0.00495883, 1.19380305, 0.06178825,-0.00361629,-0.09265109,
  0.0816023 , 0.63237652,-0.01105945,-0.00334872, 0.77457499]

qacc:
[ 1.11104344e-01,-1.75688886e+00, 6.22984522e+00,-1.05010506e+01,
 -1.02691732e-01,-1.66259756e+00, 5.00824487e+00,-9.61045174e+00,
 -9.53462483e-02,-9.10557030e-02, 8.97538852e-02,-4.50024936e+00,
 -9.07957752e-02, 5.19196214e-02, 8.10571808e-01,-1.15318317e+00,
 -1.27948740e+00,-1.16652276e+00,-4.82444305e-01,-6.86593334e+01,
 -5.91880477e+01,-3.04958206e+00]

qfrc_actuator:
[ 3.22342899e-03, 7.50030600e-02, 2.01199765e-02, 1.76328064e-03,
  3.54291814e-05, 3.65188487e-02, 1.08824393e-02, 1.80018632e-03,
 -3.06650685e-03, 3.52283069e-02, 1.08342899e-02, 1.77928328e-03,
  0.00000000e+00, 1.85285268e-03, 0.00000000e+00,-3.56387049e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007277236132246581
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30557432,  0.08766352, -0.94812417, -0.02689125,  0.99615014,
        0.08343713,  0.95178842,  0.        ,  0.30675528])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07253383, -0.04276355,  0.22452469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.19153364, -4.78211467, -7.19153364, 13.85010532,
       -7.84063146, -4.78211467, -7.84063146, 20.42741609,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013557597816636485
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02361702e-14,  2.04723403e-14,  1.00000000e+00,  2.09558359e-28,
        1.00000000e+00, -2.04723403e-14, -1.00000000e+00,  0.00000000e+00,
       -1.02361702e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03629321, -0.06277602,  0.06187989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.73835722e-04, 3.99413413e-02, 9.95523065e-03,-2.41135790e-05,
 -2.95781832e-05,-1.19976710e-04,-3.58392632e-05,-3.05717590e-05,
 -2.74838104e-05,-9.97925460e-05,-5.42709351e-05,-2.61144037e-05,
  2.67659555e-03, 4.18267771e-03, 8.52880859e-03, 1.31009959e-03,
  2.84680883e-06,-1.20985471e-06,-1.21644008e+00, 1.58095722e-03,
  5.42523569e-04, 2.74374056e-05]


--- Step 2398 ---
qpos:
[-0.01537345, 1.29225592,-0.0320406 , 0.94844982, 0.00439334, 1.32995817,
 -0.02961044, 0.94627144, 0.01674558, 1.33605206,-0.02389847, 0.95498391,
  1.39135176,-0.00497011, 1.1937954 , 0.0617867 ,-0.00362145,-0.09265248,
  0.08159548, 0.63241347,-0.01110455,-0.00347528, 0.77454362]

qacc:
[ 3.75972693e-01,-2.61894306e+00, 6.62103911e+00,-1.40807737e+01,
 -1.10493288e-01, 2.96206709e+00,-1.13125848e+01, 1.80055727e+01,
 -7.83335749e-03, 3.36549868e+00,-1.28154560e+01, 2.00977859e+01,
 -5.50261973e-02,-1.75882071e-01, 7.27401296e+00,-1.35339491e+01,
 -1.45809955e+00, 1.35285852e+00,-1.28135790e+00,-6.31579080e+01,
  8.25992208e+01, 5.14673625e+00]

qfrc_actuator:
[ 3.20277979e-03, 7.50189410e-02, 2.01327938e-02, 1.70850182e-03,
  2.11153620e-05, 3.65599194e-02, 1.08640105e-02, 1.83890849e-03,
 -3.05250983e-03, 3.52523192e-02, 1.08048988e-02, 1.82087293e-03,
  0.00000000e+00, 1.85910570e-03, 0.00000000e+00,-5.53656710e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007276222695136586
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30557363,  0.087665  , -0.94812426, -0.02689164,  0.99615001,
        0.08343855,  0.95178863,  0.        ,  0.30675463])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07253256, -0.0427641 ,  0.22452505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  0.68392045, -8.60924095,  0.68392045, 88.33666355,
        6.33141355, -8.60924095,  6.33141355,  9.13933285,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00135536644490232
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.09565630e-14,  2.04782815e-14,  1.00000000e+00,  8.38720028e-28,
        1.00000000e+00, -2.04782815e-14, -1.00000000e+00,  0.00000000e+00,
       -4.09565630e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04720738, -0.11549725,  0.06187992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.40162304e-04, 3.99708151e-02, 9.95653905e-03,-5.60676210e-05,
 -3.17677952e-05,-3.34715450e-05,-4.69051980e-05, 3.34154589e-05,
 -2.22468939e-06,-4.26237294e-05,-5.58223771e-05, 3.64545257e-05,
  2.68209854e-03, 4.19132266e-03, 8.49016377e-03, 1.10720562e-03,
 -5.81172996e-07, 2.60690981e-06,-1.21644021e+00, 1.57691554e-03,
  5.44658055e-04, 3.08174676e-05]


--- Step 2399 ---
qpos:
[-0.01537722, 1.29226657,-0.03205393, 0.94844708, 0.00439406, 1.32999279,
 -0.029611  , 0.94627327, 0.01674541, 1.33606356,-0.0238994 , 0.95498325,
  1.39137063,-0.00498147, 1.1937893 , 0.06178523,-0.00363216,-0.09264889,
  0.08158135, 0.63244243,-0.01134434,-0.00359525, 0.77451595]

qacc:
[ 6.92360341e-02,-2.32239345e+00, 8.52989657e+00,-1.68353007e+01,
 -3.37313923e-02,-9.61249709e-01, 9.59268105e-01, 4.97656819e+00,
  8.68274646e-02,-4.54914219e+00, 1.95594858e+01,-4.40225998e+01,
 -1.35445879e-01, 7.03634131e-02, 2.06355594e+00,-3.87698320e+00,
 -1.38623638e+00, 1.24617594e+00,-1.82482122e+00,-5.90492305e+01,
  7.74472729e+01, 4.64144605e+00]

qfrc_actuator:
[ 3.19143444e-03, 7.50431513e-02, 2.01640161e-02, 1.67690236e-03,
  3.01171366e-05, 3.64994735e-02, 1.08714688e-02, 1.86117136e-03,
 -3.02619850e-03, 3.52799915e-02, 1.08237235e-02, 1.70266916e-03,
  0.00000000e+00, 1.86758993e-03, 0.00000000e+00,-5.47314233e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007276858430771867
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05575785e-01,  8.76661673e-02, -9.48123453e-01, -2.68921953e-02,
        9.96149910e-01,  8.34395993e-02,  9.51787922e-01, -3.46944695e-18,
        3.06756827e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0725318 , -0.04276469,  0.22452531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -6.3510482 ,  5.85243228, -6.3510482 , 15.81167397,
        7.7866329 ,  5.85243228,  7.7866329 , 17.08640261,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013531648133386087
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.10232003e-14,  8.20464007e-14,  1.00000000e+00,  3.36580593e-27,
        1.00000000e+00, -8.20464007e-14, -1.00000000e+00,  0.00000000e+00,
       -4.10232003e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04720854, -0.11550255,  0.06188007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.84746628e-04, 4.01101622e-02, 1.00220174e-02,-4.53514845e-05,
 -9.74115950e-06,-8.73799870e-05,-3.48321579e-06, 2.07097542e-05,
  2.50029592e-05,-5.79470706e-06, 5.21471904e-06,-1.20234604e-04,
  2.68399291e-03, 4.21843510e-03, 8.21289869e-03, 1.09837206e-03,
  2.82226447e-06, 2.06346511e-06,-1.21644085e+00, 1.58265280e-03,
  5.46307183e-04, 3.27564462e-05]


--- Step 2400 ---
qpos:
[-0.01537987, 1.29227584,-0.03206753, 0.9484458 , 0.00439477, 1.33002621,
 -0.02961093, 0.94627469, 0.01674535, 1.33607456,-0.02389914, 0.95498255,
  1.39138974,-0.00499303, 1.19378823, 0.06178339,-0.00364782,-0.0926493 ,
  0.0815646 , 0.63247394,-0.01159879,-0.00387778, 0.77448508]

qacc:
[ 4.80203155e-01, 1.44666544e+00,-9.88568512e+00, 2.63721340e+01,
 -1.80730931e-03,-4.00120613e+00, 1.20043224e+01,-1.44954601e+01,
  4.44472474e-02,-3.94158307e+00, 1.21392686e+01,-1.06563452e+01,
  3.52336682e-02,-9.30276022e-02, 8.53162371e+00,-1.90460056e+01,
 -1.23725207e+00,-1.00153527e+00,-6.56892563e-01,-6.75811598e+01,
 -4.57098079e+01,-2.89767975e+00]

qfrc_actuator:
[ 3.20379065e-03, 7.50359569e-02, 2.01880254e-02, 1.74830903e-03,
  3.52791591e-05, 3.64143212e-02, 1.08937596e-02, 1.83801459e-03,
 -3.02821959e-03, 3.52564920e-02, 1.08885384e-02, 1.70443129e-03,
  0.00000000e+00, 1.84177151e-03, 0.00000000e+00,-7.38245526e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007278098596916471
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30557832,  0.08766728, -0.94812253, -0.02689276,  0.99614981,
        0.08344059,  0.95178709,  0.        ,  0.3067594 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07253118, -0.04276529,  0.22452555])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013361072152565552
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.52017409e-08, -8.52017824e-08,  1.00000000e+00,  7.25934019e-15,
        1.00000000e+00,  8.52017824e-08, -1.00000000e+00,  0.00000000e+00,
        8.52017409e-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([ 0.03721219, -0.06702015,  0.06188142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.88989573e-04, 4.01271677e-02, 1.00413987e-02, 6.82092337e-05,
 -5.88113644e-07,-1.33788846e-04, 5.37558269e-06,-2.53486744e-05,
  1.27465332e-05,-2.93257113e-05, 6.07455807e-05,-1.04152986e-06,
  2.69132972e-03, 4.19707698e-03, 8.13561431e-03, 9.03656900e-04,
  9.09967389e-06,-1.32685338e-06,-1.21644465e+00, 1.58690394e-03,
  5.47511231e-04, 2.30863109e-05]


--- Step 2401 ---
qpos:
[-0.01538227, 1.29228598,-0.03208021, 0.94844547, 0.00439536, 1.33005873,
 -0.02961126, 0.94627653, 0.01674519, 1.33608512,-0.02389834, 0.95498156,
  1.391409  ,-0.00500456, 1.19378707, 0.06178113,-0.00366406,-0.0926507 ,
  0.08156329, 0.63250561,-0.01185614,-0.00418514, 0.77445372]

qacc:
[  0.10348147,  0.23044399, -1.32714868, 11.57123193, -0.05309094,
   0.6653022 , -4.46502157,  9.42051519, -0.039667  , -2.55257101,
   8.21925503,-10.21161137,  0.06615812, -0.01662895,  1.16459903,
  -4.28513499, -0.14645384, -0.24624441,  3.86167773,-10.53013394,
  -6.72083406, -0.35421417]

qfrc_actuator:
[ 3.21158661e-03, 7.50109975e-02, 2.02257930e-02, 1.80853796e-03,
  2.03415348e-05, 3.63683366e-02, 1.08712192e-02, 1.85931012e-03,
 -3.04722170e-03, 3.52205404e-02, 1.09088561e-02, 1.68803931e-03,
  0.00000000e+00, 1.83102393e-03, 0.00000000e+00,-6.92077579e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007281197056662123
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30558243,  0.08766804, -0.94812114, -0.02689336,  0.99614975,
        0.08344119,  0.95178576,  0.        ,  0.30676354])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07253098, -0.04276596,  0.22452572])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.001317396231344332
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.21370199e-14, -3.45879410e-07,  1.00000000e+00, -1.45743276e-20,
        1.00000000e+00,  3.45879410e-07, -1.00000000e+00,  0.00000000e+00,
       -4.21370199e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00167211, -0.08928063,  0.0618829 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.40488277e-04, 4.01706128e-02, 1.00930764e-02, 5.51821988e-05,
 -1.52893456e-05,-1.19933555e-04,-4.88728540e-05, 1.69018279e-05,
 -1.14716492e-05,-4.04118162e-05, 2.14504536e-05,-1.54931007e-05,
  2.67915863e-03, 4.19646675e-03, 7.88397784e-03, 9.68086637e-04,
  2.28516295e-05, 4.41736483e-06,-1.21644785e+00, 1.58499939e-03,
  5.49122958e-04, 3.00117268e-05]


--- Step 2402 ---
qpos:
[-0.01538591, 1.29229956,-0.03209094, 0.94844522, 0.00439609, 1.33009081,
 -0.0296123 , 0.94627722, 0.01674488, 1.33609526,-0.02389687, 0.9549783 ,
  1.3914281 ,-0.00501554, 1.19377817, 0.06177838,-0.00367515,-0.09264715,
  0.08156683, 0.6325374 ,-0.01212254,-0.00430307, 0.77442299]

qacc:
[-5.30493271e-01,-5.89017006e-01, 7.18531940e+00,-7.34069717e+00,
  6.02947109e-02,-6.79900517e-01, 3.89544935e+00,-1.65813770e+01,
 -6.24261590e-02,-6.22559474e+00, 2.42026568e+01,-4.68523067e+01,
 -1.14377375e-01, 4.42364624e-01,-9.95874720e+00, 1.82686727e+01,
  1.28745954e+00, 1.23695246e+00, 1.21380353e+00, 7.04930211e+01,
  6.34081169e+01, 1.28978476e+00]

qfrc_actuator:
[ 3.21707942e-03, 7.50092039e-02, 2.02529653e-02, 1.82648738e-03,
  4.67244751e-05, 3.63637752e-02, 1.08403200e-02, 1.80007960e-03,
 -3.05850315e-03, 3.51950067e-02, 1.09381487e-02, 1.57225985e-03,
  0.00000000e+00, 1.84691872e-03, 0.00000000e+00,-4.14672979e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007284835702960901
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05584832e-01,  8.76687362e-02, -9.48120300e-01, -2.68937856e-02,
        9.96149684e-01,  8.34417857e-02,  9.51784973e-01, -3.46944695e-18,
        3.06765978e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07253072, -0.04276665,  0.22452591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.74826305,  -5.38959393,  -6.74826305,
        40.00884144, -39.2812029 ,  -5.38959393, -39.2812029 ,
        57.82001151,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013508237999308864
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.13678683e-15,  8.21885893e-14,  1.00000000e+00, -4.22185263e-28,
        1.00000000e+00, -8.21885893e-14, -1.00000000e+00,  0.00000000e+00,
        5.13678683e-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([-0.03671516, -0.1186436 ,  0.0618801 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.33850708e-04, 4.01257994e-02, 1.00737158e-02, 2.57987689e-05,
  1.73584044e-05,-8.01811072e-05,-5.94530469e-05,-6.38192171e-05,
 -1.80487973e-05,-4.42256282e-05, 2.33714385e-05,-1.16695271e-04,
  2.67202759e-03, 4.21089342e-03, 7.88868534e-03, 1.26714967e-03,
  2.55453294e-05, 5.82070627e-06,-1.21644856e+00, 1.58500514e-03,
  5.49347921e-04, 3.20804378e-05]


--- Step 2403 ---
qpos:
[-0.0153904 , 1.29231452,-0.03210098, 0.94844545, 0.00439703, 1.33012277,
 -0.02961388, 0.94627611, 0.01674429, 1.33610517,-0.02389556, 0.95497681,
  1.39144699,-0.00502603, 1.19376481, 0.06177523,-0.00368151,-0.0926389 ,
  0.08157222, 0.6325696 ,-0.01239709,-0.00424479, 0.77439266]

qacc:
[ -0.3566116 ,  0.76416574, -1.24496538,  5.58627875,  0.08924435,
  -1.75088001,  9.18762729,-28.60735569, -0.12132517,  3.13290575,
 -14.15221464, 32.83641703, -0.29466957,  0.61400995, -5.34739934,
   9.16652834,  1.18343509,  1.17563347,  0.45900316, 65.65473809,
  58.88438223,  1.05750175]

qfrc_actuator:
[ 3.22257975e-03, 7.50006361e-02, 2.02368859e-02, 1.83730097e-03,
  6.21769164e-05, 3.63839791e-02, 1.08226166e-02, 1.71170837e-03,
 -3.08281337e-03, 3.51936324e-02, 1.09369941e-02, 1.66522968e-03,
  0.00000000e+00, 1.87827124e-03, 0.00000000e+00,-3.53360580e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007286453413528175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05582105e-01,  8.76698803e-02, -9.48121073e-01, -2.68938992e-02,
        9.96149583e-01,  8.34429511e-02,  9.51785845e-01, -3.46944695e-18,
        3.06763271e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07252973, -0.04276726,  0.22452626])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.54295978,   4.20601172,   7.54295978,
        14.56784686, -10.63737868,   4.20601172, -10.63737868,
        27.71318154,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001362838600284022
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.03660034e-14,  8.14640137e-14,  1.00000000e+00,  1.65909638e-27,
        1.00000000e+00, -8.14640137e-14, -1.00000000e+00,  0.00000000e+00,
       -2.03660034e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03669962, -0.11862627,  0.06187913])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.01538341e-04, 3.99453191e-02, 9.96023798e-03, 3.21801308e-05,
  2.56908374e-05,-3.79126860e-05,-4.20527711e-05,-9.39543672e-05,
 -3.49601414e-05,-2.48003097e-05,-1.05668979e-05, 8.96390568e-05,
  2.67976437e-03, 4.21504524e-03, 8.27537242e-03, 1.35241940e-03,
  1.02116460e-05,-1.91829747e-06,-1.21644556e+00, 1.58873234e-03,
  5.47865824e-04, 2.23955861e-05]


--- Step 2404 ---
qpos:
[-0.01539561, 1.29233085,-0.03211018, 0.94844545, 0.00439788, 1.33015465,
 -0.02961549, 0.94627427, 0.01674341, 1.33611477,-0.02389565, 0.95497652,
  1.39146578,-0.00503613, 1.19374679, 0.06177195,-0.00368348,-0.09262615,
  0.0815769 , 0.63260236,-0.01267908,-0.00402125, 0.77436253]

qacc:
[-3.11355064e-01,-8.32496045e-01, 5.34616445e+00,-8.03885290e+00,
 -4.02213205e-02,-1.25691756e+00, 5.47042752e+00,-1.31980066e+01,
 -1.20963099e-01, 5.47265855e+00,-2.07367196e+01, 3.19692451e+01,
 -9.30130200e-02, 3.31764505e-01,-6.47203320e+00, 1.26801795e+01,
  1.09800643e+00, 1.12368319e+00,-1.75447502e-01, 6.16392948e+01,
  5.51451584e+01, 8.87733358e-01]

qfrc_actuator:
[ 3.24592697e-03, 7.49531737e-02, 2.02308442e-02, 1.82566910e-03,
  3.54405397e-05, 3.64011399e-02, 1.08307037e-02, 1.67795306e-03,
 -3.09699052e-03, 3.51357262e-02, 1.08470966e-02, 1.72054323e-03,
  0.00000000e+00, 1.88322922e-03, 0.00000000e+00,-2.26304680e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007286399387267453
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3055774 ,  0.0876713 , -0.94812246, -0.02689393,  0.99614946,
        0.08344444,  0.95178735,  0.        ,  0.30675859])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07252833, -0.04276782,  0.22452667])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.60187548,   4.09856878,   7.60187548,
        15.33732521, -12.42869847,   4.09856878, -12.42869847,
        31.68865902,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001357760649354861
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.17686847e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.17686847e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03670968, -0.11863   ,  0.06187958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.66681944e-04, 3.98284145e-02, 9.91992884e-03,-2.67354842e-06,
 -1.15804129e-05,-1.50762201e-05,-6.90188125e-06,-3.82640117e-05,
 -3.48111862e-05,-7.11004599e-05,-9.33328886e-05, 5.63696149e-05,
  2.69064818e-03, 4.19556083e-03, 8.49916714e-03, 1.49988319e-03,
  2.01825084e-06,-9.64737054e-07,-1.21644589e+00, 1.59224763e-03,
  5.46028133e-04, 2.39131510e-05]


--- Step 2405 ---
qpos:
[-0.01540136, 1.29234857,-0.03211853, 0.94844462, 0.00439824, 1.33018582,
 -0.02961618, 0.94627136, 0.0167423 , 1.33612396,-0.02389698, 0.95497448,
  1.39148465,-0.00504596, 1.19372371, 0.06176875,-0.00368133,-0.09260909,
  0.08157875, 0.63263571,-0.01296792,-0.00364153, 0.77433238]

qacc:
[-2.30514402e-01,-1.90345309e+00, 1.00936039e+01,-1.92127514e+01,
 -2.03599628e-01,-5.28632215e+00, 1.83348156e+01,-2.79272353e+01,
 -9.90709429e-02,-2.28098269e-01, 3.59955803e+00,-2.30208491e+01,
  1.43318164e-01, 1.82565478e-02,-7.76107237e+00, 1.62393803e+01,
  1.02776404e+00, 1.07966151e+00,-7.08270617e-01, 5.83093552e+01,
  5.20572558e+01, 7.68098685e-01]

qfrc_actuator:
[ 3.28021078e-03, 7.49350889e-02, 2.02303968e-02, 1.78331657e-03,
 -1.63877566e-05, 3.63454785e-02, 1.08717334e-02, 1.62337097e-03,
 -3.10497453e-03, 3.50973231e-02, 1.07762881e-02, 1.62885985e-03,
  0.00000000e+00, 1.87226211e-03, 0.00000000e+00,-7.76721456e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007284656607556596
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05570585e-01,  8.76729763e-02, -9.48124500e-01, -2.68938425e-02,
        9.96149311e-01,  8.34462223e-02,  9.51789545e-01, -3.46944695e-18,
        3.06751791e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07252652, -0.04276833,  0.22452715])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.64687917,   4.01397756,   7.64687917,
        16.41773346, -14.82399786,   4.01397756, -14.82399786,
        36.87700987,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013390698338080695
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.10912563e-14,  8.29100168e-14,  1.00000000e+00,  2.57777658e-27,
        1.00000000e+00, -8.29100168e-14, -1.00000000e+00,  0.00000000e+00,
       -3.10912563e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03673992, -0.11865035,  0.06188116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.37460811e-04, 3.97414340e-02, 9.87750075e-03,-3.39913650e-05,
 -5.86608769e-05,-6.67241966e-05, 3.61363311e-05,-5.60850962e-05,
 -2.85319452e-05,-9.43452398e-05,-9.36618292e-05,-9.51957942e-05,
  2.69519109e-03, 4.16557755e-03, 8.73200743e-03, 1.65496722e-03,
 -3.22404488e-07, 7.05370012e-06,-1.21644891e+00, 1.59561433e-03,
  5.43861489e-04, 3.45761540e-05]


--- Step 2406 ---
qpos:
[-0.01540773, 1.29236729,-0.03212638, 0.94844265, 0.00439807, 1.33021616,
 -0.02961657, 0.94626855, 0.01674102, 1.33613279,-0.02389903, 0.95497237,
  1.39150341,-0.00505548, 1.19369565, 0.06176578,-0.00367491,-0.09259647,
  0.08158617, 0.63266775,-0.01309103,-0.00327176, 0.77430578]

qacc:
[-2.63191573e-01,-1.98244338e+00, 1.03912345e+01,-2.28093078e+01,
 -2.27684406e-01,-1.71932242e+00, 4.07032644e+00,-1.78229538e+00,
 -7.30779120e-02, 1.35789150e+00,-4.82932486e+00, 3.49833416e+00,
 -3.31933799e-03, 1.62906595e-01,-7.98120287e+00, 1.72637769e+01,
  1.06893443e+00,-1.11251613e+00, 1.39366772e+00, 4.85647947e+01,
 -6.73381095e+01, 1.25963351e+00]

qfrc_actuator:
[ 3.30340643e-03, 7.49163240e-02, 2.02152039e-02, 1.72323010e-03,
 -4.73419251e-05, 3.62822820e-02, 1.08783119e-02, 1.62793952e-03,
 -3.10918005e-03, 3.51063657e-02, 1.07528284e-02, 1.62897226e-03,
  0.00000000e+00, 1.88719824e-03, 0.00000000e+00, 6.59907963e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007281043518051478
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05561641e-01,  8.76748401e-02, -9.48127210e-01, -2.68936314e-02,
        9.96149147e-01,  8.34482484e-02,  9.51792423e-01, -3.46944695e-18,
        3.06742863e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07252426, -0.0427688 ,  0.22452769])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013319619491964987
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04190573e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.04190573e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03192064, -0.07689555,  0.06188176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.87675048e-04, 3.96535663e-02, 9.81963400e-03,-5.25297409e-05,
 -6.55651962e-05,-9.49457216e-05,-4.04291134e-06, 2.36374374e-06,
 -2.10468837e-05,-6.43073454e-05,-5.53252592e-05,-7.63065745e-06,
  2.69165220e-03, 4.16681978e-03, 8.98610249e-03, 1.79441206e-03,
  2.23675783e-06, 2.09538466e-05,-1.21645422e+00, 1.59886910e-03,
  5.41390271e-04, 5.28911352e-05]


--- Step 2407 ---
qpos:
[-0.01541344, 1.29238319,-0.03213577, 0.94844009, 0.00439772, 1.33024593,
 -0.02961699, 0.94626684, 0.01673976, 1.33614066,-0.02390162, 0.95497411,
  1.39152203,-0.00506514, 1.1936714 , 0.06176314,-0.00366844,-0.09258928,
  0.08160242, 0.63270153,-0.01310785,-0.00300518, 0.77427897]

qacc:
[ 2.83521788e-01,-5.63343992e-01,-1.42956757e+00,-3.87430917e+00,
 -7.41827864e-02, 1.23167891e+00,-7.20211645e+00, 1.94417815e+01,
  1.18225071e-02, 6.86043764e+00,-3.16466411e+01, 7.25006976e+01,
 -2.08316120e-01, 1.30230357e-01, 4.59180303e+00,-7.86961544e+00,
  1.23518489e-02,-1.35634244e+00, 2.20500356e+00,-6.31388609e+00,
 -7.37912681e+01,-1.58365245e+00]

qfrc_actuator:
[ 3.30248937e-03, 7.49147250e-02, 2.01734170e-02, 1.67089674e-03,
 -3.00173673e-05, 3.62682341e-02, 1.08822346e-02, 1.68499951e-03,
 -3.09333366e-03, 3.50374614e-02, 1.07222562e-02, 1.82521244e-03,
  0.00000000e+00, 1.91754319e-03, 0.00000000e+00,-1.30791568e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007275359489831018
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30555125,  0.08767691, -0.94813037, -0.02689336,  0.99614896,
        0.08345051,  0.95179576,  0.        ,  0.30673249])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07252159, -0.04276922,  0.2245283 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.001334175257167558
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.32141818e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.32141818e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00336212, -0.07092312,  0.06188161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.17604631e-04, 3.96015142e-02, 9.75253351e-03,-4.78875855e-05,
 -2.13612302e-05,-6.75071759e-05,-1.50745506e-05, 5.41873668e-05,
  3.42430475e-06,-1.15558663e-04,-4.96518024e-05, 1.92545153e-04,
  2.69663276e-03, 4.18235414e-03, 9.23491921e-03, 1.58698769e-03,
  8.30417693e-06, 1.87364832e-05,-1.21644912e+00, 1.59365706e-03,
  5.39865446e-04, 5.91276378e-05]


--- Step 2408 ---
qpos:
[-0.01541805, 1.2923959 ,-0.03214604, 0.94843761, 0.0043975 , 1.33027471,
 -0.02961664, 0.94626652, 0.0167386 , 1.33614791,-0.02390472, 0.95497919,
  1.3915404 ,-0.00507521, 1.19365539, 0.06176099,-0.00366708,-0.09258657,
  0.08161664, 0.63273784,-0.01311986,-0.00291993, 0.77424943]

qacc:
[ 4.64208535e-01,-1.65225189e+00, 1.69562593e-01, 2.85837356e+00,
  5.50459732e-02,-9.91868640e-01,-1.15106876e+00, 1.76268458e+01,
  4.16051964e-02, 6.28952925e+00,-2.82300164e+01, 6.33858369e+01,
 -3.15531650e-01, 6.09352094e-02, 1.07178739e+01,-1.97540177e+01,
 -1.27684450e+00,-1.11957287e+00,-5.04648181e-01,-6.86662889e+01,
 -5.91986580e+01,-3.04013026e+00]

qfrc_actuator:
[ 3.28606962e-03, 7.48736004e-02, 2.02062845e-02, 1.67638406e-03,
 -1.62564002e-06, 3.62127412e-02, 1.09202830e-02, 1.75475710e-03,
 -3.08334034e-03, 3.50290456e-02, 1.07052756e-02, 1.99320227e-03,
  0.00000000e+00, 1.93969299e-03, 0.00000000e+00,-3.72281065e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007269852269042552
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30554503,  0.08767872, -0.9481322 , -0.02689337,  0.9961488 ,
        0.08345241,  0.95179776,  0.        ,  0.3067263 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07251932, -0.04276966,  0.2245288 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([8.63636364, 8.63038833, 0.32120737, 8.63038833, 8.63082387,
       0.14884573, 0.32120737, 0.14884573, 4.63708906, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0013300139444709508
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.17372701e-14,  1.04343175e-13,  1.00000000e+00,  4.35499929e-27,
        1.00000000e+00, -1.04343175e-13, -1.00000000e+00,  0.00000000e+00,
       -4.17372701e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03636858, -0.06278144,  0.06188204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.67935403e-04, 3.97017208e-02, 9.86259051e-03,-1.26701475e-05,
  1.57862866e-05,-9.43705225e-05, 2.46827729e-05, 6.85872697e-05,
  1.20144573e-05,-7.63588542e-05,-3.95605727e-05, 1.67604252e-04,
  2.70422120e-03, 4.21131062e-03, 9.04531141e-03, 1.32846587e-03,
  7.26563733e-06, 8.85358617e-06,-1.21644423e+00, 1.58951356e-03,
  5.40108453e-04, 4.89711383e-05]


--- Step 2409 ---
qpos:
[-0.01542249, 1.2924089 ,-0.03215513, 0.94843652, 0.0043975 , 1.33030264,
 -0.02961673, 0.94626848, 0.01673756, 1.33615519,-0.02390791, 0.9549841 ,
  1.3915586 ,-0.00508526, 1.19364189, 0.06175888,-0.00367046,-0.09258819,
  0.08162662, 0.63277687,-0.01312775,-0.00300495, 0.77421707]

qacc:
[ 7.78138651e-02,-4.28469971e-01,-9.90729998e-01, 1.67685747e+01,
  9.15668898e-02, 3.94663843e+00,-1.88823930e+01, 4.32342164e+01,
  4.67989903e-02,-1.37251572e-02, 4.55132030e-01,-2.46958706e+00,
 -2.90091840e-01, 3.21724822e-01, 3.63007132e+00,-7.25085375e+00,
 -1.18492054e+00,-1.08145540e+00,-1.06211006e+00,-6.45987636e+01,
 -5.54489552e+01,-3.07158941e+00]

qfrc_actuator:
[ 3.27741162e-03, 7.48279961e-02, 2.02838988e-02, 1.76937787e-03,
  1.54191661e-05, 3.61507689e-02, 1.08892564e-02, 1.86692122e-03,
 -3.07694047e-03, 3.50747310e-02, 1.07143788e-02, 1.98344102e-03,
  0.00000000e+00, 1.93950408e-03, 0.00000000e+00,-3.56834497e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007266982101851518
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30554269,  0.08768016, -0.94813283, -0.02689361,  0.99614868,
        0.08345384,  0.95179851,  0.        ,  0.30672398])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0725178 , -0.04277018,  0.22452916])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.66337319, -3.9823973 , -7.66337319, 11.71294471,
       -5.92030054, -3.9823973 , -5.92030054, 20.02886643,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001324178234850662
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.19212080e-14,  2.09606040e-14,  1.00000000e+00,  8.78693841e-28,
        1.00000000e+00, -2.09606040e-14, -1.00000000e+00,  0.00000000e+00,
       -4.19212080e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03638261, -0.06277679,  0.0618826 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.04862243e-04, 3.98150435e-02, 9.98423244e-03, 7.59681038e-05,
  2.63548228e-05,-1.07493561e-04,-4.46988771e-05, 1.11688948e-04,
  1.34929640e-05, 6.61034791e-07,-5.39842884e-06,-9.26748028e-06,
  2.71621160e-03, 4.23185017e-03, 8.63349650e-03, 1.31961077e-03,
  1.07495029e-06, 1.03636065e-06,-1.21644068e+00, 1.58642089e-03,
  5.41970792e-04, 3.89813780e-05]


--- Step 2410 ---
qpos:
[-0.01542573, 1.29241958,-0.03216452, 0.94843617, 0.00439756, 1.33032945,
 -0.02961731, 0.94627109, 0.01673661, 1.33616208,-0.02391021, 0.9549878 ,
  1.39157681,-0.0050957 , 1.19363566, 0.0617569 ,-0.00367828,-0.09259399,
  0.08163047, 0.63281872,-0.01313203,-0.00325111, 0.77418179]

qacc:
[ 5.10439669e-01,-9.73351819e-01,-2.00773279e+00, 1.17396309e+01,
  2.74653218e-02, 9.73977074e-01,-6.30436466e+00, 1.38752843e+01,
  4.23895164e-02,-4.99124673e+00, 1.80781038e+01,-2.93089997e+01,
 -9.15561575e-02,-1.35503501e-01, 1.03305093e+01,-2.05192272e+01,
 -1.10931297e+00,-1.04836003e+00,-1.53083933e+00,-6.12227169e+01,
 -5.23504277e+01,-3.07594814e+00]

qfrc_actuator:
[ 3.27388143e-03, 7.48485186e-02, 2.03156458e-02, 1.78926999e-03,
  7.76470669e-06, 3.60674205e-02, 1.08531870e-02, 1.89657008e-03,
 -3.07274812e-03, 3.50459523e-02, 1.07566770e-02, 1.92247076e-03,
  0.00000000e+00, 1.94339527e-03, 0.00000000e+00,-6.13031615e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007265923727936621
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30553894,  0.08768156, -0.9481339 , -0.02689371,  0.99614856,
        0.08345528,  0.95179971,  0.        ,  0.30672026])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07251646, -0.04277072,  0.22452952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.68292589, -3.9445439 , -7.68292589, 12.38222384,
       -7.29594272, -3.9445439 , -7.29594272, 22.84692602,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013052000672886394
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.12653802e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.12653802e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03641838, -0.06275463,  0.06188424])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.92217905e-04, 3.98210960e-02, 9.95714652e-03, 2.63911967e-05,
  7.89045379e-06,-1.48394234e-04,-5.89326312e-05, 2.77486474e-05,
  1.21616457e-05,-2.97814488e-05, 4.15450612e-05,-6.13116284e-05,
  2.72533392e-03, 4.23478776e-03, 8.50801948e-03, 1.06174268e-03,
  1.07186798e-06, 1.22581298e-06,-1.21644016e+00, 1.58327116e-03,
  5.43769601e-04, 3.88459476e-05]


--- Step 2411 ---
qpos:
[-0.01542872, 1.29242942,-0.03217433, 0.94843595, 0.00439762, 1.33035535,
 -0.02961828, 0.94627161, 0.01673574, 1.33616887,-0.02391196, 0.95498832,
  1.39159497,-0.00510614, 1.19363083, 0.06175466,-0.00368567,-0.09260538,
  0.08163903, 0.63286252,-0.01304093,-0.0035908 , 0.77414603]

qacc:
[ 1.04051392e-01, 2.12920290e-01,-2.28502993e+00, 3.90006786e+00,
  6.94557338e-05,-3.73056626e+00, 1.50141652e+01,-3.67871755e+01,
  3.49145263e-02,-7.10380883e+00, 2.94113547e+01,-6.21339280e+01,
 -1.42383092e-01, 1.73553047e-01, 2.86562743e+00,-7.02259864e+00,
  1.03909648e-01,-1.39361440e+00, 1.17682129e+00,-6.00924734e+00,
 -6.65091799e+01,-1.67500176e+00]

qfrc_actuator:
[ 3.25458804e-03, 7.48401956e-02, 2.03031264e-02, 1.80090178e-03,
  3.10822779e-06, 3.60251050e-02, 1.08320628e-02, 1.78864458e-03,
 -3.06991361e-03, 3.50439174e-02, 1.07824426e-02, 1.76086197e-03,
  0.00000000e+00, 1.95015114e-03, 0.00000000e+00,-6.06266741e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007267510875927155
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3055377 ,  0.08768256, -0.94813421, -0.02689391,  0.99614847,
        0.08345627,  0.9518001 ,  0.        ,  0.30671904])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07251575, -0.04277133,  0.22452977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -8.38588586,  -2.06487173,  -8.38588586,
        13.41916757, -19.42399002,  -2.06487173, -19.42399002,
        87.52134278,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012916862564362197
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.29757234e-14,  4.29757234e-14,  1.00000000e+00, -1.84691280e-27,
        1.00000000e+00, -4.29757234e-14, -1.00000000e+00,  0.00000000e+00,
        4.29757234e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00335795, -0.07088019,  0.06188539])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.13091425e-04, 3.99285159e-02, 9.95965471e-03, 1.11247311e-06,
 -6.52029892e-09,-1.35277598e-04,-5.60619535e-05,-1.13417804e-04,
  1.00168544e-05,-1.22464767e-05, 2.28771527e-05,-1.62690961e-04,
  2.72459389e-03, 4.26190094e-03, 8.14456385e-03, 1.06174835e-03,
  6.27319517e-06, 8.11816080e-06,-1.21644217e+00, 1.58001237e-03,
  5.45567475e-04, 4.69350241e-05]


--- Step 2412 ---
qpos:
[-0.01543241, 1.29244052,-0.03218413, 0.94843633, 0.00439766, 1.33038117,
 -0.0296199 , 0.94627007, 0.0167348 , 1.33617582,-0.02391377, 0.95498621,
  1.39161341,-0.00511603, 1.19362121, 0.0617517 ,-0.00368861,-0.09262137,
  0.08164893, 0.63290471,-0.01280165,-0.00393883, 0.77411384]

qacc:
[-2.95393842e-01, 2.69444170e+00,-8.04577705e+00, 1.33078723e+01,
 -9.86627781e-03,-1.83601071e+00, 1.00838244e+01,-3.24553599e+01,
 -3.40954060e-02,-4.13393067e+00, 1.90201607e+01,-4.68178425e+01,
  6.17060372e-02, 3.49637361e-01,-4.89937086e+00, 6.89255522e+00,
  1.11491198e+00,-1.15275793e+00, 3.34030250e-01, 4.36513887e+01,
 -6.00233490e+01, 1.43310751e+00]

qfrc_actuator:
[ 3.22631067e-03, 7.48140239e-02, 2.02642828e-02, 1.84340536e-03,
  2.89388134e-07, 3.60786740e-02, 1.08200156e-02, 1.68943875e-03,
 -3.08566870e-03, 3.50577958e-02, 1.07805207e-02, 1.63009483e-03,
  0.00000000e+00, 1.92286208e-03, 0.00000000e+00,-4.41375964e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007269204760324034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05537660e-01,  8.76834686e-02, -9.48134140e-01, -2.68941878e-02,
        9.96148387e-01,  8.34571347e-02,  9.51800105e-01, -3.46944695e-18,
        3.06719023e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07251517, -0.04277196,  0.22452999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.30005397, -2.38660449, -8.30005397, 10.27933661,
       -5.71387695, -2.38660449, -5.71387695, 28.50789543,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012759756232533365
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.35048681e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.35048681e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03199273, -0.07683857,  0.06188675])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.72609799e-04, 3.99447021e-02, 9.94162253e-03, 3.76046998e-05,
 -2.82708275e-06,-3.58053574e-05,-4.82314755e-05,-1.07500824e-04,
 -9.83756236e-06, 6.70945567e-06,-6.47862416e-06,-1.34239264e-04,
  2.72714030e-03, 4.23398141e-03, 8.07530054e-03, 1.24002521e-03,
  6.71753009e-06, 1.63652679e-05,-1.21644406e+00, 1.57592008e-03,
  5.45830216e-04, 5.54817468e-05]


--- Step 2413 ---
qpos:
[-0.01543608, 1.29245165,-0.03219354, 0.94843663, 0.00439782, 1.33040678,
 -0.02962147, 0.94626803, 0.01673359, 1.33618301,-0.02391517, 0.95498391,
  1.39163214,-0.00512593, 1.19361193, 0.0617487 ,-0.00368651,-0.0926327 ,
  0.08166033, 0.63294669,-0.01257112,-0.00411148, 0.7740824 ]

qacc:
[ 3.27578507e-03,-1.18483910e+00, 4.11481336e+00,-4.70360495e+00,
  5.00436953e-02,-1.31314024e+00, 4.97598412e+00,-1.00865750e+01,
 -1.12999935e-01,-1.15854033e+00, 4.55035339e+00,-6.40479777e+00,
  2.20541160e-01,-1.84849116e-01, 6.09083640e-01,-1.45220484e+00,
  1.26188510e+00, 1.16590233e+00, 3.77508685e-01, 6.51116839e+01,
  5.88829684e+01, 1.45667427e+00]

qfrc_actuator:
[ 3.22898689e-03, 7.47753696e-02, 2.02803999e-02, 1.83287657e-03,
  1.63489497e-05, 3.60827718e-02, 1.08315800e-02, 1.66726458e-03,
 -3.11244771e-03, 3.50987486e-02, 1.08156358e-02, 1.62506041e-03,
  0.00000000e+00, 1.91012502e-03, 0.00000000e+00,-5.00605488e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007268783931528092
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05536408e-01,  8.76846062e-02, -9.48134438e-01, -2.68944293e-02,
        9.96148287e-01,  8.34582521e-02,  9.51800501e-01,  3.46944695e-18,
        3.06717797e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07251414, -0.04277258,  0.22453026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.001262630837566725
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09911681e-14,  8.79293450e-14,  1.00000000e+00,  9.66446213e-28,
        1.00000000e+00, -8.79293450e-14, -1.00000000e+00,  0.00000000e+00,
       -1.09911681e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0368869 , -0.11872093,  0.06188792])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.09895783e-04, 3.98427541e-02, 9.95744981e-03,-3.77488449e-06,
  1.43907553e-05,-2.85459986e-05,-4.10523273e-06,-2.71240116e-05,
 -3.25818005e-05, 3.93709571e-05, 3.17529736e-05,-8.14502999e-06,
  2.71330220e-03, 4.19461134e-03, 8.31425387e-03, 1.21643816e-03,
  8.57069807e-07, 1.78318353e-05,-1.21644563e+00, 1.57346584e-03,
  5.44881991e-04, 5.07518412e-05]


--- Step 2414 ---
qpos:
[-0.0154396 , 1.29246256,-0.03220226, 0.94843714, 0.00439812, 1.33043206,
 -0.02962317, 0.9462661 , 0.01673238, 1.33619009,-0.02391577, 0.9549826 ,
  1.3916507 ,-0.00513595, 1.19360477, 0.06174575,-0.00367975,-0.09263956,
  0.08167081, 0.63298884,-0.01234842,-0.00411941, 0.77405147]

qacc:
[ 7.05045311e-02,-1.77006309e+00, 4.94817847e+00,-1.51051616e+00,
  6.25268975e-02, 1.45105216e-01,-1.21359569e+00, 2.57226125e+00,
  3.06253674e-03,-5.85699403e-01,-2.73248999e-01, 1.18477043e+01,
 -1.68202658e-01, 7.86181901e-02, 2.99776671e+00,-5.89426502e+00,
  1.16229725e+00, 1.11722919e+00,-2.33194891e-01, 6.12831284e+01,
  5.51562157e+01, 1.14688534e+00]

qfrc_actuator:
[ 3.24981234e-03, 7.47654568e-02, 2.03291026e-02, 1.84425372e-03,
  2.58510003e-05, 3.60573696e-02, 1.08213604e-02, 1.67283692e-03,
 -3.09236458e-03, 3.50848017e-02, 1.08547691e-02, 1.67634054e-03,
  0.00000000e+00, 1.94195056e-03, 0.00000000e+00,-5.70421411e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007268605347390614
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30553475,  0.08768575, -0.94813487, -0.02689464,  0.99614819,
        0.08345938,  0.95180103,  0.        ,  0.30671616])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07251314, -0.04277324,  0.22453054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  6.39848923,  5.80052691,  6.39848923, 16.57769092,
       -8.75997954,  5.80052691, -8.75997954, 18.29938833,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012618794187226612
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.19954262e-14,  8.79817048e-14,  1.00000000e+00,  1.93519509e-27,
        1.00000000e+00, -8.79817048e-14, -1.00000000e+00,  0.00000000e+00,
       -2.19954262e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03689229, -0.11871962,  0.06188804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.30338592e-04, 3.98311267e-02, 9.98644393e-03, 1.24663085e-05,
  1.79916859e-05,-4.29896992e-05,-1.70952963e-05, 3.99701454e-06,
  8.53745129e-07, 1.37320936e-05, 5.01828643e-05, 5.31913062e-05,
  2.69823856e-03, 4.22684622e-03, 8.29784099e-03, 1.14889387e-03,
 -1.26324099e-06, 3.99321382e-06,-1.21644160e+00, 1.57683199e-03,
  5.43802749e-04, 3.34772012e-05]


--- Step 2415 ---
qpos:
[-0.0154427 , 1.29247303,-0.03221073, 0.94843818, 0.00439841, 1.33045659,
 -0.02962485, 0.94626532, 0.01673143, 1.3361969 ,-0.02391524, 0.9549833 ,
  1.39166882,-0.00514607, 1.19359936, 0.06174263,-0.00366867,-0.09264212,
  0.0816783 , 0.63303141,-0.01213278,-0.00397143, 0.77402084]

qacc:
[ 1.74903799e-01,-3.63937589e-01,-5.70929525e-01, 6.78960873e+00,
 -5.65605975e-03, 8.78892204e-01,-6.42120634e+00, 1.93517921e+01,
  1.06955801e-01, 6.82126308e-02,-4.66849740e+00, 2.72957525e+01,
 -3.91943349e-01, 2.91922438e-01, 3.13892499e+00,-7.16815296e+00,
  1.08104021e+00, 1.07599640e+00,-7.45727693e-01, 5.81078007e+01,
  5.20769957e+01, 9.07767396e-01]

qfrc_actuator:
[ 3.29911947e-03, 7.48085413e-02, 2.03613990e-02, 1.86848954e-03,
  1.35891657e-05, 3.59967008e-02, 1.08159931e-02, 1.73014231e-03,
 -3.06208396e-03, 3.50736645e-02, 1.09135094e-02, 1.77803985e-03,
  0.00000000e+00, 1.98287927e-03, 0.00000000e+00,-6.28914597e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007269615174129856
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30553265,  0.08768684, -0.94813544, -0.02689479,  0.99614809,
        0.08346049,  0.9518017 ,  0.        ,  0.30671409])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0725123, -0.0427739,  0.2245308])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   6.45684666,   5.73549546,   6.45684666,
        18.07893971, -10.63016547,   5.73549546, -10.63016547,
        20.60348119,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012477978316782629
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.33654718e-14,  4.44872958e-14,  1.00000000e+00,  1.48433962e-27,
        1.00000000e+00, -4.44872958e-14, -1.00000000e+00,  0.00000000e+00,
       -3.33654718e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03691724, -0.11873469,  0.06188927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.71389166e-04, 3.98855081e-02, 9.98428688e-03, 2.53781054e-05,
 -1.64821034e-06,-8.78502616e-05,-1.56325988e-05, 5.56380065e-05,
  3.07891779e-05, 7.78302247e-06, 6.86724844e-05, 1.04819817e-04,
  2.70716799e-03, 4.27401650e-03, 8.19155539e-03, 1.08786995e-03,
  2.01143882e-06,-1.92883869e-06,-1.21644049e+00, 1.57986118e-03,
  5.42416597e-04, 2.62826023e-05]


--- Step 2416 ---
qpos:
[-0.01544526, 1.29248291,-0.03221914, 0.94843987, 0.00439878, 1.33048065,
 -0.02962664, 0.94626487, 0.01673077, 1.33620438,-0.02391487, 0.9549852 ,
  1.39168648,-0.00515628, 1.19359583, 0.06173922,-0.00365353,-0.09264051,
  0.08168108, 0.63307454,-0.01192359,-0.00367483, 0.77399028]

qacc:
[ 2.31725699e-01, 1.60724517e-01,-2.78877593e+00, 1.03264199e+01,
  3.23817250e-02, 2.86339515e-01,-2.35800602e+00, 6.17289103e+00,
  1.26777613e-01, 3.36248809e+00,-1.23403976e+01, 2.41141733e+01,
 -4.08838106e-01, 3.11741216e-01, 3.61403100e+00,-8.57311449e+00,
  1.01457468e+00, 1.04109678e+00,-1.17548419e+00, 5.54788581e+01,
  4.95355746e+01, 7.24834316e-01]

qfrc_actuator:
[ 3.32969941e-03, 7.48304674e-02, 2.03840147e-02, 1.90005663e-03,
  2.38762472e-05, 3.59864481e-02, 1.08134209e-02, 1.74639657e-03,
 -3.04368554e-03, 3.51354217e-02, 1.09123607e-02, 1.83757826e-03,
  0.00000000e+00, 2.01153958e-03, 0.00000000e+00,-6.98160118e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007271353481082231
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05530736e-01,  8.76878112e-02, -9.48135970e-01, -2.68949206e-02,
        9.96148005e-01,  8.34614610e-02,  9.51802307e-01, -3.46944695e-18,
        3.06712190e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0725116 , -0.04277454,  0.22453104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   6.48257663,   5.70639791,   6.48257663,
        20.02395058, -12.93651551,   5.70639791, -12.93651551,
        23.33249148,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012231944636955233
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13455286e-14,  9.07642290e-14,  1.00000000e+00,  1.02976816e-27,
        1.00000000e+00, -9.07642290e-14, -1.00000000e+00,  0.00000000e+00,
       -1.13455286e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03695748, -0.11876256,  0.06189137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.81465550e-04, 3.99292484e-02, 9.99439143e-03, 3.09548437e-05,
  9.31128770e-06,-6.04082607e-05,-1.99280222e-05, 1.44836053e-05,
  3.65791599e-05, 8.25329499e-05, 1.12353182e-05, 6.42290961e-05,
  2.72947969e-03, 4.30762132e-03, 8.10420456e-03, 1.02744685e-03,
  9.84328653e-06,-1.23297485e-06,-1.21644185e+00, 1.58267621e-03,
  5.40723804e-04, 2.75462791e-05]


--- Step 2417 ---
qpos:
[-0.01544794, 1.2924926 ,-0.03222759, 0.9484412 , 0.0043991 , 1.33050461,
 -0.02962825, 0.94626214, 0.01673053, 1.33621243,-0.02391583, 0.95498614,
  1.39170357,-0.00516639, 1.19359164, 0.06173558,-0.00364406,-0.0926435 ,
  0.081684  , 0.63311954,-0.01170839,-0.00357139, 0.77395724]

qacc:
[-4.85514967e-02,-7.36232574e-01, 2.82535060e+00,-6.43396429e+00,
 -2.17432323e-02,-4.52812246e+00, 1.92685595e+01,-4.29305381e+01,
  1.74884105e-01, 2.70336757e+00,-5.97765518e+00,-6.21837668e+00,
 -4.98037017e-01, 5.08508579e-01,-1.81217319e-01,-6.68147259e-01,
 -1.41679613e+00,-1.15012046e+00, 3.23627215e-02,-7.28439439e+01,
 -6.34522328e+01,-2.67590555e+00]

qfrc_actuator:
[ 3.33099313e-03, 7.47867655e-02, 2.03654011e-02, 1.88242488e-03,
  1.21029519e-05, 3.60064612e-02, 1.08304241e-02, 1.63186276e-03,
 -3.01481208e-03, 3.51158347e-02, 1.08228568e-02, 1.78305946e-03,
  0.00000000e+00, 2.05062917e-03, 0.00000000e+00,-6.67171906e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007273740993011674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30552932,  0.08768861, -0.94813635, -0.02689504,  0.99614793,
        0.08346226,  0.95180276,  0.        ,  0.30671079])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07251106, -0.04277516,  0.22453126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.001212433950414954
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.57848868e-14,  2.28924434e-14,  1.00000000e+00,  1.04812793e-27,
        1.00000000e+00, -2.28924434e-14, -1.00000000e+00,  0.00000000e+00,
       -4.57848868e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03660307, -0.06266071,  0.06189228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.55591845e-04, 3.99148509e-02, 9.97248642e-03,-1.92537353e-05,
 -6.28175317e-06,-1.70324844e-05, 3.32042183e-06,-1.16562869e-04,
  5.04755605e-05, 3.01027444e-05,-7.02355900e-05,-5.02361253e-05,
  2.75203945e-03, 4.35164533e-03, 8.01089696e-03, 1.07220069e-03,
  2.16167613e-05, 5.12177915e-06,-1.21644534e+00, 1.58536041e-03,
  5.38728911e-04, 3.60736050e-05]


--- Step 2418 ---
qpos:
[-0.01545114, 1.29250219,-0.03223668, 0.9484413 , 0.00439947, 1.33052819,
 -0.02962955, 0.94625809, 0.01673053, 1.3362196 ,-0.02391641, 0.95498612,
  1.39172038,-0.0051762 , 1.19358431, 0.06173165,-0.00363979,-0.09265094,
  0.0816845 , 0.63316675,-0.01148802,-0.00364828, 0.77392156]

qacc:
[-2.24359911e-01,-4.92830678e-01, 3.98850095e+00,-1.76920030e+01,
  2.40371636e-02,-3.57241103e+00, 1.37740913e+01,-2.71133354e+01,
  1.01563173e-01,-3.84372332e+00, 1.30891870e+01,-2.19240967e+01,
 -2.77340789e-01, 4.47378802e-01,-3.74726938e+00, 6.39334347e+00,
 -1.30032187e+00,-1.11028265e+00,-6.04173829e-01,-6.81380846e+01,
 -5.90620380e+01,-2.75430990e+00]

qfrc_actuator:
[ 3.31515496e-03, 7.47567828e-02, 2.03043805e-02, 1.81826715e-03,
  2.26960347e-05, 3.59734362e-02, 1.08411510e-02, 1.56559195e-03,
 -3.01539258e-03, 3.50117563e-02, 1.08235977e-02, 1.73279446e-03,
  0.00000000e+00, 2.06031624e-03, 0.00000000e+00,-5.75965422e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007275579780252443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05528124e-01,  8.76894373e-02, -9.48136661e-01, -2.68951933e-02,
        9.96147862e-01,  8.34630816e-02,  9.51803138e-01, -3.46944695e-18,
        3.06709612e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07251047, -0.04277572,  0.22453148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.33214471, -4.56359845, -7.33214471, 11.59865513,
       -4.75939111, -4.56359845, -4.75939111, 16.28308031,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012256124040215671
  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([ 0.03658412, -0.06268292,  0.06189119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.45442459e-04, 3.98943359e-02, 9.91365860e-03,-6.56594802e-05,
  6.88656588e-06,-4.54634377e-05, 4.32767850e-06,-6.93616977e-05,
  2.92246359e-05,-1.02687765e-04,-2.83834862e-06,-5.25861020e-05,
  2.78053425e-03, 4.35662908e-03, 8.04311855e-03, 1.17558180e-03,
  7.09184910e-06,-2.00669989e-06,-1.21644110e+00, 1.58111901e-03,
  5.41162391e-04, 2.55488316e-05]


--- Step 2419 ---
qpos:
[-0.01545458, 1.29251159,-0.03224625, 0.94843995, 0.00439993, 1.33055136,
 -0.02963102, 0.946254  , 0.01673038, 1.33622524,-0.02391525, 0.95498617,
  1.39173753,-0.00518588, 1.19357497, 0.06172762,-0.00364033,-0.09266267,
  0.08168044, 0.63321635,-0.01126316,-0.00389484, 0.77388309]

qacc:
[-1.02816015e-01,-1.43410995e+00, 7.33933412e+00,-2.31016212e+01,
  3.55842413e-02,-1.84350490e-01, 4.38282625e-02,-3.03512247e-01,
 -6.46078092e-02,-6.59033635e+00, 1.89161079e+01,-1.45774154e+01,
  2.66604885e-01,-1.38967281e-01,-2.71174450e+00, 5.15106233e+00,
 -1.20471951e+00,-1.07512566e+00,-1.14029277e+00,-6.42251187e+01,
 -5.54338153e+01,-2.78919311e+00]

qfrc_actuator:
[ 3.28949521e-03, 7.47350095e-02, 2.02717893e-02, 1.74496832e-03,
  2.88689145e-05, 3.59444181e-02, 1.08301806e-02, 1.56375318e-03,
 -3.05138949e-03, 3.49292132e-02, 1.09128091e-02, 1.73872952e-03,
  0.00000000e+00, 2.01661845e-03, 0.00000000e+00,-5.37244245e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007275375343425775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30552763,  0.08769042, -0.94813673, -0.02689545,  0.99614778,
        0.08346403,  0.95180329,  0.        ,  0.30670914])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07250963, -0.04277624,  0.22453172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.34170354, -4.5482047 , -7.34170354, 12.3900494 ,
       -6.05919255, -4.5482047 , -6.05919255, 18.41710094,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012228028643308589
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.5396648e-14,  9.0793296e-14,  1.0000000e+00,  4.1217113e-27,
        1.0000000e+00, -9.0793296e-14, -1.0000000e+00,  0.0000000e+00,
       -4.5396648e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03659194, -0.06268338,  0.06189143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.46072695e-04, 3.98771101e-02, 9.91316002e-03,-7.72156010e-05,
  1.02346323e-05,-5.55698903e-05,-2.14334818e-05,-4.65934862e-06,
 -1.87428233e-05,-1.41488101e-04, 6.72890884e-05, 1.59453194e-06,
  2.79472182e-03, 4.29827267e-03, 8.20080388e-03, 1.22897902e-03,
  2.20347527e-08,-1.77257928e-07,-1.21644030e+00, 1.57696598e-03,
  5.43389799e-04, 2.61357685e-05]


--- Step 2420 ---
qpos:
[-0.01545862, 1.29252218,-0.0322551 , 0.94843753, 0.00440017, 1.33057363,
 -0.02963218, 0.94625131, 0.01672996, 1.33623059,-0.02391427, 0.95498559,
  1.39175481,-0.00519533, 1.19356243, 0.06172363,-0.00364665,-0.09266894,
  0.08167111, 0.63325684,-0.01124633,-0.00413469, 0.77384895]

qacc:
[-2.55995971e-01,-2.20886749e+00, 1.12673658e+01,-2.27539543e+01,
 -9.02025350e-02, 3.88372050e-01,-5.59017301e+00, 2.17616233e+01,
 -1.12765397e-01,-9.89805200e-01, 4.02075919e+00,-1.05487521e+01,
  1.39074498e-01, 7.77366686e-03,-4.82137105e+00, 9.96701075e+00,
 -1.44260124e+00, 1.36663322e+00,-1.31855905e+00,-6.33091124e+01,
  8.25812290e+01, 5.33823368e+00]

qfrc_actuator:
[ 3.29337326e-03, 7.47183092e-02, 2.02918631e-02, 1.70240701e-03,
 -3.16565272e-06, 3.58824799e-02, 1.08420339e-02, 1.63532585e-03,
 -3.07283383e-03, 3.49493578e-02, 1.09115663e-02, 1.70671962e-03,
  0.00000000e+00, 2.01193499e-03, 0.00000000e+00,-4.23587684e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007273773808654724
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30552778,  0.08769146, -0.94813658, -0.02689579,  0.99614768,
        0.08346502,  0.95180323,  0.        ,  0.30670932])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07250863, -0.04277676,  0.22453196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0012373101034800077
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.48643805e-14,  2.24321902e-14,  1.00000000e+00,  1.00640632e-27,
        1.00000000e+00, -2.24321902e-14, -1.00000000e+00,  0.00000000e+00,
       -4.48643805e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04742486, -0.115736  ,  0.06189019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.61996040e-04, 3.98704829e-02, 9.95759563e-03,-4.68877342e-05,
 -2.59979329e-05,-9.71749136e-05,-1.61992115e-06, 6.91946128e-05,
 -3.25112326e-05,-4.49490070e-05,-2.11878748e-05,-3.41867215e-05,
  2.77804722e-03, 4.28660353e-03, 8.30106103e-03, 1.34700675e-03,
 -8.83649625e-07, 9.02213594e-06,-1.21644230e+00, 1.57281728e-03,
  5.45511177e-04, 3.58319624e-05]


--- Step 2421 ---
qpos:
[-0.01546308, 1.2925332 ,-0.03226349, 0.94843505, 0.00440013, 1.33059471,
 -0.02963302, 0.94624988, 0.01672957, 1.3362363 ,-0.02391455, 0.95498601,
  1.3917719 ,-0.00520456, 1.19354901, 0.0617196 ,-0.00365848,-0.09267017,
  0.08165439, 0.63328912,-0.01142456,-0.00436795, 0.77381864]

qacc:
[-1.78033817e-01,-7.48647800e-01, 3.25473802e+00,-3.83412555e+00,
 -1.19819243e-01,-2.64242746e-01,-3.58142532e+00, 1.83313861e+01,
  1.28537214e-02, 5.63534642e+00,-1.98023469e+01, 2.84616373e+01,
 -2.70755864e-01, 4.20390642e-01,-1.18509255e+00, 2.31091373e+00,
 -1.37612111e+00, 1.25970731e+00,-1.84770671e+00,-5.92538384e+01,
  7.75161857e+01, 4.82692073e+00]

qfrc_actuator:
[ 3.29767711e-03, 7.47210867e-02, 2.03070046e-02, 1.69622499e-03,
 -2.23559528e-05, 3.58014472e-02, 1.08494221e-02, 1.69624940e-03,
 -3.04986711e-03, 3.49949913e-02, 1.08572777e-02, 1.75913271e-03,
  0.00000000e+00, 2.04828268e-03, 0.00000000e+00,-4.24822000e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007271216946078615
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3055261 ,  0.08769271, -0.94813701, -0.02689603,  0.99614757,
        0.08346626,  0.95180376,  0.        ,  0.30670767])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07250735, -0.04277726,  0.22453225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -6.12962953,  6.08394763, -6.12962953, 15.60961029,
        7.02560594,  6.08394763,  7.02560594, 15.71472201,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012412609647005912
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.94431595e-14,  2.23607899e-14,  1.00000000e+00,  2.00001970e-27,
        1.00000000e+00, -2.23607899e-14, -1.00000000e+00,  0.00000000e+00,
       -8.94431595e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04741186, -0.1157349 ,  0.06188982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.96311696e-04, 3.98133398e-02, 9.93604514e-03,-1.29871841e-07,
 -3.45332718e-05,-1.33187511e-04,-9.80026438e-06, 5.95934957e-05,
  3.77493779e-06, 1.55866426e-05,-6.64824799e-05, 4.96738556e-05,
  2.77083743e-03, 4.31232141e-03, 8.46156966e-03, 1.34450967e-03,
  5.12088478e-06, 7.93205634e-06,-1.21644189e+00, 1.57948462e-03,
  5.47220365e-04, 3.97882114e-05]


--- Step 2422 ---
qpos:
[-0.0154673 , 1.29254293,-0.03227248, 0.94843203, 0.00439983, 1.33061506,
 -0.02963421, 0.94624952, 0.01672945, 1.33624232,-0.02391557, 0.95498738,
  1.39178879,-0.00521382, 1.19353794, 0.06171567,-0.00366508,-0.09266635,
  0.08164303, 0.63332173,-0.01161154,-0.00440902, 0.77378894]

qacc:
[  0.10465917, -1.01130708,  2.3425936 , -7.40049342, -0.11014727,
   1.8212991 , -9.30799651, 21.04801366,  0.11745652,  4.00295247,
 -14.47855592, 23.2797607 , -0.2471818 ,  0.22848891,  3.2065238 ,
  -6.13336677,  1.30495423,  1.26322165,  1.34312894, 71.59434928,
  64.24241966,  1.18737737]

qfrc_actuator:
[ 3.30229376e-03, 7.47535924e-02, 2.03014283e-02, 1.65804220e-03,
 -3.36844944e-05, 3.57806139e-02, 1.08362529e-02, 1.75038026e-03,
 -3.01819710e-03, 3.50198640e-02, 1.08255799e-02, 1.80756439e-03,
  0.00000000e+00, 2.07364559e-03, 0.00000000e+00,-5.30450639e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00072684862276369
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30552358,  0.0876941 , -0.94813769, -0.02689624,  0.99614745,
        0.08346765,  0.95180457,  0.        ,  0.30670518])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07250598, -0.04277776,  0.22453256])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0012681929431341624
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.83003687e-14,  4.37718500e-14,  1.00000000e+00, -1.67647799e-27,
        1.00000000e+00, -4.37718500e-14, -1.00000000e+00,  0.00000000e+00,
        3.83003687e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03690473, -0.11868421,  0.06188748])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.21798904e-04, 3.98242959e-02, 9.90816639e-03,-3.50696454e-05,
 -3.17088505e-05,-9.47868538e-05,-3.86093168e-05, 5.12591601e-05,
  3.39024464e-05, 2.19422863e-05,-3.47609555e-05, 4.81126911e-05,
  2.78105731e-03, 4.32646554e-03, 8.50571218e-03, 1.24042803e-03,
  1.38538582e-05, 3.99701489e-06,-1.21644470e+00, 1.58452059e-03,
  5.48469021e-04, 3.19341337e-05]


--- Step 2423 ---
qpos:
[-0.01547212, 1.29255388,-0.0322809 , 0.94842933, 0.00439933, 1.33063461,
 -0.02963558, 0.94625086, 0.01672981, 1.33624829,-0.02391624, 0.95498826,
  1.39180528,-0.00522268, 1.19352431, 0.0617115 ,-0.00366688,-0.09265773,
  0.08163397, 0.63335488,-0.0118064 ,-0.00427146, 0.77375963]

qacc:
[ -0.2620019 ,  0.60241941, -0.67557219,  3.48541635, -0.08763134,
   2.31519509,-12.27488344, 30.67557398,  0.19660276, -1.84858764,
   6.94065152,-11.65210228, -0.47142582,  0.72286494, -3.02099981,
   5.15626591,  1.19924555,  1.19790568,  0.57288676, 66.62553522,
  59.61203737,  0.96540356]

qfrc_actuator:
[ 3.30660224e-03, 7.48232380e-02, 2.03375384e-02, 1.68991738e-03,
 -4.02058893e-05, 3.57426564e-02, 1.08290329e-02, 1.83560980e-03,
 -2.98156430e-03, 3.50144459e-02, 1.08429109e-02, 1.78224952e-03,
  0.00000000e+00, 2.11034082e-03, 0.00000000e+00,-4.14784244e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007266188698018122
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05522857e-01,  8.76953942e-02, -9.48137807e-01, -2.68965708e-02,
        9.96147337e-01,  8.34688963e-02,  9.51804790e-01,  3.46944695e-18,
        3.06704486e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07250483, -0.04277826,  0.22453282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.53583724,   4.21875976,   7.53583724,
        14.99500869, -11.3582467 ,   4.21875976, -11.3582467 ,
        28.92524076,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012868537871753433
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.61764156e-14,  1.07842771e-14,  1.00000000e+00, -1.74450948e-28,
        1.00000000e+00, -1.07842771e-14, -1.00000000e+00,  0.00000000e+00,
        1.61764156e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03687739, -0.11865796,  0.06188586])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.13834484e-04, 3.99585094e-02, 9.97385291e-03, 2.35113069e-05,
 -2.52338466e-05,-9.65460681e-05,-2.86693595e-05, 8.24716104e-05,
  5.66518258e-05, 1.31612415e-06, 1.90700217e-05,-2.45531692e-05,
  2.79070714e-03, 4.36503416e-03, 8.38845499e-03, 1.35151612e-03,
  3.50370529e-06,-1.00070484e-06,-1.21644295e+00, 1.58814738e-03,
  5.46864397e-04, 2.57894915e-05]


--- Step 2424 ---
qpos:
[-0.0154782 , 1.29256776,-0.03228795, 0.94842856, 0.00439867, 1.33065305,
 -0.02963623, 0.94625145, 0.01673046, 1.3362539 ,-0.02391544, 0.95498948,
  1.39182131,-0.00523068, 1.1935048 , 0.06170674,-0.00366424,-0.09264454,
  0.08162461, 0.63338867,-0.01200841,-0.00396649, 0.77373048]

qacc:
[ -0.53034975,  3.43434898,-10.50606041, 29.57797931, -0.06395401,
  -4.65273843, 14.91307918,-20.7306445 ,  0.12948875, -3.83470086,
  11.23949596, -5.4995503 , -0.66504561,  1.23349129, -6.84608425,
  11.44798167,  1.11208465,  1.14241125, -0.07530131, 62.49888523,
  55.78110864,  0.80443007]

qfrc_actuator:
[ 3.31148730e-03, 7.48421589e-02, 2.03622284e-02, 1.79869534e-03,
 -4.37921224e-05, 3.56770360e-02, 1.08608603e-02, 1.79644015e-03,
 -2.97775657e-03, 3.50088362e-02, 1.09243791e-02, 1.80250977e-03,
  0.00000000e+00, 2.15340985e-03, 0.00000000e+00,-2.37056554e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007263246776967221
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05520422e-01,  8.76968941e-02, -9.48138453e-01, -2.68968200e-02,
        9.96147205e-01,  8.34703918e-02,  9.51805565e-01, -3.46944695e-18,
        3.06702082e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07250344, -0.04277873,  0.22453313])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.54974355,   4.19382274,   7.54974355,
        16.13230707, -13.49423998,   4.19382274, -13.49423998,
        32.92877118,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012877570955224515
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.31068494e-14,  4.31068494e-14,  1.00000000e+00,  1.85820047e-27,
        1.00000000e+00, -4.31068494e-14, -1.00000000e+00,  0.00000000e+00,
       -4.31068494e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03687687, -0.11865357,  0.06188574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.49427632e-04, 3.99162327e-02, 9.96994670e-03, 1.16450514e-04,
 -1.84785444e-05,-1.22294046e-04, 1.20829128e-05,-4.09639343e-05,
  3.72568351e-05,-1.92160875e-06, 8.31694993e-05, 2.02941640e-05,
  2.81079055e-03, 4.38800412e-03, 8.51673574e-03, 1.54127403e-03,
  1.62115622e-07, 2.71384981e-06,-1.21644451e+00, 1.59159128e-03,
  5.44878444e-04, 3.08717285e-05]


--- Step 2425 ---
qpos:
[-0.01548469, 1.29258318,-0.03229381, 0.94842889, 0.00439791, 1.33067122,
 -0.02963671, 0.94624911, 0.01673103, 1.33625976,-0.02391467, 0.95499062,
  1.39183754,-0.00523827, 1.19348276, 0.06170189,-0.00365744,-0.09262698,
  0.08161277, 0.63342311,-0.01221701,-0.00350344, 0.77370126]

qacc:
[-1.80536362e-01, 6.79177523e-01,-2.01827483e+00, 1.34685465e+01,
 -4.40284611e-02,-5.81811845e+00, 2.45818041e+01,-5.51817906e+01,
 -4.05098475e-02, 2.58611716e-01,-2.94203167e-01,-8.85193863e-01,
  1.59753449e-03, 3.16667073e-01,-3.45353859e+00, 6.67454517e+00,
  1.04007750e+00, 1.09522938e+00,-6.20346876e-01, 5.90739481e+01,
  5.26139382e+01, 6.92205777e-01]

qfrc_actuator:
[ 3.31759312e-03, 7.47396871e-02, 2.03612873e-02, 1.84536085e-03,
 -4.55899286e-05, 3.57019690e-02, 1.08797871e-02, 1.64887126e-03,
 -3.01142328e-03, 3.50211894e-02, 1.09187995e-02, 1.79621334e-03,
  0.00000000e+00, 2.12868195e-03, 0.00000000e+00,-1.99171197e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007258891624867501
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30551389,  0.08769882, -0.94814038, -0.02689684,  0.99614704,
        0.08347241,  0.95180766,  0.        ,  0.30669558])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07250148, -0.04277914,  0.22453356])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.53597465,   4.2185143 ,   7.53597465,
        17.81892011, -16.40376398,   4.2185143 , -16.40376398,
        37.94012815,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012744594034343887
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.17783129e-14,  4.35566257e-14,  1.00000000e+00,  9.48589822e-28,
        1.00000000e+00, -4.35566257e-14, -1.00000000e+00,  0.00000000e+00,
       -2.17783129e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03689762, -0.11866652,  0.06188681])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.17694231e-04, 3.96672519e-02, 9.90052294e-03, 6.67042665e-05,
 -1.27049314e-05,-4.17087889e-05,-4.83467775e-06,-1.51806562e-04,
 -1.16683693e-05, 2.80987060e-05, 4.08549647e-06,-3.43717090e-06,
  2.83357183e-03, 4.32072486e-03, 8.81126456e-03, 1.60879703e-03,
  2.54526863e-06, 1.34872673e-05,-1.21644878e+00, 1.59490841e-03,
  5.42545155e-04, 4.50933784e-05]


--- Step 2426 ---
qpos:
[-0.01549043, 1.29259776,-0.03229948, 0.94842969, 0.00439708, 1.33068979,
 -0.02963819, 0.94624537, 0.01673165, 1.336266  ,-0.02391435, 0.95499238,
  1.3918544 ,-0.00524601, 1.19346334, 0.06169726,-0.00365675,-0.09261461,
  0.08160463, 0.63345998,-0.01241976,-0.00324987, 0.77366895]

qacc:
[ 3.22546462e-01,-7.81763959e-01, 2.29019026e-01, 5.91577583e+00,
 -2.86736971e-02, 7.81842761e-01, 9.40551067e-01,-1.73086542e+01,
  2.85122980e-02, 2.77659075e+00,-9.67587726e+00, 1.52370090e+01,
  4.77367755e-01,-4.89483028e-01, 3.16399223e+00,-5.50528941e+00,
 -1.52766708e+00,-1.29804248e+00, 9.25466271e-01,-7.91710780e+01,
 -6.85854300e+01,-3.21156009e+00]

qfrc_actuator:
[ 3.32410877e-03, 7.46711134e-02, 2.03623525e-02, 1.85482029e-03,
 -4.63013818e-05, 3.57453223e-02, 1.08379792e-02, 1.58078131e-03,
 -2.99628536e-03, 3.50438706e-02, 1.08974139e-02, 1.82753632e-03,
  0.00000000e+00, 2.08113262e-03, 0.00000000e+00,-3.16467231e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007254227651014404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05504758e-01,  8.77009148e-02, -9.48143129e-01, -2.68966837e-02,
        9.96146851e-01,  8.34746600e-02,  9.51810596e-01, -3.46944695e-18,
        3.06686466e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07249925, -0.04277957,  0.22453405])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0012902927069181475
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.30221383e-14,  4.30221383e-14,  1.00000000e+00,  1.85090438e-27,
        1.00000000e+00, -4.30221383e-14, -1.00000000e+00,  0.00000000e+00,
       -4.30221383e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03648931, -0.06280242,  0.06188541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.45370766e-04, 3.95216083e-02, 9.84210628e-03, 2.13936586e-05,
 -8.20866080e-06, 1.46533499e-05,-5.49870234e-05,-7.29832099e-05,
  8.25357047e-06, 3.88764016e-05,-1.55398098e-05, 3.22059377e-05,
  2.82408453e-03, 4.25289982e-03, 8.93793372e-03, 1.49606355e-03,
  9.70879962e-06, 3.01208956e-05,-1.21645533e+00, 1.59813008e-03,
  5.39894389e-04, 6.69435050e-05]


--- Step 2427 ---
qpos:
[-0.01549519, 1.29261007,-0.03230629, 0.94843046, 0.00439635, 1.33070854,
 -0.02964027, 0.94624291, 0.01673269, 1.33627289,-0.0239142 , 0.95499584,
  1.39187171,-0.005254  , 1.19344807, 0.06169275,-0.00366161,-0.09260715,
  0.08159704, 0.63349961,-0.01261757,-0.00318993, 0.77363355]

qacc:
[ 4.16189492e-01, 3.90846964e-02,-3.63765040e+00, 4.15424708e+00,
  4.45280232e-02, 4.10208924e+00,-1.56980019e+01, 2.83388478e+01,
  1.70453679e-01, 4.24630091e+00,-1.62554992e+01, 3.33485146e+01,
  3.07839392e-01,-4.05584165e-01, 5.72341460e+00,-1.11935262e+01,
 -1.38979065e+00,-1.22922215e+00, 1.38445150e-01,-7.33280117e+01,
 -6.32172326e+01,-3.25373874e+00]

qfrc_actuator:
[ 3.31210756e-03, 7.47134062e-02, 2.03473975e-02, 1.84213121e-03,
 -2.86035598e-05, 3.57636751e-02, 1.08140773e-02, 1.64878154e-03,
 -2.95198963e-03, 3.51080070e-02, 1.09024750e-02, 1.91626934e-03,
  0.00000000e+00, 2.07353652e-03, 0.00000000e+00,-4.56140218e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007250581726395144
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30549625,  0.08770277, -0.9481457 , -0.02689651,  0.99614669,
        0.08347666,  0.95181333,  0.        ,  0.30667798])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07249726, -0.04278009,  0.22453449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -6.99468468, -5.06568486, -6.99468468, 13.34940792,
       -6.50775947, -5.06568486, -6.50775947, 17.62226123,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013192015360031367
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.10396781e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.10396781e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03644214, -0.06284509,  0.06188295])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.95555373e-04, 3.96058535e-02, 9.81789336e-03,-1.53957129e-05,
  1.28553759e-05, 1.33823299e-05,-2.94555775e-05, 6.51533432e-05,
  4.91731771e-05, 8.35145534e-05, 1.18250729e-05, 9.01913626e-05,
  2.79217621e-03, 4.25261235e-03, 8.80702307e-03, 1.34522876e-03,
  1.32198536e-06, 9.45323130e-06,-1.21644749e+00, 1.59446016e-03,
  5.42372842e-04, 4.20556573e-05]


--- Step 2428 ---
qpos:
[-0.01550009, 1.2926222 ,-0.03231309, 0.9484298 , 0.00439593, 1.33072685,
 -0.02964209, 0.94624095, 0.01673388, 1.33628069,-0.02391489, 0.95499828,
  1.39188897,-0.00526204, 1.19343239, 0.06168854,-0.00367159,-0.09260437,
  0.08158735, 0.63354215,-0.01281116,-0.00331049, 0.77359502]

qacc:
[-5.41668708e-02,-2.72017680e+00, 1.15234293e+01,-2.65063399e+01,
  1.25781933e-01,-4.65368319e-01,-2.22288534e-01, 6.26743372e+00,
  6.72934648e-02, 1.70508274e+00,-2.03962944e+00,-1.06181641e+01,
  3.91595005e-02,-1.03809754e-01,-1.48229481e+00, 4.31892941e+00,
 -1.27637793e+00,-1.17030764e+00,-5.24936884e-01,-6.84699282e+01,
 -5.87723025e+01,-3.26153829e+00]

qfrc_actuator:
[ 3.30622665e-03, 7.47174590e-02, 2.03595842e-02, 1.78097240e-03,
 -5.96583571e-09, 3.57138077e-02, 1.08186908e-02, 1.67204396e-03,
 -2.96157199e-03, 3.51433452e-02, 1.08522950e-02, 1.86058571e-03,
  0.00000000e+00, 2.09007596e-03, 0.00000000e+00,-3.78439505e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007247675867314944
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05490990e-01,  8.77042830e-02, -9.48147253e-01, -2.68965125e-02,
        9.96146555e-01,  8.34782539e-02,  9.51815020e-01,  3.46944695e-18,
        3.06672737e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07249565, -0.04278068,  0.22453484])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -6.99149265, -5.07008948, -6.99149265, 14.33967727,
       -7.86468867, -5.07008948, -7.86468867, 19.48151996,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013277784300437245
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.36150821e-14,  2.09037705e-14,  1.00000000e+00,  1.74787049e-27,
        1.00000000e+00, -2.09037705e-14, -1.00000000e+00,  0.00000000e+00,
       -8.36150821e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03642945, -0.06286041,  0.0618822 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.40872825e-04, 3.97228398e-02, 9.88695027e-03,-7.47817877e-05,
  3.61829578e-05,-4.64040500e-05, 5.76565823e-06, 2.43316956e-05,
  1.94544373e-05, 8.64630976e-05,-2.98901078e-05,-5.07495743e-05,
  2.77006880e-03, 4.28178552e-03, 8.60053378e-03, 1.41703658e-03,
  1.14102848e-06, 1.65950780e-07,-1.21644393e+00, 1.59089445e-03,
  5.44646285e-04, 3.11828634e-05]


--- Step 2429 ---
qpos:
[-0.01550535, 1.29263507,-0.03231911, 0.94842758, 0.00439581, 1.3307443 ,
 -0.02964362, 0.94623967, 0.01673497, 1.33628882,-0.02391646, 0.95499836,
  1.39190581,-0.0052701 , 1.19341514, 0.06168473,-0.00368125,-0.09261132,
  0.08158732, 0.63358644,-0.01290633,-0.00352701, 0.77355621]

qacc:
[-1.59163383e-01,-3.77375119e+00, 1.66339767e+01,-3.27384527e+01,
  1.33871861e-01,-7.33279631e-01,-3.63621001e-01, 8.70029247e+00,
 -4.37513402e-02,-1.25094521e+00, 9.32911056e+00,-3.54355084e+01,
 -2.09844869e-01, 1.24773066e-01,-3.52900360e+00, 8.99437741e+00,
  7.75785032e-02,-2.43113831e+00, 2.41337610e+00,-5.93143904e+00,
 -6.84705022e+01,-1.54564309e+00]

qfrc_actuator:
[ 3.34023585e-03, 7.46973955e-02, 2.03873622e-02, 1.70990176e-03,
  1.71453894e-05, 3.56413303e-02, 1.08220238e-02, 1.70423842e-03,
 -2.98564619e-03, 3.51076149e-02, 1.07874595e-02, 1.73805312e-03,
  0.00000000e+00, 2.12100684e-03, 0.00000000e+00,-2.94805570e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007244493831995748
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05485891e-01,  8.77058350e-02, -9.48148753e-01, -2.68965431e-02,
        9.96146418e-01,  8.34798745e-02,  9.51816656e-01, -3.46944695e-18,
        3.06667659e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07249403, -0.04278126,  0.22453519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -8.46941299,  -1.68991731,  -8.46941299,
        11.05890873, -12.14114724,  -1.68991731, -12.14114724,
        69.48454219,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001381340121649344
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.01864467e-14, -2.87685541e-01,  9.57724924e-01, -1.20713781e-14,
        9.57724924e-01,  2.87685541e-01, -1.00000000e+00, -1.57772181e-30,
       -4.19603226e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00331774, -0.07091254,  0.06188255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.81231490e-04, 3.97118942e-02, 9.91415837e-03,-7.39197829e-05,
  3.84986813e-05,-9.64171014e-05,-4.39502954e-06, 3.15564735e-05,
 -1.25813660e-05, 4.69433849e-06,-5.28358258e-05,-1.22013174e-04,
  2.77274197e-03, 4.31586082e-03, 8.62078354e-03, 1.48603941e-03,
  7.55127910e-06,-8.94816412e-09,-1.21644381e+00, 1.58732640e-03,
  5.46825068e-04, 3.15052348e-05]


--- Step 2430 ---
qpos:
[-0.01551091, 1.2926489 ,-0.03232402, 0.94842484, 0.00439583, 1.3307609 ,
 -0.02964486, 0.9462405 , 0.01673587, 1.33629699,-0.02391914, 0.95500012,
  1.3919222 ,-0.00527809, 1.19339672, 0.06168122,-0.00369056,-0.0926232 ,
  0.08159349, 0.63363273,-0.01290106,-0.00384212, 0.77351688]

qacc:
[-1.26205724e-01,-2.63468399e+00, 1.12033714e+01,-1.64204491e+01,
  5.25740068e-02, 1.70959226e+00,-1.12432392e+01, 3.48282414e+01,
 -7.73544859e-02, 5.94660589e+00,-2.27100429e+01, 3.89994512e+01,
 -3.17050697e-01, 3.04737334e-01,-2.59148905e+00, 6.60807924e+00,
  8.90922069e-02,-1.23280146e+00, 1.55109814e+00,-6.29988037e+00,
 -7.00687235e+01,-1.74859058e+00]

qfrc_actuator:
[ 3.36297103e-03, 7.46620173e-02, 2.04237196e-02, 1.68682424e-03,
  9.53866343e-06, 3.56091369e-02, 1.08422223e-02, 1.81242562e-03,
 -3.00046421e-03, 3.51004853e-02, 1.07319640e-02, 1.82568826e-03,
  0.00000000e+00, 2.14279676e-03, 0.00000000e+00,-2.43343551e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007241119043328338
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05479345e-01,  8.77075185e-02, -9.48150706e-01, -2.68964871e-02,
        9.96146270e-01,  8.34816614e-02,  9.51818758e-01, -3.46944695e-18,
        3.06661134e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07249228, -0.04278178,  0.22453557])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.63562265, -0.1131295 ,  8.63562265,  8.63554652,
       -0.06237378, -0.1131295 , -0.06237378,  3.87512643,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001317883415465855
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.21214431e-14,  4.21214431e-14,  1.00000000e+00, -1.77421596e-27,
        1.00000000e+00, -4.21214431e-14, -1.00000000e+00,  0.00000000e+00,
        4.21214431e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00331682, -0.07091053,  0.06188298])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.22631651e-04, 3.96396911e-02, 9.91140380e-03,-1.97192231e-05,
  1.51052071e-05,-8.55614606e-05, 1.74746873e-06, 1.05919734e-04,
 -2.22404865e-05,-1.85208483e-05,-6.41598617e-05, 8.33978386e-05,
  2.79354975e-03, 4.33843595e-03, 8.69979773e-03, 1.51743228e-03,
  8.72147484e-06, 5.20142101e-06,-1.21644279e+00, 1.58273510e-03,
  5.46851489e-04, 4.11877522e-05]


--- Step 2431 ---
qpos:
[-0.01551598, 1.29266155,-0.03232855, 0.94842173, 0.00439602, 1.33077682,
 -0.02964553, 0.94624157, 0.0167366 , 1.3363057 ,-0.0239227 , 0.95500182,
  1.39193828,-0.00528633, 1.19338248, 0.06167818,-0.00369533,-0.0926393 ,
  0.08160257, 0.63367818,-0.0127407 ,-0.00416729, 0.77348062]

qacc:
[  0.20908255, -3.17192124,  9.22969329,-11.50863856,  0.07664554,
  -2.03540946,  5.0774607 , -1.33154564, -0.07744303,  2.98063382,
  -8.74146331,  6.57118369, -0.27047055,  0.08283526,  4.74897277,
  -7.5930304 ,  1.133595  , -1.05407437,  0.72707771, 45.24228581,
 -63.19616954,  0.93114273]

qfrc_actuator:
[ 3.36126129e-03, 7.45814217e-02, 2.04468287e-02, 1.65663947e-03,
  2.26478714e-05, 3.55836784e-02, 1.08724048e-02, 1.82247400e-03,
 -3.00960817e-03, 3.51639309e-02, 1.07004089e-02, 1.82330160e-03,
  0.00000000e+00, 2.15902242e-03, 0.00000000e+00,-3.88763572e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007237955478916307
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05470821e-01,  8.77093169e-02, -9.48153286e-01, -2.68962924e-02,
        9.96146112e-01,  8.34836136e-02,  9.51821500e-01, -3.46944695e-18,
        3.06652626e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07249042, -0.04278225,  0.22453599])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.4060386 , -1.98123496, -8.4060386 ,  9.56871646,
       -3.95581242, -1.98123496, -3.95581242, 25.4201942 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001315027375005523
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.11064622e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.11064622e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03190948, -0.07681674,  0.06188325])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.35723231e-04, 3.95107855e-02, 9.87886153e-03,-2.34257511e-05,
  2.20183491e-05,-6.93831781e-05, 1.67358533e-05, 1.00140015e-05,
 -2.22706820e-05, 4.30945163e-05,-4.00265455e-05,-2.86154218e-06,
  2.81570445e-03, 4.35120743e-03, 8.75851759e-03, 1.35738159e-03,
  9.65836041e-06, 1.32564790e-05,-1.21644359e+00, 1.57802113e-03,
  5.47020323e-04, 5.17456742e-05]


--- Step 2432 ---
qpos:
[-0.01552005, 1.29267162,-0.03233367, 0.94842019, 0.00439667, 1.33079218,
 -0.02964551, 0.94624134, 0.01673731, 1.33631417,-0.02392483, 0.95500066,
  1.39195387,-0.00529476, 1.19337583, 0.06167511,-0.0036949 ,-0.09265027,
  0.08161383, 0.6337241 ,-0.01258824,-0.00431571, 0.77344469]

qacc:
[ 4.28337018e-01, 8.65373576e-01,-1.01291695e+01, 2.85611757e+01,
  1.95333145e-01,-4.79771139e+00, 1.74046624e+01,-2.96501629e+01,
 -3.36805057e-03,-9.11331626e+00, 3.50885149e+01,-6.31896261e+01,
 -6.56855621e-01, 5.45358224e-01, 1.13382309e+01,-2.32880428e+01,
  1.30015232e+00, 1.28192055e+00, 5.45575908e-01, 6.58613738e+01,
  5.90566855e+01, 1.06539992e+00]

qfrc_actuator:
[ 3.36196967e-03, 7.45287112e-02, 2.04622866e-02, 1.72875729e-03,
  6.58330396e-05, 3.55624513e-02, 1.09081977e-02, 1.75693075e-03,
 -2.99752189e-03, 3.51449311e-02, 1.07721891e-02, 1.67920330e-03,
  0.00000000e+00, 2.20770663e-03, 0.00000000e+00,-6.34862272e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007236600362286738
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05463070e-01,  8.77109565e-02, -9.48155631e-01, -2.68961166e-02,
        9.96145967e-01,  8.34853928e-02,  9.51823992e-01, -3.46944695e-18,
        3.06644889e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07248893, -0.04278274,  0.22453636])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013288169102671013
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04437170e-14,  4.17748682e-14,  1.00000000e+00,  4.36284902e-28,
        1.00000000e+00, -4.17748682e-14, -1.00000000e+00,  0.00000000e+00,
       -1.04437170e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03683628, -0.11858201,  0.06188215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.11930660e-04, 3.95169400e-02, 9.87581828e-03, 6.71378110e-05,
  5.61742460e-05,-5.61426146e-05, 2.44051575e-05,-6.68784685e-05,
 -1.05564095e-06,-3.12399797e-06, 7.55607191e-05,-1.44049520e-04,
  2.83152474e-03, 4.41248363e-03, 8.54957716e-03, 1.08741621e-03,
  3.04019522e-06, 1.55423529e-05,-1.21644381e+00, 1.57458930e-03,
  5.45737121e-04, 5.08730123e-05]


--- Step 2433 ---
qpos:
[-0.01552415, 1.29268176,-0.03233845, 0.94841959, 0.00439781, 1.33080695,
 -0.02964501, 0.94624035, 0.01673808, 1.33632118,-0.02392496, 0.95499856,
  1.39196897,-0.00530298, 1.19336966, 0.06167173,-0.0036897 ,-0.0926564 ,
  0.08162469, 0.63377071,-0.0124429 ,-0.00429835, 0.77340894]

qacc:
[-1.79665763e-02, 7.60256587e-01,-4.27916950e+00, 1.44831853e+01,
  2.03432164e-01,-3.36294831e+00, 1.15983689e+01,-1.85754559e+01,
  2.25051434e-02,-8.94061071e+00, 2.87547845e+01,-3.49469200e+01,
 -5.77902429e-01, 7.06817708e-01, 1.72691549e+00,-4.89258587e+00,
  1.19226965e+00, 1.20793840e+00,-9.86858508e-02, 6.18579326e+01,
  5.52860914e+01, 8.46976789e-01]

qfrc_actuator:
[ 3.36341867e-03, 7.45478649e-02, 2.04917157e-02, 1.78945483e-03,
  9.12062525e-05, 3.55261527e-02, 1.09292502e-02, 1.71846668e-03,
 -2.99055095e-03, 3.50060172e-02, 1.08507508e-02, 1.63042585e-03,
  0.00000000e+00, 2.24040900e-03, 0.00000000e+00,-5.85994925e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007237813108070534
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05458342e-01,  8.77122527e-02, -9.48157034e-01, -2.68961008e-02,
        9.96145853e-01,  8.34867597e-02,  9.51825510e-01, -3.46944695e-18,
        3.06640178e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07248811, -0.04278328,  0.22453662])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  3.47392598,  7.90687139,  3.47392598, 30.64994944,
       -9.67178595,  7.90687139, -9.67178595, 12.88571421,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013276013434294007
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.56799191e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.56799191e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03684262, -0.11858319,  0.06188231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.63164298e-04, 3.96651577e-02, 9.93461076e-03, 4.93380508e-05,
  5.85163629e-05,-6.46934310e-05, 1.08712212e-05,-4.09633411e-05,
  6.35284690e-06,-1.30209903e-04, 8.23156299e-05,-5.00046827e-05,
  2.85613959e-03, 4.45523434e-03, 8.17074753e-03, 1.13798878e-03,
 -4.47526054e-07, 3.34636274e-06,-1.21644029e+00, 1.57833121e-03,
  5.44316173e-04, 3.56749496e-05]


--- Step 2434 ---
qpos:
[-0.01552857, 1.29269297,-0.03234269, 0.94841754, 0.00439905, 1.33082131,
 -0.0296449 , 0.94623893, 0.01673891, 1.336327  ,-0.02392537, 0.95499943,
  1.39198413,-0.00531104, 1.19335947, 0.06166831,-0.00368008,-0.09265796,
  0.081633  , 0.63381816,-0.01230406,-0.0041243 , 0.77337322]

qacc:
[-1.32126585e-01,-2.51759551e+00, 1.28626874e+01,-2.85200726e+01,
  4.69073284e-02,-2.30632941e-01, 9.87831294e-01,-5.53438242e+00,
  2.63742005e-02, 4.33158456e+00,-2.20219358e+01, 5.42046577e+01,
  1.44405132e-01,-5.89070381e-02,-5.86066414e+00, 1.18291503e+01,
  1.10439686e+00, 1.14657699e+00,-6.39291785e-01, 5.85372085e+01,
  5.21666893e+01, 6.81459239e-01]

qfrc_actuator:
[ 3.38370936e-03, 7.45197524e-02, 2.04755738e-02, 1.71903879e-03,
  7.01835721e-05, 3.54988256e-02, 1.09058983e-02, 1.69624563e-03,
 -2.98670653e-03, 3.49207368e-02, 1.08257303e-02, 1.78009598e-03,
  0.00000000e+00, 2.20993294e-03, 0.00000000e+00,-4.30860274e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007239329795764339
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30545322,  0.08771357, -0.94815856, -0.02689606,  0.99614574,
        0.08348815,  0.95182716,  0.        ,  0.30663507])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0724873 , -0.0427838 ,  0.22453687])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   3.56636103,   7.8656116 ,   3.56636103,
        34.86243729, -11.89121099,   7.8656116 , -11.89121099,
        14.02797889,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013124225853248517
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.45934105e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.45934105e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03686943, -0.11860103,  0.06188364])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.85558273e-04, 3.96333731e-02, 9.90129281e-03,-6.78225416e-05,
  1.35021215e-05,-6.23186740e-05,-3.59864460e-05,-2.47732069e-05,
  7.59478447e-06,-1.42741224e-04,-4.25681710e-05, 1.47063140e-04,
  2.88066756e-03, 4.41427235e-03, 8.14639098e-03, 1.30907090e-03,
  1.67905572e-06,-9.44985458e-07,-1.21643971e+00, 1.58184084e-03,
  5.42558201e-04, 3.05896426e-05]


--- Step 2435 ---
qpos:
[-0.01553222, 1.29270275,-0.03234762, 0.94841529, 0.00440011, 1.33083546,
 -0.02964546, 0.94623726, 0.01673965, 1.33633198,-0.02392641, 0.95500105,
  1.3919997 ,-0.00531922, 1.19335148, 0.0616648 ,-0.00366634,-0.09265512,
  0.08163694, 0.63386646,-0.0121712 ,-0.00380108, 0.77333739]

qacc:
[ 3.28971391e-01,-3.37698517e-01,-7.75238759e-01,-6.55185963e-01,
 -7.98441930e-02, 1.08689267e+00,-3.36332613e+00, 8.44918961e-02,
 -3.93281973e-02, 1.89317799e+00,-8.98033664e+00, 1.68026179e+01,
  2.91868694e-01,-3.18357482e-01, 3.52235198e+00,-7.61446850e+00,
  1.03266844e+00, 1.09566683e+00,-1.09248946e+00, 5.57873564e+01,
  4.95892161e+01, 5.58175448e-01]

qfrc_actuator:
[ 3.38008438e-03, 7.44800059e-02, 2.04495050e-02, 1.69622853e-03,
  3.92531366e-05, 3.54946777e-02, 1.08743177e-02, 1.68373522e-03,
 -3.00252170e-03, 3.48857124e-02, 1.07932996e-02, 1.81449945e-03,
  0.00000000e+00, 2.17701810e-03, 0.00000000e+00,-5.67175999e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007239305483854458
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30544656,  0.08771499, -0.94816058, -0.02689591,  0.99614561,
        0.0834897 ,  0.9518293 ,  0.        ,  0.30662842])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07248615, -0.04278428,  0.22453719])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   3.61027747,   7.84555119,   3.61027747,
        40.00672336, -14.43565916,   7.84555119, -14.43565916,
        15.27920284,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012862262810384856
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.15790767e-14,  1.29474460e-13,  1.00000000e+00, -2.79393932e-27,
        1.00000000e+00, -1.29474460e-13, -1.00000000e+00,  0.00000000e+00,
        2.15790767e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03691225, -0.11863188,  0.06188587])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.97420678e-04, 3.95400388e-02, 9.84805703e-03,-1.84024119e-05,
 -2.29657103e-05,-4.65026606e-05,-4.86061215e-05,-1.59902454e-05,
 -1.13335305e-05,-1.17951571e-04,-6.08460620e-05, 3.23599363e-05,
  2.87780444e-03, 4.37327098e-03, 8.34804914e-03, 1.17445059e-03,
  8.51539927e-06, 1.34828398e-06,-1.21644160e+00, 1.58519783e-03,
  5.40480947e-04, 3.39588599e-05]


--- Step 2436 ---
qpos:
[-0.01553465, 1.29270977,-0.03235371, 0.94841225, 0.0044009 , 1.33084919,
 -0.02964637, 0.94623545, 0.0167401 , 1.33633641,-0.02392762, 0.95500094,
  1.39201547,-0.00532787, 1.19334944, 0.06166142,-0.0036487 ,-0.09264808,
  0.08163499, 0.63391559,-0.01204392,-0.00333491, 0.77330126]

qacc:
[  0.51939468, -1.86335774,  3.33522821,-10.39227869, -0.11262135,
   0.15755178, -0.89101318, -0.54412187, -0.11847038, -3.25866418,
  13.21723253,-30.95876131,  0.16943723, -0.44513836,  8.35078996,
 -16.4959929 ,  0.97392447,  1.05337947, -1.47200963, 53.51615798,
  47.46419903,  0.4689591 ]

qfrc_actuator:
[ 3.37890534e-03, 7.45063636e-02, 2.04540043e-02, 1.64804916e-03,
  2.03853952e-05, 3.54689072e-02, 1.08559952e-02, 1.67705190e-03,
 -3.03000247e-03, 3.48809594e-02, 1.07923951e-02, 1.72753678e-03,
  0.00000000e+00, 2.17837354e-03, 0.00000000e+00,-7.71775327e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007239476318757522
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05441924e-01,  8.77161614e-02, -9.48161962e-01, -2.68958630e-02,
        9.96145509e-01,  8.34909428e-02,  9.51830785e-01, -3.46944695e-18,
        3.06623803e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07248521, -0.04278482,  0.22453744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   3.55156607,   7.87230305,   3.55156607,
        46.65614318, -17.15251026,   7.87230305, -17.15251026,
        16.37466753,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012514673367640533
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10892130e-14,  8.87137037e-14,  1.00000000e+00,  9.83765152e-28,
        1.00000000e+00, -8.87137037e-14, -1.00000000e+00,  0.00000000e+00,
       -1.10892130e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03696739, -0.11867274,  0.06188879])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.57667002e-04, 3.96379235e-02, 9.88721220e-03,-5.69771008e-05,
 -3.24200260e-05,-6.15804828e-05,-3.34326276e-05,-9.85639583e-06,
 -3.41733598e-05,-8.09333929e-05,-2.99092549e-05,-9.14770046e-05,
  2.85710676e-03, 4.38125911e-03, 8.23748676e-03, 9.74422317e-04,
  1.93970983e-05, 9.25311986e-06,-1.21644562e+00, 1.58845599e-03,
  5.38100488e-04, 4.45635776e-05]


--- Step 2437 ---
qpos:
[-0.01553637, 1.29271479,-0.03236099, 0.94840825, 0.00440158, 1.33086265,
 -0.02964756, 0.94623321, 0.01674011, 1.33634074,-0.02392858, 0.95500112,
  1.39203109,-0.00533679, 1.19335098, 0.06165792,-0.00363732,-0.09264567,
  0.08163649, 0.63396594,-0.01190948,-0.00307802, 0.77326314]

qacc:
[ 3.00885258e-01,-1.04364829e+00, 2.20191405e+00,-1.18000573e+01,
 -4.46600218e-02,-3.21265404e-01, 1.48749101e+00,-6.06298526e+00,
 -1.88787512e-01,-3.30658585e-01, 3.58396371e-01, 2.95707307e+00,
 -1.38529217e-01,-3.92992773e-02, 5.65759004e+00,-1.20840937e+01,
 -1.56586187e+00,-1.15942261e+00, 8.61983775e-01,-7.86452037e+01,
 -6.90857178e+01,-2.37798029e+00]

qfrc_actuator:
[ 3.37843894e-03, 7.45387796e-02, 2.04420800e-02, 1.60308371e-03,
  2.66607129e-05, 3.54659524e-02, 1.08455713e-02, 1.65609463e-03,
 -3.06425834e-03, 3.49299256e-02, 1.08279374e-02, 1.74744483e-03,
  0.00000000e+00, 2.20067958e-03, 0.00000000e+00,-8.57759442e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007241111227114828
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30544103,  0.08771691, -0.94816218, -0.02689602,  0.99614544,
        0.08349168,  0.95183107,  0.        ,  0.30662292])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07248481, -0.04278543,  0.22453758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0012891117525682255
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.30615508e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.30615508e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03653089, -0.0628719 ,  0.06188562])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.96308701e-04, 3.98083041e-02, 9.93311755e-03,-6.20475236e-05,
 -1.28560546e-05,-4.39510406e-05,-2.65760436e-05,-2.39966916e-05,
 -5.44311143e-05,-4.37085022e-06, 1.36577268e-05, 1.45102604e-05,
  2.84707803e-03, 4.42704994e-03, 7.94050123e-03, 8.81755548e-04,
  3.38383602e-05, 2.20540772e-05,-1.21645153e+00, 1.59165123e-03,
  5.35430863e-04, 6.15110920e-05]


--- Step 2438 ---
qpos:
[-0.01553876, 1.29272092,-0.03236846, 0.94840479, 0.00440224, 1.33087621,
 -0.02964885, 0.94623208, 0.01673969, 1.33634446,-0.0239278 , 0.95500184,
  1.39204665,-0.0053452 , 1.19334883, 0.06165363,-0.00363162,-0.09264774,
  0.08163834, 0.63401807,-0.01176902,-0.0030146 , 0.7732228 ]

qacc:
[-2.81969858e-01, 2.89153387e+00,-8.76638884e+00, 1.31089620e+01,
 -1.40565083e-02, 2.29709398e+00,-9.58052942e+00, 2.10168021e+01,
 -1.81562679e-01,-4.55457649e+00, 1.27877845e+01,-4.39701841e+00,
 -2.43076389e-01, 6.04424825e-01,-3.01179705e+00, 2.66815007e+00,
 -1.42104976e+00,-1.11971368e+00, 8.67014338e-02,-7.28881230e+01,
 -6.36380438e+01,-2.54944880e+00]

qfrc_actuator:
[ 3.34291997e-03, 7.45574237e-02, 2.04208032e-02, 1.64929394e-03,
  3.02151497e-05, 3.55122186e-02, 1.08577166e-02, 1.71568139e-03,
 -3.08454867e-03, 3.49043768e-02, 1.09205060e-02, 1.77690646e-03,
  0.00000000e+00, 2.20003287e-03, 0.00000000e+00,-7.12601049e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007243293898129034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30544317,  0.08771741, -0.94816144, -0.02689636,  0.9961454 ,
        0.08349209,  0.95183037,  0.        ,  0.30662509])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07248476, -0.04278604,  0.22453764])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.42367174, -4.41314794, -7.42367174, 10.53041683,
       -3.18612233, -4.41314794, -3.18612233, 13.99596785,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013173965750492012
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.10685045e-14,  4.21370089e-14,  1.00000000e+00,  8.87763760e-28,
        1.00000000e+00, -4.21370089e-14, -1.00000000e+00,  0.00000000e+00,
       -2.10685045e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03648687, -0.06291561,  0.06188326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.25509848e-04, 3.99270087e-02, 9.97162261e-03, 3.23023310e-05,
 -4.03267372e-06, 1.59410076e-05,-1.93529998e-07, 5.69473194e-05,
 -5.24231631e-05,-2.48986793e-05, 9.36884005e-05, 3.00745718e-05,
  2.85461569e-03, 4.43967857e-03, 7.76131386e-03, 1.03288028e-03,
  1.40518867e-05, 5.06205381e-06,-1.21644357e+00, 1.58631637e-03,
  5.38665281e-04, 3.90140184e-05]


--- Step 2439 ---
qpos:
[-0.01554281, 1.29273154,-0.03237437, 0.9484046 , 0.00440274, 1.33088986,
 -0.02964982, 0.94623407, 0.01673907, 1.33634831,-0.02392665, 0.95500222,
  1.3920621 ,-0.00535242, 1.19333692, 0.06164796,-0.00363114,-0.09265415,
  0.08163792, 0.63407232,-0.01162345,-0.00313155, 0.77318005]

qacc:
[-7.11573956e-01, 7.27410159e+00,-2.33223602e+01, 5.53789619e+01,
 -6.33874844e-02, 4.58409997e+00,-2.12255589e+01, 5.45012049e+01,
 -8.64930994e-02,-1.39116729e+00, 5.41756256e+00,-8.65578222e+00,
 -4.68590712e-01, 1.30536838e+00,-1.02221898e+01, 1.49094545e+01,
 -1.30242515e+00,-1.08404429e+00,-5.66596763e-01,-6.81013006e+01,
 -5.91374371e+01,-2.65553821e+00]

qfrc_actuator:
[ 3.35846413e-03, 7.45654903e-02, 2.04288937e-02, 1.83785702e-03,
  1.43542707e-05, 3.55344858e-02, 1.08833317e-02, 1.87549327e-03,
 -3.07854515e-03, 3.49234279e-02, 1.09391845e-02, 1.75846175e-03,
  0.00000000e+00, 2.22046197e-03, 0.00000000e+00,-4.28029802e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007243849773724553
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30544444,  0.08771812, -0.94816097, -0.02689669,  0.99614534,
        0.08349273,  0.95182995,  0.        ,  0.30662638])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07248436, -0.04278664,  0.22453775])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.44347085, -4.37967106, -7.44347085, 11.04105782,
       -4.08689849, -4.37967106, -4.08689849, 15.5822528 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013256141819884479
  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([ 0.03647663, -0.06293182,  0.06188259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.74092074e-04, 3.98793738e-02, 9.98926380e-03, 1.93960902e-04,
 -1.82399663e-05, 3.26590916e-05, 3.03629504e-05, 1.61620758e-04,
 -2.49450594e-05, 2.44430094e-05, 2.53392307e-05,-1.57338425e-05,
  2.85754882e-03, 4.43523478e-03, 7.94581500e-03, 1.35741973e-03,
  3.24984926e-06,-8.40321756e-07,-1.21643988e+00, 1.58135147e-03,
  5.41488943e-04, 3.03218698e-05]


--- Step 2440 ---
qpos:
[-0.01554806, 1.29274592,-0.0323782 , 0.94840706, 0.00440322, 1.33090369,
 -0.02965097, 0.94623624, 0.01673836, 1.33635298,-0.02392611, 0.95500168,
  1.39207738,-0.00535884, 1.19331806, 0.06164159,-0.00363547,-0.09266476,
  0.08163303, 0.63412888,-0.01147347,-0.00341799, 0.77313468]

qacc:
[-5.10533194e-01, 3.78867469e+00,-1.18017137e+01, 3.83973788e+01,
 -9.20961115e-03, 1.03609614e+00,-3.47633386e+00, 5.08874881e+00,
 -3.74486939e-02, 1.11973329e+00,-4.89610091e-01,-1.07440218e+01,
 -3.60602248e-01, 9.14041319e-01,-8.11569629e+00, 1.35407715e+01,
 -1.20503685e+00,-1.05210449e+00,-1.11678886e+00,-6.41217571e+01,
 -5.54187857e+01,-2.71253439e+00]

qfrc_actuator:
[ 3.40591770e-03, 7.45278791e-02, 2.04529268e-02, 1.96684909e-03,
  2.24791832e-05, 3.55245902e-02, 1.08633954e-02, 1.87995045e-03,
 -3.07457125e-03, 3.49864990e-02, 1.09142103e-02, 1.71193836e-03,
  0.00000000e+00, 2.25265012e-03, 0.00000000e+00,-2.89701912e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007241616743102093
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30543994,  0.08771941, -0.9481623 , -0.02689669,  0.99614522,
        0.08349409,  0.9518314 ,  0.        ,  0.30662189])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07248301, -0.04278717,  0.22453804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.44850124, -4.3711104 , -7.44850124, 11.71259321,
       -5.24198606, -4.3711104 , -5.24198606, 17.56886271,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001317704100320151
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.10635875e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.10635875e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03649322, -0.06292622,  0.06188324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.04940601e-04, 3.96169855e-02, 9.93512116e-03, 1.58736904e-04,
 -2.63698057e-06, 1.88610748e-05,-5.37193517e-06, 1.00961539e-05,
 -1.07499492e-05, 8.10420894e-05,-1.77861669e-05,-4.54162521e-05,
  2.86325406e-03, 4.40820539e-03, 8.43413387e-03, 1.56444523e-03,
 -3.07198637e-07, 2.13354463e-06,-1.21643963e+00, 1.57657834e-03,
  5.44068392e-04, 3.26484218e-05]


--- Step 2441 ---
qpos:
[-0.0155539 , 1.29276141,-0.0323809 , 0.94840927, 0.00440358, 1.33091734,
 -0.02965237, 0.94623642, 0.01673762, 1.3363575 ,-0.02392468, 0.95500094,
  1.39209268,-0.00536503, 1.19329659, 0.06163546,-0.00364431,-0.09267947,
  0.08162182, 0.63418781,-0.01131967,-0.00386493, 0.77308651]

qacc:
[-2.51892359e-01,-1.99262837e+00, 8.77134469e+00,-1.12084274e+01,
 -5.07367874e-02,-2.96829332e+00, 1.35029070e+01,-3.47386720e+01,
 -1.24083014e-02,-2.95003418e+00, 9.77630467e+00,-1.06783677e+01,
  2.51057319e-02, 1.14709628e-01,-4.54415943e+00, 1.02996850e+01,
 -1.12482542e+00,-1.02354044e+00,-1.57985746e+00,-6.08164040e+01,
 -5.23484813e+01,-2.73251975e+00]

qfrc_actuator:
[ 3.40170258e-03, 7.44618010e-02, 2.04498687e-02, 1.93516279e-03,
  9.42220446e-06, 3.54775065e-02, 1.08342454e-02, 1.77512513e-03,
 -3.07184960e-03, 3.49509700e-02, 1.09526307e-02, 1.70254847e-03,
  0.00000000e+00, 2.25629004e-03, 0.00000000e+00,-2.56995058e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007237977122966921
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05429857e-01,  8.77211306e-02, -9.48165389e-01, -2.68963358e-02,
        9.96145071e-01,  8.34960111e-02,  9.51834644e-01,  3.46944695e-18,
        3.06611823e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07248097, -0.04278766,  0.22453849])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.42265657, -4.41485519, -7.42265657, 12.66849735,
       -6.77919037, -4.41485519, -6.77919037, 20.0341558 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012969603569091825
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.42014433e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.42014433e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03653094, -0.06290345,  0.06188496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.60567896e-04, 3.93629712e-02, 9.82758655e-03,-4.83400919e-06,
 -1.46122735e-05,-3.74914990e-05,-2.57890217e-05,-1.04162578e-04,
 -3.61895712e-06, 4.43341594e-06, 5.08908218e-05,-8.55932087e-06,
  2.87168002e-03, 4.37142941e-03, 8.78218494e-03, 1.63231557e-03,
  2.10681814e-06, 1.23793589e-05,-1.21644216e+00, 1.57188600e-03,
  5.46513827e-04, 4.39700469e-05]


--- Step 2442 ---
qpos:
[-0.01556047, 1.29277823,-0.03238243, 0.94841037, 0.00440395, 1.33092996,
 -0.02965374, 0.94623541, 0.01673688, 1.33636208,-0.02392305, 0.95499872,
  1.39210811,-0.00537102, 1.19327114, 0.06162973,-0.00365849,-0.09268885,
  0.0816049 , 0.63423742,-0.01137139,-0.00430514, 0.77304273]

qacc:
[-3.11415550e-01,-3.27989560e+00, 1.50631637e+01,-2.66393541e+01,
  4.39531683e-03,-3.47491477e+00, 1.21352721e+01,-2.36850200e+01,
 -5.91268841e-04,-3.00467073e+00, 1.28606580e+01,-2.81475509e+01,
  1.90100241e-01,-6.64352908e-02,-7.12930236e+00, 1.63638699e+01,
 -1.33536278e+00, 1.33452601e+00,-1.42910618e+00,-6.26173720e+01,
  8.15350361e+01, 5.42662674e+00]

qfrc_actuator:
[ 3.40186420e-03, 7.44330472e-02, 2.04661961e-02, 1.87991595e-03,
  1.92681607e-05, 3.53728864e-02, 1.08174641e-02, 1.71335685e-03,
 -3.06990255e-03, 3.49456908e-02, 1.09568243e-02, 1.62632023e-03,
  0.00000000e+00, 2.24306926e-03, 0.00000000e+00,-1.10785101e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007233772413024475
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05417656e-01,  8.77230594e-02, -9.48169141e-01, -2.68958573e-02,
        9.96144902e-01,  8.34981916e-02,  9.51838573e-01,  3.46944695e-18,
        3.06599628e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07247869, -0.04278813,  0.22453898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0012904967917831064
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.30153345e-14,  8.60306691e-14,  1.00000000e+00,  3.70063801e-27,
        1.00000000e+00, -8.60306691e-14, -1.00000000e+00,  0.00000000e+00,
       -4.30153345e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04723878, -0.11582283,  0.06188544])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.90264084e-04, 3.92787297e-02, 9.78795927e-03,-4.74046571e-05,
  1.22303197e-06,-1.33619962e-04,-3.01132001e-05,-6.60476648e-05,
 -1.86499719e-07, 6.82354299e-06, 1.05849317e-05,-7.47997297e-05,
  2.87043790e-03, 4.34741280e-03, 8.91298364e-03, 1.76714815e-03,
  9.55964410e-06, 2.87361502e-05,-1.21644701e+00, 1.56720690e-03,
  5.48897196e-04, 6.28186432e-05]


--- Step 2443 ---
qpos:
[-0.01556714, 1.2927961 ,-0.03238275, 0.94841116, 0.00440481, 1.33094174,
 -0.02965538, 0.94623401, 0.01673615, 1.33636725,-0.02392221, 0.95499666,
  1.39212379,-0.00537695, 1.19324329, 0.0616244 ,-0.00366684,-0.09269325,
  0.08159601, 0.63428626,-0.01143338,-0.00454152, 0.77300038]

qacc:
[-4.14150942e-02,-2.41020070e+00, 1.01559916e+01,-1.29524028e+01,
  2.07549444e-01,-1.04112780e+00, 2.86064285e+00,-6.45146220e+00,
  4.53464702e-03, 3.18611075e+00,-9.75092903e+00, 9.77455310e+00,
  3.12700044e-01,-2.77308212e-01,-4.77084855e+00, 1.15079476e+01,
  1.45574837e+00, 1.24111892e+00, 2.00880525e+00, 7.55268075e+01,
  6.85984891e+01, 1.93663068e+00]

qfrc_actuator:
[ 3.44053307e-03, 7.44437753e-02, 2.05114111e-02, 1.86474263e-03,
  7.82791516e-05, 3.53411941e-02, 1.08079269e-02, 1.69516958e-03,
 -3.06843649e-03, 3.49939103e-02, 1.09230583e-02, 1.63560906e-03,
  0.00000000e+00, 2.21965146e-03, 0.00000000e+00,-3.87660671e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007228409229904746
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05403074e-01,  8.77252399e-02, -9.48173636e-01, -2.68952469e-02,
        9.96144710e-01,  8.35006791e-02,  9.51843269e-01,  3.46944695e-18,
        3.06585048e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07247607, -0.04278858,  0.22453954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.00131225468765242
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.28776462e-15,  5.28776462e-14,  1.00000000e+00,  2.79604546e-28,
        1.00000000e+00, -5.28776462e-14, -1.00000000e+00,  0.00000000e+00,
       -5.28776462e-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([-0.03689943, -0.11856578,  0.06188354])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.65446477e-04, 3.92228341e-02, 9.77477285e-03,-7.36570677e-06,
  5.97281110e-05,-1.13562563e-04,-4.10430782e-05,-2.45943072e-05,
  1.35958980e-06, 5.18071170e-05,-3.34287752e-05, 8.06552730e-06,
  2.86437034e-03, 4.31352241e-03, 9.11259449e-03, 1.81881813e-03,
  2.32023203e-05, 2.39624548e-05,-1.21644820e+00, 1.57559777e-03,
  5.50768957e-04, 5.93653653e-05]


--- Step 2444 ---
qpos:
[-0.01557251, 1.2928112 ,-0.03238381, 0.94841361, 0.0044061 , 1.33095337,
 -0.02965717, 0.94623233, 0.01673558, 1.3363731 ,-0.02392169, 0.95499641,
  1.39213968,-0.00538318, 1.1932225 , 0.06161929,-0.00366991,-0.09269293,
  0.08159164, 0.63433488,-0.01150438,-0.00458977, 0.77295914]

qacc:
[ 5.53653297e-01, 1.17128095e+00,-1.15859789e+01, 3.07957998e+01,
  1.81520123e-01,-2.33866274e-01, 1.09532870e+00,-4.05103915e+00,
  6.82674196e-02, 4.87076184e+00,-1.84674941e+01, 3.65591240e+01,
  1.17384092e-02,-1.43957686e-01, 9.76659657e+00,-1.90268470e+01,
  1.32076012e+00, 1.18199461e+00, 1.12822270e+00, 6.98568218e+01,
  6.31392849e+01, 1.52969336e+00]

qfrc_actuator:
[ 3.43095489e-03, 7.44246751e-02, 2.05201836e-02, 1.92651213e-03,
  9.52949241e-05, 3.53889814e-02, 1.08207743e-02, 1.68505108e-03,
 -3.04951844e-03, 3.50559257e-02, 1.09206971e-02, 1.73068414e-03,
  0.00000000e+00, 2.22569028e-03, 0.00000000e+00,-3.30966803e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007222638656173841
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05386325e-01,  8.77274768e-02, -9.48178824e-01, -2.68944630e-02,
        9.96144513e-01,  8.35032816e-02,  9.51848665e-01, -3.46944695e-18,
        3.06568295e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07247323, -0.04278902,  0.22454014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.29199278,  4.62748508,  7.29199278, 12.7205797 ,
       -6.43590925,  4.62748508, -6.43590925, 18.77807192,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013430892150403523
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.58318428e-14,  5.16636857e-14,  1.00000000e+00,  1.33456821e-27,
        1.00000000e+00, -5.16636857e-14, -1.00000000e+00,  0.00000000e+00,
       -2.58318428e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03685536, -0.11852346,  0.06188093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.60725992e-04, 3.91507225e-02, 9.72263087e-03, 6.95825425e-05,
  5.22545970e-05,-2.38748078e-05,-1.47641532e-05,-1.52849166e-05,
  1.97260207e-05, 8.43356292e-05, 4.18392546e-06, 9.58253995e-05,
  2.85181134e-03, 4.31679453e-03, 9.23266696e-03, 1.50657889e-03,
  8.40066828e-06, 6.91810502e-06,-1.21644257e+00, 1.58103450e-03,
  5.48790855e-04, 3.79820621e-05]


--- Step 2445 ---
qpos:
[-0.01557668, 1.29282328,-0.03238573, 0.94841577, 0.00440728, 1.3309646 ,
 -0.02965875, 0.9462302 , 0.01673549, 1.33637868,-0.02392022, 0.95499698,
  1.39215575,-0.00538995, 1.19320877, 0.06161465,-0.00366814,-0.09268809,
  0.08158881, 0.63438364,-0.01158338,-0.0044629 , 0.77291869]

qacc:
[ 5.10193815e-01,-2.16030859e+00, 2.83852934e+00,-3.81344901e+00,
 -4.50340619e-02,-1.90292150e+00, 6.49723206e+00,-1.06143762e+01,
  2.03566052e-01,-1.50568137e+00, 2.83932001e+00, 7.09150536e+00,
  1.68994924e-01,-4.93606200e-01, 8.97871006e+00,-1.62843398e+01,
  1.21017733e+00, 1.13096924e+00, 3.87152006e-01, 6.51479306e+01,
  5.86281204e+01, 1.22138816e+00]

qfrc_actuator:
[ 3.40882459e-03, 7.43733370e-02, 2.05263230e-02, 1.90835332e-03,
  5.14737275e-05, 3.53598306e-02, 1.08292978e-02, 1.66206385e-03,
 -3.00253143e-03, 3.50016229e-02, 1.09547628e-02, 1.76898354e-03,
  0.00000000e+00, 2.21423811e-03, 0.00000000e+00,-5.04371294e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007219027696669204
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30537294,  0.08772928, -0.94818297, -0.02689384,  0.99614435,
        0.08350537,  0.95185298,  0.        ,  0.30655491])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07247102, -0.04278956,  0.22454061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.32033433,  4.58251919,  7.32033433, 13.46270915,
       -7.70983411,  4.58251919, -7.70983411, 20.95241973,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013531441344456219
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.64077625e-14,  1.02559568e-14,  1.00000000e+00, -5.78515576e-28,
        1.00000000e+00, -1.02559568e-14, -1.00000000e+00,  0.00000000e+00,
        5.64077625e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0368426 , -0.11850707,  0.06188007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.73680811e-04, 3.92381285e-02, 9.76621307e-03,-3.07400106e-05,
 -1.29889331e-05,-4.57829186e-05, 1.71309645e-06,-2.44793137e-05,
  5.86390956e-05,-4.04974671e-06, 5.38077066e-05, 4.31595237e-05,
  2.84157484e-03, 4.32075888e-03, 8.88043263e-03, 1.32258119e-03,
  1.65021926e-06, 5.19381556e-07,-1.21644088e+00, 1.58591178e-03,
  5.46545148e-04, 3.02193837e-05]


--- Step 2446 ---
qpos:
[-0.01557994, 1.29283295,-0.03238903, 0.94841629, 0.00440833, 1.33097546,
 -0.02966055, 0.94622921, 0.01673577, 1.33638285,-0.02391768, 0.95499672,
  1.39217186,-0.00539716, 1.19319831, 0.06161028,-0.00366189,-0.0926789 ,
  0.08158504, 0.63443274,-0.01166955,-0.00417169, 0.77287872]

qacc:
[ 3.92203898e-01,-2.18906238e+00, 6.67237709e+00,-2.32420949e+01,
 -5.77269194e-02, 2.08746398e+00,-9.74709774e+00, 2.19412849e+01,
  1.55775393e-01,-6.17091486e+00, 1.95623635e+01,-2.56579027e+01,
  1.78091137e-01,-4.89986073e-01, 4.00904072e+00,-7.05354631e+00,
  1.11947533e+00, 1.08701231e+00,-2.36003147e-01, 6.12381534e+01,
  5.49002532e+01, 9.90795411e-01]

qfrc_actuator:
[ 3.43200372e-03, 7.43927698e-02, 2.04957729e-02, 1.82575208e-03,
  4.25244061e-05, 3.53380881e-02, 1.08171549e-02, 1.72040493e-03,
 -2.99234442e-03, 3.48427044e-02, 1.09740481e-02, 1.72023730e-03,
  0.00000000e+00, 2.21039656e-03, 0.00000000e+00,-5.53586356e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007217481660012036
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30536324,  0.08773067, -0.94818596, -0.02689342,  0.99614423,
        0.08350697,  0.9518561 ,  0.        ,  0.3065452 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07246947, -0.04279018,  0.22454096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.34170896,  4.54819594,  7.34170896, 14.40801727,
       -9.31661734,  4.54819594, -9.31661734, 23.67527003,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001346504129325743
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.79120534e-14,  5.15326597e-14,  1.00000000e+00, -5.04566852e-27,
        1.00000000e+00, -5.15326597e-14, -1.00000000e+00,  0.00000000e+00,
        9.79120534e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03685477, -0.11851129,  0.0618806 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.37049268e-04, 3.94083167e-02, 9.77790201e-03,-9.92778382e-05,
 -1.66150718e-05,-4.75470063e-05,-2.16328669e-05, 5.64609927e-05,
  4.48094980e-05,-1.49407544e-04, 2.58653282e-05,-4.62769627e-05,
  2.83229163e-03, 4.34385979e-03, 8.52757214e-03, 1.24970951e-03,
  1.37760927e-06, 2.59368346e-06,-1.21644235e+00, 1.59040927e-03,
  5.44025747e-04, 3.33430346e-05]


--- Step 2447 ---
qpos:
[-0.0155828 , 1.29284079,-0.03239435, 0.94841717, 0.00440925, 1.33098563,
 -0.02966182, 0.94622961, 0.01673587, 1.33638647,-0.02391573, 0.95499588,
  1.39218751,-0.00540429, 1.19318911, 0.06160539,-0.00365146,-0.09266551,
  0.08157823, 0.63448226,-0.01176225,-0.00372505, 0.77283894]

qacc:
[ 1.68543490e-01, 3.62566660e+00,-1.54722449e+01, 1.87698469e+01,
 -5.37563040e-02,-3.65790792e-03,-3.91269862e+00, 1.98644205e+01,
 -7.29425217e-02,-1.14575867e-01, 6.59443425e-01,-6.80372587e+00,
 -5.29585219e-01, 5.75460719e-01, 3.46495440e+00,-9.32451421e+00,
  1.04493245e+00, 1.04917999e+00,-7.59528467e-01, 5.79952931e+01,
  5.18222915e+01, 8.21901310e-01]

qfrc_actuator:
[ 3.44666124e-03, 7.44020091e-02, 2.04263467e-02, 1.84797731e-03,
  3.68178868e-05, 3.53031715e-02, 1.08462349e-02, 1.79062247e-03,
 -3.03982163e-03, 3.48352941e-02, 1.09484576e-02, 1.69159322e-03,
  0.00000000e+00, 2.26449893e-03, 0.00000000e+00,-5.99276969e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007216099371574261
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30535717,  0.08773173, -0.94818782, -0.02689321,  0.99614414,
        0.08350816,  0.95185805,  0.        ,  0.30653914])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07246826, -0.04279081,  0.22454122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.33948062,   4.55179097,   7.33948062,
        15.71191009, -11.40887982,   4.55179097, -11.40887982,
        27.03247474,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001326583451517739
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.61532507e-14,  1.04613003e-14,  1.00000000e+00,  2.73597008e-28,
        1.00000000e+00, -1.04613003e-14, -1.00000000e+00,  0.00000000e+00,
       -2.61532507e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0368866 , -0.11853175,  0.06188224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.05718157e-04, 3.95380728e-02, 9.77833636e-03, 4.92863594e-06,
 -1.55122030e-05,-6.38311055e-05, 1.89633957e-05, 6.94791717e-05,
 -2.10248550e-05,-8.63808531e-05,-5.31908194e-05,-3.33825336e-05,
  2.83015505e-03, 4.42017124e-03, 8.36445321e-03, 1.19090535e-03,
  6.42777457e-06, 1.15626755e-05,-1.21644642e+00, 1.59464442e-03,
  5.41235455e-04, 4.53686552e-05]


--- Step 2448 ---
qpos:
[-0.01558651, 1.29285034,-0.03239895, 0.94841786, 0.00440992, 1.33099493,
 -0.02966206, 0.94623188, 0.01673564, 1.33639027,-0.02391508, 0.95499572,
  1.3922027 ,-0.00541107, 1.19317613, 0.0616003 ,-0.00364733,-0.09265691,
  0.08157473, 0.6345332 ,-0.01184821,-0.00348642, 0.77279693]

qacc:
[-3.63686097e-01,-2.45059195e-02, 3.20724705e+00,-6.21452072e+00,
 -1.06170308e-01,-7.10313576e-01,-2.89375472e+00, 2.46814670e+01,
 -1.41887876e-01, 4.91577835e+00,-1.71103386e+01, 2.24825615e+01,
 -4.07823340e-01, 5.79130774e-01,-4.94187669e+00, 9.26231440e+00,
 -1.57382598e+00,-1.19921258e+00, 8.27854596e-01,-7.82372163e+01,
 -6.85720931e+01,-2.49645846e+00]

qfrc_actuator:
[ 3.43860927e-03, 7.43522556e-02, 2.04412762e-02, 1.86073732e-03,
  1.53498349e-05, 3.52608122e-02, 1.08993652e-02, 1.88502053e-03,
 -3.06824697e-03, 3.48829827e-02, 1.08971689e-02, 1.72833976e-03,
  0.00000000e+00, 2.28200270e-03, 0.00000000e+00,-4.29145826e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007213831062224119
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30535475,  0.08773263, -0.94818852, -0.02689327,  0.99614406,
        0.08350908,  0.95185883,  0.        ,  0.30653673])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0724672 , -0.04279141,  0.22454141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013122489676261062
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.11511507e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.11511507e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0365266 , -0.06296263,  0.0618834 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.77878004e-04, 3.95796863e-02, 9.89346055e-03,-6.51911947e-07,
 -3.06237017e-05,-7.19460636e-05, 4.48308786e-05, 9.46647364e-05,
 -4.08384903e-05,-1.14847321e-05,-7.51866804e-05, 3.18605447e-05,
  2.85351554e-03, 4.43333344e-03, 8.30150334e-03, 1.38696450e-03,
  1.59530451e-05, 2.62802156e-05,-1.21645268e+00, 1.59869314e-03,
  5.38181490e-04, 6.48577728e-05]


--- Step 2449 ---
qpos:
[-0.01559171, 1.29286254,-0.0324016 , 0.94841715, 0.00441048, 1.33100422,
 -0.02966248, 0.94623455, 0.01673522, 1.33639365,-0.02391382, 0.95499699,
  1.39221751,-0.00541752, 1.19315833, 0.06159558,-0.0036489 ,-0.09265292,
  0.08157146, 0.63458606,-0.01192855,-0.00344017, 0.77275249]

qacc:
[-6.33729430e-01,-4.14382778e+00, 2.05544851e+01,-3.55345366e+01,
 -4.62942809e-02, 1.18191365e+00,-4.69838503e+00, 8.80524854e+00,
 -8.00997471e-02, 2.43330327e-01,-4.33419074e+00, 2.04810830e+01,
 -2.42580752e-01, 4.07374279e-01,-8.20197611e+00, 1.83601642e+01,
 -1.42617323e+00,-1.14972184e+00, 5.52933872e-02,-7.25443737e+01,
 -6.31924854e+01,-2.66011922e+00]

qfrc_actuator:
[ 3.40026912e-03, 7.43175582e-02, 2.04871520e-02, 1.79723240e-03,
  2.01048661e-05, 3.52854611e-02, 1.08952217e-02, 1.90412821e-03,
 -3.06725732e-03, 3.48744684e-02, 1.09379322e-02, 1.80330562e-03,
  0.00000000e+00, 2.29501818e-03, 0.00000000e+00,-2.53903433e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007210582785780045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05350016e-01,  8.77338195e-02, -9.48189931e-01, -2.68932247e-02,
        9.96143954e-01,  8.35103440e-02,  9.51860348e-01, -3.46944695e-18,
        3.06532017e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07246579, -0.04279195,  0.22454169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.02774528, -5.01971843, -7.02774528, 11.40886626,
       -3.8815807 , -5.01971843, -3.8815807 , 14.07068447,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013379617556768114
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.14893408e-14,  4.14893408e-14,  1.00000000e+00,  1.72136540e-27,
        1.00000000e+00, -4.14893408e-14, -1.00000000e+00,  0.00000000e+00,
       -4.14893408e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03648658, -0.06300239,  0.06188123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.82169571e-04, 3.94594705e-02, 9.90372119e-03,-5.39208861e-05,
 -1.33177332e-05,-3.60593745e-06,-1.03468645e-05, 2.04761720e-05,
 -2.31187993e-05,-2.86328073e-05, 3.09033060e-05, 7.31734260e-05,
  2.87674399e-03, 4.42969654e-03, 8.49028687e-03, 1.57213573e-03,
  4.27755458e-06, 7.98384994e-06,-1.21644496e+00, 1.59323422e-03,
  5.41450353e-04, 4.20991435e-05]


--- Step 2450 ---
qpos:
[-0.01559685, 1.2928737 ,-0.03240373, 0.94841505, 0.00441085, 1.33101415,
 -0.02966405, 0.94623639, 0.01673456, 1.33639706,-0.02391137, 0.95499873,
  1.39223219,-0.00542422, 1.1931446 , 0.06159159,-0.00365569,-0.09265335,
  0.0815658 , 0.63464115,-0.01200414,-0.00357334, 0.77270547]

qacc:
[ 2.10061513e-02,-5.10204898e+00, 1.78461916e+01,-3.08323781e+01,
 -7.98208744e-02, 2.50693409e+00,-5.46719550e+00,-5.31273314e+00,
 -1.05745771e-01,-2.36399702e+00, 6.81422285e+00,-4.93234328e-01,
 -1.01521471e-01,-8.41589943e-02, 3.77556254e+00,-4.45014867e+00,
 -1.30521999e+00,-1.10624101e+00,-5.95753561e-01,-6.78099819e+01,
 -5.87443547e+01,-2.76261496e+00]

qfrc_actuator:
[ 3.38023604e-03, 7.43257788e-02, 2.05323220e-02, 1.70698911e-03,
  5.04705887e-06, 3.53320412e-02, 1.08397550e-02, 1.86102053e-03,
 -3.08413530e-03, 3.49215189e-02, 1.10147733e-02, 1.82916816e-03,
  0.00000000e+00, 2.30519884e-03, 0.00000000e+00,-4.31124432e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007206664878314645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3053409 ,  0.08773551, -0.94819271, -0.02689295,  0.9961438 ,
        0.08351221,  0.95186328,  0.        ,  0.30652292])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07246393, -0.04279242,  0.22454207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.03468803, -5.00998415, -7.03468803, 12.13528735,
       -4.91295701, -5.00998415, -4.91295701, 15.53481258,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013438302493241489
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.13081572e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.13081572e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03647995, -0.0630152 ,  0.06188072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.36446642e-04, 3.93352710e-02, 9.85146438e-03,-7.46180938e-05,
 -2.29162435e-05, 4.31144159e-05,-5.67558004e-05,-4.30280014e-05,
 -3.05263222e-05, 3.93966816e-05, 7.68990526e-05, 2.76297403e-05,
  2.89503665e-03, 4.42283199e-03, 8.73226824e-03, 1.37704757e-03,
  9.23233953e-07, 7.43015888e-07,-1.21644149e+00, 1.58819305e-03,
  5.44349418e-04, 3.30226924e-05]


--- Step 2451 ---
qpos:
[-0.01560156, 1.29288484,-0.03240523, 0.9484125 , 0.00441103, 1.33102459,
 -0.02966661, 0.9462377 , 0.01673352, 1.33640103,-0.02390901, 0.9550001 ,
  1.39224717,-0.00543111, 1.19313237, 0.06158787,-0.00366731,-0.09265806,
  0.08155556, 0.63469864,-0.01207569,-0.00387519, 0.77265568]

qacc:
[  0.19104212, -2.55433091,  9.22985149,-13.33539154, -0.07866013,
   2.44887748, -6.07972167, -1.18252126, -0.15784281,  0.33562675,
   0.53267242, -5.10512017,  0.30131898, -0.39929697,  1.38177679,
  -1.66645571, -1.2058691 , -1.06807662, -1.14405823,-63.87391134,
 -55.06581567, -2.81966289]

qfrc_actuator:
[ 3.40575190e-03, 7.43446133e-02, 2.05777201e-02, 1.69001753e-03,
 -4.02341001e-06, 3.53556394e-02, 1.07900401e-02, 1.83491967e-03,
 -3.11159737e-03, 3.49483629e-02, 1.10059222e-02, 1.80820167e-03,
  0.00000000e+00, 2.26088918e-03, 0.00000000e+00,-4.29793516e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000720466461332496
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30533228,  0.08773719, -0.94819533, -0.0268927 ,  0.99614366,
        0.08351405,  0.95186605,  0.        ,  0.3065143 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07246244, -0.04279291,  0.2245424 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.01730375, -5.03430481, -7.01730375, 13.0917363 ,
       -6.21033182, -5.03430481, -6.21033182, 17.29292824,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001333770103604845
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.16197297e-14,  6.24295946e-14,  1.00000000e+00,  2.59830285e-27,
        1.00000000e+00, -6.24295946e-14, -1.00000000e+00,  0.00000000e+00,
       -4.16197297e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03649984, -0.06300664,  0.06188153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.59517456e-04, 3.94054122e-02, 9.87097736e-03,-2.22815264e-05,
 -2.25906298e-05, 3.49915693e-05,-4.90080877e-05,-2.74554573e-05,
 -4.54811682e-05, 6.44416539e-05, 8.38637072e-06,-1.68953500e-05,
  2.90225217e-03, 4.39178167e-03, 8.52881925e-03, 1.34127734e-03,
  4.27679436e-06, 2.36313759e-06,-1.21644141e+00, 1.58337841e-03,
  5.47033950e-04, 3.48847758e-05]


--- Step 2452 ---
qpos:
[-0.01560753, 1.29289998,-0.03240512, 0.94841037, 0.00441107, 1.33103507,
 -0.02966898, 0.94623729, 0.01673227, 1.33640582,-0.02390771, 0.95500054,
  1.39226241,-0.00543724, 1.19310983, 0.06158364,-0.00367323,-0.09265824,
  0.08155084, 0.63475482,-0.01215766,-0.00398394, 0.77260769]

qacc:
[-5.42705152e-01, 1.67636156e+00,-2.16858397e-02, 2.55812169e+00,
 -6.50201781e-02,-3.40718096e+00, 1.46896686e+01,-3.27039265e+01,
 -8.67077107e-02, 2.36164915e+00,-4.53589505e+00,-7.23556179e+00,
  1.99582729e-01, 3.13696172e-01,-1.36779673e+01, 2.57054535e+01,
  1.42455683e+00, 1.13050753e+00, 1.37946227e+00, 7.12853415e+01,
  6.52923630e+01, 2.25797265e+00]

qfrc_actuator:
[ 3.42267342e-03, 7.43337259e-02, 2.05696685e-02, 1.73439434e-03,
 -9.42898471e-06, 3.53475546e-02, 1.07973341e-02, 1.74804108e-03,
 -3.10968206e-03, 3.49803034e-02, 1.09464647e-02, 1.75979373e-03,
  0.00000000e+00, 2.23716846e-03, 0.00000000e+00,-3.71111855e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007203662860876502
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30532308,  0.08773873, -0.94819815, -0.02689237,  0.99614352,
        0.08351578,  0.95186901,  0.        ,  0.30650511])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07246106, -0.04279345,  0.22454272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.001338504155838513
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.07362641e-14,  4.14725281e-14,  1.00000000e+00,  8.59985294e-28,
        1.00000000e+00, -4.14725281e-14, -1.00000000e+00,  0.00000000e+00,
       -2.07362641e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03688413, -0.11849027,  0.06188109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.54046540e-04, 3.93960242e-02, 9.83095456e-03, 4.53207104e-05,
 -1.87339768e-05, 7.94410733e-07, 7.74976937e-06,-8.78897641e-05,
 -2.49313534e-05, 6.86835877e-05,-4.64185973e-05,-4.66353172e-05,
  2.88714033e-03, 4.37733244e-03, 8.45409212e-03, 1.72062817e-03,
  1.31656918e-05, 1.12498448e-05,-1.21644409e+00, 1.57866678e-03,
  5.49606854e-04, 4.56893851e-05]


--- Step 2453 ---
qpos:
[-0.01561499, 1.29291846,-0.03240402, 0.94840819, 0.00441084, 1.33104545,
 -0.02967124, 0.94623655, 0.01673106, 1.33641118,-0.02390648, 0.95499933,
  1.39227799,-0.00544254, 1.1930768 , 0.06157914,-0.00367397,-0.09265405,
  0.08154852, 0.63481029,-0.01224876,-0.00391346, 0.77256103]

qacc:
[-6.35923877e-01, 1.59522769e+00, 2.27201306e-01,-2.98025549e+00,
 -1.11022218e-01,-9.94646773e-01, 3.78024885e+00,-7.06968900e+00,
  1.66449988e-02,-1.88116851e+00, 1.03663053e+01,-2.83480216e+01,
  2.48945073e-01, 3.19559349e-01,-1.46827913e+01, 2.88103321e+01,
  1.29325585e+00, 1.09109113e+00, 5.98149808e-01, 6.63404643e+01,
  6.04010926e+01, 1.80737502e+00]

qfrc_actuator:
[ 3.41822670e-03, 7.43364928e-02, 2.05283299e-02, 1.72610245e-03,
 -3.03457997e-05, 3.53384958e-02, 1.08025486e-02, 1.73261650e-03,
 -3.09015961e-03, 3.50148110e-02, 1.09464147e-02, 1.67786895e-03,
  0.00000000e+00, 2.22493039e-03, 0.00000000e+00, 2.36002946e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007199460252231872
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30530854,  0.08774073, -0.94820265, -0.02689171,  0.99614335,
        0.08351809,  0.9518737 ,  0.        ,  0.30649057])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07245874, -0.04279392,  0.22454321])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.09425598,  4.92527248,  7.09425598, 11.92472635,
       -4.73648655,  4.92527248, -4.73648655, 15.45869645,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013544241239814292
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  4.0985058e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -4.0985058e-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([-0.03686385, -0.11846525,  0.06187974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.13208586e-04, 3.91987258e-02, 9.70955935e-03, 1.52459587e-05,
 -3.19706927e-05,-9.81131598e-06, 3.66593160e-06,-1.72022415e-05,
  4.80898251e-06, 6.20069445e-05, 6.71769996e-06,-8.23238088e-05,
  2.87413645e-03, 4.32713905e-03, 8.96989369e-03, 2.01949820e-03,
  3.64835615e-06, 1.64959871e-06,-1.21644136e+00, 1.58463903e-03,
  5.46960387e-04, 3.38774321e-05]


--- Step 2454 ---
qpos:
[-0.01562297, 1.29293782,-0.0324026 , 0.94840619, 0.0044105 , 1.33105553,
 -0.02967334, 0.94623599, 0.01672998, 1.33641659,-0.02390482, 0.95499786,
  1.39229412,-0.00544749, 1.19304042, 0.06157486,-0.00366997,-0.09264565,
  0.08154596, 0.63486543,-0.01234794,-0.00367522, 0.77251531]

qacc:
[-2.16663992e-01, 6.13272773e-01,-9.73834170e-01, 2.36462458e+00,
 -4.65395857e-02,-5.09877661e-01, 8.06896048e-01, 1.61024820e+00,
  5.21576041e-02,-1.57698560e+00, 5.73092950e+00,-8.00083846e+00,
  3.78560349e-01,-8.11483139e-02,-5.61065640e+00, 1.24161906e+01,
  1.18603848e+00, 1.05613029e+00,-5.90216141e-02, 6.22322209e+01,
  5.63629552e+01, 1.46469785e+00]

qfrc_actuator:
[ 3.40168649e-03, 7.43465017e-02, 2.05202351e-02, 1.72203498e-03,
 -2.48941437e-05, 3.53112094e-02, 1.08065136e-02, 1.74161081e-03,
 -3.07798742e-03, 3.49975177e-02, 1.09636930e-02, 1.66569132e-03,
  0.00000000e+00, 2.20146021e-03, 0.00000000e+00, 2.59815280e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000719147826788346
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05289848e-01,  8.77432292e-02, -9.48208434e-01, -2.68908317e-02,
        9.96143125e-01,  8.35210000e-02,  9.51879715e-01,  3.46944695e-18,
        3.06471872e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07245549, -0.04279433,  0.22454386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.11508331,  4.89513701,  7.11508331, 12.70425114,
       -5.91267587,  4.89513701, -5.91267587, 17.23044003,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013524603184237177
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02611423e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.02611423e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03687014, -0.11846269,  0.06187989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.71201109e-04, 3.90410912e-02, 9.65131585e-03, 1.41386115e-05,
 -1.34133487e-05,-3.25850750e-05, 1.94862436e-06, 8.41867895e-06,
  1.50173039e-05, 1.58285681e-05, 2.77336849e-05,-1.20521390e-05,
  2.85687027e-03, 4.26245772e-03, 9.49534613e-03, 2.05713098e-03,
  1.04163741e-06, 1.19328490e-06,-1.21644200e+00, 1.58995329e-03,
  5.44157434e-04, 3.37930581e-05]


--- Step 2455 ---
qpos:
[-0.01563025, 1.29295553,-0.03240095, 0.94840474, 0.00441012, 1.33106534,
 -0.02967514, 0.94623657, 0.01672903, 1.3364216 ,-0.02390425, 0.95499845,
  1.39231034,-0.00545276, 1.19300996, 0.06157134,-0.00366339,-0.09263744,
  0.08155462, 0.63492054,-0.01239228,-0.00339186, 0.77247061]

qacc:
[ 2.94535585e-01,-1.83240265e+00, 2.22404393e+00, 5.49227565e+00,
 -1.53811903e-02, 7.54526442e-01,-5.22192954e+00, 1.78746604e+01,
  5.71976066e-02, 5.96242957e+00,-2.42091013e+01, 4.49340583e+01,
  2.82978247e-02,-2.09073873e-01, 6.41136359e+00,-9.75215414e+00,
  6.45497592e-01,-5.11463623e-02, 2.80685416e+00, 3.48443877e+01,
 -6.86922100e+00, 5.18285162e-01]

qfrc_actuator:
[ 3.41300892e-03, 7.42909765e-02, 2.05678798e-02, 1.73804040e-03,
 -2.14213565e-05, 3.53087404e-02, 1.08273924e-02, 1.80037946e-03,
 -3.07032481e-03, 3.49139445e-02, 1.08843708e-02, 1.76564426e-03,
  0.00000000e+00, 2.22465065e-03, 0.00000000e+00, 4.49002003e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007182222780450567
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05270021e-01,  8.77458990e-02, -9.48214571e-01, -2.68899097e-02,
        9.96142890e-01,  8.35241016e-02,  9.51886100e-01,  3.46944695e-18,
        3.06452040e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07245194, -0.04279478,  0.22454455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.44723775,   6.70181899,   5.44723775,
        52.95750892, -36.02422205,   6.70181899, -36.02422205,
        37.9168474 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013366228298373243
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03827254e-14,  8.87740340e-07,  1.00000000e+00,  9.21716418e-21,
        1.00000000e+00, -8.87740340e-07, -1.00000000e+00, -1.50463277e-36,
       -1.03827254e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01903214, -0.0932439 ,  0.0618812 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.07909601e-04, 3.89414659e-02, 9.68325023e-03, 2.12114398e-05,
 -4.44315019e-06,-1.99296775e-05, 1.49647473e-05, 5.80542926e-05,
  1.65327464e-05,-6.98017277e-05,-7.34416475e-05, 1.00960796e-04,
  2.82982763e-03, 4.26804918e-03, 9.66290229e-03, 1.83142929e-03,
  4.08437077e-06, 8.11439962e-06,-1.21644538e+00, 1.59481282e-03,
  5.41164285e-04, 4.32195878e-05]


--- Step 2456 ---
qpos:
[-0.01563691, 1.2929716 ,-0.03239928, 0.94840385, 0.00440989, 1.33107488,
 -0.02967639, 0.94623852, 0.01672806, 1.33642591,-0.02390504, 0.95499993,
  1.39232609,-0.00545829, 1.19298485, 0.06156838,-0.00366245,-0.09263353,
  0.08156264, 0.63497709,-0.01243079,-0.0032969 , 0.77242391]

qacc:
[ 2.66402694e-01,-1.28576313e+00, 4.48080504e-01, 7.13752507e+00,
  6.04712237e-02, 5.46880910e-01,-5.02671411e+00, 2.04823793e+01,
 -1.08724232e-02, 4.28957557e+00,-1.68780979e+01, 2.53183943e+01,
 -4.25047042e-01, 2.17954139e-01, 6.24378144e+00,-1.02886240e+01,
 -1.40902616e+00,-1.07289945e+00,-1.61016642e-01,-7.09140415e+01,
 -6.20434011e+01,-2.36744043e+00]

qfrc_actuator:
[ 3.44005387e-03, 7.42338194e-02, 2.05956774e-02, 1.76564667e-03,
 -1.41281852e-06, 3.53034985e-02, 1.08582046e-02, 1.87023246e-03,
 -3.08318225e-03, 3.48442825e-02, 1.08016965e-02, 1.80639393e-03,
  0.00000000e+00, 2.27636898e-03, 0.00000000e+00,-6.53476040e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007175486553067829
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30525156,  0.08774834, -0.94822029, -0.02688904,  0.99614267,
        0.08352695,  0.95189204,  0.        ,  0.30643358])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07244893, -0.0427953 ,  0.22454515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.72057658,   3.87033255,   7.72057658,
        19.60004928, -21.87046553,   3.87033255, -21.87046553,
        52.26377853,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001353087260362068
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.20511032e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.20511032e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03648665, -0.0630611 ,  0.06187986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.00427785e-04, 3.89669703e-02, 9.69997484e-03, 2.13226788e-05,
  1.73858378e-05,-1.16651257e-05, 3.03095797e-05, 7.10527079e-05,
 -3.09643359e-06,-1.19646472e-04,-1.01703310e-04, 3.88911264e-05,
  2.82527078e-03, 4.33583374e-03, 9.36808004e-03, 1.68309470e-03,
  7.87782605e-06, 1.04432178e-05,-1.21644566e+00, 1.59389484e-03,
  5.39463765e-04, 4.78690967e-05]


--- Step 2457 ---
qpos:
[-0.01564223, 1.29298442,-0.03239905, 0.94840283, 0.00440998, 1.33108387,
 -0.02967698, 0.9462389 , 0.01672716, 1.33642955,-0.02390594, 0.9550001 ,
  1.39234139,-0.00546431, 1.19296682, 0.06156582,-0.00366667,-0.0926338 ,
  0.08156756, 0.63503551,-0.01246442,-0.00337803, 0.77237499]

qacc:
[ 5.70691219e-01,-6.02318073e-01,-2.93147367e+00, 3.09104802e+00,
  1.39213325e-01,-5.22230148e+00, 1.93757156e+01,-3.46928721e+01,
  2.99682547e-02,-2.84965062e+00, 1.08788333e+01,-2.41851528e+01,
 -3.86538523e-01, 3.92774532e-02, 9.27419673e+00,-1.71952321e+01,
 -1.29119090e+00,-1.04434151e+00,-7.76639076e-01,-6.64533975e+01,
 -5.77724557e+01,-2.53418044e+00]

qfrc_actuator:
[ 3.47632212e-03, 7.42295859e-02, 2.05761609e-02, 1.74672493e-03,
  2.83527696e-05, 3.52434374e-02, 1.08768685e-02, 1.78626747e-03,
 -3.07273989e-03, 3.48366824e-02, 1.08064796e-02, 1.74095491e-03,
  0.00000000e+00, 2.30977758e-03, 0.00000000e+00,-2.72668784e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000717090432113987
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30523464,  0.08775058, -0.94822553, -0.02688824,  0.99614248,
        0.08352955,  0.95189749,  0.        ,  0.30641665])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07244639, -0.04279584,  0.22454568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.26819622, -4.66477229, -7.26819622, 10.84093432,
       -3.43494844, -4.66477229, -3.43494844, 13.98836749,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013537284317330575
  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([ 0.03649058, -0.06306718,  0.06187985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.05464982e-04, 3.90445254e-02, 9.67876628e-03,-2.56197471e-05,
  4.00236368e-05,-5.85182217e-05, 2.19054245e-05,-8.17640766e-05,
  8.61243323e-06,-9.25000893e-05,-2.90046369e-05,-7.10475246e-05,
  2.84832136e-03, 4.38286857e-03, 9.10091458e-03, 1.44795123e-03,
  1.55100835e-06, 1.60750345e-06,-1.21644137e+00, 1.58852298e-03,
  5.42529717e-04, 3.65506083e-05]


--- Step 2458 ---
qpos:
[-0.0156468 , 1.29299486,-0.03240062, 0.94840154, 0.00441027, 1.33109241,
 -0.02967735, 0.94623863, 0.01672679, 1.33643229,-0.02390559, 0.95499942,
  1.39235612,-0.00547047, 1.19295234, 0.06156323,-0.00367567,-0.09263814,
  0.0815673 , 0.63509606,-0.01249394,-0.00362505, 0.77232361]

qacc:
[  0.3195608 ,  1.29608185, -7.41532754,  4.70605909,  0.08167705,
  -2.28230054,  8.07122394,-14.23694277,  0.22552302, -6.00800403,
  19.83445603,-26.26728355, -0.54258213,  0.41114779,  5.37574827,
 -11.08925288, -1.19473686, -1.01837017, -1.29467392,-62.74670228,
 -54.24542242, -2.64317441]

qfrc_actuator:
[ 3.48165557e-03, 7.42416255e-02, 2.05297182e-02, 1.73585643e-03,
  2.82246804e-05, 3.52218957e-02, 1.08879031e-02, 1.75443421e-03,
 -3.01289816e-03, 3.48133157e-02, 1.08807860e-02, 1.70241601e-03,
  0.00000000e+00, 2.35026698e-03, 0.00000000e+00,-3.43017527e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007168162073956895
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30522219,  0.08775235, -0.94822937, -0.02688769,  0.99614232,
        0.08353159,  0.9519015 ,  0.        ,  0.3064042 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07244453, -0.0427964 ,  0.22454607])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.27716641, -4.65076616, -7.27716641, 11.50582773,
       -4.48991993, -4.65076616, -4.48991993, 15.66185005,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013395163366242552
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.21617852e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.21617852e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03651904, -0.06305319,  0.06188106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.43881230e-04, 3.92191949e-02, 9.70442628e-03,-3.00584741e-05,
  2.34866385e-05,-5.21397526e-05,-3.22599958e-07,-3.48311199e-05,
  6.49255318e-05,-8.23116942e-05, 5.08641743e-05,-4.37777173e-05,
  2.87133016e-03, 4.44729159e-03, 8.74728343e-03, 1.35779939e-03,
  1.86612523e-06, 1.40184420e-06,-1.21644040e+00, 1.58345798e-03,
  5.45338642e-04, 3.59098000e-05]


--- Step 2459 ---
qpos:
[-0.01565225, 1.29300701,-0.03240245, 0.94840071, 0.00441067, 1.33110088,
 -0.02967721, 0.94623863, 0.01672688, 1.3364349 ,-0.02390468, 0.95499895,
  1.39237049,-0.00547598, 1.19293203, 0.06156007,-0.0036844 ,-0.09264833,
  0.0815729 , 0.63515839,-0.01242588,-0.00396795, 0.77227176]

qacc:
[-3.75780579e-01, 3.69611848e+00,-1.03054537e+01, 1.32240810e+01,
  4.71390225e-02,-1.01639624e+00, 2.67620840e+00, 7.51380819e-01,
  1.95429582e-01,-1.31142687e+00, 3.69185348e+00,-8.37423754e-01,
 -4.50486806e-01, 8.63837474e-01,-6.86203726e+00, 1.15723928e+01,
  6.67927918e-02,-1.46351360e+00, 1.46663439e+00,-6.02786440e+00,
 -6.81177430e+01,-1.61391729e+00]

qfrc_actuator:
[ 3.46848146e-03, 7.42283386e-02, 2.04858148e-02, 1.78327615e-03,
  2.79173294e-05, 3.52590790e-02, 1.09300458e-02, 1.77133658e-03,
 -2.99491691e-03, 3.48520054e-02, 1.09244803e-02, 1.71556895e-03,
  0.00000000e+00, 2.35935750e-03, 0.00000000e+00,-1.00130637e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007165656564350822
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30521372,  0.08775384, -0.94823196, -0.0268874 ,  0.99614219,
        0.08353325,  0.95190422,  0.        ,  0.30639574])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07244303, -0.04279695,  0.22454638])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -8.3591886 ,  -2.17042457,  -8.3591886 ,
        12.56765979, -15.14102192,  -2.17042457, -15.14102192,
        66.95060289,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013214628631194741
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.20073487e-14,  4.20073487e-14,  1.00000000e+00,  1.76461734e-27,
        1.00000000e+00, -4.20073487e-14, -1.00000000e+00,  0.00000000e+00,
       -4.20073487e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00323629, -0.0709292 ,  0.06188257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.93220510e-04, 3.93242086e-02, 9.75089332e-03, 3.11380802e-05,
  1.35495794e-05, 7.17533342e-06, 3.08789470e-05, 1.45322130e-05,
  5.63114194e-05, 1.79048150e-06, 3.21145971e-05, 1.11865457e-05,
  2.89991906e-03, 4.46368531e-03, 8.56974347e-03, 1.60222121e-03,
  7.70066416e-06, 8.31841521e-06,-1.21644217e+00, 1.57854754e-03,
  5.48007749e-04, 4.40548695e-05]


--- Step 2460 ---
qpos:
[-0.01565746, 1.29301928,-0.03240477, 0.94840164, 0.00441113, 1.33110989,
 -0.0296771 , 0.94623845, 0.01672719, 1.336438  ,-0.02390349, 0.9549979 ,
  1.39238499,-0.00548121, 1.19291183, 0.06155648,-0.00368757,-0.09265421,
  0.0815817 , 0.63521933,-0.01236784,-0.00412799, 0.77222173]

qacc:
[ 1.04055564e-01, 4.50109315e+00,-1.80965564e+01, 3.59530206e+01,
  2.62840531e-02, 4.88767117e-01,-4.00468284e-01,-1.94919649e+00,
  9.00884669e-02,-1.12867681e+00, 5.59097435e+00,-1.17106079e+01,
 -1.25563016e-01, 3.72312398e-01, 1.46133095e+00,-4.85311945e+00,
  1.39074552e+00, 1.07888676e+00, 7.98704775e-01, 6.74206739e+01,
  6.19244280e+01, 2.27683921e+00]

qfrc_actuator:
[ 3.48103852e-03, 7.42144844e-02, 2.04603511e-02, 1.86503852e-03,
  2.75068926e-05, 3.53135437e-02, 1.09372158e-02, 1.76357152e-03,
 -3.00219410e-03, 3.49097472e-02, 1.09500008e-02, 1.68802609e-03,
  0.00000000e+00, 2.34887568e-03, 0.00000000e+00,-1.83579898e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000716074413929884
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30520386,  0.08775562, -0.94823497, -0.02688708,  0.99614203,
        0.08353522,  0.95190739,  0.        ,  0.30638589])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07244101, -0.04279743,  0.22454677])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -4.55868584,  -7.33520008,  -4.55868584,
        70.60001554, -38.50921846,  -7.33520008, -38.50921846,
        32.5691026 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013367993426009611
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.63347406e-14,  4.15254178e-14,  1.00000000e+00,  1.50881528e-27,
        1.00000000e+00, -4.15254178e-14, -1.00000000e+00,  0.00000000e+00,
       -3.63347406e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03692341, -0.11844972,  0.06188133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.49804878e-04, 3.92250847e-02, 9.73782077e-03, 8.96587563e-05,
  7.58488461e-06, 6.48488700e-05, 1.25014363e-05,-6.29616943e-06,
  2.59700781e-05, 6.53177097e-05, 2.98425848e-05,-2.62857674e-05,
  2.91782503e-03, 4.42095583e-03, 8.86169791e-03, 1.54719005e-03,
  8.18925445e-06, 1.68451852e-05,-1.21644339e+00, 1.57239117e-03,
  5.48309798e-04, 5.35047179e-05]


--- Step 2461 ---
qpos:
[-0.01566137, 1.29302945,-0.03240825, 0.94840378, 0.00441177, 1.33111971,
 -0.02967763, 0.94623853, 0.01672772, 1.33644099,-0.02390142, 0.95499552,
  1.39239971,-0.00548675, 1.1928979 , 0.06155285,-0.00368567,-0.0926559 ,
  0.08159095, 0.63527949,-0.01231856,-0.00411726, 0.77217308]

qacc:
[ 5.49788653e-01, 2.39918088e+00,-1.36270402e+01, 2.71023890e+01,
  7.54052295e-02, 3.26055709e+00,-9.88048684e+00, 1.10783227e+01,
  9.89418034e-02,-4.81562857e+00, 1.82027791e+01,-3.10951323e+01,
  5.06849072e-02,-1.82495351e-01, 9.40737462e+00,-1.94701497e+01,
  1.26523721e+00, 1.04791378e+00, 1.13279134e-01, 6.31517109e+01,
  5.76081746e+01, 1.80873545e+00]

qfrc_actuator:
[ 3.49050887e-03, 7.42011952e-02, 2.04463043e-02, 1.91266766e-03,
  4.47917484e-05, 3.53600510e-02, 1.09059845e-02, 1.77683738e-03,
 -2.98905701e-03, 3.48718518e-02, 1.09824139e-02, 1.61900198e-03,
  0.00000000e+00, 2.34451343e-03, 0.00000000e+00,-4.27237872e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000715578387335835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30519437,  0.08775732, -0.94823787, -0.02688677,  0.99614188,
        0.08353711,  0.95191045,  0.        ,  0.30637641])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07243899, -0.04279794,  0.22454716])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  6.74936205,  5.38821759,  6.74936205, 11.93451241,
       -4.13131055,  5.38821759, -4.13131055, 13.8113051 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001340919693342782
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.55241823e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.55241823e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03692286, -0.11843998,  0.06188103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.47049626e-04, 3.92058744e-02, 9.74886429e-03, 4.93023193e-05,
  2.17627894e-05, 8.45712469e-05,-1.73232219e-05, 1.54427408e-05,
  2.84739165e-05, 3.25114633e-06, 4.77853574e-05,-6.68229412e-05,
  2.91177275e-03, 4.40279956e-03, 8.85679939e-03, 1.32501048e-03,
  1.55950616e-06, 4.30581893e-06,-1.21643993e+00, 1.57837413e-03,
  5.45893515e-04, 3.80468381e-05]


--- Step 2462 ---
qpos:
[-0.01566547, 1.29304087,-0.03241078, 0.94840503, 0.00441245, 1.33112973,
 -0.02967861, 0.94623917, 0.01672831, 1.33644355,-0.0238994 , 0.95499379,
  1.39241452,-0.00549236, 1.19288278, 0.06154945,-0.00367913,-0.0926535 ,
  0.08159835, 0.63533931,-0.01227702,-0.00394577, 0.77212542]

qacc:
[-7.74289074e-02,-2.39966894e+00, 1.16473426e+01,-2.11806450e+01,
  1.76221935e-02, 2.37941159e+00,-8.58588449e+00, 1.36870800e+01,
  2.28773291e-02, 7.28658343e-01,-4.33993353e+00, 1.14977307e+01,
  2.01275343e-01,-2.71330018e-01,-2.48243861e+00, 6.12335848e+00,
  1.16323238e+00, 1.02027333e+00,-4.62371123e-01, 5.96071009e+01,
  5.40479301e+01, 1.44865336e+00]

qfrc_actuator:
[ 3.47923185e-03, 7.41549095e-02, 2.04754610e-02, 1.88640569e-03,
  3.70474358e-05, 3.53302797e-02, 1.08700948e-02, 1.80235915e-03,
 -2.99928224e-03, 3.48124872e-02, 1.09650047e-02, 1.65035099e-03,
  0.00000000e+00, 2.32653764e-03, 0.00000000e+00,-2.87902995e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007152865655502792
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30518798,  0.08775859, -0.9482398 , -0.0268866 ,  0.99614177,
        0.0835385 ,  0.9519125 ,  0.        ,  0.30637003])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07243751, -0.04279855,  0.22454745])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  6.78675223,  5.34104587,  6.78675223, 12.810915  ,
       -5.30451271,  5.34104587, -5.30451271, 15.37669396,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001329831146318669
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.17430073e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.17430073e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03694454, -0.11844929,  0.06188201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.71298376e-04, 3.92644958e-02, 9.83547190e-03,-3.74109042e-05,
  5.10025478e-06, 1.40174924e-05,-2.08803117e-05, 2.79209859e-05,
  6.58791125e-06,-5.02391828e-05,-1.33076729e-05, 3.12918023e-05,
  2.90039599e-03, 4.39996821e-03, 8.54384901e-03, 1.46709586e-03,
  9.97802562e-07, 2.40543024e-07,-1.21643955e+00, 1.58365805e-03,
  5.43337111e-04, 3.34161400e-05]


--- Step 2463 ---
qpos:
[-0.01567067, 1.29305501,-0.03241161, 0.94840474, 0.00441282, 1.3311394 ,
 -0.02967951, 0.94624081, 0.01672874, 1.33644572,-0.02389764, 0.95499384,
  1.39242916,-0.00549776, 1.19286249, 0.06154639,-0.00366826,-0.09264713,
  0.08160197, 0.63539907,-0.01224241,-0.0036218 , 0.77207838]

qacc:
[-4.66304245e-01,-3.66282297e+00, 1.93841884e+01,-3.62585900e+01,
 -1.30016485e-01, 1.08922292e+00,-6.16453195e+00, 1.72915330e+01,
 -7.03371911e-02, 3.21168987e+00,-1.46846292e+01, 3.34843248e+01,
  2.05763690e-02, 5.02299884e-02,-8.67401839e+00, 1.92163884e+01,
  1.08019209e+00, 9.95770113e-01,-9.45376269e-01, 5.66680823e+01,
  5.11136568e+01, 1.17405452e+00]

qfrc_actuator:
[ 3.47421437e-03, 7.41573161e-02, 2.05111561e-02, 1.81742583e-03,
 -3.40179745e-06, 3.52905449e-02, 1.08669685e-02, 1.85259447e-03,
 -3.02343893e-03, 3.47938438e-02, 1.09537895e-02, 1.74047390e-03,
  0.00000000e+00, 2.33579330e-03, 0.00000000e+00,-7.88199237e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007150306965336521
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05179492e-01,  8.77599396e-02, -9.48242411e-01, -2.68862704e-02,
        9.96141653e-01,  8.35400231e-02,  9.51915230e-01, -3.46944695e-18,
        3.06361541e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07243592, -0.04279914,  0.22454778])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  6.8088647 ,  5.31282772,  6.8088647 , 13.90243051,
       -6.7489365 ,  5.31282772, -6.7489365 , 17.2857304 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013066921478285254
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06205489e-14,  4.24821955e-14,  1.00000000e+00,  4.51184233e-28,
        1.00000000e+00, -4.24821955e-14, -1.00000000e+00,  0.00000000e+00,
       -1.06205489e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03698365, -0.11847354,  0.06188397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.75360231e-04, 3.92037974e-02, 9.82408388e-03,-6.18171500e-05,
 -3.74392810e-05,-3.52952585e-05,-1.95203742e-06, 5.07048588e-05,
 -2.02672097e-05,-4.81182741e-05,-2.16305625e-05, 8.89771271e-05,
  2.89580045e-03, 4.41306273e-03, 8.60293139e-03, 1.66417133e-03,
  5.49028896e-06, 3.13692950e-06,-1.21644173e+00, 1.58846360e-03,
  5.40597707e-04, 3.77234064e-05]


--- Step 2464 ---
qpos:
[-0.01567578, 1.29306962,-0.0324115 , 0.9484049 , 0.00441296, 1.33114857,
 -0.02967971, 0.946242  , 0.01672895, 1.33644732,-0.02389622, 0.95499499,
  1.39244352,-0.00550321, 1.19284346, 0.06154358,-0.00366337,-0.09264498,
  0.08160594, 0.63545969,-0.01220123,-0.00349199, 0.77202974]

qacc:
[ 3.30033560e-02,-1.12075371e+00, 3.48127980e+00, 1.92716121e+00,
 -9.90936896e-02,-3.33506937e+00, 1.10264573e+01,-1.46141616e+01,
 -9.20423379e-02, 2.07279519e+00,-9.87966928e+00, 2.15996463e+01,
 -2.45032788e-01, 1.92338479e-01, 1.13320693e+00,-1.20764361e+00,
 -1.49267364e+00,-1.05767334e+00, 8.74989644e-02,-7.28641147e+01,
 -6.42123670e+01,-2.03589580e+00]

qfrc_actuator:
[ 3.50944252e-03, 7.41337279e-02, 2.05496317e-02, 1.83033347e-03,
 -9.88408543e-06, 3.52630368e-02, 1.09009144e-02, 1.82821146e-03,
 -3.03800345e-03, 3.47465243e-02, 1.09287508e-02, 1.79346062e-03,
  0.00000000e+00, 2.36113783e-03, 0.00000000e+00,-1.65381171e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007146891798046756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30516679,  0.08776167, -0.94824634, -0.02688569,  0.9961415 ,
        0.08354203,  0.95191932,  0.        ,  0.30634884])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07243384, -0.04279966,  0.22454823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0012852946657648662
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.31894356e-14,  6.47841534e-14,  1.00000000e+00,  2.79799102e-27,
        1.00000000e+00, -6.47841534e-14, -1.00000000e+00,  0.00000000e+00,
       -4.31894356e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03664223, -0.06301838,  0.06188578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.65263668e-04, 3.90446662e-02, 9.77716163e-03, 2.79649429e-05,
 -2.85755522e-05,-4.59591204e-05, 2.82993265e-05,-2.43075937e-05,
 -2.65306083e-05,-7.55332968e-05,-3.42946628e-05, 5.30045278e-05,
  2.90439440e-03, 4.42824068e-03, 8.86238280e-03, 1.56079727e-03,
  1.42892937e-05, 1.18878366e-05,-1.21644609e+00, 1.59294057e-03,
  5.37650191e-04, 4.95877184e-05]


--- Step 2465 ---
qpos:
[-0.01568091, 1.29308496,-0.03241017, 0.94840518, 0.00441293, 1.33115727,
 -0.02967919, 0.94624253, 0.01672896, 1.33644856,-0.02389512, 0.95499502,
  1.39245771,-0.0055087 , 1.19282488, 0.06154108,-0.00366391,-0.09264697,
  0.08160766, 0.63552171,-0.01215458,-0.00354316, 0.77197919]

qacc:
[-3.73710299e-03,-2.13742659e+00, 7.89303142e+00,-5.91769275e+00,
 -7.16221935e-02,-3.70212209e+00, 1.26760182e+01,-1.82489773e+01,
 -8.44701238e-02,-1.54675718e+00, 6.73874664e+00,-1.85394346e+01,
 -1.04491713e-01, 4.78324042e-02,-2.66580366e-01, 1.91853915e+00,
 -1.35998750e+00,-1.03470846e+00,-5.63122470e-01,-6.81197178e+01,
 -5.96027176e+01,-2.27145041e+00]

qfrc_actuator:
[ 3.51482680e-03, 7.40779412e-02, 2.05898680e-02, 1.83774156e-03,
 -1.36887442e-05, 3.52431688e-02, 1.09386997e-02, 1.79563435e-03,
 -3.04669499e-03, 3.47355906e-02, 1.09133660e-02, 1.73536980e-03,
  0.00000000e+00, 2.36079554e-03, 0.00000000e+00,-1.45333518e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007144726630151366
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30515276,  0.0877634 , -0.94825069, -0.02688498,  0.99614135,
        0.08354407,  0.95192384,  0.        ,  0.3063348 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07243186, -0.04280018,  0.22454868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.20179171, -4.76665218, -7.20179171, 10.27673043,
       -2.47838096, -4.76665218, -2.47838096, 12.38087505,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012956365535390507
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.28446937e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.28446937e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03662974, -0.06303851,  0.06188493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.66780421e-04, 3.89650526e-02, 9.77077511e-03, 1.27998357e-05,
 -2.06679031e-05,-4.05488701e-05, 3.12955760e-05,-3.36758518e-05,
 -2.43567946e-05,-5.78413274e-05,-3.24838368e-05,-6.00927736e-05,
  2.91857078e-03, 4.43009914e-03, 8.79941015e-03, 1.56845971e-03,
  3.83102643e-06, 1.79780515e-06,-1.21644095e+00, 1.58691830e-03,
  5.41089285e-04, 3.61659351e-05]


--- Step 2466 ---
qpos:
[-0.01568645, 1.29310116,-0.03240828, 0.94840454, 0.00441279, 1.33116572,
 -0.02967853, 0.94624233, 0.01672895, 1.33645043,-0.02389379, 0.95499354,
  1.39247197,-0.00551405, 1.19280344, 0.0615388 ,-0.00366946,-0.09265301,
  0.08160493, 0.63558552,-0.01210333,-0.0037644 , 0.77192641]

qacc:
[-1.77568709e-01,-1.96628374e+00, 9.65236108e+00,-1.95855702e+01,
 -4.98385061e-02,-1.93772630e+00, 7.39094717e+00,-1.46514423e+01,
 -5.99642661e-03,-2.35769734e+00, 1.17079953e+01,-2.78558024e+01,
  1.18554457e-01,-3.84742510e-02,-4.89070527e+00, 1.09322769e+01,
 -1.25154576e+00,-1.01287406e+00,-1.11100009e+00,-6.41739939e+01,
 -5.57973652e+01,-2.43209267e+00]

qfrc_actuator:
[ 3.50236014e-03, 7.40556432e-02, 2.05772369e-02, 1.78874529e-03,
 -1.58579545e-05, 3.52280453e-02, 1.09429675e-02, 1.75851434e-03,
 -3.03404097e-03, 3.48530152e-02, 1.09571399e-02, 1.66567110e-03,
  0.00000000e+00, 2.34506368e-03, 0.00000000e+00,-2.59772026e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007143569372620451
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30513685,  0.08776516, -0.94825565, -0.02688412,  0.99614119,
        0.08354619,  0.95192896,  0.        ,  0.30631888])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07242989, -0.04280069,  0.22454916])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.20912334, -4.7555565 , -7.20912334, 10.87607939,
       -3.39526765, -4.7555565 , -3.39526765, 13.78337498,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012897856713441763
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.30390510e-14,  6.45585764e-14,  1.00000000e+00,  2.77853986e-27,
        1.00000000e+00, -6.45585764e-14, -1.00000000e+00,  0.00000000e+00,
       -4.30390510e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03664411, -0.06303647,  0.06188543])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.54757624e-04, 3.89059019e-02, 9.69686106e-03,-4.20680490e-05,
 -1.43661708e-05,-3.25048692e-05,-1.09866950e-06,-3.81866427e-05,
 -1.72694438e-06, 7.73040576e-05, 2.70257547e-05,-7.37581591e-05,
  2.92705786e-03, 4.41685440e-03, 8.77712880e-03, 1.67232169e-03,
  6.48176922e-07, 9.12799396e-07,-1.21643939e+00, 1.58134336e-03,
  5.44162112e-04, 3.41847018e-05]


--- Step 2467 ---
qpos:
[-0.01569132, 1.29311534,-0.03240756, 0.94840436, 0.00441256, 1.33117344,
 -0.02967761, 0.94624138, 0.01672914, 1.3364533 ,-0.02389189, 0.9549905 ,
  1.39248596,-0.00551948, 1.19278552, 0.06153653,-0.00366959,-0.09265487,
  0.0816047 , 0.63564796,-0.01206181,-0.00380514, 0.77187545]

qacc:
[ 2.85790732e-01, 1.31966865e+00,-8.42718416e+00, 1.38667911e+01,
 -3.33858764e-02,-2.93065494e+00, 9.97528094e+00,-1.69407151e+01,
  8.44398382e-02,-2.94607874e+00, 1.43457952e+01,-3.11285638e+01,
 -3.35524521e-01, 2.88944509e-01, 5.18211546e+00,-1.05059377e+01,
  1.35452767e+00, 1.04655215e+00, 6.23307223e-01, 6.65679499e+01,
  6.11032748e+01, 2.21312680e+00]

qfrc_actuator:
[ 3.53285185e-03, 7.40707817e-02, 2.05508134e-02, 1.79566486e-03,
 -1.70297861e-05, 3.51624950e-02, 1.09451874e-02, 1.71900333e-03,
 -3.00868512e-03, 3.49400970e-02, 1.10004946e-02, 1.58983777e-03,
  0.00000000e+00, 2.39093721e-03, 0.00000000e+00,-2.02115411e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007141450842013432
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30511961,  0.08776705, -0.94826102, -0.02688319,  0.99614103,
        0.08354849,  0.95193451,  0.        ,  0.30630162])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07242768, -0.04280118,  0.22454969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0012811184465997619
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.62488346e-14,  4.33302255e-14,  1.00000000e+00,  7.04065667e-28,
        1.00000000e+00, -4.33302255e-14, -1.00000000e+00,  0.00000000e+00,
       -1.62488346e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03703996, -0.11848341,  0.06188615])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.06062965e-04, 3.88783956e-02, 9.64241709e-03, 1.11033187e-05,
 -9.64996063e-06,-8.49512146e-05,-5.39165040e-06,-4.13915248e-05,
  2.43406041e-05, 1.32906368e-04, 5.93592981e-05,-7.44662922e-05,
  2.92390267e-03, 4.45568124e-03, 8.92099203e-03, 1.48558057e-03,
  3.46686809e-06, 7.56427758e-06,-1.21644074e+00, 1.57601859e-03,
  5.47019152e-04, 4.15417189e-05]


--- Step 2468 ---
qpos:
[-0.01569599, 1.29312851,-0.03240811, 0.94840452, 0.00441228, 1.33118025,
 -0.0296766 , 0.94624103, 0.01672929, 1.3364565 ,-0.02389033, 0.95498634,
  1.39249948,-0.00552474, 1.19276798, 0.061534  ,-0.00366478,-0.09265264,
  0.08160435, 0.63570961,-0.01202881,-0.00367697, 0.77182581]

qacc:
[ 8.55311553e-02, 2.65822803e+00,-1.10076557e+01, 1.42178930e+01,
 -2.16423849e-02,-4.53060166e-01,-1.20875762e+00, 8.55486500e+00,
 -2.12599275e-02,-5.56446093e-01, 4.60569442e+00,-1.71465992e+01,
 -5.31856604e-01, 6.28850101e-01, 1.38211220e+00,-3.94087107e+00,
  1.23657549e+00, 1.02230349e+00,-3.04308376e-02, 6.24840611e+01,
  5.69600600e+01, 1.76146019e+00]

qfrc_actuator:
[ 3.55269317e-03, 7.41286531e-02, 2.05176277e-02, 1.81736704e-03,
 -1.75947899e-05, 3.51027494e-02, 1.09459956e-02, 1.74938724e-03,
 -3.02917389e-03, 3.48840817e-02, 1.09543900e-02, 1.52874298e-03,
  0.00000000e+00, 2.43843464e-03, 0.00000000e+00,-2.00384960e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000713987311878831
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3051054 ,  0.08776871, -0.94826544, -0.02688245,  0.99614088,
        0.08355046,  0.95193909,  0.        ,  0.3062874 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07242581, -0.04280168,  0.22455013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.00920342,  5.04557671,  7.00920342, 11.42583407,
       -3.87507055,  5.04557671, -3.87507055, 14.01952583,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001284166429490724
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.4034226e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        5.4034226e-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([-0.03703975, -0.11847401,  0.06188589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.92380313e-04, 3.90365690e-02, 9.66808476e-03, 9.84855815e-06,
 -6.26210630e-06,-1.09089336e-04,-1.76423491e-05, 2.67290545e-05,
 -6.11126826e-06, 2.68417997e-05,-1.55914155e-05,-5.71508108e-05,
  2.93696045e-03, 4.50729488e-03, 8.74505170e-03, 1.48661099e-03,
  6.99036672e-07, 7.69444205e-07,-1.21643943e+00, 1.58196083e-03,
  5.44296172e-04, 3.34676940e-05]


--- Step 2469 ---
qpos:
[-0.01570096, 1.29314241,-0.03240899, 0.94840474, 0.00441197, 1.33118685,
 -0.02967642, 0.94624069, 0.0167293 , 1.33645933,-0.02388934, 0.95498258,
  1.3925127 ,-0.00552966, 1.19274745, 0.06153124,-0.00366552,-0.09265459,
  0.08160219, 0.63577258,-0.01199019,-0.00373214, 0.77177428]

qacc:
[-1.28594585e-01, 1.92662036e+00,-5.20844259e+00, 4.60280837e+00,
 -1.36271243e-02, 2.01670634e+00,-6.90577072e+00, 6.18071036e+00,
 -5.52865646e-02, 1.71052980e+00,-7.00778856e+00, 1.10608930e+01,
 -3.18097753e-01, 5.19536773e-01,-3.65644035e+00, 6.44518229e+00,
 -1.38807931e+00,-1.04478531e+00,-4.49572065e-01,-6.89689715e+01,
 -6.04297689e+01,-2.22757928e+00]

qfrc_actuator:
[ 3.56634552e-03, 7.41587243e-02, 2.04986939e-02, 1.83011116e-03,
 -1.77918714e-05, 3.51179910e-02, 1.09105097e-02, 1.74964693e-03,
 -3.04149450e-03, 3.48134843e-02, 1.09085616e-02, 1.54768414e-03,
  0.00000000e+00, 2.45117868e-03, 0.00000000e+00,-9.16626674e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007137599163202293
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30509336,  0.08777027, -0.94826917, -0.02688187,  0.99614074,
        0.0835523 ,  0.95194296,  0.        ,  0.30627536])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.072424  , -0.04280216,  0.22455054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   6.91033989,   5.18015246,   6.91033989,
        37.08735197, -37.95370906,   5.18015246, -37.95370906,
        59.26673243,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012823570793110695
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.32883727e-14,  4.32883727e-14,  1.00000000e+00,  1.87388321e-27,
        1.00000000e+00, -4.32883727e-14, -1.00000000e+00,  0.00000000e+00,
       -4.32883727e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03666964, -0.06304488,  0.06188604])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.95978735e-04, 3.91176794e-02, 9.71228013e-03, 5.07396852e-06,
 -3.89619780e-06,-4.77999967e-05,-5.80524211e-05,-2.89768911e-06,
 -1.59249412e-05,-6.05218345e-05,-4.40413019e-05, 1.79510181e-05,
  2.96087275e-03, 4.51141950e-03, 8.72662560e-03, 1.60847956e-03,
  3.63566260e-06, 1.86924491e-06,-1.21644100e+00, 1.58725793e-03,
  5.41429345e-04, 3.55071397e-05]


--- Step 2470 ---
qpos:
[-0.01570514, 1.2931554 ,-0.03241043, 0.94840526, 0.00441179, 1.33119333,
 -0.02967677, 0.94624032, 0.01672918, 1.33646212,-0.02388876, 0.9549794 ,
  1.39252594,-0.00553472, 1.19272959, 0.06152852,-0.00366808,-0.09265823,
  0.08161122, 0.63583617,-0.01195234,-0.00385221, 0.77172188]

qacc:
[ 3.36408632e-01, 8.75866100e-01,-4.94148399e+00, 8.44476530e+00,
  5.37002425e-02, 1.22610758e+00,-4.17837220e+00, 3.51687425e+00,
 -5.80730029e-02, 2.07227687e+00,-7.95347814e+00, 1.34264613e+01,
 -2.37866675e-02,-5.38996802e-02, 3.77567593e+00,-7.48504899e+00,
 -4.56092962e-01,-4.24448294e-01, 2.79372816e+00,-2.52867678e+01,
 -2.03248996e+01,-8.97971752e-01]

qfrc_actuator:
[ 3.59445891e-03, 7.41352553e-02, 2.04878764e-02, 1.83764194e-03,
 -1.44128920e-08, 3.51246123e-02, 1.08896520e-02, 1.74993740e-03,
 -3.04881385e-03, 3.48412339e-02, 1.08987504e-02, 1.57805538e-03,
  0.00000000e+00, 2.44284042e-03, 0.00000000e+00,-2.20457537e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007133999939282175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30508093,  0.08777194, -0.94827302, -0.02688129,  0.9961406 ,
        0.08355423,  0.95194696,  0.        ,  0.30626292])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07242193, -0.0428026 ,  0.22455099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.94813032,  -5.12935298,  -6.94813032,
        28.32328075, -26.66754779,  -5.12935298, -26.66754779,
        44.75974961,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012794701509276482
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.36088984e-07, -8.13488368e-15,  1.00000000e+00,  6.80148664e-21,
        1.00000000e+00,  8.13488368e-15, -1.00000000e+00,  0.00000000e+00,
        8.36088984e-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([ 0.00828594, -0.08438839,  0.06188627])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.39145877e-04, 3.90570464e-02, 9.71759570e-03, 1.01756930e-05,
  1.54767947e-05,-3.13061974e-05,-3.69025115e-05,-2.90214850e-06,
 -1.67211758e-05,-1.38134684e-05,-2.61197550e-05, 2.77073329e-05,
  2.97563058e-03, 4.48642319e-03, 8.87615122e-03, 1.49174518e-03,
  7.38245059e-07, 1.02876375e-06,-1.21643945e+00, 1.58150973e-03,
  5.44592467e-04, 3.36102197e-05]


--- Step 2471 ---
qpos:
[-0.01570816, 1.29316732,-0.03241231, 0.94840658, 0.00441191, 1.33119949,
 -0.0296774 , 0.946241  , 0.01672894, 1.33646498,-0.02388932, 0.954978  ,
  1.39253955,-0.00554009, 1.19271593, 0.0615258 ,-0.00366569,-0.09265794,
  0.08161966, 0.63589873,-0.01192318,-0.00380514, 0.77167102]

qacc:
[ 4.96877119e-01, 1.10751179e+00,-6.91697604e+00, 1.57576897e+01,
  1.30398250e-01, 2.10308510e+00,-9.48949764e+00, 2.05156108e+01,
 -4.92250172e-02, 6.24560448e+00,-2.38701340e+01, 4.13588968e+01,
  2.69341378e-01,-4.12034152e-01, 6.21936479e+00,-1.27751774e+01,
  1.23965990e+00, 9.84648240e-01,-1.43413569e-01, 6.17305522e+01,
  5.64765181e+01, 1.90177744e+00]

qfrc_actuator:
[ 3.59477395e-03, 7.41342789e-02, 2.05000615e-02, 1.87726855e-03,
  2.84017166e-05, 3.51083234e-02, 1.08775969e-02, 1.80352418e-03,
 -3.05307372e-03, 3.48390386e-02, 1.08396312e-02, 1.66822524e-03,
  0.00000000e+00, 2.40444352e-03, 0.00000000e+00,-3.49938223e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007131271859678774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30506992,  0.08777334, -0.94827643, -0.02688075,  0.99614047,
        0.08355588,  0.95195051,  0.        ,  0.30625191])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0724201 , -0.04280307,  0.22455139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.92547076,  -5.15990616,  -6.92547076,
        20.37482464, -15.75500907,  -5.15990616, -15.75500907,
        29.78226264,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012798239533942102
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.62652697e-14,  4.33740524e-14,  1.00000000e+00,  7.05490658e-28,
        1.00000000e+00, -4.33740524e-14, -1.00000000e+00,  0.00000000e+00,
       -1.62652697e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03706012, -0.11846251,  0.06188629])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.00003955e-04, 3.91016789e-02, 9.75846184e-03, 3.42776710e-05,
  3.75475658e-05,-4.09545903e-05,-2.24678837e-05, 5.15073182e-05,
 -1.41303446e-05,-1.41386483e-05,-6.39824598e-05, 8.96415036e-05,
  2.97463127e-03, 4.45524221e-03, 8.74324611e-03, 1.35969988e-03,
  1.32820487e-06, 2.74948201e-06,-1.21643968e+00, 1.57958260e-03,
  5.45787262e-04, 3.53099237e-05]


--- Step 2472 ---
qpos:
[-0.0157113 , 1.29317993,-0.03241371, 0.94840815, 0.00441221, 1.33120577,
 -0.0296786 , 0.94624161, 0.0167289 , 1.33646745,-0.02389045, 0.95497841,
  1.39255312,-0.0055454 , 1.1927023 , 0.06152303,-0.00365872,-0.09265376,
  0.08162542, 0.63596072,-0.01190167,-0.0036002 , 0.77162125]

qacc:
[-5.03697244e-02, 4.38550657e-02, 4.22170674e-01, 2.18647564e+00,
  7.36017978e-02, 1.60143381e+00,-4.88595896e+00, 3.28811862e+00,
  8.58585166e-02, 4.14697327e+00,-1.77446085e+01, 3.62969836e+01,
 -6.73464984e-02, 1.06904675e-01, 1.59893398e-01,-4.90867780e-01,
  1.14324812e+00, 9.70055609e-01,-6.72264890e-01, 5.84750348e+01,
  5.31391523e+01, 1.51961503e+00]

qfrc_actuator:
[ 3.55996554e-03, 7.41473194e-02, 2.05261393e-02, 1.90004754e-03,
  2.74640654e-05, 3.51317752e-02, 1.08530211e-02, 1.79927182e-03,
 -3.01995908e-03, 3.48010307e-02, 1.08050616e-02, 1.75731091e-03,
  0.00000000e+00, 2.41923426e-03, 0.00000000e+00,-3.02262147e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007130198773577477
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05060344e-01,  8.77743783e-02, -9.48279413e-01, -2.68802295e-02,
        9.96140381e-01,  8.35571346e-02,  9.51953591e-01,  3.46944695e-18,
        3.06242323e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07241863, -0.04280361,  0.22455174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.09840404,  4.91929232,  7.09840404, 11.42701364,
       -4.02683149,  4.91929232, -4.02683149, 14.44697115,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012667579031426374
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.19107183e-14,  4.38214367e-14,  1.00000000e+00,  9.60159156e-28,
        1.00000000e+00, -4.38214367e-14, -1.00000000e+00,  0.00000000e+00,
       -2.19107183e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03708481, -0.11847343,  0.06188742])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.06926948e-04, 3.91681176e-02, 9.80629937e-03, 1.77554814e-05,
  2.12166855e-05,-2.09204399e-06,-3.36370377e-05,-4.93518861e-06,
  2.47733383e-05,-5.56870174e-05,-4.19836130e-05, 8.88823454e-05,
  2.95633306e-03, 4.48502555e-03, 8.53324428e-03, 1.40794982e-03,
  1.51300270e-06, 5.15345778e-07,-1.21643998e+00, 1.58499902e-03,
  5.43068172e-04, 3.30414439e-05]


--- Step 2473 ---
qpos:
[-0.01571516, 1.29319326,-0.03241521, 0.94840931, 0.00441261, 1.3312123 ,
 -0.02968078, 0.94624217, 0.016729  , 1.33646898,-0.02389087, 0.95497916,
  1.39256664,-0.0055504 , 1.19268621, 0.06152014,-0.00365742,-0.09265367,
  0.08162945, 0.63602368,-0.01187417,-0.00357915, 0.77156988]

qacc:
[-3.10086957e-01, 5.01208090e-01, 3.36485990e-01,-5.43502969e+00,
  4.05923891e-02, 2.84489865e+00,-8.79662946e+00, 6.92790102e+00,
  5.79022000e-02,-2.57752213e+00, 6.19802398e+00,-6.93508021e-01,
 -1.33016987e-01, 3.43863179e-01,-3.22617597e+00, 6.03499355e+00,
 -1.41758454e+00,-1.01947913e+00,-4.33400741e-01,-6.90394076e+01,
 -6.07747503e+01,-1.98840217e+00]

qfrc_actuator:
[ 3.52265294e-03, 7.41319334e-02, 2.04887988e-02, 1.87742686e-03,
  2.66775524e-05, 3.51432649e-02, 1.08036043e-02, 1.79652309e-03,
 -3.01795006e-03, 3.47419639e-02, 1.08383794e-02, 1.77401984e-03,
  0.00000000e+00, 2.43020109e-03, 0.00000000e+00,-2.19270232e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007129657976999056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30504965,  0.08777546, -0.94828275, -0.02687962,  0.99614029,
        0.08355847,  0.95195703,  0.        ,  0.30623162])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07241714, -0.04280415,  0.22455211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   6.92023395,   5.16692742,   6.92023395,
        38.02738279, -39.36434795,   5.16692742, -39.36434795,
        61.35831525,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012721098950227577
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.36370721e-14,  4.36370721e-14,  1.00000000e+00,  1.90419406e-27,
        1.00000000e+00, -4.36370721e-14, -1.00000000e+00,  0.00000000e+00,
       -4.36370721e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03670917, -0.06305641,  0.061887  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.75513385e-04, 3.91181620e-02, 9.74483750e-03,-1.77307683e-05,
  1.17329799e-05, 3.56538861e-06,-5.38020850e-05,-3.90386654e-06,
  1.66341272e-05,-9.54407365e-05, 2.02710674e-05, 1.59015008e-05,
  2.95812247e-03, 4.49346259e-03, 8.53219654e-03, 1.49292902e-03,
  6.52142118e-06, 4.87456786e-06,-1.21644271e+00, 1.58992855e-03,
  5.40185516e-04, 3.92562895e-05]


--- Step 2474 ---
qpos:
[-0.01571928, 1.29320712,-0.03241642, 0.9484102 , 0.00441276, 1.33121836,
 -0.02968247, 0.94624372, 0.01672904, 1.33646959,-0.02389081, 0.95497978,
  1.39258024,-0.00555531, 1.19266932, 0.06151731,-0.00366131,-0.09265758,
  0.08162948, 0.63608809,-0.01184167,-0.00373062, 0.77151656]

qacc:
[-1.08262388e-01,-5.16951943e-01, 3.09733463e+00,-6.26227791e+00,
 -1.01564239e-01,-1.99458850e-01,-2.10697890e+00, 1.35499202e+01,
 -2.35921543e-02,-2.71779340e+00, 7.69063466e+00,-7.70619827e+00,
  4.78218442e-02, 2.44303941e-02,-1.36802832e+00, 3.06916616e+00,
 -1.29870036e+00,-1.00191490e+00,-9.99647682e-01,-6.49584765e+01,
 -5.67748686e+01,-2.21392045e+00]

qfrc_actuator:
[ 3.53775185e-03, 7.40814323e-02, 2.04847980e-02, 1.86363129e-03,
 -9.51536224e-06, 3.51118969e-02, 1.08286604e-02, 1.84793603e-03,
 -3.03461896e-03, 3.46887245e-02, 1.08581017e-02, 1.76577635e-03,
  0.00000000e+00, 2.42084525e-03, 0.00000000e+00,-2.03744972e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007128118825726441
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05038363e-01,  8.77767742e-02, -9.48286262e-01, -2.68790320e-02,
        9.96140170e-01,  8.35600367e-02,  9.51960669e-01, -3.46944695e-18,
        3.06220321e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07241544, -0.04280468,  0.22455251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.10781883, -4.90567919, -7.10781883, 10.41403331,
       -2.57565843, -4.90567919, -2.57565843, 12.36822476,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012708707349402132
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.18398102e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.18398102e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0367165 , -0.06306091,  0.06188713])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.26953768e-04, 3.90315389e-02, 9.74536435e-03,-1.12563507e-05,
 -2.92693020e-05,-4.00763238e-05, 1.95142380e-05, 4.98594702e-05,
 -6.85092101e-06,-1.01595604e-04, 3.85225940e-06,-1.01057046e-05,
  2.96103964e-03, 4.46883387e-03, 8.65548002e-03, 1.51503588e-03,
  1.13910954e-06, 4.22716377e-07,-1.21643979e+00, 1.58407148e-03,
  5.43442684e-04, 3.29403813e-05]


--- Step 2475 ---
qpos:
[-0.01572437, 1.29322302,-0.03241655, 0.94841039, 0.0044126 , 1.33122345,
 -0.02968295, 0.94624415, 0.01672897, 1.33647025,-0.02389198, 0.95497892,
  1.3925935 ,-0.00555989, 1.19264774, 0.06151459,-0.00367002,-0.09266543,
  0.0816236 , 0.63615426,-0.01180497,-0.00404517, 0.77146097]

qacc:
[-4.17755420e-01,-1.46819773e+00, 9.44240632e+00,-1.75135717e+01,
 -1.34837514e-01,-6.46439808e+00, 2.18518632e+01,-3.12831832e+01,
 -4.88216601e-02, 8.20525334e-01, 3.89731704e-01,-1.74493274e+01,
 -2.34314190e-01, 3.97704960e-01,-7.25123858e+00, 1.53207565e+01,
 -1.20152115e+00,-9.84745556e-01,-1.47622649e+00,-6.15659570e+01,
 -5.34750289e+01,-2.36890598e+00]

qfrc_actuator:
[ 3.56636272e-03, 7.40097665e-02, 2.04827223e-02, 1.83741604e-03,
 -3.11492137e-05, 3.50376727e-02, 1.08795950e-02, 1.78881014e-03,
 -3.04460413e-03, 3.47103441e-02, 1.07986188e-02, 1.68965616e-03,
  0.00000000e+00, 2.45264534e-03, 0.00000000e+00,-1.58085473e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007126517491245141
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30502631,  0.08777817, -0.94829001, -0.0268784 ,  0.99614005,
        0.08356171,  0.95196455,  0.        ,  0.30620826])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07241366, -0.04280521,  0.22455294])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.10150906, -4.91480884, -7.10150906, 11.12633405,
       -3.59780981, -4.91480884, -3.59780981, 13.83491353,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012560448695984605
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.41951976e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.41951976e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03674613, -0.06304688,  0.06188837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.68249994e-04, 3.89333754e-02, 9.72969768e-03,-2.34079505e-05,
 -3.89066937e-05,-9.11208548e-05, 4.67752254e-05,-5.85906737e-05,
 -1.40331604e-05,-3.41124943e-05,-7.91814075e-05,-7.92511904e-05,
  2.95697461e-03, 4.49608655e-03, 8.69567248e-03, 1.69993570e-03,
  2.05905905e-06, 3.95159184e-06,-1.21643998e+00, 1.57858602e-03,
  5.46413051e-04, 3.65274623e-05]


--- Step 2476 ---
qpos:
[-0.01572984, 1.29323867,-0.03241693, 0.94841019, 0.00441214, 1.3312281 ,
 -0.02968378, 0.94624321, 0.01672893, 1.33647078,-0.02389388, 0.95497714,
  1.39260637,-0.00556427, 1.19262565, 0.06151202,-0.00367303,-0.09266902,
  0.08162193, 0.63621884,-0.01177842,-0.00417173, 0.77140745]

qacc:
[-1.60432251e-01,-2.66947543e-01, 1.27379016e+00,-5.41466289e+00,
 -1.23917461e-01,-1.99804598e+00, 8.60687978e+00,-2.29983820e+01,
  1.23308925e-02, 2.36280486e-01, 8.49881675e-01,-1.11838241e+01,
 -4.06181925e-01, 5.11387105e-01,-1.17511844e+00, 3.09834949e+00,
  1.42189101e+00, 1.06665319e+00, 1.05267542e+00, 6.92769444e+01,
  6.37024177e+01, 2.39610523e+00]

qfrc_actuator:
[ 3.56840288e-03, 7.39591873e-02, 2.04453630e-02, 1.80427752e-03,
 -4.38726751e-05, 3.50094290e-02, 1.08563577e-02, 1.71832824e-03,
 -3.03274511e-03, 3.47052670e-02, 1.07641301e-02, 1.64521839e-03,
  0.00000000e+00, 2.49111253e-03, 0.00000000e+00,-4.40451583e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007123746971212652
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05011266e-01,  8.77799053e-02, -9.48294688e-01, -2.68776105e-02,
        9.96139894e-01,  8.35637830e-02,  9.51969391e-01,  3.46944695e-18,
        3.06193204e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07241145, -0.04280567,  0.22455345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0012817613908565617
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.66169813e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.66169813e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03708089, -0.11843128,  0.06188619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.19265437e-04, 3.87808448e-02, 9.63749613e-03,-2.16723129e-05,
 -3.56846587e-05,-7.12933347e-05,-3.74572680e-05,-7.31957642e-05,
  3.57355980e-06,-4.17577824e-05,-5.24685679e-05,-4.96116206e-05,
  2.97380782e-03, 4.51815571e-03, 8.93101038e-03, 1.66631366e-03,
  8.27738061e-06, 1.41403690e-05,-1.21644272e+00, 1.57330272e-03,
  5.49220319e-04, 4.83510986e-05]


--- Step 2477 ---
qpos:
[-0.01573476, 1.29325299,-0.03241793, 0.94841041, 0.00441131, 1.33123306,
 -0.02968529, 0.94624277, 0.01672896, 1.33647142,-0.02389639, 0.95497516,
  1.39261909,-0.00556873, 1.1926068 , 0.06150957,-0.00367088,-0.09266844,
  0.08162158, 0.63628251,-0.01176071,-0.00412318, 0.77135547]

qacc:
[ 2.36557306e-01, 6.17511414e-01,-4.97590965e+00, 9.95948737e+00,
 -1.60223126e-01, 3.12746273e+00,-1.07302168e+01, 1.48451993e+01,
  3.19027224e-02, 1.44208430e+00,-4.09787906e+00, 1.12145004e+00,
 -2.25949067e-01, 1.92072248e-01, 4.43809445e+00,-8.52586134e+00,
  1.29198595e+00, 1.03994961e+00, 3.29857081e-01, 6.47263831e+01,
  5.90959772e+01, 1.89588907e+00]

qfrc_actuator:
[ 3.58979425e-03, 7.39404784e-02, 2.04410124e-02, 1.82021030e-03,
 -6.89013683e-05, 3.50796534e-02, 1.08429493e-02, 1.74824334e-03,
 -3.02563047e-03, 3.47375995e-02, 1.07446413e-02, 1.63756744e-03,
  0.00000000e+00, 2.49807637e-03, 0.00000000e+00,-1.66567381e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007120523115823237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3049967 ,  0.08778175, -0.9482992 , -0.0268769 ,  0.99613973,
        0.08356595,  0.95197408,  0.        ,  0.30617864])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07240922, -0.0428061 ,  0.22455395])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.0693054 ,  4.96101784,  7.0693054 , 11.13958674,
       -3.56701974,  4.96101784, -3.56701974, 13.71926249,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012940363451201808
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.28976755e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.28976755e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03706679, -0.1184103 ,  0.06188515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.59455645e-04, 3.87741944e-02, 9.64627535e-03, 1.35609285e-05,
 -4.60877347e-05, 2.12341722e-05,-3.37617780e-05, 2.49857367e-05,
  9.22359797e-06,-2.47978941e-06,-3.50590282e-05,-1.15825006e-05,
  2.99347750e-03, 4.51539417e-03, 8.95662188e-03, 1.53625135e-03,
  1.68881058e-06, 2.98248733e-06,-1.21643982e+00, 1.57984851e-03,
  5.46423432e-04, 3.46897817e-05]


--- Step 2478 ---
qpos:
[-0.01573887, 1.29326635,-0.03241951, 0.94841078, 0.00441028, 1.33123851,
 -0.02968688, 0.94624333, 0.01672908, 1.33647228,-0.02389954, 0.95497379,
  1.39263205,-0.00557336, 1.19259028, 0.06150716,-0.00366398,-0.0926638 ,
  0.08162013, 0.63634571,-0.01175076,-0.00391021, 0.77130459]

qacc:
[ 3.43927141e-01, 5.59480884e-01,-3.65438504e+00, 5.55325303e+00,
 -8.30963236e-02, 2.54845344e+00,-9.58824753e+00, 1.96061536e+01,
  3.33690787e-02, 3.04987341e+00,-1.08447870e+01, 1.62811333e+01,
  1.75774838e-01,-2.52467494e-01, 3.31637305e+00,-6.64155723e+00,
  1.18612879e+00, 1.01529089e+00,-2.77886138e-01, 6.09454249e+01,
  5.52956022e+01, 1.51242689e+00]

qfrc_actuator:
[ 3.60426325e-03, 7.39598291e-02, 2.04391709e-02, 1.82943282e-03,
 -6.56055844e-05, 3.51373734e-02, 1.08536817e-02, 1.80157705e-03,
 -3.02142045e-03, 3.47566675e-02, 1.07165622e-02, 1.66939728e-03,
  0.00000000e+00, 2.46857695e-03, 0.00000000e+00,-2.21422419e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00071182301330305
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04983998e-01,  8.77833955e-02, -9.48303135e-01, -2.68762845e-02,
        9.96139586e-01,  8.35678757e-02,  9.51978165e-01, -6.93889390e-18,
        3.06165925e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07240729, -0.04280656,  0.2245544 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.08747975,  4.93501851,  7.08747975, 11.85134326,
       -4.61722745,  4.93501851, -4.61722745, 15.26744434,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012898661920320437
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.60727284e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.60727284e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03707699, -0.11841006,  0.0618855 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.46177358e-04, 3.88599890e-02, 9.67513630e-03, 1.98007816e-06,
 -2.38989356e-05, 6.35772471e-05, 1.17717971e-05, 5.35650981e-05,
  9.65598571e-06, 1.05025980e-05,-3.28873409e-05, 3.04555864e-05,
  3.00070471e-03, 4.48966403e-03, 8.79481518e-03, 1.47540629e-03,
  1.49487445e-06, 6.29486413e-07,-1.21644012e+00, 1.58563087e-03,
  5.43507476e-04, 3.22980102e-05]


--- Step 2479 ---
qpos:
[-0.01574263, 1.29327977,-0.03242145, 0.94841116, 0.00440915, 1.3312445 ,
 -0.02968836, 0.94624416, 0.0167294 , 1.33647208,-0.02390171, 0.95497421,
  1.3926454 ,-0.00557797, 1.19257321, 0.06150462,-0.00365269,-0.0926552 ,
  0.08161551, 0.63640873,-0.01174771,-0.00354165, 0.77125442]

qacc:
[ 1.50012853e-01, 1.04835335e+00,-3.35413192e+00, 2.93528922e+00,
 -4.03197732e-02, 8.80848551e-01,-2.58289789e+00, 5.08407072e+00,
  9.00162790e-02,-9.25614414e-01,-2.26837050e+00, 2.33599435e+01,
  3.24516133e-01,-2.81374386e-01,-4.42915511e-01, 3.29671988e-01,
  1.09970917e+00, 9.92784230e-01,-7.88443455e-01, 5.78073699e+01,
  5.21619530e+01, 1.22116980e+00]

qfrc_actuator:
[ 3.59635247e-03, 7.39666661e-02, 2.04212880e-02, 1.83472399e-03,
 -6.30984878e-05, 3.51695320e-02, 1.08607996e-02, 1.81499971e-03,
 -3.00123432e-03, 3.46611297e-02, 1.07546182e-02, 1.75969033e-03,
  0.00000000e+00, 2.43507312e-03, 0.00000000e+00,-1.82380137e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007116573947475134
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04972751e-01,  8.77847819e-02, -9.48306624e-01, -2.68757211e-02,
        9.96139464e-01,  8.35695132e-02,  9.51981784e-01,  6.93889390e-18,
        3.06154672e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07240557, -0.04280707,  0.22455481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.09075868,  4.93030609,  7.09075868, 12.76982091,
       -5.94473193,  4.93030609, -5.94473193, 17.18606802,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012725932682986912
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.72409946e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.72409946e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0371064 , -0.11842616,  0.06188694])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.97927854e-04, 3.89144360e-02, 9.68595791e-03,-4.64831063e-07,
 -1.15931134e-05, 7.11984162e-05, 2.24557646e-05, 1.69228279e-05,
  2.58876623e-05,-9.52541626e-05, 3.72612281e-05, 9.03456305e-05,
  2.98909728e-03, 4.46450423e-03, 8.67892127e-03, 1.51283584e-03,
  6.58746331e-06, 5.45159612e-06,-1.21644306e+00, 1.59089013e-03,
  5.40423126e-04, 3.91376196e-05]


--- Step 2480 ---
qpos:
[-0.01574741, 1.29329602,-0.03242217, 0.94841126, 0.00440799, 1.33125095,
 -0.02968915, 0.94624547, 0.0167298 , 1.33647124,-0.02390291, 0.95497603,
  1.39265865,-0.00558216, 1.19254952, 0.06150198,-0.00364769,-0.09265101,
  0.08161298, 0.63647257,-0.01173791,-0.00337559, 0.77120263]

qacc:
[-4.35900429e-01,-9.24050189e-03, 5.09530730e+00,-9.38304896e+00,
 -1.67325637e-02,-4.44749936e-01, 1.20645100e+00, 4.18109835e+00,
  3.27192400e-02,-1.06507410e+00,-3.30198431e-01, 1.66774851e+01,
 -3.21585157e-02, 2.84142262e-01,-9.46529366e+00, 1.89032420e+01,
 -1.57420959e+00,-1.10479139e+00, 5.19026559e-01,-7.59378349e+01,
 -6.70235507e+01,-2.03308240e+00]

qfrc_actuator:
[ 3.61065108e-03, 7.39476213e-02, 2.04293028e-02, 1.83774361e-03,
 -6.10870941e-05, 3.52038623e-02, 1.09011017e-02, 1.84030712e-03,
 -3.00713249e-03, 3.46577753e-02, 1.08132378e-02, 1.83036868e-03,
  0.00000000e+00, 2.45231955e-03, 0.00000000e+00, 7.29216909e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007114549346579624
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3049618 ,  0.08778606, -0.94831003, -0.02687515,  0.99613935,
        0.08357104,  0.95198531,  0.        ,  0.30614372])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0724038 , -0.0428076 ,  0.22455522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0012914021028738731
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.29851795e-14,  4.29851795e-14,  1.00000000e+00,  1.84772566e-27,
        1.00000000e+00, -4.29851795e-14, -1.00000000e+00,  0.00000000e+00,
       -4.29851795e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03670877, -0.06312778,  0.06188533])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.94619361e-04, 3.88928743e-02, 9.71204828e-03, 2.28200483e-06,
 -4.82700059e-06, 7.85732120e-05, 5.72714957e-05, 2.85001994e-05,
  9.38163036e-06,-4.60698727e-05, 4.68981684e-05, 7.10459196e-05,
  2.96960305e-03, 4.48153823e-03, 8.70649657e-03, 1.77457861e-03,
  1.61508943e-05, 1.62605195e-05,-1.21644823e+00, 1.59578827e-03,
  5.37141428e-04, 5.37244794e-05]


--- Step 2481 ---
qpos:
[-0.01575278, 1.29331381,-0.03242169, 0.94841186, 0.00440681, 1.33125758,
 -0.0296896 , 0.94624781, 0.01673007, 1.33647136,-0.02390514, 0.95497794,
  1.39267144,-0.00558609, 1.19252366, 0.0614995 ,-0.00364839,-0.09265111,
  0.08160963, 0.63653783,-0.01172254,-0.00339738, 0.7711489 ]

qacc:
[-2.50841174e-01,-3.95643985e-01, 2.71355713e+00, 2.40906405e+00,
 -3.98649618e-03, 1.10180434e+00,-5.39547953e+00, 1.64532489e+01,
 -5.56260105e-02, 4.20499235e+00,-1.24082357e+01, 1.13715268e+01,
 -4.07320095e-01, 5.28025501e-01,-3.66002087e+00, 8.23808320e+00,
 -1.42674803e+00,-1.07333757e+00,-2.02147195e-01,-7.06592305e+01,
 -6.19216636e+01,-2.27407729e+00]

qfrc_actuator:
[ 3.63950862e-03, 7.38924843e-02, 2.04514271e-02, 1.85743238e-03,
 -5.93905524e-05, 3.51860995e-02, 1.09074309e-02, 1.89018675e-03,
 -3.02863083e-03, 3.47629956e-02, 1.07772979e-02, 1.83571231e-03,
  0.00000000e+00, 2.49958551e-03, 0.00000000e+00, 1.02953116e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007110740774452992
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04946995e-01,  8.77876909e-02, -9.48314637e-01, -2.68743488e-02,
        9.96139208e-01,  8.35730103e-02,  9.51990073e-01, -3.46944695e-18,
        3.06128895e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07240142, -0.04280807,  0.22455575])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.07879473, -4.94746824, -7.07879473, 10.47315519,
       -2.62806545, -4.94746824, -2.62806545, 12.39657693,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013111502615456988
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.23377494e-14,  2.11688747e-14,  1.00000000e+00, -8.96242513e-28,
        1.00000000e+00, -2.11688747e-14, -1.00000000e+00,  0.00000000e+00,
        4.23377494e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03667965, -0.06316064,  0.06188367])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.74572721e-04, 3.86956313e-02, 9.67355010e-03, 3.57892917e-05,
 -1.14913772e-06, 3.77119970e-05, 2.90399103e-05, 5.45845326e-05,
 -1.59622839e-05, 9.10181962e-05,-3.75239095e-05, 7.00381882e-06,
  2.97465408e-03, 4.50715979e-03, 9.03814603e-03, 1.80986392e-03,
  4.57786412e-06, 3.41694437e-06,-1.21644200e+00, 1.58908079e-03,
  5.40978871e-04, 3.69767136e-05]


--- Step 2482 ---
qpos:
[-0.01575821, 1.29333173,-0.03242064, 0.94841285, 0.00440565, 1.33126409,
 -0.02969034, 0.94625079, 0.01673031, 1.33647243,-0.02390791, 0.95498023,
  1.39268416,-0.00558996, 1.19249851, 0.06149732,-0.00365433,-0.09265539,
  0.08160305, 0.63660489,-0.01170251,-0.0035949 , 0.77109296]

qacc:
[-2.57908321e-02,-6.93887472e-01, 1.66331136e+00, 3.04292726e+00,
  2.79894835e-03, 1.68937038e+00,-7.03030663e+00, 1.36122459e+01,
 -1.61404760e-02, 3.34613047e+00,-1.01380780e+01, 1.24450895e+01,
 -1.12304305e-01, 1.57254173e-01, 1.46558901e-01, 1.00574340e+00,
 -1.30617342e+00,-1.04433890e+00,-8.09823451e-01,-6.62677384e+01,
 -5.77074105e+01,-2.43706893e+00]

qfrc_actuator:
[ 3.62381872e-03, 7.38513651e-02, 2.04637852e-02, 1.86871071e-03,
 -5.78972541e-05, 3.51371668e-02, 1.08757033e-02, 1.91856338e-03,
 -3.02380706e-03, 3.48255066e-02, 1.07572394e-02, 1.85584079e-03,
  0.00000000e+00, 2.49386116e-03, 0.00000000e+00, 6.86045615e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007106928886864046
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04929572e-01,  8.77895347e-02, -9.48320069e-01, -2.68733821e-02,
        9.96139045e-01,  8.35752579e-02,  9.51995681e-01, -3.46944695e-18,
        3.06111454e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07239884, -0.04280848,  0.22455634])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.0813873 , -4.94375675, -7.0813873 , 11.10331609,
       -3.5336378 , -4.94375675, -3.5336378 , 13.69791078,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013125662571276606
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05730189e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.05730189e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03668119, -0.06316852,  0.06188353])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.88289727e-04, 3.85775767e-02, 9.62556019e-03, 2.24061319e-05,
  8.16327242e-07,-2.07993869e-05,-1.94540049e-05, 3.16364548e-05,
 -4.59738817e-06, 1.05726422e-04,-6.33775195e-06, 2.18903084e-05,
  2.99755809e-03, 4.48889748e-03, 9.14656937e-03, 1.76730958e-03,
  9.46660869e-07, 6.87774900e-07,-1.21643971e+00, 1.58294126e-03,
  5.44373385e-04, 3.28266472e-05]


--- Step 2483 ---
qpos:
[-0.01576426, 1.29335122,-0.03241834, 0.94841346, 0.00440435, 1.33127013,
 -0.02969125, 0.94625377, 0.01673069, 1.33647365,-0.02390969, 0.9549817 ,
  1.392697  ,-0.00559362, 1.19247005, 0.06149548,-0.00366509,-0.09266375,
  0.08159117, 0.63667394,-0.01167856,-0.00395809, 0.77103452]

qacc:
[-2.63026230e-01,-1.94277599e+00, 9.60583938e+00,-1.36966579e+01,
 -5.52396731e-02,-1.64459875e-01,-2.17129270e-01, 4.72479316e-01,
  6.21148528e-02,-3.88026834e+00, 1.45305313e+01,-2.21399917e+01,
  1.40153385e-01,-3.80434387e-03,-5.92596146e+00, 1.36065325e+01,
 -1.20730813e+00,-1.01778565e+00,-1.32156033e+00,-6.26163154e+01,
 -5.42266564e+01,-2.54099439e+00]

qfrc_actuator:
[ 3.61661327e-03, 7.38194475e-02, 2.04881904e-02, 1.85709248e-03,
 -7.42909089e-05, 3.50875280e-02, 1.08571300e-02, 1.91625971e-03,
 -3.00323077e-03, 3.48087507e-02, 1.07998909e-02, 1.81352389e-03,
  0.00000000e+00, 2.47418680e-03, 0.00000000e+00, 2.26216573e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007103755181085067
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30491148,  0.0877914 , -0.94832571, -0.02687236,  0.99613888,
        0.08357755,  0.9520015 ,  0.        ,  0.30609334])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07239631, -0.04280891,  0.22455693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.0599287 , -4.97435259, -7.0599287 , 11.94458428,
       -4.69524455, -4.97435259, -4.69524455, 15.30016382,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012993020370471176
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.27238238e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.27238238e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03670703, -0.06315663,  0.06188461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.84104638e-04, 3.85389857e-02, 9.62145139e-03,-8.88151295e-06,
 -1.59127919e-05,-6.40405716e-05,-2.39294779e-05,-2.75130984e-06,
  1.78657630e-05, 4.11195803e-05, 6.32243596e-05,-3.88592619e-05,
  3.00106201e-03, 4.46630355e-03, 9.11217348e-03, 1.91026015e-03,
  3.77979719e-06, 6.12848175e-06,-1.21644060e+00, 1.57714061e-03,
  5.47497489e-04, 3.88237075e-05]


--- Step 2484 ---
qpos:
[-0.01577039, 1.29337121,-0.03241535, 0.94841405, 0.00440304, 1.33127605,
 -0.0296922 , 0.94625597, 0.01673111, 1.33647444,-0.02391028, 0.95498131,
  1.39271001,-0.00559721, 1.19244052, 0.061494  ,-0.00366987,-0.09266776,
  0.08158528, 0.6367411 ,-0.01166531,-0.00412566, 0.77097839]

qacc:
[-3.41597612e-02,-1.25201845e+00, 4.91983454e+00,-4.80073416e+00,
 -3.02946740e-03,-1.34973500e+00, 5.82352146e+00,-1.40145729e+01,
  1.72680544e-02,-6.99746141e+00, 2.58662992e+01,-4.35735827e+01,
  1.73413348e-01,-1.19922230e-01,-2.68191445e+00, 7.06172402e+00,
  1.49346781e+00, 1.08442800e+00, 1.49475193e+00, 7.20019604e+01,
  6.63792164e+01, 2.63003532e+00]

qfrc_actuator:
[ 3.63283173e-03, 7.37915572e-02, 2.05011670e-02, 1.85010581e-03,
 -6.57770333e-05, 3.51088758e-02, 1.08642048e-02, 1.87818168e-03,
 -3.00887721e-03, 3.47448652e-02, 1.08433574e-02, 1.71702879e-03,
  0.00000000e+00, 2.46371544e-03, 0.00000000e+00, 2.50304253e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007099969803934549
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3048907 ,  0.08779349, -0.9483322 , -0.02687118,  0.9961387 ,
        0.08358013,  0.95200819,  0.        ,  0.30607254])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07239347, -0.04280933,  0.22455759])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013046847012964033
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.25475605e-14,  4.25475605e-14,  1.00000000e+00,  1.81029490e-27,
        1.00000000e+00, -4.25475605e-14, -1.00000000e+00,  0.00000000e+00,
       -4.25475605e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0370782 , -0.11835458,  0.0618841 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.31160644e-04, 3.84323353e-02, 9.57208978e-03, 3.18699434e-06,
 -8.78264325e-07,-1.88763292e-05,-8.25344128e-06,-4.07520017e-05,
  4.90319090e-06,-2.99544204e-05, 5.75475457e-05,-9.43300730e-05,
  2.99540803e-03, 4.44511463e-03, 9.27822387e-03, 1.91742073e-03,
  1.19996130e-05, 1.83288688e-05,-1.21644408e+00, 1.57152906e-03,
  5.50466462e-04, 5.31873997e-05]


--- Step 2485 ---
qpos:
[-0.01577543, 1.29338837,-0.03241321, 0.94841459, 0.00440193, 1.33128209,
 -0.02969233, 0.94625694, 0.01673152, 1.33647493,-0.02390973, 0.95497941,
  1.39272308,-0.00560123, 1.19241776, 0.0614931 ,-0.00366926,-0.09266756,
  0.08158218, 0.6368071 ,-0.01166129,-0.00411187, 0.770924  ]

qacc:
[ 4.63664126e-01,-1.49503520e+00, 4.84915446e-01, 8.01221922e-01,
  7.95549690e-02,-4.18438897e+00, 1.63723815e+01,-2.85462273e+01,
 -2.15223289e-03,-6.03518468e+00, 2.22649044e+01,-3.65082321e+01,
  2.51053123e-02,-2.89592486e-01, 8.25768592e+00,-1.43581811e+01,
  1.34983313e+00, 1.05501839e+00, 6.98058968e-01, 6.69665129e+01,
  6.12859943e+01, 2.07773458e+00]

qfrc_actuator:
[ 3.62730935e-03, 7.37842771e-02, 2.05073377e-02, 1.82793729e-03,
 -4.23896976e-05, 3.51548888e-02, 1.09221191e-02, 1.81941823e-03,
 -3.01245705e-03, 3.47419880e-02, 1.09044629e-02, 1.64265101e-03,
  0.00000000e+00, 2.47658050e-03, 0.00000000e+00,-1.15854376e-06,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007096083439610719
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30486878,  0.08779562, -0.94833905, -0.0268699 ,  0.99613851,
        0.08358277,  0.95201525,  0.        ,  0.3060506 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07239055, -0.04280975,  0.22455826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.06064082,  4.97334174,  7.06064082, 10.97387389,
       -3.31855745,  4.97334174, -3.31855745, 13.34771136,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013250340257270898
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.23676658e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.23676658e-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([-0.03705179, -0.1183232 ,  0.06188237])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.29638066e-04, 3.83997847e-02, 9.54340979e-03,-1.79437669e-05,
  2.28685676e-05, 3.26980097e-05, 5.20869854e-05,-6.05069414e-05,
 -6.85436908e-07,-1.10030511e-05, 5.90348326e-05,-7.57773650e-05,
  2.98663904e-03, 4.45466849e-03, 9.33224213e-03, 1.64801155e-03,
  3.05603326e-06, 4.63870871e-06,-1.21644030e+00, 1.57872014e-03,
  5.47470554e-04, 3.63043855e-05]


--- Step 2486 ---
qpos:
[-0.01577913, 1.29340214,-0.0324128 , 0.94841531, 0.00440089, 1.33128819,
 -0.02969201, 0.94625722, 0.01673206, 1.33647579,-0.02390817, 0.95497761,
  1.39273596,-0.00560569, 1.19240222, 0.06149241,-0.00366372,-0.09266324,
  0.08157919, 0.63687248,-0.01166534,-0.00392855, 0.7708709 ]

qacc:
[ 5.70347096e-01, 5.17433558e-01,-7.43230960e+00, 1.06286337e+01,
  3.51828433e-02,-2.27642929e+00, 8.92206750e+00,-1.57139848e+01,
  5.22648062e-02,-2.09317414e+00, 7.16727872e+00,-5.18503891e+00,
 -2.22381658e-01,-5.42636445e-02, 1.00424700e+01,-1.96036035e+01,
  1.23278850e+00, 1.02784212e+00, 2.78404321e-02, 6.27815511e+01,
  5.70834937e+01, 1.65416498e+00]

qfrc_actuator:
[ 3.64311246e-03, 7.38102494e-02, 2.04929451e-02, 1.83220100e-03,
 -4.57753206e-05, 3.51444984e-02, 1.09386665e-02, 1.78451300e-03,
 -2.99701456e-03, 3.48112430e-02, 1.09757333e-02, 1.65294728e-03,
  0.00000000e+00, 2.50392429e-03, 0.00000000e+00,-2.05278656e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007094241103094423
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04850382e-01,  8.77973778e-02, -9.48344803e-01, -2.68688221e-02,
        9.96138354e-01,  8.35849625e-02,  9.52021171e-01,  3.46944695e-18,
        3.06032170e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07238825, -0.04281024,  0.22455882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.07817564,  4.94835391,  7.07817564, 11.63592676,
       -4.29060553,  4.94835391, -4.29060553, 14.77368932,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013269290993821181
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.61464381e-14,  3.13757257e-14,  1.00000000e+00, -8.20363468e-28,
        1.00000000e+00, -3.13757257e-14, -1.00000000e+00,  0.00000000e+00,
        2.61464381e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03705281, -0.11831511,  0.0618822 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.91072856e-04, 3.85672370e-02, 9.57174023e-03,-1.12458975e-05,
  1.01100662e-05, 1.60281115e-05, 2.70881498e-05,-3.37931012e-05,
  1.50381159e-05, 7.24477610e-05, 7.36097035e-05, 9.93262972e-06,
  2.98369429e-03, 4.50391200e-03, 8.99403163e-03, 1.41521407e-03,
  1.14239592e-06, 5.93943291e-07,-1.21644001e+00, 1.58501214e-03,
  5.44389920e-04, 3.17620682e-05]


--- Step 2487 ---
qpos:
[-0.0157819 , 1.29341398,-0.03241389, 0.94841628, 0.00440018, 1.33129449,
 -0.0296924 , 0.94625747, 0.01673259, 1.33647708,-0.02390617, 0.9549784 ,
  1.39274874,-0.00561035, 1.19239015, 0.06149154,-0.00365363,-0.09265491,
  0.08157406, 0.63693755,-0.01167652,-0.00358547, 0.77081863]

qacc:
[ 4.00050946e-01, 1.92914117e+00,-9.85744323e+00, 1.26062874e+01,
  1.38136313e-01, 2.08860775e+00,-6.45520432e+00, 5.16442996e+00,
  3.18402723e-04, 3.81721749e+00,-1.69455459e+01, 4.41140197e+01,
 -1.40158976e-01, 1.55727537e-02, 5.69149142e+00,-1.24218464e+01,
  1.13726323e+00, 1.00303003e+00,-5.35507395e-01, 5.93060177e+01,
  5.36166451e+01, 1.33197384e+00]

qfrc_actuator:
[ 3.65327296e-03, 7.38401146e-02, 2.04674330e-02, 1.85211602e-03,
 -1.19372214e-05, 3.51357884e-02, 1.08949498e-02, 1.78162168e-03,
 -3.00579046e-03, 3.48344896e-02, 1.09995091e-02, 1.78404550e-03,
  0.00000000e+00, 2.50462041e-03, 0.00000000e+00,-2.74340854e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007094125004770899
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30483687,  0.08779867, -0.94834903, -0.02686803,  0.99613824,
        0.08358657,  0.95202552,  0.        ,  0.30601864])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07238663, -0.04281078,  0.22455923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.08489791,  4.93872438,  7.08489791, 12.47911935,
       -5.51266478,  4.93872438, -5.51266478, 16.54461365,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013140608541930693
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  4.2243973e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -4.2243973e-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([-0.0370756 , -0.11832546,  0.06188326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.34345709e-04, 3.87666662e-02, 9.63278014e-03,-2.67091670e-07,
  3.98045470e-05, 4.39759645e-06,-3.84983483e-05,-2.39192337e-06,
  1.05704213e-07, 7.79701075e-05, 4.65750483e-05, 1.35630541e-04,
  2.99322923e-03, 4.52630898e-03, 8.63332006e-03, 1.33577820e-03,
  4.96680564e-06, 4.30752877e-06,-1.21644257e+00, 1.59068587e-03,
  5.41164774e-04, 3.71972558e-05]


--- Step 2488 ---
qpos:
[-0.01578414, 1.29342536,-0.03241513, 0.94841727, 0.00439998, 1.3313007 ,
 -0.02969349, 0.94625737, 0.01673294, 1.33647815,-0.02390408, 0.95498013,
  1.39276171,-0.00561521, 1.19238036, 0.06149063,-0.00364982,-0.09265097,
  0.08157099, 0.6370034 ,-0.01168106,-0.00344447, 0.77076478]

qacc:
[  0.22085522, -0.1630664 , -0.24062653,  0.77785811,  0.21398515,
   1.17558625, -3.22981121, -1.28396098, -0.08035597,  1.12904789,
  -5.92755736, 16.22322411,  0.17093292, -0.28408454,  3.41243217,
  -7.10896457, -1.57163892, -1.0955768 ,  0.51294833,-75.77026218,
 -66.91016907, -2.00059472]

qfrc_actuator:
[ 3.62440677e-03, 7.38367038e-02, 2.04889669e-02, 1.86352843e-03,
  2.62058787e-05, 3.51101774e-02, 1.08515404e-02, 1.76204884e-03,
 -3.02902433e-03, 3.47588983e-02, 1.09772033e-02, 1.82534000e-03,
  0.00000000e+00, 2.47151760e-03, 0.00000000e+00,-3.15320272e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00070944886122443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30482662,  0.08779963, -0.94835223, -0.02686742,  0.99613816,
        0.08358778,  0.95202882,  0.        ,  0.30600838])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07238535, -0.04281135,  0.22455957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013294552356380857
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.17548103e-14,  4.17548103e-14,  1.00000000e+00,  1.74346419e-27,
        1.00000000e+00, -4.17548103e-14, -1.00000000e+00,  0.00000000e+00,
       -4.17548103e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03667664, -0.06323121,  0.06188194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.58551160e-04, 3.88596441e-02, 9.72923524e-03,-1.25166138e-06,
  6.16313920e-05,-3.08207573e-05,-4.70056031e-05,-2.06162094e-05,
 -2.31684439e-05,-1.93692942e-05, 2.18014985e-06, 4.81298084e-05,
  2.99847177e-03, 4.50337896e-03, 8.45956108e-03, 1.30388320e-03,
  1.35799217e-05, 1.44073013e-05,-1.21644750e+00, 1.59593028e-03,
  5.37759655e-04, 5.08931804e-05]


--- Step 2489 ---
qpos:
[-0.01578631, 1.29343698,-0.0324158 , 0.94841864, 0.00439997, 1.33130582,
 -0.02969384, 0.94625739, 0.01673306, 1.33647935,-0.02390314, 0.95498135,
  1.39277456,-0.00562018, 1.1923724 , 0.0614897 ,-0.00365171,-0.09265128,
  0.08156706, 0.63707064,-0.01168012,-0.00349094, 0.77070902]

qacc:
[ 3.42135337e-02,-5.76951862e-01, 1.49956576e+00, 2.85364305e+00,
  8.19384991e-02,-3.20817757e+00, 8.46033517e+00,-5.15760780e+00,
 -9.60573167e-02, 2.35459558e+00,-6.44683951e+00,-4.46324427e-01,
 -1.29541719e-01, 6.08543967e-02, 2.82378928e+00,-5.90424134e+00,
 -1.42398587e+00,-1.06485198e+00,-2.10419387e-01,-7.04946561e+01,
 -6.18055475e+01,-2.24427303e+00]

qfrc_actuator:
[ 3.60767494e-03, 7.38658832e-02, 2.05379752e-02, 1.88771635e-03,
  1.33645885e-05, 3.50213620e-02, 1.08796076e-02, 1.76831300e-03,
 -3.04299007e-03, 3.47487438e-02, 1.09096748e-02, 1.79559485e-03,
  0.00000000e+00, 2.48922996e-03, 0.00000000e+00,-3.57283266e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007095830349570405
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04816949e-01,  8.78004308e-02, -9.48355267e-01, -2.68668168e-02,
        9.96138085e-01,  8.35888138e-02,  9.52031933e-01, -3.46944695e-18,
        3.05998690e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07238425, -0.04281195,  0.22455988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.07953682, -4.9464063 , -7.07953682, 10.45402686,
       -2.60152784, -4.9464063 , -2.60152784, 12.35979658,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013467921621021298
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.12173109e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.12173109e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03665168, -0.06326099,  0.06188047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.15915996e-04, 3.89115172e-02, 9.78552604e-03, 2.17255530e-05,
  2.35255291e-05,-1.15714839e-04, 1.60824335e-05, 3.49107620e-06,
 -2.76444825e-05,-1.90213466e-05,-6.96559922e-05,-2.91282281e-05,
  2.98882244e-03, 4.53143613e-03, 8.34655876e-03, 1.26335127e-03,
  3.47041883e-06, 2.73263056e-06,-1.21644172e+00, 1.58902121e-03,
  5.41675988e-04, 3.56643999e-05]


--- Step 2490 ---
qpos:
[-0.01578853, 1.29344827,-0.03241666, 0.94842003, 0.00439986, 1.33130975,
 -0.02969321, 0.94625852, 0.01673298, 1.33648073,-0.02390389, 0.95498084,
  1.39278694,-0.00562514, 1.19236569, 0.06148861,-0.00365882,-0.09265574,
  0.08155986, 0.63713961,-0.01167462,-0.00371274, 0.77065104]

qacc:
[-2.15345791e-02, 8.60890190e-02,-8.52745860e-01, 1.21378515e+00,
 -4.03558120e-02,-2.29809563e+00, 3.34865536e+00, 1.06599850e+01,
 -8.55988749e-02, 1.86938743e+00,-2.33206741e+00,-1.79505166e+01,
 -4.45826037e-01, 4.14633995e-01, 2.34074853e+00,-5.44854041e+00,
 -1.30324686e+00,-1.03642075e+00,-8.19936176e-01,-6.61057096e+01,
 -5.75890468e+01,-2.40937519e+00]

qfrc_actuator:
[ 3.61620703e-03, 7.38785996e-02, 2.05318053e-02, 1.88370782e-03,
 -1.22044829e-05, 3.49666859e-02, 1.09316521e-02, 1.82524242e-03,
 -3.05128234e-03, 3.47421007e-02, 1.08162080e-02, 1.70656049e-03,
  0.00000000e+00, 2.53740769e-03, 0.00000000e+00,-3.99821637e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007098470560629906
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04806514e-01,  8.78012156e-02, -9.48358548e-01, -2.68661390e-02,
        9.96138016e-01,  8.35898560e-02,  9.52035293e-01,  3.46944695e-18,
        3.05988235e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07238329, -0.04281256,  0.22456018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.08005744, -4.94566109, -7.08005744, 11.08396455,
       -3.50391075, -4.94566109, -3.50391075, 13.6524553 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013458710448483457
  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([ 0.03665723, -0.06326596,  0.06188053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.20435930e-04, 3.89122154e-02, 9.75111287e-03,-8.26505992e-07,
 -1.16912042e-05,-1.15469161e-04, 3.13418914e-05, 5.40186318e-05,
 -2.46131937e-05,-3.16364992e-05,-1.05950328e-04,-9.23091391e-05,
  2.99505141e-03, 4.58467521e-03, 8.25456666e-03, 1.22241895e-03,
  1.18270052e-06, 1.04143611e-06,-1.21643984e+00, 1.58270434e-03,
  5.45146680e-04, 3.28755285e-05]


--- Step 2491 ---
qpos:
[-0.01579115, 1.29346027,-0.03241764, 0.94841988, 0.00439972, 1.33131346,
 -0.02969282, 0.94625892, 0.01673275, 1.33648182,-0.02390538, 0.95497892,
  1.39279911,-0.00562999, 1.19235555, 0.06148741,-0.00367074,-0.09266424,
  0.08154733, 0.63721054,-0.01166529,-0.00409981, 0.77059058]

qacc:
[-1.75517465e-01,-1.32341119e+00, 8.58945808e+00,-2.56509859e+01,
 -1.52490552e-02,-9.02985307e-01, 4.10392495e+00,-1.18998702e+01,
 -6.71721037e-02,-8.41608396e-01, 5.12844678e+00,-2.05817099e+01,
 -6.77959858e-02, 9.28875438e-02,-4.71719218e+00, 9.15044378e+00,
 -1.20423513e+00,-1.01030961e+00,-1.33318996e+00,-6.24567571e+01,
 -5.41066538e+01,-2.51500044e+00]

qfrc_actuator:
[ 3.63999602e-03, 7.38641594e-02, 2.04930459e-02, 1.80972301e-03,
 -9.69342838e-06, 3.49862788e-02, 1.09265385e-02, 1.78727329e-03,
 -3.05610479e-03, 3.47196976e-02, 1.07792031e-02, 1.63662279e-03,
  0.00000000e+00, 2.53279276e-03, 0.00000000e+00,-2.65041111e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007101554785471711
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04796563e-01,  8.78020097e-02, -9.48361673e-01, -2.68655068e-02,
        9.96137946e-01,  8.35908934e-02,  9.52038497e-01, -3.46944695e-18,
        3.05978268e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07238243, -0.04281314,  0.22456048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.0554872 , -4.98065029, -7.0554872 , 11.92469936,
       -4.65818904, -4.98065029, -4.65818904, 15.23505884,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013303499242461742
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.17267294e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.17267294e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03668692, -0.06325132,  0.06188179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.46742080e-04, 3.89142321e-02, 9.72125975e-03,-7.59576067e-05,
 -4.39217924e-06,-3.65577400e-05,-2.25500757e-05,-3.92517528e-05,
 -1.93536970e-05,-6.33344680e-05,-5.79259940e-05,-7.61231796e-05,
  3.01844737e-03, 4.58006777e-03, 8.19248003e-03, 1.36506255e-03,
  5.25826089e-06, 7.40928283e-06,-1.21644110e+00, 1.57674636e-03,
  5.48344132e-04, 4.00998277e-05]


--- Step 2492 ---
qpos:
[-0.01579465, 1.29347439,-0.03241828, 0.9484187 , 0.00439972, 1.33131736,
 -0.02969297, 0.94625815, 0.01673254, 1.33648241,-0.0239071 , 0.95497824,
  1.39281114,-0.00563441, 1.19233838, 0.06148592,-0.00367656,-0.09266837,
  0.08154171, 0.63727947,-0.0116668 ,-0.00428767, 0.77053253]

qacc:
[-3.69246709e-01, 7.36934409e-02, 5.22453168e+00,-1.78531381e+01,
  5.80867418e-02,-3.15143173e-01, 3.70818263e+00,-1.68614551e+01,
  1.25609168e-02, 2.09970114e+00,-1.01280838e+01, 2.33735264e+01,
 -5.06751186e-02, 2.82122031e-01,-9.52235285e+00, 1.82226739e+01,
  1.52463171e+00, 1.09247437e+00, 1.72765382e+00, 7.32925645e+01,
  6.76262392e+01, 2.72383381e+00]

qfrc_actuator:
[ 3.67332036e-03, 7.38325130e-02, 2.04525085e-02, 1.76631187e-03,
  9.64423141e-06, 3.50144306e-02, 1.09057015e-02, 1.72926569e-03,
 -3.04105517e-03, 3.47059975e-02, 1.07757900e-02, 1.70279363e-03,
  0.00000000e+00, 2.53189413e-03, 0.00000000e+00,-4.16028555e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007103101783465446
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04786054e-01,  8.78029355e-02, -9.48364964e-01, -2.68648661e-02,
        9.96137864e-01,  8.35920717e-02,  9.52041879e-01, -3.46944695e-18,
        3.05967743e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07238129, -0.04281367,  0.22456082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.001361296261324134
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.56808865e-14,  3.05836170e-14,  1.00000000e+00,  1.09125056e-27,
        1.00000000e+00, -3.05836170e-14, -1.00000000e+00,  0.00000000e+00,
       -3.56808865e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03702507, -0.11823439,  0.06187914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.00633331e-04, 3.88467916e-02, 9.68722441e-03,-4.26069559e-05,
  1.67447522e-05, 2.31684167e-06,-3.17057119e-05,-6.06689836e-05,
  3.62221530e-06,-6.23008686e-05,-2.45942478e-05, 6.08245214e-05,
  3.02877334e-03, 4.57353583e-03, 8.36407749e-03, 1.59419798e-03,
  1.46352938e-05, 2.04422929e-05,-1.21644491e+00, 1.57099410e-03,
  5.51383552e-04, 5.55763720e-05]


--- Step 2493 ---
qpos:
[-0.01579906, 1.29349122,-0.03241805, 0.94841761, 0.00439974, 1.33132128,
 -0.02969371, 0.94625809, 0.01673257, 1.33648183,-0.02390858, 0.95497874,
  1.39282325,-0.00563829, 1.19231371, 0.06148412,-0.00367688,-0.09266826,
  0.08153964, 0.63734718,-0.01167765,-0.00429133, 0.77047634]

qacc:
[-3.92176412e-01, 1.41945796e+00,-5.01925393e-01,-1.87040974e-01,
  1.25794711e-02, 2.87590177e+00,-1.07827888e+01, 1.75382022e+01,
  1.00684302e-01,-1.56254575e-01,-3.72818021e+00, 1.75471566e+01,
  6.68328982e-02, 2.92767843e-01,-1.01134323e+01, 1.92955384e+01,
  1.37458031e+00, 1.06094255e+00, 8.88501620e-01, 6.79943229e+01,
  6.22799784e+01, 2.15228804e+00]

qfrc_actuator:
[ 3.69523206e-03, 7.37888627e-02, 2.04282344e-02, 1.77686644e-03,
  3.41372915e-06, 3.50119025e-02, 1.08758258e-02, 1.76647982e-03,
 -3.01420714e-03, 3.46090761e-02, 1.07745666e-02, 1.75977757e-03,
  0.00000000e+00, 2.51512293e-03, 0.00000000e+00, 1.64236173e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007101979204464301
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04773206e-01,  8.78041525e-02, -9.48368981e-01, -2.68641088e-02,
        9.96137757e-01,  8.35935934e-02,  9.52046014e-01,  3.46944695e-18,
        3.05954878e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07237953, -0.04281411,  0.22456126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.06946107,  4.96079601,  7.06946107, 10.96249933,
       -3.31489657,  4.96079601, -3.31489657, 13.36030959,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013834417829260287
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50470240e-14,  4.01253973e-14,  1.00000000e+00, -6.03767817e-28,
        1.00000000e+00, -4.01253973e-14, -1.00000000e+00,  0.00000000e+00,
        1.50470240e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03699617, -0.11820079,  0.06187727])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.65820349e-04, 3.86976060e-02, 9.64569997e-03, 1.98245605e-05,
  3.65071871e-06,-9.29356664e-06,-3.48125426e-05, 3.49509854e-05,
  2.89844924e-05,-1.34377171e-04,-1.44054163e-05, 5.58314157e-05,
  3.03624992e-03, 4.53591782e-03, 8.71612374e-03, 1.81434035e-03,
  4.21744897e-06, 5.54504659e-06,-1.21644070e+00, 1.57856986e-03,
  5.48245867e-04, 3.71364853e-05]


--- Step 2494 ---
qpos:
[-0.01580339, 1.29350872,-0.03241676, 0.94841648, 0.00439946, 1.3313253 ,
 -0.02969544, 0.9462585 , 0.01673287, 1.33648006,-0.0239088 , 0.95497848,
  1.39283549,-0.00564224, 1.19228914, 0.06148272,-0.0036722 ,-0.09266402,
  0.0815383 , 0.63741423,-0.01169662,-0.00412318, 0.7704215 ]

qacc:
[ 3.78243186e-02,-2.08841007e+00, 7.93746341e+00,-7.70526638e+00,
 -1.29075468e-01, 3.53877775e+00,-1.23510219e+01, 1.59927768e+01,
  1.15015192e-01,-6.25543682e+00, 2.00545290e+01,-2.53634508e+01,
  1.79249431e-01,-2.26272978e-01,-1.10339954e+00, 4.01825783e+00,
  1.25234283e+00, 1.03194885e+00, 1.82540862e-01, 6.35914993e+01,
  5.78689035e+01, 1.71398931e+00]

qfrc_actuator:
[ 3.71069625e-03, 7.37365495e-02, 2.04663226e-02, 1.76582607e-03,
 -3.58578773e-05, 3.50087955e-02, 1.08230541e-02, 1.78840687e-03,
 -2.99825241e-03, 3.45696177e-02, 1.08452937e-02, 1.72205121e-03,
  0.00000000e+00, 2.50628044e-03, 0.00000000e+00, 1.11122482e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007098387225411597
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04756938e-01,  8.78056901e-02, -9.48374066e-01, -2.68631489e-02,
        9.96137621e-01,  8.35955168e-02,  9.52051248e-01, -3.46944695e-18,
        3.05938589e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07237709, -0.04281449,  0.22456182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.09097605,  4.92999345,  7.09097605, 11.59599906,
       -4.25694357,  4.92999345, -4.25694357, 14.75926931,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013861289561621151
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.50535608e-14,  1.00119024e-14,  1.00000000e+00,  4.51071853e-28,
        1.00000000e+00, -1.00119024e-14, -1.00000000e+00,  0.00000000e+00,
       -4.50535608e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03699624, -0.11819166,  0.06187704])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.27247318e-04, 3.85088732e-02, 9.64075572e-03, 4.09744986e-06,
 -3.71177577e-05,-1.40342302e-05,-5.75289107e-05, 2.14435337e-05,
  3.30615716e-05,-1.14919422e-04, 4.44836366e-05,-4.08324713e-05,
  3.03197865e-03, 4.49956130e-03, 9.09120354e-03, 1.77705921e-03,
  1.17621668e-06, 6.98785716e-07,-1.21644013e+00, 1.58517923e-03,
  5.45044163e-04, 3.15645435e-05]


--- Step 2495 ---
qpos:
[-0.01580682, 1.29352426,-0.0324156 , 0.94841553, 0.00439867, 1.3313297 ,
 -0.02969763, 0.94625807, 0.01673326, 1.33647863,-0.02390878, 0.95497769,
  1.39284772,-0.00564659, 1.19227061, 0.06148182,-0.0036629 ,-0.09265575,
  0.08153532, 0.63748094,-0.01172276,-0.00379352, 0.7703676 ]

qacc:
[ 3.80600110e-01,-1.88499919e+00, 2.66555927e+00, 1.02650384e+00,
 -2.18650839e-01, 3.73959006e-01, 1.09614650e+00,-1.08070616e+01,
  3.83473603e-02,-1.14158988e+00, 5.32307104e+00,-1.09511869e+01,
 -3.58845120e-02,-2.15470247e-01, 7.43743496e+00,-1.30348215e+01,
  1.15263062e+00, 1.00559224e+00,-4.10839625e-01, 5.99350597e+01,
  5.42297899e+01, 1.38050026e+00]

qfrc_actuator:
[ 3.70389920e-03, 7.36977632e-02, 2.04880120e-02, 1.75967487e-03,
 -7.68792619e-05, 3.50585317e-02, 1.08104194e-02, 1.74786799e-03,
 -3.00671468e-03, 3.46716229e-02, 1.08870615e-02, 1.69997199e-03,
  0.00000000e+00, 2.52034895e-03, 0.00000000e+00,-9.79553022e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00070955406866028
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30473902,  0.08780722, -0.94837968, -0.02686204,  0.99613749,
        0.08359748,  0.95205702,  0.        ,  0.30592064])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07237465, -0.04281489,  0.2245624 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.10428523,  4.91079506,  7.10428523, 12.38772697,
       -5.4269736 ,  4.91079506, -5.4269736 , 16.48738733,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013732439939204838
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.52646068e-14,  3.03175281e-14,  1.00000000e+00, -7.65960427e-28,
        1.00000000e+00, -3.03175281e-14, -1.00000000e+00,  0.00000000e+00,
        2.52646068e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03701927, -0.11820189,  0.0618781 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.16016980e-04, 3.84367713e-02, 9.60868753e-03,-1.80479595e-07,
 -6.29246093e-05, 3.13389479e-05,-2.12971297e-05,-4.21440044e-05,
  1.10520587e-05, 4.59464386e-05, 2.31871741e-05,-2.51364968e-05,
  3.02506495e-03, 4.51720841e-03, 9.08728325e-03, 1.54790186e-03,
  4.11466708e-06, 3.88124671e-06,-1.21644249e+00, 1.59112109e-03,
  5.41714022e-04, 3.63242649e-05]


--- Step 2496 ---
qpos:
[-0.01581027, 1.29353933,-0.0324147 , 0.94841543, 0.00439752, 1.33133428,
 -0.0296991 , 0.94625711, 0.01673351, 1.33647844,-0.02390936, 0.95497833,
  1.39285983,-0.00565078, 1.19225275, 0.06148077,-0.00364932,-0.09264356,
  0.0815287 , 0.63754753,-0.01175528,-0.00331084, 0.77031422]

qacc:
[-8.25077485e-03, 1.49391245e+00,-7.35216982e+00, 1.64494607e+01,
 -1.50519030e-01,-2.64727504e+00, 9.99723840e+00,-1.48906385e+01,
 -5.75460650e-02, 5.72425097e+00,-1.95810980e+01, 3.26935457e+01,
 -2.36198327e-01, 3.59039331e-01, 1.44546179e+00,-3.56871063e+00,
  1.07112280e+00, 9.81827638e-01,-9.09096818e-01, 5.69029348e+01,
  5.12304936e+01, 1.12994620e+00]

qfrc_actuator:
[ 3.68290622e-03, 7.36339486e-02, 2.04651435e-02, 1.80951172e-03,
 -8.31119280e-05, 3.50863792e-02, 1.08572611e-02, 1.72421371e-03,
 -3.02975510e-03, 3.47864545e-02, 1.08764589e-02, 1.77612269e-03,
  0.00000000e+00, 2.53076717e-03, 0.00000000e+00,-6.35635423e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007094983032559406
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04723102e-01,  8.78084560e-02, -9.48384682e-01, -2.68610191e-02,
        9.96137378e-01,  8.35991064e-02,  9.52062139e-01, -3.46944695e-18,
        3.05904697e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07237274, -0.04281535,  0.22456289])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.0960517 ,  4.92268495,  7.0960517 , 13.4424005 ,
       -6.92790344,  4.92268495, -6.92790344, 18.62293834,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013480336146232258
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.11793524e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.11793524e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03706034, -0.11822733,  0.06188018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.50400355e-04, 3.84709630e-02, 9.59289500e-03, 4.06202375e-05,
 -4.33624213e-05, 3.97231828e-05, 4.93095955e-05,-2.43138162e-05,
 -1.65144667e-05, 1.44032239e-04, 2.70384344e-07, 7.76023940e-05,
  3.02640928e-03, 4.54760358e-03, 8.78522008e-03, 1.55766126e-03,
  1.20075947e-05, 1.36246998e-05,-1.21644729e+00, 1.59659655e-03,
  5.38216968e-04, 4.95762869e-05]


--- Step 2497 ---
qpos:
[-0.0158148 , 1.29355646,-0.0324125 , 0.94841562, 0.00439642, 1.33133879,
 -0.02969987, 0.9462559 , 0.01673357, 1.33647938,-0.02390982, 0.95498054,
  1.39287179,-0.00565452, 1.19223017, 0.06147967,-0.00364246,-0.09263591,
  0.08152676, 0.63761467,-0.01178066,-0.0030425 , 0.77025937]

qacc:
[-4.57593765e-01,-2.82091285e-01, 3.61917636e+00,-1.12780360e+00,
  2.39103226e-02,-2.38259043e+00, 8.19147078e+00,-9.99335789e+00,
 -8.19825988e-02, 3.87434450e+00,-1.40102461e+01, 2.95372706e+01,
 -1.82254885e-01, 4.69224502e-01,-6.79830457e+00, 1.36755527e+01,
 -1.68099872e+00,-1.13506357e+00, 1.16783082e+00,-8.02773710e+01,
 -7.10705916e+01,-1.95820036e+00]

qfrc_actuator:
[ 3.67170296e-03, 7.35899169e-02, 2.04867159e-02, 1.83894623e-03,
 -5.06727458e-05, 3.50656447e-02, 1.08855127e-02, 1.71072014e-03,
 -3.04360011e-03, 3.48546845e-02, 1.08884429e-02, 1.85620395e-03,
  0.00000000e+00, 2.53860355e-03, 0.00000000e+00, 1.35102481e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000709441927416947
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30470788,  0.08780969, -0.94838946, -0.02686006,  0.99613727,
        0.08360071,  0.95206704,  0.        ,  0.30588945])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0723709 , -0.04281581,  0.22456336])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0014000519033419562
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.91233809e-15,  1.98246762e-14,  1.00000000e+00, -1.96508893e-28,
        1.00000000e+00, -1.98246762e-14, -1.00000000e+00,  0.00000000e+00,
        9.91233809e-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([ 0.03659563, -0.06338741,  0.0618758 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.40151096e-04, 3.84504261e-02, 9.62695287e-03, 2.77767747e-05,
  6.85295174e-06, 1.01190584e-05, 4.09114800e-05,-1.14187021e-05,
 -2.35904982e-05, 1.50233086e-04, 4.24154188e-05, 8.61629479e-05,
  3.03201116e-03, 4.54786875e-03, 8.75192077e-03, 1.76357390e-03,
  2.41038770e-05, 2.88648634e-05,-1.21645417e+00, 1.60174077e-03,
  5.34530803e-04, 6.99891653e-05]


--- Step 2498 ---
qpos:
[-0.01581927, 1.29357348,-0.03241058, 0.94841643, 0.00439538, 1.33134351,
 -0.02970001, 0.94625314, 0.0167336 , 1.33648134,-0.02391056, 0.954982  ,
  1.39288416,-0.00565808, 1.19220673, 0.06147846,-0.00364166,-0.09263265,
  0.08152615, 0.63768307,-0.0118002 ,-0.00297161, 0.77020272]

qacc:
[ 2.16102990e-02, 1.66810967e+00,-6.91840250e+00, 1.33324177e+01,
  2.14873311e-02,-4.11346364e+00, 1.69103583e+01,-3.27786634e+01,
 -1.53513475e-02, 8.09642195e-01, 5.00757490e-01,-9.76261017e+00,
  2.36703486e-01,-5.66759901e-02,-9.40528254e-01, 1.42775745e+00,
 -1.51256119e+00,-1.09752980e+00, 3.34340033e-01,-7.41746154e+01,
 -6.51860131e+01,-2.23120533e+00]

qfrc_actuator:
[ 3.66743516e-03, 7.36796689e-02, 2.04802515e-02, 1.85636195e-03,
 -4.85578392e-05, 3.50869404e-02, 1.09201102e-02, 1.63224894e-03,
 -3.03406310e-03, 3.48768188e-02, 1.08602443e-02, 1.81366407e-03,
  0.00000000e+00, 2.50902387e-03, 0.00000000e+00, 9.50009152e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007092665782022188
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04689442e-01,  8.78112858e-02, -9.48395235e-01, -2.68589242e-02,
        9.96137128e-01,  8.36027517e-02,  9.52072971e-01,  3.46944695e-18,
        3.05870982e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07236862, -0.04281623,  0.22456392])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.0911234 , -4.92978151, -7.0911234 , 10.35639559,
       -2.47413781, -4.92978151, -2.47413781, 12.19522654,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001428762304200401
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.91394610e-14,  5.82789220e-14,  1.00000000e+00,  1.69821637e-27,
        1.00000000e+00, -5.82789220e-14, -1.00000000e+00,  0.00000000e+00,
       -2.91394610e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03655184, -0.06343227,  0.0618734 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.89532529e-04, 3.84364747e-02, 9.55579780e-03, 3.09697050e-05,
  6.15909305e-06, 3.45189369e-05, 4.08895398e-05,-7.72305050e-05,
 -4.38552756e-06, 1.16044834e-04, 8.48472613e-06,-3.48381473e-05,
  3.03960359e-03, 4.49567511e-03, 8.98863966e-03, 1.72626736e-03,
  8.37336958e-06, 9.18064479e-06,-1.21644524e+00, 1.59406078e-03,
  5.38978424e-04, 4.48078877e-05]


--- Step 2499 ---
qpos:
[-0.01582216, 1.29358733,-0.03241044, 0.9484185 , 0.00439423, 1.33134829,
 -0.02970005, 0.94625157, 0.0167338 , 1.33648347,-0.02391039, 0.9549826 ,
  1.39289702,-0.00566203, 1.19219024, 0.06147719,-0.00364635,-0.09263364,
  0.08152407, 0.6377532 ,-0.01181492,-0.00308416, 0.77014398]

qacc:
[ 6.77350935e-01, 2.75073596e+00,-1.65501201e+01, 3.07880694e+01,
 -4.32958692e-02, 1.85790799e+00,-8.38332101e+00, 2.10299548e+01,
  7.26371386e-02,-3.73102977e+00, 1.41307930e+01,-2.21535847e+01,
  2.83414880e-01,-4.47425893e-01, 1.04316329e+01,-2.16205444e+01,
 -1.37499479e+00,-1.06328118e+00,-3.68120268e-01,-6.90990036e+01,
 -6.03259033e+01,-2.41699075e+00]

qfrc_actuator:
[ 3.68438653e-03, 7.37090341e-02, 2.04580224e-02, 1.90161441e-03,
 -6.46542572e-05, 3.50799636e-02, 1.09227904e-02, 1.69371905e-03,
 -3.01057688e-03, 3.48531940e-02, 1.08970507e-02, 1.77025788e-03,
  0.00000000e+00, 2.49259329e-03, 0.00000000e+00,-1.94798879e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007090251441830737
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04671391e-01,  8.78128626e-02, -9.48400888e-01, -2.68578190e-02,
        9.96136989e-01,  8.36047630e-02,  9.52078779e-01, -3.46944695e-18,
        3.05852904e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07236627, -0.04281669,  0.22456448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.10537348, -4.90922036, -7.10537348, 10.90415845,
       -3.28229901, -4.90922036, -3.28229901, 13.38700806,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014360285525270647
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.73120439e-14,  3.86560219e-14,  1.00000000e+00,  2.98857606e-27,
        1.00000000e+00, -3.86560219e-14, -1.00000000e+00,  0.00000000e+00,
       -7.73120439e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03654408, -0.06344806,  0.0618728 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.03931173e-04, 3.84717733e-02, 9.54761137e-03, 4.48353310e-05,
 -1.24605399e-05, 1.77616024e-05, 1.18097593e-05, 6.19138188e-05,
  2.09021212e-05, 4.11609989e-05, 5.94147059e-05,-4.05264790e-05,
  3.01935820e-03, 4.47037024e-03, 9.03178730e-03, 1.44209571e-03,
  1.77223642e-06, 1.21489916e-06,-1.21644090e+00, 1.58717082e-03,
  5.42835981e-04, 3.42684738e-05]


--- Step 2500 ---
qpos:
[-0.01582459, 1.29360037,-0.03241   , 0.94841974, 0.0043931 , 1.33135297,
 -0.0297008 , 0.94625115, 0.01673406, 1.33648544,-0.02391016, 0.9549831 ,
  1.39290965,-0.00566638, 1.19217702, 0.06147636,-0.00365609,-0.09263877,
  0.08151815, 0.63782531,-0.01182564,-0.00336852, 0.7700829 ]

qacc:
[ 1.93020251e-01,-3.26297896e+00, 1.10420454e+01,-1.85928657e+01,
  4.27326877e-03, 3.78785642e+00,-1.48878322e+01, 2.63410886e+01,
  2.95171635e-02,-5.55108603e-01, 1.78583632e+00,-2.68410305e+00,
 -4.62682936e-02,-2.71046034e-01, 3.47599708e+00,-5.16112020e+00,
 -1.26239946e+00,-1.03223416e+00,-9.59726673e-01,-6.48783828e+01,
 -5.63105122e+01,-2.53726233e+00]

qfrc_actuator:
[ 3.69475861e-03, 7.36520026e-02, 2.04989484e-02, 1.87393112e-03,
 -5.60397658e-05, 3.50383124e-02, 1.08710924e-02, 1.74826675e-03,
 -3.01441922e-03, 3.48025688e-02, 1.08830112e-02, 1.76223544e-03,
  0.00000000e+00, 2.52005271e-03, 0.00000000e+00,-2.08357368e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007089464044048484
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04658050e-01,  8.78139002e-02, -9.48405078e-01, -2.68569628e-02,
        9.96136898e-01,  8.36061278e-02,  9.52083072e-01,  3.46944695e-18,
        3.05839539e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07236455, -0.04281727,  0.2245649 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.10473296, -4.91014729, -7.10473296, 11.60361581,
       -4.29346272, -4.91014729, -4.29346272, 14.84878543,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014260751467986416
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.94629124e-14,  1.94629124e-14,  1.00000000e+00,  3.78804958e-28,
        1.00000000e+00, -1.94629124e-14, -1.00000000e+00,  0.00000000e+00,
       -1.94629124e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03656492, -0.0634408 ,  0.06187361])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.34859488e-04, 3.85729319e-02, 9.67712862e-03,-4.54050205e-05,
  1.26204932e-06,-2.76966044e-05,-4.50747987e-05, 5.68672226e-05,
  8.50079256e-06,-1.74740815e-05,-4.36365510e-07,-6.00366789e-06,
  2.99475488e-03, 4.51731143e-03, 8.68463534e-03, 1.43177946e-03,
  2.46092383e-06, 2.53612828e-06,-1.21644021e+00, 1.58077581e-03,
  5.46321556e-04, 3.53052029e-05]


--- Step 2501 ---
qpos:
[-0.01582668, 1.29361213,-0.03240949, 0.9484193 , 0.00439216, 1.33135778,
 -0.0297025 , 0.94625   , 0.01673435, 1.33648775,-0.0239117 , 0.9549839 ,
  1.3929219 ,-0.00567119, 1.19216744, 0.06147608,-0.00367052,-0.0926479 ,
  0.0815064 , 0.63789955,-0.01183301,-0.00381507, 0.77001922]

qacc:
[ 1.45909953e-01,-4.69158178e+00, 1.67151564e+01,-3.30336447e+01,
  8.36210214e-02, 1.42263397e+00,-2.94402693e+00,-6.01531184e+00,
  8.60712150e-03, 5.75546104e+00,-1.88331414e+01, 1.95649092e+01,
 -1.49907205e-01,-2.14606675e-01, 3.72757799e+00,-5.18597640e+00,
 -1.16995963e+00,-1.00420891e+00,-1.45758276e+00,-6.13722233e+01,
 -5.29946761e+01,-2.60822059e+00]

qfrc_actuator:
[ 3.68393133e-03, 7.36308094e-02, 2.05231525e-02, 1.78631005e-03,
 -3.26703948e-05, 3.50470175e-02, 1.08230588e-02, 1.70945905e-03,
 -3.01687298e-03, 3.48070007e-02, 1.07856919e-02, 1.77503942e-03,
  0.00000000e+00, 2.53851413e-03, 0.00000000e+00,-2.87436743e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007090188821050232
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04645206e-01,  8.78147943e-02, -9.48409121e-01, -2.68561061e-02,
        9.96136819e-01,  8.36073422e-02,  9.52087206e-01,  6.93889390e-18,
        3.05826670e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07236312, -0.04281783,  0.22456528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.07314542, -4.95554142, -7.07314542, 12.55175591,
       -5.58851931, -4.95554142, -5.58851931, 16.61297132,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014024349229372624
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89549503e-15,  3.95819801e-14,  1.00000000e+00,  3.91683287e-28,
        1.00000000e+00, -3.95819801e-14, -1.00000000e+00,  0.00000000e+00,
       -9.89549503e-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([ 0.0366083 , -0.06341542,  0.06187555])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.01405922e-04, 3.85922737e-02, 9.68662634e-03,-9.17395727e-05,
  2.41129599e-05,-1.37574155e-05,-5.69162386e-05,-3.96346742e-05,
  2.56556747e-06,-5.50665847e-06,-1.00958700e-04, 1.21374343e-05,
  3.00615085e-03, 4.55616246e-03, 8.52174105e-03, 1.33058596e-03,
  9.10254388e-06, 1.13851077e-05,-1.21644245e+00, 1.57468141e-03,
  5.49581431e-04, 4.56963949e-05]


--- Step 2502 ---
qpos:
[-0.01582872, 1.29362335,-0.03240898, 0.94841811, 0.0043916 , 1.33136228,
 -0.0297041 , 0.94624908, 0.01673464, 1.33649019,-0.02391325, 0.95498442,
  1.39293379,-0.00567613, 1.19215936, 0.06147591,-0.00367864,-0.09265274,
  0.0815024 , 0.63797132,-0.01185171,-0.00405867, 0.76995822]

qacc:
[ 2.57050899e-02,-2.03286115e+00, 7.31011992e+00,-1.47873626e+01,
  1.60713675e-01,-2.56920631e-01,-9.57306528e-02, 2.82190479e+00,
 -3.01806722e-04,-2.64627410e-01, 1.61627513e+00,-4.61336039e+00,
 -2.63071206e-01, 1.28744119e-01, 1.87182380e+00,-3.33061415e+00,
  1.57455494e+00, 1.07604309e+00, 1.93823718e+00, 7.45171763e+01,
  6.90713454e+01, 3.02643980e+00]

qfrc_actuator:
[ 3.67806668e-03, 7.36318997e-02, 2.05374331e-02, 1.75266772e-03,
 -6.39561723e-07, 3.50324920e-02, 1.08309791e-02, 1.72257899e-03,
 -3.01847283e-03, 3.48440385e-02, 1.07999922e-02, 1.76447054e-03,
  0.00000000e+00, 2.55178105e-03, 0.00000000e+00,-2.99600568e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007092344749571461
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30463351,  0.08781557, -0.94841281, -0.02685531,  0.99613675,
        0.08360841,  0.95209097,  0.        ,  0.30581495])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07236204, -0.04281839,  0.22456561])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013815826098591971
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.01345451e-14,  8.03587869e-14,  1.00000000e+00,  2.42157548e-27,
        1.00000000e+00, -8.03587869e-14, -1.00000000e+00,  0.00000000e+00,
       -3.01345451e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0370374 , -0.11814373,  0.06187723])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.78442753e-04, 3.86566805e-02, 9.69756063e-03,-4.16930630e-05,
  4.62594166e-05,-3.44867451e-05,-2.41115049e-06, 1.01227322e-05,
 -8.40799375e-08, 1.46231486e-05, 2.10704956e-06,-1.34013040e-05,
  3.02506097e-03, 4.59192370e-03, 8.33918827e-03, 1.29077268e-03,
  2.07271730e-05, 2.64903255e-05,-1.21644709e+00, 1.56875943e-03,
  5.52713306e-04, 6.38333222e-05]


--- Step 2503 ---
qpos:
[-0.01583181, 1.29363745,-0.0324071 , 0.94841786, 0.00439142, 1.33136638,
 -0.02970499, 0.94624829, 0.01673477, 1.33649177,-0.02391311, 0.95498516,
  1.39294554,-0.00568049, 1.19214499, 0.06147521,-0.00368111,-0.09265338,
  0.08150265, 0.63804153,-0.01188011,-0.004115  , 0.7698993 ]

qacc:
[-4.53247098e-01, 1.70322218e+00,-2.91618343e+00, 1.16898165e+01,
  1.61685366e-01,-2.22250650e+00, 6.32671380e+00,-3.61697014e+00,
 -6.51454143e-02,-5.34774228e+00, 1.56429665e+01,-1.05760048e+01,
 -2.11156481e-01, 5.85910367e-01,-7.63911121e+00, 1.32845711e+01,
  1.41474939e+00, 1.04803092e+00, 1.06353012e+00, 6.89943725e+01,
  6.34565391e+01, 2.39395259e+00]

qfrc_actuator:
[ 3.67532456e-03, 7.36461529e-02, 2.05635482e-02, 1.82218030e-03,
  1.85748615e-05, 3.50221596e-02, 1.08718266e-02, 1.73069077e-03,
 -3.03729965e-03, 3.47764437e-02, 1.08802110e-02, 1.77583456e-03,
  0.00000000e+00, 2.54404837e-03, 0.00000000e+00,-5.83613018e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007095027268830163
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04622333e-01,  8.78163227e-02, -9.48416326e-01, -2.68545608e-02,
        9.96136684e-01,  8.36094438e-02,  9.52094568e-01, -3.46944695e-18,
        3.05803750e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0723611 , -0.04281891,  0.22456592])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.07533347,  4.9524169 ,  7.07533347, 10.62537872,
       -2.84163173,  4.9524169 , -2.84163173, 12.69609699,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001407324631815525
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.95833402e-14,  7.88889073e-14,  1.00000000e+00,  2.33379739e-27,
        1.00000000e+00, -7.88889073e-14, -1.00000000e+00,  0.00000000e+00,
       -2.95833402e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03700367, -0.11810538,  0.06187506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.72686387e-04, 3.86985205e-02, 9.72345300e-03, 6.58937714e-05,
  4.65104139e-05,-2.96061846e-05, 3.41209065e-05, 7.24449145e-06,
 -1.88746863e-05,-5.95080002e-05, 8.29217435e-05, 1.15490137e-05,
  3.04322590e-03, 4.59121397e-03, 8.26522273e-03, 1.52653983e-03,
  7.32378630e-06, 8.54908431e-06,-1.21644176e+00, 1.57698045e-03,
  5.49406832e-04, 4.14664181e-05]


--- Step 2504 ---
qpos:
[-0.01583578, 1.29365354,-0.03240461, 0.9484196 , 0.00439142, 1.33137087,
 -0.0297066 , 0.94624898, 0.01673457, 1.33649315,-0.02391306, 0.9549871 ,
  1.39295744,-0.00568417, 1.19212549, 0.06147381,-0.00367843,-0.09264994,
  0.08150422, 0.6381108 ,-0.01191692,-0.00399704, 0.76984194]

qacc:
[ -0.37412606,  4.35089671,-15.11936052, 34.84246963,  0.07297996,
   5.0278274 ,-18.82272295, 33.31396325, -0.13930881,  2.06548319,
  -9.46459291, 22.17005105, -0.12096845,  0.63423359, -5.45103287,
   8.11193853,  1.28471709,  1.0217229 ,  0.32765734, 64.40510762,
  58.82586371,  1.90773704]

qfrc_actuator:
[ 3.65780226e-03, 7.36473296e-02, 2.05421347e-02, 1.91667558e-03,
  1.21930451e-05, 3.50678205e-02, 1.08430026e-02, 1.80680081e-03,
 -3.06630849e-03, 3.47712786e-02, 1.08740097e-02, 1.83548823e-03,
  0.00000000e+00, 2.54080855e-03, 0.00000000e+00, 3.37260959e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007096065572317241
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30460709,  0.08781745, -0.94842112, -0.02685356,  0.99613659,
        0.08361094,  0.95209947,  0.        ,  0.30578848])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07235956, -0.04281939,  0.22456635])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.10084882,  4.91576269,  7.10084882, 11.19504981,
       -3.69603759,  4.91576269, -3.69603759, 13.9753122 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001412647883306771
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  3.9295816e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -3.9295816e-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([-0.03700037, -0.11809278,  0.06187462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.08297252e-04, 3.85551083e-02, 9.63332301e-03, 1.12996237e-04,
  2.10624315e-05, 3.61467694e-05,-3.05250032e-05, 7.63933691e-05,
 -4.01537944e-05,-2.15466012e-05,-8.06212038e-06, 6.05888356e-05,
  3.05049579e-03, 4.55920239e-03, 8.57955178e-03, 1.64543875e-03,
  1.75152929e-06, 1.23828229e-06,-1.21644029e+00, 1.58407733e-03,
  5.46095097e-04, 3.27147038e-05]


--- Step 2505 ---
qpos:
[-0.01583976, 1.29366955,-0.03240267, 0.94842443, 0.00439134, 1.33137573,
 -0.02970861, 0.94625126, 0.01673389, 1.33649505,-0.02391444, 0.95498802,
  1.39296986,-0.00568739, 1.19210568, 0.06147166,-0.00367104,-0.0926425 ,
  0.08150462, 0.63817956,-0.0119611 ,-0.00371556, 0.76978567]

qacc:
[-4.23063719e-03, 6.62065853e+00,-2.80365199e+01, 6.01048626e+01,
 -3.22666629e-02, 4.24855715e+00,-1.65248982e+01, 3.24291884e+01,
 -2.03473704e-01, 2.78902906e+00,-6.21981833e+00,-6.68582541e+00,
  6.83161940e-02, 3.78540220e-01, 1.81006630e+00,-7.01195527e+00,
  1.17879804e+00, 9.97417540e-01,-2.90863515e-01, 6.05933531e+01,
  5.50065288e+01, 1.53645635e+00]

qfrc_actuator:
[ 3.63165126e-03, 7.36581671e-02, 2.05101766e-02, 2.06024744e-03,
 -9.49037262e-06, 3.50931814e-02, 1.08267905e-02, 1.88679948e-03,
 -3.10119037e-03, 3.48032509e-02, 1.07993152e-02, 1.78102099e-03,
  0.00000000e+00, 2.52217345e-03, 0.00000000e+00,-5.20679926e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007095353107157178
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04589389e-01,  8.78188654e-02, -9.48426671e-01, -2.68524400e-02,
        9.96136460e-01,  8.36127956e-02,  9.52105168e-01,  3.46944695e-18,
        3.05770746e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07235752, -0.04281985,  0.22456686])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.12199396,  4.88507717,  7.12199396, 11.89643074,
       -4.75287849,  4.88507717, -4.75287849, 15.56562405,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014016085739516904
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.96053165e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.96053165e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03702123, -0.11810058,  0.06187555])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.25991396e-04, 3.84668382e-02, 9.57112055e-03, 1.57230956e-04,
 -9.25355657e-06, 4.16489965e-05,-1.03797116e-05, 8.19653591e-05,
 -5.85888140e-05, 2.02698227e-05,-7.80445352e-05,-5.39265652e-05,
  3.04293370e-03, 4.50640045e-03, 8.83604032e-03, 1.59442311e-03,
  2.49884163e-06, 2.37293902e-06,-1.21644189e+00, 1.59039677e-03,
  5.42695687e-04, 3.48346684e-05]


--- Step 2506 ---
qpos:
[-0.01584348, 1.29368507,-0.0324012 , 0.9484303 , 0.00439111, 1.33138071,
 -0.0297098 , 0.94625306, 0.01673291, 1.33649667,-0.02391589, 0.95498793,
  1.39298308,-0.00569054, 1.19208623, 0.06146929,-0.00365929,-0.09263117,
  0.08150179, 0.63824806,-0.01201183,-0.00327943, 0.76973007]

qacc:
[  0.11287989,  2.40120211,-10.71351404, 21.50729853, -0.06376902,
  -2.8871675 , 10.61288074,-14.88350034, -0.12901943, -1.92135924,
   7.85052041,-18.22030806,  0.55131784, -0.41100314,  1.18181103,
  -3.42876409,  1.09237162,  0.97522693, -0.81022635, 57.43150115,
  51.85889596,  1.25600891]

qfrc_actuator:
[ 3.61755893e-03, 7.36583082e-02, 2.04905455e-02, 2.10709593e-03,
 -2.24226422e-05, 3.51062367e-02, 1.08713621e-02, 1.86192634e-03,
 -3.10380818e-03, 3.47681062e-02, 1.07914153e-02, 1.73083213e-03,
  0.00000000e+00, 2.47649051e-03, 0.00000000e+00,-8.44784104e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000709410249869636
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30457227,  0.08782028, -0.94843204, -0.02685137,  0.99613634,
        0.08361463,  0.95211068,  0.        ,  0.30575359])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07235544, -0.0428204 ,  0.22456737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.12734759,  4.87726288,  7.12734759, 12.80750351,
       -6.09546061,  4.87726288, -6.09546061, 17.54391436,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013775956906791828
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.03695965e-15,  8.05913544e-14,  1.00000000e+00, -4.05935400e-28,
        1.00000000e+00, -8.05913544e-14, -1.00000000e+00,  0.00000000e+00,
        5.03695965e-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([-0.03706109, -0.11812442,  0.06187755])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.12364585e-04, 3.84704508e-02, 9.57839410e-03, 4.94459163e-05,
 -1.83914918e-05, 3.64925295e-05, 5.39371291e-05,-2.20196693e-05,
 -3.72063485e-05,-4.07877520e-05,-1.43876509e-05,-5.31244865e-05,
  3.01645172e-03, 4.43733207e-03, 8.85250861e-03, 1.59986432e-03,
  8.45517106e-06, 1.03677461e-05,-1.21644602e+00, 1.59617245e-03,
  5.39157945e-04, 4.58366467e-05]


--- Step 2507 ---
qpos:
[-0.01584775, 1.29370079,-0.03239918, 0.94843346, 0.00439058, 1.33138593,
 -0.02971074, 0.94625491, 0.01673203, 1.33649821,-0.02391758, 0.95498862,
  1.39299625,-0.00569391, 1.19206516, 0.06146764,-0.00365412,-0.09262419,
  0.08150256, 0.63831698,-0.01205568,-0.00305232, 0.76967316]

qacc:
[-2.37531842e-01,-5.82860098e+00, 2.48469249e+01,-5.29271959e+01,
 -1.25657176e-01,-2.47420782e-01, 1.06317888e+00,-4.28374938e-01,
  4.34686995e-02, 1.88124067e+00,-7.81419178e+00, 1.57214020e+01,
  2.32244360e-01,-4.39460876e-01,-4.60761983e+00, 1.26054586e+01,
 -1.64796378e+00,-1.08959306e+00, 9.01422211e-01,-7.82477863e+01,
 -6.93429470e+01,-1.85330559e+00]

qfrc_actuator:
[ 3.62818384e-03, 7.35992177e-02, 2.04962175e-02, 1.97246691e-03,
 -4.77515850e-05, 3.51119983e-02, 1.08803303e-02, 1.86432638e-03,
 -3.06929813e-03, 3.47820421e-02, 1.07872928e-02, 1.77236677e-03,
  0.00000000e+00, 2.50356909e-03, 0.00000000e+00, 2.14283523e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007092584087416351
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04556062e-01,  8.78216037e-02, -9.48437120e-01, -2.68503457e-02,
        9.96136219e-01,  8.36163442e-02,  9.52115888e-01,  3.46944695e-18,
        3.05737364e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07235338, -0.04282102,  0.22456784])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0014224020666404324
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.90263432e-14,  3.90263432e-14,  1.00000000e+00,  1.52305546e-27,
        1.00000000e+00, -3.90263432e-14, -1.00000000e+00,  0.00000000e+00,
       -3.90263432e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03660434, -0.06348605,  0.0618738 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.09734416e-04, 3.84356108e-02, 9.60791410e-03,-1.36704076e-04,
 -3.61803306e-05, 3.58033604e-05, 2.15928972e-05, 4.57151744e-06,
  1.25432818e-05,-1.30147161e-05,-1.52777452e-05, 3.86690715e-05,
  2.97708799e-03, 4.46175350e-03, 8.83459961e-03, 1.71707838e-03,
  1.88054011e-05, 2.40728472e-05,-1.21645231e+00, 1.60156190e-03,
  5.35451374e-04, 6.42793586e-05]


--- Step 2508 ---
qpos:
[-0.01585306, 1.29371729,-0.03239606, 0.94843455, 0.00438961, 1.3313909 ,
 -0.02971163, 0.94625718, 0.01673139, 1.33650028,-0.02391989, 0.95499011,
  1.39300856,-0.00569724, 1.19204183, 0.0614667 ,-0.00365489,-0.09262145,
  0.08150376, 0.63838705,-0.01209393,-0.00301821, 0.76961458]

qacc:
[ -0.44164077, -5.45518844, 23.26537289,-44.53514548, -0.18721056,
   0.23670755, -2.01820806,  6.69961757,  0.09835593,  3.77234696,
 -13.08061731, 20.26592417, -0.5278646 ,  0.4145852 , -5.44011929,
  14.23839682, -1.4850878 , -1.0595313 ,  0.10917343,-72.48386558,
 -63.74090525, -2.14611695]

qfrc_actuator:
[ 3.65435543e-03, 7.35041054e-02, 2.05162374e-02, 1.87429621e-03,
 -8.03123772e-05, 3.50599701e-02, 1.08681921e-02, 1.88274492e-03,
 -3.04830226e-03, 3.48430925e-02, 1.07678880e-02, 1.81430248e-03,
  0.00000000e+00, 2.57454382e-03, 0.00000000e+00, 1.38450872e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007090524239794435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04539153e-01,  8.78231045e-02, -9.48442411e-01, -2.68493173e-02,
        9.96136086e-01,  8.36182507e-02,  9.52121325e-01,  3.46944695e-18,
        3.05720430e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07235121, -0.0428216 ,  0.22456834])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.10243478, -4.91347098, -7.10243478, 10.15203389,
       -2.1909052 , -4.91347098, -2.1909052 , 11.80332267,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014436669680460146
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.92257468e-14, -3.84514936e-14,  1.00000000e+00, -7.39258681e-28,
        1.00000000e+00,  3.84514936e-14, -1.00000000e+00,  0.00000000e+00,
       -1.92257468e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03657374, -0.06352122,  0.06187203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.63766246e-04, 3.83308447e-02, 9.60053837e-03,-9.95903636e-05,
 -5.39093147e-05,-2.78979770e-05,-2.54885183e-06, 2.02393836e-05,
  2.84015004e-05, 5.20077988e-05,-2.25503178e-05, 4.20038646e-05,
  2.97966813e-03, 4.54311834e-03, 8.91570640e-03, 1.79772583e-03,
  5.85445245e-06, 6.98619006e-06,-1.21644442e+00, 1.59386857e-03,
  5.39834670e-04, 4.24522834e-05]


--- Step 2509 ---
qpos:
[-0.01585908, 1.29373453,-0.03239229, 0.94843483, 0.00438822, 1.33139518,
 -0.0297124 , 0.946259  , 0.01673084, 1.33650274,-0.02392094, 0.95499062,
  1.3930204 ,-0.00570036, 1.19201561, 0.06146608,-0.00366108,-0.09262284,
  0.08150273, 0.63845873,-0.01212759,-0.00316383, 0.769554  ]

qacc:
[-3.01128335e-01,-2.13726690e+00, 9.81138283e+00,-1.83605638e+01,
 -1.75972096e-01,-2.02096179e+00, 6.42837416e+00,-1.03697899e+01,
  4.08602402e-02,-4.58979358e+00, 1.75519685e+01,-2.67282837e+01,
 -3.48583488e-01, 4.29326452e-01,-5.22005717e+00, 1.21109909e+01,
 -1.35214956e+00,-1.03143494e+00,-5.58311671e-01,-6.76897568e+01,
 -5.91152356e+01,-2.34890989e+00]

qfrc_actuator:
[ 3.67280413e-03, 7.34399662e-02, 2.05085872e-02, 1.83394903e-03,
 -9.91956953e-05, 3.49914117e-02, 1.08612346e-02, 1.85713618e-03,
 -3.05333850e-03, 3.48963305e-02, 1.08463114e-02, 1.76737598e-03,
  0.00000000e+00, 2.58293915e-03, 0.00000000e+00, 2.44124103e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007088028932076169
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30452044,  0.08782494, -0.94844825, -0.02684823,  0.99613592,
        0.08362053,  0.95212734,  0.        ,  0.3057017 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07234887, -0.04282207,  0.22456888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.11612357, -4.89362465, -7.11612357, 10.6862179 ,
       -2.98082041, -4.89362465, -2.98082041, 12.97095974,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014448436076518884
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.84201798e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.84201798e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03657674, -0.0635292 ,  0.06187194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.34012378e-04, 3.82272652e-02, 9.53774805e-03,-3.65934136e-05,
 -5.06959294e-05,-8.39144453e-05,-1.21116244e-05,-2.60414287e-05,
  1.17344446e-05, 7.88296360e-05, 8.72486617e-05,-4.50659319e-05,
  3.02231061e-03, 4.55007101e-03, 9.02952833e-03, 1.86831521e-03,
  1.44519498e-06, 8.95010858e-07,-1.21644086e+00, 1.58696375e-03,
  5.43658834e-04, 3.43666711e-05]


--- Step 2510 ---
qpos:
[-0.01586452, 1.2937506 ,-0.03238914, 0.94843452, 0.0043868 , 1.3313988 ,
 -0.02971297, 0.94626152, 0.01673047, 1.33650574,-0.02392108, 0.95499057,
  1.39303221,-0.0057036 , 1.19199034, 0.06146576,-0.00367223,-0.09262825,
  0.08149722, 0.63853229,-0.01215749,-0.00347817, 0.76949114]

qacc:
[ 2.48379465e-01,-9.12383552e-01, 2.32699281e+00,-8.12785315e+00,
 -1.70665343e-02,-1.61197773e-01,-1.98605159e+00, 1.03771373e+01,
  7.57887549e-02,-2.72993429e+00, 1.08910387e+01,-1.62547901e+01,
  3.10856906e-02,-1.34415349e-01, 4.86085467e-01, 3.23418422e-01,
 -1.24339663e+00,-1.00546219e+00,-1.12026141e+00,-6.37040267e+01,
 -5.52952310e+01,-2.48378673e+00]

qfrc_actuator:
[ 3.72220903e-03, 7.34296444e-02, 2.04843545e-02, 1.79236366e-03,
 -7.42168729e-05, 3.49667292e-02, 1.08750407e-02, 1.89457372e-03,
 -3.03844524e-03, 3.49270546e-02, 1.08930270e-02, 1.73960255e-03,
  0.00000000e+00, 2.57133765e-03, 0.00000000e+00, 1.83313089e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007084537522076204
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04500406e-01,  8.78270079e-02, -9.48454490e-01, -2.68471037e-02,
        9.96135742e-01,  8.36230610e-02,  9.52133780e-01, -3.46944695e-18,
        3.05681638e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07234629, -0.04282248,  0.22456947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.11313962, -4.89796096, -7.11313962, 11.36758041,
       -3.96645184, -4.89796096, -3.96645184, 14.39670473,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001429939618695246
  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([ 0.03660633, -0.06351568,  0.06187318])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01872426e-03, 3.81796393e-02, 9.48139551e-03,-3.75125876e-05,
 -4.93946285e-06,-7.42779808e-05,-4.74635327e-06, 3.39698732e-05,
  2.18252994e-05, 9.00050077e-05, 7.07062408e-05,-2.39310400e-05,
  3.04593827e-03, 4.52752708e-03, 9.17457796e-03, 1.79145859e-03,
  3.90027888e-06, 3.57156469e-06,-1.21644075e+00, 1.58055251e-03,
  5.47133014e-04, 3.72110582e-05]


--- Step 2511 ---
qpos:
[-0.0158694 , 1.29376564,-0.0323868 , 0.94843337, 0.00438576, 1.33140205,
 -0.02971315, 0.94626306, 0.01673027, 1.33650948,-0.02392245, 0.95499166,
  1.39304404,-0.00570697, 1.19196547, 0.06146569,-0.00368801,-0.09263758,
  0.08148534, 0.63860786,-0.01218424,-0.0039521 , 0.76942571]

qacc:
[  0.2331998 , -0.59064861,  2.00319538,-10.79515717,  0.16741941,
  -3.24684385, 12.04131326,-21.68689746,  0.07557492,  6.26991354,
 -21.59251752, 31.46382526,  0.09488136, -0.18660983, -0.13269139,
   1.33555498, -1.15413654, -0.98162637, -1.5929746 ,-60.39459372,
 -52.14282698, -2.56729853]

qfrc_actuator:
[ 3.73592344e-03, 7.34709850e-02, 2.04689163e-02, 1.75013940e-03,
 -2.31296591e-05, 3.49686257e-02, 1.09011956e-02, 1.84458885e-03,
 -3.02946800e-03, 3.49262094e-02, 1.08140454e-02, 1.79430680e-03,
  0.00000000e+00, 2.56575475e-03, 0.00000000e+00, 1.82278450e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007080810510069341
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30448207,  0.08782888, -0.9484602 , -0.02684606,  0.99613558,
        0.08362536,  0.95213967,  0.        ,  0.30566328])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07234383, -0.04282289,  0.22457002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.07742184, -4.94943198, -7.07742184, 12.30235241,
       -5.242167  , -4.94943198, -5.242167  , 16.13238084,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014023051914973314
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.95856420e-14,  1.97928210e-14,  1.00000000e+00,  7.83511525e-28,
        1.00000000e+00, -1.97928210e-14, -1.00000000e+00,  0.00000000e+00,
       -3.95856420e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03665681, -0.06348531,  0.06187545])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00330210e-03, 3.82795088e-02, 9.49624771e-03,-5.01285121e-05,
  4.81696463e-05,-3.91217062e-05, 1.20847714e-05,-5.15552612e-05,
  2.18676828e-05, 6.20063071e-05,-5.40724795e-05, 5.88868603e-05,
  3.04779363e-03, 4.52860536e-03, 9.12770748e-03, 1.77549976e-03,
  1.20008197e-05, 1.34030891e-05,-1.21644342e+00, 1.57443959e-03,
  5.50397617e-04, 4.89468550e-05]


--- Step 2512 ---
qpos:
[-0.0158746 , 1.2937815 ,-0.03238414, 0.94843184, 0.00438507, 1.3314049 ,
 -0.02971322, 0.94626227, 0.01673009, 1.33651257,-0.02392384, 0.95499208,
  1.39305585,-0.00571016, 1.19193832, 0.06146579,-0.00369738,-0.09264258,
  0.08148199, 0.6386809 ,-0.01222241,-0.00422007, 0.76936305]

qacc:
[-1.31329278e-01,-4.23082307e-01, 3.46217099e+00,-7.90046809e+00,
  1.44238048e-01,-4.78703347e+00, 1.97484884e+01,-4.37517958e+01,
  1.88246589e-03,-1.95899917e+00, 6.72746798e+00,-1.32088068e+01,
 -3.91233042e-04, 1.08798413e-01,-3.92652807e+00, 8.80886674e+00,
  1.60074103e+00, 1.08452434e+00, 2.13180751e+00, 7.55791063e+01,
  7.01368728e+01, 3.13600133e+00]

qfrc_actuator:
[ 3.71027344e-03, 7.35259010e-02, 2.04947104e-02, 1.74352066e-03,
 -1.00544933e-05, 3.49331784e-02, 1.08989692e-02, 1.72581528e-03,
 -3.04186487e-03, 3.48172546e-02, 1.07856985e-02, 1.75499408e-03,
  0.00000000e+00, 2.56382235e-03, 0.00000000e+00, 2.88056665e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007076589857605703
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04465494e-01,  8.78305590e-02, -9.48465369e-01, -2.68451194e-02,
        9.96135429e-01,  8.36274277e-02,  9.52145001e-01, -3.46944695e-18,
        3.05646688e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07234144, -0.0428233 ,  0.22457053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0014225924952174923
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75527978e-15,  7.80422383e-14,  1.00000000e+00,  7.61323869e-28,
        1.00000000e+00, -7.80422383e-14, -1.00000000e+00,  0.00000000e+00,
       -9.75527978e-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([-0.03702269, -0.11802688,  0.0618737 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.50291328e-04, 3.83860236e-02, 9.56271875e-03,-1.47962243e-05,
  4.14985677e-05,-5.62890916e-05,-1.00145542e-05,-1.20782500e-04,
  5.17742787e-07,-8.35027246e-05,-2.06605962e-05,-3.76821845e-05,
  3.04655549e-03, 4.53265870e-03, 9.10743725e-03, 1.86919013e-03,
  2.48634289e-05, 2.92240271e-05,-1.21644838e+00, 1.56849545e-03,
  5.53546442e-04, 6.80980214e-05]


--- Step 2513 ---
qpos:
[-0.01588057, 1.29379903,-0.03238077, 0.94843153, 0.0043845 , 1.33140716,
 -0.02971327, 0.94626113, 0.01672999, 1.33651412,-0.02392366, 0.95499134,
  1.39306737,-0.00571282, 1.19190758, 0.06146577,-0.003701  ,-0.09264336,
  0.08148352, 0.63875233,-0.01227036,-0.00429835, 0.76930255]

qacc:
[-3.33205133e-01, 2.35856389e+00,-7.53319957e+00, 1.95236058e+01,
  5.09645371e-02,-1.42991834e+00, 4.43330476e+00,-7.58534015e+00,
  3.75083259e-02,-8.26094470e+00, 2.68527455e+01,-3.57753951e+01,
 -4.10663242e-01, 7.57743990e-01,-4.86131455e+00, 9.39752850e+00,
  1.43592114e+00, 1.05445088e+00, 1.22242194e+00, 6.98408605e+01,
  6.43147033e+01, 2.48729441e+00]

qfrc_actuator:
[ 3.71489886e-03, 7.34810013e-02, 2.04911784e-02, 1.81139904e-03,
 -1.98898425e-05, 3.48932492e-02, 1.08975915e-02, 1.70951504e-03,
 -3.03147777e-03, 3.47155262e-02, 1.08580200e-02, 1.69613809e-03,
  0.00000000e+00, 2.59933622e-03, 0.00000000e+00, 4.04633332e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007071681765351175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30444783,  0.08783235, -0.94847087, -0.02684411,  0.99613527,
        0.08362963,  0.95215068,  0.        ,  0.305629  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07233886, -0.04282369,  0.22457108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.08777731,  4.93459113,  7.08777731, 10.64760731,
       -2.88884061,  4.93459113, -2.88884061, 12.78573658,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00145021014383976
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.87085038e-14,  1.14834015e-13,  1.00000000e+00,  3.29671276e-27,
        1.00000000e+00, -1.14834015e-13, -1.00000000e+00,  0.00000000e+00,
       -2.87085038e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03698634, -0.11798638,  0.06187139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.70304365e-04, 3.82997699e-02, 9.54320088e-03, 7.20570881e-05,
  1.46511650e-05,-7.66653252e-05,-1.70681612e-05,-2.10811884e-05,
  1.06916529e-05,-1.53075006e-04, 5.25623386e-05,-6.28087441e-05,
  3.04733523e-03, 4.55931350e-03, 9.22278822e-03, 1.97699888e-03,
  9.58912967e-06, 9.89913810e-06,-1.21644253e+00, 1.57707720e-03,
  5.50112274e-04, 4.39023393e-05]


--- Step 2514 ---
qpos:
[-0.01588698, 1.2938183 ,-0.03237668, 0.94843271, 0.00438425, 1.33140909,
 -0.0297132 , 0.94626012, 0.01672999, 1.33651537,-0.02392397, 0.95499127,
  1.39307883,-0.00571501, 1.19187302, 0.06146561,-0.00369942,-0.09264003,
  0.08148689, 0.6388228 ,-0.01232675,-0.00420044, 0.76924368]

qacc:
[-1.82051826e-01, 2.86887192e+00,-9.64974284e+00, 2.45742908e+01,
  1.33433140e-01,-5.36006015e-01, 9.87232649e-01, 8.05883379e-01,
  4.34097400e-02, 2.06434067e+00,-8.58535823e+00, 1.54666364e+01,
 -1.76532964e-01, 4.98719618e-01,-5.22585000e+00, 1.01145722e+01,
  1.30182632e+00, 1.02641363e+00, 4.57373310e-01, 6.50733277e+01,
  5.95132876e+01, 1.98850191e+00]

qfrc_actuator:
[ 3.75603870e-03, 7.34638023e-02, 2.04872914e-02, 1.88702912e-03,
  9.87037462e-06, 3.49042597e-02, 1.09145341e-02, 1.71815741e-03,
 -3.02525804e-03, 3.47435528e-02, 1.08471441e-02, 1.73283420e-03,
  0.00000000e+00, 2.60364035e-03, 0.00000000e+00, 5.10172591e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007065878803501624
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04427903e-01,  8.78343994e-02, -9.48477079e-01, -2.68429877e-02,
        9.96135090e-01,  8.36321453e-02,  9.52157080e-01,  3.46944695e-18,
        3.05609054e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07233594, -0.04282405,  0.2245717 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.11668728,  4.89280482,  7.11668728, 11.19708158,
       -3.72461798,  4.89280482, -3.72461798, 14.05389865,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014565704050951145
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42915726e-14,  7.62217206e-14,  1.00000000e+00,  1.08932825e-27,
        1.00000000e+00, -7.62217206e-14, -1.00000000e+00,  0.00000000e+00,
       -1.42915726e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03698171, -0.11797258,  0.06187087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05049833e-03, 3.81990408e-02, 9.50410918e-03, 8.70198995e-05,
  3.84031332e-05,-3.53839341e-05,-6.13281546e-07, 5.35581068e-06,
  1.25277863e-05,-4.82300698e-05,-3.66374471e-05, 3.22378064e-05,
  3.06214023e-03, 4.53732700e-03, 9.40241151e-03, 2.08914943e-03,
  2.50687990e-06, 1.58708878e-06,-1.21644066e+00, 1.58446429e-03,
  5.46698894e-04, 3.38318209e-05]


--- Step 2515 ---
qpos:
[-0.01589207, 1.29383617,-0.03237323, 0.94843445, 0.00438432, 1.33141139,
 -0.02971322, 0.94625847, 0.01672994, 1.33651682,-0.02392526, 0.95499197,
  1.39309052,-0.00571751, 1.19184187, 0.06146577,-0.00369307,-0.0926327 ,
  0.08148951, 0.63889274,-0.01239055,-0.00393749, 0.76918596]

qacc:
[ 5.56714109e-01, 8.64805179e-01,-6.20712820e+00, 1.27901926e+01,
  1.40379554e-01,-3.87717402e-01, 3.12831040e+00,-1.02403353e+01,
 -2.33786481e-02, 4.25805319e+00,-1.51062282e+01, 2.17998468e+01,
  2.36144622e-01,-4.22033505e-01, 4.05307879e+00,-6.88332329e+00,
  1.19263152e+00, 1.00066494e+00,-1.85652353e-01, 6.11137131e+01,
  5.55530225e+01, 1.60744647e+00]

qfrc_actuator:
[ 3.81904519e-03, 7.34979826e-02, 2.04828824e-02, 1.89553174e-03,
  2.76399089e-05, 3.49635403e-02, 1.09245976e-02, 1.68816772e-03,
 -3.03934140e-03, 3.47778070e-02, 1.08055223e-02, 1.77222371e-03,
  0.00000000e+00, 2.58906652e-03, 0.00000000e+00, 3.42855075e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000705910055612418
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04405614e-01,  8.78366091e-02, -9.48484029e-01, -2.68417029e-02,
        9.96134896e-01,  8.36348784e-02,  9.52164243e-01, -3.46944695e-18,
        3.05586739e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07233267, -0.04282439,  0.22457239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.1433467 ,  4.85380004,  7.1433467 , 11.86864521,
       -4.75695491,  4.85380004, -4.75695491, 15.63718317,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014458894289021695
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.67847805e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.67847805e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03700225, -0.11797994,  0.06187178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13483140e-03, 3.81457102e-02, 9.46311316e-03, 2.07394316e-05,
  4.04297544e-05, 3.97347565e-05, 3.22733526e-06,-3.09431187e-05,
 -6.68803456e-06, 1.37582450e-06,-5.42622345e-05, 3.76399478e-05,
  3.06541772e-03, 4.49937375e-03, 9.59422055e-03, 1.92862823e-03,
  2.00360998e-06, 1.98132910e-06,-1.21644197e+00, 1.59102126e-03,
  5.43218248e-04, 3.49843320e-05]


--- Step 2516 ---
qpos:
[-0.0158951 , 1.29385059,-0.0323714 , 0.94843549, 0.00438439, 1.33141448,
 -0.02971478, 0.94625686, 0.01673007, 1.33651779,-0.02392595, 0.95499276,
  1.3931025 ,-0.00572082, 1.1918186 , 0.06146655,-0.00368231,-0.09262147,
  0.08148923, 0.6389624 ,-0.0124609 ,-0.00351873, 0.76912898]

qacc:
[ 8.83016498e-01,-1.35056015e+00, 3.95392951e-01,-6.35751422e+00,
 -4.52388202e-03, 5.30952789e+00,-1.61352794e+01, 1.39165733e+01,
  8.04784255e-02,-2.07124914e+00, 5.80356323e+00,-3.60676273e+00,
  4.06726675e-01,-9.30781947e-01, 9.74634594e+00,-1.72826293e+01,
  1.10358048e+00, 9.77278956e-01,-7.25557400e-01, 5.78290398e+01,
  5.22888977e+01, 1.31939638e+00]

qfrc_actuator:
[ 3.84035203e-03, 7.34766830e-02, 2.04614960e-02, 1.84633821e-03,
  2.56726891e-06, 3.49979737e-02, 1.08419253e-02, 1.68896264e-03,
 -3.01223235e-03, 3.47444009e-02, 1.08349175e-02, 1.77736565e-03,
  0.00000000e+00, 2.56375852e-03, 0.00000000e+00, 1.00184004e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000705336050191796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30438529,  0.0878384 , -0.94849039, -0.02684046,  0.99613474,
        0.08363716,  0.95217077,  0.        ,  0.30556638])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07232971, -0.04282478,  0.22457302])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.15689292,  4.83380394,  7.15689292, 12.73183662,
       -6.06372578,  4.83380394, -6.06372578, 17.61426936,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014216899451250584
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.41651550e-14,  3.90458914e-14,  1.00000000e+00,  1.33400893e-27,
        1.00000000e+00, -3.90458914e-14, -1.00000000e+00,  0.00000000e+00,
       -3.41651550e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0370426 , -0.11800393,  0.0618738 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09084024e-03, 3.81946380e-02, 9.47418125e-03,-5.66639449e-05,
 -1.21368027e-06, 5.60993154e-05,-7.54465285e-05, 1.36369003e-06,
  2.31611451e-05,-4.21346483e-05, 2.45994063e-05, 4.47233934e-06,
  3.05389858e-03, 4.48968892e-03, 9.42389479e-03, 1.66994692e-03,
  6.89480516e-06, 9.41031917e-06,-1.21644587e+00, 1.59699396e-03,
  5.39615834e-04, 4.52573510e-05]


--- Step 2517 ---
qpos:
[-0.01589666, 1.2938622 ,-0.03237082, 0.94843483, 0.00438447, 1.33141741,
 -0.02971649, 0.94625632, 0.0167306 , 1.33651816,-0.02392587, 0.95499293,
  1.39311456,-0.00572492, 1.19180219, 0.06146799,-0.00367224,-0.09261919,
  0.08150025, 0.63903288,-0.01242663,-0.00320127, 0.76907237]

qacc:
[ 6.25629288e-01,-3.26937991e+00, 9.67984641e+00,-2.63429587e+01,
  6.83670960e-03, 2.00446282e+00,-8.97262046e+00, 2.02586827e+01,
  1.65040077e-01,-3.96319761e+00, 1.32462954e+01,-1.84077909e+01,
  2.74704531e-01,-8.17566906e-01, 8.08659001e+00,-1.36244276e+01,
 -1.76143552e-01,-2.24106448e+00, 2.82425826e+00,-5.52353365e+00,
 -7.26002456e+01,-1.01625852e+00]

qfrc_actuator:
[ 3.81759899e-03, 7.34779501e-02, 2.04666589e-02, 1.76357178e-03,
  5.25606209e-06, 3.49636620e-02, 1.08293893e-02, 1.74331824e-03,
 -2.97838311e-03, 3.47065006e-02, 1.08702259e-02, 1.74456820e-03,
  0.00000000e+00, 2.55038212e-03, 0.00000000e+00,-4.60928961e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007049815651860719
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04369797e-01,  8.78395028e-02, -9.48495255e-01, -2.68394357e-02,
        9.96134640e-01,  8.36386450e-02,  9.52175756e-01,  3.46944695e-18,
        3.05550861e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0723275 , -0.04282524,  0.2245735 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.88420514,   3.5250654 ,   7.88420514,
        15.84788541, -16.12937935,   3.5250654 , -16.12937935,
        44.71153419,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0014538779086944451
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.        , -0.27055655,  0.96270408,  0.        ,  0.96270408,
        0.27055655, -1.        ,  0.        ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0030258 , -0.07099566,  0.06187563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.64532468e-04, 3.83678425e-02, 9.56033866e-03,-1.04112920e-04,
  1.97475652e-06,-1.80154188e-05,-1.01118292e-05, 5.38585229e-05,
  4.75223469e-05,-5.62676256e-05, 3.00070439e-05,-3.32207053e-05,
  3.03922625e-03, 4.51669902e-03, 9.03082832e-03, 1.49334227e-03,
  1.63111883e-05, 2.26628250e-05,-1.21645197e+00, 1.60254837e-03,
  5.35858460e-04, 6.31289787e-05]


--- Step 2518 ---
qpos:
[-0.01589657, 1.29387004,-0.03237224, 0.94843434, 0.00438457, 1.3314194 ,
 -0.02971674, 0.94625436, 0.01673138, 1.33651864,-0.02392572, 0.95499474,
  1.39312633,-0.00572967, 1.19179565, 0.06146954,-0.00366805,-0.09262022,
  0.08151146, 0.63910281,-0.01238509,-0.00307796, 0.76901543]

qacc:
[ 7.01420938e-01, 7.66314539e-01,-8.82145039e+00, 1.20063200e+01,
  9.84039373e-03,-7.64011392e+00, 2.63330835e+01,-3.87767514e+01,
  1.04609706e-01, 2.76710871e+00,-1.21887592e+01, 2.95417646e+01,
 -2.91352197e-01,-1.40598376e-01, 1.42611179e+01,-2.86515548e+01,
 -1.46740532e+00,-8.25905736e-01, 4.76241918e-02,-7.23436144e+01,
 -6.48237052e+01,-1.10667675e+00]

qfrc_actuator:
[ 3.80369069e-03, 7.34757614e-02, 2.04525114e-02, 1.76845883e-03,
  6.82688201e-06, 3.48887343e-02, 1.08936463e-02, 1.66898999e-03,
 -2.97627052e-03, 3.47549823e-02, 1.08909173e-02, 1.83172010e-03,
  0.00000000e+00, 2.57996776e-03, 0.00000000e+00,-3.47867130e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000704836585131919
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30435818,  0.08784012, -0.94849893, -0.0268386 ,  0.99613459,
        0.08363956,  0.95217949,  0.        ,  0.30553921])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07232594, -0.04282575,  0.22457386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364e+00,  8.63635523e+00, -1.20523840e-02,  8.63635523e+00,
        8.63636576e+00,  1.52367184e-03, -1.20523840e-02,  1.52367184e-03,
        9.72817844e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0014197847815582698
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.86474288e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.86474288e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03666628, -0.06356589,  0.06187401])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.77259090e-04, 3.85066351e-02, 9.60804761e-03,-1.39616669e-05,
  2.73529659e-06,-8.52748245e-05, 6.11595609e-05,-7.39141713e-05,
  3.01678721e-05, 2.22415421e-05, 1.21406095e-05, 8.55900459e-05,
  3.03543517e-03, 4.58544994e-03, 8.68809172e-03, 1.15826326e-03,
  1.43422992e-05, 1.13608708e-05,-1.21644609e+00, 1.59412896e-03,
  5.36392345e-04, 4.99404346e-05]


--- Step 2519 ---
qpos:
[-0.01589604, 1.29387687,-0.03237436, 0.94843463, 0.00438455, 1.33142107,
 -0.0297169 , 0.9462498 , 0.01673216, 1.33651955,-0.02392604, 0.95499758,
  1.39313752,-0.00573456, 1.19179327, 0.06147075,-0.00366922,-0.09262464,
  0.08152024, 0.63917304,-0.01233769,-0.00313532, 0.76895759]

qacc:
[ 1.89879561e-01, 1.90381054e+00,-9.40953279e+00, 1.78256675e+01,
 -5.28835802e-02,-5.07197886e+00, 2.13671908e+01,-4.83133749e+01,
  2.87282509e-03, 3.63512695e+00,-1.32289031e+01, 2.30470336e+01,
 -6.03369707e-01, 4.84232881e-01, 7.22372001e+00,-1.62529348e+01,
 -1.33939547e+00,-8.47250596e-01,-6.05142637e-01,-6.75933874e+01,
 -5.99843536e+01,-1.53180965e+00]

qfrc_actuator:
[ 3.79432440e-03, 7.34203125e-02, 2.04457952e-02, 1.82474067e-03,
 -1.00384731e-05, 3.48790648e-02, 1.08959181e-02, 1.53727408e-03,
 -2.99321343e-03, 3.47838215e-02, 1.08677177e-02, 1.88229424e-03,
  0.00000000e+00, 2.61776588e-03, 0.00000000e+00,-4.05351336e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000704987355514896
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04352062e-01,  8.78401627e-02, -9.48500885e-01, -2.68380751e-02,
        9.96134582e-01,  8.36397747e-02,  9.52181464e-01, -3.46944695e-18,
        3.05533075e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07232528, -0.04282632,  0.22457405])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.9199709 , -3.44395671, -7.9199709 ,  8.86055618,
       -0.51556932, -3.44395671, -0.51556932,  9.82200399,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014222155874883263
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.90314603e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.90314603e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03666851, -0.06357909,  0.06187387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.85631799e-04, 3.86393303e-02, 9.70168599e-03, 3.36123976e-05,
 -1.52541880e-05,-4.71118979e-05,-9.61762540e-06,-1.34195997e-04,
  8.68601637e-07, 4.60464017e-05,-1.49702114e-05, 5.35836175e-05,
  3.04982840e-03, 4.65619658e-03, 8.19432414e-03, 1.09519708e-03,
  3.96923831e-06, 1.70790383e-06,-1.21644086e+00, 1.58690189e-03,
  5.40437514e-04, 3.68649355e-05]


--- Step 2520 ---
qpos:
[-0.01589719, 1.29388765,-0.03237466, 0.94843501, 0.00438452, 1.33142253,
 -0.0297169 , 0.94624576, 0.01673286, 1.33652076,-0.02392646, 0.9549979 ,
  1.3931479 ,-0.00573882, 1.19178311, 0.06147145,-0.00367532,-0.0926325 ,
  0.08152441, 0.63924416,-0.01228552,-0.0033622 , 0.76889835]

qacc:
[-7.14349413e-01, 4.24281311e-01, 4.69509246e+00,-5.53643735e+00,
 -4.42991924e-03, 1.91570213e-01,-2.03269242e+00, 7.90469519e+00,
 -3.45662685e-02,-3.70498023e+00, 1.76522032e+01,-4.46612836e+01,
 -6.89940146e-01, 1.01451697e+00,-9.91932902e+00, 1.81091720e+01,
 -1.23477694e+00,-8.60603324e-01,-1.15469551e+00,-6.36447947e+01,
 -5.59995184e+01,-1.84203317e+00]

qfrc_actuator:
[ 3.80597756e-03, 7.33671640e-02, 2.04607900e-02, 1.85792392e-03,
 -2.32174945e-06, 3.48905265e-02, 1.09150408e-02, 1.56813509e-03,
 -3.00369582e-03, 3.47827447e-02, 1.08542123e-02, 1.75111084e-03,
  0.00000000e+00, 2.66024120e-03, 0.00000000e+00,-6.73118394e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007052942000620489
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30434758,  0.08784006, -0.94850233, -0.02683765,  0.99613459,
        0.0836398 ,  0.95218291,  0.        ,  0.30552857])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07232497, -0.04282688,  0.2245742 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.93192983, -3.41632348, -7.93192983,  9.07726264,
       -1.02366768, -3.41632348, -1.02366768, 11.01308829,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014086972419427718
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.94060197e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.94060197e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03669711, -0.06357006,  0.06187504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.75007685e-04, 3.86366079e-02, 9.75188196e-03, 2.76947555e-05,
 -1.28593017e-06,-2.05214178e-05, 4.87547466e-06, 2.60489042e-05,
 -9.96798267e-06, 2.30492490e-05,-4.64299257e-06,-1.29005199e-04,
  3.07902173e-03, 4.70596712e-03, 7.98646142e-03, 1.45051921e-03,
  8.89381058e-07, 1.17195016e-06,-1.21643926e+00, 1.58047365e-03,
  5.43941917e-04, 3.52177222e-05]


--- Step 2521 ---
qpos:
[-0.01589994, 1.2939029 ,-0.03237262, 0.94843638, 0.00438452, 1.33142381,
 -0.02971648, 0.94624349, 0.01673331, 1.3365226 ,-0.02392719, 0.95499627,
  1.39315806,-0.00574233, 1.19176423, 0.06147167,-0.00368603,-0.09264384,
  0.08152211, 0.63931654,-0.01222943,-0.00374935, 0.76883727]

qacc:
[-6.84812112e-01, 1.23986384e+00, 9.95373143e-01, 7.92721547e+00,
  1.35551757e-02, 1.61634333e+00,-9.18162470e+00, 2.85076550e+01,
 -1.04676924e-01,-1.67071671e+00, 1.03330260e+01,-3.16598529e+01,
 -2.66089626e-01, 7.44216379e-01,-1.14019212e+01, 2.12210573e+01,
 -1.14904124e+00,-8.68067773e-01,-1.61698757e+00,-6.03664243e+01,
 -5.27200209e+01,-2.06380170e+00]

qfrc_actuator:
[ 3.81443231e-03, 7.33463482e-02, 2.04865700e-02, 1.91313631e-03,
  2.32709659e-06, 3.48969505e-02, 1.09441781e-02, 1.65896598e-03,
 -3.02796860e-03, 3.48346912e-02, 1.08463343e-02, 1.65604189e-03,
  0.00000000e+00, 2.65154746e-03, 0.00000000e+00, 1.71038049e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007054298548169781
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04337601e-01,  8.78405224e-02, -9.48505491e-01, -2.68369106e-02,
        9.96134550e-01,  8.36405261e-02,  9.52186119e-01, -3.46944695e-18,
        3.05518568e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07232392, -0.04282731,  0.22457451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.93319411, -3.41338661, -7.93319411,  9.34607928,
       -1.64947971, -3.41338661, -1.64947971, 12.46998819,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013825409924243456
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.01515409e-14,  4.01515409e-14,  1.00000000e+00,  1.61214624e-27,
        1.00000000e+00, -4.01515409e-14, -1.00000000e+00,  0.00000000e+00,
       -4.01515409e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03674639, -0.06354361,  0.06187724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.67219820e-04, 3.84183579e-02, 9.68669031e-03, 7.86073726e-05,
  3.88918270e-06,-3.20885337e-06, 2.64348137e-05, 9.09592626e-05,
 -3.01559914e-05, 5.99558825e-05,-7.67912453e-06,-9.75227684e-05,
  3.11936708e-03, 4.66578914e-03, 8.37577339e-03, 1.71408557e-03,
  3.80882395e-06, 8.06178951e-06,-1.21644060e+00, 1.57453283e-03,
  5.47112591e-04, 4.28504440e-05]


--- Step 2522 ---
qpos:
[-0.01590232, 1.2939177 ,-0.03237008, 0.94843826, 0.00438442, 1.33142512,
 -0.02971604, 0.94624198, 0.01673335, 1.33652496,-0.02392807, 0.95499421,
  1.39316851,-0.00574596, 1.19174809, 0.06147209,-0.00369071,-0.09265076,
  0.0815251 , 0.63938716,-0.0121831 ,-0.00394484, 0.7687783 ]

qacc:
[ 1.55468104e-01,-1.07632498e+00, 1.77756149e+00, 4.54711992e+00,
 -4.40856684e-02, 1.31599283e+00,-5.78126186e+00, 1.38019280e+01,
 -1.74032334e-01, 3.44946304e-01, 5.82126119e-01,-5.85858856e+00,
  1.87569845e-01,-2.21481661e-01, 3.43720855e+00,-6.18080773e+00,
  1.50358916e+00, 1.10129955e+00, 1.32242145e+00, 7.05561525e+01,
  6.50030736e+01, 2.54207206e+00]

qfrc_actuator:
[ 3.80381629e-03, 7.33073226e-02, 2.04998099e-02, 1.90960635e-03,
 -1.26556243e-05, 3.49004077e-02, 1.09434819e-02, 1.69556323e-03,
 -3.06031752e-03, 3.48647503e-02, 1.08420878e-02, 1.63631702e-03,
  0.00000000e+00, 2.62952639e-03, 0.00000000e+00,-2.30528882e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007053810895846606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30432112,  0.08784155, -0.94851069, -0.02683577,  0.99613446,
        0.08364197,  0.95219142,  0.        ,  0.30550205])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07232203, -0.04282766,  0.22457501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013699425352013544
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01301970e-14,  4.05207881e-14,  1.00000000e+00,  4.10483568e-28,
        1.00000000e+00, -4.05207881e-14, -1.00000000e+00,  0.00000000e+00,
       -1.01301970e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03715575, -0.118042  ,  0.06187829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.36897000e-04, 3.81555932e-02, 9.58240897e-03, 2.50473397e-05,
 -1.26882081e-05, 9.56662799e-06, 4.34351185e-06, 3.93852103e-05,
 -5.01492770e-05, 5.88100331e-05, 3.73310172e-06,-2.04434211e-05,
  3.13066490e-03, 4.60595959e-03, 8.81219594e-03, 1.54409222e-03,
  1.17830426e-05, 2.11540926e-05,-1.21644435e+00, 1.56887409e-03,
  5.50088588e-04, 5.82055022e-05]


--- Step 2523 ---
qpos:
[-0.0159037 , 1.29392922,-0.03236925, 0.94843978, 0.00438404, 1.33142617,
 -0.02971547, 0.94624128, 0.01673314, 1.33652736,-0.02392835, 0.95499435,
  1.39317882,-0.00574995, 1.19173821, 0.06147264,-0.00368997,-0.09265343,
  0.08153029, 0.63945673,-0.01214518,-0.00396233, 0.76872094]

qacc:
[ 4.30446080e-01,-2.90527714e-01,-3.50846823e+00, 8.69599014e-01,
 -1.18489468e-01, 6.84494211e-01,-4.34590011e+00, 1.34279161e+01,
 -1.07615018e-01, 2.21788423e+00,-1.15969002e+01, 3.53814024e+01,
 -1.88514438e-01,-3.36289046e-02, 8.88072960e+00,-1.75855688e+01,
  1.35747283e+00, 1.06508876e+00, 5.48529400e-01, 6.57291390e+01,
  6.01241534e+01, 2.01413386e+00]

qfrc_actuator:
[ 3.81593506e-03, 7.32960058e-02, 2.04531793e-02, 1.87093057e-03,
 -3.92941269e-05, 3.48664227e-02, 1.09428785e-02, 1.73542247e-03,
 -3.06174426e-03, 3.48637753e-02, 1.08754892e-02, 1.74983647e-03,
  0.00000000e+00, 2.67109797e-03, 0.00000000e+00,-2.46307304e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007054710780255297
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30430458,  0.08784248, -0.9485159 , -0.0268346 ,  0.99613438,
        0.08364332,  0.95219674,  0.        ,  0.30548547])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07232037, -0.04282807,  0.22457548])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  6.56090504,  5.61616434,  6.56090504, 11.89735274,
       -3.80954661,  5.61616434, -3.80954661, 13.08674508,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013831714674489154
  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([-0.03714143, -0.11802078,  0.0618772 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.30786640e-04, 3.81664478e-02, 9.51082579e-03,-3.86561945e-05,
 -3.41255839e-05,-2.66751675e-05, 2.91142021e-06, 4.11875414e-05,
 -3.10309932e-05, 3.16499919e-05, 4.47082713e-05, 1.14894820e-04,
  3.11587997e-03, 4.65380555e-03, 8.67573546e-03, 1.31115549e-03,
  2.99164671e-06, 6.22266211e-06,-1.21644019e+00, 1.57626070e-03,
  5.47088195e-04, 3.96927352e-05]


--- Step 2524 ---
qpos:
[-0.01590557, 1.29394101,-0.03236919, 0.94843976, 0.00438351, 1.33142699,
 -0.02971516, 0.94624075, 0.01673291, 1.33653012,-0.02392796, 0.95499443,
  1.39318891,-0.0057537 , 1.19172442, 0.06147298,-0.00368427,-0.09265197,
  0.08153506, 0.63952577,-0.01211458,-0.00381315, 0.76866474]

qacc:
[-2.12144950e-01,-2.22195244e-01, 4.26841532e+00,-2.15721083e+01,
 -6.26978193e-02, 6.89869732e-01,-2.91103113e+00, 4.44482935e+00,
 -4.05419177e-03,-1.44376991e+00, 5.39484428e+00,-5.54018507e+00,
 -1.46409396e-01, 2.63688506e-01,-5.15340346e+00, 9.65748237e+00,
  1.23876163e+00, 1.03284353e+00,-1.01897540e-01, 6.17187610e+01,
  5.60984226e+01, 1.60822101e+00]

qfrc_actuator:
[ 3.82315116e-03, 7.33220818e-02, 2.04081518e-02, 1.81183255e-03,
 -3.72035077e-05, 3.48457790e-02, 1.09244562e-02, 1.74137140e-03,
 -3.04460999e-03, 3.48977115e-02, 1.09130340e-02, 1.74556225e-03,
  0.00000000e+00, 2.68009733e-03, 0.00000000e+00,-4.32548618e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007056831369672452
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04292816e-01,  8.78430342e-02, -9.48519627e-01, -2.68337347e-02,
        9.96134329e-01,  8.36441829e-02,  9.52200521e-01,  3.46944695e-18,
        3.05473677e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07231931, -0.04282852,  0.22457581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  6.59392805,  5.57735509,  6.59392805, 12.77449738,
       -4.89238281,  5.57735509, -4.89238281, 14.42047093,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013788324369896979
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.03244174e-15,  8.05190678e-14,  1.00000000e+00, -4.05207517e-28,
        1.00000000e+00, -8.05190678e-14, -1.00000000e+00,  0.00000000e+00,
        5.03244174e-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([-0.03715313, -0.11802132,  0.06187759])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.87517408e-04, 3.83565557e-02, 9.55182674e-03,-7.95045868e-05,
 -1.80479235e-05,-3.36050492e-05,-2.21035610e-05, 6.19139503e-06,
 -1.18429900e-06, 6.35569643e-05, 5.21661942e-05, 6.49002631e-07,
  3.12293152e-03, 4.68074598e-03, 8.36247895e-03, 1.50785378e-03,
  1.02417529e-06, 6.28152815e-07,-1.21643944e+00, 1.58274711e-03,
  5.44006505e-04, 3.31767799e-05]


--- Step 2525 ---
qpos:
[-0.01590821, 1.29395506,-0.03236858, 0.94843913, 0.00438305, 1.33142765,
 -0.02971576, 0.94624238, 0.01673277, 1.33653355,-0.023928  , 0.95499312,
  1.39319929,-0.00575703, 1.19170394, 0.06147306,-0.003674  ,-0.09264649,
  0.08153725, 0.63959458,-0.01209045,-0.00350666, 0.76860932]

qacc:
[-3.26094085e-01, 4.57348116e-01, 3.36874041e+00,-1.14959010e+01,
  2.99187462e-02, 5.95696179e+00,-2.41533431e+01, 4.62645112e+01,
  3.34744934e-02,-3.49148710e-01, 5.01557079e+00,-2.09081499e+01,
  2.79343245e-01, 5.47718449e-03,-9.09227076e+00, 1.74147400e+01,
  1.14218358e+00, 1.00431242e+00,-6.48053666e-01, 5.83901370e+01,
  5.27779668e+01, 1.29849428e+00]

qfrc_actuator:
[ 3.82852867e-03, 7.33328587e-02, 2.03993155e-02, 1.79505016e-03,
 -1.78953260e-05, 3.48331929e-02, 1.08779330e-02, 1.85157986e-03,
 -3.03423453e-03, 3.49167492e-02, 1.08817393e-02, 1.67198702e-03,
  0.00000000e+00, 2.63359693e-03, 0.00000000e+00, 1.67323536e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007056716503027124
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04281523e-01,  8.78437376e-02, -9.48523185e-01, -2.68329553e-02,
        9.96134267e-01,  8.36451717e-02,  9.52204152e-01,  3.46944695e-18,
        3.05462359e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07231793, -0.04282892,  0.22457618])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  6.61592742,  5.55124142,  6.61592742, 13.86238557,
       -6.2283333 ,  5.55124142, -6.2283333 , 16.05924403,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013604966128777651
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.16042476e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.16042476e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03718537, -0.11803902,  0.06187914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.17751123e-04, 3.83542314e-02, 9.58081252e-03,-1.97793256e-05,
  8.65694323e-06,-3.53192247e-05,-5.54299193e-05, 1.08697689e-04,
  9.68005395e-06, 6.43717862e-05,-1.29385382e-05,-7.01460208e-05,
  3.13418847e-03, 4.62246868e-03, 8.55826138e-03, 1.72858798e-03,
  4.65241381e-06, 2.58394026e-06,-1.21644145e+00, 1.58860762e-03,
  5.40785826e-04, 3.64105644e-05]


--- Step 2526 ---
qpos:
[-0.01591085, 1.29397054,-0.03236692, 0.94843938, 0.00438258, 1.33142828,
 -0.02971644, 0.94624562, 0.01673258, 1.33653741,-0.02392927, 0.95499272,
  1.39321022,-0.00576024, 1.19168183, 0.06147308,-0.00366991,-0.09264499,
  0.08154029, 0.63966369,-0.01206006,-0.00339661, 0.76855278]

qacc:
[-1.75207100e-04, 5.70990243e-01,-1.40833699e+00, 1.05694125e+01,
 -3.23048875e-03, 2.89918575e+00,-1.27892494e+01, 2.96211625e+01,
 -2.03520796e-02, 5.45571373e+00,-1.89712809e+01, 2.67801848e+01,
  4.42130893e-01,-3.06013958e-01,-2.28915543e+00, 4.42504910e+00,
 -1.54342375e+00,-9.94799206e-01, 2.13130996e-01,-7.34906403e+01,
 -6.52167376e+01,-1.66858072e+00]

qfrc_actuator:
[ 3.83326923e-03, 7.32968386e-02, 2.04289481e-02, 1.83886271e-03,
 -2.39216319e-05, 3.48609803e-02, 1.08863095e-02, 1.93349613e-03,
 -3.04575208e-03, 3.49086461e-02, 1.08099862e-02, 1.71797242e-03,
  0.00000000e+00, 2.58902597e-03, 0.00000000e+00, 1.69529060e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007054257516313292
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04267547e-01,  8.78447048e-02, -9.48527579e-01, -2.68320205e-02,
        9.96134182e-01,  8.36464873e-02,  9.52208645e-01,  3.46944695e-18,
        3.05448355e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07231596, -0.04282927,  0.22457664])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   6.93446685,   5.14780987,   6.93446685,
        37.4920432 , -38.87065731,   5.14780987, -38.87065731,
        60.99790987,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001359544779258745
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.08306899e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.08306899e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03681338, -0.06355459,  0.06187923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.60711279e-04, 3.82046853e-02, 9.58319453e-03, 5.49613620e-05,
 -9.19427390e-07, 6.68543558e-07,-1.64871586e-06, 8.17573205e-05,
 -5.79776243e-06, 2.28636918e-05,-6.27100015e-05, 4.58845470e-05,
  3.11964198e-03, 4.55704385e-03, 8.89301409e-03, 1.74409788e-03,
  1.29729986e-05, 1.07868078e-05,-1.21644579e+00, 1.59402910e-03,
  5.37391131e-04, 4.77568271e-05]


--- Step 2527 ---
qpos:
[-0.01591331, 1.29398685,-0.03236401, 0.94844089, 0.00438208, 1.33142881,
 -0.02971669, 0.9462491 , 0.0167323 , 1.33654115,-0.02393091, 0.95499253,
  1.39322147,-0.0057635 , 1.19166052, 0.06147322,-0.00367142,-0.09264741,
  0.08154147, 0.63973376,-0.0120246 ,-0.00346928, 0.76849469]

qacc:
[ 7.84710606e-02,-1.67809795e-01,-7.05133815e-01, 1.46415683e+01,
 -1.37108901e-02,-8.93612151e-01, 2.26267891e+00, 9.21176078e-01,
 -3.55150063e-02, 1.21104855e+00,-4.54627720e+00, 6.44125508e+00,
  2.36754332e-01,-2.27598386e-01, 8.46828196e-01,-1.26444029e+00,
 -1.40118687e+00,-9.82015899e-01,-4.63611335e-01,-6.85891968e+01,
 -6.03763547e+01,-1.97570876e+00]

qfrc_actuator:
[ 3.83716935e-03, 7.32681774e-02, 2.04809458e-02, 1.90002378e-03,
 -2.73458655e-05, 3.48596720e-02, 1.09094080e-02, 1.94488774e-03,
 -3.05255776e-03, 3.48842368e-02, 1.07859326e-02, 1.72741842e-03,
  0.00000000e+00, 2.58125079e-03, 0.00000000e+00, 1.35368316e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007051926063668182
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30425122,  0.0878457 , -0.94853273, -0.02683089,  0.99613409,
        0.0836479 ,  0.95221389,  0.        ,  0.30543199])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0723138 , -0.04282967,  0.22457716])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.28438492, -4.63945183, -7.28438492,  9.73734324,
       -1.7286437 , -4.63945183, -1.7286437 , 11.35050026,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013684981575578653
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.05635557e-14,  4.05635557e-14,  1.00000000e+00,  1.64540205e-27,
        1.00000000e+00, -4.05635557e-14, -1.00000000e+00,  0.00000000e+00,
       -4.05635557e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03680376, -0.06357401,  0.0618785 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.64623844e-04, 3.81044323e-02, 9.58302299e-03, 7.18998841e-05,
 -3.96705268e-06, 1.19137576e-06, 2.54418545e-05, 1.32646079e-05,
 -1.02256689e-05,-2.26787071e-05,-2.53758466e-05, 9.35970153e-06,
  3.09181273e-03, 4.54341858e-03, 8.97538925e-03, 1.71267755e-03,
  3.29076024e-06, 1.52174010e-06,-1.21644076e+00, 1.58694943e-03,
  5.41362882e-04, 3.52197962e-05]


--- Step 2528 ---
qpos:
[-0.01591577, 1.2940031 ,-0.03236067, 0.9484429 , 0.0043814 , 1.33142921,
 -0.02971744, 0.94625239, 0.01673195, 1.33654445,-0.0239324 , 0.95499246,
  1.39323275,-0.00576677, 1.19163998, 0.06147348,-0.00367808,-0.09265371,
  0.08153852, 0.63980522,-0.011985  ,-0.0037133 , 0.76843468]

qacc:
[-2.96905574e-03,-3.68474837e-01, 7.43548673e-02, 5.79221372e+00,
 -7.62151043e-02, 9.09638319e-01,-2.78977128e+00, 3.80162899e-01,
 -3.44784407e-02,-7.80440855e-01, 1.59736620e+00, 2.56348390e-01,
  4.96553990e-03,-3.68136664e-03, 7.64376956e-01,-1.02489244e+00,
 -1.28505063e+00,-9.68129275e-01,-1.03354292e+00,-6.45122782e+01,
 -5.63828749e+01,-2.19186539e+00]

qfrc_actuator:
[ 3.82262850e-03, 7.32617087e-02, 2.04924692e-02, 1.91761037e-03,
 -4.69334859e-05, 3.48232284e-02, 1.08698429e-02, 1.93243232e-03,
 -3.05648105e-03, 3.48504063e-02, 1.07901287e-02, 1.73303397e-03,
  0.00000000e+00, 2.59566605e-03, 0.00000000e+00, 1.14752147e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007050814940078552
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30423289,  0.08784666, -0.94853851, -0.02682957,  0.99613401,
        0.08364933,  0.95221979,  0.        ,  0.30541362])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07231167, -0.0428301 ,  0.22457769])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.29047717, -4.62987252, -7.29047717, 10.22939292,
       -2.50848022, -4.62987252, -2.50848022, 12.58636825,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013607027685358791
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.07959420e-14,  2.03979710e-14,  1.00000000e+00,  8.32154442e-28,
        1.00000000e+00, -2.03979710e-14, -1.00000000e+00,  0.00000000e+00,
       -4.07959420e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.036822  , -0.06357065,  0.06187916])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.40881530e-04, 3.80561825e-02, 9.53145511e-03, 2.66820734e-05,
 -2.19286220e-05,-3.04102183e-05,-3.60448858e-05,-1.13612638e-05,
 -9.95919045e-06,-5.10744180e-05,-2.84525752e-06, 4.42170341e-06,
  3.07643497e-03, 4.55999525e-03, 8.93540655e-03, 1.68669338e-03,
  1.05535874e-06, 1.52776303e-06,-1.21643940e+00, 1.58051332e-03,
  5.44871643e-04, 3.43079512e-05]


--- Step 2529 ---
qpos:
[-0.01591858, 1.29401872,-0.03235759, 0.94844416, 0.00438052, 1.33143015,
 -0.02971948, 0.94625446, 0.01673153, 1.33654733,-0.02393382, 0.95499212,
  1.393244  ,-0.00577001, 1.19161958, 0.06147397,-0.00367908,-0.09265592,
  0.08153896, 0.63987501,-0.01195464,-0.00377322, 0.76837674]

qacc:
[-1.48654683e-01,-1.42159743e+00, 5.17379936e+00,-1.27721019e+01,
 -8.46617188e-02, 2.05682753e+00,-3.35255237e+00,-1.16564300e+01,
 -2.78340486e-02,-1.22718634e+00, 3.91054791e+00,-6.33042544e+00,
 -3.30301560e-02, 5.29111345e-02,-5.03993205e-01, 2.07742104e+00,
  1.41167559e+00, 1.02402697e+00, 8.49466728e-01, 6.77705313e+01,
  6.24262355e+01, 2.42883215e+00]

qfrc_actuator:
[ 3.77938783e-03, 7.32691179e-02, 2.04800414e-02, 1.87379876e-03,
 -5.83062673e-05, 3.48722855e-02, 1.08112086e-02, 1.87049213e-03,
 -3.05864362e-03, 3.48290584e-02, 1.07931556e-02, 1.71860699e-03,
  0.00000000e+00, 2.60563118e-03, 0.00000000e+00, 1.19958400e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007050190056135386
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30421422,  0.08784763, -0.94854441, -0.02682822,  0.99613392,
        0.08365078,  0.95222579,  0.        ,  0.3053949 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0723096 , -0.04283055,  0.22457822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.98470214,  -5.07944021,  -6.98470214,
        37.03079627, -39.04498258,  -5.07944021, -39.04498258,
        62.32684178,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001346042531994926
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.06201327e-14,  1.23720796e-13,  1.00000000e+00,  2.55113923e-27,
        1.00000000e+00, -1.23720796e-13, -1.00000000e+00,  0.00000000e+00,
       -2.06201327e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03722654, -0.118033  ,  0.06188037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.97984878e-04, 3.80665842e-02, 9.49783139e-03,-4.22135546e-05,
 -2.43138175e-05, 2.48477588e-05,-6.90094056e-05,-6.41676657e-05,
 -8.04243222e-06,-5.00377182e-05,-7.14356163e-06,-1.59181921e-05,
  3.07469881e-03, 4.57069198e-03, 8.89738232e-03, 1.68586378e-03,
  4.93049287e-06, 9.07584477e-06,-1.21644100e+00, 1.57446792e-03,
  5.48096093e-04, 4.28247588e-05]


--- Step 2530 ---
qpos:
[-0.01592177, 1.29403368,-0.03235508, 0.94844526, 0.00437962, 1.33143194,
 -0.02972252, 0.94625676, 0.01673106, 1.33655002,-0.02393475, 0.9549926 ,
  1.39325524,-0.00577308, 1.19159913, 0.06147449,-0.00367495,-0.09265411,
  0.08154002, 0.63994379,-0.01193226,-0.00366137, 0.76832035]

qacc:
[-1.62072713e-01, 3.96196597e-01,-1.99440741e+00, 1.97016974e-01,
 -1.04749871e-02, 4.23532351e+00,-1.29296250e+01, 1.33660162e+01,
 -2.01792699e-02,-1.35838569e-01,-1.53596747e+00, 1.09753936e+01,
 -1.16468876e-01, 2.45564484e-01,-1.27675875e-01, 3.63357076e-01,
  1.28343514e+00, 1.00221073e+00, 1.53534544e-01, 6.34385020e+01,
  5.80072853e+01, 1.93058687e+00]

qfrc_actuator:
[ 3.75477699e-03, 7.32499414e-02, 2.04537505e-02, 1.86521088e-03,
 -4.69060142e-05, 3.49542853e-02, 1.07776129e-02, 1.88649535e-03,
 -3.05973284e-03, 3.48508463e-02, 1.08309959e-02, 1.76351312e-03,
  0.00000000e+00, 2.61288744e-03, 0.00000000e+00, 1.22741009e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007049237929119857
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30419639,  0.0878487 , -0.94855003, -0.02682698,  0.99613383,
        0.0836523 ,  0.95223152,  0.        ,  0.30537703])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07230757, -0.04283101,  0.22457873])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.01585996,  5.03631669,  7.01585996, 11.06241486,
       -3.37961981,  5.03631669, -3.37961981, 13.34435576,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013502973601276363
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.13878951e-15, -4.11103160e-14,  1.00000000e+00,  2.11257261e-28,
        1.00000000e+00,  4.11103160e-14, -1.00000000e+00,  0.00000000e+00,
        5.13878951e-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([-0.03722499, -0.11802168,  0.06188002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.90799438e-04, 3.80787930e-02, 9.48418917e-03,-1.32362150e-05,
 -2.94602855e-06, 8.03230400e-05,-3.84627337e-05, 1.32388028e-05,
 -5.83751372e-06,-7.76830523e-06, 2.67887186e-05, 4.28456392e-05,
  3.07601870e-03, 4.57646824e-03, 8.89059256e-03, 1.67683485e-03,
  1.04109716e-06, 1.26674143e-06,-1.21643945e+00, 1.58135335e-03,
  5.44958121e-04, 3.34738339e-05]


--- Step 2531 ---
qpos:
[-0.01592499, 1.29404802,-0.03235318, 0.94844554, 0.00437876, 1.33143422,
 -0.02972586, 0.94625854, 0.01673055, 1.33655298,-0.02393458, 0.95499388,
  1.39326661,-0.00577616, 1.1915783 , 0.06147513,-0.00367649,-0.09265626,
  0.08153931, 0.64001346,-0.0119048 ,-0.00373282, 0.7682624 ]

qacc:
[-1.08819496e-02,-5.26677490e-01, 2.37795721e+00,-1.09661200e+01,
  1.89473964e-02, 5.46869590e-01, 5.50122441e-02,-6.39719735e+00,
 -1.33627444e-02,-1.25094190e+00, 2.88524265e+00, 6.60052377e+00,
  1.29470156e-01,-1.21570433e-01,-9.37778117e-01, 2.43535138e+00,
 -1.41617772e+00,-9.89658226e-01,-4.42447892e-01,-6.87908174e+01,
 -6.05888553e+01,-1.95143130e+00]

qfrc_actuator:
[ 3.77702012e-03, 7.32150948e-02, 2.04195635e-02, 1.82421643e-03,
 -3.96899724e-05, 3.49667457e-02, 1.07592743e-02, 1.85953163e-03,
 -3.06016974e-03, 3.49162219e-02, 1.09070437e-02, 1.80752169e-03,
  0.00000000e+00, 2.60062168e-03, 0.00000000e+00, 1.41943529e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007047722225649658
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30417974,  0.08784987, -0.94855526, -0.02682587,  0.99613373,
        0.08365388,  0.95223687,  0.        ,  0.30536035])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07230555, -0.04283147,  0.22457921])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   6.96255124,   5.10976096,   6.96255124,
        33.46992679, -33.83816924,   5.10976096, -33.83816924,
        54.74419319,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013445960690493947
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.12846300e-14,  6.19269450e-14,  1.00000000e+00,  2.55663101e-27,
        1.00000000e+00, -6.19269450e-14, -1.00000000e+00,  0.00000000e+00,
       -4.12846300e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0368643 , -0.06357077,  0.0618805 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.32034214e-04, 3.80768042e-02, 9.47867609e-03,-4.58289340e-05,
  5.48052679e-06, 4.97608067e-05,-6.61362257e-06,-2.53736874e-05,
 -3.88237485e-06, 6.75639638e-05, 7.88273639e-05, 4.55625546e-05,
  3.07670816e-03, 4.55612915e-03, 8.89348908e-03, 1.69505824e-03,
  3.19634109e-06, 1.65028165e-06,-1.21644088e+00, 1.58745906e-03,
  5.41726487e-04, 3.46858479e-05]


--- Step 2532 ---
qpos:
[-0.01592788, 1.29406181,-0.03235154, 0.94844566, 0.00437796, 1.33143664,
 -0.02972835, 0.94625858, 0.01672989, 1.33655627,-0.02393316, 0.95499464,
  1.39327808,-0.00577936, 1.19155869, 0.0614759 ,-0.00367284,-0.09265442,
  0.08153951, 0.64008201,-0.01188545,-0.00363114, 0.76820608]

qacc:
[ 1.37143595e-01,-3.20493440e-01, 5.31794880e-01,-2.12080916e+00,
  2.75111497e-02,-5.10223597e+00, 2.04327273e+01,-3.80318669e+01,
 -6.95186316e-02,-3.84890272e+00, 1.41613560e+01,-1.86320308e+01,
  1.09815594e-01,-1.85127328e-01, 1.38751431e+00,-2.25528207e+00,
  1.29707031e+00, 9.98704578e-01, 2.25637802e-01, 6.39079455e+01,
  5.85062777e+01, 2.00082883e+00]

qfrc_actuator:
[ 3.79166780e-03, 7.32420814e-02, 2.04341660e-02, 1.81773835e-03,
 -3.50438752e-05, 3.49730181e-02, 1.08030427e-02, 1.77194394e-03,
 -3.07796473e-03, 3.49363508e-02, 1.09696918e-02, 1.77967285e-03,
  0.00000000e+00, 2.59449187e-03, 0.00000000e+00, 9.98806080e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007045507116220685
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30416426,  0.08785103, -0.94856012, -0.02682486,  0.99613362,
        0.08365542,  0.95224184,  0.        ,  0.30534484])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07230353, -0.04283193,  0.22457968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.98308848,  -5.08165841,  -6.98308848,
        33.74599668, -34.50503265,  -5.08165841, -34.50503265,
        56.05232053,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013455764693095854
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.54704561e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.54704561e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03724132, -0.11801532,  0.06188041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.47944125e-04, 3.81346895e-02, 9.52393689e-03,-1.21379788e-05,
  7.88205231e-06, 3.17342069e-05, 5.20073143e-05,-8.68771709e-05,
 -2.00834410e-05, 7.42167154e-05, 8.61326088e-05,-2.24738500e-05,
  3.07026830e-03, 4.55000055e-03, 8.91309125e-03, 1.64710037e-03,
  1.13299414e-06, 1.50712450e-06,-1.21643949e+00, 1.58102547e-03,
  5.45231691e-04, 3.36399720e-05]


--- Step 2533 ---
qpos:
[-0.01593   , 1.2940735 ,-0.03235054, 0.94844551, 0.00437738, 1.33143929,
 -0.02973002, 0.94625721, 0.0167289 , 1.33655928,-0.02393122, 0.95499549,
  1.39328931,-0.00578297, 1.19154509, 0.06147702,-0.00367483,-0.09265658,
  0.08153794, 0.64015157,-0.01186118,-0.0037127 , 0.76814809]

qacc:
[  0.33191805, -1.47936989,  2.03235784, -3.48957186,  0.08858019,
  -4.30179193, 17.28402017,-31.38928849, -0.13836461, -1.58334916,
   4.50561052, -2.56251956, -0.20167357, -0.08644743,  7.81942898,
 -14.42132236, -1.41158353, -1.00032389, -0.43889007,-68.8089052 ,
 -60.52395528, -2.02081436]

qfrc_actuator:
[ 3.78366866e-03, 7.32708377e-02, 2.04601785e-02, 1.79615615e-03,
 -1.42247680e-05, 3.49934894e-02, 1.08475432e-02, 1.70267351e-03,
 -3.10602910e-03, 3.48581421e-02, 1.09704564e-02, 1.78073583e-03,
  0.00000000e+00, 2.62767399e-03, 0.00000000e+00,-1.03272206e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007043629542464284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30414955,  0.08785208, -0.94856474, -0.02682388,  0.99613353,
        0.08365684,  0.95224657,  0.        ,  0.3053301 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07230163, -0.04283241,  0.22458013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   6.96848795,   5.10166175,   6.96848795,
        33.40175532, -33.82767068,   5.10166175, -33.82767068,
        54.84242887,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013492566412959955
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.11420256e-14,  6.17130383e-14,  1.00000000e+00, -2.53899940e-27,
        1.00000000e+00, -6.17130383e-14, -1.00000000e+00,  0.00000000e+00,
        4.11420256e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0368665 , -0.06359122,  0.0618801 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.23852796e-04, 3.81907035e-02, 9.56277413e-03,-2.50455344e-05,
  2.54716623e-05, 4.55770418e-05, 5.40768965e-05,-6.88107986e-05,
 -3.99170653e-05,-2.10363192e-05, 2.43852871e-05, 5.26690412e-06,
  3.06520713e-03, 4.58946249e-03, 8.85246748e-03, 1.43732904e-03,
  2.84974929e-06, 1.45469934e-06,-1.21644076e+00, 1.58718387e-03,
  5.42001940e-04, 3.42876107e-05]


--- Step 2534 ---
qpos:
[-0.01593163, 1.29408302,-0.03235061, 0.9484441 , 0.00437702, 1.33144139,
 -0.02973027, 0.94625644, 0.01672787, 1.33656142,-0.02392958, 0.95499817,
  1.39330003,-0.00578693, 1.19153613, 0.06147843,-0.00367159,-0.09265475,
  0.08153754, 0.64021994,-0.01184511,-0.00361997, 0.7680918 ]

qacc:
[ 2.06052325e-01,-2.11014347e+00, 6.03955373e+00,-1.84865071e+01,
  9.62220910e-02,-3.52580791e+00, 9.40152343e+00,-8.46821984e-01,
 -1.49202185e-02, 2.79424556e+00,-1.41727271e+01, 3.39026668e+01,
 -3.92669293e-01, 1.16291022e-01, 6.01576308e+00,-1.10316459e+01,
  1.30801000e+00, 9.98124434e-01, 2.89959778e-01, 6.43195590e+01,
  5.89244696e+01, 2.04680688e+00]

qfrc_actuator:
[ 3.77924876e-03, 7.32491717e-02, 2.04402659e-02, 1.73016591e-03,
 -1.62451437e-06, 3.49335593e-02, 1.09099242e-02, 1.73351186e-03,
 -3.08676896e-03, 3.47569268e-02, 1.09343294e-02, 1.86973529e-03,
  0.00000000e+00, 2.66703144e-03, 0.00000000e+00,-2.08074089e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007043829490942649
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30413745,  0.08785286, -0.94856855, -0.02682306,  0.99613346,
        0.08365793,  0.95225046,  0.        ,  0.30531797])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07230027, -0.04283293,  0.22458047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.9809748 ,  -5.08456171,  -6.9809748 ,
        33.98991066, -34.80977969,  -5.08456171, -34.80977969,
        56.42931195,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013444715809260432
  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([-0.03725211, -0.1180042 ,  0.0618805 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.80509520e-04, 3.82740412e-02, 9.57489922e-03,-7.78419857e-05,
  2.76328302e-05,-2.62246854e-05, 7.54260227e-05, 3.21923176e-05,
 -4.30577206e-06,-1.07953108e-04,-3.73139562e-05, 8.92205582e-05,
  3.07740311e-03, 4.64966654e-03, 8.55202273e-03, 1.31485549e-03,
  1.25480744e-06, 1.74151058e-06,-1.21643955e+00, 1.58077558e-03,
  5.45490013e-04, 3.37992782e-05]


--- Step 2535 ---
qpos:
[-0.01593305, 1.2940924 ,-0.03235104, 0.94844411, 0.00437686, 1.33144297,
 -0.02972969, 0.94625711, 0.01672721, 1.33656325,-0.0239289 , 0.95500292,
  1.39331043,-0.00579075, 1.19152839, 0.06147931,-0.00367398,-0.09265694,
  0.08153537, 0.64028941,-0.01182423,-0.00371032, 0.76803378]

qacc:
[  0.08948556,  3.1829719 ,-13.52578327, 28.22537601,  0.08305981,
  -0.43889649, -2.34422683, 19.04840777,  0.15577278,  5.75090924,
 -23.39083118, 44.28595742, -0.44812108,  0.54964494,  3.43266157,
  -9.32519676, -1.40747111, -1.00641114, -0.44272145,-68.77367226,
 -60.44058381, -2.06427153]

qfrc_actuator:
[ 3.79471283e-03, 7.31981528e-02, 2.04289860e-02, 1.81616159e-03,
  5.94313772e-06, 3.48970898e-02, 1.09465999e-02, 1.80522043e-03,
 -3.03927512e-03, 3.47668764e-02, 1.08944190e-02, 1.97422335e-03,
  0.00000000e+00, 2.67468273e-03, 0.00000000e+00,-2.18431795e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007045202675870499
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30412843,  0.08785347, -0.94857138, -0.02682245,  0.99613341,
        0.08365876,  0.95225336,  0.        ,  0.30530894])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07229936, -0.04283343,  0.22458074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   6.97284607,   5.09570353,   6.97284607,
        33.29371811, -33.74056913,   5.09570353, -33.74056913,
        54.80619935,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013532410515294663
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.10208892e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.10208892e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03686949, -0.06361049,  0.06187976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.71807447e-04, 3.83310326e-02, 9.61695251e-03, 7.12919835e-05,
  2.38725350e-05,-3.52749933e-05, 4.10673288e-05, 7.38806153e-05,
  4.49487793e-05,-5.44041146e-05,-6.26231368e-05, 1.02283278e-04,
  3.10284834e-03, 4.67455723e-03, 8.32017246e-03, 1.29031100e-03,
  2.56434020e-06, 1.30632268e-06,-1.21644068e+00, 1.58698029e-03,
  5.42260056e-04, 3.39495728e-05]


--- Step 2536 ---
qpos:
[-0.01593423, 1.2941025 ,-0.03235135, 0.94844574, 0.00437685, 1.33144449,
 -0.02972931, 0.94625761, 0.01672685, 1.33656543,-0.02392949, 0.95500642,
  1.39332082,-0.00579441, 1.19152001, 0.06147956,-0.00367821,-0.09266085,
  0.08154483, 0.64035951,-0.01180455,-0.00386607, 0.76797488]

qacc:
[  0.10430272,  3.39507068,-13.23010785, 29.66628797,  0.06449314,
   0.15399337, -0.25293943, -1.70077382,  0.12927954,  1.76016102,
  -2.69517891,-12.19904929, -0.12046603,  0.25782877,  0.9856328 ,
  -4.79145535, -0.45911428, -0.42879591,  2.90765407,-25.49666363,
 -20.4711801 , -0.90956552]

qfrc_actuator:
[ 3.82218711e-03, 7.31816348e-02, 2.04226040e-02, 1.90240877e-03,
  1.04314243e-05, 3.48926403e-02, 1.09323770e-02, 1.79385518e-03,
 -3.02848834e-03, 3.48077988e-02, 1.08352682e-02, 1.90950851e-03,
  0.00000000e+00, 2.66296612e-03, 0.00000000e+00,-2.06925964e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007046999395070135
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04119903e-01,  8.78539995e-02, -9.48574066e-01, -2.68218602e-02,
        9.96133362e-01,  8.36595066e-02,  9.52256096e-01, -3.46944695e-18,
        3.05300389e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07229853, -0.04283394,  0.22458099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.00006265,  -5.05825067,  -7.00006265,
        27.1094992 , -25.56478806,  -5.05825067, -25.56478806,
        44.01521887,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013464681274405696
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.97449091e-07, -2.31903169e-14,  1.00000000e+00,  9.21697037e-21,
        1.00000000e+00,  2.31903169e-14, -1.00000000e+00,  0.00000000e+00,
        3.97449091e-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([ 0.00835508, -0.084534  ,  0.06188031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.88770914e-04, 3.83220291e-02, 9.62849107e-03, 8.65825145e-05,
  1.85738236e-05,-1.37257791e-05,-1.42864391e-05,-9.50168164e-06,
  3.73229642e-05, 1.63301458e-06,-7.38956914e-05,-6.57684677e-05,
  3.11909081e-03, 4.65600083e-03, 8.25957389e-03, 1.32842830e-03,
  1.39669255e-06, 1.96164554e-06,-1.21643962e+00, 1.58059533e-03,
  5.45731942e-04, 3.39444022e-05]


--- Step 2537 ---
qpos:
[-0.01593616, 1.29411503,-0.03235031, 0.94844712, 0.0043768 , 1.33144574,
 -0.0297287 , 0.94625728, 0.01672688, 1.3365676 ,-0.02393125, 0.95500742,
  1.39333137,-0.00579779, 1.19150659, 0.0614796 ,-0.00367725,-0.09266091,
  0.08155474, 0.64042825,-0.01179311,-0.0038505 , 0.76791781]

qacc:
[-3.20041488e-01,-8.68747749e-01, 7.16934244e+00,-1.04606899e+01,
 -1.44619905e-02,-2.40781600e+00, 9.12528381e+00,-1.73876488e+01,
  1.60226812e-01,-1.18698762e+00, 8.88772957e+00,-3.65447958e+01,
  1.87350272e-01,-1.86118622e-02,-6.84125053e+00, 1.30979913e+01,
  1.29829514e+00, 9.60184383e-01, 1.14145706e-01, 6.31417974e+01,
  5.80036959e+01, 2.13475691e+00]

qfrc_actuator:
[ 3.80349082e-03, 7.31494995e-02, 2.04365881e-02, 1.89928214e-03,
 -4.71537369e-06, 3.48716464e-02, 1.09415604e-02, 1.75143153e-03,
 -3.00430530e-03, 3.47780180e-02, 1.07652765e-02, 1.78125985e-03,
  0.00000000e+00, 2.63954496e-03, 0.00000000e+00,-2.22129909e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000704877278333578
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30411058,  0.08785447, -0.94857701, -0.02682118,  0.99613332,
        0.08366022,  0.95225909,  0.        ,  0.30529104])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07229761, -0.04283444,  0.22458127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.98217396,  -5.08291488,  -6.98217396,
        20.19777944, -15.88140237,  -5.08291488, -15.88140237,
        30.45193929,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013500793489688578
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02792386e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.02792386e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03725895, -0.1179783 ,  0.06188007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.57825319e-04, 3.82537380e-02, 9.63694937e-03, 2.81260392e-06,
 -4.18684439e-06,-3.16748043e-05, 4.59402901e-06,-4.34710297e-05,
  4.62197558e-05,-4.52660203e-05,-7.99916555e-05,-1.31885957e-04,
  3.11905959e-03, 4.62430928e-03, 8.29157655e-03, 1.54489126e-03,
  2.65767988e-06, 4.20704640e-06,-1.21644004e+00, 1.57846252e-03,
  5.47060098e-04, 3.63252453e-05]


--- Step 2538 ---
qpos:
[-0.01593821, 1.29412792,-0.03234824, 0.94844935, 0.00437652, 1.33144739,
 -0.02972916, 0.94625714, 0.01672739, 1.33656898,-0.02393364, 0.95500796,
  1.39334199,-0.00580118, 1.19149468, 0.06147967,-0.00367152,-0.09265719,
  0.0815628 , 0.64049618,-0.01178882,-0.00367374, 0.76786208]

qacc:
[-4.91136522e-02,-8.61384704e-01, 1.65472563e+00, 8.11862241e+00,
 -1.01871600e-01, 3.75058414e+00,-1.19778072e+01, 1.23481747e+01,
  2.05760956e-01,-1.20721076e-01, 9.97107235e-02,-4.99404310e+00,
 -1.87300316e-02, 4.56565854e-02, 2.12243056e+00,-4.19949889e+00,
  1.19154471e+00, 9.48467961e-01,-4.62250492e-01, 5.95991274e+01,
  5.43521918e+01, 1.70183894e+00]

qfrc_actuator:
[ 3.77574241e-03, 7.31059959e-02, 2.04792538e-02, 1.93249871e-03,
 -3.15175522e-05, 3.49119749e-02, 1.08934298e-02, 1.76211492e-03,
 -2.97227972e-03, 3.47060347e-02, 1.07246829e-02, 1.75866915e-03,
  0.00000000e+00, 2.64443866e-03, 0.00000000e+00,-1.24314054e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007049400642773242
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30409765,  0.08785521, -0.94858109, -0.02682027,  0.99613326,
        0.08366128,  0.95226325,  0.        ,  0.30527808])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07229622, -0.04283492,  0.22458165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.15692147,  4.83376167,  7.15692147, 10.91138006,
       -3.36841471,  4.83376167, -3.36841471, 13.62367606,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013386576731221622
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03669430e-14,  8.29355441e-14,  1.00000000e+00,  8.59788059e-28,
        1.00000000e+00, -8.29355441e-14, -1.00000000e+00,  0.00000000e+00,
       -1.03669430e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03728185, -0.11798641,  0.06188107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.67602570e-04, 3.80885924e-02, 9.61175705e-03, 4.78693558e-05,
 -2.92738270e-05, 2.23922046e-05,-5.50786367e-05, 8.86175975e-06,
  5.93137178e-05,-1.16554417e-04,-6.23820425e-05,-2.93400377e-05,
  3.11155936e-03, 4.61587307e-03, 8.54356111e-03, 1.45285590e-03,
  1.26345052e-06, 6.02962739e-07,-1.21643993e+00, 1.58469342e-03,
  5.44011029e-04, 3.23313117e-05]


--- Step 2539 ---
qpos:
[-0.01593999, 1.29414078,-0.03234545, 0.94845271, 0.00437596, 1.33144955,
 -0.02973031, 0.94625675, 0.01672819, 1.33656954,-0.02393592, 0.95500749,
  1.39335263,-0.00580464, 1.19148465, 0.06147965,-0.0036715 ,-0.09265731,
  0.08156876, 0.64056473,-0.01177929,-0.00367888, 0.76780501]

qacc:
[ 1.09288730e-01,-7.55915115e-02,-2.10711739e+00, 1.48842643e+01,
 -1.15099647e-01, 2.09848874e+00,-5.53902060e+00, 1.63842106e+00,
  1.24949140e-01,-3.10151176e+00, 1.08363761e+01,-2.04350290e+01,
 -4.02021702e-02, 1.20343049e-02, 3.09811148e+00,-6.78077534e+00,
 -1.42912154e+00,-9.61762359e-01,-5.27002409e-01,-6.81598616e+01,
 -6.02580593e+01,-1.74275581e+00]

qfrc_actuator:
[ 3.79548571e-03, 7.31100259e-02, 2.05211611e-02, 1.98653533e-03,
 -4.73409048e-05, 3.49530161e-02, 1.08653762e-02, 1.75071289e-03,
 -2.97131266e-03, 3.46805130e-02, 1.07371684e-02, 1.70967601e-03,
  0.00000000e+00, 2.64873036e-03, 0.00000000e+00,-1.85623382e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007051276859014431
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30408339,  0.087856  , -0.94858559, -0.02681925,  0.99613319,
        0.08366244,  0.95226783,  0.        ,  0.30526379])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07229492, -0.04283542,  0.22458203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   6.98092183,   5.08463442,   6.98092183,
        34.11782214, -34.98463316,   5.08463442, -34.98463316,
        56.66832999,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001323565038579659
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.09703149e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.09703149e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03694484, -0.06359938,  0.06188237])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.93110808e-04, 3.80744261e-02, 9.60220890e-03, 5.97269679e-05,
 -3.30969319e-05, 4.29100214e-05,-2.96819529e-05,-1.21373211e-05,
  3.59825042e-05,-1.03030962e-04,-1.82225728e-05,-5.49556698e-05,
  3.10797437e-03, 4.62028076e-03, 8.46878964e-03, 1.39003037e-03,
  5.05558008e-06, 3.92059333e-06,-1.21644236e+00, 1.59031740e-03,
  5.40842233e-04, 3.73052314e-05]


--- Step 2540 ---
qpos:
[-0.0159427 , 1.29415588,-0.03234142, 0.94845508, 0.00437531, 1.3314512 ,
 -0.02973083, 0.94625626, 0.01672917, 1.33656979,-0.02393739, 0.95500567,
  1.39336349,-0.00580782, 1.19146802, 0.06147954,-0.00367672,-0.09266124,
  0.08157039, 0.64063443,-0.01176552,-0.00385479, 0.76774621]

qacc:
[-3.89536157e-01,-2.06844558e+00, 1.23298369e+01,-2.35401797e+01,
 -3.76570539e-02,-2.53979766e+00, 7.69128582e+00,-7.62324805e+00,
  7.41429743e-02,-4.92891081e+00, 1.82918314e+01,-3.12794912e+01,
  3.23044018e-01,-1.59813987e-01,-9.53114710e+00, 1.91346166e+01,
 -1.30844886e+00,-9.52505844e-01,-1.08227343e+00,-6.41950002e+01,
 -5.63103975e+01,-2.01178099e+00]

qfrc_actuator:
[ 3.79014073e-03, 7.31250711e-02, 2.05270012e-02, 1.94592842e-03,
 -3.86969709e-05, 3.48877086e-02, 1.08849195e-02, 1.74417288e-03,
 -2.97123133e-03, 3.47187224e-02, 1.07987624e-02, 1.64556269e-03,
  0.00000000e+00, 2.61722633e-03, 0.00000000e+00, 7.94582171e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000705429715963022
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04068472e-01,  8.78567162e-02, -9.48590302e-01, -2.68181600e-02,
        9.96133122e-01,  8.36635457e-02,  9.52272624e-01,  3.46944695e-18,
        3.05248832e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07229375, -0.04283594,  0.2245824 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.15022543, -4.84366113, -7.15022543, 10.00909107,
       -2.02642389, -4.84366113, -2.02642389, 11.62777598,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001317235893895985
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.21421489e-14,  2.10710745e-14,  1.00000000e+00,  8.87980359e-28,
        1.00000000e+00, -2.10710745e-14, -1.00000000e+00,  0.00000000e+00,
       -4.21421489e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03696163, -0.06359785,  0.06188293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.74951440e-04, 3.80908919e-02, 9.57181650e-03,-3.71640549e-05,
 -1.08848863e-05,-4.77556244e-05, 2.42008987e-05,-6.40372142e-06,
  2.13221490e-05,-2.39532245e-05, 3.77953071e-05,-6.89816634e-05,
  3.10693357e-03, 4.59241148e-03, 8.37462216e-03, 1.66027109e-03,
  1.13427406e-06, 6.52468590e-07,-1.21643983e+00, 1.58393548e-03,
  5.44340966e-04, 3.24804101e-05]


--- Step 2541 ---
qpos:
[-0.01594618, 1.29417169,-0.03233768, 0.94845612, 0.00437466, 1.33145212,
 -0.02973096, 0.94625572, 0.0167301 , 1.33656989,-0.02393822, 0.95500308,
  1.39337469,-0.00581068, 1.19144579, 0.06147936,-0.00367656,-0.09266123,
  0.08157372, 0.64070266,-0.01176026,-0.00385376, 0.76768936]

qacc:
[-3.32667611e-01,-5.62147096e-01, 5.67232503e+00,-2.06934686e+01,
 -3.07962760e-03,-2.09632537e+00, 5.78114687e+00,-5.06402367e+00,
 -1.93451626e-02,-3.24326420e+00, 1.18964038e+01,-1.90300839e+01,
  3.39792940e-01,-1.18128789e-01,-8.07466575e+00, 1.61529451e+01,
  1.34639059e+00, 9.85389193e-01, 4.26519872e-01, 6.51935784e+01,
  5.99345928e+01, 2.24139954e+00]

qfrc_actuator:
[ 3.77081018e-03, 7.31622155e-02, 2.04748955e-02, 1.86795444e-03,
 -3.31989146e-05, 3.48304241e-02, 1.08964841e-02, 1.74051346e-03,
 -2.98943186e-03, 3.47239903e-02, 1.08358266e-02, 1.60863688e-03,
  0.00000000e+00, 2.59942712e-03, 0.00000000e+00, 2.03088881e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007055157826933584
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30405024,  0.08785775, -0.94859605, -0.02681687,  0.99613303,
        0.08366505,  0.95227848,  0.        ,  0.30523055])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.072292  , -0.04283642,  0.22458288])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.98402795,  -5.08036715,  -6.98402795,
        35.84980872, -37.41057594,  -5.08036715, -37.41057594,
        60.06503016,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001323073297136948
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.19562177e-14,  8.39124353e-14,  1.00000000e+00,  3.52064840e-27,
        1.00000000e+00, -8.39124353e-14, -1.00000000e+00,  0.00000000e+00,
       -4.19562177e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03732121, -0.11798689,  0.06188246])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.01296549e-04, 3.80156996e-02, 9.45794549e-03,-6.55754694e-05,
 -9.26853556e-07,-7.91721600e-05, 4.78900744e-06,-4.52991272e-06,
 -5.61243001e-06,-2.64216662e-06, 3.46620416e-05,-3.81396884e-05,
  3.09598529e-03, 4.56065195e-03, 8.70470479e-03, 1.78776958e-03,
  3.38020603e-06, 5.06424237e-06,-1.21644033e+00, 1.57801354e-03,
  5.47522388e-04, 3.72647493e-05]


--- Step 2542 ---
qpos:
[-0.0159482 , 1.29418402,-0.03233576, 0.94845668, 0.00437403, 1.3314528 ,
 -0.02973082, 0.94625476, 0.01673106, 1.33656953,-0.02393733, 0.95500074,
  1.39338605,-0.00581408, 1.19142992, 0.06147945,-0.00367147,-0.09265733,
  0.08157626, 0.64077001,-0.01176236,-0.00368682, 0.76763393]

qacc:
[ 6.20416258e-01,-4.65044823e-01,-3.03668034e+00,-7.16124074e-01,
  1.05442496e-02,-1.77396908e+00, 6.27281948e+00,-1.01739508e+01,
  1.12951122e-02,-4.86690859e+00, 1.46313621e+01,-9.60769987e+00,
  1.83460587e-01,-5.26035180e-01, 8.58301167e+00,-1.63836630e+01,
  1.23120368e+00, 9.70094614e-01,-1.98760979e-01, 6.13183120e+01,
  5.59629356e+01, 1.78461015e+00]

qfrc_actuator:
[ 3.83208329e-03, 7.31422441e-02, 2.04423025e-02, 1.82154847e-03,
 -2.96343631e-05, 3.48493768e-02, 1.09209886e-02, 1.72080719e-03,
 -2.98294545e-03, 3.47094371e-02, 1.09290187e-02, 1.62347933e-03,
  0.00000000e+00, 2.60745217e-03, 0.00000000e+00,-9.54196092e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007053175872712182
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30403159,  0.08785903, -0.94860191, -0.02681562,  0.99613292,
        0.08366679,  0.95228447,  0.        ,  0.30521187])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07228978, -0.04283686,  0.2245834 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.14083352,  4.85749663,  7.14083352, 10.9163521 ,
       -3.35173017,  4.85749663, -3.35173017, 13.56362329,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013196254429220095
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.10329194e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.10329194e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03733137, -0.11798498,  0.06188276])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00156232e-03, 3.79600267e-02, 9.43939714e-03,-4.57157682e-05,
  3.01475996e-06,-2.40480851e-05, 9.43221826e-06,-2.20446258e-05,
  3.17305428e-06,-1.03782213e-05, 9.54965576e-05, 1.48859176e-05,
  3.07903631e-03, 4.55274753e-03, 8.98570473e-03, 1.49320674e-03,
  1.16152022e-06, 6.39560884e-07,-1.21643992e+00, 1.58443866e-03,
  5.44416527e-04, 3.22155480e-05]


--- Step 2543 ---
qpos:
[-0.0159483 , 1.29419276,-0.03233478, 0.94845631, 0.00437344, 1.33145321,
 -0.0297301 , 0.9462539 , 0.01673207, 1.33656924,-0.0239355 , 0.95499962,
  1.39339722,-0.00581845, 1.19142348, 0.06148011,-0.00367213,-0.09265741,
  0.08157721, 0.64083819,-0.01175945,-0.0037043 , 0.76757697]

qacc:
[ 8.24786337e-01,-3.76146972e+00, 8.49563977e+00,-1.59353550e+01,
  1.45339140e-02,-1.71245192e+00, 4.92964222e+00,-2.88772475e+00,
  1.87039297e-02,-3.15552818e-01,-1.31797956e+00, 1.52038929e+01,
  4.88927753e-02,-7.37964992e-01, 1.21704652e+01,-2.23790388e+01,
 -1.43863537e+00,-9.92932103e-01,-3.98668412e-01,-6.91734858e+01,
 -6.10023062e+01,-1.89856804e+00]

qfrc_actuator:
[ 3.88653750e-03, 7.30209092e-02, 2.04585820e-02, 1.77601338e-03,
 -2.72591705e-05, 3.48428659e-02, 1.09532212e-02, 1.72737355e-03,
 -2.97945311e-03, 3.47366421e-02, 1.09835406e-02, 1.68643605e-03,
  0.00000000e+00, 2.61395688e-03, 0.00000000e+00,-3.45731173e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000705236071850239
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30401801,  0.08785981, -0.94860619, -0.02681466,  0.99613285,
        0.08366791,  0.95228883,  0.        ,  0.30519826])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07228818, -0.04283737,  0.22458379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   6.98339158,   5.08124187,   6.98339158,
        34.36242839, -35.35655037,   5.08124187, -35.35655037,
        57.22854692,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013090775009676758
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.24047860e-14,  4.24047860e-14,  1.00000000e+00,  1.79816587e-27,
        1.00000000e+00, -4.24047860e-14, -1.00000000e+00,  0.00000000e+00,
       -4.24047860e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03699204, -0.06360793,  0.06188366])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.83249380e-04, 3.80130761e-02, 9.54707556e-03,-6.73531151e-05,
  4.15339440e-06,-1.86358797e-05, 2.79545560e-05, 5.61000531e-06,
  5.36523257e-06, 4.05555708e-05, 6.37793312e-05, 6.57870214e-05,
  3.07091098e-03, 4.58662221e-03, 8.66733476e-03, 1.22955532e-03,
  4.49557029e-06, 3.60973179e-06,-1.21644223e+00, 1.59020389e-03,
  5.41197573e-04, 3.67439839e-05]


--- Step 2544 ---
qpos:
[-0.01594807, 1.29420116,-0.0323337 , 0.94845504, 0.00437288, 1.33145354,
 -0.02972934, 0.94625279, 0.01673282, 1.33656984,-0.02393439, 0.95499789,
  1.39340799,-0.00582309, 1.19141779, 0.06148079,-0.00367806,-0.09266141,
  0.08157425, 0.64090768,-0.01175248,-0.00389467, 0.76751811]

qacc:
[ 1.34959861e-01,-2.23914725e+00, 8.60569026e+00,-1.75691173e+01,
  1.42342777e-02,-6.67468829e-01, 2.58049715e+00,-5.11145417e+00,
 -1.06574473e-01, 2.10645397e+00,-4.22939015e+00,-3.85743228e+00,
 -1.69324828e-01,-7.83154131e-02, 1.05409695e+00,-2.06139654e+00,
 -1.31674443e+00,-9.77773969e-01,-9.74161220e-01,-6.50438034e+01,
 -5.69383924e+01,-2.13748026e+00]

qfrc_actuator:
[ 3.88258149e-03, 7.29822719e-02, 2.04685258e-02, 1.74940325e-03,
 -2.56168189e-05, 3.48389655e-02, 1.09541848e-02, 1.71384077e-03,
 -3.01329078e-03, 3.47885426e-02, 1.09439509e-02, 1.65291379e-03,
  0.00000000e+00, 2.62019119e-03, 0.00000000e+00,-2.65741480e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007054637610352625
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30400876,  0.08785994, -0.94860914, -0.02681389,  0.99613284,
        0.0836683 ,  0.95229181,  0.        ,  0.30518897])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07228744, -0.04283792,  0.22458401])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.13581117, -4.86487161, -7.13581117, 10.28107372,
       -2.41246667, -4.86487161, -2.41246667, 12.17497842,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013063203920668787
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.12471426e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.12471426e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03700184, -0.06361102,  0.06188389])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.82581641e-04, 3.81537888e-02, 9.60416160e-03,-4.71329061e-05,
  4.09252399e-06,-8.57872417e-06, 6.61062991e-07,-1.31419595e-05,
 -3.06688761e-05, 8.87315505e-05,-2.24997818e-05,-2.89229550e-05,
  3.08064987e-03, 4.64142270e-03, 8.19627078e-03, 1.28094050e-03,
  1.12784794e-06, 7.39863771e-07,-1.21643987e+00, 1.58379806e-03,
  5.44710238e-04, 3.24477071e-05]


--- Step 2545 ---
qpos:
[-0.01594776, 1.29420941,-0.0323333 , 0.94845418, 0.00437235, 1.33145391,
 -0.02972925, 0.94625294, 0.0167334 , 1.33657093,-0.02393282, 0.95499644,
  1.39341856,-0.00582761, 1.19141103, 0.06148091,-0.00367848,-0.09266137,
  0.08157391, 0.64097568,-0.01175414,-0.00390415, 0.76746125]

qacc:
[ 4.06886605e-02, 2.29803538e+00,-8.56878823e+00, 1.21616319e+01,
  1.23969116e-02, 4.00412930e+00,-1.55696257e+01, 2.80210983e+01,
 -7.21586517e-02,-1.56476466e-01, 7.15846219e-01, 2.27720968e+00,
 -2.30975623e-01, 3.00616737e-01, 1.36220074e-01,-2.73866699e+00,
  1.37708921e+00, 1.00589817e+00, 6.53546620e-01, 6.66381952e+01,
  6.12625609e+01, 2.29099968e+00]

qfrc_actuator:
[ 3.87992866e-03, 7.30269356e-02, 2.04384906e-02, 1.76998416e-03,
 -2.44272891e-05, 3.48365352e-02, 1.09189205e-02, 1.77732629e-03,
 -3.01599092e-03, 3.48189016e-02, 1.09734515e-02, 1.66935860e-03,
  0.00000000e+00, 2.62594554e-03, 0.00000000e+00,-2.53537142e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007057176707415021
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30399972,  0.08785998, -0.94861203, -0.0268131 ,  0.99613283,
        0.0836686 ,  0.95229472,  0.        ,  0.3051799 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07228678, -0.04283842,  0.22458424])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.98513831,  -5.07884038,  -6.98513831,
        36.49869899, -38.32021711,  -5.07884038, -38.32021711,
        61.33973616,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001322758740544834
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.09830975e-14,  8.39323900e-14,  1.00000000e+00, -1.76116152e-27,
        1.00000000e+00, -8.39323900e-14, -1.00000000e+00,  0.00000000e+00,
        2.09830975e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03734074, -0.11796209,  0.0618825 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.64103226e-04, 3.82148877e-02, 9.56879103e-03, 1.80889728e-05,
  3.60426361e-06,-7.44503500e-06,-3.72546761e-05, 6.29427147e-05,
 -2.08031723e-05, 7.41673220e-05, 4.34218404e-05, 1.77425522e-05,
  3.10033019e-03, 4.66046610e-03, 8.15882021e-03, 1.29215556e-03,
  4.06352432e-06, 5.71439167e-06,-1.21644060e+00, 1.57782861e-03,
  5.47914863e-04, 3.79718213e-05]


--- Step 2546 ---
qpos:
[-0.01594819, 1.29421935,-0.03233227, 0.94845402, 0.00437184, 1.33145458,
 -0.0297297 , 0.94625382, 0.01673401, 1.33657236,-0.0239306 , 0.95499659,
  1.39342861,-0.00583172, 1.19140015, 0.0614805 ,-0.00367388,-0.09265739,
  0.08157354, 0.64104279,-0.01176326,-0.0037445 , 0.76740586]

qacc:
[-3.20110956e-01, 1.74576047e+00,-4.45217856e+00, 1.09797365e+01,
  1.04161608e-02, 3.12722270e+00,-1.12368141e+01, 1.80258629e+01,
  1.29302256e-02, 1.42839855e+00,-7.32494602e+00, 2.44899446e+01,
 -4.97362436e-01, 7.24246705e-01,-4.44954612e+00, 6.80566289e+00,
  1.25638061e+00, 9.87118571e-01,-8.81244964e-03, 6.25145808e+01,
  5.70605198e+01, 1.82342563e+00]

qfrc_actuator:
[ 3.89590452e-03, 7.29972723e-02, 2.04384660e-02, 1.81794216e-03,
 -2.35188751e-05, 3.48704080e-02, 1.08981245e-02, 1.81460513e-03,
 -2.99998885e-03, 3.48363916e-02, 1.10079941e-02, 1.75064904e-03,
  0.00000000e+00, 2.66663763e-03, 0.00000000e+00,-1.21654846e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000705876513511311
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30399148,  0.08785999, -0.94861467, -0.02681238,  0.99613283,
        0.08366883,  0.95229737,  0.        ,  0.30517163])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07228602, -0.04283889,  0.22458446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.13402502,  4.86749051,  7.13402502, 10.98455097,
       -3.44161477,  4.86749051, -3.44161477, 13.68055752,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013240432368316624
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.57220558e-14,  4.19254823e-14,  1.00000000e+00,  6.59154773e-28,
        1.00000000e+00, -4.19254823e-14, -1.00000000e+00,  0.00000000e+00,
       -1.57220558e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03734331, -0.11795431,  0.06188239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.75287954e-04, 3.81931044e-02, 9.60256315e-03, 4.59584782e-05,
  3.03486082e-06, 2.43540585e-05,-2.46458315e-05, 3.74251965e-05,
  3.72326881e-06, 6.74981166e-05, 5.44758499e-05, 8.51731532e-05,
  3.11098848e-03, 4.69518621e-03, 8.21250030e-03, 1.45223319e-03,
  1.15181082e-06, 6.99212437e-07,-1.21643997e+00, 1.58439869e-03,
  5.44762070e-04, 3.21561165e-05]


--- Step 2547 ---
qpos:
[-0.01595005, 1.29423223,-0.03232959, 0.94845427, 0.00437121, 1.3314558 ,
 -0.02973025, 0.9462544 , 0.01673458, 1.33657411,-0.02392847, 0.95499774,
  1.39343821,-0.00583523, 1.19138271, 0.06147979,-0.00366464,-0.09264953,
  0.08157091, 0.64110939,-0.0117789 ,-0.0034254 , 0.76735147]

qacc:
[-6.12085548e-01, 1.06274833e-01, 3.47191631e+00,-1.32859301e-01,
 -5.29612216e-02, 4.61581962e-01,-1.19208413e-02,-3.80544489e+00,
 -2.16269829e-02, 2.42803106e+00,-9.44281699e+00, 1.96661151e+01,
 -4.43056912e-01, 7.95723619e-01,-8.76781669e+00, 1.66603853e+01,
  1.15801385e+00, 9.69055666e-01,-5.65450880e-01, 5.90898064e+01,
  5.35961745e+01, 1.46629014e+00]

qfrc_actuator:
[ 3.88836041e-03, 7.29567257e-02, 2.04554165e-02, 1.84635462e-03,
 -4.05388926e-05, 3.49257960e-02, 1.09039154e-02, 1.80067728e-03,
 -3.00840345e-03, 3.48283573e-02, 1.09919336e-02, 1.79841072e-03,
  0.00000000e+00, 2.69245233e-03, 0.00000000e+00, 8.22247910e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007059074323888075
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03981027e-01,  8.78602409e-02, -9.48618002e-01, -2.68115315e-02,
        9.96132811e-01,  8.36693714e-02,  9.52300728e-01,  3.46944695e-18,
        3.05161143e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07228488, -0.04283929,  0.22458477])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.14506732,  4.85126684,  7.14506732, 11.70965261,
       -4.52641698,  4.85126684, -4.52641698, 15.30298395,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013107532870745495
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.58814644e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.58814644e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03736747, -0.11796463,  0.0618835 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.05270166e-04, 3.80676256e-02, 9.58821977e-03, 3.89994835e-05,
 -1.52283564e-05, 6.51592015e-05, 8.84745954e-06,-1.30499542e-05,
 -6.21340750e-06, 4.24426766e-05, 5.80059619e-06, 5.33430999e-05,
  3.13646615e-03, 4.70070072e-03, 8.41869609e-03, 1.68258995e-03,
  4.06727715e-06, 3.41603759e-06,-1.21644218e+00, 1.59027675e-03,
  5.41499320e-04, 3.63561478e-05]


--- Step 2548 ---
qpos:
[-0.01595267, 1.29424541,-0.03232695, 0.94845519, 0.00437028, 1.33145744,
 -0.02973068, 0.94625411, 0.01673521, 1.33657606,-0.02392641, 0.95499844,
  1.39344769,-0.00583828, 1.19136335, 0.06147886,-0.00366166,-0.09264591,
  0.0815697 , 0.64117673,-0.01178903,-0.00330531, 0.76729557]

qacc:
[-3.17919517e-01, 1.59174483e+00,-6.08457869e+00, 1.27595560e+01,
 -1.27205533e-01,-1.25354875e+00, 6.52605629e+00,-1.59076008e+01,
  3.06570258e-02,-3.61462668e-01, 2.41800287e+00,-7.53552915e+00,
 -3.14363591e-01, 6.46430564e-01,-2.11033218e+00, 3.33956949e+00,
 -1.56221398e+00,-1.05700021e+00, 3.58233021e-01,-7.45891032e+01,
 -6.58920729e+01,-1.94938425e+00]

qfrc_actuator:
[ 3.84993695e-03, 7.29609906e-02, 2.04280231e-02, 1.86305773e-03,
 -6.81761612e-05, 3.49404545e-02, 1.09076637e-02, 1.75676321e-03,
 -2.99589360e-03, 3.48226399e-02, 1.09815021e-02, 1.77273894e-03,
  0.00000000e+00, 2.70898398e-03, 0.00000000e+00, 6.29906507e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007057709998646196
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03966201e-01,  8.78609831e-02, -9.48622684e-01, -2.68104520e-02,
        9.96132746e-01,  8.36704966e-02,  9.52305491e-01, -3.46944695e-18,
        3.05146279e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07228312, -0.0428396 ,  0.2245852 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   6.98637574,   5.07713806,   6.98637574,
        38.05101031, -40.47590816,   5.07713806, -40.47590816,
        64.33307691,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013402992507640238
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  4.1416983e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -4.1416983e-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([ 0.03696329, -0.06368416,  0.06188101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.38621034e-04, 3.79250517e-02, 9.47848151e-03, 3.53897523e-05,
 -3.66211346e-05, 5.20328435e-05, 1.71147047e-05,-4.20020708e-05,
  8.84381606e-06, 2.04540533e-05, 7.46963977e-08,-2.29959475e-05,
  3.15925249e-03, 4.68723289e-03, 8.74724478e-03, 1.67815711e-03,
  1.18553240e-05, 1.25020058e-05,-1.21644677e+00, 1.59567596e-03,
  5.38079559e-04, 4.88563343e-05]


--- Step 2549 ---
qpos:
[-0.01595523, 1.29425631,-0.03232583, 0.94845558, 0.00436918, 1.33145956,
 -0.02973106, 0.94625296, 0.01673595, 1.33657762,-0.02392368, 0.95499953,
  1.3934569 ,-0.00584128, 1.19134671, 0.06147801,-0.00366434,-0.0926464 ,
  0.08156714, 0.64124539,-0.01179475,-0.0033701 , 0.76723782]

qacc:
[ 1.90119335e-02, 2.67562202e-01,-3.38893745e+00,-1.74459919e+00,
 -6.90972822e-02,-9.62390504e-01, 5.67988674e+00,-1.52995969e+01,
  4.32540783e-02,-1.64303878e+00, 3.93716989e+00, 1.36292223e+00,
 -3.87270335e-01, 4.44075148e-01, 3.78942819e+00,-7.35034057e+00,
 -1.41782637e+00,-1.03147876e+00,-3.40941875e-01,-6.95099562e+01,
 -6.09550815e+01,-2.20146974e+00]

qfrc_actuator:
[ 3.84612795e-03, 7.29581051e-02, 2.03750401e-02, 1.81905786e-03,
 -6.64531906e-05, 3.49660906e-02, 1.09100078e-02, 1.71329231e-03,
 -2.98868469e-03, 3.47828064e-02, 1.10099618e-02, 1.79283971e-03,
  0.00000000e+00, 2.75535872e-03, 0.00000000e+00,-7.23086242e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000705535162844162
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03951119e-01,  8.78619539e-02, -9.48627426e-01, -2.68094204e-02,
        9.96132660e-01,  8.36718466e-02,  9.52310334e-01, -3.46944695e-18,
        3.05131165e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07228119, -0.04283991,  0.22458565])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.13514654, -4.86584634, -7.13514654, 10.30343867,
       -2.44455411, -4.86584634, -2.44455411, 12.2209922 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013534408229483805
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.10148344e-14,  4.10148344e-14,  1.00000000e+00, -1.68221664e-27,
        1.00000000e+00, -4.10148344e-14, -1.00000000e+00,  0.00000000e+00,
        4.10148344e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03694557, -0.06370821,  0.06187991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.72081291e-04, 3.79074126e-02, 9.42692494e-03,-4.17620726e-05,
 -1.98851526e-05, 5.64931151e-05, 1.32338265e-05,-4.23823485e-05,
  1.24323198e-05,-2.92032553e-05, 3.17866438e-05, 2.01803058e-05,
  3.16513024e-03, 4.71100527e-03, 8.84326628e-03, 1.55430487e-03,
  2.85734530e-06, 2.16530282e-06,-1.21644146e+00, 1.58869506e-03,
  5.42005254e-04, 3.52133400e-05]


--- Step 2550 ---
qpos:
[-0.01595767, 1.29426533,-0.03232595, 0.94845435, 0.00436815, 1.33146227,
 -0.02973181, 0.94625235, 0.01673648, 1.33657837,-0.02392125, 0.95500128,
  1.39346594,-0.00584436, 1.19133235, 0.06147744,-0.00367223,-0.09265093,
  0.08156085, 0.64131575,-0.01179689,-0.00360807, 0.76717789]

qacc:
[ 5.68328937e-02,-1.89418678e+00, 6.49323629e+00,-2.30948525e+01,
  2.62345704e-02, 2.63744746e+00,-8.78422664e+00, 1.34577202e+01,
 -8.38962399e-02, 9.13312734e-01,-5.58218350e+00, 1.29957439e+01,
 -1.77595255e-01, 1.08867422e-01, 2.51145125e+00,-3.87940700e+00,
 -1.29977602e+00,-1.00734963e+00,-9.29929753e-01,-6.52847764e+01,
 -5.68780062e+01,-2.37400589e+00]

qfrc_actuator:
[ 3.84484296e-03, 7.29356201e-02, 2.03437273e-02, 1.73956069e-03,
 -4.71311710e-05, 3.49980888e-02, 1.08937929e-02, 1.74145037e-03,
 -3.02022002e-03, 3.46875127e-02, 1.09722883e-02, 1.82198163e-03,
  0.00000000e+00, 2.76659074e-03, 0.00000000e+00,-1.17694606e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007052839992754273
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30393966,  0.08786287, -0.94863101, -0.02680869,  0.99613258,
        0.08367304,  0.95231401,  0.        ,  0.30511969])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07227955, -0.04284024,  0.22458601])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.13585703, -4.86480435, -7.13585703, 10.90989003,
       -3.33488423, -4.86480435, -3.33488423, 13.52808289,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001349113417266276
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.11463933e-14,  4.11463933e-14,  1.00000000e+00,  1.69302568e-27,
        1.00000000e+00, -4.11463933e-14, -1.00000000e+00,  0.00000000e+00,
       -4.11463933e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03695716, -0.06370885,  0.06188026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.68553427e-04, 3.79982243e-02, 9.47239107e-03,-9.49227479e-05,
  7.58997274e-06, 6.45480216e-05,-4.90733263e-06, 2.92572778e-05,
 -2.41954326e-05,-1.04648135e-04,-3.91768860e-05, 2.96836806e-05,
  3.17835980e-03, 4.71916565e-03, 8.70756438e-03, 1.50474427e-03,
  1.48438191e-06, 1.36495232e-06,-1.21643993e+00, 1.58230580e-03,
  5.45499126e-04, 3.35488607e-05]


--- Step 2551 ---
qpos:
[-0.0159603 , 1.29427475,-0.03232589, 0.9484526 , 0.0043674 , 1.33146494,
 -0.02973249, 0.9462521 , 0.01673675, 1.33657857,-0.02392022, 0.95500375,
  1.39347509,-0.00584732, 1.19131701, 0.06147691,-0.00368492,-0.09265939,
  0.08154886, 0.64138801,-0.01179615,-0.00400952, 0.7671155 ]

qacc:
[-8.36670145e-02,-8.82456781e-01, 4.58791620e+00,-1.03809776e+01,
  1.18792992e-01, 4.62554116e-01,-2.31623959e+00, 6.36439492e+00,
 -1.15679255e-01, 4.28288510e+00,-1.62853439e+01, 2.27325726e+01,
  5.66392063e-02, 4.34785466e-02,-1.53314484e+00, 3.28331818e+00,
 -1.20297371e+00,-9.84802364e-01,-1.42576680e+00,-6.17728455e+01,
 -5.35120254e+01,-2.48617149e+00]

qfrc_actuator:
[ 3.84496589e-03, 7.28663913e-02, 2.03434786e-02, 1.72882385e-03,
 -1.74097366e-05, 3.49626023e-02, 1.08845749e-02, 1.75827042e-03,
 -3.03923737e-03, 3.46482680e-02, 1.08956375e-02, 1.85611919e-03,
  0.00000000e+00, 2.73911459e-03, 0.00000000e+00,-3.83547489e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007050276694133308
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03931169e-01,  8.78637061e-02, -9.48633656e-01, -2.68081994e-02,
        9.96132506e-01,  8.36740778e-02,  9.52316736e-01, -3.46944695e-18,
        3.05111184e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07227816, -0.04284057,  0.22458631])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.11093628, -4.90115927, -7.11093628, 11.71769573,
       -4.47060685, -4.90115927, -4.47060685, 15.12262509,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013308480810570456
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.25666656e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.25666656e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03699191, -0.063691  ,  0.06188175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.62004566e-04, 3.80230051e-02, 9.53367672e-03,-2.50800030e-05,
  3.42025187e-05, 1.17485924e-07, 3.70069880e-06, 1.92923222e-05,
 -3.33056267e-05,-1.03891304e-04,-1.00672334e-04, 3.05883177e-05,
  3.18726659e-03, 4.69637413e-03, 8.59418368e-03, 1.56996487e-03,
  6.34249496e-06, 8.29629774e-06,-1.21644143e+00, 1.57627577e-03,
  5.48728987e-04, 4.15684010e-05]


--- Step 2552 ---
qpos:
[-0.01596247, 1.29428407,-0.03232568, 0.9484518 , 0.00436696, 1.33146674,
 -0.02973259, 0.94625211, 0.01673676, 1.33657901,-0.02392084, 0.95500725,
  1.39348466,-0.00585029, 1.19130337, 0.06147624,-0.00369142,-0.09266359,
  0.08154388, 0.64145813,-0.01180536,-0.00421118, 0.76705564]

qacc:
[  0.19590212,  1.11702415, -5.75223976, 16.16056196,  0.13267261,
  -2.32278395,  5.66180384, -1.4231944 , -0.1078847 ,  6.55588964,
 -23.05218805, 31.6298216 ,  0.23140397, -0.16161218,  2.91689789,
  -6.60933071,  1.54857387,  1.06706864,  1.75276467, 73.42877311,
  67.87146248,  2.82565584]

qfrc_actuator:
[ 3.84620981e-03, 7.28563592e-02, 2.03609483e-02, 1.77666172e-03,
  5.55628350e-07, 3.48692445e-02, 1.08970399e-02, 1.76823443e-03,
 -3.05059005e-03, 3.47137369e-02, 1.08323203e-02, 1.91068765e-03,
  0.00000000e+00, 2.70598553e-03, 0.00000000e+00,-1.14827707e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007047441838451962
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03922130e-01,  8.78646102e-02, -9.48636469e-01, -2.68076802e-02,
        9.96132426e-01,  8.36751936e-02,  9.52319635e-01, -3.46944695e-18,
        3.05102135e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07227668, -0.04284091,  0.22458662])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013596621183172147
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.08271662e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.08271662e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03731531, -0.11787102,  0.06187929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.73054907e-04, 3.79933405e-02, 9.54205513e-03, 4.94033334e-05,
  3.81482057e-05,-9.20077478e-05, 1.34715200e-05, 1.05258664e-05,
 -3.10200234e-05,-1.07362950e-05,-9.41498007e-05, 4.92617955e-05,
  3.18167078e-03, 4.65704127e-03, 8.64280745e-03, 1.49184489e-03,
  1.64168688e-05, 2.16518691e-05,-1.21644541e+00, 1.57045178e-03,
  5.51807133e-04, 5.76064439e-05]


--- Step 2553 ---
qpos:
[-0.01596426, 1.29429286,-0.03232556, 0.94845198, 0.0043665 , 1.33146819,
 -0.02973295, 0.9462519 , 0.01673657, 1.33658022,-0.02392279, 0.95500923,
  1.39349434,-0.00585328, 1.19129246, 0.06147541,-0.00369234,-0.09266363,
  0.08154254, 0.64152695,-0.01182307,-0.00422815, 0.76699773]

qacc:
[ 1.63237757e-01, 1.20311982e+00,-6.76202343e+00, 1.74956453e+01,
 -7.73896932e-03,-1.19623863e-01, 3.15871094e-01,-2.70366796e+00,
 -8.68808772e-02, 1.97702646e+00,-2.19515249e+00,-1.59778420e+01,
 -4.69757066e-02, 7.67171789e-02, 4.51148417e+00,-9.90355859e+00,
  1.39583087e+00, 1.03917894e+00, 9.09820000e-01, 6.81082123e+01,
  6.24820203e+01, 2.23452162e+00]

qfrc_actuator:
[ 3.82979647e-03, 7.29176747e-02, 2.03890091e-02, 1.82285836e-03,
 -2.41824818e-05, 3.48662985e-02, 1.08864493e-02, 1.75630408e-03,
 -3.05725348e-03, 3.47882011e-02, 1.07778212e-02, 1.83490063e-03,
  0.00000000e+00, 2.72279960e-03, 0.00000000e+00,-2.13612589e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007045494148806737
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03913037e-01,  8.78653759e-02, -9.48639311e-01, -2.68071135e-02,
        9.96132359e-01,  8.36761791e-02,  9.52322553e-01,  3.46944695e-18,
        3.05093027e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07227532, -0.04284131,  0.22458691])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.12165795,  4.88556699,  7.12165795, 10.75075994,
       -3.08214119,  4.88556699, -3.08214119, 13.12917999,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013825086307008919
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.52096611e-14, -1.00381202e-14,  1.00000000e+00, -5.54201214e-28,
        1.00000000e+00,  1.00381202e-14, -1.00000000e+00,  0.00000000e+00,
       -5.52096611e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03728522, -0.11783673,  0.06187736])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.33660966e-04, 3.80590631e-02, 9.56266149e-03, 4.75533115e-05,
 -2.23022172e-06,-5.09014825e-05,-2.67445456e-05,-1.40479961e-05,
 -2.49782830e-05, 5.16015797e-05,-6.58487872e-05,-7.77085295e-05,
  3.16092680e-03, 4.67400415e-03, 8.55861072e-03, 1.40035381e-03,
  5.07083653e-06, 6.18175219e-06,-1.21644096e+00, 1.57827092e-03,
  5.48583552e-04, 3.82809201e-05]


--- Step 2554 ---
qpos:
[-0.01596643, 1.29430299,-0.03232441, 0.94845215, 0.00436592, 1.33146945,
 -0.02973385, 0.94625223, 0.01673622, 1.33658137,-0.02392436, 0.95501131,
  1.39350373,-0.00585614, 1.19127982, 0.06147454,-0.00368817,-0.09265962,
  0.08154201, 0.64159502,-0.01184811,-0.00407291, 0.76694124]

qacc:
[-1.64030370e-01,-1.05164998e+00, 5.56807564e+00,-5.85461895e+00,
 -5.55169505e-02, 2.13006104e+00,-8.37897467e+00, 1.37559902e+01,
 -6.42630730e-02,-9.35082417e-01, 2.76610369e+00,-1.25786757e+00,
 -2.21823536e-01, 2.70322725e-01,-2.42945145e+00, 4.81483905e+00,
  1.27142297e+00, 1.01309659e+00, 2.00682449e-01, 6.36867349e+01,
  5.80360683e+01, 1.78078907e+00]

qfrc_actuator:
[ 3.85593949e-03, 7.29157581e-02, 2.04236008e-02, 1.83216443e-03,
 -3.88314815e-05, 3.48641549e-02, 1.08626476e-02, 1.78487499e-03,
 -3.06105116e-03, 3.47786804e-02, 1.07999534e-02, 1.84279832e-03,
  0.00000000e+00, 2.75185318e-03, 0.00000000e+00,-1.12683950e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007044712039230572
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03904532e-01,  8.78660185e-02, -9.48641976e-01, -2.68065609e-02,
        9.96132302e-01,  8.36770309e-02,  9.52325282e-01,  3.46944695e-18,
        3.05084507e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07227419, -0.04284176,  0.22458717])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.14376191,  4.85318891,  7.14376191, 11.34243271,
       -3.98325999,  4.85318891, -3.98325999, 14.49961386,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013857762582310112
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50216758e-14,  4.00578022e-14,  1.00000000e+00, -6.01735319e-28,
        1.00000000e+00, -4.00578022e-14, -1.00000000e+00,  0.00000000e+00,
        1.50216758e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03728451, -0.11782679,  0.06187708])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.40654534e-04, 3.80835194e-02, 9.60158282e-03, 8.00752585e-06,
 -1.59667954e-05,-3.59614344e-05,-3.72114286e-05, 2.59362777e-05,
 -1.85423817e-05, 3.84781843e-06, 2.24562523e-05, 5.69332205e-06,
  3.15541150e-03, 4.70448434e-03, 8.42215207e-03, 1.50912606e-03,
  1.28999497e-06, 7.87421622e-07,-1.21644018e+00, 1.58507297e-03,
  5.45318153e-04, 3.19560279e-05]


--- Step 2555 ---
qpos:
[-0.01596875, 1.29431451,-0.03232187, 0.94845136, 0.00436518, 1.33147034,
 -0.02973467, 0.9462522 , 0.01673577, 1.33658278,-0.02392576, 0.95501311,
  1.39351308,-0.00585907, 1.19126511, 0.06147393,-0.00367933,-0.09265165,
  0.08153989, 0.6416627 ,-0.01187954,-0.00375582, 0.76688575]

qacc:
[-5.89392823e-02,-3.51596674e+00, 1.56434330e+01,-2.54582303e+01,
 -6.21043684e-02,-1.32871524e+00, 4.49624570e+00,-7.91741058e+00,
 -4.50809032e-02,-6.07794043e-01, 2.97214313e+00,-6.02718921e+00,
  1.32652750e-01,-2.25567502e-01,-3.86342537e+00, 9.05084585e+00,
  1.16996514e+00, 9.89070345e-01,-3.95359804e-01, 6.00146121e+01,
  5.43686678e+01, 1.43512219e+00]

qfrc_actuator:
[ 3.89047827e-03, 7.28920115e-02, 2.04610343e-02, 1.78443536e-03,
 -4.73070949e-05, 3.48447264e-02, 1.08667984e-02, 1.76604913e-03,
 -3.06310029e-03, 3.48080472e-02, 1.08136326e-02, 1.82889448e-03,
  0.00000000e+00, 2.73484931e-03, 0.00000000e+00,-3.40043427e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007043960049828088
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03893787e-01,  8.78668044e-02, -9.48645345e-01, -2.68058547e-02,
        9.96132233e-01,  8.36780823e-02,  9.52328731e-01, -3.46944695e-18,
        3.05073741e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07227287, -0.04284217,  0.22458748])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.15877028,  4.83102318,  7.15877028, 12.08165239,
       -5.10534308,  4.83102318, -5.10534308, 16.20163023,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013733704067984895
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.041965e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
       -4.041965e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0373071 , -0.11783613,  0.06187811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.94429702e-04, 3.79933863e-02, 9.58777442e-03,-3.88016546e-05,
 -1.78989621e-05,-4.58279492e-05,-6.35457924e-06,-2.03917167e-05,
 -1.29962064e-05, 3.60448400e-05, 1.71526083e-05,-1.29978634e-05,
  3.16961881e-03, 4.68118975e-03, 8.50901411e-03, 1.58973532e-03,
  3.63894186e-06, 3.43527504e-06,-1.21644236e+00, 1.59117169e-03,
  5.41940005e-04, 3.60625240e-05]


--- Step 2556 ---
qpos:
[-0.0159712 , 1.29432703,-0.03231827, 0.94844902, 0.00436432, 1.33147119,
 -0.02973526, 0.94625121, 0.0167351 , 1.33658416,-0.02392649, 0.95501265,
  1.39352273,-0.0058621 , 1.19124813, 0.06147371,-0.00366613,-0.09263981,
  0.08153419, 0.64173021,-0.01191662,-0.00328543, 0.76683084]

qacc:
[-6.10407214e-02,-4.22505913e+00, 1.85246963e+01,-3.45688862e+01,
 -5.29707638e-02,-2.28877060e+00, 9.35283611e+00,-1.91263316e+01,
 -9.14565507e-02,-5.73488652e+00, 2.31851299e+01,-4.60419207e+01,
  4.51078349e-01,-5.31956435e-01,-4.53357255e+00, 1.09095044e+01,
  1.08705797e+00, 9.67175308e-01,-8.95847619e-01, 5.69692287e+01,
  5.13463408e+01, 1.17494960e+00]

qfrc_actuator:
[ 3.87670427e-03, 7.28723120e-02, 2.04816501e-02, 1.70342896e-03,
 -5.20104942e-05, 3.48684424e-02, 1.08873219e-02, 1.71948240e-03,
 -3.08183757e-03, 3.47894392e-02, 1.08400496e-02, 1.71348935e-03,
  0.00000000e+00, 2.69035489e-03, 0.00000000e+00, 4.87913094e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007043229007492151
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30388038,  0.08786766, -0.94864956, -0.02680494,  0.99613216,
        0.08367928,  0.95233303,  0.        ,  0.30506031])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07227136, -0.04284255,  0.22458785])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.15417415,  4.8378269 ,  7.15417415, 13.05873724,
       -6.53980218,  4.8378269 , -6.53980218, 18.30741733,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001348553821923476
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.11634674e-14,  8.23269347e-14,  1.00000000e+00,  3.38886209e-27,
        1.00000000e+00, -8.23269347e-14, -1.00000000e+00,  0.00000000e+00,
       -4.11634674e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03734801, -0.11786062,  0.06188017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.87575169e-04, 3.79034286e-02, 9.53911642e-03,-7.20603813e-05,
 -1.52671706e-05,-3.49401922e-06, 1.02409981e-05,-4.86000628e-05,
 -2.64084673e-05, 4.28273868e-06, 3.50277788e-05,-1.14135138e-04,
  3.17208891e-03, 4.64013578e-03, 8.61263353e-03, 1.65936156e-03,
  1.10636432e-05, 1.26492767e-05,-1.21644699e+00, 1.59677844e-03,
  5.38406102e-04, 4.87366912e-05]


--- Step 2557 ---
qpos:
[-0.01597336, 1.2943391 ,-0.0323147 , 0.94844626, 0.00436337, 1.33147222,
 -0.02973635, 0.94625072, 0.01673436, 1.336585  ,-0.02392609, 0.95501118,
  1.39353293,-0.00586522, 1.19123158, 0.06147361,-0.00365967,-0.09263237,
  0.08153272, 0.64179817,-0.01194769,-0.00302746, 0.76677454]

qacc:
[ 1.26807439e-01,-1.19352155e+00, 4.03471079e+00,-8.03350685e+00,
 -3.97349007e-02, 2.42966400e+00,-8.65177283e+00, 1.31937520e+01,
 -2.98763594e-02,-5.50224786e+00, 1.91133912e+01,-2.78886759e+01,
  4.82594083e-01,-4.96298472e-01, 2.43961824e-01,-1.33691048e-03,
 -1.68451623e+00,-1.09770142e+00, 1.05875315e+00,-7.95180156e+01,
 -7.04574944e+01,-1.89038843e+00]

qfrc_actuator:
[ 3.85175556e-03, 7.28548873e-02, 2.04741789e-02, 1.67444222e-03,
 -5.44134270e-05, 3.48823585e-02, 1.08642344e-02, 1.74576738e-03,
 -3.07493002e-03, 3.47422349e-02, 1.08912936e-02, 1.66353329e-03,
  0.00000000e+00, 2.64717392e-03, 0.00000000e+00, 9.56703152e-06,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007042099951977202
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30386501,  0.08786859, -0.9486544 , -0.02680387,  0.99613208,
        0.08368059,  0.95233797,  0.        ,  0.3050449 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07226964, -0.04284292,  0.22458827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013867560473495438
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.00295000e-14,  4.00295000e-14,  1.00000000e+00,  1.60236087e-27,
        1.00000000e+00, -4.00295000e-14, -1.00000000e+00,  0.00000000e+00,
       -4.00295000e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03692414, -0.06380892,  0.06187694])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.69791221e-04, 3.78361250e-02, 9.47788510e-03,-2.36144940e-05,
 -1.14120773e-05, 1.25216913e-05,-2.40314489e-05, 2.53517253e-05,
 -8.68272641e-06,-4.13878513e-05, 5.27202366e-05,-5.14602432e-05,
  3.15673853e-03, 4.60179621e-03, 8.72646217e-03, 1.60121369e-03,
  2.27912692e-05, 2.73589017e-05,-1.21645372e+00, 1.60203551e-03,
  5.34691083e-04, 6.86289025e-05]


--- Step 2558 ---
qpos:
[-0.01597581, 1.29435115,-0.03231167, 0.94844456, 0.0043625 , 1.33147361,
 -0.02973811, 0.94625124, 0.01673376, 1.33658568,-0.02392519, 0.95500947,
  1.39354336,-0.005868  , 1.19121368, 0.06147307,-0.00365928,-0.09262918,
  0.08153223, 0.64186729,-0.01197397,-0.00296538, 0.76671651]

qacc:
[-1.22524399e-01, 3.21903300e+00,-1.26747221e+01, 2.30890212e+01,
  3.46286821e-02, 4.00684836e+00,-1.45865977e+01, 2.40765232e+01,
  5.94405162e-02,-1.97971372e+00, 6.69593789e+00,-8.51703262e+00,
 -9.34521926e-03, 3.00300532e-01,-7.00033850e-01,-4.42871609e-01,
 -1.51723487e+00,-1.06573895e+00, 2.43849116e-01,-7.35579256e+01,
 -6.46835048e+01,-2.17925951e+00]

qfrc_actuator:
[ 3.81971862e-03, 7.28931309e-02, 2.04505390e-02, 1.72941300e-03,
 -3.76649802e-05, 3.49079314e-02, 1.08333570e-02, 1.79693688e-03,
 -3.05269429e-03, 3.47494102e-02, 1.09212046e-02, 1.65250668e-03,
  0.00000000e+00, 2.65807781e-03, 0.00000000e+00, 3.92604483e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007040930185048325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3038501 ,  0.08786942, -0.9486591 , -0.02680281,  0.996132  ,
        0.08368181,  0.95234276,  0.        ,  0.30502996])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07226797, -0.04284333,  0.22458866])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.14104389, -4.85718736, -7.14104389, 10.17458126,
       -2.26148978, -4.85718736, -2.26148978, 11.96120918,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001413715298242177
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.92661459e-14,  3.92661459e-14,  1.00000000e+00,  1.54183022e-27,
        1.00000000e+00, -3.92661459e-14, -1.00000000e+00,  0.00000000e+00,
       -3.92661459e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.036883  , -0.06385123,  0.06187469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.22878198e-04, 3.78966776e-02, 9.45615210e-03, 5.22135781e-05,
  1.00145687e-05, 2.85528540e-05,-3.04201125e-05, 5.14283181e-05,
  1.71088025e-05,-6.94965255e-06, 2.63105408e-05,-1.19083465e-05,
  3.12939455e-03, 4.61757268e-03, 8.70516215e-03, 1.62500978e-03,
  7.70963431e-06, 8.55144234e-06,-1.21644507e+00, 1.59428396e-03,
  5.39151233e-04, 4.43891578e-05]


--- Step 2559 ---
qpos:
[-0.01597853, 1.29436324,-0.03230872, 0.94844383, 0.00436176, 1.33147457,
 -0.02973909, 0.94625236, 0.01673321, 1.33658603,-0.02392383, 0.95500731,
  1.39355392,-0.00587056, 1.19119568, 0.06147233,-0.00366442,-0.09263014,
  0.08152997, 0.64193805,-0.01199643,-0.00308547, 0.76665645]

qacc:
[-1.18803494e-01, 1.92752207e+00,-8.24242067e+00, 1.85250267e+01,
  5.66151699e-02,-1.64819070e+00, 3.48665915e+00, 4.18971574e+00,
  2.03912882e-02,-2.45204450e+00, 8.37119712e+00,-1.22034981e+01,
 -5.58426745e-02, 2.55284314e-01, 4.94677572e-01,-1.92787756e+00,
 -1.38061801e+00,-1.03602552e+00,-4.42897815e-01,-6.86005363e+01,
 -5.99153605e+01,-2.37806199e+00]

qfrc_actuator:
[ 3.80164688e-03, 7.28935183e-02, 2.04532244e-02, 1.78020390e-03,
 -2.73165570e-05, 3.48692589e-02, 1.08692034e-02, 1.82682754e-03,
 -3.05694972e-03, 3.47180333e-02, 1.09384912e-02, 1.62896944e-03,
  0.00000000e+00, 2.66552796e-03, 0.00000000e+00, 2.20409525e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000703875557347567
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30383573,  0.08787033, -0.94866361, -0.02680182,  0.99613192,
        0.08368308,  0.95234737,  0.        ,  0.30501555])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07226618, -0.04284377,  0.22458906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.15391159, -4.83821515, -7.15391159, 10.69524957,
       -3.04432263, -4.83821515, -3.04432263, 13.13777878,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014197554897070197
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.90990925e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.90990925e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03687728, -0.06386549,  0.06187418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.19152907e-04, 3.78980780e-02, 9.48603397e-03, 5.07005552e-05,
  1.62589353e-05,-2.72917083e-05, 3.94776830e-05, 3.10488259e-05,
  5.84608871e-06,-3.04422697e-05, 1.85667820e-05,-2.32506980e-05,
  3.11804687e-03, 4.60798946e-03, 8.77318671e-03, 1.62926996e-03,
  1.66851201e-06, 1.12150157e-06,-1.21644093e+00, 1.58733709e-03,
  5.43024974e-04, 3.44813410e-05]


--- Step 2560 ---
qpos:
[-0.01598144, 1.2943757 ,-0.03230562, 0.94844575, 0.00436101, 1.33147462,
 -0.02973907, 0.94625421, 0.01673266, 1.33658585,-0.02392185, 0.95500455,
  1.39356443,-0.00587277, 1.19117794, 0.06147107,-0.00367463,-0.09263514,
  0.08152363, 0.64201072,-0.01201581,-0.00337635, 0.76659406]

qacc:
[-7.99794180e-02, 4.58916948e+00,-1.97906853e+01, 4.75026422e+01,
 -5.79538929e-03,-2.65348905e+00, 5.70841289e+00, 4.07434240e+00,
  3.93982695e-03,-3.39415605e+00, 1.14533188e+01,-1.65390757e+01,
 -3.22137539e-01, 6.13693170e-01, 1.98705460e+00,-6.33313284e+00,
 -1.26879569e+00,-1.00867381e+00,-1.02123696e+00,-6.44781761e+01,
 -5.59766665e+01,-2.50902959e+00]

qfrc_actuator:
[ 3.80981319e-03, 7.28533866e-02, 2.04536988e-02, 1.91689140e-03,
 -3.86448446e-05, 3.47926620e-02, 1.09083818e-02, 1.86170696e-03,
 -3.05931105e-03, 3.46815140e-02, 1.09657944e-02, 1.59822649e-03,
  0.00000000e+00, 2.68863833e-03, 0.00000000e+00,-5.62019879e-06,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007036465370600029
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30382139,  0.08787133, -0.94866812, -0.02680086,  0.99613183,
        0.08368443,  0.95235197,  0.        ,  0.30500118])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07226437, -0.04284424,  0.22458945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.15152187, -4.84174676, -7.15152187, 11.36404053,
       -4.02892633, -4.84174676, -4.02892633, 14.58730576,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014090068508486459
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.93973608e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.93973608e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03689965, -0.06385755,  0.06187507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.41238484e-04, 3.78558708e-02, 9.49013555e-03, 1.38082717e-04,
 -1.73503678e-06,-8.30457240e-05, 3.92433803e-05, 3.59396792e-05,
  1.08980760e-06,-5.04235360e-05, 2.27828832e-05,-3.16434598e-05,
  3.11140487e-03, 4.61988548e-03, 8.77855377e-03, 1.61220287e-03,
  2.86670959e-06, 2.73279387e-06,-1.21644037e+00, 1.58089423e-03,
  5.46529797e-04, 3.59358305e-05]


--- Step 2561 ---
qpos:
[-0.01598457, 1.2943885 ,-0.03230294, 0.94845002, 0.00436019, 1.33147442,
 -0.02973903, 0.94625611, 0.01673212, 1.33658563,-0.02392002, 0.95500179,
  1.39357479,-0.00587454, 1.19115873, 0.06146913,-0.00368954,-0.09264407,
  0.08151125, 0.64208544,-0.01203274,-0.0038286 , 0.76652909]

qacc:
[-9.33463961e-02, 5.56277232e+00,-2.23939358e+01, 4.63016600e+01,
 -2.60700040e-02,-2.72092768e-01, 4.02310310e-01, 3.83046956e-01,
 -1.96755155e-03, 3.30764614e-01,-1.15234405e+00, 9.94762455e-01,
 -3.80818023e-01, 7.04559892e-01,-9.99940284e-02,-2.71532851e+00,
 -1.17697747e+00,-9.83661832e-01,-1.50790681e+00,-6.10538625e+01,
 -5.27249127e+01,-2.58879104e+00]

qfrc_actuator:
[ 3.83374261e-03, 7.28596067e-02, 2.04171495e-02, 2.03205370e-03,
 -4.51323788e-05, 3.48004935e-02, 1.09135278e-02, 1.86370534e-03,
 -3.06051612e-03, 3.46954896e-02, 1.09632599e-02, 1.59899876e-03,
  0.00000000e+00, 2.72092914e-03, 0.00000000e+00, 1.41078409e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007034444988826341
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03806554e-01,  8.78723831e-02, -9.48672769e-01, -2.67998747e-02,
        9.96131740e-01,  8.36858556e-02,  9.52356732e-01,  3.46944695e-18,
        3.04986320e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07226254, -0.04284474,  0.22458986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.11819022, -4.89061804, -7.11819022, 12.27444055,
       -5.29514333, -4.89061804, -5.29514333, 16.34333178,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013849230925166434
  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([ 0.03694414, -0.06383214,  0.06187704])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.74529952e-04, 3.78434417e-02, 9.44617315e-03, 1.21041058e-04,
 -7.51458902e-06,-2.93516294e-05,-5.57449105e-06, 1.49465128e-06,
 -5.62915285e-07,-1.04015192e-05,-1.07242968e-05,-7.92962696e-07,
  3.11376003e-03, 4.63467306e-03, 8.76600327e-03, 1.65813543e-03,
  9.99472293e-06, 1.16940131e-05,-1.21644269e+00, 1.57475685e-03,
  5.49811692e-04, 4.65992871e-05]


--- Step 2562 ---
qpos:
[-0.01598738, 1.2944006 ,-0.032301  , 0.94845333, 0.00435931, 1.33147444,
 -0.02973877, 0.94625589, 0.01673156, 1.3365851 ,-0.0239187 , 0.95499875,
  1.39358528,-0.00587646, 1.19113912, 0.06146731,-0.00369808,-0.09264875,
  0.08150686, 0.64215768,-0.01206001,-0.00407684, 0.76646686]

qacc:
[ 1.37890896e-01,-5.41335615e-01, 2.60392356e+00,-1.28847415e+01,
 -2.76177846e-02,-3.95254628e+00, 1.75669703e+01,-3.98656687e+01,
 -2.92213827e-03, 5.12767849e-01,-1.59647396e+00,-1.58364679e+00,
  2.25863985e-01,-3.33557197e-01,-9.49939880e-01, 2.42360424e+00,
  1.59627023e+00, 1.06142073e+00, 1.99834519e+00, 7.48580719e+01,
  6.94380585e+01, 3.08113143e+00]

qfrc_actuator:
[ 3.86723601e-03, 7.28580101e-02, 2.03766425e-02, 1.97376873e-03,
 -4.86623736e-05, 3.48409203e-02, 1.09343442e-02, 1.75759922e-03,
 -3.06101745e-03, 3.46507370e-02, 1.09255909e-02, 1.58281699e-03,
  0.00000000e+00, 2.70525005e-03, 0.00000000e+00, 9.36899509e-06,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000703157548064836
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03791784e-01,  8.78735056e-02, -9.48677395e-01, -2.67989168e-02,
        9.96131641e-01,  8.36873409e-02,  9.52361470e-01, -3.46944695e-18,
        3.04971523e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07226057, -0.04284523,  0.22459028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013872387035544984
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00077864e-14,  4.00155727e-14,  1.00000000e+00, -8.00623030e-28,
        1.00000000e+00, -4.00155727e-14, -1.00000000e+00,  0.00000000e+00,
        2.00077864e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03731677, -0.11777076,  0.06187679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01894295e-03, 3.78244925e-02, 9.42639887e-03,-5.44771999e-05,
 -7.96542542e-06, 2.31491667e-05, 1.44889160e-05,-1.07112464e-04,
 -8.33624009e-07,-5.26270433e-05,-4.09479241e-05,-1.68237447e-05,
  3.12147462e-03, 4.59748168e-03, 8.83947864e-03, 1.68703676e-03,
  2.21023666e-05, 2.67822178e-05,-1.21644738e+00, 1.56879367e-03,
  5.52968217e-04, 6.49117568e-05]


--- Step 2563 ---
qpos:
[-0.01598989, 1.29441208,-0.0322994 , 0.94845451, 0.00435838, 1.33147484,
 -0.02973865, 0.94625441, 0.01673086, 1.33658392,-0.02391835, 0.95499767,
  1.39359612,-0.00587871, 1.19111963, 0.06146598,-0.00370087,-0.0926493 ,
  0.08150693, 0.64222834,-0.01209607,-0.00413695, 0.76640677]

qacc:
[ 1.25462414e-01,-3.50580624e+00, 1.48247106e+01,-3.71178344e+01,
 -2.23592858e-02,-1.26733788e+00, 7.31852627e+00,-2.12288680e+01,
 -6.36597890e-02, 5.14193808e+00,-2.17501599e+01, 4.18350398e+01,
  5.32274996e-01,-7.73579106e-01,-1.35296116e+00, 4.89077637e+00,
  1.43425901e+00, 1.03478747e+00, 1.11343210e+00, 6.92708635e+01,
  6.37568350e+01, 2.44050106e+00]

qfrc_actuator:
[ 3.85275524e-03, 7.28526365e-02, 2.03697639e-02, 1.86703679e-03,
 -5.03894708e-05, 3.48650398e-02, 1.09288375e-02, 1.69529115e-03,
 -3.07884515e-03, 3.45887703e-02, 1.08672622e-02, 1.68100290e-03,
  0.00000000e+00, 2.66118884e-03, 0.00000000e+00, 2.49397111e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007027933879851997
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03778400e-01,  8.78745136e-02, -9.48681587e-01, -2.67980459e-02,
        9.96131552e-01,  8.36886783e-02,  9.52365764e-01,  3.46944695e-18,
        3.04958114e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07225859, -0.04284571,  0.22459067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.12769582,  4.87675395,  7.12769582, 10.55355604,
       -2.80210246,  4.87675395, -2.80210246, 12.73182021,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014139322852747965
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.90751500e-15,  7.85202401e-14,  1.00000000e+00, -3.85339256e-28,
        1.00000000e+00, -7.85202401e-14, -1.00000000e+00,  0.00000000e+00,
        4.90751500e-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([-0.03728122, -0.11773158,  0.06187454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.88277005e-04, 3.78543240e-02, 9.45684688e-03,-1.13367100e-04,
 -6.42630501e-06, 3.65451993e-05,-2.47068522e-06,-6.36744641e-05,
 -1.83213752e-05,-9.95666794e-05,-7.37571528e-05, 9.50338525e-05,
  3.11506497e-03, 4.56051583e-03, 8.85984574e-03, 1.69705120e-03,
  8.00736415e-06, 8.70116698e-06,-1.21644195e+00, 1.57717825e-03,
  5.49588188e-04, 4.21690898e-05]


--- Step 2564 ---
qpos:
[-0.01599163, 1.29442061,-0.03229898, 0.94845362, 0.00435712, 1.33147563,
 -0.02973928, 0.9462536 , 0.01672998, 1.33658245,-0.02391856, 0.95499703,
  1.3936068 ,-0.0058816 , 1.19110681, 0.06146537,-0.00369846,-0.09264581,
  0.08150847, 0.64229805,-0.01213968,-0.00402207, 0.76634826]

qacc:
[ 3.28424903e-01,-4.23755077e+00, 1.33655531e+01,-3.36534384e+01,
 -1.38835184e-01, 3.68071657e+00,-1.27613970e+01, 1.86333919e+01,
 -7.34066515e-02, 1.88463673e+00,-7.49339440e+00, 1.17472229e+01,
 -2.08179193e-03,-4.49899458e-01, 7.62832520e+00,-1.24050163e+01,
  1.30239606e+00, 1.00956368e+00, 3.68939702e-01, 6.46280901e+01,
  5.90714676e+01, 1.94799267e+00]

qfrc_actuator:
[ 3.82714255e-03, 7.28274332e-02, 2.03652053e-02, 1.75054708e-03,
 -8.65265740e-05, 3.48791291e-02, 1.08900711e-02, 1.73026790e-03,
 -3.08917009e-03, 3.46057164e-02, 1.08504635e-02, 1.70366564e-03,
  0.00000000e+00, 2.68911397e-03, 0.00000000e+00,-1.96264478e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007024029942897803
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30376593,  0.08787542, -0.9486855 , -0.02679722,  0.99613147,
        0.08368989,  0.95236977,  0.        ,  0.30494562])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07225666, -0.0428462 ,  0.22459105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.15293259,  4.83966241,  7.15293259, 11.09979483,
       -3.64090629,  4.83966241, -3.64090629, 14.01755658,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001419939987459387
  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([-0.03727678, -0.11771815,  0.06187404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.47947623e-04, 3.78596574e-02, 9.46945022e-03,-1.23257756e-04,
 -3.99277143e-05, 3.19068942e-05,-3.37690655e-05, 3.45214888e-05,
 -2.11461212e-05,-4.96965951e-05,-4.18453833e-05, 1.97637850e-05,
  3.09751346e-03, 4.60533931e-03, 8.85433089e-03, 1.45135780e-03,
  1.96179804e-06, 1.28151750e-06,-1.21644042e+00, 1.58440803e-03,
  5.46215563e-04, 3.31927512e-05]


--- Step 2565 ---
qpos:
[-0.01599399, 1.29442899,-0.03229898, 0.94845174, 0.00435564, 1.33147655,
 -0.02973967, 0.94625216, 0.01672925, 1.33658126,-0.0239186 , 0.95499381,
  1.39361627,-0.00588435, 1.19109351, 0.06146481,-0.00369126,-0.09263837,
  0.08150899, 0.64236724,-0.01218985,-0.0037431 , 0.76629089]

qacc:
[-2.62351051e-01,-7.49687684e-01, 4.22363351e+00,-1.49911928e+01,
 -9.30154714e-02,-1.53769941e+00, 6.53638315e+00,-1.31490158e+01,
  5.99853059e-02,-4.53037189e+00, 2.04205064e+01,-4.75833856e+01,
 -1.01654476e+00, 9.85626144e-01,-7.38778219e-01, 1.74682871e+00,
  1.19496065e+00, 9.86110617e-01,-2.56852690e-01, 6.07717501e+01,
  5.52069685e+01, 1.57185801e+00]

qfrc_actuator:
[ 3.86526766e-03, 7.27929219e-02, 2.03452540e-02, 1.71775537e-03,
 -8.97560655e-05, 3.48870284e-02, 1.09030135e-02, 1.69791341e-03,
 -3.05940493e-03, 3.46699076e-02, 1.08763102e-02, 1.57523386e-03,
  0.00000000e+00, 2.79616495e-03, 0.00000000e+00,-9.83980739e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007022021272671645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03757395e-01,  8.78760500e-02, -9.48688170e-01, -2.67966652e-02,
        9.96131417e-01,  8.36907337e-02,  9.52372502e-01,  3.46944695e-18,
        3.04937070e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07225537, -0.04284672,  0.22459131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.17435445,  4.80784932,  7.17435445, 11.77694405,
       -4.68642746,  4.80784932, -4.68642746, 15.62953033,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00140936562873175
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  7.8774663e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -7.8774663e-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([-0.03729703, -0.11772513,  0.06187493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.47562576e-04, 3.79729488e-02, 9.50818959e-03,-5.26154042e-05,
 -2.67898073e-05, 1.99727884e-05, 1.63508935e-05,-3.15870419e-05,
  1.72779311e-05, 2.91310859e-05, 1.19650093e-05,-1.30671759e-04,
  3.10578209e-03, 4.74400356e-03, 8.52159072e-03, 1.51288875e-03,
  2.40132630e-06, 2.31783267e-06,-1.21644198e+00, 1.59083754e-03,
  5.42765006e-04, 3.51919996e-05]


--- Step 2566 ---
qpos:
[-0.01599716, 1.29443967,-0.03229794, 0.94844953, 0.00435431, 1.33147753,
 -0.02973958, 0.94624999, 0.0167286 , 1.33658071,-0.02391944, 0.95498979,
  1.39362504,-0.00588674, 1.19107548, 0.06146415,-0.00367964,-0.09262707,
  0.08150638, 0.64243616,-0.01224579,-0.00330902, 0.76623421]

qacc:
[-3.48021213e-01,-3.64707246e-01, 5.54758615e+00,-1.01660191e+01,
  6.42685821e-02,-2.49145000e+00, 9.71568209e+00,-1.69041442e+01,
  3.63202825e-02, 1.60826700e+00,-2.61808254e+00,-7.38844656e+00,
 -5.56018802e-01, 7.07601337e-01,-6.64964739e+00, 1.31768750e+01,
  1.10728113e+00, 9.64591139e-01,-7.82342071e-01, 5.75726683e+01,
  5.20219672e+01, 1.28768221e+00]

qfrc_actuator:
[ 3.90720753e-03, 7.28044621e-02, 2.03690402e-02, 1.71717615e-03,
 -5.54651291e-05, 3.48913182e-02, 1.09285521e-02, 1.66170911e-03,
 -3.05908903e-03, 3.47087213e-02, 1.08384706e-02, 1.53651255e-03,
  0.00000000e+00, 2.80815667e-03, 0.00000000e+00, 8.47903611e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000701962299342912
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30374941,  0.08787686, -0.94869065, -0.02679621,  0.99613135,
        0.08369173,  0.95237506,  0.        ,  0.30492907])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07225407, -0.04284714,  0.22459157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.18083681,  4.7981621 ,  7.18083681, 12.64219765,
       -5.99505389,  4.7981621 , -5.99505389, 17.60844561,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013856381460911338
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.50540705e-14,  4.00617949e-14,  1.00000000e+00,  1.40432899e-27,
        1.00000000e+00, -4.00617949e-14, -1.00000000e+00,  0.00000000e+00,
       -3.50540705e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0373367 , -0.11774815,  0.06187691])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02026108e-03, 3.79920620e-02, 9.55294853e-03,-3.81611956e-06,
  1.84830425e-05, 1.75792650e-05, 3.03762935e-05,-3.58603524e-05,
  1.05180174e-05, 5.33915658e-05,-3.46172864e-05,-4.05554697e-05,
  3.16611843e-03, 4.74929198e-03, 8.54499428e-03, 1.69407433e-03,
  8.17697900e-06, 1.02108346e-05,-1.21644610e+00, 1.59670576e-03,
  5.39183850e-04, 4.61437249e-05]


--- Step 2567 ---
qpos:
[-0.01599962, 1.2944508 ,-0.03229632, 0.94844959, 0.00435325, 1.33147839,
 -0.02973969, 0.94624848, 0.01672785, 1.33658004,-0.02392135, 0.95498612,
  1.39363403,-0.0058891 , 1.19105959, 0.0614632 ,-0.00367464,-0.09262002,
  0.08150712, 0.64250542,-0.01229598,-0.00308297, 0.76617628]

qacc:
[ 3.07306556e-01, 2.90403257e+00,-1.34244455e+01, 3.76377057e+01,
  1.10843165e-01, 1.53553967e+00,-6.59472815e+00, 1.35942743e+01,
 -3.87949271e-02, 3.31758472e+00,-1.17061330e+01, 1.41455438e+01,
  2.82679308e-02, 5.30693290e-02, 4.02037759e+00,-9.46643594e+00,
 -1.65651363e+00,-1.06006151e+00, 8.37265858e-01,-7.78514076e+01,
 -6.90210503e+01,-1.81924751e+00]

qfrc_actuator:
[ 3.91637807e-03, 7.27879707e-02, 2.04000165e-02, 1.82443353e-03,
 -3.44504914e-05, 3.48579573e-02, 1.09080380e-02, 1.69455119e-03,
 -3.07644391e-03, 3.46430836e-02, 1.07633226e-02, 1.55087502e-03,
  0.00000000e+00, 2.76283418e-03, 0.00000000e+00,-5.35061817e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007016179820028036
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30373821,  0.08787795, -0.94869414, -0.02679556,  0.99613125,
        0.08369308,  0.95237865,  0.        ,  0.30491786])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07225233, -0.04284745,  0.22459193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0014022317719423333
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.95877146e-14,  1.97938573e-14,  1.00000000e+00,  7.83593575e-28,
        1.00000000e+00, -1.97938573e-14, -1.00000000e+00,  0.00000000e+00,
       -3.95877146e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03694435, -0.06390005,  0.0618755 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.07023746e-03, 3.78598313e-02, 9.53150456e-03, 1.20372140e-04,
  3.19222289e-05,-1.87811693e-05,-1.46759900e-05, 3.34256618e-05,
 -1.11427979e-05,-4.40758891e-05,-6.98458839e-05, 1.39802622e-05,
  3.20117474e-03, 4.68602119e-03, 8.78232204e-03, 1.56097559e-03,
  1.84455992e-05, 2.38010952e-05,-1.21645238e+00, 1.60217388e-03,
  5.35440190e-04, 6.45828908e-05]


--- Step 2568 ---
qpos:
[-0.01600209, 1.29446316,-0.03229418, 0.9484519 , 0.00435244, 1.33147883,
 -0.02973992, 0.94624776, 0.01672712, 1.3365782 ,-0.02392397, 0.95498202,
  1.39364326,-0.00589112, 1.19104219, 0.06146171,-0.00367562,-0.0926171 ,
  0.08150808, 0.64257574,-0.01234161,-0.00304915, 0.76611671]

qacc:
[-7.67242301e-03, 4.04908639e+00,-1.58685994e+01, 3.90564600e+01,
  1.10164503e-01, 1.10144317e+00,-5.81906064e+00, 1.42350060e+01,
  3.89471974e-03,-3.15434911e-01, 3.39284815e-02,-4.11295408e+00,
 -6.91204748e-03, 2.97240893e-01,-5.89410174e-01,-1.16265576e+00,
 -1.49399202e+00,-1.03423836e+00, 5.68757036e-02,-7.21721702e+01,
 -6.34824128e+01,-2.12379327e+00]

qfrc_actuator:
[ 3.90467644e-03, 7.27201039e-02, 2.03821072e-02, 1.94066038e-03,
 -2.15724400e-05, 3.48199250e-02, 1.08958982e-02, 1.73220561e-03,
 -3.06875306e-03, 3.45152864e-02, 1.07018899e-02, 1.52525497e-03,
  0.00000000e+00, 2.75432163e-03, 0.00000000e+00, 6.08699847e-06,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007014276095782118
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03726056e-01,  8.78788370e-02, -9.48697946e-01, -2.67947569e-02,
        9.96131171e-01,  8.36942710e-02,  9.52382551e-01, -3.46944695e-18,
        3.04905684e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07225072, -0.04284783,  0.2245923 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.15139651, -4.84193193, -7.15139651, 10.01481073,
       -2.03592737, -4.84193193, -2.03592737, 11.64337077,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014231890724468177
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.95023811e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.95023811e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03691391, -0.06393465,  0.06187376])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02248643e-03, 3.77699330e-02, 9.48504718e-03, 1.23037702e-04,
  3.17146362e-05,-5.02957127e-05,-1.65056570e-05, 3.74356221e-05,
  1.11056662e-06,-1.65396221e-04,-7.75712888e-05,-2.86529115e-05,
  3.18995818e-03, 4.67615435e-03, 8.67556655e-03, 1.63485197e-03,
  5.68826141e-06, 6.95218665e-06,-1.21644455e+00, 1.59443407e-03,
  5.39836087e-04, 4.29327097e-05]


--- Step 2569 ---
qpos:
[-0.01600564, 1.29447722,-0.0322917 , 0.94845382, 0.00435171, 1.33147917,
 -0.02974042, 0.94624781, 0.01672629, 1.33657513,-0.02392592, 0.95497896,
  1.39365252,-0.00589264, 1.19101886, 0.06146005,-0.00368204,-0.09261822,
  0.08150664, 0.6426476 ,-0.01238365,-0.00319444, 0.76605515]

qacc:
[-4.60538553e-01, 6.74176828e-01, 1.29797440e+00,-6.65925238e+00,
  3.07089650e-02, 1.92726039e+00,-8.06301442e+00, 1.61353066e+01,
 -4.21149472e-02,-1.65882205e+00, 1.36513171e+00, 1.15719894e+01,
 -8.36457898e-03, 3.41467971e-01,-8.22651793e+00, 1.60663467e+01,
 -1.36133165e+00,-1.00958311e+00,-6.00609821e-01,-6.74481995e+01,
 -5.89095665e+01,-2.33614297e+00]

qfrc_actuator:
[ 3.88090181e-03, 7.26914551e-02, 2.03346881e-02, 1.91935622e-03,
 -3.14319781e-05, 3.48326768e-02, 1.08887769e-02, 1.77237998e-03,
 -3.08160400e-03, 3.44932955e-02, 1.07552700e-02, 1.58278157e-03,
  0.00000000e+00, 2.76757103e-03, 0.00000000e+00, 2.02536498e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007012250697998705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03712234e-01,  8.78797482e-02, -9.48702287e-01, -2.67938175e-02,
        9.96131091e-01,  8.36955285e-02,  9.52386985e-01, -3.46944695e-18,
        3.04891833e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07224894, -0.04284823,  0.2245927 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.16371613, -4.82368616, -7.16371613, 10.52670083,
       -2.8073632 , -4.82368616, -2.8073632 , 12.80561354,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014243488131792659
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.89730035e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.89730035e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03691687, -0.06394275,  0.06187367])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.99593456e-04, 3.76796473e-02, 9.41157408e-03,-1.09739149e-05,
  8.85340207e-06,-1.71774931e-05,-1.77388928e-05, 3.90503752e-05,
 -1.22016323e-05,-1.29442324e-04, 1.14246591e-05, 4.96773419e-05,
  3.17853414e-03, 4.67239611e-03, 8.75132238e-03, 1.85840245e-03,
  1.48943167e-06, 9.03089916e-07,-1.21644100e+00, 1.58749270e-03,
  5.43674697e-04, 3.48904081e-05]


--- Step 2570 ---
qpos:
[-0.01600957, 1.2944916 ,-0.03228896, 0.94845526, 0.00435112, 1.33148003,
 -0.0297416 , 0.94624865, 0.01672534, 1.33657239,-0.02392736, 0.95497787,
  1.39366181,-0.00589404, 1.19099442, 0.06145865,-0.00369348,-0.09262328,
  0.08150059, 0.64272129,-0.01242284,-0.00350797, 0.76599132]

qacc:
[-1.60728137e-01,-1.11536472e+00, 5.11298149e+00,-1.02147326e+01,
  5.99524750e-02, 3.84965341e+00,-1.33634180e+01, 2.04285837e+01,
 -5.04090723e-02, 2.46377184e+00,-1.14741329e+01, 3.23761095e+01,
  5.87904788e-03, 7.51421782e-02,-2.45517723e+00, 6.18571688e+00,
 -1.25278995e+00,-9.86406246e-01,-1.15414581e+00,-6.35206502e+01,
 -5.51336036e+01,-2.47882714e+00]

qfrc_actuator:
[ 3.88645800e-03, 7.26853672e-02, 2.03405478e-02, 1.88828222e-03,
 -1.93453805e-05, 3.48935149e-02, 1.08671137e-02, 1.81374544e-03,
 -3.08892199e-03, 3.46240877e-02, 1.08231734e-02, 1.68890592e-03,
  0.00000000e+00, 2.77582876e-03, 0.00000000e+00, 1.96905676e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007007933382493295
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03696457e-01,  8.78810092e-02, -9.48707220e-01, -2.67928131e-02,
        9.96130979e-01,  8.36971740e-02,  9.52392045e-01, -3.46944695e-18,
        3.04876029e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07224664, -0.04284859,  0.22459319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.15936836, -4.83013681, -7.15936836, 11.18142361,
       -3.77236144, -4.83013681, -3.77236144, 14.22786677,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001409660420629233
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.96895474e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.96895474e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03694629, -0.06392989,  0.06187489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05914217e-03, 3.75880279e-02, 9.40049235e-03,-2.27495402e-05,
  1.73102774e-05, 4.90368362e-05,-2.58958138e-05, 4.12364763e-05,
 -1.45282082e-05, 6.29325509e-05, 4.53771034e-05, 1.03768081e-04,
  3.17647082e-03, 4.65563456e-03, 9.04813698e-03, 1.86149268e-03,
  4.18163556e-06, 3.48162683e-06,-1.21644088e+00, 1.58105002e-03,
  5.47165496e-04, 3.76927134e-05]


--- Step 2571 ---
qpos:
[-0.01601349, 1.29450569,-0.03228555, 0.94845566, 0.00435082, 1.33148136,
 -0.02974276, 0.94624927, 0.01672443, 1.33656982,-0.02392817, 0.95497634,
  1.39367118,-0.00589564, 1.19097174, 0.06145793,-0.00370483,-0.09263804,
  0.08150213, 0.64279651,-0.01236984,-0.00391359, 0.7659271 ]

qacc:
[ 1.85218423e-03,-3.95591690e+00, 1.45848551e+01,-2.44827452e+01,
  1.22803032e-01, 1.93723270e-01, 6.14076403e-01,-3.56241678e+00,
  1.82432869e-02,-2.26604821e+00, 8.55716437e+00,-1.26302489e+01,
  1.60828375e-01,-3.00158440e-01, 5.53759453e-01, 1.83009746e+00,
  2.16507668e-02,-2.42361342e+00, 1.89984143e+00,-5.63687601e+00,
 -6.48978476e+01,-1.44249791e+00]

qfrc_actuator:
[ 3.87383647e-03, 7.26402765e-02, 2.03783202e-02, 1.83384616e-03,
  5.81057966e-06, 3.49293676e-02, 1.08727434e-02, 1.80224645e-03,
 -3.07510845e-03, 3.46147029e-02, 1.08464425e-02, 1.66307629e-03,
  0.00000000e+00, 2.76351723e-03, 0.00000000e+00, 1.58421023e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007003267175328745
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03680141e-01,  8.78823904e-02, -9.48712315e-01, -2.67917980e-02,
        9.96130858e-01,  8.36989493e-02,  9.52397276e-01, -3.46944695e-18,
        3.04859686e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07224425, -0.04284894,  0.22459369])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.47767631, -1.64796276, -8.47767631, 10.44596918,
       -9.30922133, -1.64796276, -9.30922133, 56.52613822,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014380882471638648
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.        , -0.26941842,  0.96302322,  0.        ,  0.96302322,
        0.26941842, -1.        ,  0.        ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00282587, -0.07098761,  0.06187692])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06536418e-03, 3.75275001e-02, 9.42536281e-03,-5.29737399e-05,
  3.53724634e-05, 5.91471400e-05, 1.34832372e-05,-9.82999869e-06,
  5.23625028e-06, 3.73703151e-05, 4.37550700e-05,-2.02293384e-05,
  3.17569720e-03, 4.63723435e-03, 9.10463519e-03, 1.80984878e-03,
  1.25527192e-05, 1.31142777e-05,-1.21644353e+00, 1.57490725e-03,
  5.50449166e-04, 4.93346996e-05]


--- Step 2572 ---
qpos:
[-0.0160179 , 1.2945199 ,-0.03228175, 0.94845504, 0.00435081, 1.33148301,
 -0.02974374, 0.9462487 , 0.01672348, 1.33656697,-0.02392925, 0.9549739 ,
  1.3936803 ,-0.00589717, 1.1909484 , 0.06145765,-0.00371003,-0.092648  ,
  0.08150902, 0.64287067,-0.01232488,-0.00412875, 0.76586445]

qacc:
[-2.07738143e-01,-2.63064635e+00, 1.08677361e+01,-2.13027283e+01,
  1.24750357e-01,-2.08494088e+00, 9.69277480e+00,-2.21732823e+01,
 -2.09220525e-02,-1.16814812e+00, 5.16676233e+00,-1.46511845e+01,
 -1.94708166e-01, 2.10879956e-01,-2.27083144e+00, 6.57110813e+00,
  1.53485667e+00, 1.20190025e+00, 1.33589384e+00, 7.03569669e+01,
  6.42805875e+01, 2.09813112e+00]

qfrc_actuator:
[ 3.86783074e-03, 7.26077544e-02, 2.03814633e-02, 1.78389589e-03,
  2.08507117e-05, 3.49323034e-02, 1.08765779e-02, 1.74198638e-03,
 -3.08423556e-03, 3.45389836e-02, 1.08070830e-02, 1.61295302e-03,
  0.00000000e+00, 2.79239512e-03, 0.00000000e+00, 2.23974704e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006999693417605972
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30366345,  0.08788377, -0.94871753, -0.02679075,  0.99613074,
        0.08370074,  0.95240263,  0.        ,  0.30484297])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07224202, -0.04284932,  0.22459418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.59661024, -4.10831956,  7.59661024, 18.10684729,
       17.51167892, -4.10831956, 17.51167892, 41.01685337,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014116474218605277
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.94927492e-14,  7.86473313e-14,  1.00000000e+00,  2.31952602e-27,
        1.00000000e+00, -7.86473313e-14, -1.00000000e+00,  0.00000000e+00,
       -2.94927492e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03732772, -0.11767903,  0.06187471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05915050e-03, 3.75089162e-02, 9.39479548e-03,-5.08685209e-05,
  3.59156462e-05, 3.79894936e-05, 1.66474070e-05,-5.83185929e-05,
 -6.03566280e-06,-4.70924356e-05,-2.76794746e-05,-4.82133121e-05,
  3.17108746e-03, 4.67612492e-03, 9.01663174e-03, 1.84165188e-03,
  1.33741840e-05, 2.30089655e-05,-1.21644481e+00, 1.56776442e-03,
  5.50762102e-04, 6.06589434e-05]


--- Step 2573 ---
qpos:
[-0.01602203, 1.29453245,-0.0322786 , 0.94845267, 0.00435105, 1.33148468,
 -0.02974454, 0.94624745, 0.01672245, 1.33656474,-0.0239315 , 0.95497189,
  1.39368917,-0.00589893, 1.1909277 , 0.06145798,-0.00370971,-0.09265338,
  0.08151813, 0.64294437,-0.01228684,-0.00416695, 0.76580298]

qacc:
[ 1.19456880e-01,-3.42594299e+00, 1.21291879e+01,-2.98009610e+01,
  1.04385881e-01,-1.62485127e+00, 6.76921034e+00,-1.39079610e+01,
 -3.01787815e-02, 4.68764544e+00,-1.51457189e+01, 1.75957857e+01,
 -1.29615951e-01,-6.36220522e-02, 2.04708412e+00,-1.49969099e+00,
  1.38339488e+00, 1.14225362e+00, 5.56181822e-01, 6.55365411e+01,
  5.95248805e+01, 1.66463338e+00]

qfrc_actuator:
[ 3.88403696e-03, 7.25824797e-02, 2.03638409e-02, 1.68377626e-03,
  2.97009065e-05, 3.49154689e-02, 1.08791625e-02, 1.70675816e-03,
 -3.08929928e-03, 3.46191320e-02, 1.07663149e-02, 1.63764868e-03,
  0.00000000e+00, 2.81028583e-03, 0.00000000e+00, 1.38889270e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006995987706742354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30364627,  0.08788531, -0.94872289, -0.02678971,  0.9961306 ,
        0.08370269,  0.95240814,  0.        ,  0.30482576])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07223975, -0.04284967,  0.22459467])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  5.26278884,  6.84761495,  5.26278884, 15.52493983,
       -5.29426993,  6.84761495, -5.29426993, 12.70531683,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014226880166533368
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.92638744e-14,  7.80369984e-14,  1.00000000e+00,  2.28366492e-27,
        1.00000000e+00, -7.80369984e-14, -1.00000000e+00,  0.00000000e+00,
       -2.92638744e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03731726, -0.11766297,  0.06187383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09971986e-03, 3.74772630e-02, 9.35754661e-03,-9.98930964e-05,
  3.00456394e-05, 5.67653726e-06, 1.01970755e-05,-3.49543882e-05,
 -8.63006462e-06, 4.72888849e-05,-5.45203755e-05, 2.13595025e-05,
  3.18418133e-03, 4.69025028e-03, 9.04977441e-03, 1.73483169e-03,
  3.77262401e-06, 7.37822887e-06,-1.21644037e+00, 1.57532714e-03,
  5.47675599e-04, 4.11118044e-05]


--- Step 2574 ---
qpos:
[-0.01602484, 1.29454168,-0.0322773 , 0.94844967, 0.00435133, 1.33148597,
 -0.02974512, 0.94624616, 0.01672136, 1.3365632 ,-0.02393414, 0.95497153,
  1.39369839,-0.00590113, 1.19091388, 0.06145859,-0.00370434,-0.0926544 ,
  0.08152685, 0.643018  ,-0.01225485,-0.00403938, 0.76574236]

qacc:
[ 5.62350859e-01,-4.44492763e-01,-2.55334936e+00,-2.87740197e+00,
  1.75949960e-02,-1.15587405e+00, 3.22062963e+00,-2.91117713e+00,
 -2.68108586e-02, 4.82062737e+00,-1.79354161e+01, 3.40810259e+01,
  2.40116092e-01,-4.73964173e-01, 9.28479714e+00,-1.77549866e+01,
  1.26054933e+00, 1.09157302e+00,-9.87704685e-02, 6.15325288e+01,
  5.55967908e+01, 1.33275319e+00]

qfrc_actuator:
[ 3.85973997e-03, 7.25810478e-02, 2.03346453e-02, 1.64346346e-03,
  1.70148429e-05, 3.48691733e-02, 1.08809267e-02, 1.70429082e-03,
 -3.09188390e-03, 3.46854916e-02, 1.07612036e-02, 1.72402859e-03,
  0.00000000e+00, 2.76860798e-03, 0.00000000e+00,-9.01859825e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000699275435646983
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03631289e-01,  8.78867387e-02, -9.48727549e-01, -2.67888238e-02,
        9.96130474e-01,  8.37044668e-02,  9.52412935e-01,  3.46944695e-18,
        3.04810762e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07223775, -0.04285002,  0.2245951 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  5.31213226,  6.8094073 ,  5.31213226, 17.12334597,
       -6.62083654,  6.8094073 , -6.62083654, 13.8013887 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014162134081737027
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.79922074e-15,  3.91968830e-14,  1.00000000e+00, -3.84098909e-28,
        1.00000000e+00, -3.91968830e-14, -1.00000000e+00,  0.00000000e+00,
        9.79922074e-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([-0.03733281, -0.11766787,  0.06187442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06141274e-03, 3.75590617e-02, 9.36086354e-03,-5.22807084e-05,
  5.04424105e-06,-4.22209968e-05, 3.00721679e-06,-2.80996495e-06,
 -7.67933296e-06, 8.25092212e-05,-1.44520645e-06, 8.66741555e-05,
  3.19641256e-03, 4.66040996e-03, 8.91861797e-03, 1.47531975e-03,
  1.09670052e-06, 9.47825807e-07,-1.21643933e+00, 1.58210323e-03,
  5.44462356e-04, 3.34834557e-05]


--- Step 2575 ---
qpos:
[-0.0160275 , 1.29455023,-0.03227689, 0.94844765, 0.00435157, 1.33148693,
 -0.0297463 , 0.94624628, 0.01672022, 1.33656185,-0.02393576, 0.95497148,
  1.39370731,-0.00590316, 1.19090156, 0.06145881,-0.00369433,-0.09265122,
  0.08153297, 0.64309178,-0.01222818,-0.00375531, 0.76568227]

qacc:
[ 6.58901097e-02, 3.21227753e+00,-1.35371429e+01, 2.34665131e+01,
 -1.66497789e-02, 3.55546849e+00,-1.49908437e+01, 2.94200509e+01,
 -1.93422466e-02,-1.97927170e+00, 6.10588669e+00,-1.75481184e+00,
 -4.59603540e-01, 5.92241748e-01, 3.43804141e+00,-8.71560700e+00,
  1.16079285e+00, 1.04856442e+00,-6.48400848e-01, 5.82100639e+01,
  5.23539059e+01, 1.08103566e+00]

qfrc_actuator:
[ 3.86324789e-03, 7.25784945e-02, 2.03177133e-02, 1.70960958e-03,
  9.26605735e-06, 3.48411129e-02, 1.08465807e-02, 1.77435390e-03,
 -3.09296052e-03, 3.46900019e-02, 1.08126920e-02, 1.73951084e-03,
  0.00000000e+00, 2.81576123e-03, 0.00000000e+00,-8.60242404e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006991073275541652
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03621245e-01,  8.78877079e-02, -9.48730673e-01, -2.67882354e-02,
        9.96130388e-01,  8.37056727e-02,  9.52416154e-01,  3.46944695e-18,
        3.04800706e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07223641, -0.04285046,  0.22459539])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  5.34827708,  6.78105516,  5.34827708, 19.12528316,
       -8.27270189,  6.78105516, -8.27270189, 15.16111544,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013958043797961048
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.98275059e-14,  3.97700079e-14,  1.00000000e+00,  1.18624015e-27,
        1.00000000e+00, -3.97700079e-14, -1.00000000e+00,  0.00000000e+00,
       -2.98275059e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03736886, -0.11768924,  0.06187616])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.98958999e-04, 3.77226979e-02, 9.43618366e-03, 4.48350456e-05,
 -4.77368129e-06,-5.09212970e-05,-4.23455175e-05, 6.88191893e-05,
 -5.60894784e-06, 5.24350044e-05, 6.99773743e-05, 1.98958706e-05,
  3.17880284e-03, 4.72988175e-03, 8.57490753e-03, 1.46539803e-03,
  4.09707753e-06, 1.97199121e-06,-1.21644105e+00, 1.58832092e-03,
  5.41084474e-04, 3.55571318e-05]


--- Step 2576 ---
qpos:
[-0.0160305 , 1.29455957,-0.03227668, 0.94844661, 0.00435175, 1.33148734,
 -0.0297469 , 0.9462465 , 0.01671935, 1.33656087,-0.02393676, 0.95497162,
  1.39371556,-0.00590482, 1.19088766, 0.06145855,-0.00368   ,-0.09264399,
  0.08153466, 0.64316583,-0.01220626,-0.00332239, 0.76562242]

qacc:
[-1.46930476e-01, 3.21169818e+00,-1.12432809e+01, 2.05861752e+01,
 -2.60531091e-02,-2.05747571e+00, 5.63318860e+00,-3.31155369e+00,
  1.11149519e-01,-8.66330715e-01, 3.02885683e+00,-6.59966394e-01,
 -7.30639255e-01, 9.47086883e-01,-8.52030688e-01,-3.06313008e-01,
  1.07962841e+00, 1.01208368e+00,-1.10915114e+00, 5.54583950e+01,
  4.96804820e+01, 8.92990436e-01]

qfrc_actuator:
[ 3.90182798e-03, 7.26094448e-02, 2.03079300e-02, 1.76726929e-03,
  4.54356254e-06, 3.48240918e-02, 1.08800555e-02, 1.78000083e-03,
 -3.05761888e-03, 3.47108921e-02, 1.08436191e-02, 1.74863017e-03,
  0.00000000e+00, 2.88026909e-03, 0.00000000e+00,-3.01231508e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006989591753331775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30361269,  0.08788861, -0.94873333, -0.02678776,  0.99613031,
        0.08370678,  0.95241889,  0.        ,  0.30479214])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0722352 , -0.04285091,  0.22459565])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.34711451,   6.78197193,   5.34711451,
        21.68947062, -10.29146958,   6.78197193, -10.29146958,
        16.75047366,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013644490337100038
  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([-0.03742087, -0.11772345,  0.0618788 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02979095e-03, 3.77869058e-02, 9.47127072e-03, 5.35172591e-05,
 -7.54145107e-06,-5.14112191e-05, 2.07166653e-05, 4.47586512e-06,
  3.20308709e-05, 6.41518186e-05, 4.97048596e-05, 1.31794849e-05,
  3.19398559e-03, 4.78585232e-03, 8.49985373e-03, 1.54088205e-03,
  1.18547699e-05, 9.17438330e-06,-1.21644510e+00, 1.59413772e-03,
  5.37519557e-04, 4.57144634e-05]


--- Step 2577 ---
qpos:
[-0.01603336, 1.29456921,-0.03227669, 0.94844597, 0.00435187, 1.33148753,
 -0.02974687, 0.94624537, 0.01671895, 1.33656069,-0.02393866, 0.95497191,
  1.39372378,-0.00590636, 1.19087379, 0.06145807,-0.00367232,-0.09264053,
  0.08153907, 0.6432393 ,-0.0121778 ,-0.00309559, 0.7655621 ]

qacc:
[ 5.98569696e-02, 1.69219978e+00,-5.84880784e+00, 9.45650166e+00,
 -2.52847437e-02,-4.32598095e+00, 1.65175005e+01,-2.97942984e+01,
  2.01188198e-01, 3.75585642e+00,-1.12709030e+01, 1.09963683e+01,
 -1.21698117e-01, 2.23317783e-01, 7.53793193e-01,-2.52478548e+00,
 -1.66066001e+00,-9.41190437e-01, 6.81118935e-01,-7.68033717e+01,
 -6.87902826e+01,-1.19798821e+00]

qfrc_actuator:
[ 3.89087810e-03, 7.27125744e-02, 2.03198420e-02, 1.78393905e-03,
  1.67517187e-06, 3.48317917e-02, 1.09177968e-02, 1.71222655e-03,
 -3.01846886e-03, 3.47413488e-02, 1.07911905e-02, 1.75393139e-03,
  0.00000000e+00, 2.86615479e-03, 0.00000000e+00,-6.72048489e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006987582581972178
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03603577e-01,  8.78896279e-02, -9.48736149e-01, -2.67872663e-02,
        9.96130219e-01,  8.37079988e-02,  9.52421813e-01,  3.46944695e-18,
        3.04783021e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07223383, -0.04285131,  0.22459594])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   6.95320529,   5.12247138,   6.95320529,
        37.53728722, -39.22990294,   5.12247138, -39.22990294,
        61.88674785,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013725417397071546
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.04440533e-14,  4.04440533e-14,  1.00000000e+00,  1.63572144e-27,
        1.00000000e+00, -4.04440533e-14, -1.00000000e+00,  0.00000000e+00,
       -4.04440533e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03705326, -0.06395331,  0.06187813])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03605172e-03, 3.78509180e-02, 9.49277124e-03, 2.11646087e-05,
 -7.32052402e-06,-1.65551358e-05, 3.01757748e-05,-6.86049065e-05,
  5.80625525e-05, 7.60381284e-05,-3.38638306e-05, 8.96059510e-06,
  3.22748436e-03, 4.75303145e-03, 8.57953155e-03, 1.52768172e-03,
  2.36953989e-05, 2.16229208e-05,-1.21645116e+00, 1.59966249e-03,
  5.33754796e-04, 6.27765298e-05]


--- Step 2578 ---
qpos:
[-0.01603638, 1.29458044,-0.03227595, 0.94844468, 0.00435194, 1.33148803,
 -0.02974693, 0.94624412, 0.01671887, 1.33656115,-0.02394086, 0.95497224,
  1.39373236,-0.00590783, 1.19085742, 0.06145763,-0.00367062,-0.09264083,
  0.0815432 , 0.6433131 ,-0.01214417,-0.00305947, 0.76550076]

qacc:
[-6.50143852e-02,-1.07385887e+00, 7.35334837e+00,-1.49123071e+01,
 -2.10683102e-02, 4.22139606e-01,-6.44411857e-01,-1.04851862e+00,
  1.38270462e-01, 1.73171845e+00,-4.72558282e+00, 4.22141121e+00,
  3.68232533e-01,-3.07312909e-01,-3.85569073e+00, 8.05215005e+00,
 -1.49789735e+00,-9.40069187e-01,-7.10005479e-02,-7.13270120e+01,
 -6.32951319e+01,-1.62234301e+00]

qfrc_actuator:
[ 3.88536831e-03, 7.27526609e-02, 2.03448855e-02, 1.75845419e-03,
 -5.78230505e-08, 3.48719758e-02, 1.09222923e-02, 1.70832705e-03,
 -3.01285725e-03, 3.47769616e-02, 1.07787878e-02, 1.75690614e-03,
  0.00000000e+00, 2.82272112e-03, 0.00000000e+00, 3.51428798e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006985713029706089
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03594392e-01,  8.78906016e-02, -9.48738998e-01, -2.67867550e-02,
        9.96130133e-01,  8.37091847e-02,  9.52424755e-01, -3.46944695e-18,
        3.04773827e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07223245, -0.04285171,  0.22459624])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.4108975 , -4.43456594, -7.4108975 ,  9.20757567,
       -0.95459034, -4.43456594, -0.95459034, 10.23164292,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013920151052012955
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.98782679e-14,  1.99391339e-14,  1.00000000e+00,  7.95138124e-28,
        1.00000000e+00, -1.99391339e-14, -1.00000000e+00,  0.00000000e+00,
       -3.98782679e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03702628, -0.06398776,  0.06187653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02350569e-03, 3.78757503e-02, 9.52928402e-03,-2.41307269e-05,
 -6.05326708e-06, 3.48672681e-05, 2.67868039e-06,-5.10468181e-06,
  3.98941990e-05, 7.13188163e-05,-1.13669606e-06, 4.44299996e-06,
  3.22884131e-03, 4.70344616e-03, 8.57773545e-03, 1.64139103e-03,
  8.44952634e-06, 5.83030744e-06,-1.21644336e+00, 1.59140387e-03,
  5.38439542e-04, 4.18084663e-05]


--- Step 2579 ---
qpos:
[-0.01603858, 1.29459202,-0.03227464, 0.94844355, 0.00435197, 1.33148855,
 -0.0297463 , 0.94624351, 0.01671902, 1.33656192,-0.0239426 , 0.95497467,
  1.39374147,-0.00590957, 1.19084273, 0.06145732,-0.00367439,-0.09264487,
  0.08154451, 0.64338785,-0.01210647,-0.00320123, 0.76543795]

qacc:
[ 3.44900850e-01,-7.67802489e-01, 2.71678157e+00,-6.06107749e-01,
 -1.59284092e-02,-7.08079584e-01, 1.05452499e+00, 6.44557193e+00,
  9.27925412e-02, 2.75559622e+00,-1.27207899e+01, 3.49791567e+01,
  5.24760504e-01,-6.75588067e-01, 2.07479274e+00,-3.74451381e+00,
 -1.36521668e+00,-9.35127917e-01,-7.04615273e-01,-6.67710780e+01,
 -5.87645028e+01,-1.92898911e+00]

qfrc_actuator:
[ 3.91886469e-03, 7.27535163e-02, 2.03769111e-02, 1.76182504e-03,
 -1.09593383e-06, 3.48779533e-02, 1.09605681e-02, 1.74206579e-03,
 -3.00965747e-03, 3.47977601e-02, 1.08079132e-02, 1.86504550e-03,
  0.00000000e+00, 2.77945321e-03, 0.00000000e+00,-4.53200185e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006983574105569323
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30358297,  0.08789165, -0.94874256, -0.02678607,  0.99613004,
        0.0837105 ,  0.95242842,  0.        ,  0.30476239])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07223083, -0.04285212,  0.22459661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.42499597, -4.41091959, -7.42499597,  9.56718767,
       -1.56687615, -4.41091959, -1.56687615, 11.27392002,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013923846996216765
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.98676826e-14,  3.98676826e-14,  1.00000000e+00,  1.58943211e-27,
        1.00000000e+00, -3.98676826e-14, -1.00000000e+00,  0.00000000e+00,
       -3.98676826e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03703139, -0.06399622,  0.06187652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06461935e-03, 3.77971514e-02, 9.52333264e-03, 1.18907371e-05,
 -4.60889245e-06, 2.56299719e-05, 4.52472096e-05, 3.47432070e-05,
  2.67558680e-05, 6.01478903e-05, 4.30564730e-05, 1.10320719e-04,
  3.21101627e-03, 4.65672965e-03, 8.70333217e-03, 1.55884060e-03,
  1.78018805e-06, 5.80590662e-07,-1.21643980e+00, 1.58412214e-03,
  5.42454895e-04, 3.41864661e-05]


--- Step 2580 ---
qpos:
[-0.01604018, 1.29460481,-0.03227229, 0.94844341, 0.00435198, 1.33148938,
 -0.02974562, 0.94624435, 0.01671946, 1.33656283,-0.02394351, 0.95497699,
  1.3937509 ,-0.00591148, 1.19082802, 0.06145688,-0.00368318,-0.09265262,
  0.08154087, 0.64346398,-0.01206556,-0.00351027, 0.76537325]

qacc:
[ 2.59187493e-01, 4.46585917e-01,-1.56636561e+00, 1.20078856e+01,
 -1.16267937e-02, 2.71983253e+00,-1.13808240e+01, 2.65207149e+01,
  1.22485275e-01,-2.26042555e+00, 7.80335194e+00,-8.10601392e+00,
  3.62366496e-01,-4.50288772e-01, 2.90756638e-01,-1.11481200e+00,
 -1.25682032e+00,-9.27680658e-01,-1.23802933e+00,-6.29828672e+01,
 -5.50287605e+01,-2.14566063e+00]

qfrc_actuator:
[ 3.95711176e-03, 7.27314320e-02, 2.04130174e-02, 1.81745339e-03,
 -1.70910614e-06, 3.48990635e-02, 1.09651211e-02, 1.81542995e-03,
 -2.99017524e-03, 3.47919969e-02, 1.08435582e-02, 1.85669019e-03,
  0.00000000e+00, 2.75436169e-03, 0.00000000e+00,-2.25320893e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006982756277721311
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30357068,  0.08789246, -0.94874641, -0.02678523,  0.99612997,
        0.08371162,  0.95243236,  0.        ,  0.30475007])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07222933, -0.04285258,  0.22459697])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.42719308, -4.40721905, -7.42719308, 10.02339511,
       -2.33747188, -4.40721905, -2.33747188, 12.57554949,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001377468123813036
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.04491134e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.04491134e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03706192, -0.06398415,  0.06187777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06241340e-03, 3.77572976e-02, 9.53121686e-03, 5.90564305e-05,
 -3.33217284e-06, 4.51722710e-05, 1.57280669e-05, 7.62653195e-05,
  3.52805466e-05, 3.91767366e-05, 5.55166941e-05,-2.74376026e-06,
  3.18489613e-03, 4.64580015e-03, 8.61972239e-03, 1.57567793e-03,
  2.04952306e-06, 3.77848432e-06,-1.21643962e+00, 1.57745538e-03,
  5.46045637e-04, 3.72316929e-05]


--- Step 2581 ---
qpos:
[-0.01604264, 1.2946204 ,-0.0322681 , 0.94844272, 0.00435211, 1.33149074,
 -0.02974576, 0.94624471, 0.01672016, 1.33656367,-0.02394293, 0.95497814,
  1.39376012,-0.00591318, 1.19080772, 0.06145655,-0.00369665,-0.09266405,
  0.08153048, 0.64354169,-0.01202211,-0.00397781, 0.7653063 ]

qacc:
[-3.66071215e-01,-2.23316033e+00, 1.28614593e+01,-1.93183793e+01,
  5.34362176e-02, 2.11069532e+00,-5.03249170e+00,-1.58810427e+00,
  1.11842293e-01,-6.11256836e+00, 2.21964600e+01,-3.26953731e+01,
 -1.26730480e-02, 7.57569040e-02,-8.55203179e+00, 1.79134580e+01,
 -1.16797994e+00,-9.18664235e-01,-1.68675004e+00,-5.98372593e+01,
 -5.19507952e+01,-2.29334488e+00]

qfrc_actuator:
[ 3.96258144e-03, 7.26768405e-02, 2.04331159e-02, 1.79703716e-03,
  1.56899813e-05, 3.49112229e-02, 1.09142867e-02, 1.78722943e-03,
 -2.97883368e-03, 3.47880967e-02, 1.09180657e-02, 1.79755655e-03,
  0.00000000e+00, 2.77566755e-03, 0.00000000e+00, 2.04413171e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006982866050825043
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30355625,  0.08789311, -0.94875097, -0.02678416,  0.99612991,
        0.08371265,  0.95243698,  0.        ,  0.30473561])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07222778, -0.04285306,  0.22459736])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.40609334, -4.44258464, -7.40609334, 10.6352251 ,
       -3.33223918, -4.44258464, -3.33223918, 14.19143494,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013504558982204984
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.22109797e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.22109797e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03711236, -0.06395598,  0.06188001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03748006e-03, 3.76424554e-02, 9.49918980e-03,-1.05918968e-05,
  1.54340934e-05, 4.25037182e-05,-3.79774495e-05,-2.46124718e-05,
  3.21726278e-05, 2.85245560e-05, 8.83905058e-05,-5.64092301e-05,
  3.16825008e-03, 4.67493016e-03, 8.62084318e-03, 1.80836811e-03,
  8.06203986e-06, 1.39070277e-05,-1.21644217e+00, 1.57116419e-03,
  5.49376689e-04, 4.90006219e-05]


--- Step 2582 ---
qpos:
[-0.01604541, 1.29463636,-0.03226338, 0.94844207, 0.0043524 , 1.3314922 ,
 -0.02974659, 0.94624372, 0.01672092, 1.33656425,-0.0239402 , 0.95497994,
  1.39376934,-0.00591479, 1.19078662, 0.06145636,-0.00370372,-0.09267123,
  0.08152776, 0.643617  ,-0.0119885 ,-0.00424289, 0.76524208]

qacc:
[-1.37443051e-01,-8.51687199e-01, 3.27811078e+00,-2.52447035e+00,
  6.73672374e-02,-3.03870840e-01, 3.88821852e+00,-1.89756938e+01,
  2.67132736e-02,-5.02813742e+00, 1.46644806e+01,-5.07272747e+00,
 -1.09691096e-02, 7.04943266e-02,-1.62462591e+00, 3.97248709e+00,
  1.59923266e+00, 1.06003527e+00, 1.91697190e+00, 7.43020973e+01,
  6.88915999e+01, 3.03398847e+00]

qfrc_actuator:
[ 3.93185563e-03, 7.26184171e-02, 2.04246405e-02, 1.78539937e-03,
  2.60008927e-05, 3.48821413e-02, 1.08665845e-02, 1.71719896e-03,
 -2.99021930e-03, 3.47854523e-02, 1.10326545e-02, 1.83332930e-03,
  0.00000000e+00, 2.77125718e-03, 0.00000000e+00, 1.80881482e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000698192035545487
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3035374 ,  0.08789408, -0.94875691, -0.02678279,  0.99612983,
        0.0837141 ,  0.95244303,  0.        ,  0.30471671])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07222571, -0.04285347,  0.22459788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013826431851430704
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.01485733e-14,  8.02971465e-14,  1.00000000e+00,  3.22381587e-27,
        1.00000000e+00, -8.02971465e-14, -1.00000000e+00,  0.00000000e+00,
       -4.01485733e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0374244 , -0.11766388,  0.06187728])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04968613e-03, 3.74438049e-02, 9.39859981e-03, 5.60840040e-06,
  1.94203000e-05,-1.37435790e-05,-4.44325718e-05,-7.04377056e-05,
  7.61050655e-06, 2.87166738e-05, 1.28554097e-04, 3.78946961e-05,
  3.17923670e-03, 4.66037791e-03, 8.90080103e-03, 1.78003051e-03,
  1.89470370e-05, 2.98700469e-05,-1.21644700e+00, 1.56509033e-03,
  5.52558579e-04, 6.80854475e-05]


--- Step 2583 ---
qpos:
[-0.01604728, 1.29465064,-0.03225937, 0.94844258, 0.00435269, 1.3314933 ,
 -0.02974735, 0.94624398, 0.01672166, 1.33656495,-0.02393728, 0.95498222,
  1.39377901,-0.00591662, 1.19076963, 0.06145613,-0.00370504,-0.09267429,
  0.08152922, 0.64369079,-0.01196321,-0.0043211 , 0.76517996]

qacc:
[ 3.90231454e-01, 1.67901308e+00,-1.05166280e+01, 2.35615534e+01,
 -1.07803514e-03, 1.47354316e+00,-7.91298010e+00, 2.14629697e+01,
 -9.29243409e-03, 4.72279406e-01,-2.31668968e+00, 7.48738861e+00,
  2.86721307e-01,-3.53861559e-01, 6.20231451e+00,-1.29132536e+01,
  1.43726450e+00, 1.03286504e+00, 1.04585437e+00, 6.88168900e+01,
  6.33014293e+01, 2.39368709e+00]

qfrc_actuator:
[ 3.93247765e-03, 7.26122569e-02, 2.04173494e-02, 1.83190567e-03,
  1.42229533e-05, 3.48640531e-02, 1.08742171e-02, 1.78289556e-03,
 -2.99739280e-03, 3.47660423e-02, 1.10280196e-02, 1.85368502e-03,
  0.00000000e+00, 2.73369631e-03, 0.00000000e+00, 6.97440723e-06,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006980869686207328
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30351768,  0.08789515, -0.94876312, -0.02678138,  0.99612973,
        0.08371568,  0.95244936,  0.        ,  0.30469694])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07222357, -0.04285387,  0.22459841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.04474383,  4.99583439,  7.04474383, 10.63937759,
       -2.8244972 ,  4.99583439, -2.8244972 , 12.61925371,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014078687775726795
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.94292083e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.94292083e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03739126, -0.1176269 ,  0.06187516])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06642265e-03, 3.74186677e-02, 9.36481511e-03, 4.97857123e-05,
 -3.18132519e-07,-3.65016287e-05,-2.17553968e-06, 6.23477482e-05,
 -2.67928669e-06, 2.26951599e-05, 1.66903523e-05, 2.58568641e-05,
  3.17934711e-03, 4.61833298e-03, 8.94114385e-03, 1.59881819e-03,
  6.21751594e-06, 1.05155007e-05,-1.21644131e+00, 1.57369437e-03,
  5.49190238e-04, 4.37974727e-05]


--- Step 2584 ---
qpos:
[-0.01604894, 1.29466398,-0.03225572, 0.94844253, 0.00435277, 1.3314941 ,
 -0.02974806, 0.9462457 , 0.01672249, 1.33656621,-0.02393594, 0.95498375,
  1.39378872,-0.00591863, 1.19075428, 0.06145607,-0.00370114,-0.09267331,
  0.08153193, 0.64376371,-0.01194502,-0.00422537, 0.76511943]

qacc:
[ 8.58544126e-02,-1.22280174e+00, 3.65413975e+00,-9.10489863e+00,
 -8.72362446e-02, 1.94741172e+00,-9.85586480e+00, 2.57815894e+01,
  3.99199816e-02, 3.71215439e+00,-9.70141151e+00,-6.26379497e-01,
  8.37859986e-02,-2.08608594e-01, 1.86042971e+00,-3.02218475e+00,
  1.30552242e+00, 1.00728734e+00, 3.13121311e-01, 6.42589151e+01,
  5.86910103e+01, 1.90056785e+00]

qfrc_actuator:
[ 3.91529421e-03, 7.26571184e-02, 2.04295511e-02, 1.80565278e-03,
 -1.07101933e-05, 3.48529719e-02, 1.08790620e-02, 1.85697161e-03,
 -2.98422703e-03, 3.47717952e-02, 1.09351925e-02, 1.81143954e-03,
  0.00000000e+00, 2.74752422e-03, 0.00000000e+00,-8.48267583e-06,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006980941801489685
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30350025,  0.08789592, -0.94876863, -0.02678008,  0.99612966,
        0.0837169 ,  0.95245495,  0.        ,  0.30467946])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07222179, -0.04285435,  0.22459887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.07157126,  4.95778749,  7.07157126, 11.21368539,
       -3.67617904,  4.95778749, -3.67617904, 13.87990466,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014127897554521707
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.91148373e-15,  2.94689024e-14,  1.00000000e+00, -1.44736035e-28,
        1.00000000e+00, -2.94689024e-14, -1.00000000e+00,  0.00000000e+00,
        4.91148373e-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([-0.03738866, -0.11761502,  0.06187476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00345988e-03, 3.75476668e-02, 9.41260119e-03,-3.43486257e-05,
 -2.51224024e-05,-2.98346615e-05,-7.13839767e-07, 7.43651813e-05,
  1.15849574e-05, 2.23245406e-05,-8.57422403e-05,-4.04746902e-05,
  3.15663580e-03, 4.64291556e-03, 8.73584112e-03, 1.58591543e-03,
  1.36326483e-06, 1.74682317e-06,-1.21643947e+00, 1.58111449e-03,
  5.45824167e-04, 3.31806340e-05]


--- Step 2585 ---
qpos:
[-0.01605115, 1.29467747,-0.03225212, 0.9484417 , 0.00435261, 1.33149472,
 -0.02974813, 0.94624757, 0.01672359, 1.33656789,-0.02393571, 0.95498371,
  1.39379833,-0.00592053, 1.19073741, 0.06145608,-0.00369244,-0.0926684 ,
  0.08153343, 0.64383618,-0.01193298,-0.0039664 , 0.76506002]

qacc:
[ -0.23396086, -0.98910691,  5.05219562,-13.43529266, -0.10303064,
  -1.6775821 ,  4.90972453, -2.50896193,  0.11119352,  0.84485799,
   1.06570496,-19.23190297, -0.07765783,  0.13240092, -2.42328284,
   5.24417648,  1.19825025,  0.98362505, -0.30265621, 60.47334704,
  54.88822724,  1.52300789]

qfrc_actuator:
[ 3.88777542e-03, 7.26437580e-02, 2.04178761e-02, 1.77250881e-03,
 -2.55794539e-05, 3.48639430e-02, 1.09177199e-02, 1.86433841e-03,
 -2.95896577e-03, 3.47921609e-02, 1.08799119e-02, 1.73267620e-03,
  0.00000000e+00, 2.75673453e-03, 0.00000000e+00, 7.09211189e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006981321999602712
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03484056e-01,  8.78966111e-02, -9.48773742e-01, -2.67788649e-02,
        9.96129603e-01,  8.37180186e-02,  9.52460141e-01, -3.46944695e-18,
        3.04663223e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07222017, -0.04285484,  0.22459929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.09428989,  4.92522363,  7.09428989, 11.92124348,
       -4.73153944,  4.92522363, -4.73153944, 15.4516709 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014014439978883297
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48537378e-14,  9.90249188e-15,  1.00000000e+00, -1.47089018e-28,
        1.00000000e+00, -9.90249188e-15, -1.00000000e+00,  0.00000000e+00,
        1.48537378e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0374103 , -0.11762303,  0.06187572])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.65865872e-04, 3.75811518e-02, 9.41890097e-03,-3.92552435e-05,
 -2.96954063e-05,-3.44516592e-06, 3.49235532e-05, 8.17926270e-06,
  3.21027460e-05, 1.47597545e-05,-6.18495863e-05,-8.15468614e-05,
  3.15457459e-03, 4.66131374e-03, 8.65451860e-03, 1.65641748e-03,
  2.86656160e-06, 1.39722330e-06,-1.21644071e+00, 1.58771304e-03,
  5.42375480e-04, 3.34917474e-05]


--- Step 2586 ---
qpos:
[-0.01605395, 1.29469182,-0.03224881, 0.94844042, 0.00435238, 1.33149519,
 -0.02974771, 0.94624918, 0.01672496, 1.33656898,-0.02393584, 0.95498346,
  1.39380801,-0.00592212, 1.19071617, 0.06145587,-0.0036793 ,-0.09265964,
  0.08153166, 0.64390846,-0.01192631,-0.00355302, 0.76500133]

qacc:
[-2.50737945e-01, 1.15393201e+00,-1.49751796e+00,-4.37487627e+00,
 -2.93671156e-02,-2.00073241e+00, 6.83488376e+00,-8.92039538e+00,
  1.16280229e-01,-1.53828905e-01,-2.16571777e-02,-1.94878784e+00,
  6.50954248e-02, 1.36367466e-01,-5.78986036e+00, 1.08773360e+01,
  1.11075136e+00, 9.62009971e-01,-8.19623969e-01, 5.73335278e+01,
  5.17539890e+01, 1.23668854e+00]

qfrc_actuator:
[ 3.90798289e-03, 7.26480067e-02, 2.03739544e-02, 1.75341896e-03,
 -1.65378695e-05, 3.48526273e-02, 1.09405687e-02, 1.85017358e-03,
 -2.94440587e-03, 3.47146916e-02, 1.08473155e-02, 1.72187859e-03,
  0.00000000e+00, 2.74520268e-03, 0.00000000e+00, 2.07284078e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000698093361815158
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30346776,  0.08789747, -0.94877887, -0.02677769,  0.99612953,
        0.0837193 ,  0.95246537,  0.        ,  0.30464689])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07221844, -0.04285531,  0.22459972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.10145142,  4.91489212,  7.10145142, 12.83142039,
       -6.06137248,  4.91489212, -6.06137248, 17.39434676,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013772048107580093
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.0153557e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.0153557e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03745099, -0.11764665,  0.06187774])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01350325e-03, 3.75776816e-02, 9.37736108e-03,-1.95886495e-05,
 -8.48199364e-06,-6.14935901e-06, 2.63894822e-05,-1.30516455e-05,
  3.35152307e-05,-8.38123826e-05,-3.91306800e-05,-1.40653841e-05,
  3.16009936e-03, 4.64435401e-03, 8.73044824e-03, 1.78960434e-03,
  9.61341912e-06, 7.89220769e-06,-1.21644449e+00, 1.59373601e-03,
  5.38791535e-04, 4.27385093e-05]


--- Step 2587 ---
qpos:
[-0.01605681, 1.2947059 ,-0.03224607, 0.94843905, 0.0043523 , 1.33149568,
 -0.02974765, 0.94625132, 0.01672642, 1.33656914,-0.02393533, 0.95498273,
  1.39381784,-0.00592363, 1.1906943 , 0.06145563,-0.0036728 ,-0.09265496,
  0.08153269, 0.64398074,-0.01191393,-0.00334569, 0.76494162]

qacc:
[-2.87639407e-02, 1.02746140e+00,-3.56122197e+00, 2.05184827e+00,
  6.35162144e-02, 1.92423696e+00,-7.35679872e+00, 1.26160719e+01,
  3.50849056e-02,-3.80033887e+00, 1.19045500e+01,-1.54330961e+01,
  9.96844784e-02,-2.08910860e-02,-8.68380900e-01, 1.64896492e+00,
 -1.65938990e+00,-1.01767138e+00, 7.01549881e-01,-7.69743389e+01,
 -6.85135824e+01,-1.56955140e+00]

qfrc_actuator:
[ 3.90382683e-03, 7.26443021e-02, 2.03464516e-02, 1.74273976e-03,
  6.77369027e-06, 3.48457392e-02, 1.09183041e-02, 1.87669924e-03,
 -2.95413626e-03, 3.46681257e-02, 1.08812818e-02, 1.69786540e-03,
  0.00000000e+00, 2.73873708e-03, 0.00000000e+00, 1.82800722e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006978494950907847
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30345092,  0.08789852, -0.94878416, -0.02677653,  0.99612943,
        0.08372077,  0.95247076,  0.        ,  0.30463001])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07221633, -0.04285574,  0.2246002 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.01416344,   5.0386792 ,   7.01416344,
        37.12514943, -39.65821042,   5.0386792 , -39.65821042,
        63.84312693,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013584033487649277
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.17299976e-14,  2.04324994e-14,  1.00000000e+00,  1.66994813e-27,
        1.00000000e+00, -2.04324994e-14, -1.00000000e+00,  0.00000000e+00,
       -8.17299976e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0371314 , -0.06401576,  0.0618793 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03873091e-03, 3.75309859e-02, 9.36434710e-03,-8.09649280e-06,
  1.83060829e-05,-5.52228136e-06,-2.08465248e-05, 2.68151570e-05,
  1.00548063e-05,-1.00977690e-04, 1.27386024e-05,-2.79681785e-05,
  3.15635513e-03, 4.62257769e-03, 8.94914732e-03, 1.77612210e-03,
  2.07871902e-05, 2.00877417e-05,-1.21645043e+00, 1.59935080e-03,
  5.35040180e-04, 5.94753090e-05]


--- Step 2588 ---
qpos:
[-0.01605929, 1.29471912,-0.03224362, 0.94843829, 0.00435242, 1.33149651,
 -0.0297483 , 0.94625375, 0.01672772, 1.33656897,-0.02393439, 0.95498201,
  1.39382779,-0.00592527, 1.19067532, 0.06145549,-0.00367229,-0.09265427,
  0.08153351, 0.64405379,-0.01189707,-0.00332902, 0.76488044]

qacc:
[ 1.64087401e-01, 6.67555355e-01,-4.79000751e+00, 1.17783793e+01,
  8.57517952e-02, 2.83839041e+00,-9.30654402e+00, 1.12066158e+01,
 -6.33443520e-02,-1.57751142e+00, 4.58916808e+00,-3.55673808e+00,
  3.34117478e-02,-9.13856854e-02, 3.98521456e+00,-7.73183076e+00,
 -1.49732115e+00,-1.00028389e+00,-5.36627344e-02,-7.14771643e+01,
 -6.30946057e+01,-1.91156734e+00]

qfrc_actuator:
[ 3.90251985e-03, 7.25833481e-02, 2.03469542e-02, 1.77244943e-03,
  2.07028082e-05, 3.48769066e-02, 1.08873873e-02, 1.89143450e-03,
 -2.97835850e-03, 3.46939429e-02, 1.09188290e-02, 1.70180077e-03,
  0.00000000e+00, 2.73540962e-03, 0.00000000e+00, 7.94591151e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006975410566616366
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03434889e-01,  8.78995700e-02, -9.48789194e-01, -2.67754348e-02,
        9.96129342e-01,  8.37222222e-02,  9.52475902e-01,  3.46944695e-18,
        3.04613945e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07221419, -0.04285619,  0.22460067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.19006692, -4.78431966, -7.19006692,  9.73323595,
       -1.64842359, -4.78431966, -1.64842359, 11.11368053,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013788334447351683
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.05190089e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.05190089e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03710195, -0.06405013,  0.0618776 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04077847e-03, 3.74832083e-02, 9.39360911e-03, 2.67840327e-05,
  2.47313453e-05, 2.48402031e-05,-3.35801161e-05, 1.45846247e-05,
 -1.82891674e-05,-2.83649949e-05, 1.84547480e-05, 6.64733683e-07,
  3.14840164e-03, 4.61498983e-03, 8.98162358e-03, 1.67426699e-03,
  6.86020219e-06, 5.14109744e-06,-1.21644305e+00, 1.59135839e-03,
  5.39571643e-04, 3.96797172e-05]


--- Step 2589 ---
qpos:
[-0.0160616 , 1.29473228,-0.03224134, 0.94843712, 0.00435273, 1.33149781,
 -0.02974993, 0.94625531, 0.01672896, 1.3365688 ,-0.02393348, 0.95498238,
  1.39383792,-0.00592701, 1.19065607, 0.06145543,-0.00367724,-0.09265751,
  0.08153156, 0.64412815,-0.0118767 ,-0.00349025, 0.76481742]

qacc:
[ 7.31355449e-02,-2.93725912e-01, 1.67309773e+00,-6.08146899e+00,
  7.89492947e-02, 1.79368128e+00,-3.33205184e+00,-7.51827481e+00,
 -2.78211790e-02, 1.95671752e+00,-8.56635619e+00, 1.99186461e+01,
  2.21970870e-01,-2.88123189e-01,-6.51086228e-01, 1.66031352e+00,
 -1.36510384e+00,-9.82409446e-01,-6.89945652e-01,-6.69036919e+01,
 -5.86225861e+01,-2.15332069e+00]

qfrc_actuator:
[ 3.92024970e-03, 7.25597524e-02, 2.03286872e-02, 1.75470706e-03,
  2.88897795e-05, 3.48950671e-02, 1.08340093e-02, 1.84587154e-03,
 -2.97557131e-03, 3.47096965e-02, 1.09229639e-02, 1.75769517e-03,
  0.00000000e+00, 2.71639679e-03, 0.00000000e+00, 1.23969784e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006973403913918506
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03419936e-01,  8.79004956e-02, -9.48793890e-01, -2.67743995e-02,
        9.96129260e-01,  8.37235251e-02,  9.52480695e-01,  3.46944695e-18,
        3.04598959e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07221229, -0.04285668,  0.2246011 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.2007704 , -4.7681949 , -7.2007704 , 10.2143954 ,
       -2.38309144, -4.7681949 , -2.38309144, 12.23522959,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001380074308175161
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  4.0223306e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -4.0223306e-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([ 0.03710491, -0.06405873,  0.0618775 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03925472e-03, 3.75023540e-02, 9.38921280e-03,-2.15897713e-05,
  2.27819287e-05, 2.57706542e-05,-5.19097795e-05,-4.54601627e-05,
 -8.01176238e-06, 3.69101636e-06, 7.10449833e-07, 5.56093145e-05,
  3.14286662e-03, 4.60265349e-03, 8.83723121e-03, 1.71410844e-03,
  1.44882796e-06, 6.46559496e-07,-1.21643986e+00, 1.58420846e-03,
  5.43509540e-04, 3.31207658e-05]


--- Step 2590 ---
qpos:
[-0.01606327, 1.29474422,-0.03223925, 0.94843585, 0.00435319, 1.33149911,
 -0.02975236, 0.94625634, 0.01673032, 1.33656895,-0.02393293, 0.95498306,
  1.39384816,-0.00592912, 1.19064078, 0.06145564,-0.00368721,-0.09266462,
  0.08152472, 0.64420412,-0.01185357,-0.00381883, 0.76475222]

qacc:
[ 2.73608763e-01,-1.25671138e+00, 2.38373531e+00,-2.46564997e+00,
  6.28359843e-02, 1.25474213e+00,-2.99041401e+00,-3.53301800e+00,
  4.92956447e-02, 1.93978160e+00,-6.44248321e+00, 8.95829403e+00,
  1.56985318e-01,-3.93455360e-01, 4.99738782e+00,-9.00540664e+00,
 -1.25698368e+00,-9.64671428e-01,-1.22566910e+00,-6.31006214e+01,
 -5.49318028e+01,-2.31880037e+00]

qfrc_actuator:
[ 3.91395572e-03, 7.24871174e-02, 2.03346776e-02, 1.74477058e-03,
  3.35663584e-05, 3.48696644e-02, 1.07854810e-02, 1.81843451e-03,
 -2.95660271e-03, 3.47369716e-02, 1.09073483e-02, 1.77268216e-03,
  0.00000000e+00, 2.70574431e-03, 0.00000000e+00,-9.11869690e-06,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006971191454845302
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03405223e-01,  8.79013665e-02, -9.48798514e-01, -2.67733685e-02,
        9.96129183e-01,  8.37247691e-02,  9.52485411e-01, -3.46944695e-18,
        3.04584213e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07221039, -0.04285717,  0.22460153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.19515257, -4.77666792, -7.19515257, 10.83251825,
       -3.30809421, -4.77666792, -3.30809421, 13.6193859 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013659520587953958
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.06391651e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.06391651e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03713356, -0.06404697,  0.06187867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02437126e-03, 3.74331298e-02, 9.40420161e-03,-1.13065654e-05,
  1.81214516e-05,-2.26661650e-05,-5.07232350e-05,-2.92384691e-05,
  1.42382714e-05, 3.11039353e-05,-1.31871459e-05, 1.64128044e-05,
  3.13429589e-03, 4.59696296e-03, 8.85107921e-03, 1.57720056e-03,
  2.92603150e-06, 4.53340173e-06,-1.21644000e+00, 1.57758854e-03,
  5.47072158e-04, 3.71495789e-05]


--- Step 2591 ---
qpos:
[-0.01606503, 1.29475672,-0.0322363 , 0.9484353 , 0.00435361, 1.33150026,
 -0.02975529, 0.94625634, 0.01673154, 1.33656905,-0.02393301, 0.95498395,
  1.39385822,-0.00593127, 1.1906263 , 0.06145587,-0.00369115,-0.09266772,
  0.0815232 , 0.64427788,-0.01183956,-0.00395485, 0.76468961]

qacc:
[-3.69879585e-02,-3.77512151e-01, 6.39281709e-01, 7.37604768e+00,
 -1.57497899e-02,-6.19838599e-01, 3.86343890e+00,-1.51389101e+01,
 -5.67296465e-02, 2.00832986e+00,-7.06736947e+00, 8.70221080e+00,
 -1.51886578e-01, 1.05922350e-01, 1.14074491e+00,-2.24220980e+00,
  1.51076396e+00, 9.99954349e-01, 1.33084204e+00, 7.06869891e+01,
  6.54887686e+01, 2.83825849e+00]

qfrc_actuator:
[ 3.91046140e-03, 7.24394862e-02, 2.03730540e-02, 1.79263377e-03,
  1.83475439e-05, 3.48538921e-02, 1.07578117e-02, 1.76637178e-03,
 -2.98133917e-03, 3.46998277e-02, 1.08624740e-02, 1.78121765e-03,
  0.00000000e+00, 2.71816981e-03, 0.00000000e+00, 1.72911862e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006970504724605198
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30339185,  0.08790203, -0.94880273, -0.02677239,  0.99612912,
        0.08372578,  0.9524897 ,  0.        ,  0.3045708 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07220883, -0.0428577 ,  0.22460189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.02603028,  -5.02211862,  -7.02603028,
        36.84077709, -39.45845923,  -5.02211862, -39.45845923,
        63.83942637,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013718589059328185
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.05802300e-15, -4.04641840e-14,  1.00000000e+00,  2.04668774e-28,
        1.00000000e+00,  4.04641840e-14, -1.00000000e+00,  0.00000000e+00,
        5.05802300e-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([-0.0374832 , -0.11761798,  0.06187814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.88786343e-04, 3.74459845e-02, 9.45192493e-03, 4.16063012e-05,
 -4.52590662e-06,-3.91104795e-05,-3.87257577e-05,-5.49071904e-05,
 -1.63291193e-05,-2.20320723e-05,-3.98180298e-05, 9.45500349e-06,
  3.12827266e-03, 4.62784457e-03, 8.65317229e-03, 1.58975179e-03,
  1.01055550e-05, 1.53019876e-05,-1.21644285e+00, 1.57129183e-03,
  5.50406436e-04, 4.98440338e-05]


--- Step 2592 ---
qpos:
[-0.01606767, 1.29477008,-0.03223308, 0.94843463, 0.00435393, 1.33150119,
 -0.02975799, 0.94625568, 0.01673227, 1.33656892,-0.023933  , 0.95498527,
  1.39386783,-0.00593312, 1.19060893, 0.06145598,-0.00368962,-0.09266689,
  0.08152389, 0.64435022,-0.01183326,-0.00391216, 0.76462897]

qacc:
[-3.78137123e-01, 2.06912855e-01, 9.39508479e-01,-2.68212637e+00,
 -4.14317642e-02,-2.01947476e+00, 7.60296692e+00,-1.40867333e+01,
 -2.09478649e-01, 1.77457800e-01,-1.78935725e+00, 6.53643780e+00,
 -4.24242608e-01, 5.86140047e-01,-3.85004464e+00, 7.34824169e+00,
  1.36542471e+00, 9.82815358e-01, 5.55127166e-01, 6.58369841e+01,
  6.05061519e+01, 2.24766064e+00]

qfrc_actuator:
[ 3.89136617e-03, 7.24588390e-02, 2.03588807e-02, 1.78563890e-03,
  9.07034779e-06, 3.48618237e-02, 1.07781885e-02, 1.73574867e-03,
 -3.03209493e-03, 3.46952818e-02, 1.08714615e-02, 1.80359976e-03,
  0.00000000e+00, 2.76201896e-03, 0.00000000e+00, 1.21795838e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006970781450815859
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03377128e-01,  8.79027308e-02, -9.48807371e-01, -2.67713081e-02,
        9.96129063e-01,  8.37268604e-02,  9.52494417e-01, -3.46944695e-18,
        3.04556046e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07220732, -0.04285822,  0.22460228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.14577256,  4.85022798,  7.14577256, 10.4259349 ,
       -2.63655014,  4.85022798, -2.63655014, 12.52075582,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013850380281551639
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.00791531e-14,  4.00791531e-14,  1.00000000e+00,  1.60633852e-27,
        1.00000000e+00, -4.00791531e-14, -1.00000000e+00,  0.00000000e+00,
       -4.00791531e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03746824, -0.1175951 ,  0.06187704])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.74029304e-04, 3.74377740e-02, 9.39479973e-03,-1.08463341e-06,
 -1.19490962e-05,-2.29267008e-05, 6.71655865e-06,-3.42069044e-05,
 -6.03973264e-05,-2.42246370e-05, 4.37717702e-07, 2.07855144e-05,
  3.13729130e-03, 4.67399352e-03, 8.61322919e-03, 1.69338242e-03,
  2.46380257e-06, 3.48389152e-06,-1.21643988e+00, 1.57914643e-03,
  5.47006426e-04, 3.52560640e-05]


--- Step 2593 ---
qpos:
[-0.01607015, 1.29478165,-0.03223103, 0.9484349 , 0.00435415, 1.33150131,
 -0.02975977, 0.94625814, 0.0167326 , 1.3365691 ,-0.02393221, 0.95498573,
  1.39387702,-0.00593491, 1.19059517, 0.06145591,-0.0036831 ,-0.0926622 ,
  0.0815242 , 0.6444217 ,-0.01183358,-0.00370223, 0.76456977]

qacc:
[ 6.82150058e-02, 2.36914532e+00,-1.24715905e+01, 2.26713729e+01,
 -4.39048278e-02, 1.74983812e+00,-1.33653764e+01, 4.81044374e+01,
 -1.67641737e-01,-3.16584063e+00, 1.25490298e+01,-2.10100257e+01,
 -5.69152409e-01, 6.21057689e-01, 5.89910548e+00,-1.28144369e+01,
  1.24716503e+00, 9.65585593e-01,-9.71447361e-02, 6.18065533e+01,
  5.63978664e+01, 1.79373383e+00]

qfrc_actuator:
[ 3.88149780e-03, 7.24645829e-02, 2.03311699e-02, 1.81728255e-03,
  3.43381808e-06, 3.48130788e-02, 1.08268634e-02, 1.89555821e-03,
 -3.04478988e-03, 3.47637549e-02, 1.09300532e-02, 1.76299182e-03,
  0.00000000e+00, 2.80663563e-03, 0.00000000e+00,-6.40066280e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000696998251546465
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30336131,  0.08790371, -0.94881234, -0.02677021,  0.99612898,
        0.08372824,  0.95249948,  0.        ,  0.3045402 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07220556, -0.04285869,  0.22460271])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.16562823,  4.82084525,  7.16562823, 11.00643096,
       -3.52283064,  4.82084525, -3.52283064, 13.87264346,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013805770514004265
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.50782469e-14,  8.04173171e-14,  1.00000000e+00,  1.21255217e-27,
        1.00000000e+00, -8.04173171e-14, -1.00000000e+00,  0.00000000e+00,
       -1.50782469e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03747968, -0.11759405,  0.06187741])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00849867e-03, 3.73998538e-02, 9.35329994e-03, 3.62917830e-05,
 -1.26884513e-05,-6.11438520e-05, 4.39543938e-05, 1.58521936e-04,
 -4.83547708e-05, 5.57795447e-05, 5.45208655e-05,-4.08273886e-05,
  3.16002119e-03, 4.70329220e-03, 8.75776158e-03, 1.51389501e-03,
  1.69598753e-06, 7.89680406e-07,-1.21644023e+00, 1.58600179e-03,
  5.43580603e-04, 3.25006173e-05]


--- Step 2594 ---
qpos:
[-0.01607123, 1.29478981,-0.03223067, 0.94843606, 0.00435399, 1.33150066,
 -0.02976086, 0.94626249, 0.01673278, 1.33656952,-0.02393123, 0.95498469,
  1.39388625,-0.00593715, 1.19059015, 0.06145577,-0.00367198,-0.09265371,
  0.08152193, 0.64449269,-0.01183962,-0.00333455, 0.76451153]

qacc:
[  0.59598355,  1.65296235,-12.64249175, 23.51604392, -0.1610131 ,
   0.40448736, -6.42773242, 28.10179709, -0.06346401, -2.78974905,
  12.46915995,-28.12869067, -0.12965943, -0.11105691, 13.14354884,
 -27.17344167,  1.15079432,  0.94885164, -0.64510523, 58.46059556,
  53.01180881,  1.44748001]

qfrc_actuator:
[ 3.87647323e-03, 7.24999832e-02, 2.03321728e-02, 1.85335868e-03,
 -3.54783793e-05, 3.47665201e-02, 1.08562239e-02, 1.98859814e-03,
 -3.03454903e-03, 3.47513228e-02, 1.09289259e-02, 1.68570443e-03,
  0.00000000e+00, 2.79858209e-03, 0.00000000e+00,-3.70630898e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006969847206868517
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30334832,  0.08790462, -0.94881641, -0.02676934,  0.9961289 ,
        0.08372947,  0.95250365,  0.        ,  0.30452718])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07220413, -0.04285917,  0.22460306])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.17510153,  4.80673433,  7.17510153, 11.72896344,
       -4.61638112,  4.80673433, -4.61638112, 15.52732139,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013620618303890053
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.07552359e-14,  8.15104718e-14,  1.00000000e+00,  3.32197851e-27,
        1.00000000e+00, -8.15104718e-14, -1.00000000e+00,  0.00000000e+00,
       -4.07552359e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03751198, -0.11761023,  0.06187895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.95457542e-04, 3.75248610e-02, 9.41256379e-03, 2.59128135e-05,
 -4.64025274e-05,-6.70276006e-05, 2.70535068e-05, 9.61735320e-05,
 -1.83057554e-05, 2.78482820e-05, 1.47671621e-05,-7.49874783e-05,
  3.18103056e-03, 4.69242169e-03, 8.57803439e-03, 1.21630290e-03,
  6.55868731e-06, 5.45004545e-06,-1.21644329e+00, 1.59216476e-03,
  5.40054613e-04, 3.93386931e-05]


--- Step 2595 ---
qpos:
[-0.01607155, 1.2947967 ,-0.03223118, 0.94843672, 0.00435312, 1.3315    ,
 -0.02976224, 0.94626446, 0.01673292, 1.33657022,-0.02393061, 0.9549838 ,
  1.39389576,-0.00593971, 1.19058804, 0.06145547,-0.00366737,-0.09264937,
  0.08152215, 0.64456407,-0.01184055,-0.00317078, 0.76445203]

qacc:
[ 3.24284991e-01,-2.13913067e-01,-2.78477694e-01,-4.78833236e+00,
 -2.98487626e-01,-3.31114292e+00, 1.56732261e+01,-4.12344425e+01,
 -1.61944243e-02, 1.57699557e+00,-4.98240676e+00, 5.79506548e+00,
  2.85963268e-01,-4.75383399e-01, 4.74332903e+00,-1.04095229e+01,
 -1.62644429e+00,-1.03583396e+00, 6.21211297e-01,-7.63010556e+01,
 -6.76598712e+01,-1.77532376e+00]

qfrc_actuator:
[ 3.87305298e-03, 7.24845016e-02, 2.03159039e-02, 1.83849207e-03,
 -9.40380061e-05, 3.47748056e-02, 1.08383602e-02, 1.86401149e-03,
 -3.02838704e-03, 3.47613083e-02, 1.09099865e-02, 1.69389765e-03,
  0.00000000e+00, 2.75940978e-03, 0.00000000e+00,-3.94732948e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006972225531162654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30334021,  0.08790504, -0.94881896, -0.02676876,  0.99612886,
        0.0837301 ,  0.95250625,  0.        ,  0.30451904])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07220348, -0.04285974,  0.22460326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.02939762,   5.0174043 ,   7.02939762,
        36.86269015, -39.54516335,   5.0174043 , -39.54516335,
        64.03924943,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001392000589348727
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.98786837e-14,  7.97573674e-14,  1.00000000e+00,  3.18061883e-27,
        1.00000000e+00, -7.97573674e-14, -1.00000000e+00,  0.00000000e+00,
       -3.98786837e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0371142 , -0.06411875,  0.06187644])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.22128579e-04, 3.76798630e-02, 9.48151643e-03,-3.40410764e-05,
 -8.59447420e-05,-2.06067279e-05,-2.50678021e-05,-1.23568644e-04,
 -4.64409144e-06, 2.60413895e-05,-1.40195672e-05, 7.70576950e-06,
  3.17937177e-03, 4.67575726e-03, 8.14048337e-03, 1.19573749e-03,
  1.61387380e-05, 1.61800340e-05,-1.21644864e+00, 1.59784305e-03,
  5.36382268e-04, 5.41454628e-05]


--- Step 2596 ---
qpos:
[-0.01607271, 1.29480601,-0.03223072, 0.94843677, 0.0043517 , 1.33149975,
 -0.02976378, 0.94626488, 0.01673322, 1.33657139,-0.02392981, 0.95498435,
  1.39390523,-0.00594201, 1.19058009, 0.0614548 ,-0.00366864,-0.09264908,
  0.08152186, 0.64463653,-0.01183748,-0.00319587, 0.76439087]

qacc:
[-3.54264697e-01,-4.42899537e-01, 6.54226013e+00,-1.42977068e+01,
 -2.33882964e-01,-1.71244775e+00, 9.40248877e+00,-2.63806586e+01,
  6.47161077e-02, 2.64556942e+00,-1.07714976e+01, 2.56505521e+01,
  7.13521267e-02, 6.86153199e-02,-7.50542055e+00, 1.36975109e+01,
 -1.47053434e+00,-1.01332052e+00,-1.23952822e-01,-7.08934369e+01,
 -6.23772388e+01,-2.06812107e+00]

qfrc_actuator:
[ 0.00388843, 0.07241996, 0.02030686, 0.00182961,-0.00011065, 0.0348333 ,
  0.01084612, 0.0017899 ,-0.00300697, 0.03482011, 0.01093409, 0.00177009,
  0.        , 0.00275488, 0.        ,-0.00014269, 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: -0.0006975278609703019
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03334116e-01,  8.79052086e-02, -9.48820894e-01, -2.67682729e-02,
        9.96128844e-01,  8.37304322e-02,  9.52508201e-01,  3.46944695e-18,
        3.04512933e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0722031 , -0.04286035,  0.22460341])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.17939851, -4.80031393, -7.17939851, 10.02002153,
       -2.06941287, -4.80031393, -2.06941287, 11.73139865,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014084205074501935
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.94137624e-14,  3.94137624e-14,  1.00000000e+00,  1.55344467e-27,
        1.00000000e+00, -3.94137624e-14, -1.00000000e+00,  0.00000000e+00,
       -3.94137624e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03709128, -0.06414736,  0.06187507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.99459558e-04, 3.76785207e-02, 9.51517074e-03,-1.77764620e-05,
 -6.73304114e-05, 3.84988175e-05,-2.73442901e-06,-7.83265661e-05,
  1.86749833e-05, 7.06840474e-05, 2.78193486e-05, 7.67383243e-05,
  3.16496599e-03, 4.68750678e-03, 7.99527521e-03, 1.45569185e-03,
  4.60956339e-06, 3.49438399e-06,-1.21644222e+00, 1.59013179e-03,
  5.40728420e-04, 3.73029310e-05]


--- Step 2597 ---
qpos:
[-0.01607463, 1.29481755,-0.03222855, 0.94843668, 0.00435003, 1.33150002,
 -0.02976509, 0.94626506, 0.01673371, 1.33657249,-0.02392904, 0.95498552,
  1.39391431,-0.00594414, 1.19056867, 0.06145409,-0.00367528,-0.09265275,
  0.08151857, 0.6447105 ,-0.01183131,-0.00339731, 0.76432771]

qacc:
[ -0.32612507, -1.93413609, 10.10696652,-11.70136073, -0.10785613,
  -0.30645792,  2.32106086, -5.05372944,  0.08208858,  1.0516403 ,
  -4.80372467, 11.38803169, -0.25050942,  0.2937502 , -4.99474679,
  10.07816996, -1.34320978, -0.99143398, -0.75171859,-66.39497203,
 -58.01596936, -2.27145259]

qfrc_actuator:
[ 3.91636246e-03, 7.23938025e-02, 2.03539302e-02, 1.82462944e-03,
 -1.01968934e-04, 3.48860177e-02, 1.08692388e-02, 1.78170904e-03,
 -2.99433268e-03, 3.47658672e-02, 1.09126251e-02, 1.79697566e-03,
  0.00000000e+00, 2.78842415e-03, 0.00000000e+00,-6.19807070e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006976625147149078
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03324803e-01,  8.79056665e-02, -9.48823829e-01, -2.67675916e-02,
        9.96128804e-01,  8.37311306e-02,  9.52511186e-01,  3.46944695e-18,
        3.04503596e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07220218, -0.04286089,  0.22460366])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.18722946, -4.78858117, -7.18722946, 10.5462546 ,
       -2.86657448, -4.78858117, -2.86657448, 12.93883401,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001406111499300082
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.94784846e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.94784846e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03709999, -0.06415106,  0.06187526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.68935766e-04, 3.75311616e-02, 9.51444551e-03, 8.00252242e-06,
 -3.10473177e-05, 7.11272512e-05, 2.80417089e-05,-8.93976723e-06,
  2.36675693e-05,-7.45356263e-06,-2.25594805e-06, 3.15789089e-05,
  3.16672903e-03, 4.70772940e-03, 8.28767659e-03, 1.55514516e-03,
  1.29530599e-06, 8.84253904e-07,-1.21643983e+00, 1.58316104e-03,
  5.44548311e-04, 3.32243326e-05]


--- Step 2598 ---
qpos:
[-0.01607668, 1.29482944,-0.03222583, 0.94843642, 0.0043484 , 1.33150101,
 -0.02976623, 0.94626548, 0.01673466, 1.33657365,-0.02392904, 0.95498566,
  1.39392288,-0.00594626, 1.19055674, 0.06145341,-0.00368687,-0.09266031,
  0.08151016, 0.64478623,-0.01182272,-0.00376475, 0.76426224]

qacc:
[-5.73772615e-02,-1.34165317e+00, 5.28289257e+00,-6.80186853e+00,
  1.89217666e-02, 8.45181799e-01,-2.11404183e+00, 4.07090025e+00,
  1.96765337e-01, 3.66821868e-01, 9.88974642e-01,-1.28775395e+01,
 -3.78192432e-01, 3.22946274e-01,-8.10081191e-01, 1.77578467e+00,
 -1.23896382e+00,-9.70558820e-01,-1.28020279e+00,-6.26552144e+01,
 -5.44156875e+01,-2.40692669e+00]

qfrc_actuator:
[ 3.95210358e-03, 7.23899140e-02, 2.03625266e-02, 1.80400587e-03,
 -7.81846102e-05, 3.49349688e-02, 1.08834988e-02, 1.79461144e-03,
 -2.95155638e-03, 3.47506812e-02, 1.08639507e-02, 1.74125126e-03,
  0.00000000e+00, 2.82705723e-03, 0.00000000e+00,-8.42628030e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006977707593935241
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30331174,  0.0879064 , -0.94882794, -0.02676666,  0.99612874,
        0.0837322 ,  0.95251537,  0.        ,  0.3044905 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07220091, -0.04286136,  0.224604  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.17529922, -4.80643922, -7.17529922, 11.23486822,
       -3.87918104, -4.80643922, -3.87918104, 14.42740425,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013888393391578019
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.99694548e-14,  3.99694548e-14,  1.00000000e+00,  1.59755732e-27,
        1.00000000e+00, -3.99694548e-14, -1.00000000e+00,  0.00000000e+00,
       -3.99694548e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03713371, -0.06413511,  0.06187669])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04293063e-03, 3.74160543e-02, 9.43731046e-03,-5.82500514e-06,
  5.46576623e-06, 9.35099053e-05, 3.10988911e-05, 1.56483178e-05,
  5.67498409e-05,-1.88181416e-05,-4.94627953e-05,-5.52721863e-05,
  3.18682353e-03, 4.73814359e-03, 8.46099819e-03, 1.53458118e-03,
  4.63673481e-06, 6.36961442e-06,-1.21644066e+00, 1.57665441e-03,
  5.48038121e-04, 3.93742896e-05]


--- Step 2599 ---
qpos:
[-0.0160786 , 1.29484063,-0.03222401, 0.94843747, 0.00434707, 1.33150278,
 -0.02976724, 0.94626638, 0.0167361 , 1.33657489,-0.0239291 , 0.95498474,
  1.3939313 ,-0.00594814, 1.19054498, 0.06145217,-0.00369231,-0.09266382,
  0.08150794, 0.64485964,-0.01182332,-0.00393596, 0.76419942]

qacc:
[ 5.76362301e-02, 3.76873465e+00,-1.60777407e+01, 2.95283325e+01,
  1.24518250e-01, 1.54138830e+00,-4.77332372e+00, 9.32437355e+00,
  2.02968112e-01,-1.54468325e+00, 7.29228498e+00,-1.85126554e+01,
 -3.28554249e-01, 5.23408140e-01, 1.95983885e+00,-6.41453156e+00,
  1.54150227e+00, 1.01140464e+00, 1.54533449e+00, 7.20209591e+01,
  6.67552603e+01, 2.91813228e+00]

qfrc_actuator:
[ 3.93894524e-03, 7.23826180e-02, 2.03130023e-02, 1.86285191e-03,
 -4.55369241e-05, 3.49812768e-02, 1.08924032e-02, 1.81980069e-03,
 -2.92655153e-03, 3.47765770e-02, 1.08707148e-02, 1.69063465e-03,
  0.00000000e+00, 2.83332698e-03, 0.00000000e+00,-1.32877242e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006978826635980033
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03297805e-01,  8.79071833e-02, -9.48832318e-01, -2.67656745e-02,
        9.96128670e-01,  8.37333359e-02,  9.52519837e-01,  3.46944695e-18,
        3.04476534e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0721996 , -0.04286179,  0.22460437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.03002796,  -5.01652108,  -7.03002796,
        37.68062949, -40.70191235,  -5.01652108, -40.70191235,
        65.67501207,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013817777907625048
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.00868590e-14,  4.01737179e-14,  1.00000000e+00,  8.06963807e-28,
        1.00000000e+00, -4.01737179e-14, -1.00000000e+00,  0.00000000e+00,
       -2.00868590e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03750605, -0.11755034,  0.06187723])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03650121e-03, 3.73912657e-02, 9.35990523e-03, 6.17475360e-05,
  3.58763386e-05, 1.04579557e-04, 3.11877747e-05, 2.92677646e-05,
  5.85102528e-05, 4.18693828e-06,-4.15029853e-06,-5.39063048e-05,
  3.21219246e-03, 4.74395281e-03, 8.48715804e-03, 1.48488169e-03,
  1.34992022e-05, 1.85177991e-05,-1.21644411e+00, 1.57042901e-03,
  5.51329634e-04, 5.39147824e-05]


--- Step 2600 ---
qpos:
[-0.01607972, 1.29484969,-0.03222367, 0.94843972, 0.00434622, 1.33150518,
 -0.0297683 , 0.94626692, 0.01673764, 1.33657578,-0.02392897, 0.95498393,
  1.39394012,-0.00595009, 1.19053751, 0.06145053,-0.00369217,-0.09266337,
  0.08150864, 0.64493158,-0.01183168,-0.00392543, 0.76413864]

qacc:
[ 3.40131712e-01, 3.21010364e+00,-1.63121046e+01, 2.93855323e+01,
  2.04399263e-01, 3.18634606e-01, 6.99418373e-01,-5.28654673e+00,
  4.57912674e-02,-8.03779156e-01, 1.82102153e+00,-1.51127377e-02,
  1.19016920e-01,-7.32253625e-02, 7.53428087e+00,-1.71492274e+01,
  1.39062256e+00, 9.92265936e-01, 7.34118444e-01, 6.69332234e+01,
  6.15451556e+01, 2.30983339e+00]

qfrc_actuator:
[ 3.89623086e-03, 7.23919344e-02, 2.02831063e-02, 1.91470543e-03,
 -7.83841438e-06, 3.49901216e-02, 1.08803208e-02, 1.79875221e-03,
 -2.94791517e-03, 3.47383079e-02, 1.08748325e-02, 1.69676992e-03,
  0.00000000e+00, 2.80218648e-03, 0.00000000e+00,-3.20992530e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006979310668075618
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3032854 ,  0.08790791, -0.94883622, -0.0267648 ,  0.99612861,
        0.08373438,  0.95252381,  0.        ,  0.3044641 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0721983 , -0.04286221,  0.22460471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.16251881,  4.82546382,  7.16251881, 10.4220824 ,
       -2.65057302,  4.82546382, -2.65057302, 12.57065469,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013990323036060653
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.96782484e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.96782484e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0374848 , -0.11752259,  0.06187579])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.87003715e-04, 3.74352742e-02, 9.37541666e-03, 4.80250517e-05,
  5.88728834e-05, 7.36612574e-05, 1.27743843e-05,-1.63176159e-05,
  1.31819659e-05,-3.83684041e-05, 2.88400269e-06, 4.88329228e-06,
  3.21960095e-03, 4.70056444e-03, 8.47850825e-03, 1.32448770e-03,
  3.81110887e-06, 4.84407374e-06,-1.21644040e+00, 1.57847805e-03,
  5.47919129e-04, 3.68614934e-05]


--- Step 2601 ---
qpos:
[-0.01608109, 1.29485832,-0.03222358, 0.94843995, 0.00434584, 1.33150786,
 -0.0297691 , 0.94626825, 0.01673914, 1.33657599,-0.02392859, 0.95498289,
  1.39394905,-0.00595217, 1.19052976, 0.06144911,-0.00368697,-0.09265902,
  0.08150956, 0.64500262,-0.01184666,-0.00374518, 0.76407935]

qacc:
[-1.08092215e-01,-3.29801885e+00, 1.42384757e+01,-3.55354727e+01,
  1.99391342e-01, 1.03727856e+00,-4.55183743e+00, 1.29584535e+01,
 -1.97194117e-02,-1.93648906e+00, 5.71827865e+00,-7.28666415e+00,
  2.05939817e-01,-3.05788861e-01,-1.09223978e+00, 3.15551120e+00,
  1.26784044e+00, 9.73311564e-01, 5.18731595e-02, 6.27051626e+01,
  5.72489410e+01, 1.84227856e+00]

qfrc_actuator:
[ 3.87057135e-03, 7.24129330e-02, 2.02836635e-02, 1.81992529e-03,
  1.48317994e-05, 3.49940999e-02, 1.08912796e-02, 1.83938916e-03,
 -2.96141508e-03, 3.46797009e-02, 1.08771293e-02, 1.68295013e-03,
  0.00000000e+00, 2.80208321e-03, 0.00000000e+00,-2.55443570e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006980521017629707
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03276437e-01,  8.79083516e-02, -9.48839040e-01, -2.67641473e-02,
        9.96128567e-01,  8.37350506e-02,  9.52526684e-01,  3.46944695e-18,
        3.04455115e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07219739, -0.04286273,  0.22460496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.18444469,  4.79275821,  7.18444469, 10.97992071,
       -3.51304101,  4.79275821, -3.51304101, 13.90248551,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013976709903214812
  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([-0.03749154, -0.11751783,  0.0618759 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.21433348e-04, 3.75628056e-02, 9.44939886e-03,-1.06950785e-04,
  5.74139923e-05, 4.67205231e-05, 2.63378344e-05, 4.28437354e-05,
 -5.71805850e-06,-7.91223705e-05,-4.72780649e-06,-1.47585835e-05,
  3.19960997e-03, 4.70440543e-03, 8.26389903e-03, 1.40991133e-03,
  1.38921452e-06, 7.41327841e-07,-1.21644018e+00, 1.58547618e-03,
  5.44495003e-04, 3.22336098e-05]


--- Step 2602 ---
qpos:
[-0.01608327, 1.29486883,-0.03222285, 0.94843912, 0.0043457 , 1.33150938,
 -0.02976885, 0.94627118, 0.01674039, 1.33657597,-0.02392805, 0.95498096,
  1.39395808,-0.00595399, 1.19051668, 0.06144754,-0.0036771 ,-0.09265085,
  0.08150839, 0.64507314,-0.01186736,-0.00340515, 0.76402108]

qacc:
[-3.42470405e-01,-1.08183016e+00, 8.63796910e+00,-2.07930328e+01,
  1.03057188e-01,-1.62366850e+00, 1.64576054e-01, 1.91520244e+01,
 -1.03304544e-01,-2.28620363e+00, 8.88770357e+00,-1.77734789e+01,
  1.68485491e-01,-1.53404923e-02,-7.40783769e+00, 1.44550426e+01,
  1.16779016e+00, 9.55097926e-01,-5.21374284e-01, 5.91943988e+01,
  5.37071110e+01, 1.48549664e+00]

qfrc_actuator:
[ 3.89138253e-03, 7.24223305e-02, 2.02841214e-02, 1.78193689e-03,
  1.05513070e-05, 3.48532193e-02, 1.09157729e-02, 1.91602156e-03,
 -2.98783778e-03, 3.46981202e-02, 1.08959710e-02, 1.63971319e-03,
  0.00000000e+00, 2.78517914e-03, 0.00000000e+00,-5.58998605e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006981290859633046
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03268121e-01,  8.79088640e-02, -9.48841651e-01, -2.67635706e-02,
        9.96128522e-01,  8.37357729e-02,  9.52529348e-01, -3.46944695e-18,
        3.04446780e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07219648, -0.04286324,  0.22460519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.19827929,  4.77195475,  7.19827929, 11.67035336,
       -4.57663714,  4.77195475, -4.57663714, 15.54001508,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013814477883998463
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.00916574e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.00916574e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03752043, -0.11753125,  0.06187726])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.54921733e-04, 3.75932107e-02, 9.46297357e-03,-4.35105842e-05,
  2.96011740e-05,-1.08615607e-04, 3.78806915e-05, 7.98032725e-05,
 -2.98011406e-05,-2.66978632e-05, 2.41875644e-06,-4.60640661e-05,
  3.19396987e-03, 4.69398997e-03, 8.27867187e-03, 1.59883692e-03,
  4.88438242e-06, 4.30952592e-06,-1.21644280e+00, 1.59174615e-03,
  5.40978938e-04, 3.76210174e-05]


--- Step 2603 ---
qpos:
[-0.01608613, 1.29488127,-0.03222142, 0.94843887, 0.00434554, 1.33150967,
 -0.0297681 , 0.94627469, 0.01674136, 1.33657679,-0.02392841, 0.95498022,
  1.39396691,-0.00595541, 1.19049871, 0.06144559,-0.00367364,-0.09264676,
  0.08150915, 0.64514408,-0.0118832 ,-0.00326632, 0.76396154]

qacc:
[-2.92735091e-01, 1.64661944e+00,-3.46663856e+00, 8.42132560e+00,
 -1.00391050e-02,-1.94782581e+00, 3.22543981e+00, 4.75031550e+00,
 -1.17505745e-01, 5.60614662e+00,-1.93415292e+01, 2.99132774e+01,
 -2.12163040e-01, 4.61889159e-01,-6.08183231e+00, 1.08422057e+01,
 -1.60398004e+00,-1.02126247e+00, 4.83017984e-01,-7.52868962e+01,
 -6.67381806e+01,-1.77155537e+00]

qfrc_actuator:
[ 3.94072722e-03, 7.23693874e-02, 2.02659606e-02, 1.81336110e-03,
 -9.85997494e-06, 3.47687845e-02, 1.09297401e-02, 1.94211485e-03,
 -3.00404549e-03, 3.47980732e-02, 1.08714482e-02, 1.70383662e-03,
  0.00000000e+00, 2.81111393e-03, 0.00000000e+00, 6.45499886e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006980285340336956
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3032574 ,  0.08790965, -0.948845  , -0.02676286,  0.99612845,
        0.08373682,  0.95253278,  0.        ,  0.30443604])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07219509, -0.0428637 ,  0.22460551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.03778858,   5.0056277 ,   7.03778858,
        36.0839067 , -38.59056581,   5.0056277 , -38.59056581,
        62.89374346,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013967059436439389
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.97443367e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.97443367e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03714532, -0.06418298,  0.06187597])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04442351e-03, 3.74467194e-02, 9.41234654e-03, 4.03922838e-05,
 -2.94779530e-06,-1.34721101e-04,-6.23987018e-07, 2.58043154e-05,
 -3.38029113e-05, 8.42933073e-05,-3.08127371e-05, 6.23290223e-05,
  3.18903513e-03, 4.70689294e-03, 8.54526681e-03, 1.72710481e-03,
  1.33057861e-05, 1.41695960e-05,-1.21644778e+00, 1.59750615e-03,
  5.37322349e-04, 5.12753793e-05]


--- Step 2604 ---
qpos:
[-0.0160895 , 1.29489427,-0.03221948, 0.94843913, 0.00434511, 1.33151021,
 -0.02976828, 0.9462774 , 0.01674224, 1.3365782 ,-0.02392849, 0.95498021,
  1.39397507,-0.00595658, 1.19047989, 0.06144365,-0.00367599,-0.09264668,
  0.08150895, 0.64521609,-0.01189528,-0.00331406, 0.76390033]

qacc:
[-2.14426593e-01, 2.18834964e-01,-8.96670782e-01, 6.38103592e+00,
 -1.10113429e-01, 1.42335567e+00,-2.61644301e+00,-7.21258218e+00,
 -4.21874283e-02, 1.24067524e+00,-4.59653482e+00, 1.20627784e+01,
 -6.40035987e-01, 7.49595616e-01,-1.22022609e+00, 2.53003577e+00,
 -1.45220384e+00,-1.00070332e+00,-2.40400189e-01,-7.00512379e+01,
 -6.16131935e+01,-2.06246584e+00]

qfrc_actuator:
[ 3.95413867e-03, 7.23314778e-02, 2.02718264e-02, 1.83197180e-03,
 -3.97800115e-05, 3.48430026e-02, 1.09020155e-02, 1.90275533e-03,
 -2.99624106e-03, 3.48394612e-02, 1.08929334e-02, 1.74189622e-03,
  0.00000000e+00, 2.88025139e-03, 0.00000000e+00, 4.90530289e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006977772340346321
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30324417,  0.08791067, -0.94884914, -0.02676201,  0.99612836,
        0.08373816,  0.95253702,  0.        ,  0.30442278])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07219325, -0.0428641 ,  0.22460592])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.18407214, -4.79331664, -7.18407214, 10.00747448,
       -2.05497778, -4.79331664, -2.05497778, 11.71629966,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014096174064184702
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.93802964e-14,  3.93802964e-14,  1.00000000e+00,  1.55080774e-27,
        1.00000000e+00, -3.93802964e-14, -1.00000000e+00,  0.00000000e+00,
       -3.93802964e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03712847, -0.06420702,  0.0618749 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09215272e-03, 3.73116260e-02, 9.38334949e-03, 3.03401563e-05,
 -3.16644890e-05, 3.49895236e-07,-5.33815833e-05,-4.28124011e-05,
 -1.21495610e-05, 8.38239736e-05, 3.62677237e-05, 4.11060153e-05,
  3.19948070e-03, 4.75554688e-03, 8.78956686e-03, 1.72998124e-03,
  3.46366916e-06, 2.79937929e-06,-1.21644195e+00, 1.58995497e-03,
  5.41549793e-04, 3.62134096e-05]


--- Step 2605 ---
qpos:
[-0.01609236, 1.29490645,-0.03221758, 0.94843874, 0.00434454, 1.33151102,
 -0.02976888, 0.94627856, 0.01674294, 1.33657923,-0.0239273 , 0.95498069,
  1.39398345,-0.00595798, 1.19046312, 0.06144204,-0.00368365,-0.09265052,
  0.08150535, 0.64528959,-0.01190444,-0.00353627, 0.7638371 ]

qacc:
[ 2.13529725e-01,-2.05936336e+00, 6.77806111e+00,-1.29918764e+01,
 -6.45209218e-02,-1.16448090e+00, 7.42323925e+00,-2.46627968e+01,
 -7.10061832e-02,-3.06839357e+00, 8.41417156e+00,-1.40057473e+00,
  2.44402876e-01,-3.83881656e-01, 1.99630383e+00,-2.62451711e+00,
 -1.32824444e+00,-9.80479055e-01,-8.49758205e-01,-6.56959719e+01,
 -5.73822974e+01,-2.26512771e+00]

qfrc_actuator:
[ 3.94608133e-03, 7.23742157e-02, 2.02920161e-02, 1.78946694e-03,
 -3.96548892e-05, 3.48694235e-02, 1.08860038e-02, 1.82528060e-03,
 -3.00960122e-03, 3.47746185e-02, 1.09411849e-02, 1.76429681e-03,
  0.00000000e+00, 2.83329616e-03, 0.00000000e+00,-3.04784782e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006975211167605105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30322992,  0.08791185, -0.94885358, -0.02676112,  0.99612826,
        0.08373969,  0.95254158,  0.        ,  0.30440851])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07219133, -0.04286446,  0.22460636])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.19003648, -4.78436541, -7.19003648, 10.54099742,
       -2.86232034, -4.78436541, -2.86232034, 12.93791376,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00140449453636389
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.95239353e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.95239353e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03714206, -0.06420713,  0.06187533])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10923924e-03, 3.73268593e-02, 9.37801326e-03,-3.78310212e-05,
 -1.85599560e-05, 1.48905878e-05,-2.32666623e-05,-8.00173404e-05,
 -2.05297665e-05,-1.01973702e-05, 6.99446631e-05, 2.69040129e-05,
  3.23261861e-03, 4.69664292e-03, 8.83285838e-03, 1.65055822e-03,
  1.53655167e-06, 1.15537241e-06,-1.21644001e+00, 1.58311482e-03,
  5.45281713e-04, 3.34741282e-05]


--- Step 2606 ---
qpos:
[-0.01609454, 1.29491838,-0.03221588, 0.9484371 , 0.00434402, 1.33151183,
 -0.02976931, 0.94627842, 0.01674363, 1.33658061,-0.02392684, 0.95498078,
  1.3939926 ,-0.00595966, 1.19044598, 0.06144065,-0.00369622,-0.0926582 ,
  0.08149631, 0.64536484,-0.01191138,-0.00392292, 0.76377154]

qacc:
[ 2.93117207e-01,-1.91402321e+00, 8.37552368e+00,-2.14061494e+01,
  2.50425028e-02,-2.62933747e+00, 1.12259024e+01,-2.46753024e+01,
 -9.03386724e-03, 1.76811744e+00,-4.41670685e+00,-8.49126510e-01,
  8.25877176e-01,-9.75691087e-01,-1.25080625e+00, 3.43868981e+00,
 -1.22672976e+00,-9.61016849e-01,-1.36266554e+00,-6.20759137e+01,
 -5.38902482e+01,-2.40076941e+00]

qfrc_actuator:
[ 3.95984543e-03, 7.23954734e-02, 2.02856496e-02, 1.72901353e-03,
 -2.15062542e-05, 3.48670366e-02, 1.08946429e-02, 1.76151733e-03,
 -3.00004645e-03, 3.47887887e-02, 1.08978913e-02, 1.74174533e-03,
  0.00000000e+00, 2.75256316e-03, 0.00000000e+00, 1.10075410e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006973367175056658
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03216495e-01,  8.79128735e-02, -9.48857779e-01, -2.67602445e-02,
        9.96128168e-01,  8.37410451e-02,  9.52545876e-01,  3.46944695e-18,
        3.04395061e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0721896 , -0.04286484,  0.22460676])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.17451618, -4.80760797, -7.17451618, 11.24178074,
       -3.88813049, -4.80760797, -3.88813049, 14.43872009,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001384989360462871
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.00805615e-14,  6.01208422e-14,  1.00000000e+00,  2.40967711e-27,
        1.00000000e+00, -6.01208422e-14, -1.00000000e+00,  0.00000000e+00,
       -4.00805615e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03717966, -0.06418837,  0.06187694])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09795874e-03, 3.73886589e-02, 9.37405256e-03,-6.52707107e-05,
  7.19720195e-06,-1.10342341e-06, 6.56115539e-06,-6.58531077e-05,
 -2.56599269e-06, 2.29801834e-05,-3.65507839e-05,-2.01772770e-05,
  3.22162571e-03, 4.62738128e-03, 8.73065494e-03, 1.67536327e-03,
  6.04695248e-06, 7.35665959e-06,-1.21644120e+00, 1.57671812e-03,
  5.48705221e-04, 4.06476842e-05]


--- Step 2607 ---
qpos:
[-0.01609524, 1.29492815,-0.0322154 , 0.94843602, 0.00434378, 1.33151274,
 -0.02976938, 0.94627681, 0.01674449, 1.33658263,-0.02392715, 0.95498266,
  1.39400217,-0.00596179, 1.190434  , 0.0614392 ,-0.00370256,-0.09266178,
  0.08149409, 0.64543781,-0.01192741,-0.00411083, 0.76370863]

qacc:
[  0.63121394,  1.36734437, -9.02135072, 15.53850855,  0.11488769,
  -3.39488854, 14.23725456,-29.46463454,  0.07508865,  5.98876872,
 -22.10269972, 39.27772009,  0.36875779, -0.61984321,  7.76069015,
 -16.13332398,  1.55821215,  1.02621259,  1.70775948, 72.95465435,
  67.58507747,  2.92800631]

qfrc_actuator:
[ 3.98631526e-03, 7.23681006e-02, 2.02635132e-02, 1.74739492e-03,
  7.30618768e-06, 3.48830296e-02, 1.09176590e-02, 1.68858288e-03,
 -2.97682258e-03, 3.48497783e-02, 1.08721654e-02, 1.83492443e-03,
  0.00000000e+00, 2.74046700e-03, 0.00000000e+00,-1.94453934e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006971164665027993
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03203497e-01,  8.79136834e-02, -9.48861857e-01, -2.67593459e-02,
        9.96128096e-01,  8.37421826e-02,  9.52550039e-01, -3.46944695e-18,
        3.04382035e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07218785, -0.04286527,  0.22460715])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0014120055407309887
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.47426346e-14,  7.86273844e-14,  1.00000000e+00,  1.15917480e-27,
        1.00000000e+00, -7.86273844e-14, -1.00000000e+00,  0.00000000e+00,
       -1.47426346e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03749783, -0.11745895,  0.06187464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09004179e-03, 3.73737210e-02, 9.36154365e-03, 1.49623681e-05,
  3.30597233e-05, 1.46859757e-05, 2.16164369e-05,-7.43028883e-05,
  2.17106614e-05, 6.59520194e-05,-2.59839393e-05, 9.23236674e-05,
  3.18337316e-03, 4.62919651e-03, 8.74962416e-03, 1.45939380e-03,
  1.59202746e-05, 2.00419603e-05,-1.21644492e+00, 1.57058745e-03,
  5.51945928e-04, 5.59866923e-05]


--- Step 2608 ---
qpos:
[-0.01609542, 1.29493733,-0.03221548, 0.94843568, 0.00434413, 1.33151394,
 -0.02976873, 0.94627464, 0.01674528, 1.3365844 ,-0.02392713, 0.95498531,
  1.39401173,-0.00596404, 1.19042362, 0.06143744,-0.00370328,-0.09266134,
  0.08149534, 0.64550934,-0.01195112,-0.00411499, 0.76364778]

qacc:
[ 2.19132640e-01, 2.02999877e+00,-9.07191880e+00, 1.68417241e+01,
  2.50962134e-01,-2.51455668e+00, 9.81486970e+00,-1.51194916e+01,
 -3.18635865e-02, 1.19335428e-01,-2.36022579e+00, 1.11673260e+01,
 -3.50732828e-02,-3.25617865e-02, 3.27926657e+00,-8.02493382e+00,
  1.40427464e+00, 1.00382115e+00, 8.67751549e-01, 6.76822633e+01,
  6.22143467e+01, 2.31960844e+00]

qfrc_actuator:
[ 3.98383503e-03, 7.23490716e-02, 2.02507665e-02, 1.79403165e-03,
  6.00339387e-05, 3.49277142e-02, 1.09667801e-02, 1.66410286e-03,
 -2.99884558e-03, 3.47964182e-02, 1.08750694e-02, 1.87126201e-03,
  0.00000000e+00, 2.75208785e-03, 0.00000000e+00,-2.10601167e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006970314455645235
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03193729e-01,  8.79140084e-02, -9.48864948e-01, -2.67585834e-02,
        9.96128068e-01,  8.37427673e-02,  9.52553170e-01, -3.46944695e-18,
        3.04372238e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07218657, -0.04286578,  0.22460744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.17554751,  4.80606853,  7.17554751, 10.52063534,
       -2.81325184,  4.80606853, -2.81325184, 12.83659967,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014310245275579309
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.75823896e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.75823896e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03747386, -0.1174293 ,  0.06187305])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01351498e-03, 3.74629737e-02, 9.40952010e-03, 3.40679694e-05,
  7.22371728e-05, 5.48002791e-05, 5.22716388e-05,-2.51314224e-05,
 -9.20204068e-06,-1.92374412e-05, 1.55331775e-05, 3.96851329e-05,
  3.16229154e-03, 4.66356615e-03, 8.49176040e-03, 1.44608729e-03,
  4.89778146e-06, 5.49268337e-06,-1.21644083e+00, 1.57873208e-03,
  5.48518239e-04, 3.77315996e-05]


--- Step 2609 ---
qpos:
[-0.01609623, 1.29494806,-0.03221492, 0.94843565, 0.00434479, 1.3315155 ,
 -0.02976813, 0.94627362, 0.01674577, 1.33658592,-0.02392684, 0.95498458,
  1.39402096,-0.00596606, 1.19041005, 0.06143541,-0.00369888,-0.09265698,
  0.08149724, 0.64558003,-0.01198138,-0.00394783, 0.76358843]

qacc:
[ -0.26631551,  0.82623517, -0.84266074,  3.24349474,  0.13283033,
   2.58373364,-10.19609118, 21.82175732, -0.1270549 , -6.87157933,
  28.81802292,-63.78667154, -0.26493683,  0.37706813, -3.86039729,
   6.68472362,  1.27897758,  0.98220214,  0.16125843, 63.30121828,
  57.78519195,  1.85224019]

qfrc_actuator:
[ 3.98211167e-03, 7.23520857e-02, 2.02612445e-02, 1.82170146e-03,
  5.56707963e-05, 3.49361104e-02, 1.09600484e-02, 1.72162402e-03,
 -3.03008202e-03, 3.47638495e-02, 1.08766082e-02, 1.69625860e-03,
  0.00000000e+00, 2.77778121e-03, 0.00000000e+00,-7.73868947e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006969853452710832
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03185060e-01,  8.79141651e-02, -9.48867703e-01, -2.67578665e-02,
        9.96128054e-01,  8.37431610e-02,  9.52555949e-01,  3.46944695e-18,
        3.04363540e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07218543, -0.04286629,  0.2246077 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.20014783,  4.76913495,  7.20014783, 11.0724415 ,
       -3.67784115,  4.76913495, -3.67784115, 14.18894293,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014307220073477844
  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([-0.03747901, -0.11742339,  0.06187308])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.86075037e-04, 3.74951354e-02, 9.44833507e-03, 2.44797100e-05,
  3.82662470e-05, 4.81681283e-05, 9.18926618e-06, 6.01121540e-05,
 -3.66694959e-05,-3.90055340e-05, 7.10133346e-07,-1.74189202e-04,
  3.16293420e-03, 4.69504131e-03, 8.41174743e-03, 1.59440781e-03,
  1.42239864e-06, 7.89977829e-07,-1.21644035e+00, 1.58580883e-03,
  5.45079787e-04, 3.22791949e-05]


--- Step 2610 ---
qpos:
[-0.01609718, 1.29495954,-0.03221343, 0.94843565, 0.00434532, 1.33151698,
 -0.02976743, 0.94627401, 0.01674593, 1.33658698,-0.02392683, 0.95498388,
  1.39402988,-0.00596815, 1.19039655, 0.0614335 ,-0.00368978,-0.09264876,
  0.08149741, 0.64565023,-0.01201728,-0.00361961, 0.76353013]

qacc:
[-5.90328934e-02,-1.48864123e+00, 5.93591017e+00,-5.11178968e+00,
 -5.55494892e-02, 2.03789035e+00,-9.68965411e+00, 2.48954753e+01,
 -1.40148109e-01, 1.90918956e-01,-1.40608177e+00, 1.83697698e+00,
 -1.94683828e-01, 1.02301112e-01,-2.45241791e-01, 1.04382109e+00,
  1.17687031e+00, 9.61809216e-01,-4.32378278e-01, 5.96634271e+01,
  5.41330951e+01, 1.49581200e+00]

qfrc_actuator:
[ 3.99952821e-03, 7.23486645e-02, 2.03024270e-02, 1.82038414e-03,
  1.70947376e-05, 3.49048027e-02, 1.09558071e-02, 1.79136787e-03,
 -3.04883873e-03, 3.47260975e-02, 1.08595047e-02, 1.70009185e-03,
  0.00000000e+00, 2.79386652e-03, 0.00000000e+00,-1.02994717e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006968619302957085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30317429,  0.08791454, -0.94887111, -0.02675703,  0.99612802,
        0.08374382,  0.9525594 ,  0.        ,  0.30435274])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07218398, -0.04286675,  0.22460804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.21813033,  4.74187425,  7.21813033, 11.75269222,
       -4.7437078 ,  4.74187425, -4.7437078 , 15.85728502,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001414984555529658
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.80773094e-15, -3.92309238e-14,  1.00000000e+00,  3.84766345e-28,
        1.00000000e+00,  3.92309238e-14, -1.00000000e+00,  0.00000000e+00,
        9.80773094e-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([-0.0375072 , -0.11743624,  0.0618744 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03471590e-03, 3.74137299e-02, 9.45737198e-03, 8.09773923e-06,
 -1.59934946e-05,-1.07557943e-06, 7.98095051e-06, 7.28535275e-05,
 -4.04062601e-05,-6.43571699e-05,-2.97396225e-05,-1.35420771e-06,
  3.17925935e-03, 4.69965589e-03, 8.57186219e-03, 1.58279251e-03,
  4.06399394e-06, 3.94438638e-06,-1.21644276e+00, 1.59214403e-03,
  5.41552523e-04, 3.70999157e-05]


--- Step 2611 ---
qpos:
[-0.0160984 , 1.29497109,-0.03221178, 0.94843436, 0.00434573, 1.33151841,
 -0.02976642, 0.94627419, 0.0167458 , 1.33658781,-0.02392632, 0.95498386,
  1.39403854,-0.00597029, 1.19038214, 0.06143182,-0.00367631,-0.09263678,
  0.08149385, 0.64572018,-0.01205811,-0.00313885, 0.76347246]

qacc:
[-1.19139911e-01,-2.50489402e+00, 1.09355655e+01,-2.44892527e+01,
 -5.19204294e-02,-1.28130619e+00, 4.54675212e+00,-6.42355880e+00,
 -1.21243410e-01,-4.86172624e-01,-1.39435945e-01, 8.09210489e+00,
 -1.05114728e-01, 1.87015162e-02,-2.02124194e+00, 5.12576892e+00,
  1.09350126e+00, 9.42881592e-01,-9.30658244e-01, 5.66475319e+01,
  5.11248866e+01, 1.22716016e+00]

qfrc_actuator:
[ 3.99268734e-03, 7.23415807e-02, 2.02904704e-02, 1.74855606e-03,
  1.15681357e-05, 3.49032300e-02, 1.09706734e-02, 1.77894699e-03,
 -3.05995688e-03, 3.47565555e-02, 1.09026615e-02, 1.73815950e-03,
  0.00000000e+00, 2.80439518e-03, 0.00000000e+00,-6.44106892e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006968098337479453
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03161930e-01,  8.79149655e-02, -9.48875020e-01, -2.67560706e-02,
        9.96127983e-01,  8.37445750e-02,  9.52563361e-01,  3.46944695e-18,
        3.04340341e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07218252, -0.04286717,  0.2246084 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.217727  ,  4.74248814,  7.217727  , 12.64387314,
       -6.09914221,  4.74248814, -6.09914221, 17.9188209 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001387058238297767
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00051948e-14,  8.00415580e-14,  1.00000000e+00, -8.00831376e-28,
        1.00000000e+00, -8.00415580e-14, -1.00000000e+00,  0.00000000e+00,
        1.00051948e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03755344, -0.11746381,  0.06187672])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03480161e-03, 3.73697508e-02, 9.39854962e-03,-6.57900921e-05,
 -1.49647289e-05, 1.56635543e-06, 1.76964098e-05,-1.05253717e-05,
 -3.49755714e-05,-1.09885112e-05, 2.71669797e-05, 3.52596586e-05,
  3.19489557e-03, 4.71372701e-03, 8.56838954e-03, 1.61536932e-03,
  1.17729199e-05, 1.35133652e-05,-1.21644759e+00, 1.59795802e-03,
  5.37888197e-04, 5.03603964e-05]


--- Step 2612 ---
qpos:
[-0.01610035, 1.29498286,-0.0322103 , 0.94843188, 0.00434604, 1.33152049,
 -0.02976602, 0.94627282, 0.01674544, 1.33658926,-0.02392536, 0.95498388,
  1.39404703,-0.00597223, 1.19036549, 0.06143022,-0.00366966,-0.09262905,
  0.08149471, 0.64579039,-0.01209384,-0.00287107, 0.76341356]

qacc:
[-3.05159641e-01,-1.27467026e+00, 6.95257848e+00,-1.99419310e+01,
 -4.26281097e-02,-1.26438362e-01, 4.59655929e+00,-2.22787085e+01,
 -9.40021716e-02,-3.30012036e-01, 1.97984826e+00,-1.66629579e+00,
 -1.48843377e-01, 2.61109912e-01,-3.54837947e+00, 7.64023537e+00,
 -1.70808746e+00,-1.06414643e+00, 1.10245335e+00,-7.96576653e+01,
 -7.07014056e+01,-1.79142155e+00]

qfrc_actuator:
[ 3.95373578e-03, 7.23326666e-02, 2.02647969e-02, 1.68899857e-03,
  8.16259259e-06, 3.49550018e-02, 1.09434943e-02, 1.70054312e-03,
 -3.06640394e-03, 3.48456423e-02, 1.09458003e-02, 1.74284794e-03,
  0.00000000e+00, 2.81159943e-03, 0.00000000e+00, 1.25359444e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006967187638659035
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03149353e-01,  8.79154828e-02, -9.48878990e-01, -2.67551193e-02,
        9.96127938e-01,  8.37454221e-02,  9.52567390e-01, -3.46944695e-18,
        3.04327729e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.072181  , -0.04286756,  0.22460877])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0014323181362769916
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.87561603e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.87561603e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0371293 , -0.064296  ,  0.06187293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00982167e-03, 3.73570153e-02, 9.36544065e-03,-6.06208301e-05,
 -1.22362313e-05, 5.57717777e-05,-2.51707852e-05,-7.80789465e-05,
 -2.70967352e-05, 8.93530167e-05, 4.51104213e-05, 5.98031247e-06,
  3.20774559e-03, 4.72354931e-03, 8.61422930e-03, 1.68111617e-03,
  2.37801416e-05, 2.84520111e-05,-1.21645449e+00, 1.60339961e-03,
  5.34057546e-04, 7.07345314e-05]


--- Step 2613 ---
qpos:
[-0.01610207, 1.29499406,-0.03220865, 0.94843084, 0.00434612, 1.33152263,
 -0.02976524, 0.94627122, 0.01674508, 1.33659107,-0.02392521, 0.95498404,
  1.39405565,-0.00597416, 1.19035236, 0.06142857,-0.00366916,-0.09262547,
  0.08149667, 0.64586163,-0.01212566,-0.00279954, 0.76335306]

qacc:
[ 9.34054614e-02, 1.19934925e+00,-7.74773340e+00, 2.36322200e+01,
 -9.39911486e-02,-1.35071209e+00, 5.00449788e+00,-7.15183564e+00,
 -6.52417313e-03, 2.91156739e+00,-9.22710836e+00, 9.45496359e+00,
 -9.01709454e-02, 1.58010618e-01, 5.38736576e+00,-1.12639101e+01,
 -1.53721839e+00,-1.03655840e+00, 2.77287071e-01,-7.36438448e+01,
 -6.48522201e+01,-2.10266919e+00]

qfrc_actuator:
[ 3.93157113e-03, 7.23047200e-02, 2.03021614e-02, 1.76148594e-03,
 -1.16961975e-05, 3.49493441e-02, 1.09629053e-02, 1.69047912e-03,
 -3.05224560e-03, 3.48093785e-02, 1.08822677e-02, 1.74563165e-03,
  0.00000000e+00, 2.79882472e-03, 0.00000000e+00,-1.35987223e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006965126199674522
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30313672,  0.08791622, -0.94888296, -0.02675423,  0.99612787,
        0.08374648,  0.95257144,  0.        ,  0.30431507])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0721793 , -0.04286792,  0.22460916])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.19349381, -4.77916559, -7.19349381,  9.99728063,
       -2.04842201, -4.77916559, -2.04842201, 11.71960292,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014577717501047527
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.80794533e-14,  3.80794533e-14,  1.00000000e+00,  1.45004476e-27,
        1.00000000e+00, -3.80794533e-14, -1.00000000e+00,  0.00000000e+00,
       -3.80794533e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.037091  , -0.0643361 ,  0.06187082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02343897e-03, 3.73176461e-02, 9.41121697e-03, 7.14114867e-05,
 -2.70771226e-05, 1.79118938e-05, 2.51616957e-05,-1.09392276e-05,
 -1.83563755e-06, 2.21225017e-05,-4.07836964e-05, 6.89391868e-06,
  3.21630928e-03, 4.70076822e-03, 8.72633886e-03, 1.52838494e-03,
  8.21615335e-06, 9.19218560e-06,-1.21644555e+00, 1.59528061e-03,
  5.38707544e-04, 4.57412713e-05]


--- Step 2614 ---
qpos:
[-0.01610272, 1.29500402,-0.03220708, 0.94843177, 0.00434583, 1.33152455,
 -0.02976384, 0.94627021, 0.01674492, 1.33659245,-0.02392577, 0.9549843 ,
  1.39406445,-0.00597635, 1.19034469, 0.06142669,-0.00367426,-0.09262593,
  0.08149697, 0.64593439,-0.0121545 ,-0.0029104 , 0.76329061]

qacc:
[ 4.56746191e-01, 1.99970757e+00,-1.25553723e+01, 3.46514801e+01,
 -1.58084878e-01,-9.73922856e-01, 1.60462790e+00, 5.64415204e+00,
  8.77828272e-02, 1.51998517e+00,-5.82029370e+00, 6.42604741e+00,
  1.36868604e-02,-1.23708164e-01, 8.68947027e+00,-1.87079952e+01,
 -1.39775494e+00,-1.01035944e+00,-4.18007463e-01,-6.86421588e+01,
 -6.00231717e+01,-2.31900830e+00]

qfrc_actuator:
[ 3.97208801e-03, 7.22660622e-02, 2.03238095e-02, 1.85779681e-03,
 -4.12651623e-05, 3.49272993e-02, 1.09917642e-02, 1.72073182e-03,
 -3.02584219e-03, 3.47334280e-02, 1.08268245e-02, 1.74714958e-03,
  0.00000000e+00, 2.79192968e-03, 0.00000000e+00,-3.13166387e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006964708730297121
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03124459e-01,  8.79168804e-02, -9.48886813e-01, -2.67533508e-02,
        9.96127814e-01,  8.37474542e-02,  9.52575362e-01,  3.46944695e-18,
        3.04302776e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07217788, -0.04286833,  0.22460951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.20980704, -4.75451988, -7.20980704, 10.47408947,
       -2.78674798, -4.75451988, -2.78674798, 12.86221939,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014621423122334887
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.79656281e-14,  3.79656281e-14,  1.00000000e+00,  1.44138892e-27,
        1.00000000e+00, -3.79656281e-14, -1.00000000e+00,  0.00000000e+00,
       -3.79656281e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03708856, -0.06434832,  0.06187047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05299715e-03, 3.73075194e-02, 9.42384171e-03, 9.61803808e-05,
 -4.55466537e-05,-7.56331880e-06, 3.48978189e-05, 3.12751234e-05,
  2.53215629e-05,-7.14898767e-05,-5.55578248e-05, 1.14365288e-06,
  3.20991968e-03, 4.69360717e-03, 8.55047074e-03, 1.35420158e-03,
  1.86836012e-06, 1.31507474e-06,-1.21644117e+00, 1.58804041e-03,
  5.42734791e-04, 3.52076498e-05]


--- Step 2615 ---
qpos:
[-0.01610376, 1.29501599,-0.03220479, 0.94843387, 0.00434547, 1.33152654,
 -0.0297624 , 0.94626854, 0.01674486, 1.33659377,-0.02392683, 0.95498384,
  1.39407311,-0.00597819, 1.19033218, 0.06142421,-0.00368449,-0.09263033,
  0.08149324, 0.64600899,-0.01218108,-0.00319215, 0.76322593]

qacc:
[-1.64530706e-01, 2.64668594e+00,-7.82916343e+00, 1.89236813e+01,
 -3.04681075e-02,-1.09749422e+00, 5.05897243e+00,-1.20904975e+01,
  4.49686959e-02, 3.42734301e-02, 1.22670524e+00,-9.27741884e+00,
 -1.34647399e-01, 3.47021000e-01,-5.26518064e+00, 8.07052187e+00,
 -1.28368474e+00,-9.85844743e-01,-1.00343141e+00,-6.44834080e+01,
 -5.60351426e+01,-2.46381247e+00]

qfrc_actuator:
[ 4.01376861e-03, 7.22751327e-02, 2.03184741e-02, 1.93176768e-03,
 -2.31621514e-05, 3.49311913e-02, 1.09903862e-02, 1.68567278e-03,
 -3.02781350e-03, 3.47585686e-02, 1.08119584e-02, 1.71239282e-03,
  0.00000000e+00, 2.80657367e-03, 0.00000000e+00,-9.90491499e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006966540790711226
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03113473e-01,  8.79172056e-02, -9.48890293e-01, -2.67524809e-02,
        9.96127785e-01,  8.37480734e-02,  9.52578882e-01,  3.46944695e-18,
        3.04291756e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07217692, -0.04286883,  0.22460979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.21277461, -4.75001677, -7.21277461, 11.08640425,
       -3.72032175, -4.75001677, -3.72032175, 14.28557364,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014496084944798648
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.65877841e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.65877841e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03711456, -0.06433847,  0.06187151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04110260e-03, 3.73785360e-02, 9.42303237e-03, 7.07909438e-05,
 -8.77472229e-06, 7.45244867e-06, 2.02388092e-06,-3.35343141e-05,
  1.29769252e-05,-2.52164540e-05,-3.51083648e-05,-3.84725392e-05,
  3.20117160e-03, 4.72104366e-03, 8.27827664e-03, 1.57909122e-03,
  2.88755806e-06, 2.46608639e-06,-1.21644041e+00, 1.58135674e-03,
  5.46367713e-04, 3.61170293e-05]


--- Step 2616 ---
qpos:
[-0.01610565, 1.29502933,-0.03220214, 0.94843657, 0.00434531, 1.3315286 ,
 -0.02976099, 0.94626646, 0.01674486, 1.33659513,-0.02392707, 0.95498359,
  1.39408153,-0.00597958, 1.19031526, 0.06142133,-0.00369948,-0.09263859,
  0.08148354, 0.64608557,-0.01220598,-0.00363526, 0.76315872]

qacc:
[-3.63768800e-01, 1.85117830e+00,-5.06346239e+00, 1.04034564e+01,
  8.20450237e-02,-5.55171909e-01, 2.72984106e+00,-7.06516643e+00,
  2.24310875e-02,-1.81819057e+00, 5.58847333e+00,-2.57907163e+00,
 -2.82411453e-01, 5.68241800e-01,-5.31573243e+00, 9.18795041e+00,
 -1.19010249e+00,-9.63137969e-01,-1.49594052e+00,-6.10293661e+01,
 -5.27434721e+01,-2.55458231e+00]

qfrc_actuator:
[ 3.98616549e-03, 7.22745889e-02, 2.02961700e-02, 1.95686376e-03,
  5.63932806e-06, 3.49326803e-02, 1.09889703e-02, 1.66570243e-03,
 -3.02903886e-03, 3.48086704e-02, 1.08747741e-02, 1.72765616e-03,
  0.00000000e+00, 2.83363965e-03, 0.00000000e+00,-4.71989316e-06,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006966881280674048
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03099888e-01,  8.79176775e-02, -9.48894588e-01, -2.67514266e-02,
        9.96127744e-01,  8.37489056e-02,  9.52583235e-01,  3.46944695e-18,
        3.04278131e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07217549, -0.04286926,  0.22461016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.18796067, -4.7874835 , -7.18796067, 11.90330341,
       -4.90500585, -4.7874835 , -4.90500585, 16.00077317,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014236640115879162
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.899175e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
       -3.899175e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0371629 , -0.06431129,  0.06187365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03277899e-03, 3.72778166e-02, 9.36450603e-03, 3.80064959e-05,
  2.36238590e-05, 4.98322462e-06,-7.17284769e-07,-2.04631948e-05,
  6.43630870e-06, 2.81528854e-05, 5.27747284e-05, 1.25932179e-05,
  3.20814947e-03, 4.73071534e-03, 8.52015521e-03, 1.70426548e-03,
  9.93005968e-06, 1.09414770e-05,-1.21644255e+00, 1.57501603e-03,
  5.49759913e-04, 4.62829929e-05]


--- Step 2617 ---
qpos:
[-0.01610771, 1.29504199,-0.03219992, 0.94843873, 0.0043454 , 1.33153091,
 -0.02975998, 0.94626417, 0.01674489, 1.33659599,-0.02392578, 0.95498421,
  1.39408998,-0.00598093, 1.19029837, 0.06141856,-0.00370806,-0.09264277,
  0.08148148, 0.64615952,-0.01224032,-0.00387585, 0.76309438]

qacc:
[-7.45144939e-02,-6.29727361e-01, 2.04548098e+00,-7.42653628e+00,
  1.08180176e-01, 1.05332050e+00,-2.57611443e+00,-4.85898612e-01,
  1.07766160e-02,-3.26798106e+00, 8.09103342e+00, 3.48355658e+00,
 -1.13324064e-02, 4.67117432e-02,-2.43294177e-01, 9.27151941e-01,
  1.60308715e+00, 1.02028048e+00, 1.91130641e+00, 7.42200796e+01,
  6.90021896e+01, 3.17924881e+00]

qfrc_actuator:
[ 3.97087173e-03, 7.22325894e-02, 2.02637565e-02, 1.91722925e-03,
  2.28704311e-05, 3.49504677e-02, 1.09698149e-02, 1.65479115e-03,
 -3.02980555e-03, 3.47671557e-02, 1.09475746e-02, 1.77230348e-03,
  0.00000000e+00, 2.83241361e-03, 0.00000000e+00,-5.32564664e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006965550856702848
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30308464,  0.08791843, -0.94889939, -0.02675031,  0.99612768,
        0.08375005,  0.95258812,  0.        ,  0.30426284])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07217367, -0.04286965,  0.2246106 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.001406821046303297
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86464330e-15,  3.94585732e-14,  1.00000000e+00,  3.89244750e-28,
        1.00000000e+00, -3.94585732e-14, -1.00000000e+00,  0.00000000e+00,
       -9.86464330e-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([-0.03755317, -0.11739554,  0.061875  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06013438e-03, 3.71665607e-02, 9.31394126e-03,-3.13685297e-05,
  3.11719132e-05, 1.97719487e-05,-1.88690294e-05,-1.12558173e-05,
  3.03497373e-06,-1.52758262e-05, 8.46629214e-05, 4.73198928e-05,
  3.21971147e-03, 4.70705482e-03, 8.74085658e-03, 1.67515802e-03,
  2.20213739e-05, 2.55098091e-05,-1.21644708e+00, 1.56887637e-03,
  5.53014325e-04, 6.41222926e-05]


--- Step 2618 ---
qpos:
[-0.01610998, 1.29505459,-0.03219774, 0.94844034, 0.00434572, 1.33153246,
 -0.02975865, 0.94626492, 0.01674463, 1.3365963 ,-0.02392368, 0.95498368,
  1.39409824,-0.00598223, 1.19028059, 0.0614159 ,-0.00371087,-0.09264294,
  0.08148358, 0.64623176,-0.0122826 ,-0.00392956, 0.76303224]

qacc:
[ -0.08458467, -0.93844947,  4.11643224,-10.05347406,  0.09921437,
   3.32794901,-18.31955439, 51.68382427, -0.11842532, -4.89598718,
  17.41983729,-28.05721518, -0.1203173 ,  0.12671441, -1.66265156,
   3.90726073,  1.44095693,  0.99969101,  1.03894792, 68.73181804,
  63.38660029,  2.52272366]

qfrc_actuator:
[ 3.99813177e-03, 7.22204880e-02, 2.02614316e-02, 1.89289706e-03,
  3.30199766e-05, 3.48712970e-02, 1.09759143e-02, 1.80906830e-03,
 -3.06579556e-03, 3.47066945e-02, 1.09720662e-02, 1.70954796e-03,
  0.00000000e+00, 2.84994423e-03, 0.00000000e+00,-1.03159126e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006963734900977611
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03070445e-01,  8.79192156e-02, -9.48903850e-01, -2.67492996e-02,
        9.96127608e-01,  8.37511997e-02,  9.52592662e-01,  3.46944695e-18,
        3.04248615e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07217187, -0.04287004,  0.22461102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.18009646,  4.79926992,  7.18009646, 10.33546744,
       -2.5419969 ,  4.79926992, -2.5419969 , 12.43939686,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014306631015458537
  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([-0.03752206, -0.11735991,  0.06187301])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09612559e-03, 3.71885515e-02, 9.33316245e-03,-2.93983155e-05,
  2.85450383e-05,-7.22807390e-05, 7.48250629e-06, 1.54057273e-04,
 -3.41984743e-05,-5.09785776e-05, 3.25127793e-05,-5.96258931e-05,
  3.21890969e-03, 4.72246161e-03, 8.73950067e-03, 1.71330552e-03,
  8.02654010e-06, 8.15540733e-06,-1.21644190e+00, 1.57746403e-03,
  5.49503943e-04, 4.21411154e-05]


--- Step 2619 ---
qpos:
[-0.01611326, 1.2950686 ,-0.03219478, 0.94844146, 0.00434594, 1.33153229,
 -0.0297562 , 0.94626825, 0.01674404, 1.33659622,-0.02392132, 0.95498312,
  1.39410597,-0.00598316, 1.19025887, 0.06141333,-0.00370845,-0.0926392 ,
  0.08148689, 0.64630296,-0.01233162,-0.00380935, 0.76297176]

qacc:
[-4.33775538e-01,-1.04749737e+00, 6.63277397e+00,-1.21835423e+01,
 -4.43037903e-02,-8.58785535e-01,-5.19712748e+00, 3.54407575e+01,
 -1.43927424e-01,-1.29153451e+00, 3.66944323e+00,-3.40464494e+00,
 -4.60653441e-01, 6.40697359e-01,-6.06878434e+00, 1.28597180e+01,
  1.30906153e+00, 9.79380938e-01, 3.05155710e-01, 6.41712646e+01,
  5.87565641e+01, 2.01752597e+00]

qfrc_actuator:
[ 3.99775975e-03, 7.22259774e-02, 2.02769394e-02, 1.87799505e-03,
  3.33456897e-06, 3.47348733e-02, 1.10143509e-02, 1.93500904e-03,
 -3.08711926e-03, 3.46883736e-02, 1.09854344e-02, 1.70830305e-03,
  0.00000000e+00, 2.89645763e-03, 0.00000000e+00, 1.40713097e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006961385011489962
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30305635,  0.08792006, -0.94890827, -0.02674832,  0.99612753,
        0.0837524 ,  0.95259717,  0.        ,  0.30423449])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07217001, -0.04287041,  0.22461144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.20643998,  4.75962179,  7.20643998, 10.84427391,
       -3.342949  ,  4.75962179, -3.342949  , 13.69785011,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014342309908725662
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.9028353e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.9028353e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03752161, -0.11734925,  0.06187272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10566735e-03, 3.71970480e-02, 9.35056992e-03,-1.60706931e-05,
 -1.28439707e-05,-1.70333784e-04, 2.96644089e-05, 1.27571931e-04,
 -4.15157814e-05,-4.19354007e-05, 5.35948183e-06,-3.18911991e-06,
  3.22787165e-03, 4.76651425e-03, 8.78473838e-03, 1.85871102e-03,
  2.04856083e-06, 1.20034294e-06,-1.21644053e+00, 1.58485831e-03,
  5.46027769e-04, 3.36948445e-05]


--- Step 2620 ---
qpos:
[-0.01611635, 1.2950821 ,-0.03219174, 0.94844329, 0.00434595, 1.33153165,
 -0.02975411, 0.94626993, 0.01674329, 1.33659624,-0.02391929, 0.95498253,
  1.39411346,-0.00598407, 1.190239  , 0.06141089,-0.00370122,-0.09263162,
  0.08148896, 0.64637353,-0.01238643,-0.00352595, 0.76291245]

qacc:
[  0.08203901,  0.29155027, -3.21184518, 11.31872262, -0.08825412,
  -2.47603785, 10.72014914,-28.18874317, -0.06635115,  0.99708196,
  -3.05269757,  2.32158326, -0.28930809,  0.313221  ,  2.37146986,
  -4.28703777,  1.20165559,  0.95992942, -0.31151147, 60.38356535,
  54.9389661 ,  1.63127844]

qfrc_actuator:
[ 4.01721233e-03, 7.21873169e-02, 2.02845998e-02, 1.90439848e-03,
 -1.45009433e-05, 3.47428784e-02, 1.10002572e-02, 1.84792115e-03,
 -3.08171854e-03, 3.47131549e-02, 1.09746014e-02, 1.70780769e-03,
  0.00000000e+00, 2.90676975e-03, 0.00000000e+00, 3.70194529e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006957842738687277
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30304017,  0.08792124, -0.94891333, -0.02674725,  0.99612743,
        0.08375398,  0.95260235,  0.        ,  0.30421828])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0721678 , -0.0428707 ,  0.22461193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.22904624,  4.72521611,  7.22904624, 11.47786158,
       -4.34717048,  4.72521611, -4.34717048, 15.28704282,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001421568061869695
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90492392e-14,  3.90492392e-14,  1.00000000e+00, -1.52484308e-27,
        1.00000000e+00, -3.90492392e-14, -1.00000000e+00,  0.00000000e+00,
        3.90492392e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03754546, -0.11735837,  0.06187379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17599144e-03, 3.70878138e-02, 9.31963751e-03, 3.43829341e-05,
 -2.54214380e-05,-7.65871065e-05,-4.02893353e-05,-8.83584787e-05,
 -1.91115415e-05, 2.53900941e-06,-1.85100384e-05,-1.65275227e-06,
  3.25488371e-03, 4.75869202e-03, 8.98191739e-03, 1.75027920e-03,
  2.54134397e-06, 2.50413121e-06,-1.21644222e+00, 1.59142395e-03,
  5.42493628e-04, 3.60567761e-05]


--- Step 2621 ---
qpos:
[-0.01611804, 1.29509302,-0.03218971, 0.94844567, 0.00434604, 1.33153139,
 -0.02975317, 0.94626948, 0.01674247, 1.33659692,-0.02391855, 0.95498193,
  1.39412104,-0.00598539, 1.19022551, 0.06140861,-0.00368954,-0.09262027,
  0.08148772, 0.64644375,-0.01244628,-0.00308822, 0.76285388]

qacc:
[ 5.96810726e-01, 3.02251110e-01,-6.20707387e+00, 1.33733530e+01,
  3.42955823e-02,-6.45813271e-02, 5.16882688e+00,-2.93641850e+01,
 -2.67840741e-02, 4.35407140e+00,-1.31265301e+01, 1.09271570e+01,
  2.32977497e-02,-2.68197614e-01, 8.93297025e+00,-1.75553313e+01,
  1.11404847e+00, 9.41674480e-01,-8.29213870e-01, 5.72420243e+01,
  5.17939088e+01, 1.33906295e+00]

qfrc_actuator:
[ 4.04775672e-03, 7.21412743e-02, 2.02701700e-02, 1.91908164e-03,
  1.04240033e-05, 3.48014804e-02, 1.09556783e-02, 1.74273471e-03,
 -3.07808328e-03, 3.47634652e-02, 1.09142361e-02, 1.70776067e-03,
  0.00000000e+00, 2.89554677e-03, 0.00000000e+00,-1.84068301e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006955069768275063
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03024392e-01,  8.79223593e-02, -9.48918266e-01, -2.67461987e-02,
        9.96127331e-01,  8.37554901e-02,  9.52607400e-01, -3.46944695e-18,
        3.04202468e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07216576, -0.04287101,  0.22461239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.23736026,  4.7124721 ,  7.23736026, 12.28329605,
       -5.60091672,  4.7124721 , -5.60091672, 17.23818689,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013960520089996292
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.98814768e-14,  3.97629536e-14,  1.00000000e+00,  7.90546239e-28,
        1.00000000e+00, -3.97629536e-14, -1.00000000e+00,  0.00000000e+00,
       -1.98814768e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0375884 , -0.117383  ,  0.06187593])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19690838e-03, 3.70671532e-02, 9.30059000e-03, 1.35936902e-05,
  9.92122014e-06, 5.71262315e-06,-6.67273880e-05,-1.10709067e-04,
 -7.64782118e-06, 4.80463250e-05,-6.20244681e-05,-5.49637563e-07,
  3.26629935e-03, 4.74587628e-03, 8.89005483e-03, 1.52309369e-03,
  8.36878380e-06, 1.05147218e-05,-1.21644642e+00, 1.59740725e-03,
  5.38843829e-04, 4.72500452e-05]


--- Step 2622 ---
qpos:
[-0.01611992, 1.29510491,-0.03218768, 0.94844784, 0.0043463 , 1.33153111,
 -0.02975245, 0.94626775, 0.01674164, 1.33659728,-0.02391791, 0.95498102,
  1.39412894,-0.00598649, 1.19020819, 0.06140608,-0.00368455,-0.09261305,
  0.08148989, 0.64651422,-0.01250139,-0.00285863, 0.76279414]

qacc:
[-8.23264166e-02, 8.98548511e-01,-9.47324165e-01,-2.26634428e+00,
  7.19715789e-02,-1.55482617e+00, 7.65828862e+00,-2.13520567e+01,
 -6.79520221e-03,-7.25234766e-01, 2.47825813e+00,-5.57362204e+00,
  2.89890563e-01,-1.28846944e-01,-4.93902059e+00, 9.00441085e+00,
 -1.67342710e+00,-1.03244208e+00, 8.54130613e-01,-7.78587051e+01,
 -6.90779118e+01,-1.77688343e+00]

qfrc_actuator:
[ 4.03041379e-03, 7.21285844e-02, 2.02435628e-02, 1.92660715e-03,
  2.52936304e-05, 3.48010148e-02, 1.09469889e-02, 1.68108019e-03,
 -3.07553855e-03, 3.47042099e-02, 1.08962463e-02, 1.69021916e-03,
  0.00000000e+00, 2.85408519e-03, 0.00000000e+00, 2.13936925e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006954159527234743
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30301205,  0.08792301, -0.94892215, -0.02674531,  0.99612727,
        0.08375646,  0.95261135,  0.        ,  0.3041901 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0721643 , -0.04287138,  0.22461274])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.05603746,   4.97987071,   7.05603746,
        37.26762614, -40.56797304,   4.97987071, -40.56797304,
        66.11760242,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0014318621969078155
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.87685012e-14,  5.81527517e-14,  1.00000000e+00,  2.25449502e-27,
        1.00000000e+00, -5.81527517e-14, -1.00000000e+00,  0.00000000e+00,
       -3.87685012e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0371807 , -0.06436824,  0.06187293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10955959e-03, 3.71834941e-02, 9.32503578e-03,-6.43381469e-06,
  2.07249136e-05,-1.36737971e-05,-1.84081301e-05,-6.60067447e-05,
 -1.96815771e-06,-4.48222822e-05,-1.56737986e-05,-1.79440779e-05,
  3.26234180e-03, 4.72523083e-03, 8.57112911e-03, 1.72053276e-03,
  1.86968827e-05, 2.41071891e-05,-1.21645276e+00, 1.60297465e-03,
  5.35042771e-04, 6.58432462e-05]


--- Step 2623 ---
qpos:
[-0.01612323, 1.29511998,-0.03218454, 0.94844844, 0.00434644, 1.33153087,
 -0.02975218, 0.94626496, 0.01674081, 1.33659656,-0.02391709, 0.95497893,
  1.39413729,-0.00598708, 1.19018108, 0.06140357,-0.00368559,-0.09260987,
  0.08149233, 0.6465857 ,-0.0125529 ,-0.00282129, 0.76273284]

qacc:
[-6.11245509e-01,-1.50083551e+00, 1.31495632e+01,-3.15551497e+01,
 -5.06134936e-02,-5.81676135e-01, 4.12731283e+00,-1.59274020e+01,
  2.62321743e-03,-3.93327368e+00, 1.35009575e+01,-2.46980102e+01,
  5.17470262e-01,-1.77004156e-01,-1.45176055e+01, 2.97096024e+01,
 -1.50895380e+00,-1.00999313e+00, 6.89471885e-02,-7.21588564e+01,
 -6.35062988e+01,-2.09340532e+00]

qfrc_actuator:
[ 4.00312399e-03, 7.21333811e-02, 2.02267819e-02, 1.85937192e-03,
 -1.49631167e-06, 3.48008515e-02, 1.09238778e-02, 1.62778643e-03,
 -3.07366965e-03, 3.45977001e-02, 1.08852495e-02, 1.62698874e-03,
  0.00000000e+00, 2.81176935e-03, 0.00000000e+00, 3.58859831e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006951621827363322
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30299878,  0.08792374, -0.94892632, -0.02674436,  0.99612721,
        0.08375752,  0.9526156 ,  0.        ,  0.30417679])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07216249, -0.04287173,  0.22461314])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.20337957, -4.76425226, -7.20337957,  9.89717544,
       -1.9063025 , -4.76425226, -1.9063025 , 11.51862506,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001451544930777579
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.8242806e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -3.8242806e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03715251, -0.06440099,  0.06187131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09190813e-03, 3.71394204e-02, 9.30789606e-03,-6.29726444e-05,
 -1.45602738e-05,-1.33065827e-05,-2.98160553e-05,-5.57764425e-05,
  7.05823946e-07,-1.34893744e-04,-2.20588976e-05,-6.54345272e-05,
  3.24642708e-03, 4.67221419e-03, 8.76321162e-03, 2.07036692e-03,
  5.80317726e-06, 7.16379934e-06,-1.21644481e+00, 1.59503504e-03,
  5.39537653e-04, 4.39334995e-05]


--- Step 2624 ---
qpos:
[-0.01612706, 1.29513525,-0.03218099, 0.9484475 , 0.00434624, 1.33153072,
 -0.02975231, 0.94626259, 0.0167403 , 1.33659562,-0.02391737, 0.95497747,
  1.39414563,-0.00598765, 1.19015278, 0.0614017 ,-0.00369213,-0.09261065,
  0.08149241, 0.64665868,-0.01260172,-0.00296303, 0.76266964]

qacc:
[ -0.21754327, -3.46464972, 14.76561911,-30.75482911, -0.14734613,
   1.9121116 , -6.92521821, 10.69864524,  0.12946955,  3.76976941,
 -13.91442415, 19.47459615,  0.08506064, -0.10439411, -3.69880142,
  10.36139585, -1.37473355, -0.98806159, -0.59250545,-67.41799596,
 -58.90691943, -2.31516118]

qfrc_actuator:
[ 4.00668935e-03, 7.21105694e-02, 2.02325402e-02, 1.76647552e-03,
 -3.53080616e-05, 3.48185847e-02, 1.09101697e-02, 1.65082153e-03,
 -3.03671652e-03, 3.46234950e-02, 1.08427137e-02, 1.66160990e-03,
  0.00000000e+00, 2.83955856e-03, 0.00000000e+00, 3.31552609e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006945704916229319
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02981404e-01,  8.79249389e-02, -9.48931754e-01, -2.67431951e-02,
        9.96127103e-01,  8.37591571e-02,  9.52621158e-01,  3.46944695e-18,
        3.04159382e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07215983, -0.04287204,  0.22461369])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.21758512, -4.74270407, -7.21758512, 10.37904327,
       -2.6520606 , -4.74270407, -2.6520606 , 12.67234665,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014513847211295727
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.82470274e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.82470274e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.037158  , -0.06440753,  0.06187134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16715244e-03, 3.69574606e-02, 9.25794813e-03,-7.73078513e-05,
 -4.24040865e-05, 2.86647953e-06,-2.13401568e-05, 2.04646273e-05,
  3.73653078e-05,-5.50463315e-05,-7.33039866e-05, 2.84530952e-05,
  3.22358454e-03, 4.67392103e-03, 9.25294664e-03, 2.04255701e-03,
  1.58263565e-06, 9.54911732e-07,-1.21644117e+00, 1.58793024e-03,
  5.43459979e-04, 3.56632725e-05]


--- Step 2625 ---
qpos:
[-0.01612954, 1.29514707,-0.03217874, 0.9484476 , 0.00434566, 1.33153072,
 -0.02975246, 0.94626221, 0.01674028, 1.33659381,-0.02391686, 0.95497673,
  1.39415377,-0.00598866, 1.19013381, 0.06140019,-0.00370374,-0.09261529,
  0.08148789, 0.64673344,-0.01264856,-0.00327293, 0.7626042 ]

qacc:
[ 5.72415609e-01, 7.73523215e-01,-1.01206404e+01, 2.30112045e+01,
 -1.56409131e-01, 3.63009684e+00,-1.57075381e+01, 3.66488790e+01,
  2.15278832e-01,-2.01299150e+00, 3.74337960e+00, 5.67072791e+00,
 -3.22159290e-01, 6.22194320e-02, 1.26937247e+01,-2.43168212e+01,
 -1.26494990e+00,-9.67093458e-01,-1.14930227e+00,-6.34767431e+01,
 -5.51096520e+01,-2.46529760e+00]

qfrc_actuator:
[ 4.02841809e-03, 7.20729056e-02, 2.02343311e-02, 1.80080384e-03,
 -5.53042550e-05, 3.48469776e-02, 1.09199911e-02, 1.75411012e-03,
 -2.99676808e-03, 3.45862257e-02, 1.08889759e-02, 1.70034155e-03,
  0.00000000e+00, 2.87420689e-03, 0.00000000e+00,-2.17656354e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000693943920504949
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30296345,  0.0879263 , -0.94893736, -0.02674203,  0.99612698,
        0.08376096,  0.9526269 ,  0.        ,  0.3041414 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07215709, -0.04287232,  0.22461425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.21629571, -4.74466575, -7.21629571, 10.99403404,
       -3.58584729, -4.74466575, -3.58584729, 14.09017974,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014353524039115023
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.93371158e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.93371158e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03719014, -0.06439339,  0.06187267])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21439756e-03, 3.69099002e-02, 9.23940002e-03, 3.41837068e-05,
 -4.50190326e-05, 2.64153420e-05, 8.55125048e-06, 1.03220566e-04,
  6.20067683e-05,-8.11763725e-05, 2.80131676e-05, 3.56141771e-05,
  3.22432510e-03, 4.70798737e-03, 9.31319962e-03, 1.65743177e-03,
  4.33876043e-06, 3.31270320e-06,-1.21644097e+00, 1.58134958e-03,
  5.47024176e-04, 3.82526719e-05]


--- Step 2626 ---
qpos:
[-0.01613093, 1.29515688,-0.03217746, 0.94844763, 0.00434507, 1.331531  ,
 -0.02975284, 0.94626341, 0.01674077, 1.3365909 ,-0.02391475, 0.95497575,
  1.39416173,-0.00599007, 1.19011992, 0.06139888,-0.00371533,-0.09262951,
  0.08149097, 0.64680977,-0.01260366,-0.00367553, 0.76253836]

qacc:
[ 4.69814075e-01,-1.87278307e-01,-2.42484798e+00, 2.47903952e+00,
 -9.14844720e-03, 3.72248995e+00,-1.49356996e+01, 3.11191437e+01,
  2.09430655e-01,-6.18655740e+00, 1.89002366e+01,-1.84742312e+01,
 -1.18771738e-01,-1.56204078e-01, 6.90813450e+00,-1.32719386e+01,
  3.10898822e-03,-2.39353223e+00, 1.89962311e+00,-5.66987182e+00,
 -6.49547642e+01,-1.46672771e+00]

qfrc_actuator:
[ 4.05939584e-03, 7.20831506e-02, 2.02352902e-02, 1.80298073e-03,
 -3.13453537e-05, 3.48639311e-02, 1.09081964e-02, 1.83279096e-03,
 -2.97309943e-03, 3.45295932e-02, 1.09693108e-02, 1.68793297e-03,
  0.00000000e+00, 2.87791366e-03, 0.00000000e+00,-1.09107215e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006936169777408928
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02950037e-01,  8.79272084e-02, -9.48941558e-01, -2.67411220e-02,
        9.96126903e-01,  8.37622014e-02,  9.52631192e-01,  3.46944695e-18,
        3.04127954e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07215519, -0.04287269,  0.22461465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.49583831, -1.55161472, -8.49583831, 10.18185509,
       -8.46231048, -1.55161472, -8.46231048, 54.97159156,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014584685205051614
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.        , -0.25661945,  0.96651252,  0.        ,  0.96651252,
        0.25661945, -1.        ,  0.        ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00260681, -0.07102408,  0.06187479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17823117e-03, 3.70922981e-02, 9.30557464e-03,-1.58596323e-05,
 -2.60653864e-06, 3.63306101e-05,-2.63207374e-06, 8.21177691e-05,
  6.02737092e-05,-9.49834466e-05, 6.87074543e-05,-1.31684896e-05,
  3.23447761e-03, 4.73377422e-03, 8.84674860e-03, 1.55175830e-03,
  1.28388854e-05, 1.26672972e-05,-1.21644354e+00, 1.57508663e-03,
  5.50374376e-04, 4.96853332e-05]


--- Step 2627 ---
qpos:
[-0.01613265, 1.29516788,-0.03217595, 0.94844698, 0.00434472, 1.33153146,
 -0.02975302, 0.94626553, 0.01674165, 1.33658886,-0.02391384, 0.95497392,
  1.39416964,-0.00599133, 1.19010272, 0.06139749,-0.00372075,-0.09263906,
  0.08149913, 0.64688493,-0.01256594,-0.0038886 , 0.76247417]

qacc:
[-1.45894459e-01,-1.69629547e-01, 3.81615339e+00,-1.18336903e+01,
  1.07106785e-01, 1.25513649e+00,-5.69918458e+00, 1.54922012e+01,
  1.70741321e-01, 2.88706775e+00,-6.31257036e+00,-4.98549405e+00,
  2.26534373e-02, 5.31447039e-02,-4.64351538e+00, 9.15474409e+00,
  1.54261793e+00, 1.16538738e+00, 1.27028462e+00, 6.99324204e+01,
  6.40249560e+01, 2.19165089e+00]

qfrc_actuator:
[ 4.04236862e-03, 7.21220876e-02, 2.02359264e-02, 1.78656968e-03,
  1.03391802e-06, 3.48738197e-02, 1.09191668e-02, 1.87856791e-03,
 -2.95938768e-03, 3.46394651e-02, 1.09269472e-02, 1.64551786e-03,
  0.00000000e+00, 2.86318679e-03, 0.00000000e+00, 6.96810152e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006934412905662407
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02939458e-01,  8.79277485e-02, -9.48944886e-01, -2.67403537e-02,
        9.96126855e-01,  8.37630135e-02,  9.52634578e-01,  3.46944695e-18,
        3.04117348e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07215376, -0.04287308,  0.22461497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.46051395, -4.35057565,  7.46051395, 19.5273382 ,
       18.6762107 , -4.35057565, 18.6762107 , 40.66295999,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014122462499236293
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.47401218e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.47401218e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03759548, -0.11732473,  0.06187459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10609133e-03, 3.72318315e-02, 9.35414782e-03,-2.84534933e-05,
  3.08421582e-05, 3.19326183e-05, 2.01836048e-05, 4.86959810e-05,
  4.92927276e-05, 7.03932975e-05,-5.34908835e-05,-4.35285581e-05,
  3.24313994e-03, 4.73887478e-03, 8.59349055e-03, 1.72096034e-03,
  1.37817814e-05, 2.24850047e-05,-1.21644471e+00, 1.56777414e-03,
  5.50691482e-04, 6.10757198e-05]


--- Step 2628 ---
qpos:
[-0.01613501, 1.29517978,-0.03217457, 0.94844618, 0.00434454, 1.331532  ,
 -0.02975289, 0.94626577, 0.01674255, 1.33658814,-0.02391497, 0.95497262,
  1.3941775 ,-0.00599225, 1.19008251, 0.06139595,-0.0037206 ,-0.09264417,
  0.08150929, 0.6469595 ,-0.01253436,-0.00392548, 0.76241123]

qacc:
[-2.70925853e-01, 1.25310385e+00,-2.34038668e+00,-3.16745892e-01,
  6.90480846e-02,-3.92370208e+00, 1.68001411e+01,-3.64283725e+01,
  3.81647439e-03, 8.19471451e+00,-2.57144534e+01, 2.77432647e+01,
 -1.29260582e-01, 3.57584467e-01,-3.96577671e+00, 7.43597507e+00,
  1.39125426e+00, 1.11129203e+00, 5.01245962e-01, 6.51853143e+01,
  5.93150186e+01, 1.74377799e+00]

qfrc_actuator:
[ 4.01529443e-03, 7.21048304e-02, 2.02000701e-02, 1.77738528e-03,
  2.69449382e-06, 3.48617109e-02, 1.09256972e-02, 1.78036417e-03,
 -2.98726277e-03, 3.47234413e-02, 1.08308729e-02, 1.67457802e-03,
  0.00000000e+00, 2.87251352e-03, 0.00000000e+00, 1.42050317e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006931565933724314
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02927534e-01,  8.79284074e-02, -9.48948631e-01, -2.67395032e-02,
        9.96126797e-01,  8.37639767e-02,  9.52638393e-01, -3.46944695e-18,
        3.04105396e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07215203, -0.04287344,  0.22461534])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  5.46410781,  6.68807167,  5.46410781, 14.79444801,
       -5.03111189,  6.68807167, -5.03111189, 12.74674688,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014219508494624222
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.80774543e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.80774543e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03758713, -0.11731015,  0.06187383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09611565e-03, 3.71549530e-02, 9.30736947e-03,-4.00278754e-06,
  1.98616685e-05, 1.09630911e-05, 1.65003740e-05,-9.55218392e-05,
  1.22927943e-06, 1.11179562e-04,-8.96808444e-05, 2.85634353e-05,
  3.24569110e-03, 4.74052338e-03, 8.75887093e-03, 1.79725281e-03,
  4.01249627e-06, 7.21042146e-06,-1.21644037e+00, 1.57548508e-03,
  5.47526475e-04, 4.18606712e-05]


--- Step 2629 ---
qpos:
[-0.01613778, 1.29519193,-0.032173  , 0.94844567, 0.00434447, 1.33153263,
 -0.02975295, 0.94626486, 0.01674346, 1.33658748,-0.02391683, 0.95497139,
  1.394185  ,-0.00599298, 1.19006255, 0.06139449,-0.00371539,-0.09264502,
  0.08151888, 0.64703389,-0.01250806,-0.00379722, 0.76234918]

qacc:
[-1.76144779e-01, 3.22096380e-01,-1.24001502e+00, 4.22030775e+00,
  4.40671079e-02,-1.35820106e+00, 6.90731902e+00,-1.93606228e+01,
  4.71969738e-03, 2.14614220e+00,-7.00883128e+00, 6.68088447e+00,
 -4.13452028e-01, 5.27700316e-01, 1.34715894e-01, 1.28397375e-01,
  1.26851502e+00, 1.06509780e+00,-1.44671262e-01, 6.12422430e+01,
  5.54257112e+01, 1.40045098e+00]

qfrc_actuator:
[ 4.01812739e-03, 7.20359143e-02, 2.01958283e-02, 1.79003906e-03,
  3.66536724e-06, 3.48541719e-02, 1.09116280e-02, 1.72247498e-03,
 -2.98659982e-03, 3.46668028e-02, 1.07749048e-02, 1.67445182e-03,
  0.00000000e+00, 2.91378087e-03, 0.00000000e+00, 1.15172173e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006927519371813622
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30291486,  0.08792927, -0.9489526 , -0.02673865,  0.99612672,
        0.08376515,  0.95264245,  0.        ,  0.3040927 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07215005, -0.04287377,  0.22461575])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  5.51372355,  6.64722721,  5.51372355, 16.25934872,
       -6.32309248,  6.64722721, -6.32309248, 13.88122481,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014144303155620708
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.81157407e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.81157407e-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([-0.03760453, -0.11731595,  0.06187452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13070712e-03, 3.70407311e-02, 9.30916900e-03, 1.63177328e-05,
  1.26920723e-05,-1.11510239e-06,-1.28477265e-05,-5.92920514e-05,
  1.39228043e-06,-1.18199785e-05,-4.36112161e-05, 1.20452931e-06,
  3.24873712e-03, 4.76497219e-03, 8.90986025e-03, 1.77823438e-03,
  1.18882503e-06, 9.66342056e-07,-1.21643939e+00, 1.58237638e-03,
  5.44254879e-04, 3.44386249e-05]


--- Step 2630 ---
qpos:
[-0.01614021, 1.29520338,-0.03217155, 0.9484461 , 0.00434431, 1.33153323,
 -0.02975262, 0.94626394, 0.01674423, 1.33658629,-0.02391845, 0.95496878,
  1.39419238,-0.00599375, 1.19004598, 0.06139309,-0.00370549,-0.09264177,
  0.08152571, 0.64710836,-0.01248636,-0.00351298, 0.76228769]

qacc:
[ 1.46093051e-01, 9.99443511e-01,-6.32742173e+00, 1.69112334e+01,
 -3.36736805e-02,-1.11112759e+00, 3.62764930e+00,-3.33903893e+00,
 -5.85105469e-02,-3.68184007e+00, 1.39137738e+01,-2.75108502e+01,
 -2.46794171e-01, 2.52523458e-01, 4.86862942e+00,-9.70446503e+00,
  1.16886827e+00, 1.02571798e+00,-6.86658117e-01, 5.79705645e+01,
  5.22157856e+01, 1.13963735e+00]

qfrc_actuator:
[ 4.02118403e-03, 7.20250598e-02, 2.02103006e-02, 1.83317126e-03,
 -1.35365711e-05, 3.48671060e-02, 1.09388289e-02, 1.72430052e-03,
 -3.00432472e-03, 3.46152911e-02, 1.07780089e-02, 1.60382660e-03,
  0.00000000e+00, 2.92097026e-03, 0.00000000e+00,-6.93916163e-06,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006923825435635224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30290178,  0.08793026, -0.94895668, -0.0267378 ,  0.99612663,
        0.08376646,  0.95264663,  0.        ,  0.30407959])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07214808, -0.04287409,  0.22461617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  5.55056731,  6.61649298,  5.55056731, 18.09358928,
       -7.93365424,  6.61649298, -7.93365424, 15.29189581,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013932165915380157
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.98829081e-14,  7.96877550e-14,  1.00000000e+00,  2.38130186e-27,
        1.00000000e+00, -7.96877550e-14, -1.00000000e+00,  0.00000000e+00,
       -2.98829081e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03764221, -0.11733779,  0.06187633])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15441641e-03, 3.70173353e-02, 9.31452610e-03, 4.52006068e-05,
 -9.71207649e-06, 8.02189996e-06, 2.37820617e-05, 3.94611779e-08,
 -1.69036782e-05,-6.65240546e-05,-4.12411485e-06,-7.22288061e-05,
  3.26650027e-03, 4.76284928e-03, 8.89792156e-03, 1.65190295e-03,
  4.06818941e-06, 2.04908472e-06,-1.21644116e+00, 1.58868523e-03,
  5.40833298e-04, 3.66310744e-05]


--- Step 2631 ---
qpos:
[-0.01614246, 1.29521456,-0.03216976, 0.94844595, 0.00434417, 1.33153408,
 -0.02975204, 0.94626233, 0.01674483, 1.33658507,-0.02392002, 0.95496669,
  1.39419964,-0.00599468, 1.19003136, 0.06139202,-0.00369125,-0.09263455,
  0.08152799, 0.64718302,-0.01246872,-0.00308031, 0.76222646]

qacc:
[ 7.75225429e-02,-2.26865701e+00, 8.19406519e+00,-1.37124426e+01,
  6.30687785e-03,-1.49222059e+00, 6.65179758e+00,-1.37872790e+01,
 -7.22988524e-02, 6.99819836e-01,-3.36256912e+00, 8.90664136e+00,
 -6.03518815e-02,-6.61189451e-02, 1.86387226e+00,-2.34469515e+00,
  1.08781315e+00, 9.92175084e-01,-1.14094670e+00, 5.52613004e+01,
  4.95704312e+01, 9.44386690e-01]

qfrc_actuator:
[ 4.02378426e-03, 7.20143961e-02, 2.02362273e-02, 1.80504913e-03,
 -5.99488305e-06, 3.48923909e-02, 1.09547832e-02, 1.69027226e-03,
 -3.01518443e-03, 3.46561927e-02, 1.07981381e-02, 1.63432576e-03,
  0.00000000e+00, 2.92560961e-03, 0.00000000e+00,-2.64182508e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006921609937753544
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02889482e-01,  8.79311312e-02, -9.48960525e-01, -2.67369789e-02,
        9.96126556e-01,  8.37676417e-02,  9.52650563e-01, -3.46944695e-18,
        3.04067269e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07214639, -0.04287445,  0.22461655])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  5.55193944,  6.61534167,  5.55193944, 20.4692913 ,
       -9.93080949,  6.61534167, -9.93080949, 16.97081643,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001361256614603984
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01948359e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.01948359e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03769565, -0.11737211,  0.06187903])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13987431e-03, 3.70420702e-02, 9.34627624e-03,-3.03754475e-05,
  1.81077846e-06, 3.43678885e-05, 2.02271762e-05,-3.30899323e-05,
 -2.08423418e-05, 1.17487928e-06, 4.55503966e-06, 2.67186299e-05,
  3.27258303e-03, 4.76911082e-03, 8.72856045e-03, 1.62983773e-03,
  1.17359223e-05, 9.21290481e-06,-1.21644522e+00, 1.59457545e-03,
  5.37235387e-04, 4.68472008e-05]


--- Step 2632 ---
qpos:
[-0.01614541, 1.29522715,-0.03216733, 0.94844426, 0.00434407, 1.33153582,
 -0.02975214, 0.94626032, 0.01674585, 1.33658438,-0.02392141, 0.954967  ,
  1.39420674,-0.00599542, 1.19001268, 0.06139114,-0.0036837 ,-0.092631  ,
  0.08153303, 0.64725708,-0.01244561,-0.00285379, 0.76216483]

qacc:
[-3.00009458e-01,-2.48037457e+00, 1.34450640e+01,-3.02864234e+01,
  1.94100261e-02, 2.26325245e+00,-5.14886378e+00,-7.84957717e-01,
  1.80465509e-01, 4.33617674e+00,-1.81407542e+01, 4.30357769e+01,
 -2.85346295e-02, 1.06269532e-01,-6.57119293e+00, 1.42985845e+01,
 -1.67502892e+00,-9.18755975e-01, 6.90618841e-01,-7.68002241e+01,
 -6.87917864e+01,-1.19461062e+00]

qfrc_actuator:
[ 4.02613462e-03, 7.20214284e-02, 2.02331039e-02, 1.73533024e-03,
 -1.42224313e-06, 3.49603307e-02, 1.09284750e-02, 1.67090511e-03,
 -2.95082681e-03, 3.47344914e-02, 1.08285593e-02, 1.75966478e-03,
  0.00000000e+00, 2.92886481e-03, 0.00000000e+00, 1.57401613e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006920484854024238
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02877099e-01,  8.79319533e-02, -9.48964401e-01, -2.67361378e-02,
        9.96126484e-01,  8.37687731e-02,  9.52654524e-01,  3.46944695e-18,
        3.04054860e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07214488, -0.04287481,  0.22461691])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.01034913,   5.04398472,   7.01034913,
        36.38186829, -38.56190795,   5.04398472, -38.56190795,
        62.23137888,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013906292748975535
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.99180085e-14,  9.97950213e-14,  1.00000000e+00,  3.98361851e-27,
        1.00000000e+00, -9.97950213e-14, -1.00000000e+00,  0.00000000e+00,
       -3.99180085e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03731187, -0.06440852,  0.06187659])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13313463e-03, 3.70617512e-02, 9.32576509e-03,-7.07674923e-05,
  5.64251112e-06, 8.99052084e-05,-1.82599184e-05,-1.85119645e-05,
  5.20515500e-05, 8.06362400e-05, 3.19501137e-05, 1.26122123e-04,
  3.27851278e-03, 4.78064063e-03, 8.63170636e-03, 1.79705469e-03,
  2.35203615e-05, 2.15480031e-05,-1.21645129e+00, 1.60016037e-03,
  5.33445510e-04, 6.39279973e-05]


--- Step 2633 ---
qpos:
[-0.0161488 , 1.29524075,-0.03216511, 0.94844252, 0.00434388, 1.33153784,
 -0.02975181, 0.94625878, 0.01674715, 1.33658389,-0.02392139, 0.95496774,
  1.39421382,-0.00599578, 1.18999005, 0.06139005,-0.0036822 ,-0.09263113,
  0.0815378 , 0.64733146,-0.01241834,-0.00281793, 0.76210224]

qacc:
[-1.84493774e-01, 1.78273114e+00,-4.08464218e+00, 2.24475429e+00,
 -4.05007549e-02, 7.24122127e-02,-7.40289550e-01, 5.91156522e+00,
  1.15245946e-01,-2.81152945e+00, 8.63058436e+00,-2.69794704e+00,
 -8.36278485e-02, 3.41448607e-01,-5.16814216e+00, 9.60254042e+00,
 -1.51103576e+00,-9.20116624e-01,-6.42859166e-02,-7.13130419e+01,
 -6.32801458e+01,-1.62443689e+00]

qfrc_actuator:
[ 4.04690053e-03, 7.20375290e-02, 2.01943760e-02, 1.73060058e-03,
 -1.64209629e-05, 3.49643632e-02, 1.09486302e-02, 1.69583741e-03,
 -2.94838339e-03, 3.47459300e-02, 1.09005196e-02, 1.78004791e-03,
  0.00000000e+00, 2.93100145e-03, 0.00000000e+00, 2.50172798e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006918098999026262
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30286278,  0.08793301, -0.94896887, -0.0267352 ,  0.99612639,
        0.08377018,  0.9526591 ,  0.        ,  0.30404052])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07214302, -0.04287512,  0.22461734])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.44706591, -4.37355533, -7.44706591,  9.16837051,
       -0.90587405, -4.37355533, -0.90587405, 10.17883954,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014092764921301987
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.96949114e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.96949114e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03728619, -0.06444168,  0.06187506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18908413e-03, 3.70079218e-02, 9.25549802e-03, 1.31099931e-06,
 -1.16657010e-05, 4.96233791e-05, 3.51125544e-05, 2.66630107e-05,
  3.31765410e-05, 6.60154869e-05, 9.50316276e-05, 2.66398614e-05,
  3.28639687e-03, 4.77333362e-03, 8.83455274e-03, 1.88008573e-03,
  8.31622050e-06, 5.86201990e-06,-1.21644346e+00, 1.59179316e-03,
  5.38178842e-04, 4.29315397e-05]


--- Step 2634 ---
qpos:
[-0.01615193, 1.29525497,-0.03216202, 0.9484414 , 0.00434371, 1.33153862,
 -0.02975005, 0.94625936, 0.01674832, 1.33658328,-0.02391963, 0.95496735,
  1.39422123,-0.00599617, 1.18996831, 0.06138916,-0.00368621,-0.09263493,
  0.08153978, 0.64740678,-0.01238796,-0.0029599 , 0.76203821]

qacc:
[ 1.04812928e-01,-4.56206091e-01, 1.17297880e+00, 5.88234608e+00,
  7.26642056e-03,-1.90529169e+00,-1.09963156e-01, 2.54576637e+01,
 -5.22070812e-02,-6.80629174e+00, 2.42718012e+01,-3.39900826e+01,
  2.43877717e-01,-2.23588523e-01, 6.65348706e-01,-4.49110492e-01,
 -1.37735048e+00,-9.17182476e-01,-7.00208337e-01,-6.67482272e+01,
 -5.87362397e+01,-1.93534190e+00]

qfrc_actuator:
[ 4.04322070e-03, 7.20056316e-02, 2.02413799e-02, 1.76399877e-03,
 -7.53385438e-06, 3.48237768e-02, 1.09958523e-02, 1.79989380e-03,
 -2.98310441e-03, 3.47173620e-02, 1.09783460e-02, 1.72071756e-03,
  0.00000000e+00, 2.89669321e-03, 0.00000000e+00, 1.99890681e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006914021367159448
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30284768,  0.08793421, -0.94897358, -0.02673423,  0.99612628,
        0.08377175,  0.95266393,  0.        ,  0.30402539])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07214081, -0.0428754 ,  0.22461782])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.46150898, -4.3488689 , -7.46150898,  9.51277616,
       -1.50369213, -4.3488689 , -1.50369213, 11.21630168,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014088000144420257
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.94031450e-14,  5.91047175e-14,  1.00000000e+00,  2.32891175e-27,
        1.00000000e+00, -5.91047175e-14, -1.00000000e+00,  0.00000000e+00,
       -3.94031450e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03729287, -0.06444918,  0.06187513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20702034e-03, 3.69249653e-02, 9.31249992e-03, 3.75180246e-05,
  2.00473714e-06,-1.05488107e-04, 6.16968049e-05, 1.07192936e-04,
 -1.51318951e-05, 2.72926958e-05, 1.02299583e-04,-5.39736052e-05,
  3.28745319e-03, 4.71992565e-03, 9.03294018e-03, 1.84096622e-03,
  1.78559688e-06, 6.30258279e-07,-1.21643988e+00, 1.58441787e-03,
  5.42239035e-04, 3.52833559e-05]


--- Step 2635 ---
qpos:
[-0.01615503, 1.29527061,-0.03215733, 0.94844059, 0.00434374, 1.33153716,
 -0.02974717, 0.94626302, 0.01674939, 1.33658328,-0.023918  , 0.95496628,
  1.39422924,-0.00599662, 1.18994591, 0.06138859,-0.00369529,-0.09264238,
  0.08153682, 0.64748346,-0.01235526,-0.00326907, 0.76197233]

qacc:
[ 1.70955469e-02,-1.92480786e+00, 7.93809808e+00,-4.32872037e+00,
  8.48308763e-02,-6.84878053e-01,-7.62334695e+00, 4.36682973e+01,
 -4.31129611e-02,-4.77635119e-03, 2.35002988e+00,-1.01976848e+01,
  5.67502773e-01,-5.60363200e-01,-1.95771334e+00, 5.35930567e+00,
 -1.26813449e+00,-9.11365110e-01,-1.23552060e+00,-6.29528306e+01,
 -5.49898392e+01,-2.15537332e+00]

qfrc_actuator:
[ 4.02436821e-03, 7.19981914e-02, 2.03033323e-02, 1.78410626e-03,
  1.56108309e-05, 3.46333469e-02, 1.10226134e-02, 1.94958575e-03,
 -2.98657917e-03, 3.47537989e-02, 1.09700373e-02, 1.68595545e-03,
  0.00000000e+00, 2.84077662e-03, 0.00000000e+00, 2.58712446e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006911038005902835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30283118,  0.08793534, -0.94897874, -0.02673312,  0.99612618,
        0.0837733 ,  0.95266921,  0.        ,  0.30400885])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07213865, -0.04287573,  0.22461831])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.46445414, -4.34381184, -7.46445414,  9.94832413,
       -2.25448736, -4.34381184, -2.25448736, 12.51049957,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013930293000685157
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.98492345e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.98492345e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03732514, -0.06443643,  0.06187645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17587178e-03, 3.68867384e-02, 9.33117766e-03, 2.62133323e-05,
  2.43234001e-05,-2.33508461e-04, 1.62891071e-05, 1.50828025e-04,
 -1.24079598e-05, 6.99103914e-05, 7.06623047e-06,-3.22154634e-05,
  3.27122952e-03, 4.66547756e-03, 8.98877339e-03, 1.88936831e-03,
  2.26777607e-06, 3.76961839e-06,-1.21643968e+00, 1.57766745e-03,
  5.45872696e-04, 3.82982232e-05]


--- Step 2636 ---
qpos:
[-0.01615816, 1.29528677,-0.03215249, 0.94844052, 0.00434385, 1.33153486,
 -0.02974465, 0.9462677 , 0.01675053, 1.33658417,-0.02391747, 0.95496483,
  1.39423755,-0.0059969 , 1.18992205, 0.06138793,-0.00370909,-0.09265344,
  0.08152711, 0.64756173,-0.01232089,-0.00373664, 0.76190422]

qacc:
[-1.37879768e-02, 1.55302136e+00,-5.78575916e+00, 1.33746300e+01,
  3.59691847e-02, 1.62762833e+00,-8.74732248e+00, 2.00223535e+01,
  2.74269398e-02, 3.47657720e+00,-9.16204811e+00, 2.99702291e+00,
  1.95312425e-01,-5.24716235e-02,-1.89711759e+00, 3.45674681e+00,
 -1.17862584e+00,-9.03679673e-01,-1.68578945e+00,-5.98015171e+01,
 -5.19033593e+01,-2.30575547e+00]

qfrc_actuator:
[ 4.03202504e-03, 7.20043628e-02, 2.02844117e-02, 1.81407293e-03,
  1.16151316e-05, 3.46452870e-02, 1.10190977e-02, 2.00058629e-03,
 -2.97127888e-03, 3.47930426e-02, 1.09112195e-02, 1.66593091e-03,
  0.00000000e+00, 2.84294292e-03, 0.00000000e+00, 2.94043456e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006908929944856035
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30281178,  0.0879365 , -0.94898482, -0.02673177,  0.99612608,
        0.08377495,  0.95267541,  0.        ,  0.30398941])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0721364 , -0.0428761 ,  0.22461885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.44483824, -4.37734629, -7.44483824, 10.53150372,
       -3.22318831, -4.37734629, -3.22318831, 14.11825015,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001365164578487399
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.03313037e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.03313037e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03737745, -0.0644078 ,  0.06187876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18152756e-03, 3.68212349e-02, 9.23232911e-03, 4.13933240e-05,
  1.03487391e-05,-1.09505402e-04,-4.29041950e-05, 4.79824681e-05,
  7.97736515e-06, 7.83259198e-05,-4.53074489e-05,-1.84953051e-05,
  3.24112879e-03, 4.67039102e-03, 9.02183431e-03, 1.90899250e-03,
  8.55122501e-06, 1.37723769e-05,-1.21644223e+00, 1.57129891e-03,
  5.49245979e-04, 5.00284467e-05]


--- Step 2637 ---
qpos:
[-0.01616116, 1.29530233,-0.03214781, 0.94844059, 0.00434384, 1.33153343,
 -0.02974347, 0.94627114, 0.01675163, 1.33658487,-0.02391727, 0.95496355,
  1.39424601,-0.00599724, 1.18989935, 0.06138746,-0.00371644,-0.09266037,
  0.08152493, 0.6476375 ,-0.01229542,-0.00400217, 0.76183888]

qacc:
[ 5.69656927e-02,-1.41270282e-01,-7.83703505e-01, 2.62608887e+00,
 -4.93790317e-02, 2.61248802e+00,-4.57394383e+00,-1.11104153e+01,
 -1.51263715e-02, 9.23822374e-01,-3.66594756e+00, 5.28834750e+00,
  1.06311877e-01,-1.19273910e-01, 1.12973052e+00,-1.44710069e+00,
  1.60950440e+00, 1.03453834e+00, 1.88076047e+00, 7.40786264e+01,
  6.87837468e+01, 3.10472670e+00]

qfrc_actuator:
[ 4.02013831e-03, 7.19480344e-02, 2.02710354e-02, 1.81387673e-03,
 -8.62996925e-06, 3.47781441e-02, 1.09806917e-02, 1.93993213e-03,
 -2.98034512e-03, 3.47269365e-02, 1.08763751e-02, 1.67247784e-03,
  0.00000000e+00, 2.84426201e-03, 0.00000000e+00, 2.44553252e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006906304757510057
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02791757e-01,  8.79376813e-02, -9.48991104e-01, -2.67303590e-02,
        9.96125978e-01,  8.37766298e-02,  9.52681815e-01,  3.46944695e-18,
        3.03969341e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.072134  , -0.04287649,  0.22461941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.001376426411925022
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01649542e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.01649542e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03770401, -0.11731552,  0.06187777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17124126e-03, 3.67390392e-02, 9.21148953e-03, 3.68176113e-06,
 -1.41422662e-05, 6.53522334e-05,-6.32889096e-05,-6.40748093e-05,
 -4.35280573e-06,-3.21965427e-05,-2.52414463e-05, 7.11154988e-06,
  3.22642442e-03, 4.66376815e-03, 9.09577912e-03, 1.86431408e-03,
  1.97540905e-05, 2.95493493e-05,-1.21644704e+00, 1.56515140e-03,
  5.52470264e-04, 6.90635760e-05]


--- Step 2638 ---
qpos:
[-0.01616429, 1.29531788,-0.03214229, 0.94843951, 0.00434381, 1.33153284,
 -0.02974294, 0.94627378, 0.01675223, 1.33658463,-0.02391715, 0.95496276,
  1.39425425,-0.00599779, 1.18987743, 0.06138764,-0.00371801,-0.09266325,
  0.08152681, 0.64771169,-0.01227739,-0.00408118, 0.76177567]

qacc:
[-5.71984074e-02,-4.23159747e+00, 1.61450240e+01,-2.72144214e+01,
 -9.42854683e-03, 1.49542686e+00,-1.91866457e+00,-8.01273701e+00,
 -2.13897647e-01,-1.43919123e-01,-1.98312986e+00, 7.91356711e+00,
 -2.58954996e-02,-1.68918743e-01,-8.12811911e-01, 4.49362862e+00,
  1.44738777e+00, 1.01083742e+00, 1.01602121e+00, 6.86360399e+01,
  6.32199310e+01, 2.45584073e+00]

qfrc_actuator:
[ 4.03187777e-03, 7.19083835e-02, 2.03144923e-02, 1.76039290e-03,
 -2.95250609e-06, 3.48401567e-02, 1.09579806e-02, 1.90291909e-03,
 -3.03946174e-03, 3.46338520e-02, 1.08555816e-02, 1.69456614e-03,
  0.00000000e+00, 2.86297248e-03, 0.00000000e+00, 2.68184582e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006903967093213025
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30277247,  0.08793881, -0.94899715, -0.026729  ,  0.99612588,
        0.08377825,  0.95268798,  0.        ,  0.30395001])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07213173, -0.0428769 ,  0.22461994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.10039409,  4.91641949,  7.10039409, 10.50362679,
       -2.69673983,  4.91641949, -2.69673983, 12.53105073,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014012893472182888
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.98071695e-14,  7.92286780e-14,  1.00000000e+00,  1.56929585e-27,
        1.00000000e+00, -7.92286780e-14, -1.00000000e+00,  0.00000000e+00,
       -1.98071695e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03767114, -0.11727921,  0.0618757 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17628976e-03, 3.67297868e-02, 9.26289387e-03,-5.65336904e-05,
 -2.66529886e-06, 8.38774487e-05,-1.90028975e-05,-3.83901307e-05,
 -6.16870907e-05,-1.15613832e-04,-2.97443671e-05, 2.05606116e-05,
  3.21890172e-03, 4.68506698e-03, 9.03749922e-03, 1.87816167e-03,
  6.65299200e-06, 1.04333202e-05,-1.21644138e+00, 1.57386992e-03,
  5.49041535e-04, 4.48980655e-05]


--- Step 2639 ---
qpos:
[-0.01616731, 1.29533255,-0.03213667, 0.94843688, 0.0043438 , 1.33153299,
 -0.02974268, 0.94627526, 0.01675252, 1.33658422,-0.02391758, 0.95496254,
  1.39426205,-0.0059986 , 1.18985698, 0.06138844,-0.00371432,-0.09266218,
  0.08152985, 0.64778495,-0.01226564,-0.0039865 , 0.76171407]

qacc:
[ 4.89728674e-02,-4.03544790e+00, 1.49366719e+01,-3.03069187e+01,
  6.36186090e-03,-2.70723421e-01, 4.43796202e+00,-1.78057727e+01,
 -1.26069409e-01, 2.22483338e+00,-8.70599987e+00, 1.42861153e+01,
 -2.04156491e-01,-4.33247226e-02, 3.17831591e-01, 2.05955538e+00,
  1.31551733e+00, 9.88073086e-01, 2.88676725e-01, 6.41133215e+01,
  5.86316691e+01, 1.95584563e+00]

qfrc_actuator:
[ 4.05800770e-03, 7.18783708e-02, 2.03200949e-02, 1.67616223e-03,
  4.78183036e-07, 3.48770902e-02, 1.09445247e-02, 1.84462230e-03,
 -3.03936155e-03, 3.46674152e-02, 1.08431108e-02, 1.72559538e-03,
  0.00000000e+00, 2.89229661e-03, 0.00000000e+00, 2.46398943e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006902367189444009
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02752366e-01,  8.79399865e-02, -9.49003458e-01, -2.67275876e-02,
        9.96125775e-01,  8.37799336e-02,  9.52694411e-01, -3.46944695e-18,
        3.03929858e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07212953, -0.0428773 ,  0.22462047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.1268609 ,  4.87797402,  7.1268609 , 11.05360832,
       -3.53166429,  4.87797402, -3.53166429, 13.79622714,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001405999427308527
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.87040787e-15,  3.94816315e-14,  1.00000000e+00,  3.89699806e-28,
        1.00000000e+00, -3.94816315e-14, -1.00000000e+00,  0.00000000e+00,
       -9.87040787e-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([-0.03766883, -0.11726755,  0.06187531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20913763e-03, 3.66995476e-02, 9.22606886e-03,-8.35064830e-05,
  1.86106820e-06, 7.84704395e-05,-3.35860772e-07,-5.72257277e-05,
 -3.63241535e-05,-3.55714065e-05,-3.78287966e-05, 2.72105314e-05,
  3.22973858e-03, 4.72488748e-03, 8.99937647e-03, 1.82420378e-03,
  1.50807718e-06, 1.77106938e-06,-1.21643955e+00, 1.58137878e-03,
  5.45630925e-04, 3.43432024e-05]


--- Step 2640 ---
qpos:
[-0.01617021, 1.2953458 ,-0.03213214, 0.94843442, 0.00434381, 1.33153373,
 -0.02974253, 0.94627534, 0.01675294, 1.33658402,-0.02391816, 0.95496368,
  1.39426955,-0.00599932, 1.18983809, 0.06138919,-0.00370579,-0.09265724,
  0.08153159, 0.6478577 ,-0.01225927,-0.00372878, 0.7616536 ]

qacc:
[ 5.27809602e-02, 1.31008933e+00,-6.85859155e+00, 8.67957554e+00,
  1.09033701e-02,-1.32996206e+00, 8.12681615e+00,-2.35887636e+01,
  4.90999641e-02, 3.02950023e+00,-1.22468769e+01, 2.60551787e+01,
 -3.86294859e-01, 4.42249533e-01, 2.45693181e+00,-5.17759828e+00,
  1.20813512e+00, 9.66693147e-01,-3.22556542e-01, 6.03569581e+01,
  5.48475601e+01, 1.57280192e+00]

qfrc_actuator:
[ 4.03931868e-03, 7.18195170e-02, 2.02678986e-02, 1.68086209e-03,
  2.53246335e-06, 3.48987475e-02, 1.09365160e-02, 1.77424657e-03,
 -3.00373689e-03, 3.47233376e-02, 1.08538813e-02, 1.79721221e-03,
  0.00000000e+00, 2.91036790e-03, 0.00000000e+00, 1.97134966e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006901211353604365
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02733018e-01,  8.79411206e-02, -9.49009525e-01, -2.67262269e-02,
        9.96125674e-01,  8.37815581e-02,  9.52700598e-01, -3.46944695e-18,
        3.03910466e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07212749, -0.04287766,  0.22462097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.14929175,  4.84503915,  7.14929175, 11.73283709,
       -4.56912553,  4.84503915, -4.56912553, 15.37851997,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013945658535215663
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.98539960e-14,  7.96106560e-14,  1.00000000e+00,  2.37669621e-27,
        1.00000000e+00, -7.96106560e-14, -1.00000000e+00,  0.00000000e+00,
       -2.98539960e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03769077, -0.11727541,  0.06187628])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18470827e-03, 3.66845631e-02, 9.16934186e-03,-1.30293579e-06,
  3.15553682e-06, 6.32827516e-05, 5.62325790e-06,-6.93578333e-05,
  1.41772354e-05, 2.96722005e-05, 3.21477222e-07, 7.00878640e-05,
  3.25149905e-03, 4.75584306e-03, 8.92638991e-03, 1.74425768e-03,
  2.79203690e-06, 1.42872351e-06,-1.21644080e+00, 1.58804657e-03,
  5.42149622e-04, 3.46776029e-05]


--- Step 2641 ---
qpos:
[-0.01617263, 1.29535805,-0.03212879, 0.94843372, 0.00434385, 1.33153482,
 -0.02974264, 0.94627357, 0.01675345, 1.33658301,-0.02391792, 0.95496605,
  1.3942771 ,-0.00599985, 1.18982068, 0.06138944,-0.00369278,-0.09264851,
  0.08153   , 0.6479302 ,-0.01225754,-0.0033168 , 0.76159386]

qacc:
[ 1.97834853e-01, 4.92342042e+00,-2.12559675e+01, 3.95065287e+01,
  1.06418381e-02,-1.98961407e+00, 1.08498277e+01,-3.10768987e+01,
  4.09618786e-02,-1.15187923e+00,-1.06308028e-02, 1.47410249e+01,
 -1.99481806e-01, 3.88720458e-01, 3.73209092e+00,-9.82717806e+00,
  1.12054237e+00, 9.46930561e-01,-8.35699694e-01, 5.72413387e+01,
  5.17290839e+01, 1.28213578e+00]

qfrc_actuator:
[ 4.04694097e-03, 7.18330186e-02, 2.02354134e-02, 1.77333544e-03,
  3.74419769e-06, 3.48933434e-02, 1.09139625e-02, 1.67956819e-03,
 -3.00035009e-03, 3.46325675e-02, 1.08784192e-02, 1.85666984e-03,
  0.00000000e+00, 2.90369648e-03, 0.00000000e+00, 1.31793625e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006899838319565227
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02716057e-01,  8.79421895e-02, -9.49014837e-01, -2.67250569e-02,
        9.96125580e-01,  8.37830533e-02,  9.52706020e-01, -3.46944695e-18,
        3.03893468e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07212562, -0.04287801,  0.22462141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.15658628,  4.83425792,  7.15658628, 12.60441454,
       -5.87426222,  4.83425792, -5.87426222, 17.33256172,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013703378553328732
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.02545493e-14,  4.05090986e-14,  1.00000000e+00,  8.20493533e-28,
        1.00000000e+00, -4.05090986e-14, -1.00000000e+00,  0.00000000e+00,
       -2.02545493e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03773177, -0.1172986 ,  0.06187831])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18612184e-03, 3.67691930e-02, 9.19075836e-03, 8.31753679e-05,
  3.07634888e-06, 2.86159893e-05,-1.15716674e-05,-9.42240374e-05,
  1.17575627e-05,-7.22176827e-05, 3.24222877e-05, 6.19778695e-05,
  3.26708666e-03, 4.74498444e-03, 8.84864971e-03, 1.68101680e-03,
  9.38324402e-06, 7.85548471e-06,-1.21644457e+00, 1.59412374e-03,
  5.38542121e-04, 4.39242615e-05]


--- Step 2642 ---
qpos:
[-0.01617351, 1.29536771,-0.03212707, 0.94843396, 0.00434406, 1.33153612,
 -0.02974328, 0.94627105, 0.01675389, 1.33658145,-0.02391763, 0.95496844,
  1.3942848 ,-0.00600078, 1.18980944, 0.06138953,-0.00368646,-0.09264377,
  0.08153122, 0.6480027 ,-0.01225121,-0.00311086, 0.76153315]

qacc:
[ 6.61099766e-01, 2.56128816e+00,-1.43816061e+01, 2.48912545e+01,
  7.03023141e-02, 4.10022492e-01, 5.09688661e-01,-9.22042921e+00,
 -3.13045215e-02,-8.21141639e-01, 1.75293535e+00,-9.16948780e-01,
  6.45146826e-02,-2.83000199e-01, 9.57752966e+00,-2.02924258e+01,
 -1.67268804e+00,-9.95820833e-01, 7.06040288e-01,-7.69679529e+01,
 -6.84917162e+01,-1.58356102e+00]

qfrc_actuator:
[ 4.08771255e-03, 7.18545678e-02, 2.02153003e-02, 1.81028261e-03,
  2.21933355e-05, 3.48894488e-02, 1.08828797e-02, 1.64233214e-03,
 -3.01633270e-03, 3.45967456e-02, 1.08748010e-02, 1.85515033e-03,
  0.00000000e+00, 2.89979180e-03, 0.00000000e+00,-1.02488251e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000689835243403842
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30270118,  0.08794309, -0.9490195 , -0.02672402,  0.9961255 ,
        0.08378433,  0.95271078,  0.        ,  0.30387856])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07212388, -0.04287841,  0.22462182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.06792159,   4.96298915,   7.06792159,
        36.04386535, -39.03173413,   4.96298915, -39.03173413,
        64.22246868,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013691294396646209
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.05448525e-14,  2.02724263e-14,  1.00000000e+00,  8.21942534e-28,
        1.00000000e+00, -2.02724263e-14, -1.00000000e+00,  0.00000000e+00,
       -4.05448525e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03740356, -0.06446317,  0.06187839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20365907e-03, 3.68403712e-02, 9.23024986e-03, 3.16080056e-05,
  2.02658918e-05, 6.83641931e-06,-2.95675909e-05,-3.89043324e-05,
 -9.04460051e-06,-6.75787175e-05,-1.22196907e-05,-1.26621761e-06,
  3.26458061e-03, 4.73155272e-03, 8.77474508e-03, 1.47200092e-03,
  2.04589671e-05, 1.99243750e-05,-1.21645050e+00, 1.59978083e-03,
  5.34774189e-04, 6.06483083e-05]


--- Step 2643 ---
qpos:
[-0.0161726 , 1.29537465,-0.03212724, 0.94843467, 0.00434459, 1.33153703,
 -0.02974369, 0.94627227, 0.0167542 , 1.33658039,-0.02391819, 0.95497248,
  1.39429256,-0.00600225, 1.18980447, 0.06138937,-0.00368618,-0.09264295,
  0.08153225, 0.64807597,-0.01224144,-0.00309553, 0.76147101]

qacc:
[ 7.62094564e-01, 2.33240859e+00,-1.28664032e+01, 1.82572367e+01,
  1.41011865e-01, 5.23982083e+00,-2.53417337e+01, 6.54134262e+01,
 -5.24641225e-02, 5.76891775e+00,-2.13298908e+01, 3.71235999e+01,
  6.89194528e-02,-4.14980275e-01, 1.00271496e+01,-2.16375549e+01,
 -1.50971321e+00,-9.80899625e-01,-5.06228650e-02,-7.14657107e+01,
 -6.30638894e+01,-1.92903920e+00]

qfrc_actuator:
[ 4.12934868e-03, 7.18829456e-02, 2.01857664e-02, 1.83179408e-03,
  5.08339020e-05, 3.48687216e-02, 1.09003080e-02, 1.83447657e-03,
 -3.02605247e-03, 3.46827260e-02, 1.08547334e-02, 1.94203121e-03,
  0.00000000e+00, 2.89805860e-03, 0.00000000e+00,-2.96254705e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006898426478057357
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30269034,  0.08794348, -0.94902292, -0.02672318,  0.99612547,
        0.08378501,  0.95271424,  0.        ,  0.30386768])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07212271, -0.04287887,  0.22462211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.23852349, -4.71068515, -7.23852349,  9.67162953,
       -1.59080818, -4.71068515, -1.59080818, 11.08082809,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013890239679999541
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.99641421e-14,  7.99282842e-14,  1.00000000e+00,  3.19426531e-27,
        1.00000000e+00, -7.99282842e-14, -1.00000000e+00,  0.00000000e+00,
       -3.99641421e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03737481, -0.0644966 ,  0.06187674])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16773206e-03, 3.69985025e-02, 9.28190628e-03, 6.38326604e-06,
  4.06000276e-05,-2.39052637e-05, 1.42576304e-05, 1.90577779e-04,
 -1.50632712e-05, 4.61995554e-05,-3.46862499e-05, 8.44929609e-05,
  3.25661674e-03, 4.74969044e-03, 8.46686364e-03, 1.28633127e-03,
  6.65808771e-06, 5.12495694e-06,-1.21644313e+00, 1.59173209e-03,
  5.39328844e-04, 4.09006458e-05]


--- Step 2644 ---
qpos:
[-0.01617212, 1.29538354,-0.0321272 , 0.94843475, 0.00434517, 1.33153719,
 -0.02974365, 0.9462758 , 0.01675439, 1.33658017,-0.02392007, 0.95497752,
  1.39430013,-0.00600354, 1.18979417, 0.06138875,-0.00369141,-0.09264599,
  0.08153052, 0.64815054,-0.01222913,-0.00325807, 0.76140706]

qacc:
[-1.82180819e-01, 9.13993171e-01, 1.38700552e+00,-9.65381077e+00,
  1.82368398e-02, 1.78873181e+00,-1.17679921e+01, 3.74868533e+01,
 -5.15598507e-02, 6.42014367e+00,-2.16156105e+01, 2.97740566e+01,
 -3.18540414e-02, 9.63497767e-02,-6.51118063e+00, 1.13640598e+01,
 -1.37673874e+00,-9.65017140e-01,-6.88110642e-01,-6.68880775e+01,
 -5.85848050e+01,-2.17344359e+00]

qfrc_actuator:
[ 4.13514083e-03, 7.18988232e-02, 2.01692485e-02, 1.82638350e-03,
  3.20982425e-05, 3.48028934e-02, 1.09107865e-02, 1.94704051e-03,
 -3.03193552e-03, 3.47344401e-02, 1.07901644e-02, 1.99155920e-03,
  0.00000000e+00, 2.89793378e-03, 0.00000000e+00,-3.94879222e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006899999455032037
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02683888e-01,  8.79432846e-02, -9.49024996e-01, -2.67225523e-02,
        9.96125483e-01,  8.37850017e-02,  9.52716311e-01,  3.46944695e-18,
        3.03861203e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0721221 , -0.04287938,  0.22462228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.2491907 , -4.69425298, -7.2491907 , 10.13223848,
       -2.31003358, -4.69425298, -2.31003358, 12.20367755,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013897247871335408
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.99439887e-14,  7.98879775e-14,  1.00000000e+00,  3.19104447e-27,
        1.00000000e+00, -7.98879775e-14, -1.00000000e+00,  0.00000000e+00,
       -3.99439887e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03737871, -0.06450463,  0.06187669])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08411382e-03, 3.71499931e-02, 9.35989918e-03,-2.24675890e-05,
  5.22113292e-06,-7.05517704e-05, 1.30106030e-05, 1.16688863e-04,
 -1.47762318e-05, 7.30048417e-05,-5.70087596e-05, 5.18519424e-05,
  3.25391779e-03, 4.77678350e-03, 8.15338578e-03, 1.55598872e-03,
  1.46211402e-06, 6.81381426e-07,-1.21643995e+00, 1.58453037e-03,
  5.43291426e-04, 3.43814341e-05]


--- Step 2645 ---
qpos:
[-0.01617287, 1.2953953 ,-0.03212597, 0.94843463, 0.00434539, 1.33153707,
 -0.02974349, 0.9462782 , 0.01675434, 1.33657997,-0.02392204, 0.9549807 ,
  1.39430736,-0.00600438, 1.18977747, 0.06138788,-0.00370171,-0.09265283,
  0.08152389, 0.64822672,-0.01221499,-0.00358787, 0.76134095]

qacc:
[ -0.52675791,  0.21623863,  4.26850956, -7.89783928, -0.1524875 ,
  -2.62443813, 10.41172253,-21.82770423, -0.10406508, -2.94721521,
  13.35727783,-32.94629001, -0.25097292,  0.49401598, -8.65391785,
  16.54408408, -1.26798465, -0.94889329, -1.2248263 ,-63.08166859,
 -54.88839964, -2.34098834]

qfrc_actuator:
[ 4.12092656e-03, 7.18326125e-02, 2.01591901e-02, 1.82347808e-03,
 -1.49062952e-05, 3.47992889e-02, 1.09167976e-02, 1.88751089e-03,
 -3.05322213e-03, 3.46940383e-02, 1.07707245e-02, 1.89439011e-03,
  0.00000000e+00, 2.91601491e-03, 0.00000000e+00, 1.50588082e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006899749577332012
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02675373e-01,  8.79432375e-02, -9.49027716e-01, -2.67217861e-02,
        9.96125488e-01,  8.37851966e-02,  9.52719038e-01, -3.46944695e-18,
        3.03852654e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07212102, -0.04287982,  0.22462255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.24395599, -4.70232692, -7.24395599, 10.72689479,
       -3.22047275, -4.70232692, -3.22047275, 13.59751655,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013750639469458786
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.03698689e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.03698689e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03740848, -0.06449257,  0.0618779 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09124847e-03, 3.69862261e-02, 9.33902882e-03, 5.85608306e-06,
 -4.39264669e-05,-3.65834862e-05,-2.88204369e-06,-5.85513745e-05,
 -3.00089715e-05,-9.61753861e-06,-1.01348442e-05,-9.54629243e-05,
  3.26368310e-03, 4.78560920e-03, 8.41947062e-03, 1.76829763e-03,
  3.22415214e-06, 4.53856125e-06,-1.21644010e+00, 1.57786055e-03,
  5.46880818e-04, 3.84398666e-05]


--- Step 2646 ---
qpos:
[-0.01617435, 1.29540844,-0.03212404, 0.94843498, 0.00434546, 1.33153688,
 -0.02974251, 0.94627982, 0.01675403, 1.33657903,-0.02392305, 0.95498271,
  1.39431459,-0.00600491, 1.18975826, 0.06138689,-0.00370592,-0.09265574,
  0.08152253, 0.64830064,-0.01220906,-0.00372519, 0.76127744]

qacc:
[-3.07507098e-01, 7.21105519e-01,-1.13963434e+00, 5.57181576e+00,
 -6.40871938e-02,-3.64838695e+00, 1.34127857e+01,-2.07087826e+01,
 -1.04933847e-01,-5.57443181e+00, 1.93888420e+01,-2.99189681e+01,
 -8.56622244e-02, 3.03722328e-01,-3.33289311e+00, 6.31934120e+00,
  1.52165831e+00, 9.80720836e-01, 1.31666949e+00, 7.06040895e+01,
  6.54912142e+01, 2.89884802e+00]

qfrc_actuator:
[ 4.09568784e-03, 7.17864592e-02, 2.01519509e-02, 1.83966158e-03,
 -7.47583447e-06, 3.48328483e-02, 1.09735227e-02, 1.85150237e-03,
 -3.06582508e-03, 3.46343689e-02, 1.08131578e-02, 1.83592618e-03,
  0.00000000e+00, 2.90917932e-03, 0.00000000e+00, 1.76380017e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006897823945599575
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30266299,  0.08794361, -0.94903163, -0.02672081,  0.99612545,
        0.0837859 ,  0.952723  ,  0.        ,  0.30384023])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07211934, -0.04288016,  0.22462294])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.07796349,  -4.94865737,  -7.07796349,
        35.87177742, -38.95425564,  -4.94865737, -38.95425564,
        64.35183926,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013653041619352685
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.03292251e-14,  8.13169003e-14,  1.00000000e+00,  1.65310957e-27,
        1.00000000e+00, -8.13169003e-14, -1.00000000e+00,  0.00000000e+00,
       -2.03292251e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03776347, -0.11726908,  0.06187868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12778474e-03, 3.67964760e-02, 9.27246513e-03, 3.24458774e-05,
 -1.84919519e-05, 1.10062047e-05, 4.75308868e-05,-3.85448672e-05,
 -3.03210066e-05,-6.97889425e-05, 3.66170339e-05,-6.12656931e-05,
  3.28047753e-03, 4.75646259e-03, 8.74060987e-03, 1.80741958e-03,
  1.07440651e-05, 1.52084927e-05,-1.21644297e+00, 1.57151398e-03,
  5.50244296e-04, 5.11527743e-05]


--- Step 2647 ---
qpos:
[-0.01617655, 1.29542294,-0.03212096, 0.94843515, 0.00434563, 1.33153718,
 -0.02974163, 0.94628031, 0.01675353, 1.33657814,-0.02392413, 0.95498433,
  1.39432205,-0.00600526, 1.18973697, 0.06138611,-0.00370463,-0.09265479,
  0.08152335, 0.64837309,-0.01221001,-0.00368384, 0.76121592]

qacc:
[-3.08941472e-01,-1.58464996e+00, 7.69885659e+00,-9.54163850e+00,
  3.94147145e-02,-1.04013799e+00, 6.49014347e+00,-1.90988834e+01,
 -8.74083279e-02,-4.24045767e-01, 2.24307387e+00,-6.43856851e+00,
  1.83381653e-01,-4.48777361e-02,-3.72979737e+00, 8.55507639e+00,
  1.37611830e+00, 9.65858599e-01, 5.43766555e-01, 6.57718810e+01,
  6.05171802e+01, 2.30270866e+00]

qfrc_actuator:
[ 4.06381443e-03, 7.17704428e-02, 2.01819223e-02, 1.83119811e-03,
  1.47985484e-05, 3.48708495e-02, 1.09711669e-02, 1.79421658e-03,
 -3.07311699e-03, 3.46703914e-02, 1.08206953e-02, 1.81850293e-03,
  0.00000000e+00, 2.88735380e-03, 0.00000000e+00, 2.45577898e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006895432029670641
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30264862,  0.08794422, -0.94903616, -0.02671972,  0.9961254 ,
        0.08378688,  0.95272759,  0.        ,  0.30382583])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07211742, -0.0428805 ,  0.22462338])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.19626319,  4.77499455,  7.19626319, 10.34054976,
       -2.56833212,  4.77499455, -2.56833212, 12.50702646,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013785915858719883
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01332838e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.01332838e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03774814, -0.11724619,  0.06187757])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13197110e-03, 3.67117424e-02, 9.26752644e-03, 4.83303369e-07,
  1.13626044e-05, 5.22302700e-05, 4.07526232e-06,-5.64540087e-05,
 -2.51966962e-05, 2.77450671e-06,-3.71816839e-06,-1.98454841e-05,
  3.28046178e-03, 4.71925138e-03, 8.86586237e-03, 1.88242493e-03,
  2.72452629e-06, 3.49159292e-06,-1.21643998e+00, 1.57944839e-03,
  5.46802765e-04, 3.65752205e-05]


--- Step 2648 ---
qpos:
[-0.01617852, 1.2954368 ,-0.03211798, 0.94843581, 0.00434566, 1.3315381 ,
 -0.02974177, 0.94628117, 0.01675286, 1.33657736,-0.02392598, 0.95498473,
  1.39432983,-0.00600568, 1.18971777, 0.06138545,-0.00369831,-0.09265004,
  0.08152374, 0.64844464,-0.01221677,-0.00347528, 0.76115585]

qacc:
[ 9.74694407e-02, 2.21293484e-01,-2.75345951e+00, 8.46708113e+00,
 -5.42401324e-02, 4.22513809e+00,-1.35868280e+01, 1.58207650e+01,
 -6.57375656e-02, 1.21424277e-01, 2.24592918e+00,-1.61457874e+01,
  1.94748824e-01,-1.86345255e-01, 2.70346268e+00,-5.01205833e+00,
  1.25767309e+00, 9.50474886e-01,-1.06141897e-01, 6.17561055e+01,
  5.64161643e+01, 1.84435337e+00]

qfrc_actuator:
[ 4.06375761e-03, 7.17542080e-02, 2.01802358e-02, 1.84390886e-03,
 -7.46268084e-06, 3.48932398e-02, 1.09162021e-02, 1.81359170e-03,
 -3.07716486e-03, 3.46568238e-02, 1.07724296e-02, 1.75437458e-03,
  0.00000000e+00, 2.87429292e-03, 0.00000000e+00, 1.45258110e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006892952819051203
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30263186,  0.08794508, -0.94904142, -0.02671851,  0.99612533,
        0.08378817,  0.95273295,  0.        ,  0.30380902])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07211529, -0.04288084,  0.22462388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.2158156 ,  4.74539588,  7.2158156 , 10.89621082,
       -3.43630773,  4.74539588, -3.43630773, 13.86158901,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013742910883866935
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.01962858e-14,  8.07851433e-14,  1.00000000e+00,  1.63155984e-27,
        1.00000000e+00, -8.07851433e-14, -1.00000000e+00,  0.00000000e+00,
       -2.01962858e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03775936, -0.11724483,  0.06187793])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16815228e-03, 3.66268216e-02, 9.20855402e-03, 2.19624073e-05,
 -1.55540128e-05, 5.03838749e-05,-4.59422156e-05, 1.97530156e-05,
 -1.89246788e-05,-1.33392537e-05,-4.87226844e-05,-6.46171309e-05,
  3.26893376e-03, 4.69725115e-03, 8.97037074e-03, 1.77151934e-03,
  1.67822172e-06, 8.16139097e-07,-1.21644033e+00, 1.58636407e-03,
  5.43347128e-04, 3.38216477e-05]


--- Step 2649 ---
qpos:
[-0.01618019, 1.29544901,-0.03211624, 0.94843747, 0.00434551, 1.33153893,
 -0.02974177, 0.94628261, 0.01675209, 1.33657587,-0.02392756, 0.95498541,
  1.39433744,-0.00600607, 1.18970162, 0.06138459,-0.00369806,-0.09264915,
  0.08152378, 0.64851674,-0.01222001,-0.00345704, 0.76109445]

qacc:
[ 1.28070784e-01, 2.89448517e+00,-1.40844115e+01, 2.47166352e+01,
 -7.80230024e-02, 4.82136402e-01,-2.87193662e+00, 9.16671022e+00,
 -4.58304477e-02,-1.16315276e+00, 2.09296901e+00, 1.89736894e+00,
 -3.29776402e-01, 3.84507345e-01, 5.14474409e+00,-1.13924031e+01,
 -1.51841784e+00,-9.65180258e-01,-8.56088184e-02,-7.12927634e+01,
 -6.30432766e+01,-1.81087321e+00]

qfrc_actuator:
[ 4.06437453e-03, 7.17570662e-02, 2.01425771e-02, 1.88648144e-03,
 -2.07566027e-05, 3.48704311e-02, 1.09193986e-02, 1.84239354e-03,
 -3.07923513e-03, 3.45956708e-02, 1.07801799e-02, 1.76973253e-03,
  0.00000000e+00, 2.91992092e-03, 0.00000000e+00, 3.19995850e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006891243700803025
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3026158 ,  0.08794585, -0.94904647, -0.02671733,  0.99612526,
        0.08378937,  0.95273809,  0.        ,  0.30379292])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07211335, -0.04288124,  0.22462434])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.08122996,   4.94398211,   7.08122996,
        32.45403183, -34.11387458,   4.94398211, -34.11387458,
        57.49742047,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013595358686813025
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.04154787e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.04154787e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03745527, -0.06450274,  0.06187916])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15732915e-03, 3.66620002e-02, 9.17528357e-03, 4.00380069e-05,
 -2.24706181e-05,-3.33637012e-06, 8.40233847e-06, 2.94270206e-05,
 -1.32442342e-05,-7.99525798e-05,-2.27900955e-06, 1.20302834e-05,
  3.25304358e-03, 4.74612751e-03, 8.86655509e-03, 1.65237354e-03,
  6.34585619e-06, 5.43100475e-06,-1.21644338e+00, 1.59257199e-03,
  5.39800461e-04, 4.06591297e-05]


--- Step 2650 ---
qpos:
[-0.01618257, 1.29546195,-0.03211461, 0.94843969, 0.00434548, 1.33153951,
 -0.02974102, 0.94628367, 0.01675125, 1.33657402,-0.02392862, 0.95498691,
  1.39434476,-0.00600607, 1.18968315, 0.06138345,-0.00370335,-0.09265207,
  0.08152097, 0.64858996,-0.01222067,-0.00361648, 0.7610313 ]

qacc:
[-3.04828701e-01, 2.21927817e+00,-7.24129817e+00, 1.24009819e+01,
  5.02877899e-02,-2.98596625e+00, 1.00936160e+01,-1.28996397e+01,
 -3.00547864e-02,-4.73130500e-01,-6.88968195e-01, 1.03185831e+01,
 -3.88787818e-01, 6.38214048e-01,-2.52593095e+00, 3.94786808e+00,
 -1.38395426e+00,-9.52610207e-01,-7.15370685e-01,-6.67688247e+01,
 -5.85836747e+01,-2.08114462e+00]

qfrc_actuator:
[ 4.04747957e-03, 7.17903917e-02, 2.01377890e-02, 1.92851916e-03,
  6.94280212e-06, 3.48564593e-02, 1.09567333e-02, 1.82325112e-03,
 -3.08010342e-03, 3.46132610e-02, 1.08208107e-02, 1.81401040e-03,
  0.00000000e+00, 2.94743050e-03, 0.00000000e+00, 1.42037490e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006889956602905978
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02602502e-01,  8.79465117e-02, -9.49050650e-01, -2.67163551e-02,
        9.96125198e-01,  8.37903652e-02,  9.52742338e-01,  3.46944695e-18,
        3.03779588e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07211169, -0.04288167,  0.22462474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.22524526, -4.73102608, -7.22524526,  9.97436436,
       -2.043401  , -4.73102608, -2.043401  , 11.75705524,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013611535661616284
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.15648618e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.15648618e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03745764, -0.06451223,  0.06187903])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12539169e-03, 3.67776294e-02, 9.23291752e-03, 3.24186479e-05,
  1.44391090e-05,-1.32965510e-05, 3.85013696e-05,-1.83102956e-05,
 -8.69164404e-06,-2.66996490e-05, 2.51138132e-05, 4.21188624e-05,
  3.26157238e-03, 4.77189541e-03, 8.71434230e-03, 1.77267412e-03,
  1.44754361e-06, 7.22780398e-07,-1.21644016e+00, 1.58545146e-03,
  5.43708898e-04, 3.39162017e-05]


--- Step 2651 ---
qpos:
[-0.01618577, 1.29547709,-0.03211218, 0.94844257, 0.0043458 , 1.33154006,
 -0.0297403 , 0.94628763, 0.01675036, 1.33657244,-0.0239294 , 0.95498785,
  1.39435235,-0.00600563, 1.18965976, 0.06138205,-0.00370303,-0.09265114,
  0.08152079, 0.64866156,-0.01222837,-0.00359512, 0.76097025]

qacc:
[-3.45741544e-01, 1.84403180e+00,-3.86193768e+00, 9.47148080e+00,
  1.48708762e-01, 4.98658734e+00,-2.22360128e+01, 5.27838631e+01,
 -1.82765216e-02,-1.37082768e+00, 6.02380163e+00,-1.18560856e+01,
  1.55172829e-01, 1.69950464e-01,-6.52235253e+00, 1.22263414e+01,
  1.40032216e+00, 9.63088524e-01, 6.57899925e-01, 6.65021066e+01,
  6.13001025e+01, 2.41771010e+00]

qfrc_actuator:
[ 4.03872541e-03, 7.18402752e-02, 2.01520801e-02, 1.97026210e-03,
  4.12566677e-05, 3.48657526e-02, 1.09606348e-02, 1.97133656e-03,
 -3.08024441e-03, 3.46602784e-02, 1.08452985e-02, 1.78622339e-03,
  0.00000000e+00, 2.91045258e-03, 0.00000000e+00, 2.97450509e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006887733004789405
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02588602e-01,  8.79473911e-02, -9.49055001e-01, -2.67153971e-02,
        9.96125121e-01,  8.37915936e-02,  9.52746779e-01,  3.46944695e-18,
        3.03765657e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07210982, -0.04288207,  0.22462516])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.08592714,  -4.93724756,  -7.08592714,
        33.20737808, -35.26426739,  -4.93724756, -35.26426739,
        59.24756479,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013713111977320391
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.51801296e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.51801296e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03777787, -0.11722795,  0.06187817])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15237425e-03, 3.67907337e-02, 9.25249534e-03, 4.56828796e-05,
  4.28339945e-05, 8.91544944e-06, 5.14431577e-06, 1.48393289e-04,
 -5.27502342e-06, 3.84202898e-05, 2.33651148e-05,-2.68649431e-05,
  3.27636226e-03, 4.71593261e-03, 8.83020006e-03, 1.94230718e-03,
  3.47429432e-06, 4.30756251e-06,-1.21644027e+00, 1.57888947e-03,
  5.47235425e-04, 3.77411693e-05]


--- Step 2652 ---
qpos:
[-0.0161893 , 1.29549387,-0.03210853, 0.94844663, 0.00434634, 1.33154112,
 -0.02973992, 0.94629088, 0.0167496 , 1.33657159,-0.02393006, 0.95498739,
  1.39436032,-0.00600501, 1.18963465, 0.06138068,-0.00369761,-0.09264641,
  0.08152056, 0.64873213,-0.01224204,-0.00340476, 0.76091075]

qacc:
[-1.42673547e-01, 8.71761722e-01,-2.67456496e+00, 1.50907556e+01,
  9.63658395e-02, 3.83056535e-01, 1.01341583e+00,-9.38854174e+00,
  5.17703452e-02,-1.78054401e+00, 9.82238248e+00,-2.52326724e+01,
  2.63407980e-01,-9.09106216e-02,-2.62738741e+00, 5.45776064e+00,
  1.27747992e+00, 9.48773175e-01,-9.81209164e-03, 6.23674315e+01,
  5.70663245e+01, 1.93506311e+00]

qfrc_actuator:
[ 4.03523773e-03, 7.18450808e-02, 2.01947132e-02, 2.02927432e-03,
  4.37538223e-05, 3.49066319e-02, 1.09449541e-02, 1.93260259e-03,
 -3.06219584e-03, 3.47244669e-02, 1.08601357e-02, 1.71625304e-03,
  0.00000000e+00, 2.88782702e-03, 0.00000000e+00, 3.20396629e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006884166808223818
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30257185,  0.08794855, -0.94906023, -0.02671427,  0.99612502,
        0.08379317,  0.95275213,  0.        ,  0.30374887])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07210749, -0.04288245,  0.22462568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.22173604,  4.73638105,  7.22173604, 10.73503019,
       -3.19991481,  4.73638105, -3.19991481, 13.51539255,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013698915317874316
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.51958613e-14, -4.05222968e-14,  1.00000000e+00, -6.15771202e-28,
        1.00000000e+00,  4.05222968e-14, -1.00000000e+00,  0.00000000e+00,
       -1.51958613e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03778469, -0.11722295,  0.06187828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18942348e-03, 3.66856637e-02, 9.25538725e-03, 7.22966338e-05,
  2.77735731e-05, 5.12687699e-05,-9.00010109e-06,-3.48659052e-05,
  1.49345096e-05, 8.92137994e-05, 2.42134136e-05,-6.87754041e-05,
  3.26280887e-03, 4.67124624e-03, 9.07702325e-03, 1.97792935e-03,
  1.45309655e-06, 7.37870125e-07,-1.21644025e+00, 1.58585838e-03,
  5.43805857e-04, 3.37909604e-05]


--- Step 2653 ---
qpos:
[-0.01619254, 1.29551026,-0.03210453, 0.94844954, 0.00434674, 1.33154279,
 -0.02973999, 0.94629122, 0.016749  , 1.33657186,-0.02393157, 0.95498576,
  1.39436858,-0.0060047 , 1.18961067, 0.06137993,-0.0036982 ,-0.09264559,
  0.08151989, 0.64880344,-0.01225247,-0.00340401, 0.76084978]

qacc:
[ 1.21118571e-01,-3.40233486e+00, 1.28528340e+01,-2.43426403e+01,
 -6.24908571e-02,-2.97743612e+00, 1.66290841e+01,-4.84865488e+01,
  6.87494475e-02, 1.74337602e+00,-1.60086080e+00,-1.26829773e+01,
  4.25736955e-01,-6.46438449e-01,-2.17125617e-01, 3.12672511e+00,
 -1.50341636e+00,-9.76207972e-01,-1.12900130e-01,-7.10879224e+01,
 -6.27212780e+01,-1.92603393e+00]

qfrc_actuator:
[ 4.05251080e-03, 7.18225103e-02, 2.02003389e-02, 1.95582360e-03,
  9.39136492e-06, 3.49304257e-02, 1.09178453e-02, 1.78421797e-03,
 -3.05113440e-03, 3.47806226e-02, 1.08159715e-02, 1.65755172e-03,
  0.00000000e+00, 2.87388718e-03, 0.00000000e+00, 2.81442063e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006880872643003702
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02552353e-01,  8.79498367e-02, -9.49066331e-01, -2.67129452e-02,
        9.96124905e-01,  8.37949422e-02,  9.52758360e-01,  3.46944695e-18,
        3.03729333e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07210497, -0.04288287,  0.22462626])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.08642744,   4.93652945,   7.08642744,
        32.43566323, -34.16408455,   4.93652945, -34.16408455,
        57.67917975,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013687781411354585
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.05552584e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.05552584e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03745953, -0.06454441,  0.06187837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.22342466e-03, 3.65806457e-02, 9.19941531e-03,-6.07499063e-05,
 -1.79711101e-05, 4.93454370e-05,-1.91255709e-05,-1.47913705e-04,
  1.98816817e-05, 1.08186777e-04,-2.60011639e-05,-5.69527267e-05,
  3.24374867e-03, 4.64777158e-03, 9.16367940e-03, 1.93797308e-03,
  5.32798366e-06, 4.67873901e-06,-1.21644303e+00, 1.59208002e-03,
  5.40296458e-04, 3.97224895e-05]


--- Step 2654 ---
qpos:
[-0.01619549, 1.29552518,-0.03210146, 0.94844963, 0.00434674, 1.33154439,
 -0.02974051, 0.94629157, 0.01674855, 1.33657288,-0.02393362, 0.95498552,
  1.39437694,-0.00600477, 1.18958726, 0.06137986,-0.00370428,-0.09264861,
  0.08151626, 0.64887602,-0.01226056,-0.00358031, 0.76078694]

qacc:
[ 1.28477073e-01,-4.24132981e+00, 1.72407202e+01,-4.64775921e+01,
 -1.70388718e-01, 1.16579346e+00,-3.92385220e+00, 3.53071659e+00,
  6.40566126e-02, 4.85101154e+00,-1.74237553e+01, 3.07135434e+01,
  3.58807670e-01,-6.60673548e-01,-1.27248104e+00, 5.60014948e+00,
 -1.37185716e+00,-9.60833747e-01,-7.39211220e-01,-6.65906735e+01,
 -5.83144437e+01,-2.17116915e+00]

qfrc_actuator:
[ 4.06400294e-03, 7.17848958e-02, 2.01486584e-02, 1.80477448e-03,
 -2.90502697e-05, 3.48904143e-02, 1.08841212e-02, 1.78555860e-03,
 -3.04435466e-03, 3.48135497e-02, 1.07905871e-02, 1.73019538e-03,
  0.00000000e+00, 2.86558966e-03, 0.00000000e+00, 2.93506538e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006878175670466287
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30253291,  0.08795104, -0.94907242, -0.0267116 ,  0.9961248 ,
        0.08379663,  0.95276457,  0.        ,  0.30370985])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07210256, -0.0428833 ,  0.22462681])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.22619026, -4.72958256, -7.22619026, 10.15156701,
       -2.31503472, -4.72958256, -2.31503472, 12.17343718,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013691295954946989
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.05448479e-14,  4.05448479e-14,  1.00000000e+00,  1.64388469e-27,
        1.00000000e+00, -4.05448479e-14, -1.00000000e+00,  0.00000000e+00,
       -4.05448479e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03746382, -0.06455204,  0.06187834])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.22071149e-03, 3.65625891e-02, 9.13093898e-03,-1.53577213e-04,
 -4.90441879e-05,-2.09027530e-05,-3.05853242e-05,-1.16934617e-06,
  1.85222252e-05, 8.59859492e-05,-8.87858939e-06, 7.37590921e-05,
  3.22924067e-03, 4.65529427e-03, 9.10724329e-03, 1.91929024e-03,
  1.36168033e-06, 7.38556662e-07,-1.21644015e+00, 1.58509832e-03,
  5.44125202e-04, 3.40158443e-05]


--- Step 2655 ---
qpos:
[-0.01619859, 1.29553871,-0.03209928, 0.94844895, 0.00434646, 1.33154585,
 -0.02974108, 0.94629088, 0.01674836, 1.33657413,-0.02393576, 0.95498653,
  1.39438484,-0.00600488, 1.18956585, 0.0613801 ,-0.00370469,-0.09264776,
  0.08151565, 0.64894692,-0.01227574,-0.00357415, 0.76072625]

qacc:
[-6.59143653e-02,-7.27630662e-01, 1.77776942e+00,-9.70839496e+00,
 -1.18095041e-01,-1.85347403e+00, 7.93659221e+00,-1.88067571e+01,
  1.13876608e-01, 2.68587080e+00,-1.08968061e+01, 2.36102438e+01,
 -4.29478325e-01, 3.70302450e-01, 2.04316147e+00,-2.79465784e+00,
  1.41510473e+00, 9.67699449e-01, 7.53951673e-01, 6.71006219e+01,
  6.18826354e+01, 2.46420909e+00]

qfrc_actuator:
[ 4.03639028e-03, 7.17039855e-02, 2.01169688e-02, 1.76904763e-03,
 -3.41205261e-05, 3.48835595e-02, 1.08821257e-02, 1.73296089e-03,
 -3.02244531e-03, 3.47969363e-02, 1.07764968e-02, 1.79079091e-03,
  0.00000000e+00, 2.91412620e-03, 0.00000000e+00, 2.47100945e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006874872294697666
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30251575,  0.08795212, -0.94907779, -0.02671041,  0.9961247 ,
        0.08379815,  0.95277005,  0.        ,  0.30369265])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07210027, -0.04288373,  0.22462732])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.08844423,  -4.93363307,  -7.08844423,
        33.69669027, -36.00566262,  -4.93363307, -36.00566262,
        60.36784181,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013740946188716546
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01991735e-14,  4.03983470e-14,  1.00000000e+00, -8.16013220e-28,
        1.00000000e+00, -4.03983470e-14, -1.00000000e+00,  0.00000000e+00,
        2.01991735e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03779211, -0.11719727,  0.06187791])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17802223e-03, 3.65551561e-02, 9.14500016e-03,-4.89839907e-05,
 -3.40122408e-05,-2.44453789e-05,-9.59735626e-06,-5.41456179e-05,
  3.28481493e-05, 3.13829259e-05, 3.85192119e-06, 6.45985076e-05,
  3.22390738e-03, 4.72286130e-03, 9.07930656e-03, 1.83855761e-03,
  4.22518074e-06, 4.97441482e-06,-1.21644056e+00, 1.57862975e-03,
  5.47599780e-04, 3.87295050e-05]


--- Step 2656 ---
qpos:
[-0.01620239, 1.29555266,-0.03209709, 0.94844798, 0.00434628, 1.33154723,
 -0.02974147, 0.94629024, 0.01674845, 1.33657525,-0.02393752, 0.95498688,
  1.39439223,-0.00600472, 1.18954291, 0.06138045,-0.00369995,-0.09264309,
  0.08151531, 0.64901675,-0.01229691,-0.0033976 , 0.76066714]

qacc:
[-2.98047519e-01, 3.64811418e-02, 1.11674721e+00,-4.55236353e+00,
  4.40401883e-02,-4.98912253e-01, 1.41541540e+00,-6.34703534e-01,
  1.12650781e-01,-2.33210044e+00, 8.72152964e+00,-1.50371009e+01,
 -4.91941397e-01, 6.27919842e-01,-2.52485632e+00, 5.63507287e+00,
  1.28962808e+00, 9.52643689e-01, 7.04963605e-02, 6.28611734e+01,
  5.75468723e+01, 1.97243386e+00]

qfrc_actuator:
[ 4.03890804e-03, 7.16331031e-02, 2.00976212e-02, 1.76610584e-03,
 -1.37773578e-06, 3.48967072e-02, 1.08989342e-02, 1.73780542e-03,
 -3.00938889e-03, 3.47685797e-02, 1.07867060e-02, 1.75499040e-03,
  0.00000000e+00, 2.94331327e-03, 0.00000000e+00, 3.43243267e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006871746972065551
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30250076,  0.08795323, -0.94908246, -0.02670943,  0.99612461,
        0.08379963,  0.95277484,  0.        ,  0.30367763])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0720982 , -0.04288413,  0.22462778])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.22736215,  4.72779157,  7.22736215, 10.7149318 ,
       -3.17750152,  4.72779157, -3.17750152, 13.49380159,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001374589606915222
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.01918998e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.01918998e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03779596, -0.11718998,  0.06187786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18826105e-03, 3.65533310e-02, 9.17046091e-03,-1.28807415e-05,
  1.26712714e-05,-3.88637969e-06, 9.34795592e-06, 2.57446907e-06,
  3.24512978e-05,-8.33947160e-06, 1.86680733e-05,-3.32543663e-05,
  3.24742895e-03, 4.75386511e-03, 8.97986876e-03, 1.91931682e-03,
  1.37748304e-06, 7.34671214e-07,-1.21644026e+00, 1.58563147e-03,
  5.44188616e-04, 3.38713367e-05]


--- Step 2657 ---
qpos:
[-0.01620672, 1.2955679 ,-0.03209432, 0.94844618, 0.00434648, 1.33154875,
 -0.02974235, 0.94629002, 0.01674846, 1.33657585,-0.02393842, 0.95498819,
  1.39439957,-0.00600438, 1.18951658, 0.06138103,-0.00370118,-0.09264234,
  0.08151436, 0.64908741,-0.01231504,-0.00340977, 0.7606065 ]

qacc:
[-2.29177314e-01,-1.29729510e+00, 7.98701500e+00,-1.73581050e+01,
  1.55791879e-01, 2.22162975e+00,-7.87742864e+00, 1.16315891e+01,
 -3.00418684e-02,-1.33847872e+00, 1.60080465e+00, 1.00126460e+01,
  1.62878423e-02, 8.39743421e-02,-5.73161855e+00, 1.27632820e+01,
 -1.49207963e+00,-9.77561125e-01,-1.54800716e-01,-7.07840140e+01,
 -6.23829397e+01,-1.97764066e+00]

qfrc_actuator:
[ 4.06011045e-03, 7.16380095e-02, 2.01028896e-02, 1.72939645e-03,
  3.60290816e-05, 3.49040876e-02, 1.08735623e-02, 1.75869301e-03,
 -3.03725390e-03, 3.47334413e-02, 1.08288092e-02, 1.80477355e-03,
  0.00000000e+00, 2.92510032e-03, 0.00000000e+00, 4.71740973e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006868039019323896
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02485373e-01,  8.79545537e-02, -9.49087244e-01, -2.67084749e-02,
        9.96124488e-01,  8.38013179e-02,  9.52779753e-01, -3.46944695e-18,
        3.03662219e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.072096  , -0.04288449,  0.22462826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.09057537,   4.93056972,   7.09057537,
        32.27306639, -33.9915734 ,   4.93056972, -33.9915734 ,
        57.51911493,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013727988971602434
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.06547157e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.06547157e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03747204, -0.06457871,  0.06187801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24441250e-03, 3.65377037e-02, 9.17551872e-03,-3.51920979e-05,
  4.48840533e-05, 7.12617921e-06,-2.49951911e-05, 2.11051269e-05,
 -8.70549059e-06,-3.70936939e-05, 4.16242333e-05, 4.93077612e-05,
  3.27277243e-03, 4.72247663e-03, 9.05669065e-03, 2.04285520e-03,
  4.58039174e-06, 4.17490998e-06,-1.21644282e+00, 1.59186642e-03,
  5.40702141e-04, 3.91229688e-05]


--- Step 2658 ---
qpos:
[-0.01621056, 1.29558261,-0.03209153, 0.94844414, 0.00434677, 1.33155045,
 -0.02974382, 0.94628971, 0.0167483 , 1.33657611,-0.02393965, 0.95498979,
  1.3944072 ,-0.00600422, 1.18949242, 0.06138201,-0.00370786,-0.09264544,
  0.08151031, 0.6491594 ,-0.01233098,-0.00359824, 0.76054394]

qacc:
[ 2.12071907e-01,-1.14441232e+00, 3.37735748e+00,-5.28937227e+00,
  4.54951386e-02, 1.67665964e+00,-5.02933354e+00, 3.23224012e+00,
 -7.57143305e-02, 9.44800856e-01,-4.19093816e+00, 7.14312280e+00,
  2.72584322e-01,-3.72570206e-01, 1.99638117e+00,-2.35445126e+00,
 -1.36266901e+00,-9.61436880e-01,-7.74831113e-01,-6.63353164e+01,
 -5.80326815e+01,-2.21174874e+00]

qfrc_actuator:
[ 4.05713657e-03, 7.16518337e-02, 2.01223436e-02, 1.70859164e-03,
  2.26707995e-05, 3.49078150e-02, 1.08412257e-02, 1.75330676e-03,
 -3.05393571e-03, 3.46946807e-02, 1.08006616e-02, 1.81578955e-03,
  0.00000000e+00, 2.89616496e-03, 0.00000000e+00, 3.70937590e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006863382816796326
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30246819,  0.08795606, -0.94909258, -0.02670742,  0.99612436,
        0.08380323,  0.95278524,  0.        ,  0.30364501])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07209351, -0.04288481,  0.2246288 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.22866997, -4.72579172, -7.22866997, 10.22488573,
       -2.42983666, -4.72579172, -2.42983666, 12.35309267,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013718936781603464
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.02315792e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.02315792e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03747841, -0.06458465,  0.06187808])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26831176e-03, 3.64866301e-02, 9.16562716e-03,-1.43561676e-05,
  1.31283319e-05, 3.40583163e-06,-3.31691441e-05,-5.41482985e-06,
 -2.18229836e-05,-4.96847330e-05,-2.92166151e-05, 1.22837250e-05,
  3.27565501e-03, 4.68387042e-03, 9.22691354e-03, 1.93025697e-03,
  1.38323474e-06, 7.86992584e-07,-1.21644021e+00, 1.58499628e-03,
  5.44464636e-04, 3.41843217e-05]


--- Step 2659 ---
qpos:
[-0.01621309, 1.2955951 ,-0.03208949, 0.94844241, 0.00434678, 1.33155212,
 -0.02974535, 0.94628968, 0.01674809, 1.33657611,-0.02394035, 0.95499077,
  1.39441513,-0.00600455, 1.18947506, 0.06138333,-0.00370883,-0.09264463,
  0.0815096 , 0.6492297 ,-0.01235401,-0.00360291, 0.76048353]

qacc:
[ 5.58673204e-01,-3.79859782e-01,-2.91068925e+00, 7.48306532e+00,
 -1.24891070e-01, 6.12265347e-01,-2.58979706e+00, 5.40985488e+00,
 -1.71202910e-02,-2.84781783e+00, 1.01276134e+01,-1.57906924e+01,
  2.46547613e-01,-5.26663204e-01, 8.96359649e+00,-1.68114387e+01,
  1.42474966e+00, 9.74517693e-01, 8.34874966e-01, 6.75863999e+01,
  6.23301488e+01, 2.48155272e+00]

qfrc_actuator:
[ 4.05658952e-03, 7.16368051e-02, 2.01328862e-02, 1.71481580e-03,
 -2.10333931e-05, 3.49092766e-02, 1.08405235e-02, 1.76800349e-03,
 -3.04601899e-03, 3.47070278e-02, 1.08377226e-02, 1.78608262e-03,
  0.00000000e+00, 2.87885503e-03, 0.00000000e+00, 1.50052156e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006859732275733277
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30245149,  0.08795741, -0.94909778, -0.02670636,  0.99612424,
        0.08380499,  0.95279057,  0.        ,  0.30362828])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07209122, -0.04288518,  0.22462931])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.09201002,  -4.92850593,  -7.09201002,
        34.16487299, -36.73495509,  -4.92850593, -36.73495509,
        61.49714398,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001383482459400176
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.50465816e-14,  4.01242176e-14,  1.00000000e+00,  6.03732314e-28,
        1.00000000e+00, -4.01242176e-14, -1.00000000e+00,  0.00000000e+00,
       -1.50465816e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03779605, -0.11715881,  0.06187709])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24288292e-03, 3.64977102e-02, 9.17504700e-03, 3.54042327e-06,
 -3.59568721e-05,-3.31330577e-06,-3.96858667e-06, 1.37011660e-05,
 -4.96948500e-06,-2.04689621e-05, 2.44004189e-05,-3.17471142e-05,
  3.26107874e-03, 4.67606812e-03, 9.11850037e-03, 1.68962713e-03,
  4.91761454e-06, 5.46129475e-06,-1.21644084e+00, 1.57861260e-03,
  5.47891591e-04, 3.95216745e-05]


--- Step 2660 ---
qpos:
[-0.01621346, 1.29560371,-0.03208942, 0.94844134, 0.00434654, 1.33155356,
 -0.02974595, 0.94628979, 0.0167479 , 1.33657611,-0.02393954, 0.95499027,
  1.39442349,-0.00600565, 1.18946801, 0.06138473,-0.00370462,-0.09264   ,
  0.08150944, 0.64929894,-0.01238299,-0.00343613, 0.76042471]

qacc:
[ 9.18787304e-01, 1.35270870e+00,-1.18955385e+01, 2.02675649e+01,
 -1.02346065e-01,-2.59034061e+00, 7.79609954e+00,-4.97206255e+00,
  6.91148460e-03,-6.63464595e+00, 2.46104984e+01,-3.83418411e+01,
  3.15402196e-01,-7.46322999e-01, 1.49907721e+01,-3.03624128e+01,
  1.29756471e+00, 9.58079361e-01, 1.37555961e-01, 6.32561052e+01,
  5.79127798e+01, 1.98752141e+00]

qfrc_actuator:
[ 4.05648647e-03, 7.16596278e-02, 2.01210876e-02, 1.73680896e-03,
 -2.93278988e-05, 3.49094991e-02, 1.08940139e-02, 1.77667236e-03,
 -3.04116235e-03, 3.47500967e-02, 1.09309318e-02, 1.71498353e-03,
  0.00000000e+00, 2.85114609e-03, 0.00000000e+00,-1.78498031e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006858503454908668
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30243762,  0.08795833, -0.94910211, -0.02670541,  0.99612416,
        0.08380626,  0.952795  ,  0.        ,  0.30361438])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07208953, -0.04288564,  0.22462971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.23370375,  4.71808297,  7.23370375, 10.7516197 ,
       -3.24308322,  4.71808297, -3.24308322, 13.60861685,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013851865483453588
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.00374279e-14,  4.00748558e-14,  1.00000000e+00,  8.02997035e-28,
        1.00000000e+00, -4.00748558e-14, -1.00000000e+00,  0.00000000e+00,
       -2.00374279e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.037798  , -0.11715014,  0.06187695])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17724191e-03, 3.66314125e-02, 9.20047816e-03, 1.01221057e-05,
 -2.95130709e-05,-1.98686879e-06, 5.27923398e-05, 8.77139113e-06,
  1.92182313e-06, 3.55760668e-05, 9.10579156e-05,-7.17301551e-05,
  3.24571860e-03, 4.67299112e-03, 8.77897686e-03, 1.34372586e-03,
  1.39136289e-06, 7.56874636e-07,-1.21644033e+00, 1.58563365e-03,
  5.44492256e-04, 3.40228312e-05]


--- Step 2661 ---
qpos:
[-0.01621311, 1.29561152,-0.03209013, 0.94844054, 0.00434641, 1.33155456,
 -0.02974491, 0.94628998, 0.01674789, 1.33657628,-0.02393907, 0.95498935,
  1.39443169,-0.006007  , 1.18946361, 0.06138581,-0.00370464,-0.09264013,
  0.08151396, 0.64937014,-0.01237163,-0.0034358 , 0.7603641 ]

qacc:
[ 3.12045123e-01, 1.52266271e+00,-6.81594412e+00, 9.64046299e+00,
  4.66512088e-02,-4.85509673e+00, 1.49740298e+01,-1.17301736e+01,
  7.58031400e-02, 4.37725517e-01,-3.34536063e-01,-4.63696462e+00,
 -1.06776062e-01,-7.98321420e-02, 4.86509614e+00,-1.13298985e+01,
 -1.05779963e+00,-1.19189459e+00, 1.17173961e+00,-5.01741790e+01,
 -6.93660104e+01,-2.42239762e+00]

qfrc_actuator:
[ 4.07303319e-03, 7.16722047e-02, 2.01151697e-02, 1.76779687e-03,
  1.44111990e-06, 3.48914414e-02, 1.09790423e-02, 1.78174608e-03,
 -3.02042924e-03, 3.47226749e-02, 1.08968576e-02, 1.69116185e-03,
  0.00000000e+00, 2.87091830e-03, 0.00000000e+00,-1.80949833e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006860374870280156
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30242935,  0.08795854, -0.94910473, -0.02670475,  0.99612414,
        0.08380669,  0.95279764,  0.        ,  0.30360608])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07208877, -0.04288621,  0.22462993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   6.66931166,   5.48698996,   6.66931166,
        37.59203069, -35.19495559,   5.48698996, -35.19495559,
        51.41503271,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013722781853350646
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08858803e-06,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.08858803e-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([ 0.02142678, -0.06718027,  0.06187802])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08600179e-03, 3.68379536e-02, 9.29354060e-03, 8.53126694e-06,
  1.33529445e-05,-8.58012412e-06, 9.09013016e-05, 6.76592372e-06,
  2.18692193e-05, 7.90726366e-06,-1.88786622e-05,-2.17722969e-05,
  3.22467057e-03, 4.73070016e-03, 8.26342461e-03, 1.33781056e-03,
  4.04452178e-06, 3.86132613e-06,-1.21644273e+00, 1.59187821e-03,
  5.41019340e-04, 3.88108498e-05]


--- Step 2662 ---
qpos:
[-0.01621326, 1.29562087,-0.03208996, 0.94843947, 0.00434664, 1.33155569,
 -0.0297435 , 0.94628886, 0.0167478 , 1.3365761 ,-0.02393968, 0.95498893,
  1.39443922,-0.00600829, 1.18945727, 0.06138671,-0.00370849,-0.09264487,
  0.08152045, 0.6494435 ,-0.01232295,-0.00359143, 0.76030151]

qacc:
[-2.18960220e-01,-8.42593235e-01, 5.74520371e+00,-9.09231518e+00,
  1.53148565e-01,-3.05479585e+00, 1.28432008e+01,-2.63391399e+01,
 -3.56984903e-02, 3.28565326e+00,-1.22546481e+01, 1.65456560e+01,
 -4.80806021e-01, 4.34461663e-01,-2.28798790e+00, 3.91309190e+00,
 -9.57950107e-01,-1.15294051e+00, 4.90298667e-01,-4.71728378e+01,
 -6.48105594e+01,-2.48916588e+00]

qfrc_actuator:
[ 4.08237823e-03, 7.16771119e-02, 2.01478781e-02, 1.76878748e-03,
  3.76409822e-05, 3.48982196e-02, 1.09931524e-02, 1.71365310e-03,
 -3.04359787e-03, 3.46528043e-02, 1.08231818e-02, 1.71299285e-03,
  0.00000000e+00, 2.91898354e-03, 0.00000000e+00,-7.61480258e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006863066540518589
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30242259,  0.08795851, -0.94910689, -0.02670414,  0.99612414,
        0.08380685,  0.9527998 ,  0.        ,  0.3035993 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07208823, -0.04288679,  0.22463012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -6.42989928, -5.76568921, -6.42989928, 14.12125537,
       -6.11675381, -5.76568921, -6.11675381, 15.45777032,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001367749164065813
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.77350284e-07,  2.02928844e-14,  1.00000000e+00,  7.65752567e-21,
        1.00000000e+00, -2.02928844e-14, -1.00000000e+00,  1.50463277e-36,
       -3.77350284e-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([ 0.02143504, -0.06717967,  0.06187842])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05872823e-03, 3.68830974e-02, 9.36526520e-03,-4.46806800e-06,
  4.40790372e-05, 2.00037079e-05, 2.29686287e-05,-6.55267642e-05,
 -1.02563785e-05,-6.98320715e-05,-7.49160417e-05, 2.10057460e-05,
  3.23258507e-03, 4.79175794e-03, 8.13119028e-03, 1.45841953e-03,
  1.28675168e-06, 6.57584819e-07,-1.21643983e+00, 1.58425649e-03,
  5.43704403e-04, 3.43046303e-05]


--- Step 2663 ---
qpos:
[-0.01621394, 1.29563189,-0.03208913, 0.94843807, 0.00434697, 1.33155717,
 -0.02974285, 0.94628663, 0.0167474 , 1.33657596,-0.02394042, 0.95498696,
  1.3944465 ,-0.0060094 , 1.1894474 , 0.06138735,-0.00370688,-0.09264586,
  0.08152796, 0.64951532,-0.01228082,-0.00357346, 0.76024092]

qacc:
[-2.22536045e-01,-1.12872296e-01, 3.69697882e+00,-8.05944871e+00,
  4.12641267e-02, 6.03938621e-01, 8.59562539e-01,-1.38479192e+01,
 -1.30496841e-01,-2.23248373e+00, 1.04571547e+01,-2.68915901e+01,
 -1.54280008e-01, 2.29859729e-01,-4.40680091e+00, 7.84727357e+00,
  1.36567427e+00, 9.40657698e-01, 2.54812062e-01, 6.38624887e+01,
  5.88507292e+01, 2.30799833e+00]

qfrc_actuator:
[ 4.08835538e-03, 7.17108998e-02, 2.01491464e-02, 1.75222051e-03,
  2.35458053e-05, 3.49017567e-02, 1.09475761e-02, 1.65627402e-03,
 -3.07516346e-03, 3.46999240e-02, 1.08331167e-02, 1.63720011e-03,
  0.00000000e+00, 2.91279673e-03, 0.00000000e+00, 2.19856403e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000686577923134743
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30241351,  0.08795866, -0.94910976, -0.02670339,  0.99612413,
        0.08380725,  0.95280271,  0.        ,  0.30359019])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0720875 , -0.04288729,  0.22463037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.58931724,  -5.58280173,  -6.58931724,
        35.07672238, -31.20725406,  -5.58280173, -31.20725406,
        45.46992991,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013729503503051577
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.02160083e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.02160083e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03783289, -0.11714511,  0.06187803])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09038630e-03, 3.68398550e-02, 9.32203248e-03,-7.38219186e-06,
  1.19170999e-05, 1.71195604e-05,-4.09762357e-05,-5.76248386e-05,
 -3.76234476e-05,-5.50403824e-06,-1.16016328e-05,-7.95666227e-05,
  3.26606137e-03, 4.78250496e-03, 8.22821292e-03, 1.56556313e-03,
  2.07960200e-06, 4.29988912e-06,-1.21643961e+00, 1.57699942e-03,
  5.46223615e-04, 3.78222005e-05]


--- Step 2664 ---
qpos:
[-0.0162146 , 1.29564308,-0.03208835, 0.94843631, 0.004347  , 1.33155888,
 -0.02974302, 0.94628341, 0.01674695, 1.33657637,-0.02394076, 0.95498368,
  1.39445372,-0.00601053, 1.18943711, 0.06138787,-0.00370027,-0.09264312,
  0.08153407, 0.6495862 ,-0.01224422,-0.00339244, 0.76018178]

qacc:
[ 4.23324274e-03,-2.78304124e-01, 1.92409760e+00,-5.95322934e+00,
 -1.29039307e-01, 8.06451740e-01,-2.17897695e-01,-1.15533812e+01,
 -1.83629442e-02,-2.63494342e+00, 1.21110346e+01,-2.59769227e+01,
 -1.98401365e-02,-1.03819527e-03,-2.62862369e-01, 4.32269659e-02,
  1.24919902e+00, 9.29019589e-01,-3.46999091e-01, 6.01823708e+01,
  5.50400368e+01, 1.84443782e+00]

qfrc_actuator:
[ 4.09252556e-03, 7.16902536e-02, 2.01314346e-02, 1.72528445e-03,
 -2.06072706e-05, 3.49030782e-02, 1.09026732e-02, 1.60565192e-03,
 -3.05825148e-03, 3.47814829e-02, 1.08749624e-02, 1.57568523e-03,
  0.00000000e+00, 2.90942052e-03, 0.00000000e+00,-7.99127654e-06,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006867610791771485
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02402219e-01,  8.79589905e-02, -9.49113330e-01, -2.67024902e-02,
        9.96124097e-01,  8.38078817e-02,  9.52806316e-01,  3.46944695e-18,
        3.03578861e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07208644, -0.04288773,  0.22463069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.01143087,  5.04248094,  7.01143087, 10.9395818 ,
       -3.20256142,  5.04248094, -3.20256142, 13.08943708,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013630698209929487
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.52719115e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.52719115e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03785385, -0.11715066,  0.06187889])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12064954e-03, 3.67353416e-02, 9.27180777e-03,-1.78478242e-05,
 -3.71198178e-05, 1.03653586e-06,-4.79103413e-05,-5.26465888e-05,
 -5.30074269e-06, 7.38892437e-05, 3.71226563e-05,-6.38730305e-05,
  3.27864855e-03, 4.77011953e-03, 8.40523656e-03, 1.54895446e-03,
  1.49938119e-06, 4.36662831e-07,-1.21643956e+00, 1.58364350e-03,
  5.43004643e-04, 3.35694699e-05]


--- Step 2665 ---
qpos:
[-0.01621433, 1.29565284,-0.03208786, 0.9484351 , 0.00434678, 1.3315605 ,
 -0.0297431 , 0.94627992, 0.01674642, 1.33657717,-0.02394095, 0.95498213,
  1.39446127,-0.00601202, 1.18943199, 0.06138837,-0.00369954,-0.09264409,
  0.08153878, 0.64965762,-0.01220445,-0.00339667, 0.76012137]

qacc:
[ 3.99575298e-01,-1.41386729e-01,-2.92866750e+00, 9.73272373e+00,
 -1.05799588e-01,-8.02812562e-01, 2.99288460e+00,-5.49453108e+00,
 -3.65803885e-02, 3.10520032e+00,-1.30123048e+01, 3.10234797e+01,
  2.39478236e-01,-4.33420413e-01, 7.67135112e+00,-1.58023531e+01,
 -1.46909835e+00,-9.25249690e-01,-3.53576978e-01,-6.93843797e+01,
 -6.13583379e+01,-1.75971526e+00]

qfrc_actuator:
[ 4.07753575e-03, 7.16200241e-02, 2.01382693e-02, 1.74554823e-03,
 -2.91742762e-05, 3.49030509e-02, 1.09117989e-02, 1.59492314e-03,
 -3.06565232e-03, 3.47944146e-02, 1.08822073e-02, 1.66514483e-03,
  0.00000000e+00, 2.87234753e-03, 0.00000000e+00,-2.03644981e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00068692960825565
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3023908 ,  0.08795932, -0.94911694, -0.02670158,  0.99612407,
        0.08380852,  0.95280997,  0.        ,  0.3035674 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07208534, -0.04288815,  0.22463102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.07852872,   4.94784883,   7.07852872,
        32.24257707, -33.77169862,   4.94784883, -33.77169862,
        56.95108513,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013551670533453047
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.09625891e-14,  4.09625891e-14,  1.00000000e+00,  1.67793371e-27,
        1.00000000e+00, -4.09625891e-14, -1.00000000e+00,  0.00000000e+00,
       -4.09625891e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03754561, -0.06461593,  0.06187958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10515317e-03, 3.66562471e-02, 9.28058621e-03, 2.04740677e-05,
 -3.04713848e-05,-1.04192430e-05, 2.32963204e-06,-1.33252040e-05,
 -1.05270116e-05, 5.91414548e-05, 2.40201754e-05, 9.12442041e-05,
  3.28140370e-03, 4.73375503e-03, 8.42586681e-03, 1.35897580e-03,
  6.32624940e-06, 3.54917322e-06,-1.21644211e+00, 1.58959459e-03,
  5.39689816e-04, 3.84988935e-05]


--- Step 2666 ---
qpos:
[-0.01621301, 1.29566166,-0.03208765, 0.94843547, 0.00434665, 1.33156217,
 -0.0297432 , 0.94627737, 0.01674565, 1.33657839,-0.02394164, 0.95498239,
  1.39446929,-0.0060138 , 1.18943095, 0.06138842,-0.00370419,-0.09264873,
  0.08153973, 0.64973012,-0.01216243,-0.00357436, 0.76005925]

qacc:
[ 4.47114457e-01, 2.19700725e+00,-1.19101425e+01, 2.92966986e+01,
  4.38124825e-02, 1.70061153e+00,-7.34732935e+00, 1.70508284e+01,
 -9.77749144e-02, 4.99137758e+00,-1.92364627e+01, 3.72016024e+01,
  3.16799519e-01,-4.33376092e-01, 7.37317634e+00,-1.70703908e+01,
 -1.34466561e+00,-9.19519662e-01,-9.39283901e-01,-6.51878394e+01,
 -5.71957876e+01,-2.03051761e+00]

qfrc_actuator:
[ 4.08562389e-03, 7.15748444e-02, 2.01423590e-02, 1.82887674e-03,
  1.43019999e-06, 3.49201980e-02, 1.09172532e-02, 1.64329040e-03,
 -3.08758067e-03, 3.48016266e-02, 1.08510418e-02, 1.75390469e-03,
  0.00000000e+00, 2.83317044e-03, 0.00000000e+00,-3.21222303e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006872947160200711
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02381035e-01,  8.79593535e-02, -9.49120046e-01, -2.67007307e-02,
        9.96124065e-01,  8.38088232e-02,  9.52813088e-01, -3.46944695e-18,
        3.03557605e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07208469, -0.04288865,  0.22463128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.37772786, -4.48953321, -7.37772786,  9.77775085,
       -1.87566142, -4.48953321, -1.87566142, 11.71867061,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013510337583888116
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.10879083e-14,  6.16318625e-14,  1.00000000e+00,  2.53232432e-27,
        1.00000000e+00, -6.16318625e-14, -1.00000000e+00,  0.00000000e+00,
       -4.10879083e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0375584 , -0.06461802,  0.06187995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06636835e-03, 3.66828080e-02, 9.29983352e-03, 7.66193590e-05,
  1.26227429e-05, 1.14225830e-05, 3.28474773e-06, 4.78113763e-05,
 -2.81411136e-05, 4.73032017e-05,-1.42190823e-05, 9.33374634e-05,
  3.26504208e-03, 4.71308994e-03, 8.16797427e-03, 1.24260344e-03,
  1.22712905e-06, 5.27557087e-07,-1.21643945e+00, 1.58278101e-03,
  5.43434719e-04, 3.35799175e-05]


--- Step 2667 ---
qpos:
[-0.01621182, 1.295672  ,-0.03208676, 0.94843588, 0.00434689, 1.33156404,
 -0.0297441 , 0.9462744 , 0.0167448 , 1.33657997,-0.02394197, 0.95498125,
  1.39447757,-0.00601555, 1.1894263 , 0.061388  ,-0.00370327,-0.09264958,
  0.08154263, 0.64980102,-0.01212709,-0.00357405, 0.75999921]

qacc:
[-5.32230446e-02, 2.11195792e-01, 1.65185013e+00,-2.00962489e+00,
  1.51125327e-01, 1.72258784e+00,-4.47588189e+00,-9.62827290e-01,
 -4.01054561e-02,-2.86729527e+00, 1.27185738e+01,-2.73015104e+01,
  3.53964536e-01,-3.43843763e-01,-3.96409531e+00, 6.05357871e+00,
  1.39145072e+00, 9.49201742e-01, 4.90221237e-01, 6.54666469e+01,
  6.03511644e+01, 2.38393316e+00]

qfrc_actuator:
[ 4.10707217e-03, 7.15802795e-02, 2.01448894e-02, 1.84226511e-03,
  3.75315834e-05, 3.49120274e-02, 1.08673151e-02, 1.61952098e-03,
 -3.08254145e-03, 3.48229646e-02, 1.08684169e-02, 1.68170742e-03,
  0.00000000e+00, 2.81054558e-03, 0.00000000e+00,-1.60733207e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006878175323967103
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30237243,  0.08795906, -0.94912281, -0.02669988,  0.99612409,
        0.08380878,  0.95281584,  0.        ,  0.30354896])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07208435, -0.04288923,  0.22463148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.11494584,  -4.89533682,  -7.11494584,
        32.95852432, -35.3501429 ,  -4.89533682, -35.3501429 ,
        60.01471851,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013491149664165425
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.08597595e-14,  4.11463460e-14,  1.00000000e+00,  1.26976634e-27,
        1.00000000e+00, -4.11463460e-14, -1.00000000e+00,  0.00000000e+00,
       -3.08597595e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03789149, -0.11714759,  0.06188012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03536010e-03, 3.67352530e-02, 9.31583210e-03, 1.05433655e-05,
  4.35504016e-05, 2.09115186e-07,-4.59351663e-05,-2.22227640e-05,
 -1.15733014e-05, 4.74765167e-05, 2.77278126e-05,-6.90380252e-05,
  3.24185395e-03, 4.70469558e-03, 7.96360600e-03, 1.42562454e-03,
  2.75357774e-06, 5.27392289e-06,-1.21643992e+00, 1.57646330e-03,
  5.46828670e-04, 3.85961334e-05]


--- Step 2668 ---
qpos:
[-0.01621256, 1.29568638,-0.03208408, 0.94843512, 0.00434737, 1.33156548,
 -0.02974514, 0.94627292, 0.0167442 , 1.33658121,-0.02394182, 0.95497966,
  1.39448563,-0.00601669, 1.18941035, 0.06138726,-0.00369726,-0.09264668,
  0.08154495, 0.6498709 ,-0.01209736,-0.00340702, 0.7599407 ]

qacc:
[-8.26080935e-01,-1.48619658e+00, 1.36487418e+01,-2.78690766e+01,
  1.01756481e-01, 2.38123356e+00,-1.14997066e+01, 2.74751599e+01,
  1.11462491e-01,-2.56311851e+00, 8.75438437e+00,-1.26506056e+01,
 -3.01184065e-02, 3.48322408e-01,-1.57112962e+01, 3.07048759e+01,
  1.27095092e+00, 9.37084571e-01,-1.47908625e-01, 6.15279860e+01,
  5.62909004e+01, 1.90079435e+00]

qfrc_actuator:
[ 4.10178550e-03, 7.15962475e-02, 2.01456412e-02, 1.79685843e-03,
  4.11309169e-05, 3.48707551e-02, 1.08559454e-02, 1.69545311e-03,
 -3.04361256e-03, 3.47639120e-02, 1.08787697e-02, 1.65743207e-03,
  0.00000000e+00, 2.83316026e-03, 0.00000000e+00, 2.20045591e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006882323646698156
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02361736e-01,  8.79588183e-02, -9.49126244e-01, -2.66988628e-02,
        9.96124112e-01,  8.38088565e-02,  9.52819265e-01,  3.46944695e-18,
        3.03538217e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07208368, -0.04288978,  0.22463175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.15770786,  4.83259713,  7.15770786, 10.72528331,
       -3.09396302,  4.83259713, -3.09396302, 13.21892718,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013455121636269662
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.06282606e-14,  8.25130426e-14,  1.00000000e+00,  1.70210055e-27,
        1.00000000e+00, -8.25130426e-14, -1.00000000e+00,  0.00000000e+00,
       -2.06282606e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03790212, -0.11714539,  0.06188043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03630662e-03, 3.66752193e-02, 9.28250603e-03,-3.64504751e-05,
  2.92989514e-05,-5.08204068e-05,-1.72105079e-05, 7.40739592e-05,
  3.20989456e-05,-2.94420548e-05, 2.07527983e-05,-2.36637699e-05,
  3.22828049e-03, 4.72600351e-03, 8.14430926e-03, 1.82953922e-03,
  1.25103988e-06, 5.21097874e-07,-1.21643953e+00, 1.58322655e-03,
  5.43595590e-04, 3.31635690e-05]


--- Step 2669 ---
qpos:
[-0.01621504, 1.29570336,-0.0320798 , 0.94843361, 0.00434786, 1.33156652,
 -0.02974608, 0.94627338, 0.01674395, 1.33658144,-0.02394149, 0.95497856,
  1.39449315,-0.00601732, 1.18938731, 0.06138662,-0.00369717,-0.09264759,
  0.08154611, 0.64994152,-0.01206472,-0.00342641, 0.75988073]

qacc:
[-7.40760168e-01,-2.17608014e+00, 1.27332926e+01,-2.12805917e+01,
  4.74653651e-03, 2.48807721e+00,-1.27125507e+01, 3.37368739e+01,
  1.47166971e-01,-9.57393764e-01, 5.18548035e-01, 5.84344782e+00,
 -3.95572802e-01, 6.59637435e-01,-1.07015960e+01, 2.23105992e+01,
 -1.47680690e+00,-9.53890474e-01,-2.88230448e-01,-6.98836511e+01,
 -6.16687486e+01,-1.88418260e+00]

qfrc_actuator:
[ 4.10007363e-03, 7.15798959e-02, 2.01617038e-02, 1.75286755e-03,
  2.52030008e-05, 3.48634279e-02, 1.08673853e-02, 1.79396883e-03,
 -3.02017501e-03, 3.46571695e-02, 1.08668677e-02, 1.67928366e-03,
  0.00000000e+00, 2.88232892e-03, 0.00000000e+00, 3.77991259e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000688282966782406
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30234547,  0.08795923, -0.94913139, -0.02669755,  0.99612408,
        0.08380971,  0.95282446,  0.        ,  0.3035219 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07208198, -0.04289019,  0.22463221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.09444145,   4.92500531,   7.09444145,
        32.27312431, -34.04861601,   4.92500531, -34.04861601,
        57.68319658,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013464771425708427
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.24539080e-14,  2.06134770e-14,  1.00000000e+00,  1.69966174e-27,
        1.00000000e+00, -2.06134770e-14, -1.00000000e+00,  0.00000000e+00,
       -8.24539080e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03758223, -0.06463445,  0.06188036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13148640e-03, 3.64564795e-02, 9.20937655e-03,-2.20041879e-05,
  1.35959373e-06,-3.65931729e-05, 1.71176254e-06, 9.82046678e-05,
  4.23887890e-05,-1.19682128e-04,-1.59896411e-05, 2.10353256e-05,
  3.24006594e-03, 4.74488974e-03, 8.70981039e-03, 2.00371149e-03,
  5.46745166e-06, 3.12609681e-06,-1.21644187e+00, 1.58925701e-03,
  5.40270860e-04, 3.74156867e-05]


--- Step 2670 ---
qpos:
[-0.0162181 , 1.2957209 ,-0.03207475, 0.94843181, 0.00434827, 1.33156773,
 -0.02974735, 0.94627465, 0.01674359, 1.33658071,-0.02394095, 0.95497703,
  1.3945006 ,-0.00601778, 1.18936242, 0.06138627,-0.00370248,-0.09265228,
  0.08154374, 0.65001337,-0.01203002,-0.00362024, 0.75981892]

qacc:
[-2.45904435e-01,-1.83994636e+00, 7.49244679e+00,-1.01611340e+01,
 -3.11916311e-02, 2.49842197e+00,-9.55180849e+00, 1.75176294e+01,
 -4.93947458e-02,-2.55603885e+00, 7.68740999e+00,-1.10001873e+01,
 -5.22767852e-02, 1.48482312e-01,-3.64231833e+00, 8.76377830e+00,
 -1.35121271e+00,-9.42374362e-01,-8.84376188e-01,-6.56062172e+01,
 -5.74634180e+01,-2.12757562e+00]

qfrc_actuator:
[ 4.10108189e-03, 7.15972446e-02, 2.01864247e-02, 1.72752428e-03,
  1.54443251e-05, 3.48943542e-02, 1.08568000e-02, 1.83397730e-03,
 -3.05947970e-03, 3.46113980e-02, 1.08772444e-02, 1.65703552e-03,
  0.00000000e+00, 2.87626609e-03, 0.00000000e+00, 3.84197578e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006881233175038241
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30232521,  0.08796021, -0.94913775, -0.02669606,  0.99612399,
        0.08381121,  0.95283093,  0.        ,  0.30350158])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07207966, -0.0428905 ,  0.2246328 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.29826853, -4.61758089, -7.29826853, 10.05428947,
       -2.24108765, -4.61758089, -2.24108765, 12.17849096,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013441402584304374
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00,  8.259726e-14,  1.000000e+00,  0.000000e+00,
        1.000000e+00, -8.259726e-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([ 0.03759133, -0.0646386 ,  0.06188057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21938660e-03, 3.63440419e-02, 9.15414333e-03,-9.99737059e-06,
 -8.95802163e-06, 1.39583887e-05,-1.46686928e-05, 4.12407137e-05,
 -1.42822349e-05,-1.14456034e-04,-1.42002804e-05,-2.57736509e-05,
  3.26664017e-03, 4.71298118e-03, 9.06414970e-03, 2.00537314e-03,
  1.11055352e-06, 6.72976383e-07,-1.21643947e+00, 1.58250165e-03,
  5.43978528e-04, 3.32735204e-05]


--- Step 2671 ---
qpos:
[-0.0162201 , 1.29573514,-0.0320713 , 0.94843055, 0.00434859, 1.33156946,
 -0.02974946, 0.94627569, 0.01674296, 1.3365801 ,-0.02394141, 0.95497728,
  1.39450808,-0.00601855, 1.18934415, 0.06138612,-0.00370214,-0.09265311,
  0.08154404, 0.65008361,-0.01200201,-0.00363294, 0.75975921]

qacc:
[ 4.53923861e-01, 9.03154136e-01,-9.27887850e+00, 1.62963419e+01,
 -3.92901254e-02, 2.59139863e+00,-7.14220674e+00, 3.21610221e+00,
 -1.10512952e-01, 5.92557325e+00,-2.27291232e+01, 4.02072691e+01,
 -1.03290102e-01,-4.87859053e-02, 9.19163901e+00,-1.79349177e+01,
  1.41106709e+00, 9.62166463e-01, 6.69126976e-01, 6.66342893e+01,
  6.14004839e+01, 2.40466378e+00]

qfrc_actuator:
[ 4.10325653e-03, 7.16180459e-02, 2.01632624e-02, 1.73096148e-03,
  9.46734482e-06, 3.49300870e-02, 1.08156551e-02, 1.82148658e-03,
 -3.08284652e-03, 3.46735602e-02, 1.08476230e-02, 1.75107065e-03,
  0.00000000e+00, 2.89046700e-03, 0.00000000e+00, 1.03837999e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006879122122536822
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02303654e-01,  8.79613780e-02, -9.49144508e-01, -2.66945170e-02,
        9.96123886e-01,  8.38129273e-02,  9.52837816e-01,  3.46944695e-18,
        3.03479977e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07207718, -0.04289079,  0.22463341])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.10872901,  -4.90436017,  -7.10872901,
        33.69804539, -36.32618687,  -4.90436017, -36.32618687,
        61.29012666,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013466102467156876
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.06114395e-14,  4.12228790e-14,  1.00000000e+00,  8.49662876e-28,
        1.00000000e+00, -4.12228790e-14, -1.00000000e+00,  0.00000000e+00,
       -2.06114395e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03791498, -0.11712396,  0.06188035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25040533e-03, 3.63361538e-02, 9.09198619e-03, 7.82511663e-06,
 -1.12628044e-05, 4.18164337e-05,-3.88735765e-05,-1.15434601e-05,
 -3.18031735e-05,-4.66636823e-06,-5.43436282e-05, 8.96259739e-05,
  3.27023592e-03, 4.71890752e-03, 9.15754877e-03, 1.71016886e-03,
  3.42115609e-06, 6.03524209e-06,-1.21644021e+00, 1.57621283e-03,
  5.47351118e-04, 3.91296378e-05]


--- Step 2672 ---
qpos:
[-0.01622042, 1.29574502,-0.03207015, 0.94842983, 0.00434883, 1.33157154,
 -0.02975228, 0.94627555, 0.01674222, 1.33657935,-0.02394159, 0.95497793,
  1.39451539,-0.00601984, 1.18933529, 0.06138603,-0.00369666,-0.09265015,
  0.08154435, 0.65015283,-0.01197961,-0.00347631, 0.75970106]

qacc:
[ 7.13352213e-01, 1.39161522e+00,-1.25519861e+01, 1.98027100e+01,
 -3.59014287e-02, 3.19184465e-01, 1.92905318e+00,-1.56053902e+01,
 -5.07333761e-02,-2.48664695e-01,-2.00500771e-01, 4.75234008e+00,
 -2.57623344e-01,-7.06019179e-02, 1.37365662e+01,-2.78070182e+01,
  1.28727798e+00, 9.47988813e-01, 2.09947176e-03, 6.24965290e+01,
  5.71580157e+01, 1.91454433e+00]

qfrc_actuator:
[ 4.12247239e-03, 7.15913083e-02, 2.01311966e-02, 1.75095927e-03,
  5.80767823e-06, 3.49327601e-02, 1.07745698e-02, 1.76045506e-03,
 -3.07870763e-03, 3.46755253e-02, 1.08661371e-02, 1.77081292e-03,
  0.00000000e+00, 2.91722368e-03, 0.00000000e+00,-1.88701798e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000687843069995215
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30228678,  0.08796217, -0.94914981, -0.02669327,  0.99612382,
        0.08381416,  0.9528432 ,  0.        ,  0.30346306])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07207532, -0.04289115,  0.22463388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.21067419,  4.75320467,  7.21067419, 10.71144081,
       -3.14791944,  4.75320467, -3.14791944, 13.41179897,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013468990649177226
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.06070197e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.06070197e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03791921, -0.11711706,  0.06188033])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21636173e-03, 3.64745454e-02, 9.14020453e-03, 1.07500351e-06,
 -1.03043380e-05, 1.78473723e-05,-3.76662157e-05,-6.11835989e-05,
 -1.46385314e-05,-8.56906577e-06, 1.40508179e-05, 2.00989708e-05,
  3.26864654e-03, 4.76058683e-03, 8.82704811e-03, 1.40801792e-03,
  1.14528580e-06, 6.31836410e-07,-1.21643955e+00, 1.58305580e-03,
  5.44106649e-04, 3.28227102e-05]


--- Step 2673 ---
qpos:
[-0.01621974, 1.2957528 ,-0.03207033, 0.9484291 , 0.004349  , 1.33157363,
 -0.02975435, 0.94627463, 0.01674157, 1.33657752,-0.02394048, 0.95497676,
  1.39452237,-0.00602147, 1.18933072, 0.06138577,-0.00369709,-0.09265106,
  0.0815436 , 0.65022288,-0.01195445,-0.00350649, 0.75964137]

qacc:
[ 4.23426928e-01, 7.98882576e-01,-5.90090056e+00, 6.30692830e+00,
 -2.87782708e-02,-3.33557796e+00, 1.24972847e+01,-1.98460437e+01,
  4.18417692e-02,-8.06184022e+00, 2.82259950e+01,-4.46757637e+01,
 -2.73430902e-01, 3.68019544e-02, 6.86838841e+00,-1.47836203e+01,
 -1.47826300e+00,-9.65556291e-01,-2.66146524e-01,-7.00594120e+01,
 -6.17683073e+01,-1.93606242e+00]

qfrc_actuator:
[ 4.15087828e-03, 7.15739335e-02, 2.01128800e-02, 1.76292556e-03,
  3.56747376e-06, 3.49510789e-02, 1.08224774e-02, 1.72460419e-03,
 -3.05810170e-03, 3.45705754e-02, 1.09126632e-02, 1.67565069e-03,
  0.00000000e+00, 2.93411926e-03, 0.00000000e+00,-2.57709424e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006879950541116946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02276278e-01,  8.79623891e-02, -9.49153133e-01, -2.66924088e-02,
        9.96123797e-01,  8.38146598e-02,  9.52846560e-01,  3.46944695e-18,
        3.03452521e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07207434, -0.04289159,  0.22463417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.10239773,   4.91352454,   7.10239773,
        32.18227907, -34.03513201,   4.91352454, -34.03513201,
        57.83344047,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013428693447456869
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.06688579e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.06688579e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03760818, -0.06465879,  0.06188066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16107546e-03, 3.66752783e-02, 9.23698903e-03,-1.37677347e-05,
 -8.31996658e-06, 1.89788840e-05, 4.53210735e-05,-3.78401318e-05,
  1.19624044e-05,-1.06343683e-04, 4.70393165e-05,-9.45375403e-05,
  3.27732723e-03, 4.80436126e-03, 8.35638934e-03, 1.33603726e-03,
  4.82905966e-06, 2.86376996e-06,-1.21644174e+00, 1.58914635e-03,
  5.40770438e-04, 3.65696698e-05]


--- Step 2674 ---
qpos:
[-0.01621897, 1.29576077,-0.03207042, 0.94842754, 0.00434912, 1.33157579,
 -0.02975554, 0.94627292, 0.01674109, 1.33657484,-0.02393917, 0.95497658,
  1.39452913,-0.0060232 , 1.18932571, 0.0613854 ,-0.00370293,-0.09265577,
  0.08153938, 0.65029422,-0.01192734,-0.00371146, 0.75957975]

qacc:
[ 4.12182842e-02,-1.38179810e+00, 6.48466091e+00,-1.52718287e+01,
 -2.16809547e-02,-3.62373273e+00, 1.35175280e+01,-2.07910094e+01,
  6.81640043e-02, 7.20061938e-02,-3.55750947e+00, 1.49125176e+01,
 -7.95373169e-02,-3.89345743e-02,-3.53341812e-01, 2.79263489e-01,
 -1.35252221e+00,-9.51524209e-01,-8.65930086e-01,-6.57536313e+01,
 -5.75512313e+01,-2.16683031e+00]

qfrc_actuator:
[ 4.14930360e-03, 7.15616495e-02, 2.01205047e-02, 1.73489877e-03,
  2.19647185e-06, 3.49612235e-02, 1.08693507e-02, 1.68617590e-03,
 -3.04553819e-03, 3.45267373e-02, 1.09215965e-02, 1.72662227e-03,
  0.00000000e+00, 2.92734588e-03, 0.00000000e+00,-1.92389863e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006882338734438553
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02269027e-01,  8.79622695e-02, -9.49155453e-01, -2.66917319e-02,
        9.96123807e-01,  8.38147499e-02,  9.52848879e-01,  3.46944695e-18,
        3.03445240e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07207375, -0.04289202,  0.22463438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.26462651, -4.6703296 , -7.26462651, 10.19733528,
       -2.4280676 , -4.6703296 , -2.4280676 , 12.41318578,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013411398621905463
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.13910233e-14,  6.20865349e-14,  1.00000000e+00,  2.56982521e-27,
        1.00000000e+00, -6.20865349e-14, -1.00000000e+00,  0.00000000e+00,
       -4.13910233e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03761591, -0.06466363,  0.0618808 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10981867e-03, 3.67674991e-02, 9.31063130e-03,-4.13242990e-05,
 -6.27995659e-06, 2.83572224e-05, 5.46301481e-05,-3.74104264e-05,
  1.96218103e-05,-9.62504000e-05,-9.25611662e-06, 4.69938962e-05,
  3.29370962e-03, 4.81374938e-03, 8.14196786e-03, 1.40996362e-03,
  1.09512331e-06, 8.08972879e-07,-1.21643953e+00, 1.58244035e-03,
  5.44445294e-04, 3.29945650e-05]


--- Step 2675 ---
qpos:
[-0.01621781, 1.29576892,-0.03206985, 0.94842631, 0.00434934, 1.33157812,
 -0.02975703, 0.94627117, 0.01674076, 1.3365721 ,-0.02393813, 0.95497799,
  1.3945361 ,-0.00602512, 1.18932247, 0.06138493,-0.00370306,-0.09265659,
  0.08153838, 0.65036396,-0.01190689,-0.00373307, 0.75952025]

qacc:
[ 1.65924909e-01,-9.90090462e-01, 2.83567298e+00, 1.28174629e+00,
  4.58133672e-02, 9.64878198e-01,-2.77446807e+00, 1.72494379e+00,
  6.65891816e-02, 3.38832851e+00,-1.43653428e+01, 3.09370146e+01,
  1.90721494e-01,-2.99783156e-01, 2.93813311e+00,-6.49759647e+00,
  1.42513717e+00, 9.74018909e-01, 8.03899139e-01, 6.74740871e+01,
  6.21340250e+01, 2.40251503e+00]

qfrc_actuator:
[ 4.13024003e-03, 7.15332289e-02, 2.01605733e-02, 1.75470578e-03,
  1.91101941e-05, 3.49486577e-02, 1.08441643e-02, 1.68201999e-03,
 -3.03790212e-03, 3.45730294e-02, 1.09263251e-02, 1.80994904e-03,
  0.00000000e+00, 2.88853601e-03, 0.00000000e+00,-2.59507242e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006884595831816234
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30226152,  0.08796212, -0.94915786, -0.02669102,  0.99612382,
        0.08381482,  0.95285128,  0.        ,  0.3034377 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07207313, -0.04289242,  0.22463459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.10872773,  -4.90436203,  -7.10872773,
        34.251304  , -37.12809857,  -4.90436203, -37.12809857,
        62.45244455,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001357050511196417
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.11321712e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.11321712e-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([-0.03791719, -0.11708486,  0.06187945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08591590e-03, 3.67298331e-02, 9.34662916e-03, 1.97230595e-05,
  1.32089153e-05, 1.26654188e-05,-1.45262147e-05,-2.57389965e-06,
  1.92158725e-05,-7.33173467e-06,-1.37442064e-05, 8.12953943e-05,
  3.30460340e-03, 4.78052396e-03, 8.16447247e-03, 1.34793699e-03,
  4.02421952e-06, 6.56967557e-06,-1.21644045e+00, 1.57618703e-03,
  5.47794313e-04, 3.94192518e-05]


--- Step 2676 ---
qpos:
[-0.01621631, 1.29577696,-0.03206885, 0.94842606, 0.00434972, 1.33158057,
 -0.02975887, 0.94627112, 0.01674056, 1.33656984,-0.0239375 , 0.95497793,
  1.39454318,-0.00602716, 1.18932137, 0.06138415,-0.00369801,-0.09265357,
  0.08153783, 0.65043272,-0.011892  ,-0.00358352, 0.75946232]

qacc:
[ 1.44297000e-01, 3.82185793e-01,-3.40843200e+00, 1.43081759e+01,
  6.16839534e-02, 3.98601688e+00,-1.62916193e+01, 3.37142446e+01,
  5.52912124e-02,-8.14778112e-01, 6.38672822e+00,-2.28002712e+01,
  3.70799407e-02,-7.94085465e-02, 4.08758779e+00,-9.70721676e+00,
  1.29885400e+00, 9.57587214e-01, 1.14088851e-01, 6.31841314e+01,
  5.77571962e+01, 1.91109812e+00]

qfrc_actuator:
[ 4.11810467e-03, 7.15128082e-02, 2.01839866e-02, 1.80238617e-03,
  2.91029431e-05, 3.49578368e-02, 1.08298330e-02, 1.76901947e-03,
 -3.03328344e-03, 3.46196904e-02, 1.09111515e-02, 1.73415042e-03,
  0.00000000e+00, 2.88388879e-03, 0.00000000e+00,-3.35027981e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000688807091702881
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30225322,  0.08796187, -0.94916052, -0.02669021,  0.99612384,
        0.08381481,  0.95285394,  0.        ,  0.30342936])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07207263, -0.04289285,  0.2246348 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.23343122,  4.71850078,  7.23343122, 10.7594783 ,
       -3.25472107,  4.71850078, -3.25472107, 13.62583001,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013595787990272196
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.06222511e-14,  4.08296682e-14,  1.00000000e+00, -1.25029635e-27,
        1.00000000e+00, -4.08296682e-14, -1.00000000e+00,  0.00000000e+00,
        3.06222511e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03791776, -0.11707533,  0.06187924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05432014e-03, 3.67002979e-02, 9.33676911e-03, 5.08075070e-05,
  1.77879437e-05, 1.32506364e-05,-1.35856780e-05, 8.68925975e-05,
  1.59615764e-05, 4.23513610e-05,-1.57851041e-05,-7.45263940e-05,
  3.29453939e-03, 4.78557954e-03, 8.07568288e-03, 1.27788539e-03,
  1.12517089e-06, 7.31330400e-07,-1.21643961e+00, 1.58308257e-03,
  5.44539742e-04, 3.25170221e-05]


--- Step 2677 ---
qpos:
[-0.01621608, 1.29578662,-0.03206737, 0.94842588, 0.00435022, 1.33158307,
 -0.02975996, 0.94627137, 0.01674046, 1.3365683 ,-0.02393799, 0.95497526,
  1.39454984,-0.00602868, 1.18931521, 0.06138283,-0.00368817,-0.09264679,
  0.08153542, 0.65050091,-0.01188181,-0.00327293, 0.75940548]

qacc:
[-5.39369226e-01, 9.23752729e-01,-5.96541085e-01, 3.14386308e-01,
  5.65488607e-02,-1.42156389e+00, 4.11929408e+00,-1.37389315e-01,
  4.21276087e-02,-4.95677828e-01, 8.03222655e+00,-3.75758418e+01,
 -4.54471776e-01, 7.70026738e-01,-5.81838598e+00, 9.55354083e+00,
  1.19590589e+00, 9.41335603e-01,-4.65678262e-01, 5.96208235e+01,
  5.41483050e+01, 1.53505870e+00]

qfrc_actuator:
[ 4.09226865e-03, 7.15151535e-02, 2.01618772e-02, 1.81275664e-03,
  3.48622545e-05, 3.49800462e-02, 1.08754331e-02, 1.78471661e-03,
 -3.03051146e-03, 3.46482997e-02, 1.08487754e-02, 1.60081380e-03,
  0.00000000e+00, 2.93523884e-03, 0.00000000e+00,-1.49059608e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006892694992041704
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02244610e-01,  8.79615181e-02, -9.49163299e-01, -2.66893460e-02,
        9.96123873e-01,  8.38147211e-02,  9.52856692e-01,  3.46944695e-18,
        3.03420707e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07207228, -0.04289332,  0.224635  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.24528776,  4.70027468,  7.24528776, 11.40957808,
       -4.27480053,  4.70027468, -4.27480053, 15.22579979,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013468767209840055
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.09110424e-14,  4.12147232e-14,  1.00000000e+00,  1.27399006e-27,
        1.00000000e+00, -4.12147232e-14, -1.00000000e+00,  0.00000000e+00,
       -3.09110424e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03794134, -0.11708417,  0.06188029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01155729e-03, 3.67078125e-02, 9.29348334e-03, 1.24243112e-05,
  1.62563471e-05, 2.94733577e-05, 4.91910338e-05, 1.77131310e-05,
  1.21962420e-05, 4.67531694e-05,-5.80779974e-05,-1.34280396e-04,
  3.28861929e-03, 4.84249107e-03, 7.96859064e-03, 1.47921498e-03,
  4.36794044e-06, 2.72453407e-06,-1.21644169e+00, 1.58921664e-03,
  5.41191925e-04, 3.59333043e-05]


--- Step 2678 ---
qpos:
[-0.01621744, 1.29579786,-0.0320655 , 0.94842549, 0.00435083, 1.3315855 ,
 -0.02976032, 0.94627009, 0.01674058, 1.33656713,-0.02393985, 0.95497313,
  1.39455599,-0.00602953, 1.18930321, 0.0613811 ,-0.00368471,-0.09264406,
  0.08153465, 0.65056976,-0.01186849,-0.00316218, 0.75934717]

qacc:
[-6.79416972e-01, 6.82081836e-01, 7.12430833e-01,-4.06853639e+00,
  4.44798835e-02,-4.67693754e+00, 1.82607357e+01,-3.34697093e+01,
  9.20191569e-02, 5.06975287e+00,-1.70418814e+01, 2.07609276e+01,
 -5.86722657e-01, 9.99145684e-01,-7.34311533e+00, 1.32687464e+01,
 -1.59552261e+00,-1.01300941e+00, 4.09791333e-01,-7.48546960e+01,
 -6.61772430e+01,-1.91392141e+00]

qfrc_actuator:
[ 4.07743323e-03, 7.14939752e-02, 2.01299728e-02, 1.80125623e-03,
  3.80357463e-05, 3.49568273e-02, 1.09027815e-02, 1.70509342e-03,
 -3.01111631e-03, 3.46478915e-02, 1.07767230e-02, 1.62996714e-03,
  0.00000000e+00, 2.98409770e-03, 0.00000000e+00,-1.12114671e-06,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006895400715505491
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02233991e-01,  8.79615701e-02, -9.49166675e-01, -2.66884242e-02,
        9.96123869e-01,  8.38150692e-02,  9.52860086e-01,  3.46944695e-18,
        3.03410048e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07207147, -0.04289371,  0.22463528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.10816985,   4.90517056,   7.10816985,
        35.43421768, -38.83324661,   4.90517056, -38.83324661,
        64.91031152,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013748018751170224
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.03775644e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.03775644e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03757637, -0.06473614,  0.06187795])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05998077e-03, 3.66058060e-02, 9.23716091e-03,-2.56874318e-06,
  1.27674315e-05, 3.21981353e-06, 3.92255063e-05,-7.68849035e-05,
  2.65974325e-05, 1.01324317e-05,-7.34524101e-05, 2.57076454e-05,
  3.30960657e-03, 4.86547189e-03, 8.22215432e-03, 1.65417664e-03,
  1.27163317e-05, 1.11308106e-05,-1.21644619e+00, 1.59482183e-03,
  5.37699350e-04, 4.78527850e-05]


--- Step 2679 ---
qpos:
[-0.01622004, 1.29581086,-0.032063  , 0.94842597, 0.00435181, 1.33158764,
 -0.02976078, 0.94626793, 0.01674078, 1.33656543,-0.0239417 , 0.95497206,
  1.3945621 ,-0.00602969, 1.18928594, 0.06137893,-0.00368704,-0.0926453 ,
  0.08153268, 0.65063985,-0.01185294,-0.00323693, 0.75928705]

qacc:
[-5.28480434e-01, 2.08462979e+00,-5.79755874e+00, 1.40104366e+01,
  1.55061004e-01,-1.62930121e+00, 6.65312916e+00,-1.57813817e+01,
  3.26730579e-02, 1.13576733e+00,-6.68837865e+00, 1.83940783e+01,
 -2.40989177e-01, 7.31996926e-01,-6.40437844e+00, 1.11499559e+01,
 -1.44837718e+00,-9.91651611e-01,-3.00397288e-01,-6.97058842e+01,
 -6.11707035e+01,-2.16982372e+00]

qfrc_actuator:
[ 4.07003285e-03, 7.14403207e-02, 2.01098554e-02, 1.84789844e-03,
  7.51383004e-05, 3.49064662e-02, 1.08833939e-02, 1.65874787e-03,
 -3.01741048e-03, 3.45946401e-02, 1.07705519e-02, 1.68349467e-03,
  0.00000000e+00, 2.97784832e-03, 0.00000000e+00, 1.24081093e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000689573219563297
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02221496e-01,  8.79621234e-02, -9.49170602e-01, -2.66874900e-02,
        9.96123820e-01,  8.38159473e-02,  9.52864075e-01, -3.46944695e-18,
        3.03397519e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07207015, -0.04289402,  0.22463564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.25726071, -4.68176717, -7.25726071, 10.14153952,
       -2.33319032, -4.68176717, -2.33319032, 12.25306857,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001387156933898015
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.00179316e-14,  8.00358631e-14,  1.00000000e+00,  3.20286969e-27,
        1.00000000e+00, -8.00358631e-14, -1.00000000e+00,  0.00000000e+00,
       -4.00179316e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03755965, -0.06475892,  0.06187691])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13226666e-03, 3.64731317e-02, 9.19795407e-03, 5.47177874e-05,
  4.46370513e-05,-4.32325822e-05,-1.65529949e-05,-4.68824959e-05,
  9.40879942e-06,-6.12233263e-05,-1.17873072e-05, 5.22696545e-05,
  3.33567150e-03, 4.82590733e-03, 8.51411810e-03, 1.79972029e-03,
  3.08019751e-06, 1.67150095e-06,-1.21644101e+00, 1.58760387e-03,
  5.41752078e-04, 3.48367727e-05]


--- Step 2680 ---
qpos:
[-0.0162235 , 1.29582586,-0.03205949, 0.94842765, 0.00435303, 1.3315895 ,
 -0.02976148, 0.94626558, 0.01674084, 1.33656342,-0.02394248, 0.95497018,
  1.39456854,-0.00602929, 1.18926354, 0.06137642,-0.00369469,-0.09265043,
  0.08152711, 0.65071155,-0.0118359 ,-0.00348531, 0.75922477]

qacc:
[-3.62344739e-01, 1.94354236e+00,-5.61979406e+00, 1.75287065e+01,
  1.05019450e-01,-3.45973128e-02, 5.85950070e-02,-2.04133155e+00,
 -5.56544247e-02,-4.68259268e+00, 1.64102363e+01,-2.33484178e+01,
  1.10839300e-01, 3.21647548e-01,-6.56758647e+00, 1.19790825e+01,
 -1.32803116e+00,-9.70874362e-01,-8.98654859e-01,-6.54228563e+01,
 -5.70366380e+01,-2.34469460e+00]

qfrc_actuator:
[ 4.08512956e-03, 7.14196278e-02, 2.01141584e-02, 1.91067386e-03,
  7.90372391e-05, 3.48933240e-02, 1.08720032e-02, 1.65008563e-03,
 -3.03906463e-03, 3.46169481e-02, 1.08386012e-02, 1.64439018e-03,
  0.00000000e+00, 2.95600043e-03, 0.00000000e+00, 2.53597998e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006894148380731414
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30220672,  0.08796308, -0.94917522, -0.02668648,  0.99612374,
        0.08381727,  0.95286879,  0.        ,  0.30338271])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07206834, -0.0428943 ,  0.22463608])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.25934803, -4.67853001, -7.25934803, 10.69252065,
       -3.19039514, -4.67853001, -3.19039514, 13.58667679,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013818244134554125
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.01723625e-14,  4.01723625e-14,  1.00000000e+00,  1.61381871e-27,
        1.00000000e+00, -4.01723625e-14, -1.00000000e+00,  0.00000000e+00,
       -4.01723625e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03757314, -0.06475872,  0.06187735])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20934214e-03, 3.63644489e-02, 9.17056110e-03, 7.39032014e-05,
  3.02383545e-05,-4.17151075e-05,-2.31067496e-05,-1.15321429e-05,
 -1.61025400e-05,-1.22886660e-05, 5.62849221e-05,-4.00535689e-05,
  3.33695054e-03, 4.76974633e-03, 8.77790432e-03, 1.95168047e-03,
  1.38030814e-06, 1.57664720e-06,-1.21643962e+00, 1.58100123e-03,
  5.45353634e-04, 3.38373928e-05]


--- Step 2681 ---
qpos:
[-0.01622686, 1.29583982,-0.0320562 , 0.948428  , 0.00435398, 1.33159142,
 -0.02976248, 0.94626312, 0.01674087, 1.33656135,-0.02394169, 0.95496814,
  1.3945752 ,-0.006029  , 1.18924169, 0.06137441,-0.00370725,-0.09265935,
  0.08151594, 0.65078506,-0.01181793,-0.00389747, 0.75916003]

qacc:
[ 3.72408538e-02,-3.03320240e+00, 1.09818132e+01,-2.43333371e+01,
 -1.17136341e-01, 7.09972969e-01,-1.98235764e+00, 3.67226623e-01,
 -1.60563948e-02,-4.61255780e+00, 1.52608064e+01,-1.50098019e+01,
  2.56056376e-01,-3.29926967e-01,-7.15881409e-01, 3.60468529e+00,
 -1.22932122e+00,-9.51032585e-01,-1.40226817e+00,-6.18629378e+01,
 -5.36240329e+01,-2.45807653e+00]

qfrc_actuator:
[ 4.09607808e-03, 7.14000075e-02, 2.00969726e-02, 1.82267613e-03,
  2.74804005e-05, 3.49203652e-02, 1.08655924e-02, 1.64593931e-03,
 -3.03425132e-03, 3.46490730e-02, 1.09323608e-02, 1.63991626e-03,
  0.00000000e+00, 2.96014247e-03, 0.00000000e+00, 1.90486145e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006890985982966127
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30218905,  0.08796432, -0.94918073, -0.0266853 ,  0.99612363,
        0.08381895,  0.95287443,  0.        ,  0.30336501])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07206605, -0.04289459,  0.2246366 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.23758411, -4.7121283 , -7.23758411, 11.42825347,
       -4.28819765, -4.7121283 , -4.28819765, 15.2228123 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013623882241430157
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.07454720e-14,  2.03727360e-14,  1.00000000e+00,  8.30096744e-28,
        1.00000000e+00, -2.03727360e-14, -1.00000000e+00,  0.00000000e+00,
       -4.07454720e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0376105 , -0.06474041,  0.06187894])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26278269e-03, 3.62443885e-02, 9.10256670e-03,-7.42048182e-05,
 -3.37142833e-05,-9.12509206e-07,-1.75395642e-05,-6.34347532e-06,
 -4.69509210e-06, 3.51459492e-05, 9.65845461e-05,-4.12993815e-06,
  3.32102836e-03, 4.74547022e-03, 9.03444231e-03, 1.90516342e-03,
  6.15074246e-06, 9.05535337e-06,-1.21644126e+00, 1.57477677e-03,
  5.48676553e-04, 4.25297325e-05]


--- Step 2682 ---
qpos:
[-0.01622948, 1.29585037,-0.03205481, 0.94842794, 0.00435465, 1.33159301,
 -0.02976287, 0.94626096, 0.0167409 , 1.3365594 ,-0.02394103, 0.95496856,
  1.39458205,-0.00602896, 1.18922567, 0.06137266,-0.00371348,-0.09266419,
  0.08151202, 0.65085638,-0.01180758,-0.00410894, 0.75909793]

qacc:
[ 3.15060432e-01,-7.54221465e-02,-4.34974317e+00, 1.24782791e+00,
 -1.15495614e-01,-1.59257275e+00, 4.03242604e+00, 2.22993110e-01,
  3.56557305e-04, 4.74516372e+00,-2.02150872e+01, 4.57097092e+01,
  2.96715448e-02,-1.28634477e-01, 7.84561000e+00,-1.48999052e+01,
  1.58408946e+00, 1.02245837e+00, 1.81294591e+00, 7.36862671e+01,
  6.81777916e+01, 2.89094758e+00]

qfrc_actuator:
[ 4.05068261e-03, 7.13655212e-02, 2.00499761e-02, 1.78829480e-03,
  1.40857549e-05, 3.49002763e-02, 1.08978344e-02, 1.66225625e-03,
 -3.03135085e-03, 3.46337073e-02, 1.09163422e-02, 1.76240965e-03,
  0.00000000e+00, 2.96258511e-03, 0.00000000e+00,-2.43971202e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006887514709359617
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30217259,  0.08796552, -0.94918586, -0.02668421,  0.99612352,
        0.08382056,  0.95287968,  0.        ,  0.30334852])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07206384, -0.0428949 ,  0.22463709])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0013949202130853072
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49232060e-14,  3.97952160e-14,  1.00000000e+00, -5.93872207e-28,
        1.00000000e+00, -3.97952160e-14, -1.00000000e+00,  0.00000000e+00,
        1.49232060e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03788936, -0.11699207,  0.06187617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21301853e-03, 3.62617521e-02, 9.06683029e-03,-4.16824340e-05,
 -3.32897835e-05,-2.42307159e-05, 2.98781587e-05, 1.56264809e-05,
  1.28654786e-07, 2.28197536e-05, 1.69906563e-06, 1.26259993e-04,
  3.31021347e-03, 4.75382125e-03, 9.00825243e-03, 1.66583203e-03,
  1.63248225e-05, 2.28122764e-05,-1.21644539e+00, 1.56877432e-03,
  5.51836341e-04, 5.92286241e-05]


--- Step 2683 ---
qpos:
[-0.01623182, 1.29585945,-0.03205385, 0.94842826, 0.0043551 , 1.3315941 ,
 -0.02976249, 0.94625936, 0.01674094, 1.33655815,-0.02394164, 0.95497114,
  1.39458895,-0.00602902, 1.18921371, 0.06137101,-0.003714  ,-0.09266503,
  0.08151192, 0.65092635,-0.01180355,-0.00413504, 0.75903786]

qacc:
[ 1.24019268e-01,-8.41290938e-02,-2.81286959e+00, 7.70352181e+00,
 -9.63565490e-02,-1.75313027e+00, 3.78656817e+00, 3.54643490e+00,
  5.94994493e-03, 8.08933401e+00,-2.96300837e+01, 5.02001791e+01,
 -8.90725120e-02, 6.41318809e-02, 5.67732468e+00,-1.11469461e+01,
  1.42818296e+00, 9.99128591e-01, 9.57349245e-01, 6.82987675e+01,
  6.27091616e+01, 2.28275433e+00]

qfrc_actuator:
[ 4.02405172e-03, 7.13426637e-02, 2.00756119e-02, 1.82118821e-03,
  5.94284618e-06, 3.48700434e-02, 1.09347183e-02, 1.69048098e-03,
 -3.02962219e-03, 3.46784514e-02, 1.08532887e-02, 1.86977353e-03,
  0.00000000e+00, 2.96417739e-03, 0.00000000e+00,-9.95242159e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006884902536176442
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02161200e-01,  8.79664394e-02, -9.49189399e-01, -2.66834850e-02,
        9.96123439e-01,  8.38217519e-02,  9.52883309e-01,  3.46944695e-18,
        3.03337105e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07206221, -0.04289528,  0.22463744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.2386507 ,  4.71048967,  7.2386507 , 10.52932789,
       -2.90893473,  4.71048967, -2.90893473, 13.1065491 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014171003677207958
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.44827186e-14, -9.79308744e-15,  1.00000000e+00,  2.39761404e-28,
        1.00000000e+00,  9.79308744e-15, -1.00000000e+00,  0.00000000e+00,
        2.44827186e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03785978, -0.1169592 ,  0.06187431])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14941886e-03, 3.64097678e-02, 9.18699910e-03, 1.13366749e-05,
 -2.77885466e-05,-3.73396594e-05, 3.59976725e-05, 2.87349839e-05,
  1.80383908e-06, 6.14494602e-05,-5.47077837e-05, 1.11027094e-04,
  3.30051905e-03, 4.76742563e-03, 8.71626653e-03, 1.57779089e-03,
  4.85894353e-06, 6.80988333e-06,-1.21644075e+00, 1.57683639e-03,
  5.48550484e-04, 3.89293080e-05]


--- Step 2684 ---
qpos:
[-0.01623387, 1.29586841,-0.03205247, 0.9484288 , 0.00435523, 1.33159496,
 -0.02976175, 0.94625881, 0.016741  , 1.33655751,-0.02394239, 0.95497355,
  1.39459599,-0.00602921, 1.18920338, 0.06136941,-0.00370931,-0.09266196,
  0.08151278, 0.65099553,-0.0118048 ,-0.00398844, 0.75897929]

qacc:
[ 1.19055868e-01,-9.38549920e-01, 2.42059348e+00, 5.33348554e-01,
 -1.35668485e-01, 5.08528440e-01,-4.14510813e+00, 1.57712732e+01,
  7.12072308e-03, 8.88449673e-01,-1.59566615e+00,-9.11205995e-01,
  1.12638353e-01,-1.80264149e-01, 2.24320945e+00,-4.36866092e+00,
  1.30117579e+00, 9.76718485e-01, 2.37629818e-01, 6.38220234e+01,
  5.81983894e+01, 1.81538202e+00]

qfrc_actuator:
[ 4.04433750e-03, 7.13261944e-02, 2.01086308e-02, 1.84057132e-03,
 -1.67376078e-05, 3.48695153e-02, 1.09562364e-02, 1.74322174e-03,
 -3.02861075e-03, 3.47231324e-02, 1.08519725e-02, 1.86085062e-03,
  0.00000000e+00, 2.94746657e-03, 0.00000000e+00,-1.08497701e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006883597523018939
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30215162,  0.08796725, -0.94919237, -0.02668289,  0.99612337,
        0.08382279,  0.95288636,  0.        ,  0.30332751])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07206093, -0.04289572,  0.22463772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.26189358,  4.6745779 ,  7.26189358, 11.06066237,
       -3.76611532,  4.6745779 , -3.76611532, 14.48697288,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014194626958072484
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.88839469e-15,  2.93303681e-14,  1.00000000e+00, -1.43378416e-28,
        1.00000000e+00, -2.93303681e-14, -1.00000000e+00,  0.00000000e+00,
        4.88839469e-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([-0.03786048, -0.11695022,  0.06187411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15515463e-03, 3.64663520e-02, 9.24217815e-03, 1.19365204e-05,
 -3.90802879e-05,-1.32927850e-05, 1.91490688e-05, 5.33425121e-05,
  2.07720924e-06, 7.12807907e-05, 7.72128407e-06,-6.11771265e-06,
  3.29773894e-03, 4.75591086e-03, 8.51393076e-03, 1.56370835e-03,
  1.23288421e-06, 8.28777180e-07,-1.21643981e+00, 1.58382738e-03,
  5.45236072e-04, 3.17868897e-05]


--- Step 2685 ---
qpos:
[-0.01623538, 1.29587719,-0.03205144, 0.94843099, 0.0043552 , 1.33159547,
 -0.02976043, 0.94625992, 0.01674093, 1.3365569 ,-0.02394206, 0.95497548,
  1.39460322,-0.00602934, 1.18919378, 0.06136728,-0.00369983,-0.09265507,
  0.08151217, 0.65106431,-0.0118105 ,-0.00367965, 0.75892176]

qacc:
[ 2.35048322e-01, 3.53294745e+00,-1.51849314e+01, 3.23880941e+01,
 -6.51198475e-02, 8.18024331e-01,-6.65762832e+00, 2.53671170e+01,
 -5.51748726e-02,-3.71616211e+00, 1.31455140e+01,-1.69910798e+01,
  4.32650192e-02, 3.90155883e-02, 2.70755529e+00,-7.89708092e+00,
  1.19758611e+00, 9.55661599e-01,-3.67231754e-01, 6.01043415e+01,
  5.44778357e+01, 1.45867543e+00]

qfrc_actuator:
[ 4.07491603e-03, 7.13305526e-02, 2.00921263e-02, 1.92286409e-03,
 -1.24516327e-05, 3.48512355e-02, 1.09863880e-02, 1.82772349e-03,
 -3.04579039e-03, 3.47143253e-02, 1.09048243e-02, 1.83687847e-03,
  0.00000000e+00, 2.93759179e-03, 0.00000000e+00,-1.48778580e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006883226472185512
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30214176,  0.08796798, -0.94919545, -0.02668224,  0.9961233 ,
        0.08382377,  0.95288951,  0.        ,  0.30331763])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07205977, -0.04289619,  0.22463798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.27913218,  4.64768885,  7.27913218, 11.71825597,
       -4.82680799,  4.64768885, -4.82680799, 16.1960292 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014059694562041924
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.46765457e-14,  1.97412365e-14,  1.00000000e+00, -4.87145526e-28,
        1.00000000e+00, -1.97412365e-14, -1.00000000e+00,  0.00000000e+00,
        2.46765457e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0378852 , -0.11696017,  0.06187524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17176918e-03, 3.64766091e-02, 9.20420157e-03, 8.32308437e-05,
 -1.87764457e-05,-2.02976746e-05, 3.12907400e-05, 8.59034591e-05,
 -1.59514853e-05, 3.19458366e-05, 6.74757891e-05,-2.17750191e-05,
  3.29095793e-03, 4.75241843e-03, 8.43265630e-03, 1.52092631e-03,
  3.94323860e-06, 2.82814779e-06,-1.21644186e+00, 1.59007695e-03,
  5.41818161e-04, 3.51798126e-05]


--- Step 2686 ---
qpos:
[-0.01623693, 1.29588587,-0.03205032, 0.94843309, 0.00435525, 1.33159567,
 -0.02975897, 0.94626172, 0.01674069, 1.33655632,-0.02394015, 0.95497674,
  1.39460974,-0.0060295 , 1.18918443, 0.06136508,-0.00368589,-0.09264444,
  0.08150806, 0.6511329 ,-0.01181999,-0.00321732, 0.75886486]

qacc:
[-2.11455433e-02,-5.30715588e-01, 1.75744154e+00,-2.55944943e+00,
  3.24996696e-02, 4.07262531e-01,-3.20277454e+00, 1.08263984e+01,
 -6.78188235e-02,-5.39347020e+00, 1.89714441e+01,-2.42058284e+01,
 -5.70155242e-01, 4.82469551e-01, 5.94975501e-01,-1.45876632e+00,
  1.11293406e+00, 9.36181401e-01,-8.75040164e-01, 5.70215203e+01,
  5.14118858e+01, 1.18943938e+00]

qfrc_actuator:
[ 4.11128602e-03, 7.13297595e-02, 2.00997754e-02, 1.91711290e-03,
  7.97588886e-06, 3.48225245e-02, 1.09858468e-02, 1.85922258e-03,
 -3.05599117e-03, 3.47270147e-02, 1.09890100e-02, 1.80426079e-03,
  0.00000000e+00, 3.02045351e-03, 0.00000000e+00,-1.54017641e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006882976924257565
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30213239,  0.08796854, -0.94919837, -0.02668158,  0.99612325,
        0.08382456,  0.9528925 ,  0.        ,  0.30330824])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07205867, -0.04289668,  0.22463824])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.2787743 ,  4.6482493 ,  7.2787743 , 12.58189766,
       -6.17838025,  4.6482493 , -6.17838025, 18.31119656,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013799306197493227
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.02274944e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.02274944e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03792877, -0.11698495,  0.0618774 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18054875e-03, 3.64845731e-02, 9.22944980e-03,-5.17838545e-06,
  9.34623459e-06,-3.12480140e-05, 1.56531882e-06, 3.38045191e-05,
 -1.96180340e-05, 4.28933412e-05, 9.74586391e-05,-3.02012385e-05,
  3.28136929e-03, 4.83269372e-03, 8.39610755e-03, 1.54262421e-03,
  1.18877693e-05, 1.13274887e-05,-1.21644637e+00, 1.59580781e-03,
  5.38251005e-04, 4.72070712e-05]


--- Step 2687 ---
qpos:
[-0.01623878, 1.29589472,-0.03204897, 0.94843334, 0.00435515, 1.33159567,
 -0.02975781, 0.94626354, 0.01674046, 1.33655669,-0.02393869, 0.95497727,
  1.39461576,-0.00602971, 1.18917357, 0.06136314,-0.0036788 ,-0.09263797,
  0.08150809, 0.65120181,-0.01182595,-0.00296695, 0.75880666]

qacc:
[-1.27054391e-01,-3.55538985e+00, 1.56375428e+01,-3.49833541e+01,
 -6.18374476e-02, 5.71313831e-01,-2.25150189e+00, 2.45160307e+00,
  6.79047869e-04, 1.21514564e+00,-9.95181189e-01,-8.06284132e+00,
 -2.60063197e-01, 1.30774224e-01,-3.00926095e+00, 7.29670917e+00,
 -1.71028944e+00,-1.04294015e+00, 1.03680802e+00,-7.92712099e+01,
 -7.03361646e+01,-1.80246793e+00]

qfrc_actuator:
[ 4.11600629e-03, 7.13436290e-02, 2.01038681e-02, 1.82411775e-03,
 -1.53385423e-05, 3.48054000e-02, 1.09671099e-02, 1.85924507e-03,
 -3.04416968e-03, 3.47881075e-02, 1.09668004e-02, 1.76683794e-03,
  0.00000000e+00, 3.03473693e-03, 0.00000000e+00,-8.52343630e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006882822922236048
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30212305,  0.08796912, -0.94920129, -0.02668093,  0.9961232 ,
        0.08382537,  0.95289548,  0.        ,  0.30329888])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07205758, -0.04289711,  0.22463849])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0014086499892299112
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.94073415e-14,  3.94073415e-14,  1.00000000e+00,  1.55293857e-27,
        1.00000000e+00, -3.94073415e-14, -1.00000000e+00,  0.00000000e+00,
       -3.94073415e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03755853, -0.06484523,  0.06187498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18774671e-03, 3.65037011e-02, 9.22929875e-03,-9.33789345e-05,
 -1.78003542e-05,-3.30900944e-05,-2.36785721e-05,-7.95882369e-08,
  2.40111049e-07, 1.02953398e-04,-3.64061942e-06,-3.39995552e-05,
  3.31718578e-03, 4.84783640e-03, 8.38374986e-03, 1.61455703e-03,
  2.42596488e-05, 2.52534683e-05,-1.21645298e+00, 1.60117044e-03,
  5.34507306e-04, 6.64923695e-05]


--- Step 2688 ---
qpos:
[-0.0162407 , 1.29590414,-0.03204761, 0.9484328 , 0.00435471, 1.3315957 ,
 -0.02975726, 0.946265  , 0.01674029, 1.33655795,-0.02393779, 0.95497702,
  1.39462211,-0.00602984, 1.18916011, 0.06136111,-0.00367788,-0.09263558,
  0.08150902, 0.65127176,-0.01182942,-0.00291204, 0.75874678]

qacc:
[-2.87913590e-02,-6.32190136e-01, 4.59199472e+00,-1.35343014e+01,
 -1.46363530e-01, 1.05864060e+00,-2.67059044e+00,-1.89999054e+00,
  2.52652230e-02, 1.32128551e+00,-1.32274921e+00,-8.45784262e+00,
  3.36888798e-01,-2.64599991e-01,-3.57522619e+00, 6.90740918e+00,
 -1.54187378e+00,-1.01725889e+00, 2.23821973e-01,-7.33387561e+01,
 -6.45738405e+01,-2.10183037e+00]

qfrc_actuator:
[ 4.10200521e-03, 7.13483096e-02, 2.00878883e-02, 1.78707880e-03,
 -4.69536271e-05, 3.48129997e-02, 1.09378240e-02, 1.84075637e-03,
 -3.03698579e-03, 3.48240422e-02, 1.09354049e-02, 1.72685160e-03,
  0.00000000e+00, 2.97241822e-03, 0.00000000e+00,-7.83821299e-06,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006882024518242782
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30211332,  0.08796979, -0.94920433, -0.02668028,  0.99612314,
        0.08382628,  0.95289858,  0.        ,  0.30328913])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07205639, -0.04289748,  0.22463877])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.26111912, -4.67578079, -7.26111912,  9.99586186,
       -2.11119361, -4.67578079, -2.11119361, 11.91488096,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014339134388523037
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  3.8713042e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -3.8713042e-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([ 0.0375197 , -0.06488448,  0.06187287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18865273e-03, 3.64998183e-02, 9.20146227e-03,-3.81974347e-05,
 -4.21204343e-05,-1.53367202e-05,-3.84516146e-05,-2.01723778e-05,
  7.32969527e-06, 9.11450281e-05,-1.26991919e-05,-3.78301337e-05,
  3.34236783e-03, 4.78853769e-03, 8.45996156e-03, 1.67910548e-03,
  8.36193998e-06, 7.55069504e-06,-1.21644450e+00, 1.59325477e-03,
  5.39052004e-04, 4.29826616e-05]


--- Step 2689 ---
qpos:
[-0.01624304, 1.29591514,-0.03204545, 0.94843133, 0.0043542 , 1.33159587,
 -0.02975718, 0.94626656, 0.01674005, 1.33655968,-0.02393767, 0.95497565,
  1.39462903,-0.00602982, 1.18914226, 0.06135913,-0.00368257,-0.09263716,
  0.08150811, 0.65134324,-0.0118312 ,-0.00303889, 0.7586849 ]

qacc:
[-1.81117342e-01,-1.65234048e+00, 9.77725026e+00,-2.00886712e+01,
 -2.76461018e-02, 1.63548469e+00,-5.29450033e+00, 5.58882609e+00,
 -3.16282915e-02, 8.09491753e-01, 3.59342042e-01,-1.34990390e+01,
  5.81612794e-01,-4.61451761e-01,-6.67442424e+00, 1.37993722e+01,
 -1.40430711e+00,-9.92662344e-01,-4.61242724e-01,-6.84044192e+01,
 -5.98160766e+01,-2.30882881e+00]

qfrc_actuator:
[ 4.09441246e-03, 7.12759980e-02, 2.00777496e-02, 1.74779676e-03,
 -3.00334637e-05, 3.48352865e-02, 1.09203969e-02, 1.84704788e-03,
 -3.05039595e-03, 3.48090626e-02, 1.08810361e-02, 1.66792627e-03,
  0.00000000e+00, 2.91727472e-03, 0.00000000e+00, 1.45978413e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006880090186627899
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02103036e-01,  8.79704804e-02, -9.49207538e-01, -2.66795838e-02,
        9.96123082e-01,  8.38272344e-02,  9.52901860e-01, -3.46944695e-18,
        3.03278823e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07205498, -0.04289784,  0.22463908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.27528904, -4.65370242, -7.27528904, 10.46847923,
       -2.86420775, -4.65370242, -2.86420775, 13.11407565,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001438389395106321
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.85925754e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.85925754e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03751665, -0.06489672,  0.06187251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18442712e-03, 3.63989204e-02, 9.19080481e-03,-3.77194505e-05,
 -7.93601769e-06, 5.67856686e-06,-2.53900037e-05, 4.23990073e-06,
 -9.07847474e-06, 3.18120960e-05,-3.91215097e-05,-5.74738895e-05,
  3.32552948e-03, 4.72913055e-03, 8.58945068e-03, 1.83735907e-03,
  1.76184822e-06, 8.96318760e-07,-1.21644050e+00, 1.58616958e-03,
  5.42992247e-04, 3.36849496e-05]


--- Step 2690 ---
qpos:
[-0.01624584, 1.29592812,-0.0320419 , 0.94843073, 0.00435389, 1.33159586,
 -0.02975723, 0.94626854, 0.01673984, 1.33656189,-0.02393857, 0.95497464,
  1.39463664,-0.00602956, 1.189121  , 0.06135706,-0.00369244,-0.09264261,
  0.08150304, 0.65141653,-0.01183193,-0.00333617, 0.75862071]

qacc:
[-1.92091699e-01, 3.23657769e-01, 3.37252515e-01, 8.34825206e+00,
  8.14837649e-02, 8.26343574e-01,-3.84068183e+00, 8.30129080e+00,
  1.53747602e-02, 4.01877593e+00,-1.30433529e+01, 1.50686568e+01,
  5.48556259e-01,-3.17281218e-01,-4.78876788e+00, 9.37870767e+00,
 -1.29169341e+00,-9.69487057e-01,-1.03809730e+00,-6.43014449e+01,
 -5.58867616e+01,-2.44613066e+00]

qfrc_actuator:
[ 4.07329657e-03, 7.12272612e-02, 2.01058238e-02, 1.79637402e-03,
 -1.88689198e-06, 3.48129955e-02, 1.09101940e-02, 1.86789580e-03,
 -3.04054687e-03, 3.48346059e-02, 1.08310848e-02, 1.68704804e-03,
  0.00000000e+00, 2.86634125e-03, 0.00000000e+00, 2.39036861e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006876783279722888
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30209048,  0.08797133, -0.94921146, -0.02667873,  0.99612301,
        0.0838284 ,  0.95290587,  0.        ,  0.30326624])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07205316, -0.0428982 ,  0.22463946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.27526618, -4.65373816, -7.27526618, 11.07617391,
       -3.81419594, -4.65373816, -3.81419594, 14.59915951,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014261957564786626
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.89225329e-14,  3.89225329e-14,  1.00000000e+00,  1.51496357e-27,
        1.00000000e+00, -3.89225329e-14, -1.00000000e+00,  0.00000000e+00,
       -3.89225329e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03754199, -0.06488759,  0.06187352])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18455254e-03, 3.62709563e-02, 9.17869723e-03, 5.68206827e-05,
  2.34636691e-05,-2.39873535e-05,-1.18545791e-05, 2.03751256e-05,
  4.49174948e-06, 3.37776531e-05,-4.98700378e-05, 1.75828974e-05,
  3.29709787e-03, 4.67087410e-03, 8.81015514e-03, 1.92839291e-03,
  2.60839036e-06, 3.02073443e-06,-1.21644005e+00, 1.57960848e-03,
  5.46549551e-04, 3.56547236e-05]


--- Step 2691 ---
qpos:
[-0.0162485 , 1.29594067,-0.03203858, 0.94843101, 0.00435368, 1.33159561,
 -0.02975795, 0.94627113, 0.01673985, 1.33656449,-0.02393984, 0.95497452,
  1.39464483,-0.00602925, 1.18910059, 0.06135493,-0.00370709,-0.09265186,
  0.08149188, 0.65149176,-0.0118321 ,-0.00379449, 0.75855395]

qacc:
[ 5.38393577e-02, 1.57046964e+00,-7.62042604e+00, 1.71465018e+01,
  4.50413579e-02, 2.53530587e+00,-9.91685726e+00, 1.58672378e+01,
  9.13849916e-02, 3.03308970e+00,-1.11040094e+01, 1.97845352e+01,
  3.76389171e-01,-2.64385821e-01, 1.40976019e+00,-3.16018104e+00,
 -1.19921897e+00,-9.47892635e-01,-1.52344915e+00,-6.08935623e+01,
 -5.26435982e+01,-2.53070917e+00]

qfrc_actuator:
[ 4.04426260e-03, 7.12804013e-02, 2.01026663e-02, 1.82525166e-03,
 -2.74114415e-06, 3.47819793e-02, 1.08686637e-02, 1.89711476e-03,
 -3.01682367e-03, 3.48665067e-02, 1.08198450e-02, 1.73422160e-03,
  0.00000000e+00, 2.85327999e-03, 0.00000000e+00, 1.53732221e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006872991086322965
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02074707e-01,  8.79723505e-02, -9.49216381e-01, -2.66776534e-02,
        9.96122917e-01,  8.38298113e-02,  9.52910895e-01, -3.46944695e-18,
        3.03250434e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07205101, -0.0428986 ,  0.22463991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.24629994, -4.69871408, -7.24629994, 11.9022231 ,
       -5.03656891, -4.69871408, -5.03656891, 16.4036992 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014007755484885948
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.96288694e-14,  3.96288694e-14,  1.00000000e+00,  1.57044729e-27,
        1.00000000e+00, -3.96288694e-14, -1.00000000e+00,  0.00000000e+00,
       -3.96288694e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03758963, -0.06486166,  0.06187561])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17804813e-03, 3.62249503e-02, 9.10634246e-03, 4.30532434e-05,
  1.29910197e-05,-4.59886237e-05,-4.69699406e-05, 2.86276510e-05,
  2.63777107e-05, 4.13458425e-05,-9.79908158e-06, 4.71249725e-05,
  3.26257584e-03, 4.64545378e-03, 8.98051932e-03, 1.84756784e-03,
  9.55540997e-06, 1.22820446e-05,-1.21644246e+00, 1.57336909e-03,
  5.49872795e-04, 4.67578880e-05]


--- Step 2692 ---
qpos:
[-0.01625094, 1.29595187,-0.03203649, 0.94843108, 0.00435368, 1.33159552,
 -0.02975934, 0.94627367, 0.01673995, 1.33656665,-0.02394033, 0.95497464,
  1.39465326,-0.006029  , 1.18908135, 0.06135279,-0.00371525,-0.09265705,
  0.08148874, 0.6515645 ,-0.01184012,-0.00404877, 0.75849003]

qacc:
[ 9.87020126e-02, 1.17113492e+00,-5.54675799e+00, 3.26806935e+00,
  8.64496140e-02, 1.93212645e+00,-5.94454636e+00, 4.45905983e+00,
  4.15167609e-02,-2.28204223e+00, 6.29147923e+00,-2.50784067e+00,
  1.75490588e-01,-1.83558658e-01, 1.71789445e+00,-3.52855807e+00,
  1.62435788e+00, 1.01353504e+00, 2.00503939e+00, 7.48197480e+01,
  6.94159166e+01, 3.09075724e+00]

qfrc_actuator:
[ 4.04558619e-03, 7.13252751e-02, 2.00640778e-02, 1.80642785e-03,
  1.45182629e-05, 3.48168747e-02, 1.08444347e-02, 1.89548834e-03,
 -3.02047526e-03, 3.48133707e-02, 1.08493317e-02, 1.74427813e-03,
  0.00000000e+00, 2.86304531e-03, 0.00000000e+00, 1.03437423e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006869326765266658
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30205957,  0.08797333, -0.94922111, -0.02667661,  0.99612283,
        0.08383117,  0.95291572,  0.        ,  0.30323526])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07204893, -0.04289906,  0.22464033])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0014112113574240373
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.93358167e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.93358167e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03790838, -0.11690402,  0.06187468])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17304355e-03, 3.62911998e-02, 9.07926296e-03,-2.01692180e-05,
  2.49238865e-05, 1.13630318e-06,-3.77218512e-05,-3.71524476e-06,
  1.19245518e-05,-3.08049070e-05, 3.78248496e-05, 1.20933342e-05,
  3.23378022e-03, 4.65295966e-03, 8.93844344e-03, 1.80033026e-03,
  2.16257550e-05, 2.74940600e-05,-1.21644721e+00, 1.56731756e-03,
  5.53061599e-04, 6.54494271e-05]


--- Step 2693 ---
qpos:
[-0.01625366, 1.29596307,-0.03203501, 0.94843181, 0.00435388, 1.3315955 ,
 -0.02976045, 0.94627578, 0.0167401 , 1.33656806,-0.02394023, 0.95497491,
  1.39466159,-0.00602855, 1.18906114, 0.06135041,-0.00371757,-0.09265828,
  0.08149007, 0.65163567,-0.0118546 ,-0.00411495, 0.7584283 ]

qacc:
[-1.21786771e-01, 2.79945071e+00,-1.04616393e+01, 1.66556878e+01,
  8.66627689e-02,-1.37337731e+00, 5.46244479e+00,-9.71935705e+00,
  1.66347513e-02,-2.29357374e+00, 5.95729393e+00,-2.85051656e+00,
 -1.92478240e-01, 3.41764258e-01,-6.71963055e-01, 3.02577791e-01,
  1.46079399e+00, 9.92164879e-01, 1.11717977e+00, 6.92253292e+01,
  6.37171352e+01, 2.44066556e+00]

qfrc_actuator:
[ 4.04721574e-03, 7.13307811e-02, 2.00408216e-02, 1.84848465e-03,
  2.47528344e-05, 3.48377526e-02, 1.08663611e-02, 1.87577447e-03,
 -3.02276716e-03, 3.47453761e-02, 1.08667477e-02, 1.75012577e-03,
  0.00000000e+00, 2.88659598e-03, 0.00000000e+00, 1.45125188e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00068652415541922
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30204689,  0.0879742 , -0.94922506, -0.02667576,  0.99612275,
        0.08383236,  0.95291977,  0.        ,  0.30322256])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07204698, -0.04289956,  0.22464071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.24708281,  4.69750652,  7.24708281, 10.35227444,
       -2.64722309,  4.69750652, -2.64722309, 12.72036966,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001436729511814186
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44889358e-14,  9.65929056e-15,  1.00000000e+00, -1.39952841e-28,
        1.00000000e+00, -9.65929056e-15, -1.00000000e+00,  0.00000000e+00,
        1.44889358e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03787398, -0.11686704,  0.06187255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16307604e-03, 3.63643700e-02, 9.11718722e-03, 3.21686183e-05,
  2.49425739e-05, 1.40249730e-05, 1.77538838e-05,-2.08699135e-05,
  4.74837025e-06,-7.72976342e-05, 1.60507241e-05, 6.32545320e-06,
  3.22152832e-03, 4.67962045e-03, 8.88041013e-03, 1.84219338e-03,
  7.56495719e-06, 9.20712026e-06,-1.21644168e+00, 1.57582052e-03,
  5.49670096e-04, 4.20677390e-05]


--- Step 2694 ---
qpos:
[-0.01625581, 1.29597267,-0.0320342 , 0.94843181, 0.0043541 , 1.33159533,
 -0.02976117, 0.94627662, 0.0167404 , 1.33656912,-0.02394035, 0.95497596,
  1.3946701 ,-0.00602849, 1.18904508, 0.06134843,-0.00371458,-0.09265562,
  0.08149288, 0.6517059 ,-0.01187446,-0.00400622, 0.75836823]

qacc:
[ 2.43212791e-01,-1.57459061e+00, 4.08727097e+00,-1.10531331e+01,
  1.01832373e-02,-3.44305163e+00, 1.36252042e+01,-2.65167565e+01,
  6.62375389e-02, 1.44867942e+00,-6.80265387e+00, 1.49159069e+01,
  2.25594434e-01,-4.75588638e-01, 4.91636799e+00,-8.32717872e+00,
  1.32763459e+00, 9.71209407e-01, 3.70289698e-01, 6.45768626e+01,
  5.90177916e+01, 1.94051658e+00]

qfrc_actuator:
[ 4.03170076e-03, 7.13295976e-02, 2.00444020e-02, 1.80202052e-03,
  1.29380009e-05, 3.48147423e-02, 1.08798007e-02, 1.81009870e-03,
 -3.00647095e-03, 3.47399763e-02, 1.08590560e-02, 1.78893279e-03,
  0.00000000e+00, 2.86491346e-03, 0.00000000e+00,-6.28843423e-06,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006860444934846388
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30203479,  0.08797516, -0.94922882, -0.02667499,  0.99612267,
        0.08383361,  0.95292362,  0.        ,  0.30321044])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07204495, -0.04290004,  0.22464108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.27280794,  4.65757893,  7.27280794, 10.84527952,
       -3.44922141,  4.65757893, -3.44922141, 14.02232172,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014415588667316473
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.40673276e-14,  4.81346552e-14,  1.00000000e+00,  1.15847252e-27,
        1.00000000e+00, -4.81346552e-14, -1.00000000e+00,  0.00000000e+00,
       -2.40673276e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03787127, -0.11685503,  0.06187215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16182590e-03, 3.63626681e-02, 9.15169633e-03,-4.71625681e-05,
  2.90461770e-06,-1.24009052e-05, 1.75946146e-05,-6.52180009e-05,
  1.90976824e-05,-4.48317171e-05,-2.07793614e-05, 3.71358560e-05,
  3.22694312e-03, 4.64746630e-03, 8.92935077e-03, 1.70322425e-03,
  1.76962679e-06, 1.41745459e-06,-1.21644003e+00, 1.58314333e-03,
  5.46289014e-04, 3.24821356e-05]


--- Step 2695 ---
qpos:
[-0.01625724, 1.29598063,-0.03203379, 0.94843089, 0.00435443, 1.33159502,
 -0.02976167, 0.94627598, 0.01674073, 1.33656935,-0.02393977, 0.95497711,
  1.39467854,-0.00602895, 1.18903415, 0.06134689,-0.00370671,-0.09264915,
  0.08149466, 0.65177562,-0.01189883,-0.00373349, 0.75830932]

qacc:
[ 3.09257708e-01,-2.62441616e+00, 7.83450321e+00,-1.63011495e+01,
  4.27009066e-02,-3.31007404e+00, 1.35840543e+01,-2.87569911e+01,
  1.08911206e-02,-2.80995397e+00, 7.61618843e+00,-4.83878942e+00,
  6.32292644e-02,-4.39158504e-01, 6.20935800e+00,-1.07360938e+01,
  1.21911901e+00, 9.51228821e-01,-2.57432359e-01, 6.07161827e+01,
  5.51421796e+01, 1.55809831e+00]

qfrc_actuator:
[ 4.04066252e-03, 7.13082650e-02, 2.00643792e-02, 1.75683300e-03,
  2.34976491e-05, 3.48010859e-02, 1.08879130e-02, 1.73561948e-03,
 -3.01466023e-03, 3.46832573e-02, 1.08901224e-02, 1.79358937e-03,
  0.00000000e+00, 2.86986811e-03, 0.00000000e+00,-1.32086076e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006856968822181383
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30202486,  0.08797592, -0.94923191, -0.02667434,  0.9961226 ,
        0.08383461,  0.95292679,  0.        ,  0.30320049])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07204331, -0.04290057,  0.22464139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.29519541,  4.62243451,  7.29519541, 11.44896099,
       -4.43888328,  4.62243451, -4.43888328, 15.64187574,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001429815037427895
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.42650053e-14,  1.94120043e-14,  1.00000000e+00, -4.71032387e-28,
        1.00000000e+00, -1.94120043e-14, -1.00000000e+00,  0.00000000e+00,
        2.42650053e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03789369, -0.1168628 ,  0.06187314])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14225414e-03, 3.64218679e-02, 9.20496883e-03,-5.55048144e-05,
  1.22734464e-05,-1.90275359e-05, 5.77993016e-06,-7.58487623e-05,
  3.08481304e-06,-8.44729809e-05, 2.10365956e-05, 3.58714048e-06,
  3.21758601e-03, 4.67210264e-03, 8.72202312e-03, 1.55770033e-03,
  2.62676778e-06, 1.94755313e-06,-1.21644149e+00, 1.58964934e-03,
  5.42831226e-04, 3.38907056e-05]


--- Step 2696 ---
qpos:
[-0.01625879, 1.2959897 ,-0.0320328 , 0.94843053, 0.00435486, 1.33159439,
 -0.02976147, 0.94627549, 0.01674103, 1.33656903,-0.02393943, 0.95497798,
  1.39468658,-0.00602937, 1.18902202, 0.06134515,-0.00369432,-0.09263895,
  0.0814933 , 0.65184508,-0.01192702,-0.00330578, 0.75825116]

qacc:
[-5.26779059e-02, 8.48261850e-01,-2.11164110e+00, 7.45735357e+00,
  4.66253109e-02,-2.05611552e+00, 5.91975183e+00,-3.32513316e+00,
 -1.12091867e-02,-5.12171036e-01, 1.35635956e+00,-3.99725455e+00,
 -2.95225077e-01, 2.75499180e-01,-1.10181014e+00, 1.33155419e+00,
  1.13054134e+00, 9.32546294e-01,-7.84453574e-01, 5.75139654e+01,
  5.19483617e+01, 1.26864343e+00]

qfrc_actuator:
[ 4.08167990e-03, 7.12755091e-02, 2.00764395e-02, 1.80164382e-03,
  2.96430209e-05, 3.47931047e-02, 1.09283520e-02, 1.74532891e-03,
 -3.01971963e-03, 3.46496393e-02, 1.08726033e-02, 1.77810635e-03,
  0.00000000e+00, 2.89109752e-03, 0.00000000e+00,-2.96928013e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006855429339761368
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02016878e-01,  8.79764419e-02, -9.49234403e-01, -2.66737965e-02,
        9.96122556e-01,  8.38353321e-02,  9.52929333e-01, -3.46944695e-18,
        3.03192490e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07204213, -0.04290113,  0.22464162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.30384504,  4.6087552 ,  7.30384504, 12.22998629,
       -5.69508725,  4.6087552 , -5.69508725, 17.66180172,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014049364400091635
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.90230072e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.90230072e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03793587, -0.11688609,  0.06187522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14699720e-03, 3.64707165e-02, 9.23688295e-03, 3.48763597e-05,
  1.33876424e-05,-1.96479875e-05, 3.51531549e-05, 7.54641328e-06,
 -3.24111284e-06,-7.61165563e-05,-3.15196936e-05,-1.72844233e-05,
  3.22132383e-03, 4.71977509e-03, 8.46580916e-03, 1.63775135e-03,
  8.95303475e-06, 9.21856422e-06,-1.21644550e+00, 1.59558392e-03,
  5.39242854e-04, 4.42621304e-05]


--- Step 2697 ---
qpos:
[-0.0162602 , 1.29599919,-0.0320313 , 0.9484318 , 0.00435539, 1.33159383,
 -0.02976119, 0.94627476, 0.01674129, 1.33656903,-0.02393967, 0.95497791,
  1.39469418,-0.00602978, 1.1890115 , 0.06134313,-0.00368864,-0.0926328 ,
  0.08149516, 0.65191476,-0.01195187,-0.00308555, 0.75819178]

qacc:
[ 6.03922459e-02, 1.91738343e+00,-8.96561367e+00, 2.64700542e+01,
  3.94151092e-02,-5.22741124e-01, 2.28051277e+00,-4.66388845e+00,
 -1.76335567e-02, 3.48882005e-01, 1.27694419e+00,-1.21830543e+01,
 -4.63641703e-01, 4.55847630e-01, 3.18609311e+00,-7.63640804e+00,
 -1.67970201e+00,-1.00953541e+00, 8.05147911e-01,-7.75745506e+01,
 -6.88805701e+01,-1.72353132e+00]

qfrc_actuator:
[ 4.08923155e-03, 7.12515524e-02, 2.01006880e-02, 1.88160737e-03,
  3.30904362e-05, 3.48065106e-02, 1.09343664e-02, 1.73351816e-03,
 -3.02285940e-03, 3.47186883e-02, 1.08621099e-02, 1.73312573e-03,
  0.00000000e+00, 2.92173000e-03, 0.00000000e+00,-1.09450343e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006854000679281658
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02007276e-01,  8.79770176e-02, -9.49237404e-01, -2.66731243e-02,
        9.96122505e-01,  8.38361501e-02,  9.52932395e-01, -3.46944695e-18,
        3.03182866e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07204083, -0.04290164,  0.22464189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0014103098839663847
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.93609602e-14,  3.93609602e-14,  1.00000000e+00,  1.54928519e-27,
        1.00000000e+00, -3.93609602e-14, -1.00000000e+00,  0.00000000e+00,
       -3.93609602e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03760325, -0.06492013,  0.06187476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16072017e-03, 3.63907185e-02, 9.23232445e-03, 8.75063563e-05,
  1.13468220e-05, 9.64218759e-06, 6.39180101e-06,-1.11961173e-05,
 -5.05615900e-06, 2.02926325e-05,-2.94448376e-05,-4.85593494e-05,
  3.24120077e-03, 4.74818147e-03, 8.52581092e-03, 1.56871671e-03,
  1.98811567e-05, 2.20859290e-05,-1.21645167e+00, 1.60111301e-03,
  5.35491138e-04, 6.21252905e-05]


--- Step 2698 ---
qpos:
[-0.01626184, 1.29600934,-0.03202878, 0.94843466, 0.00435613, 1.33159354,
 -0.02976147, 0.94627322, 0.01674136, 1.3365697 ,-0.02394059, 0.95497762,
  1.39470142,-0.00603008, 1.18900225, 0.06134094,-0.00368904,-0.09263059,
  0.08149714, 0.6519854 ,-0.01197442,-0.00305708, 0.75813079]

qacc:
[-9.96185395e-02, 8.55790697e-01,-4.98392172e+00, 2.23040372e+01,
  9.10735449e-02, 4.79506560e-01, 5.26480117e-01,-1.00204026e+01,
 -7.89040642e-02, 2.31375598e+00,-6.05089363e+00, 2.30792331e+00,
 -4.29961203e-01, 4.93317398e-01, 2.46466829e+00,-5.81705626e+00,
 -1.51682540e+00,-9.89360858e-01, 2.93214915e-02,-7.19365260e+01,
 -6.33683557e+01,-2.03679101e+00]

qfrc_actuator:
[ 4.05873531e-03, 7.11798855e-02, 2.01320750e-02, 1.96359994e-03,
  5.26445570e-05, 3.48147377e-02, 1.09023085e-02, 1.69135407e-03,
 -3.04257449e-03, 3.47776736e-02, 1.08385014e-02, 1.72448337e-03,
  0.00000000e+00, 2.94026069e-03, 0.00000000e+00,-1.38591053e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006853791932167307
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30199679,  0.08797756, -0.94924069, -0.02667236,  0.99612246,
        0.08383696,  0.95293574,  0.        ,  0.30317236])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07203963, -0.04290213,  0.22464217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.27038124, -4.66136606, -7.27038124,  9.8715375 ,
       -1.92651355, -4.66136606, -1.92651355, 11.64116691,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014301284947922308
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.88154991e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.88154991e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03757419, -0.0649526 ,  0.06187312])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12313350e-03, 3.62987952e-02, 9.23769778e-03, 8.76074849e-05,
  2.62503834e-05, 1.44779292e-05,-2.97739078e-05,-4.19488784e-05,
 -2.26993353e-05, 6.30178109e-05,-2.44122870e-05,-1.00331570e-05,
  3.26349205e-03, 4.76582997e-03, 8.44597219e-03, 1.55270958e-03,
  6.28542235e-06, 6.19646956e-06,-1.21644398e+00, 1.59326520e-03,
  5.39942573e-04, 4.10983273e-05]


--- Step 2699 ---
qpos:
[-0.01626401, 1.29602019,-0.03202549, 0.94843711, 0.00435695, 1.33159323,
 -0.02976169, 0.94626946, 0.01674122, 1.33657081,-0.02394122, 0.9549779 ,
  1.39470857,-0.00603029, 1.18899146, 0.06133879,-0.00369497,-0.09263227,
  0.08149662, 0.65205748,-0.01199545,-0.00320732, 0.75806785]

qacc:
[-2.28538198e-01,-1.85645732e+00, 7.99770712e+00,-1.21059051e+01,
  3.14666845e-02,-4.01273117e+00, 1.76071625e+01,-4.10309605e+01,
 -8.72483679e-02, 7.63821336e-01,-2.92599994e+00, 8.70488861e+00,
 -4.79742332e-02, 9.20868928e-02,-2.40641934e+00, 5.12356831e+00,
 -1.38383239e+00,-9.69317544e-01,-6.24270310e-01,-6.72468335e+01,
 -5.88178974e+01,-2.25606401e+00]

qfrc_actuator:
[ 4.04123451e-03, 7.11324229e-02, 2.01315389e-02, 1.93968696e-03,
  4.61980640e-05, 3.48018745e-02, 1.09012743e-02, 1.57839388e-03,
 -3.05432099e-03, 3.48123985e-02, 1.08606110e-02, 1.75504962e-03,
  0.00000000e+00, 2.93368757e-03, 0.00000000e+00,-6.63251061e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006854868091362189
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01984708e-01,  8.79781924e-02, -9.49244475e-01, -2.66714901e-02,
        9.96122401e-01,  8.38379028e-02,  9.52939593e-01, -3.46944695e-18,
        3.03160242e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0720385 , -0.04290262,  0.22464247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.28343623, -4.64094101, -7.28343623, 10.34046682,
       -2.67439876, -4.64094101, -2.67439876, 12.83353244,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014303137223843354
  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([ 0.03757885, -0.06495958,  0.06187311])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11732083e-03, 3.62177806e-02, 9.18650231e-03,-1.57879432e-05,
  9.04487127e-06,-1.19336970e-05,-2.82047784e-06,-1.14374741e-04,
 -2.51455736e-05, 6.45035913e-05, 3.13486129e-05, 3.14851281e-05,
  3.28147085e-03, 4.75422122e-03, 8.38247429e-03, 1.63417407e-03,
  1.48966242e-06, 7.93470799e-07,-1.21644055e+00, 1.58623679e-03,
  5.43820454e-04, 3.35619565e-05]


--- Step 2700 ---
qpos:
[-0.01626652, 1.29603084,-0.03202262, 0.94843801, 0.00435763, 1.33159297,
 -0.02976198, 0.94626437, 0.01674091, 1.33657226,-0.02394126, 0.95497887,
  1.39471558,-0.00603045, 1.18897831, 0.0613367 ,-0.003706  ,-0.09263775,
  0.08149141, 0.65213129,-0.0120156 ,-0.00352547, 0.75800262]

qacc:
[-1.38290272e-01,-1.76414429e+00, 8.60380757e+00,-2.51827808e+01,
 -5.78331459e-02,-1.98006530e+00, 9.27385386e+00,-2.34302674e+01,
 -7.52974585e-02, 8.56276829e-02,-1.13562101e+00, 8.84357442e+00,
 -2.22448146e-02, 2.06022113e-02,-3.65626171e+00, 7.72488636e+00,
 -1.27498607e+00,-9.49912224e-01,-1.17448361e+00,-6.33478919e+01,
 -5.50610573e+01,-2.40416832e+00]

qfrc_actuator:
[ 4.06743230e-03, 7.11524464e-02, 2.00939356e-02, 1.85359525e-03,
  2.42061626e-05, 3.48120522e-02, 1.09007020e-02, 1.51345836e-03,
 -3.06119191e-03, 3.48325303e-02, 1.08917097e-02, 1.79069850e-03,
  0.00000000e+00, 2.94752529e-03, 0.00000000e+00,-4.38125757e-06,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006855638763940131
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01971223e-01,  8.79790014e-02, -9.49248690e-01, -2.66705462e-02,
        9.96122329e-01,  8.38390520e-02,  9.52943893e-01,  3.46944695e-18,
        3.03146726e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07203723, -0.04290309,  0.2246428 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.28072097, -4.64519957, -7.28072097, 10.94046187,
       -3.61136181, -4.64519957, -3.61136181, 14.29668399,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014147907826140005
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.92362969e-14,  1.96181485e-14,  1.00000000e+00,  7.69743498e-28,
        1.00000000e+00, -1.96181485e-14, -1.00000000e+00,  0.00000000e+00,
       -3.92362969e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0376102 , -0.06494642,  0.0618744 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17033119e-03, 3.62029018e-02, 9.11045930e-03,-8.13303217e-05,
 -1.66544565e-05,-4.06901125e-07,-6.58261334e-06,-6.80356095e-05,
 -2.17142230e-05, 6.28494495e-05, 4.81794537e-05, 3.92113562e-05,
  3.28580261e-03, 4.76342813e-03, 8.45961293e-03, 1.69388527e-03,
  3.78406393e-06, 3.77166374e-06,-1.21644052e+00, 1.57972424e-03,
  5.47337271e-04, 3.67831329e-05]


--- Step 2701 ---
qpos:
[-0.01626879, 1.29604113,-0.03202036, 0.9484386 , 0.00435827, 1.33159294,
 -0.02976276, 0.94626062, 0.01674061, 1.33657359,-0.02394121, 0.95497964,
  1.39472245,-0.00603058, 1.18896422, 0.06133446,-0.00371093,-0.09263937,
  0.08149143, 0.65220289,-0.01204286,-0.00365143, 0.75793999]

qacc:
[ 9.95323255e-02, 6.31229530e-01,-1.99100664e+00,-1.73813634e+00,
 -1.90831090e-02, 3.89868726e+00,-1.51114499e+01, 2.84840438e+01,
  3.65378617e-03,-7.69254393e-01, 2.71096572e+00,-4.60070244e+00,
 -9.05661177e-02, 8.15214737e-02,-9.30763749e-01, 1.24992647e+00,
  1.52329105e+00, 9.64170675e-01, 1.30991180e+00, 7.05096312e+01,
  6.53398430e+01, 2.84335132e+00]

qfrc_actuator:
[ 4.11985185e-03, 7.11603144e-02, 2.00704724e-02, 1.83800835e-03,
  2.85733029e-05, 3.48359751e-02, 1.08827678e-02, 1.58384310e-03,
 -3.04733056e-03, 3.47728067e-02, 1.08745296e-02, 1.77577362e-03,
  0.00000000e+00, 2.95585499e-03, 0.00000000e+00,-1.91795813e-06,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000685487522152018
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01958315e-01,  8.79799012e-02, -9.49252713e-01, -2.66696811e-02,
        9.96122250e-01,  8.38402715e-02,  9.52948007e-01, -3.46944695e-18,
        3.03133792e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07203578, -0.04290351,  0.22464314])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.12669744,  -4.87821284,  -7.12669744,
        35.36125844, -39.04303593,  -4.87821284, -39.04303593,
        65.67526561,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013930869576841282
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.99237926e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.99237926e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0379781 , -0.11686411,  0.06187619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23896486e-03, 3.62203371e-02, 9.10767611e-03,-1.97683658e-05,
 -5.46061304e-06, 2.03651593e-05,-2.07624343e-05, 6.85934464e-05,
  1.04399768e-06,-1.44068575e-05, 1.71625328e-06,-1.07368697e-05,
  3.29277478e-03, 4.76888063e-03, 8.57787877e-03, 1.69357227e-03,
  1.19249065e-05, 1.36066434e-05,-1.21644323e+00, 1.57352621e-03,
  5.50635942e-04, 4.87793011e-05]


--- Step 2702 ---
qpos:
[-0.01627091, 1.29605134,-0.03201844, 0.94843896, 0.00435904, 1.33159325,
 -0.02976388, 0.94625876, 0.01674053, 1.33657392,-0.02394004, 0.95497921,
  1.39472919,-0.00603068, 1.18894924, 0.06133212,-0.00371035,-0.09263719,
  0.0814936 , 0.65227308,-0.012076  ,-0.00359903, 0.75787931]

qacc:
[ 6.23737037e-02, 4.29295693e-01,-1.04534790e+00,-1.73607133e+00,
  5.86544074e-02, 4.57241759e+00,-1.82546809e+01, 3.75002181e+01,
  9.32685373e-02,-6.40416131e+00, 2.17230641e+01,-3.20099317e+01,
 -8.47277384e-02, 8.59413284e-02,-1.01225255e+00, 1.64629943e+00,
  1.37874314e+00, 9.50388237e-01, 5.35760920e-01, 6.56743719e+01,
  6.03785175e+01, 2.26025389e+00]

qfrc_actuator:
[ 4.13431820e-03, 7.11611422e-02, 2.00558599e-02, 1.82861220e-03,
  4.87187232e-05, 3.48679609e-02, 1.08726116e-02, 1.68002708e-03,
 -3.02114514e-03, 3.46832618e-02, 1.09174036e-02, 1.71337437e-03,
  0.00000000e+00, 2.96089324e-03, 0.00000000e+00, 1.82987394e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006853208536498762
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30194635,  0.08798072, -0.94925644, -0.02666887,  0.99612218,
        0.08384139,  0.95295182,  0.        ,  0.3031218 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07203427, -0.04290391,  0.22464347])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.26401227,  4.6712849 ,  7.26401227, 10.32479473,
       -2.62556971,  4.6712849 , -2.62556971, 12.71921685,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014047032943498572
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.87951538e-15,  3.95180615e-14,  1.00000000e+00,  3.90419297e-28,
        1.00000000e+00, -3.95180615e-14, -1.00000000e+00,  0.00000000e+00,
       -9.87951538e-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([-0.03796525, -0.11684342,  0.06187522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24173937e-03, 3.62395237e-02, 9.12380067e-03,-1.32136320e-05,
  1.69235845e-05, 4.12431926e-05,-6.52973406e-06, 9.77715049e-05,
  2.68020231e-05,-9.75028410e-05, 3.99409797e-05,-6.30227828e-05,
  3.30011368e-03, 4.77285751e-03, 8.62516812e-03, 1.72134650e-03,
  3.24104152e-06, 2.87458690e-06,-1.21644044e+00, 1.58124893e-03,
  5.47225040e-04, 3.52624753e-05]


--- Step 2703 ---
qpos:
[-0.01627295, 1.29606153,-0.03201662, 0.94843883, 0.00435985, 1.33159375,
 -0.02976447, 0.94625769, 0.0167407 , 1.33657437,-0.0239394 , 0.9549801 ,
  1.39473615,-0.0060308 , 1.1889338 , 0.06132984,-0.00370473,-0.09263126,
  0.0814953 , 0.65234239,-0.01211404,-0.0033797 , 0.75782005]

qacc:
[ 3.30007545e-02,-5.77908168e-01, 2.84124044e+00,-8.00060521e+00,
  1.36804002e-02, 2.16370277e-01,-1.99689246e+00, 1.07340136e+01,
  1.08918527e-01, 3.88690741e+00,-1.51454073e+01, 2.82417679e+01,
  2.22137151e-01,-2.18887092e-01,-8.46941324e-01, 1.95038306e+00,
  1.26107496e+00, 9.35936045e-01,-1.15120466e-01, 6.16565971e+01,
  5.62882225e+01, 1.81254780e+00]

qfrc_actuator:
[ 4.10825375e-03, 7.11398477e-02, 2.00465315e-02, 1.80521869e-03,
  4.26602700e-05, 3.48868296e-02, 1.09026693e-02, 1.71959492e-03,
 -3.00553242e-03, 3.47365107e-02, 1.09064771e-02, 1.78333957e-03,
  0.00000000e+00, 2.92843218e-03, 0.00000000e+00, 3.14223747e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006850915354173273
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30193478,  0.08798149, -0.94926005, -0.02666809,  0.99612211,
        0.08384245,  0.95295551,  0.        ,  0.30311021])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0720327 , -0.04290429,  0.22464381])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.28539725,  4.63786198,  7.28539725, 10.86046483,
       -3.493735  ,  4.63786198, -3.493735  , 14.12450611,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013987911913009715
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.98425439e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.98425439e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03797907, -0.11684387,  0.06187572])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20834457e-03, 3.62219359e-02, 9.13159226e-03,-2.49893185e-05,
  3.92950491e-06, 4.33344882e-05, 4.02434176e-05, 4.28779170e-05,
  3.14337333e-05, 5.26021448e-06,-2.72753081e-05, 6.67793019e-05,
  3.30666631e-03, 4.73879749e-03, 8.66987719e-03, 1.73941443e-03,
  1.64363882e-06, 1.01786350e-06,-1.21644097e+00, 1.58799882e-03,
  5.43792743e-04, 3.34692289e-05]


--- Step 2704 ---
qpos:
[-0.01627431, 1.29607044,-0.03201568, 0.94844031, 0.0043605 , 1.33159438,
 -0.02976459, 0.94625642, 0.0167411 , 1.33657592,-0.02394028, 0.95498247,
  1.39474334,-0.00603097, 1.18892222, 0.06132724,-0.0037052 ,-0.09262917,
  0.08149679, 0.65241237,-0.01214963,-0.00335097, 0.75775937]

qacc:
[ 2.93932933e-01, 3.39915557e+00,-1.64091581e+01, 3.35641250e+01,
 -6.73527291e-02,-1.46546374e+00, 5.36682889e+00,-7.01293741e+00,
  9.57239907e-02, 8.07204162e+00,-2.75614345e+01, 4.03069050e+01,
 -1.10062307e-02, 5.21997944e-02, 6.62732048e+00,-1.49146188e+01,
 -1.52227400e+00,-9.60061706e-01,-5.46548734e-02,-7.14212630e+01,
 -6.30854227e+01,-1.87548142e+00]

qfrc_actuator:
[ 4.09338653e-03, 7.11585079e-02, 2.00402641e-02, 1.88028290e-03,
  2.09305338e-05, 3.48800725e-02, 1.09206307e-02, 1.70778585e-03,
 -2.99638903e-03, 3.48392226e-02, 1.08467362e-02, 1.85967754e-03,
  0.00000000e+00, 2.92676679e-03, 0.00000000e+00,-1.37347212e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006848343603441873
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01923315e-01,  8.79822358e-02, -9.49263629e-01, -2.66673029e-02,
        9.96122044e-01,  8.38434778e-02,  9.52959163e-01,  3.46944695e-18,
        3.03098718e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07203109, -0.04290467,  0.22464415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.13391952,   4.86764513,   7.13391952,
        32.27932553, -34.65063353,   4.86764513, -34.65063353,
        59.41961193,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013947275319212138
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.98007137e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.98007137e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03766492, -0.06495019,  0.06187607])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18959794e-03, 3.62412907e-02, 9.13011309e-03, 7.40684176e-05,
 -1.94095541e-05, 2.63649495e-05, 3.22685606e-05,-8.33728520e-06,
  2.77021144e-05, 1.02271518e-04,-5.98593922e-05, 7.72526469e-05,
  3.29511827e-03, 4.73803770e-03, 8.69294972e-03, 1.56809030e-03,
  5.84970217e-06, 6.31387266e-06,-1.21644418e+00, 1.59407349e-03,
  5.40265090e-04, 4.11826869e-05]


--- Step 2705 ---
qpos:
[-0.01627516, 1.29607804,-0.03201582, 0.94844269, 0.00436109, 1.33159469,
 -0.02976452, 0.94625439, 0.01674154, 1.3365785 ,-0.02394154, 0.95498293,
  1.39475038,-0.0060312 , 1.18891376, 0.06132433,-0.00371122,-0.09263087,
  0.08149551, 0.65248355,-0.01218362,-0.00350006, 0.75769686]

qacc:
[ 2.16240304e-01, 2.75918739e+00,-1.29007299e+01, 2.24139260e+01,
 -2.38921550e-02,-2.24251039e+00, 8.39543715e+00,-1.59831252e+01,
  1.30423921e-02,-9.10523172e-01, 8.44974057e+00,-3.00680788e+01,
 -2.63163882e-01, 2.45563420e-01, 5.59711396e+00,-1.28185583e+01,
 -1.38839213e+00,-9.46111089e-01,-6.92046346e-01,-6.68491917e+01,
 -5.85984471e+01,-2.13271400e+00]

qfrc_actuator:
[ 4.10234691e-03, 7.11846680e-02, 2.00188990e-02, 1.92376750e-03,
  2.54817367e-05, 3.48224427e-02, 1.09134191e-02, 1.66582109e-03,
 -3.00895225e-03, 3.48995676e-02, 1.08298970e-02, 1.76161975e-03,
  0.00000000e+00, 2.96137082e-03, 0.00000000e+00,-2.37383178e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006846916307490826
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30191392,  0.08798275, -0.94926657, -0.02666663,  0.996122  ,
        0.08384423,  0.95296216,  0.        ,  0.3030893 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07202981, -0.04290513,  0.22464442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.27729083, -4.65057148, -7.27729083, 10.05242368,
       -2.21587407, -4.65057148, -2.21587407, 12.10379987,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013950599396375524
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.94780756e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.94780756e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03766952, -0.06495782,  0.06187605])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16406005e-03, 3.63318365e-02, 9.15253275e-03, 3.74004379e-05,
 -6.90168243e-06,-3.69921948e-05, 1.36838899e-06,-4.04231342e-05,
  3.79611893e-06, 1.07494262e-04,-1.40597584e-06,-9.49766227e-05,
  3.28403898e-03, 4.77515722e-03, 8.50073821e-03, 1.48369843e-03,
  1.48778223e-06, 8.16145065e-07,-1.21644078e+00, 1.58709913e-03,
  5.44094423e-04, 3.36462778e-05]


--- Step 2706 ---
qpos:
[-0.01627624, 1.29608578,-0.03201608, 0.94844402, 0.00436181, 1.33159446,
 -0.02976378, 0.94625082, 0.01674178, 1.33658108,-0.02394171, 0.95498084,
  1.39475691,-0.00603145, 1.18890458, 0.06132144,-0.00371163,-0.09262878,
  0.08149677, 0.65255314,-0.01222368,-0.00346889, 0.75763642]

qacc:
[-1.01515376e-01,-1.32227158e+00, 6.67095490e+00,-1.80888483e+01,
  5.64699907e-02,-5.12457074e+00, 1.89863089e+01,-3.38026556e+01,
 -8.03887408e-02,-7.33278044e+00, 2.90559115e+01,-5.45536564e+01,
 -3.42942391e-01, 2.60643046e-01,-1.13380161e+00, 2.45075337e+00,
  1.40176343e+00, 9.47337207e-01, 6.33359152e-01, 6.63108191e+01,
  6.10907891e+01, 2.38438404e+00]

qfrc_actuator:
[ 4.12551016e-03, 7.11625945e-02, 2.00067880e-02, 1.87735379e-03,
  4.57625776e-05, 3.47879276e-02, 1.09444533e-02, 1.58866004e-03,
 -3.03443432e-03, 3.48631207e-02, 1.08737900e-02, 1.63274335e-03,
  0.00000000e+00, 3.00001403e-03, 0.00000000e+00,-1.71780741e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006846195062317345
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3019068 ,  0.08798309, -0.9492688 , -0.0266661 ,  0.99612197,
        0.08384475,  0.95296443,  0.        ,  0.30308216])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0720288 , -0.04290561,  0.22464464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.1358917 ,  -4.86475349,  -7.1358917 ,
        32.67329496, -35.25871129,  -4.86475349, -35.25871129,
        60.35580757,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001390887736423027
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.98882384e-15,  3.99105908e-14,  1.00000000e+00, -1.99106907e-28,
        1.00000000e+00, -3.99105908e-14, -1.00000000e+00,  0.00000000e+00,
        4.98882384e-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([-0.03800542, -0.11683277,  0.06187639])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16183881e-03, 3.63745976e-02, 9.19470355e-03,-5.41011404e-05,
  1.62068869e-05,-5.59273434e-05, 2.27681090e-05,-7.91702959e-05,
 -2.32354238e-05, 1.98924172e-05, 6.19464320e-05,-1.27940381e-04,
  3.29171831e-03, 4.81682053e-03, 8.34441225e-03, 1.56518966e-03,
  4.11553090e-06, 3.61167430e-06,-1.21644073e+00, 1.58067514e-03,
  5.47553633e-04, 3.67536964e-05]


--- Step 2707 ---
qpos:
[-0.01627779, 1.29609431,-0.03201595, 0.948444  , 0.00436257, 1.33159419,
 -0.02976259, 0.94624633, 0.01674178, 1.33658287,-0.02394008, 0.95497725,
  1.39476312,-0.00603166, 1.18889342, 0.06131868,-0.00370692,-0.09262296,
  0.08149789, 0.65262173,-0.01226877,-0.00326918, 0.7575775 ]

qacc:
[-1.97088918e-01,-2.26968167e+00, 1.14339260e+01,-2.59905734e+01,
  1.26170229e-02,-2.86228019e+00, 1.11933819e+01,-2.04741821e+01,
 -1.00175680e-01,-8.46914819e+00, 2.93514613e+01,-4.21457428e+01,
 -1.80280343e-01, 1.52625994e-01,-3.29750287e+00, 7.31377982e+00,
  1.28003147e+00, 9.34076341e-01,-3.20602076e-02, 6.21944509e+01,
  5.68858558e+01, 1.91262210e+00]

qfrc_actuator:
[ 4.12223259e-03, 7.11816895e-02, 2.00174479e-02, 1.81410481e-03,
  3.98091092e-05, 3.48208935e-02, 1.09801292e-02, 1.54470459e-03,
 -3.04970610e-03, 3.47869531e-02, 1.09527934e-02, 1.55778267e-03,
  0.00000000e+00, 3.00556024e-03, 0.00000000e+00,-9.57748580e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006845144580799808
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30189967,  0.08798349, -0.94927103, -0.0266656 ,  0.99612193,
        0.08384534,  0.9529667 ,  0.        ,  0.30307502])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07202775, -0.04290603,  0.22464486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.28290861,  4.64176896,  7.28290861, 10.70703172,
       -3.24886622,  4.64176896, -3.24886622, 13.73381592,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013878876389287961
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.99984313e-14,  3.99968626e-14,  1.00000000e+00,  7.99874510e-28,
        1.00000000e+00, -3.99968626e-14, -1.00000000e+00,  0.00000000e+00,
       -1.99984313e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03801477, -0.11682964,  0.06187665])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17046486e-03, 3.63874671e-02, 9.21121640e-03,-6.44774259e-05,
  3.60862822e-06, 4.10443568e-06, 2.50035961e-05,-4.68064369e-05,
 -2.89872392e-05,-5.68816039e-05, 8.61792601e-05,-7.55359389e-05,
  3.31688770e-03, 4.82341564e-03, 8.38101944e-03, 1.63993004e-03,
  1.49182988e-06, 8.32654073e-07,-1.21644088e+00, 1.58749215e-03,
  5.44141309e-04, 3.37107424e-05]


--- Step 2708 ---
qpos:
[-0.01627964, 1.2961033 ,-0.03201547, 0.94844256, 0.00436316, 1.33159398,
 -0.02976171, 0.94624414, 0.01674157, 1.33658442,-0.02393765, 0.95497314,
  1.39476911,-0.00603187, 1.18888131, 0.06131617,-0.00370824,-0.092621  ,
  0.08149862, 0.65269115,-0.01231171,-0.00325907, 0.75751704]

qacc:
[-1.30188752e-01,-2.79039058e+00, 1.27096994e+01,-2.76719733e+01,
 -6.78659311e-02, 4.87412272e+00,-2.05414841e+01, 4.44617403e+01,
 -9.05131991e-02,-3.36976328e+00, 1.16691212e+01,-1.60007404e+01,
 -8.99358319e-02, 3.81717898e-02,-2.14481195e+00, 5.48339528e+00,
 -1.50716063e+00,-9.66822777e-01,-9.88767821e-02,-7.11080693e+01,
 -6.26751479e+01,-1.98163822e+00]

qfrc_actuator:
[ 4.12116277e-03, 7.11714965e-02, 2.00235644e-02, 1.74146734e-03,
  1.81652153e-05, 3.48230458e-02, 1.09652789e-02, 1.66270920e-03,
 -3.05872850e-03, 3.47942764e-02, 1.09984682e-02, 1.53288796e-03,
  0.00000000e+00, 3.00894219e-03, 0.00000000e+00,-6.68973571e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006843590370721325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30189141,  0.08798405, -0.94927361, -0.02666504,  0.99612188,
        0.0838461 ,  0.95296933,  0.        ,  0.30306674])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07202652, -0.0429064 ,  0.22464513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.13831694,   4.8611941 ,   7.13831694,
        32.13687844, -34.50883042,   4.8611941 , -34.50883042,
        59.31012067,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013986172959611909
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  5.9535033e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -5.9535033e-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([ 0.03767849, -0.06498421,  0.06187576])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19251399e-03, 3.63369560e-02, 9.19816469e-03,-6.97523635e-05,
 -1.95141387e-05, 7.90317706e-06,-1.25821543e-05, 1.17769421e-04,
 -2.61367724e-05,-9.55972005e-06, 4.21413139e-05,-2.58168920e-05,
  3.33339711e-03, 4.82448915e-03, 8.48014645e-03, 1.66245004e-03,
  4.84436442e-06, 5.40953243e-06,-1.21644379e+00, 1.59359290e-03,
  5.40646675e-04, 4.04458418e-05]


--- Step 2709 ---
qpos:
[-0.01628181, 1.29611332,-0.03201402, 0.94844087, 0.00436355, 1.33159393,
 -0.02976149, 0.94624649, 0.01674119, 1.33658637,-0.0239359 , 0.95497121,
  1.39477495,-0.00603201, 1.18886842, 0.06131379,-0.00371507,-0.09262284,
  0.08149643, 0.65276189,-0.01235328,-0.00342595, 0.75745467]

qacc:
[-1.31615435e-01,-1.66162418e+00, 7.58598779e+00,-1.01453504e+01,
 -8.57806921e-02, 9.73284685e+00,-4.07902944e+01, 8.79014202e+01,
 -7.17551468e-02, 6.09064067e+00,-2.35907569e+01, 4.52212731e+01,
 -1.27976067e-01, 1.64491904e-01,-1.52847190e+00, 3.69546819e+00,
 -1.37623112e+00,-9.51011461e-01,-7.29650458e-01,-6.65856684e+01,
 -5.82567417e+01,-2.21807305e+00]

qfrc_actuator:
[ 4.12144568e-03, 7.11615174e-02, 2.00623305e-02, 1.73481537e-03,
  5.03741433e-06, 3.48421461e-02, 1.09384612e-02, 1.89278019e-03,
 -3.06392962e-03, 3.48336960e-02, 1.09711650e-02, 1.64417658e-03,
  0.00000000e+00, 3.01106767e-03, 0.00000000e+00,-3.09639470e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006841912249516933
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30188238,  0.08798471, -0.94927642, -0.02666444,  0.99612182,
        0.08384699,  0.95297221,  0.        ,  0.30305769])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07202522, -0.04290674,  0.22464542])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.28090981, -4.64490358, -7.28090981, 10.18545089,
       -2.42820209, -4.64490358, -2.42820209, 12.44258268,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001397595889894257
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.97190287e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.97190287e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03768522, -0.06498997,  0.06187585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20807036e-03, 3.63044459e-02, 9.21895198e-03,-5.58095096e-06,
 -2.46434206e-05, 2.45394770e-05,-2.32564908e-05, 2.32669682e-04,
 -2.06309906e-05, 4.15782061e-05,-2.51464082e-05, 1.11637402e-04,
  3.34388647e-03, 4.82733291e-03, 8.52767531e-03, 1.68598034e-03,
  1.47692246e-06, 7.42321160e-07,-1.21644077e+00, 1.58674713e-03,
  5.44403267e-04, 3.40353036e-05]


--- Step 2710 ---
qpos:
[-0.01628358, 1.29612316,-0.03201237, 0.94844064, 0.0043639 , 1.33159377,
 -0.02976104, 0.94624915, 0.01674084, 1.33658818,-0.02393544, 0.95497139,
  1.39478133,-0.00603213, 1.18885822, 0.06131122,-0.00371623,-0.09262088,
  0.08149713, 0.65283099,-0.01240098,-0.00341094, 0.7573944 ]

qacc:
[ 1.63501580e-01, 1.70300418e+00,-8.83831607e+00, 2.47053801e+01,
 -1.62903164e-02,-2.30279799e-01,-6.62877775e-02, 3.64078280e+00,
  9.17830629e-03, 6.93821123e+00,-2.71346972e+01, 4.80619826e+01,
  2.56120710e-01,-1.38254410e-01, 4.52449630e+00,-1.01055281e+01,
  1.41664652e+00, 9.51989831e-01, 7.22896386e-01, 6.68786133e+01,
  6.16644383e+01, 2.44528589e+00]

qfrc_actuator:
[ 4.06940798e-03, 7.11686483e-02, 2.00844339e-02, 1.80266357e-03,
  1.48779419e-05, 3.48180160e-02, 1.09404190e-02, 1.90288658e-03,
 -3.04904478e-03, 3.47675605e-02, 1.08834755e-02, 1.74592719e-03,
  0.00000000e+00, 2.95909143e-03, 0.00000000e+00,-1.50549344e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006840654578151688
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30187143,  0.08798549, -0.94927983, -0.02666371,  0.99612176,
        0.08384803,  0.9529757 ,  0.        ,  0.30304672])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07202383, -0.04290706,  0.22464574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.13862421,  -4.86074288,  -7.13862421,
        33.13521428, -35.97970366,  -4.86074288, -35.97970366,
        61.47717214,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013875897880964994
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.0001362e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.0001362e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03802928, -0.11680942,  0.06187667])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17147506e-03, 3.62594720e-02, 9.19288584e-03, 7.49481116e-05,
 -4.70172979e-06,-8.12480187e-06, 1.09317449e-05, 1.55626227e-05,
  2.70697002e-06,-4.47648607e-05,-7.91676171e-05, 1.04847704e-04,
  3.35161538e-03, 4.77128695e-03, 8.56688700e-03, 1.56004850e-03,
  4.98098992e-06, 4.22487172e-06,-1.21644104e+00, 1.58040666e-03,
  5.47817839e-04, 3.80863042e-05]


--- Step 2711 ---
qpos:
[-0.01628487, 1.29613285,-0.03201107, 0.94844125, 0.00436443, 1.33159317,
 -0.02976088, 0.94624988, 0.01674057, 1.33658943,-0.02393612, 0.95497248,
  1.39478863,-0.00603225, 1.1888486 , 0.06130829,-0.00371222,-0.09261516,
  0.08149801, 0.65289904,-0.01245377,-0.00322605, 0.75733568]

qacc:
[ 2.10175111e-01, 2.17187849e+00,-9.05970218e+00, 1.77057842e+01,
  7.21589439e-02,-3.07702221e+00, 1.32897040e+01,-3.34540769e+01,
  3.68503446e-02, 3.94198663e+00,-1.55310998e+01, 2.41940284e+01,
  6.83142091e-01,-5.75083409e-01, 1.91002272e+00,-5.50400597e+00,
  1.29236613e+00, 9.38077126e-01, 4.33090342e-02, 6.26665623e+01,
  5.73644475e+01, 1.96354238e+00]

qfrc_actuator:
[ 4.05641945e-03, 7.11690995e-02, 2.00614084e-02, 1.84258580e-03,
  3.84167892e-05, 3.47504223e-02, 1.09057812e-02, 1.80119095e-03,
 -3.03998461e-03, 3.47094977e-02, 1.08136979e-02, 1.78787860e-03,
  0.00000000e+00, 2.89243180e-03, 0.00000000e+00,-1.67897745e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006840779000431875
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30186047,  0.08798615, -0.94928325, -0.02666295,  0.9961217 ,
        0.08384897,  0.9529792 ,  0.        ,  0.30303573])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07202264, -0.04290747,  0.22464604])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.2847375 ,  4.6388982 ,  7.2847375 , 10.69096381,
       -3.22646074,  4.6388982 , -3.22646074, 13.70306666,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013867148450627947
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00076723e-14,  4.00306894e-14,  1.00000000e+00,  4.00614023e-28,
        1.00000000e+00, -4.00306894e-14, -1.00000000e+00,  0.00000000e+00,
       -1.00076723e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03803529, -0.11680378,  0.06187675])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13929930e-03, 3.62689799e-02, 9.15965785e-03, 4.17091347e-05,
  2.07639341e-05,-6.94794266e-05,-3.45238279e-05,-1.01253825e-04,
  1.06576783e-05,-9.51839487e-05,-8.44511784e-05, 4.07523041e-05,
  3.32475047e-03, 4.70343635e-03, 8.43307803e-03, 1.55237402e-03,
  1.48613415e-06, 7.49853806e-07,-1.21644089e+00, 1.58727593e-03,
  5.44416244e-04, 3.40885957e-05]


--- Step 2712 ---
qpos:
[-0.01628592, 1.29614222,-0.03201   , 0.94844131, 0.00436502, 1.3315924 ,
 -0.02976187, 0.94625081, 0.0167401 , 1.33658971,-0.02393602, 0.95497296,
  1.39479634,-0.00603253, 1.18883934, 0.06130533,-0.00371419,-0.09261331,
  0.08149828, 0.65296799,-0.01250458,-0.00322972, 0.75727539]

qacc:
[ 1.02404062e-01,-7.31481158e-01, 3.01434928e+00,-8.81108515e+00,
  2.87176892e-02, 3.19888025e+00,-1.10858512e+01, 1.18286095e+01,
 -8.20591869e-02,-4.46853162e+00, 1.42313467e+01,-1.86866529e+01,
  4.09957883e-01,-4.90321178e-01, 5.55231329e-01,-1.25958522e+00,
 -1.49619043e+00,-9.65833636e-01,-1.50459689e-01,-7.07503973e+01,
 -6.22873234e+01,-2.03372264e+00]

qfrc_actuator:
[ 4.06659727e-03, 7.11478383e-02, 2.00472824e-02, 1.81252869e-03,
  3.44759834e-05, 3.47458639e-02, 1.08495967e-02, 1.81203811e-03,
 -3.06999857e-03, 3.46744846e-02, 1.08615585e-02, 1.75881593e-03,
  0.00000000e+00, 2.88799575e-03, 0.00000000e+00,-1.76921114e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006840976364908755
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30184999,  0.08798665, -0.94928654, -0.02666218,  0.99612165,
        0.08384974,  0.95298254,  0.        ,  0.30302523])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07202147, -0.04290797,  0.22464633])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.14199312,   4.8557915 ,   7.14199312,
        31.87870963, -34.18529715,   4.8557915 , -34.18529715,
        58.91676742,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001397223398909686
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.97296175e-14,  1.98648088e-14,  1.00000000e+00,  7.89221254e-28,
        1.00000000e+00, -1.98648088e-14, -1.00000000e+00,  0.00000000e+00,
       -3.97296175e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03770057, -0.06501114,  0.06187588])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12480486e-03, 3.62555204e-02, 9.16298375e-03,-3.05321546e-05,
  8.31015892e-06,-5.27731008e-05,-7.66643492e-05, 5.40333409e-06,
 -2.37244072e-05,-1.02940185e-04, 2.08677649e-05,-3.34032544e-05,
  3.27841678e-03, 4.69943872e-03, 8.40349612e-03, 1.56121229e-03,
  4.12175862e-06, 4.79621053e-06,-1.21644357e+00, 1.59340508e-03,
  5.40939116e-04, 4.00941990e-05]


--- Step 2713 ---
qpos:
[-0.0162873 , 1.2961521 ,-0.03200875, 0.94844092, 0.00436563, 1.33159184,
 -0.02976348, 0.94625144, 0.01673938, 1.3365896 ,-0.02393559, 0.95497341,
  1.39480401,-0.00603277, 1.18882846, 0.0613023 ,-0.00372164,-0.09261526,
  0.08149547, 0.65303831,-0.0125542 ,-0.0034095 , 0.75721313]

qacc:
[-1.42484005e-01,-5.96581502e-01, 3.69893287e+00,-8.81419764e+00,
  7.74618144e-03, 1.44020955e+00,-3.79067939e+00,-1.53095210e-01,
 -1.09930045e-01,-1.43361961e+00, 4.14066576e+00,-3.76559937e+00,
  1.02680565e-02,-1.23305157e-03,-2.14949406e+00, 4.04067142e+00,
 -1.36738256e+00,-9.49839021e-01,-7.72962791e-01,-6.62901881e+01,
 -5.79349644e+01,-2.26160450e+00]

qfrc_actuator:
[ 4.07297798e-03, 7.11137723e-02, 2.00385189e-02, 1.79480121e-03,
  3.18340129e-05, 3.47967992e-02, 1.08347291e-02, 1.80031595e-03,
 -3.08770503e-03, 3.46894615e-02, 1.08897578e-02, 1.75930021e-03,
  0.00000000e+00, 2.90329549e-03, 0.00000000e+00,-1.10129704e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006841118111132749
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01840035e-01,  8.79870816e-02, -9.49289664e-01, -2.66614271e-02,
        9.96121616e-01,  8.38504313e-02,  9.52985709e-01, -3.46944695e-18,
        3.03015245e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07202035, -0.0429085 ,  0.22464659])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.28329656, -4.64116021, -7.28329656, 10.2287013 ,
       -2.49882937, -4.64116021, -2.49882937, 12.55773556,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013950240879549436
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.97922528e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.97922528e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03770925, -0.06501538,  0.06187606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11916518e-03, 3.62372338e-02, 9.16582274e-03,-2.05978469e-05,
  2.26017929e-06, 6.92152039e-06,-3.37469530e-05,-1.54267469e-05,
 -3.17168356e-05,-3.88650612e-05, 9.49026409e-06,-2.73153082e-06,
  3.25807919e-03, 4.72271780e-03, 8.38620302e-03, 1.62920231e-03,
  1.56718918e-06, 7.24441671e-07,-1.21644083e+00, 1.58666017e-03,
  5.44636342e-04, 3.45149853e-05]


--- Step 2714 ---
qpos:
[-0.01628926, 1.29616347,-0.03200705, 0.94843987, 0.00436652, 1.33159183,
 -0.02976519, 0.94625118, 0.01673871, 1.33658994,-0.02393635, 0.95497421,
  1.39481185,-0.00603282, 1.18881306, 0.06129913,-0.00372337,-0.09261337,
  0.08149586, 0.65310698,-0.01260995,-0.00340604, 0.757153  ]

qacc:
[-2.51473255e-01,-3.82466413e-01, 4.94999651e+00,-1.28302987e+01,
  1.21489405e-01,-5.31381852e-01, 4.46132181e+00,-1.46099512e+01,
  2.26667200e-02, 4.41493341e+00,-1.43875119e+01, 1.62471084e+01,
  2.39354057e-01,-1.27184385e-01,-6.29162594e+00, 1.22675089e+01,
  1.42705861e+00, 9.59188707e-01, 8.03390636e-01, 6.73700479e+01,
  6.21376155e+01, 2.47920655e+00]

qfrc_actuator:
[ 4.07755890e-03, 7.11423272e-02, 2.00326493e-02, 1.76684408e-03,
  6.54989823e-05, 3.48629701e-02, 1.08445746e-02, 1.75769459e-03,
 -3.06237850e-03, 3.47342260e-02, 1.08353031e-02, 1.77718630e-03,
  0.00000000e+00, 2.87703979e-03, 0.00000000e+00, 3.77224285e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006840678629561579
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01829413e-01,  8.79876172e-02, -9.49292992e-01, -2.66606524e-02,
        9.96121568e-01,  8.38512397e-02,  9.52989095e-01, -3.46944695e-18,
        3.03004596e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07201907, -0.042909  ,  0.22464689])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.14213208,  -4.85558711,  -7.14213208,
        33.59412815, -36.71062766,  -4.85558711, -36.71062766,
        62.63439629,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013918814788713707
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97052408e-15,  3.98820963e-14,  1.00000000e+00,  3.97645402e-28,
        1.00000000e+00, -3.98820963e-14, -1.00000000e+00,  0.00000000e+00,
       -9.97052408e-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([-0.03804114, -0.11677726,  0.06187631])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14045442e-03, 3.62398892e-02, 9.15073093e-03,-2.56928325e-05,
  3.49990894e-05, 6.29443199e-05, 6.91157873e-06,-4.37626883e-05,
  6.59939154e-06, 2.50442537e-05,-6.10459013e-05, 1.69498154e-05,
  3.26058894e-03, 4.69429686e-03, 8.46737587e-03, 1.78113203e-03,
  5.77394602e-06, 4.67425251e-06,-1.21644133e+00, 1.58039298e-03,
  5.48011069e-04, 3.92339275e-05]


--- Step 2715 ---
qpos:
[-0.01629034, 1.29617285,-0.03200593, 0.94843851, 0.00436775, 1.33159188,
 -0.02976633, 0.94625077, 0.0167382 , 1.33659014,-0.02393674, 0.95497518,
  1.39481979,-0.00603336, 1.18880317, 0.06129628,-0.0037199 ,-0.0926077 ,
  0.0814967 , 0.65317459,-0.0126708 ,-0.00323158, 0.75709442]

qacc:
[  0.38034065, -1.55942041,  2.56113264, -4.50406767,  0.14011895,
  -1.71693045,  5.99277106, -6.99874653,  0.06711081, -0.89525755,
   2.33212135,  0.12853516,  0.14290428, -0.45290217,  7.20152924,
 -13.37917969,  1.30101593,  0.94391658,  0.11042826, 63.06923152,
  57.75626894,  1.99393432]

qfrc_actuator:
[ 4.08144931e-03, 7.11362669e-02, 2.00459287e-02, 1.73313272e-03,
  8.51670985e-05, 3.48490792e-02, 1.08689762e-02, 1.75051689e-03,
 -3.04694737e-03, 3.47251705e-02, 1.08569073e-02, 1.78738733e-03,
  0.00000000e+00, 2.87894750e-03, 0.00000000e+00,-2.09520366e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006838653358443129
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01816941e-01,  8.79883512e-02, -9.49296889e-01, -2.66597748e-02,
        9.96121504e-01,  8.38522888e-02,  9.52993069e-01, -3.46944695e-18,
        3.02992095e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0720174 , -0.04290947,  0.22464725])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.2889149 ,  4.63233164,  7.2889149 , 10.72745588,
       -3.29030705,  4.63233164, -3.29030705, 13.81361992,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013924952096846174
  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([-0.03804479, -0.11676993,  0.06187626])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17383416e-03, 3.61593786e-02, 9.14146276e-03,-2.65015615e-05,
  4.03238847e-05, 2.09694450e-05, 3.62163390e-05,-6.10596846e-06,
  1.93284487e-05,-6.62637161e-06, 2.00551163e-05, 9.55210901e-06,
  3.25173003e-03, 4.68683477e-03, 8.69374605e-03, 1.54060276e-03,
  1.56203117e-06, 7.13100516e-07,-1.21644096e+00, 1.58730274e-03,
  5.44612690e-04, 3.45571840e-05]


--- Step 2716 ---
qpos:
[-0.01629124, 1.29618169,-0.03200489, 0.94843695, 0.00436897, 1.33159173,
 -0.02976616, 0.94624991, 0.01673786, 1.33659041,-0.02393692, 0.95497592,
  1.39482749,-0.00603406, 1.18879513, 0.06129345,-0.00371703,-0.09260758,
  0.08150666, 0.65324361,-0.01262732,-0.00316304, 0.75703588]

qacc:
[ 7.75071719e-02,-8.25266322e-01, 2.22918279e+00,-3.87993188e+00,
 -1.86095113e-03,-4.58095352e+00, 1.55492178e+01,-1.85261550e+01,
  7.21058345e-02,-8.88204270e-01, 3.48610470e+00,-5.83906611e+00,
 -1.66841210e-01, 2.23379377e-02, 2.62810406e+00,-5.22544725e+00,
 -1.48839847e-01,-1.38537307e+00, 2.28182209e+00,-6.02161248e+00,
 -7.40804467e+01,-1.35582709e+00]

qfrc_actuator:
[ 4.08367923e-03, 7.11123168e-02, 2.00537972e-02, 1.73138483e-03,
  6.07734072e-05, 3.48406968e-02, 1.09369943e-02, 1.72871517e-03,
 -3.03757938e-03, 3.47374955e-02, 1.08697992e-02, 1.77525710e-03,
  0.00000000e+00, 2.89834663e-03, 0.00000000e+00,-2.14887270e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006838482122137821
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01806922e-01,  8.79887890e-02, -9.49300034e-01, -2.66590236e-02,
        9.96121465e-01,  8.38529871e-02,  9.52996263e-01, -3.46944695e-18,
        3.02982049e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07201623, -0.04290999,  0.22464753])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.62178137,   6.55609267,   5.62178137,
        49.79261925, -35.29106168,   6.55609267, -35.29106168,
        38.89808245,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013982560759774956
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.97002754e-14,  3.97002754e-14,  1.00000000e+00, -1.57611186e-27,
        1.00000000e+00, -3.97002754e-14, -1.00000000e+00,  0.00000000e+00,
        3.97002754e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00225546, -0.07102496,  0.06187578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13144612e-03, 3.62347041e-02, 9.17841400e-03,-1.29674478e-05,
 -5.97388594e-07, 1.01182016e-05, 7.60604340e-05,-2.02556606e-05,
  2.07792358e-05, 1.28611962e-05, 1.41578971e-05,-1.15163869e-05,
  3.24651184e-03, 4.73029468e-03, 8.41803372e-03, 1.51985948e-03,
  3.61441223e-06, 4.40582735e-06,-1.21644349e+00, 1.59345704e-03,
  5.41142945e-04, 4.00675129e-05]


--- Step 2717 ---
qpos:
[-0.01629371, 1.29619363,-0.03200252, 0.94843498, 0.00436978, 1.33159152,
 -0.02976516, 0.94624915, 0.01673767, 1.33659065,-0.02393741, 0.95497516,
  1.39483486,-0.0060342 , 1.18877915, 0.06129035,-0.00371804,-0.09261189,
  0.08151871, 0.65331465,-0.01254698,-0.00325124, 0.75697554]

qacc:
[-6.72312971e-01,-2.26873019e-01, 6.50922348e+00,-1.23893923e+01,
 -1.76931811e-01,-2.12625616e+00, 6.61646680e+00,-4.47456075e+00,
  6.21683790e-02,-1.78480782e+00, 8.79030881e+00,-2.48563073e+01,
 -2.51752957e-01, 5.74729404e-01,-1.08635637e+01, 2.10314103e+01,
 -9.71021110e-01,-1.10855370e+00, 5.20529151e-01,-4.72708711e+01,
 -6.51337889e+01,-2.40724742e+00]

qfrc_actuator:
[ 4.06751378e-03, 7.11124935e-02, 2.00581557e-02, 1.73107745e-03,
  1.01458657e-05, 3.48358441e-02, 1.09769423e-02, 1.73399880e-03,
 -3.03192449e-03, 3.47092386e-02, 1.08419765e-02, 1.69681836e-03,
  0.00000000e+00, 2.91037446e-03, 0.00000000e+00, 1.02550908e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006839012922505161
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30179751,  0.08798917, -0.94930299, -0.02665831,  0.99612143,
        0.08385361,  0.95299926,  0.        ,  0.30297261])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07201522, -0.0429105 ,  0.22464778])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.62912898, -0.35342586,  8.62912898,  8.63330933,
       -0.07457287, -0.35342586, -0.07457287,  6.81561699,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013895351568736483
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.03400016e-08,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.03400016e-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([ 0.0216517 , -0.06744321,  0.06187656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10618565e-03, 3.62621848e-02, 9.18704220e-03,-3.34984417e-06,
 -5.09797733e-05, 1.50106565e-05, 4.99840647e-05, 7.34457008e-06,
  1.79235382e-05,-1.87212030e-05,-2.40381932e-05,-7.79103093e-05,
  3.25872281e-03, 4.75109001e-03, 8.32623679e-03, 1.83574676e-03,
  2.39817187e-06, 6.22029713e-07,-1.21644006e+00, 1.58535297e-03,
  5.41564824e-04, 3.55712980e-05]


--- Step 2718 ---
qpos:
[-0.0162978 , 1.29620868,-0.03199851, 0.94843265, 0.00437009, 1.33159092,
 -0.02976375, 0.94624817, 0.01673744, 1.33659041,-0.0239384 , 0.95497524,
  1.39484207,-0.00603376, 1.18875557, 0.06128724,-0.00371935,-0.09262478,
  0.08153565, 0.65338712,-0.01237954,-0.00342857, 0.75691497]

qacc:
[-6.87564296e-01,-9.59109472e-01, 8.78263616e+00,-1.36732498e+01,
 -2.10117332e-01,-1.98530245e+00, 6.32676533e+00,-7.85016423e+00,
 -1.31766406e-02, 2.19448081e+00,-9.61724346e+00, 1.83674342e+01,
 -1.34888767e-01, 4.91256640e-01,-1.11807083e+01, 2.28147619e+01,
 -7.25538262e-02,-2.14479336e+00, 1.22239983e+00,-5.28102006e+00,
 -6.20777261e+01,-1.31009221e+00]

qfrc_actuator:
[ 4.05975021e-03, 7.11237140e-02, 2.00767764e-02, 1.71417846e-03,
 -2.03017356e-05, 3.47798001e-02, 1.09822647e-02, 1.71965538e-03,
 -3.04629481e-03, 3.46566996e-02, 1.08079095e-02, 1.73972045e-03,
  0.00000000e+00, 2.91730615e-03, 0.00000000e+00, 3.12168707e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006837167061078744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30178386,  0.08799006, -0.94930725, -0.02665738,  0.99612135,
        0.08385485,  0.95300361,  0.        ,  0.30295893])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07201349, -0.04291091,  0.22464817])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.61058786, -0.66674856, -8.61058786,  8.67914422,
       -0.55248104, -0.66674856, -0.55248104, 15.77126703,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014188545783840989
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.        , -0.2549093 ,  0.96696497,  0.        ,  0.96696497,
        0.2549093 , -1.        ,  0.        ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00224853, -0.07100003,  0.0618781 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17728362e-03, 3.61181216e-02, 9.13899451e-03, 5.51188714e-07,
 -6.05309355e-05,-3.77484116e-05, 1.41570977e-05,-1.22581122e-05,
 -3.78835020e-06,-6.98963624e-05,-4.27352793e-05, 3.98293346e-05,
  3.27522010e-03, 4.72959675e-03, 8.72295812e-03, 2.05905571e-03,
  7.32486409e-07, 1.73814100e-06,-1.21643899e+00, 1.57825872e-03,
  5.44059369e-04, 3.54620075e-05]


--- Step 2719 ---
qpos:
[-0.01630231, 1.2962242 ,-0.03199421, 0.94843114, 0.0043701 , 1.33158986,
 -0.02976221, 0.94624739, 0.01673728, 1.33658912,-0.02393849, 0.95497754,
  1.394849  ,-0.00603301, 1.18873067, 0.06128415,-0.00371521,-0.0926334 ,
  0.08155177, 0.65345916,-0.01221618,-0.00344178, 0.75685537]

qacc:
[-1.81062828e-01, 1.23960375e+00,-4.95861598e+00, 1.34345865e+01,
 -1.25179107e-01,-5.99008385e-01, 8.22410542e-01, 1.91836546e+00,
  2.44730611e-02,-2.85124837e-03,-6.10673079e+00, 3.14811593e+01,
 -3.58034771e-01, 5.56639949e-01,-1.97023737e+00, 4.11489823e+00,
  1.35830377e+00, 1.06701766e+00,-2.03877252e-01, 6.07806664e+01,
  5.51554788e+01, 1.49949730e+00]

qfrc_actuator:
[ 4.09319989e-03, 7.11048101e-02, 2.00676052e-02, 1.74068961e-03,
 -2.06433064e-05, 3.47466450e-02, 1.09846525e-02, 1.72932924e-03,
 -3.03705589e-03, 3.46078093e-02, 1.08591825e-02, 1.85368451e-03,
  0.00000000e+00, 2.95643898e-03, 0.00000000e+00, 2.79417044e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006833232155749359
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01765669e-01,  8.79914987e-02, -9.49312897e-01, -2.66562069e-02,
        9.96121226e-01,  8.38567259e-02,  9.53009406e-01,  3.46944695e-18,
        3.02940708e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07201107, -0.04291125,  0.2246487 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.36453527, -4.51114144,  7.36453527, 17.55035899,
       14.55228882, -4.51114144, 14.55228882, 32.39328761,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013500023054721783
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.11193011e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.11193011e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03813594, -0.11679906,  0.06188002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29138829e-03, 3.59437052e-02, 9.04760114e-03, 4.49145781e-05,
 -3.60629211e-05,-5.16358085e-05,-3.74512169e-06, 8.67234662e-06,
  6.99951737e-06,-9.47055431e-05, 3.39329474e-05, 1.11567944e-04,
  3.28351046e-03, 4.73933261e-03, 9.10376615e-03, 2.02704124e-03,
  3.11831610e-08, 4.93019153e-06,-1.21643936e+00, 1.57154743e-03,
  5.44544423e-04, 3.60292141e-05]


--- Step 2720 ---
qpos:
[-0.0163063 , 1.29623813,-0.0319908 , 0.94843125, 0.00436994, 1.33158851,
 -0.02976133, 0.94624815, 0.01673719, 1.33658754,-0.02393786, 0.95497975,
  1.39485559,-0.00603219, 1.18870942, 0.06128099,-0.00370611,-0.09263792,
  0.08156497, 0.65353113,-0.01205624,-0.0032997 , 0.75679642]

qacc:
[ 2.20643933e-01, 3.06704177e+00,-1.58369370e+01, 3.34413456e+01,
 -7.41138196e-02, 3.98783166e+00,-1.66221188e+01, 3.23371865e+01,
  3.37954819e-02,-2.48990660e+00, 7.83344842e+00,-7.65710845e+00,
 -4.95595785e-01, 5.59220761e-01, 5.63907923e+00,-1.18002347e+01,
  1.24418961e+00, 1.02527889e+00,-7.29120886e-01, 5.76505315e+01,
  5.20238568e+01, 1.19218792e+00]

qfrc_actuator:
[ 4.11532908e-03, 7.10692211e-02, 2.00424585e-02, 1.80996990e-03,
 -2.06760082e-05, 3.47274442e-02, 1.09498872e-02, 1.80633370e-03,
 -3.03148007e-03, 3.46328751e-02, 1.09071908e-02, 1.84880304e-03,
  0.00000000e+00, 2.99718831e-03, 0.00000000e+00, 1.18974301e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006828890783689076
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30174675,  0.08799307, -0.94931876, -0.02665502,  0.99612109,
        0.08385875,  0.95301543,  0.        ,  0.30292176])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07200852, -0.04291157,  0.22464925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  4.29770767,  7.49109375,  4.29770767, 17.53641441,
       -5.10603896,  7.49109375, -5.10603896, 11.56574398,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001331544721356867
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.16892879e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.16892879e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03817165, -0.11681813,  0.06188165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33474653e-03, 3.58842303e-02, 9.00808783e-03, 7.34382944e-05,
 -2.13157364e-05,-4.82326253e-05,-4.50365419e-05, 7.55473429e-05,
  9.70352913e-06,-1.73605698e-05, 3.66381430e-05,-4.09705729e-06,
  3.29757086e-03, 4.76485123e-03, 9.17045048e-03, 1.86599284e-03,
  1.71975915e-06,-7.85801065e-07,-1.21643879e+00, 1.57748076e-03,
  5.41723237e-04, 2.94770622e-05]


--- Step 2721 ---
qpos:
[-0.01630963, 1.29625098,-0.03198808, 0.94843248, 0.00436967, 1.33158713,
 -0.02976071, 0.94624943, 0.01673703, 1.33658679,-0.02393816, 0.95497945,
  1.39486238,-0.00603142, 1.18869066, 0.06127773,-0.00370266,-0.09264546,
  0.08157546, 0.65360271,-0.0118931 ,-0.0033379 , 0.75673701]

qacc:
[ 2.82652015e-01, 2.32097948e+00,-1.15830020e+01, 2.36900274e+01,
 -4.32129097e-02, 1.54691208e+00,-6.17452266e+00, 1.14696641e+01,
 -3.03190925e-02,-6.98890118e-01, 8.64862924e+00,-3.69079543e+01,
  4.36494915e-02,-1.46234231e-02, 3.94927203e+00,-8.46284899e+00,
 -1.41502812e+00,-7.53422229e-01,-6.80350917e-01,-6.71751947e+01,
 -6.01140051e+01,-1.09713465e+00]

qfrc_actuator:
[ 4.11214064e-03, 7.10432500e-02, 2.00265409e-02, 1.86827670e-03,
 -2.05260440e-05, 3.47521501e-02, 1.09468201e-02, 1.83356371e-03,
 -3.04589980e-03, 3.47019832e-02, 1.08643010e-02, 1.72077696e-03,
  0.00000000e+00, 2.96801992e-03, 0.00000000e+00, 5.95206120e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006825447783009586
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3017302 ,  0.08799446, -0.9493239 , -0.02665398,  0.99612096,
        0.08386054,  0.9530207 ,  0.        ,  0.30290518])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07200632, -0.04291192,  0.22464974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.01297106,   5.04033865,   7.01297106,
        32.04438641, -32.56919774,   5.04033865, -32.56919774,
        53.95213644,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013330769052964514
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.16413719e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.16413719e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03786513, -0.06500784,  0.06188159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30565574e-03, 3.59377017e-02, 9.03663582e-03, 5.08139080e-05,
 -1.24306277e-05,-8.50741381e-06,-1.54071510e-05, 2.62173892e-05,
 -8.69254593e-06, 6.65550856e-05,-4.22322544e-05,-1.27562146e-04,
  3.31413971e-03, 4.73268078e-03, 8.98819821e-03, 1.81007884e-03,
  8.29862051e-06,-1.93539331e-07,-1.21644061e+00, 1.58295638e-03,
  5.38711091e-04, 3.12941624e-05]


--- Step 2722 ---
qpos:
[-0.01631136, 1.29626024,-0.03198676, 0.94843362, 0.00436921, 1.33158606,
 -0.02976004, 0.94625132, 0.01673676, 1.33658617,-0.02393949, 0.9549808 ,
  1.39486931,-0.0060313 , 1.18868088, 0.06127487,-0.00370442,-0.09265612,
  0.0815811 , 0.65367463,-0.01172778,-0.00354546, 0.75667653]

qacc:
[ 6.82088415e-01,-1.02883972e+00,-2.16494405e+00, 3.17600227e+00,
 -8.62832966e-02, 1.35861443e+00,-5.17970210e+00, 1.13996396e+01,
 -4.76313533e-02, 5.76269110e+00,-2.19007636e+01, 3.78588000e+01,
  1.10688837e-01,-5.15703680e-01, 1.20618048e+01,-2.29580388e+01,
 -1.30328916e+00,-7.81192301e-01,-1.21037916e+00,-6.33672223e+01,
 -5.61670035e+01,-1.48523078e+00]

qfrc_actuator:
[ 4.11116161e-03, 7.09876733e-02, 2.00163068e-02, 1.84883818e-03,
 -3.80220379e-05, 3.48030514e-02, 1.09626349e-02, 1.86682672e-03,
 -3.05444525e-03, 3.46722352e-02, 1.08037435e-02, 1.80535812e-03,
  0.00000000e+00, 2.96798163e-03, 0.00000000e+00,-2.41087206e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006822593777818346
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01715339e-01,  8.79956266e-02, -9.49328512e-01, -2.66530211e-02,
        9.96120861e-01,  8.38620699e-02,  9.53025430e-01, -3.46944695e-18,
        3.02890293e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07200433, -0.04291231,  0.22465017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.90759452, -3.47227962, -7.90759452,  8.87066312,
       -0.53358184, -3.47227962, -0.53358184,  9.85151602,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013232299019640195
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.39025042e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.39025042e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03788862, -0.06500506,  0.06188247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.27150079e-03, 3.59362112e-02, 9.06037674e-03,-2.47095998e-05,
 -2.48318267e-05, 4.39788601e-05, 1.31692895e-05, 3.31655085e-05,
 -1.36751210e-05,-4.96657342e-06,-5.60907233e-05, 8.23469725e-05,
  3.30431003e-03, 4.73434204e-03, 8.86382915e-03, 1.51398628e-03,
  1.09715860e-06,-3.31945372e-07,-1.21643872e+00, 1.57639966e-03,
  5.42398930e-04, 2.90053841e-05]


--- Step 2723 ---
qpos:
[-0.01631279, 1.29626803,-0.0319859 , 0.9484336 , 0.00436854, 1.3315848 ,
 -0.02975897, 0.94625362, 0.01673638, 1.33658596,-0.02394197, 0.95498313,
  1.39487565,-0.00603149, 1.18867459, 0.06127231,-0.00370787,-0.09266809,
  0.08159594, 0.65374698,-0.01156428,-0.00381587, 0.75661522]

qacc:
[  0.12970618, -2.71035873,  8.91326248,-20.34197963, -0.08620058,
  -0.62696756,  0.88088116,  4.13497383, -0.04541624,  5.34504579,
 -18.7518556 , 27.33289223, -0.41566328,  0.1453502 ,  4.27098976,
  -7.39115224, -0.42185141, -0.32871459,  2.29912469,-24.3735794 ,
 -19.84632608, -0.80107611]

qfrc_actuator:
[ 4.11030598e-03, 7.09705298e-02, 2.00282450e-02, 1.80126023e-03,
 -4.82105180e-05, 3.47628137e-02, 1.09718310e-02, 1.88565886e-03,
 -3.05939689e-03, 3.47078173e-02, 1.07508007e-02, 1.85458160e-03,
  0.00000000e+00, 3.02156375e-03, 0.00000000e+00,-2.60767111e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006822417709636368
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30170525,  0.08799626, -0.94933166, -0.02665232,  0.9961208 ,
        0.08386296,  0.95302864,  0.        ,  0.30288019])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07200317, -0.0429128 ,  0.22465044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.36455832,  -4.51110381,  -7.36455832,
        24.40679389, -25.74586136,  -4.51110381, -25.74586136,
        50.66751728,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001300914727298714
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.51379460e-07, -8.00078640e-15,  1.00000000e+00,  2.01123337e-21,
        1.00000000e+00,  8.00078640e-15, -1.00000000e+00,  0.00000000e+00,
        2.51379460e-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([ 0.0085809 , -0.08496819,  0.06188436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19062486e-03, 3.60984291e-02, 9.14317681e-03,-6.81802283e-05,
 -2.48405870e-05,-1.23323942e-05, 2.02694324e-05, 2.13083683e-05,
 -1.30264475e-05, 2.43285398e-05,-5.78737781e-05, 4.93509436e-05,
  3.29770004e-03, 4.82080997e-03, 8.41529666e-03, 1.47487320e-03,
  3.58033304e-07, 6.69805979e-06,-1.21643976e+00, 1.57038842e-03,
  5.45674515e-04, 3.60198200e-05]


--- Step 2724 ---
qpos:
[-0.0163149 , 1.2962775 ,-0.03198368, 0.94843297, 0.00436784, 1.33158286,
 -0.0297573 , 0.9462572 , 0.01673592, 1.33658606,-0.0239438 , 0.95498249,
  1.39488146,-0.00603153, 1.1886658 , 0.06126982,-0.00370588,-0.09267625,
  0.08161103, 0.65381814,-0.01140577,-0.00391596, 0.75655562]

qacc:
[-2.94033623e-01,-2.48370796e+00, 1.20000608e+01,-1.84550462e+01,
 -8.99233340e-03,-3.57109304e-01,-2.52059403e+00, 1.73896143e+01,
 -3.61137822e-02,-6.43215332e+00, 2.74360279e+01,-5.81637423e+01,
 -3.82698668e-01, 4.05070319e-01,-3.86910355e+00, 8.22810037e+00,
  1.36049801e+00, 9.52585882e-01, 6.36573512e-02, 6.27995229e+01,
  5.75513362e+01, 2.00705572e+00]

qfrc_actuator:
[ 4.11018040e-03, 7.09935097e-02, 2.00885883e-02, 1.79117781e-03,
 -3.61803882e-05, 3.47037930e-02, 1.09944387e-02, 1.94904687e-03,
 -3.06215271e-03, 3.47467536e-02, 1.07917259e-02, 1.70506728e-03,
  0.00000000e+00, 3.03621903e-03, 0.00000000e+00,-1.11957338e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006823308949766189
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30169699,  0.08799678, -0.94933424, -0.02665175,  0.99612076,
        0.08386369,  0.95303127,  0.        ,  0.30287191])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07200234, -0.04291325,  0.22465066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.2742766 ,  -4.65528482,  -7.2742766 ,
        20.24916534, -18.14598569,  -4.65528482, -18.14598569,
        36.99100234,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013059370005189253
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.84467956e-14,  2.12533802e-14,  1.00000000e+00,  1.24219197e-27,
        1.00000000e+00, -2.12533802e-14, -1.00000000e+00,  0.00000000e+00,
       -5.84467956e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03823685, -0.1168306 ,  0.06188402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17528637e-03, 3.61945572e-02, 9.22585023e-03,-1.97311144e-05,
 -2.62914737e-06,-6.12297295e-05, 2.31295467e-05, 6.41095007e-05,
 -1.04464864e-05, 4.25563701e-05, 4.05494119e-05,-1.49338541e-04,
  3.32699057e-03, 4.85077278e-03, 8.24084464e-03, 1.60867459e-03,
  1.65951101e-06, 1.10803577e-05,-1.21644081e+00, 1.56825309e-03,
  5.47080633e-04, 4.04833036e-05]


--- Step 2725 ---
qpos:
[-0.01631643, 1.29628672,-0.03198119, 0.94843314, 0.00436735, 1.33158065,
 -0.02975544, 0.94626116, 0.01673554, 1.33658491,-0.02394346, 0.95498289,
  1.39488769,-0.0060317 , 1.18865932, 0.06126719,-0.0036989 ,-0.09268067,
  0.08162412, 0.65388867,-0.01125136,-0.00385559, 0.75649729]

qacc:
[ 2.53159734e-01, 3.01389596e-01,-3.02037108e+00, 1.20355658e+01,
  8.23813841e-02,-1.99210053e-01,-5.32580956e-01, 4.94360475e+00,
  3.57007825e-02,-5.76053943e+00, 1.47025063e+01,-3.32742349e-02,
  2.93817290e-01,-3.14669438e-01, 3.79436955e+00,-8.36265871e+00,
  1.24837768e+00, 9.37090220e-01,-4.99554391e-01, 5.93554478e+01,
  5.39927773e+01, 1.57214841e+00]

qfrc_actuator:
[ 4.09361285e-03, 7.09847496e-02, 2.01053409e-02, 1.82124993e-03,
 -1.09197645e-05, 3.47050679e-02, 1.10069658e-02, 1.96712935e-03,
 -3.04581684e-03, 3.46278666e-02, 1.08876419e-02, 1.75941396e-03,
  0.00000000e+00, 2.97393450e-03, 0.00000000e+00,-2.34746235e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006824108826848606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30168584,  0.08799755, -0.94933771, -0.026651  ,  0.99612069,
        0.08386473,  0.95303483,  0.        ,  0.30286073])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07200126, -0.04291364,  0.22465094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  6.78944602,  5.33762115,  6.78944602, 11.5474994 ,
       -3.70296029,  5.33762115, -3.70296029, 13.34652351,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012961371403063943
  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([-0.03825843, -0.11683717,  0.06188492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19321938e-03, 3.61018372e-02, 9.17483646e-03, 4.06964410e-05,
  2.37066456e-05,-2.61327169e-05, 5.06804814e-06, 1.84162160e-05,
  1.01701764e-05,-9.18600553e-05, 1.04466723e-04, 5.33152161e-05,
  3.35365451e-03, 4.78137729e-03, 8.36598040e-03, 1.48254651e-03,
  1.60840495e-07, 1.48821057e-06,-1.21643880e+00, 1.57459449e-03,
  5.44360306e-04, 2.88282967e-05]


--- Step 2726 ---
qpos:
[-0.01631831, 1.29629711,-0.03197847, 0.94843354, 0.00436723, 1.33157853,
 -0.02975352, 0.94626389, 0.01673514, 1.33658266,-0.02394127, 0.95498394,
  1.39489429,-0.00603159, 1.1886492 , 0.06126414,-0.00369729,-0.09267851,
  0.08163052, 0.65394843,-0.01129287,-0.00378576, 0.75644536]

qacc:
[-1.53582321e-01, 1.31995671e+00,-2.93339790e+00, 4.53899689e+00,
  1.63182794e-01,-2.12872111e+00, 9.58086901e+00,-2.24950691e+01,
 -6.04912027e-03,-5.28129459e+00, 1.41929118e+01,-4.14013401e+00,
  2.55287222e-01,-3.22911418e-02,-4.12240089e+00, 6.57221785e+00,
 -1.34298403e+00, 1.64350421e+00,-1.67308651e+00,-6.05244012e+01,
  7.71495827e+01, 6.59857165e+00]

qfrc_actuator:
[ 4.08392475e-03, 7.09759574e-02, 2.00787290e-02, 1.83874537e-03,
  2.20718909e-05, 3.47246262e-02, 1.10136305e-02, 1.90516350e-03,
 -3.05366596e-03, 3.45755066e-02, 1.09792517e-02, 1.79124166e-03,
  0.00000000e+00, 2.95445902e-03, 0.00000000e+00,-9.42562047e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006826069793779456
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01674669e-01,  8.79981289e-02, -9.49341205e-01, -2.66501921e-02,
        9.96120640e-01,  8.38655946e-02,  9.53038384e-01,  3.46944695e-18,
        3.02849531e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07200036, -0.04291409,  0.22465121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.63062972,  0.31465466,  8.63062972,  8.70212562,
       -1.80377857,  0.31465466, -1.80377857, 58.11201777,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001299346727950769
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.27223543e-14,  2.13611771e-14,  1.00000000e+00,  9.12599777e-28,
        1.00000000e+00, -2.13611771e-14, -1.00000000e+00,  0.00000000e+00,
       -4.27223543e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04590896, -0.1183902 ,  0.06188472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15382902e-03, 3.61055939e-02, 9.13467642e-03, 1.82049071e-05,
  4.69801989e-05, 6.66572163e-06, 2.67620934e-06,-6.21687903e-05,
 -1.84894272e-06,-8.11682326e-05, 8.71033895e-05, 3.34025151e-05,
  3.33224863e-03, 4.76812701e-03, 8.25068601e-03, 1.62979092e-03,
  4.03014299e-06,-1.10187129e-06,-1.21643940e+00, 1.58029140e-03,
  5.41494643e-04, 2.64220205e-05]


--- Step 2727 ---
qpos:
[-0.01632131, 1.29630938,-0.03197508, 0.94843511, 0.00436751, 1.33157681,
 -0.02975196, 0.94626516, 0.0167347 , 1.33658093,-0.02393933, 0.9549836 ,
  1.39490038,-0.00603088, 1.18863438, 0.0612606 ,-0.00370082,-0.0926704 ,
  0.08162833, 0.6539987 ,-0.01151934,-0.00370632, 0.75639889]

qacc:
[-4.75608302e-01, 2.62006333e+00,-7.93869993e+00, 1.90574752e+01,
  1.64321823e-01,-1.04716953e+00, 7.03323860e+00,-2.32672391e+01,
 -1.96180440e-02,-1.05477212e+00, 7.03008461e+00,-2.23734990e+01,
 -5.96501591e-01, 9.79846761e-01,-5.38263472e+00, 8.86190547e+00,
 -1.28411737e+00, 1.48763450e+00,-2.15010592e+00,-5.68836604e+01,
  7.30418445e+01, 5.78013084e+00]

qfrc_actuator:
[ 4.09683349e-03, 7.09835765e-02, 2.00792890e-02, 1.90219635e-03,
  4.16810263e-05, 3.47549095e-02, 1.09990761e-02, 1.83211749e-03,
 -3.05820834e-03, 3.46521551e-02, 1.09789808e-02, 1.72076606e-03,
  0.00000000e+00, 3.03132644e-03, 0.00000000e+00, 2.70143259e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006826626907256612
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01662163e-01,  8.79988361e-02, -9.49345113e-01, -2.66493032e-02,
        9.96120577e-01,  8.38666191e-02,  9.53042367e-01, -3.46944695e-18,
        3.02836996e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07199913, -0.04291454,  0.22465152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.0742223 ,  3.06491617, -8.0742223 ,  8.85313249,
        0.57105637,  3.06491617,  0.57105637, 10.14075587,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012900829219497784
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.30291342e-14,  6.45437014e-14,  1.00000000e+00, -2.77725959e-27,
        1.00000000e+00, -6.45437014e-14, -1.00000000e+00,  0.00000000e+00,
        4.30291342e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04592661, -0.11841039,  0.06188552])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18474011e-03, 3.60546067e-02, 9.12373963e-03, 6.98549471e-05,
  4.73331338e-05, 3.26477799e-05,-1.47641699e-05,-7.42068256e-05,
 -5.63838094e-06, 4.97776632e-05,-5.24505689e-06,-6.95534283e-05,
  3.31435427e-03, 4.83106749e-03, 8.43294577e-03, 1.77212106e-03,
  1.38955986e-06, 1.10748765e-06,-1.21644118e+00, 1.58809453e-03,
  5.44426009e-04, 3.10379020e-05]


--- Step 2728 ---
qpos:
[-0.01632491, 1.29632324,-0.03197134, 0.94843883, 0.00436796, 1.33157551,
 -0.0297509 , 0.94626487, 0.0167345 , 1.33658035,-0.02393955, 0.95498419,
  1.39490615,-0.00602956, 1.18861549, 0.0612564 ,-0.00370927,-0.09265684,
  0.08161592, 0.65404042,-0.01192159,-0.0036172 , 0.75635701]

qacc:
[ -0.25666617,  4.83887446,-17.67195427, 39.38702833,  0.07493837,
  -0.75424606,  6.35250778,-23.96744511,  0.10242025,  8.92347112,
 -29.13281102, 35.2217208 , -0.49370703,  0.90938862, -3.99555223,
   5.32864751, -1.23313942,  1.36146328, -2.55228828,-53.86428111,
  69.60612529,  5.11322899]

qfrc_actuator:
[ 4.14195265e-03, 7.09821195e-02, 2.00601154e-02, 2.00996074e-03,
  3.53510947e-05, 3.47735331e-02, 1.09721708e-02, 1.75315196e-03,
 -3.02522423e-03, 3.47162874e-02, 1.08716751e-02, 1.76820970e-03,
  0.00000000e+00, 3.05904457e-03, 0.00000000e+00, 1.01492431e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006825696353065722
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30164723,  0.08799991, -0.94934976, -0.02664831,  0.99612048,
        0.08386806,  0.95304712,  0.        ,  0.30282203])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07199745, -0.04291492,  0.22465192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.09489062,  3.0099041 , -8.09489062,  9.02769172,
        1.05244484,  3.0099041 ,  1.05244484, 11.46682786,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012683553105790335
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.75324931e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.75324931e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04597062, -0.11844273,  0.06188733])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28563995e-03, 3.59594151e-02, 9.07108674e-03, 1.19922323e-04,
  2.16033247e-05, 3.15842397e-05,-2.43728106e-05,-8.01395470e-05,
  2.96564212e-05, 8.85823939e-05,-1.00216259e-04, 4.71462937e-05,
  3.33947893e-03, 4.82844818e-03, 8.66789989e-03, 1.87150879e-03,
  1.66656657e-06, 3.83464957e-07,-1.21644558e+00, 1.59397678e-03,
  5.46643601e-04, 2.50488199e-05]


--- Step 2729 ---
qpos:
[-0.01632791, 1.29633655,-0.03196787, 0.94844233, 0.00436834, 1.33157407,
 -0.02974974, 0.94626468, 0.01673432, 1.33657946,-0.02394002, 0.95498642,
  1.39491225,-0.00602838, 1.18859695, 0.06125232,-0.00371285,-0.09263909,
  0.08160495, 0.6540822 ,-0.01232729,-0.00335219, 0.7563156 ]

qacc:
[ 2.51693604e-01,-3.69614596e-01, 7.96851897e-01,-3.04525359e+00,
 -3.15351312e-02,-2.48115915e-01, 3.67164423e-01, 1.04806858e+00,
  5.96452742e-03, 3.10679115e+00,-1.38976008e+01, 3.10305560e+01,
  3.39055907e-01,-4.17701862e-01, 8.95583401e-02, 3.56801597e-01,
  1.22001635e+00, 1.04923328e+00, 3.58527735e-01, 6.53953381e+01,
  5.88220731e+01, 1.18888219e+00]

qfrc_actuator:
[ 4.17082523e-03, 7.09924863e-02, 2.00468987e-02, 1.98306337e-03,
  1.35134512e-05, 3.47494663e-02, 1.09736612e-02, 1.76009176e-03,
 -3.04100537e-03, 3.46477902e-02, 1.08441717e-02, 1.84914142e-03,
  0.00000000e+00, 3.02152418e-03, 0.00000000e+00, 4.17356644e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006823375633865786
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30163042,  0.08800118, -0.94935498, -0.02664721,  0.99612037,
        0.08386974,  0.95305247,  0.        ,  0.30280519])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07199539, -0.04291527,  0.22465239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.001276917105731426
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.43409895e-15,  4.34727916e-14,  1.00000000e+00, -2.36235451e-28,
        1.00000000e+00, -4.34727916e-14, -1.00000000e+00,  0.00000000e+00,
        5.43409895e-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([-0.03829974, -0.11684036,  0.06188655])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34459918e-03, 3.58893420e-02, 9.03998643e-03,-1.53847940e-05,
 -9.08783939e-06,-1.37568032e-05, 2.54609463e-06, 5.31251784e-06,
  1.73080055e-06,-3.76805099e-05,-2.02117443e-05, 8.17213193e-05,
  3.35534798e-03, 4.76051690e-03, 8.87189009e-03, 1.84457072e-03,
  4.38647846e-06,-2.81041163e-06,-1.21645228e+00, 1.59843806e-03,
  5.48319855e-04, 1.01225241e-05]


--- Step 2730 ---
qpos:
[-0.01632975, 1.29634796,-0.03196515, 0.94844424, 0.00436856, 1.33157228,
 -0.02974903, 0.94626462, 0.01673392, 1.33657809,-0.02393975, 0.95498748,
  1.39491896,-0.00602777, 1.18858176, 0.06124877,-0.00372247,-0.09262575,
  0.08159389, 0.6541258 ,-0.01273243,-0.00327821, 0.7562715 ]

qacc:
[ 5.00503059e-01,-3.20475443e+00, 1.06696578e+01,-2.63332463e+01,
 -6.45240600e-02, 9.56328772e-01,-3.96074700e+00, 5.19839692e+00,
 -9.04780598e-02,-4.62780740e+00, 1.66481643e+01,-2.74491048e+01,
  7.37076366e-01,-1.10377363e+00, 3.35519032e+00,-4.64276801e+00,
 -1.51055436e+00,-1.10154673e+00,-2.05343631e-02,-7.20510314e+01,
 -6.26662777e+01,-2.74631222e+00]

qfrc_actuator:
[ 4.17124552e-03, 7.09759658e-02, 2.00377535e-02, 1.89465661e-03,
  3.04544630e-07, 3.47001768e-02, 1.09385302e-02, 1.76426416e-03,
 -3.06816151e-03, 3.46249833e-02, 1.08812712e-02, 1.78931804e-03,
  0.00000000e+00, 2.96311996e-03, 0.00000000e+00,-6.35768387e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000682086948510352
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30161442,  0.08800226, -0.94935997, -0.02664613,  0.99612027,
        0.08387122,  0.95305757,  0.        ,  0.30278915])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07199337, -0.04291564,  0.22465285])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.001279186456297987
  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([ 0.03800965, -0.06500741,  0.06188631])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31548143e-03, 3.59006919e-02, 9.04497268e-03,-9.20762687e-05,
 -1.85722517e-05,-5.62338664e-05,-3.73758539e-05, 3.95716219e-06,
 -2.61366710e-05,-4.51599970e-05, 2.98394316e-05,-5.96280953e-05,
  3.33942906e-03, 4.70918661e-03, 8.85534557e-03, 1.73298463e-03,
 -1.45824706e-07, 8.17755676e-06,-1.21645622e+00, 1.60319172e-03,
  5.45305288e-04, 2.42417743e-05]


--- Step 2731 ---
qpos:
[-0.01633067, 1.29635771,-0.03196343, 0.94844612, 0.00436863, 1.3315706 ,
 -0.02974958, 0.946266  , 0.01673326, 1.33657711,-0.02394017, 0.95498609,
  1.39492602,-0.0060275 , 1.18857006, 0.06124524,-0.00373242,-0.0926186 ,
  0.08159426, 0.65417115,-0.0130293 ,-0.00331522, 0.75622705]

qacc:
[ 3.90239696e-01, 4.69066467e-01,-4.06367380e+00, 4.05024374e+00,
 -6.58052491e-02, 5.99934781e+00,-2.23221741e+01, 3.58744895e+01,
 -1.09141384e-01,-1.84392176e+00, 1.15896171e+01,-3.85930092e+01,
  3.24355443e-01,-5.08353603e-01, 5.03230838e+00,-1.01817344e+01,
 -8.21604175e-02,-1.55128317e+00, 2.85672067e+00,-6.54781936e+00,
 -7.72387834e+01,-1.66109623e+00]

qfrc_actuator:
[ 4.15377457e-03, 7.09981376e-02, 2.00316172e-02, 1.89505272e-03,
 -7.61960163e-06, 3.47247939e-02, 1.08819287e-02, 1.83772004e-03,
 -3.08416742e-03, 3.46653969e-02, 1.08497211e-02, 1.66492805e-03,
  0.00000000e+00, 2.94593618e-03, 0.00000000e+00,-1.61156289e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000681905936467303
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01600933e-01,  8.80029666e-02, -9.49364185e-01, -2.66451544e-02,
        9.96120213e-01,  8.38722712e-02,  9.53061862e-01,  3.46944695e-18,
        3.02775638e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07199169, -0.04291607,  0.22465322])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -8.30930552,  -2.35419172,  -8.30930552,
        13.96536066, -18.80911566,  -2.35419172, -18.80911566,
        75.02462213,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001300361839191258
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.26890036e-14,  4.26890036e-14,  1.00000000e+00,  1.82235103e-27,
        1.00000000e+00, -4.26890036e-14, -1.00000000e+00,  0.00000000e+00,
       -4.26890036e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00219907, -0.07094928,  0.06188448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23929165e-03, 3.60178969e-02, 9.07561282e-03,-1.26408268e-05,
 -1.88857917e-05,-1.36684320e-05,-7.17328675e-05, 7.07648981e-05,
 -3.14393828e-05, 1.95104986e-05,-3.87204299e-05,-1.26242778e-04,
  3.30869219e-03, 4.72089040e-03, 8.68739549e-03, 1.60972492e-03,
  5.27113831e-06,-3.45231739e-06,-1.21645242e+00, 1.59896320e-03,
  5.47900797e-04, 1.20498285e-05]


--- Step 2732 ---
qpos:
[-0.01633093, 1.29636592,-0.03196261, 0.94844934, 0.00436857, 1.33156957,
 -0.02975086, 0.94626887, 0.01673252, 1.33657646,-0.02394144, 0.95498634,
  1.39493319,-0.00602741, 1.1885633 , 0.06124146,-0.003738  ,-0.09261681,
  0.08160126, 0.65421483,-0.01315835,-0.00336624, 0.75618681]

qacc:
[ 2.81446142e-01, 2.70796078e+00,-1.40537914e+01, 2.88176413e+01,
 -5.51994279e-02, 5.36027171e+00,-1.95028338e+01, 3.36925882e+01,
 -3.48654541e-02, 5.57372317e+00,-2.09740474e+01, 3.69299134e+01,
 -6.28794528e-02, 3.47183495e-03, 8.07547447e+00,-1.76406490e+01,
  1.09103812e+00,-1.33559194e+00, 1.65788701e+00, 4.95898294e+01,
 -6.80656525e+01, 1.63832332e+00]

qfrc_actuator:
[ 4.10760505e-03, 7.10440380e-02, 2.00456045e-02, 1.96557827e-03,
 -1.23094092e-05, 3.48111763e-02, 1.08666954e-02, 1.91588782e-03,
 -3.07560142e-03, 3.46897936e-02, 1.08136193e-02, 1.75209665e-03,
  0.00000000e+00, 2.95346883e-03, 0.00000000e+00,-3.24826034e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000681801502457266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30158999,  0.08800337, -0.94936762, -0.02664431,  0.99612018,
        0.08387296,  0.95306535,  0.        ,  0.30276467])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07199033, -0.04291655,  0.22465352])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.13726271, -2.89339463, -8.13726271,  9.30120272,
       -1.86976578, -2.89339463, -1.86976578, 13.89481514,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013144195181282944
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.27905574e-14,  8.44648919e-14,  1.00000000e+00,  4.45894872e-27,
        1.00000000e+00, -8.44648919e-14, -1.00000000e+00,  0.00000000e+00,
       -5.27905574e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0310667 , -0.07532579,  0.06188331])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14732840e-03, 3.61464569e-02, 9.13994234e-03, 6.00666950e-05,
 -1.58351179e-05, 6.69292881e-05,-2.39881534e-05, 7.72968501e-05,
 -9.99506976e-06, 2.38868573e-05,-4.03859094e-05, 8.36719877e-05,
  3.29106390e-03, 4.74496495e-03, 8.51343537e-03, 1.44468406e-03,
  7.32999350e-06,-3.05468232e-06,-1.21644707e+00, 1.59299402e-03,
  5.47706570e-04, 2.23983313e-05]


--- Step 2733 ---
qpos:
[-0.01633127, 1.29637427,-0.03196184, 0.9484525 , 0.00436856, 1.33156897,
 -0.02975226, 0.94627194, 0.01673193, 1.33657675,-0.02394376, 0.95498794,
  1.39494048,-0.00602736, 1.18855661, 0.0612375 ,-0.00373945,-0.09261991,
  0.081612  , 0.65425714,-0.01313009,-0.00343069, 0.7561504 ]

qacc:
[-3.40598792e-02, 1.97889623e-01,-2.76058198e-01,-6.46447176e-01,
  1.97180954e-02, 1.27072753e+00,-3.89258406e+00, 5.53846383e+00,
  5.98510891e-02, 6.35457304e+00,-2.19415323e+01, 3.39031542e+01,
  1.06583735e-01,-1.30903450e-01, 6.13644040e-01,-2.00446833e+00,
  1.03571817e+00,-1.22588825e+00, 9.33388563e-01, 4.63777724e+01,
 -6.38986503e+01, 1.41734297e+00]

qfrc_actuator:
[ 4.09736320e-03, 7.10159650e-02, 2.00364573e-02, 1.97028427e-03,
  2.73098916e-06, 3.48275261e-02, 1.08585069e-02, 1.92524784e-03,
 -3.05236493e-03, 3.47755091e-02, 1.07752315e-02, 1.82106237e-03,
  0.00000000e+00, 2.94030417e-03, 0.00000000e+00,-2.79337331e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006818584342814168
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30158139,  0.08800354, -0.94937034, -0.0266436 ,  0.99612016,
        0.08387337,  0.95306809,  0.        ,  0.30275603])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0719894 , -0.04291709,  0.22465374])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.38162112, -4.4831291 ,  7.38162112, 16.70720748,
       13.28891274, -4.4831291 , 13.28891274, 30.51700029,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001316715329936373
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.43176197e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.43176197e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03106272, -0.0753239 ,  0.06188315])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10405510e-03, 3.61955914e-02, 9.17582788e-03,-2.98303491e-06,
  5.69811594e-06, 5.10108564e-05, 4.44280352e-06, 1.24582123e-05,
  1.73355150e-05, 9.35223417e-05,-3.58620452e-05, 7.04370450e-05,
  3.28535024e-03, 4.74063398e-03, 8.26672818e-03, 1.50314429e-03,
  2.81585174e-06,-1.02327753e-07,-1.21644192e+00, 1.58750414e-03,
  5.45404493e-04, 3.42812714e-05]


--- Step 2734 ---
qpos:
[-0.01633203, 1.29638433,-0.03196018, 0.94845446, 0.0043688 , 1.33156806,
 -0.02975343, 0.9462748 , 0.01673139, 1.3365774 ,-0.02394602, 0.95498896,
  1.39494806,-0.00602734, 1.18854568, 0.06123355,-0.00373693,-0.09262756,
  0.08162404, 0.6542983 ,-0.0129532 ,-0.00350807, 0.75611748]

qacc:
[-1.80137733e-01,-2.18766515e+00, 1.22912594e+01,-2.55598128e+01,
  1.04673996e-01,-1.42462173e+00, 4.59842996e+00,-6.23203780e+00,
  2.28068801e-02,-6.89447966e-01, 3.98083393e+00,-1.03026623e+01,
  4.63851848e-01,-5.05857606e-01,-6.29426708e+00, 1.28431658e+01,
  9.89318276e-01,-1.13708397e+00, 3.26645245e-01, 4.37259395e+01,
 -6.04473049e+01, 1.23397811e+00]

qfrc_actuator:
[ 4.12690676e-03, 7.09601889e-02, 2.00306879e-02, 1.91862778e-03,
  2.94849207e-05, 3.47663074e-02, 1.08542340e-02, 1.91175603e-03,
 -3.05602250e-03, 3.47730062e-02, 1.07715046e-02, 1.78998807e-03,
  0.00000000e+00, 2.89691200e-03, 0.00000000e+00,-1.08339312e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006819241992258342
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01572689e-01,  8.80037416e-02, -9.49373085e-01, -2.66428956e-02,
        9.96120144e-01,  8.38738020e-02,  9.53070863e-01,  3.46944695e-18,
        3.02747305e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07198846, -0.04291764,  0.22465397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.2913394 , -4.62851451,  7.2913394 , 18.90547385,
       16.17701915, -4.62851451, 16.17701915, 34.12016341,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013047190624110583
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.063661e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
       -1.063661e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03107748, -0.07531196,  0.06188421])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13758668e-03, 3.61325275e-02, 9.17236882e-03,-5.11937048e-05,
  3.01182315e-05,-3.17490787e-05, 6.57964977e-06,-1.15415990e-05,
  6.58025806e-06, 4.43006779e-05, 1.25270390e-05,-2.77136182e-05,
  3.27980050e-03, 4.69971544e-03, 8.26313385e-03, 1.68265606e-03,
  4.61672743e-07, 8.67933842e-07,-1.21643976e+00, 1.58314560e-03,
  5.43826076e-04, 3.71389260e-05]


--- Step 2735 ---
qpos:
[-0.01633343, 1.29639654,-0.03195703, 0.94845537, 0.00436916, 1.33156706,
 -0.02975463, 0.94627679, 0.01673086, 1.33657755,-0.02394761, 0.9549893 ,
  1.39495601,-0.00602729, 1.18852997, 0.06122975,-0.00372983,-0.09263543,
  0.08163872, 0.65433898,-0.01269601,-0.00350825, 0.75608663]

qacc:
[-2.71044431e-01,-2.97492460e+00, 1.52697205e+01,-2.67557929e+01,
  5.49980666e-02,-1.49476905e+00, 6.52045721e+00,-1.57486288e+01,
  6.67381934e-03,-3.60355907e+00, 1.23287178e+01,-1.82075146e+01,
  5.33842397e-01,-5.43451352e-01,-7.58424581e+00, 1.61672397e+01,
  1.14634049e+00,-5.23977258e-02, 6.57872136e-01, 5.54629217e+01,
 -5.11495196e+00, 1.22310383e+00]

qfrc_actuator:
[ 4.12743850e-03, 7.08861688e-02, 2.00437825e-02, 1.86981476e-03,
  2.75427884e-05, 3.47656246e-02, 1.08519861e-02, 1.86713690e-03,
 -3.05803257e-03, 3.47000167e-02, 1.07878838e-02, 1.75352753e-03,
  0.00000000e+00, 2.85312552e-03, 0.00000000e+00, 4.90988841e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006818730936499692
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30156151,  0.0880041 , -0.9493766 , -0.02664202,  0.99612011,
        0.08387445,  0.95307442,  0.        ,  0.30273609])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07198714, -0.04291815,  0.22465427])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  1.47654675, -8.50920599,  1.47654675, 77.62526957,
       11.97119272, -8.50920599, 11.97119272, 10.71364625,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001281859601194158
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08262931e-14, -1.05568440e-06,  1.00000000e+00,  1.14291488e-20,
        1.00000000e+00,  1.05568440e-06, -1.00000000e+00,  0.00000000e+00,
        1.08262931e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03447225, -0.094693  ,  0.06188619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15924876e-03, 3.59729891e-02, 9.14107232e-03,-4.01455863e-05,
  1.58298156e-05,-1.72915748e-05,-8.04006134e-06,-4.56451168e-05,
  1.87663062e-06,-4.68670642e-05, 2.56465427e-05,-3.54271074e-05,
  3.26521580e-03, 4.65688455e-03, 8.47524195e-03, 1.84012723e-03,
 -1.13811970e-07, 1.90959261e-07,-1.21644008e+00, 1.57967432e-03,
  5.42847699e-04, 3.24272211e-05]


--- Step 2736 ---
qpos:
[-0.0163348 , 1.29640871,-0.0319532 , 0.94845627, 0.00436959, 1.33156681,
 -0.02975622, 0.94627747, 0.01673033, 1.33657785,-0.02394945, 0.95498816,
  1.39496417,-0.00602743, 1.18851548, 0.06122621,-0.00371816,-0.09263929,
  0.08164961, 0.65437995,-0.01244162,-0.00335607, 0.7560561 ]

qacc:
[ 1.20385805e-02,-1.92754257e+00, 6.21940910e+00,-5.42112598e+00,
  2.75042705e-02,-2.29765513e-01, 4.59411495e+00,-1.95047304e+01,
  3.36277740e-04,-1.70566534e+00, 8.79453376e+00,-2.48414317e+01,
  2.49345656e-01,-3.70835423e-01, 1.01222646e+00,-9.57047768e-01,
  1.14312822e+00, 1.00038672e+00,-9.46711459e-01, 5.66820183e+01,
  5.08981174e+01, 9.62905953e-01]

qfrc_actuator:
[ 4.11094569e-03, 7.08355799e-02, 2.00672416e-02, 1.85854871e-03,
  2.61540262e-05, 3.48544355e-02, 1.08511498e-02, 1.80459184e-03,
 -3.05903723e-03, 3.47274725e-02, 1.07802019e-02, 1.67866428e-03,
  0.00000000e+00, 2.84457321e-03, 0.00000000e+00,-3.25404827e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006817150830857668
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01546864e-01,  8.80046820e-02, -9.49381201e-01, -2.66409010e-02,
        9.96120061e-01,  8.38754222e-02,  9.53079090e-01,  3.46944695e-18,
        3.02721405e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07198538, -0.04291864,  0.22465466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  0.34156305, -8.62960669,  0.34156305, 12.23596335,
        0.1424735 , -8.62960669,  0.1424735 ,  8.64200279,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012620776911438092
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.39839414e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.39839414e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03834541, -0.11683176,  0.06188791])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17455699e-03, 3.58146489e-02, 9.09019355e-03, 1.29596970e-06,
  7.95211470e-06, 7.63167286e-05,-6.46446862e-06,-6.43585233e-05,
  1.01651299e-07, 5.49853502e-06,-1.49546424e-05,-7.63276282e-05,
  3.24683984e-03, 4.64717316e-03, 8.71490435e-03, 1.75068169e-03,
  3.14392630e-06,-3.01772069e-06,-1.21644108e+00, 1.57948649e-03,
  5.41734592e-04, 2.45252312e-05]


--- Step 2737 ---
qpos:
[-0.01633569, 1.29642026,-0.03194908, 0.94845849, 0.00437019, 1.33156713,
 -0.02975752, 0.94627704, 0.01672981, 1.33657864,-0.02395105, 0.95498711,
  1.39497227,-0.00602778, 1.18850399, 0.06122262,-0.00370668,-0.09264803,
  0.08166452, 0.65442249,-0.01209361,-0.00330016, 0.75602517]

qacc:
[ 2.03225324e-01, 6.69632948e-01,-5.84110140e+00, 2.06596456e+01,
  7.43305784e-02,-1.91576413e+00, 9.45976949e+00,-2.15452443e+01,
 -1.17592241e-03, 1.34194998e-01, 1.43636362e-01, 6.39818577e-01,
 -6.47636913e-02,-6.18391953e-02, 4.57679279e+00,-9.56876123e+00,
 -4.89443352e-02,-1.21950209e+00, 1.00739527e+00,-5.74905813e+00,
 -6.68768395e+01,-1.47353080e+00]

qfrc_actuator:
[ 4.13708638e-03, 7.08181446e-02, 2.00971249e-02, 1.92244305e-03,
  4.28626550e-05, 3.48896233e-02, 1.08692596e-02, 1.74981715e-03,
 -3.05943022e-03, 3.47969913e-02, 1.08119784e-02, 1.68835316e-03,
  0.00000000e+00, 2.85736749e-03, 0.00000000e+00,-1.33520109e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006816401010899462
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01531610e-01,  8.80052657e-02, -9.49385992e-01, -2.66397313e-02,
        9.96120009e-01,  8.38764062e-02,  9.53083949e-01,  3.46944695e-18,
        3.02706107e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07198372, -0.04291915,  0.22465505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.001233536084381058
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.25008218e-14, -1.12504109e-14,  1.00000000e+00, -2.53143491e-28,
        1.00000000e+00,  1.12504109e-14, -1.00000000e+00,  0.00000000e+00,
       -2.25008218e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00218602, -0.07088814,  0.06189036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19929049e-03, 3.57996300e-02, 9.08573384e-03, 6.55401467e-05,
  2.14042204e-05, 7.42137964e-05, 3.04160591e-05,-5.41706182e-05,
 -3.32308517e-07, 6.73751850e-05, 2.89175891e-05, 7.63415324e-06,
  3.23637780e-03, 4.66957849e-03, 8.65399476e-03, 1.63693868e-03,
  1.20246498e-05,-2.60086304e-06,-1.21644256e+00, 1.58210397e-03,
  5.40141041e-04, 2.60434200e-05]


--- Step 2738 ---
qpos:
[-0.0163369 , 1.29643271,-0.03194462, 0.94846062, 0.00437098, 1.33156747,
 -0.02975838, 0.94627634, 0.01672928, 1.33657952,-0.02395215, 0.95498724,
  1.3949802 ,-0.00602802, 1.18848897, 0.06121885,-0.00370024,-0.09266061,
  0.08167527, 0.65446701,-0.01174551,-0.00341641, 0.7559916 ]

qacc:
[-1.37095391e-01, 1.29129305e-01, 1.16738716e+00,-2.49973761e+00,
  7.75541851e-02,-1.64250481e+00, 5.92483082e+00,-8.22834754e+00,
 -7.21138801e-04, 8.54429916e-01,-5.00746379e+00, 1.78873970e+01,
 -4.42554799e-02, 6.29696603e-02,-4.65324913e+00, 8.71224313e+00,
 -1.25975057e+00,-9.61256378e-01,-1.04161740e+00,-6.50402513e+01,
 -5.63536456e+01,-2.65945915e+00]

qfrc_actuator:
[ 4.17059460e-03, 7.08034287e-02, 2.00777316e-02, 1.92359913e-03,
  5.25407530e-05, 3.48570029e-02, 1.08804786e-02, 1.73555099e-03,
 -3.05945295e-03, 3.47848388e-02, 1.08315344e-02, 1.74778972e-03,
  0.00000000e+00, 2.86530154e-03, 0.00000000e+00, 2.03884818e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006817008242036605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30151667,  0.0880057 , -0.9493907 , -0.02663854,  0.99611997,
        0.08387724,  0.95308871,  0.        ,  0.30269112])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0719823 , -0.04291967,  0.22465541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.63209046,  0.2716454 ,  8.63209046,  8.65963927,
       -0.73963106,  0.2716454 , -0.73963106, 32.13965974,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012310731692921767
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.76375125e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.76375125e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03812531, -0.06498708,  0.06189064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20895514e-03, 3.58153235e-02, 9.05206562e-03, 9.80951319e-07,
  2.23117168e-05, 1.27545728e-05, 2.76052548e-05,-1.24085572e-05,
 -2.16154207e-07, 3.09735394e-05, 3.62228683e-05, 6.24542070e-05,
  3.23904296e-03, 4.68750740e-03, 8.50432921e-03, 1.79335214e-03,
  9.22548231e-06,-6.28841368e-06,-1.21644321e+00, 1.57798922e-03,
  5.40807327e-04, 1.38051471e-05]


--- Step 2739 ---
qpos:
[-0.01633939, 1.29644609,-0.0319398 , 0.94846137, 0.00437207, 1.33156801,
 -0.02975913, 0.94627547, 0.01672904, 1.33658041,-0.02395351, 0.95498881,
  1.3949873 ,-0.00602795, 1.18846922, 0.06121524,-0.00369853,-0.09267698,
  0.08168   , 0.65451369,-0.01139764,-0.00369555, 0.7559552 ]

qacc:
[ -0.5423716 , -2.13054132, 11.25879728,-26.401018  ,  0.12607013,
  -0.30594792,  1.66248456, -3.47985458,  0.12334538,  3.18534867,
 -13.29230677, 28.2178705 , -0.59676269,  0.69264498, -7.45813924,
  16.01801333, -1.18140433, -0.94539534, -1.50650662,-61.64729704,
 -53.19221041, -2.69961844]

qfrc_actuator:
[ 4.15587312e-03, 7.08068318e-02, 2.00641093e-02, 1.85247583e-03,
  7.56755129e-05, 3.48727934e-02, 1.08872849e-02, 1.72743119e-03,
 -3.02374812e-03, 3.47593813e-02, 1.08079153e-02, 1.81819717e-03,
  0.00000000e+00, 2.94110703e-03, 0.00000000e+00, 1.67609792e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006816198288944579
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30150054,  0.08800625, -0.94939577, -0.02663729,  0.99611992,
        0.08387821,  0.95309385,  0.        ,  0.30267494])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07198058, -0.04292014,  0.22465581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.13689294, -2.89443435, -8.13689294, 10.03035285,
       -3.91881096, -2.89443435, -3.91881096, 19.65300502,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012183384411293685
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.55629974e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.55629974e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03815138, -0.06497555,  0.06189176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21030658e-03, 3.57736676e-02, 9.02145176e-03,-6.61185605e-05,
  3.63015534e-05, 2.78705084e-05, 1.20767016e-05,-7.21816721e-06,
  3.55784387e-05, 5.90326198e-07,-1.16260808e-05, 7.38385241e-05,
  3.24829957e-03, 4.75815475e-03, 8.68094325e-03, 1.94979330e-03,
  3.20286766e-07,-1.41399014e-06,-1.21644307e+00, 1.57414897e-03,
  5.42795256e-04, 1.68984836e-05]


--- Step 2740 ---
qpos:
[-0.01634252, 1.29645916,-0.03193544, 0.94846211, 0.00437344, 1.33156905,
 -0.02975994, 0.94627519, 0.01672929, 1.33658165,-0.02395544, 0.95498879,
  1.39499376,-0.00602758, 1.18844841, 0.06121165,-0.00370236,-0.09268747,
  0.08168   , 0.65455121,-0.01126094,-0.00396203, 0.75592341]

qacc:
[ -0.27202353,  0.81923496, -3.1371511 ,  2.77193252,  0.12040522,
   1.83021572, -6.38276129, 11.98133391,  0.20840082, -0.76719366,
   6.26901565,-24.0749576 , -0.65797573,  0.82080432, -1.53287337,
   3.21938405, -1.38675663,  1.46938313, -1.18199547,-64.35537122,
  83.91621091,  5.43702421]

qfrc_actuator:
[ 4.14879878e-03, 7.08562244e-02, 2.00537889e-02, 1.84584164e-03,
  8.89438039e-05, 3.49174322e-02, 1.08916021e-02, 1.75850952e-03,
 -2.98465194e-03, 3.47792509e-02, 1.07766861e-02, 1.73467288e-03,
  0.00000000e+00, 2.98637698e-03, 0.00000000e+00, 1.50767396e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006813380088335486
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30148318,  0.08800719, -0.94940119, -0.02663604,  0.99611984,
        0.0838796 ,  0.95309937,  0.        ,  0.30265754])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07197847, -0.0429205 ,  0.22465628])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0012310864887198764
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.50911871e-14,  6.76367807e-14,  1.00000000e+00,  3.04982273e-27,
        1.00000000e+00, -6.76367807e-14, -1.00000000e+00,  0.00000000e+00,
       -4.50911871e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04602075, -0.11856105,  0.06189071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26685768e-03, 3.57766072e-02, 8.99289261e-03,-3.28166365e-06,
  3.46911614e-05, 6.21979948e-05, 1.09287978e-05, 3.20987972e-05,
  6.01017498e-05, 2.01122174e-05,-3.02721317e-05,-8.21269981e-05,
  3.28910794e-03, 4.78792507e-03, 8.91810324e-03, 1.92465445e-03,
 -2.45634178e-06, 9.76560997e-06,-1.21644545e+00, 1.57026127e-03,
  5.44707352e-04, 2.82042938e-05]


--- Step 2741 ---
qpos:
[-0.01634527, 1.29647167,-0.03193183, 0.9484628 , 0.00437474, 1.33156968,
 -0.02976008, 0.94627636, 0.01672973, 1.3365826 ,-0.02395719, 0.9549871 ,
  1.39500061,-0.00602719, 1.1884274 , 0.06120805,-0.00371149,-0.09269254,
  0.08167307, 0.65458051,-0.01132186,-0.00421636, 0.75589576]

qacc:
[ 1.59815229e-01, 1.19465135e+00,-4.68375180e+00, 3.86925022e+00,
 -2.69381185e-02, 1.24178087e-01,-4.02502955e+00, 2.05669050e+01,
  8.00226272e-02,-3.73211939e+00, 1.50730423e+01,-3.21609518e+01,
  3.05077705e-01,-2.52183287e-01,-3.01092625e-01, 5.51323523e-01,
 -1.32375376e+00, 1.35486472e+00,-1.73100532e+00,-6.01295471e+01,
  7.86286490e+01, 4.91981021e+00]

qfrc_actuator:
[ 4.16393993e-03, 7.08808176e-02, 2.00283771e-02, 1.84157386e-03,
  6.06811441e-05, 3.48547415e-02, 1.09123126e-02, 1.83017711e-03,
 -2.99709628e-03, 3.47372111e-02, 1.07768123e-02, 1.65002053e-03,
  0.00000000e+00, 2.92444480e-03, 0.00000000e+00, 1.42092690e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006809684388600253
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30146655,  0.08800832, -0.94940637, -0.02663491,  0.99611974,
        0.08388114,  0.95310466,  0.        ,  0.30264088])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0719763 , -0.0429208 ,  0.22465675])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -5.65564648,  6.52690124, -5.65564648, 16.70728815,
        6.99356312,  6.52690124,  6.99356312, 14.69637882,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012395807668530157
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.47821979e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.47821979e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04599916, -0.11855459,  0.06189   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31389845e-03, 3.58165256e-02, 8.99053094e-03,-6.94816160e-06,
 -7.78899964e-06,-2.51913461e-05, 3.50566959e-05, 7.45973185e-05,
  2.30413957e-05,-3.92675993e-05,-1.78849952e-06,-8.68547198e-05,
  3.32127308e-03, 4.71079909e-03, 8.97097980e-03, 1.91555453e-03,
  2.08348557e-06, 1.01107108e-05,-1.21644249e+00, 1.57697612e-03,
  5.46340482e-04, 3.99281822e-05]


--- Step 2742 ---
qpos:
[-0.01634697, 1.29648171,-0.03192931, 0.94846259, 0.00437572, 1.33156953,
 -0.02975971, 0.94627842, 0.01673008, 1.33658232,-0.02395752, 0.95498753,
  1.39500767,-0.0060273 , 1.18841203, 0.06120493,-0.00371528,-0.09269291,
  0.08166988, 0.65461033,-0.0113858 ,-0.00428568, 0.75586858]

qacc:
[ 4.46067774e-01,-1.81593014e+00, 3.84338723e+00,-1.21895195e+01,
 -1.38052995e-01,-8.83110164e-01,-1.75606433e-01, 1.09745340e+01,
 -4.10120976e-02,-1.80611574e+00,-3.29416753e-01, 2.55272050e+01,
  2.38571876e-01,-5.49500787e-01, 6.86560253e+00,-1.19370116e+01,
  1.33321953e+00, 1.17484852e+00, 9.33714669e-01, 6.89429033e+01,
  6.16938191e+01, 1.01390752e+00]

qfrc_actuator:
[ 4.15614701e-03, 7.08909019e-02, 2.00298817e-02, 1.78550676e-03,
  2.54869836e-05, 3.47816143e-02, 1.09243892e-02, 1.87183848e-03,
 -3.02260569e-03, 3.46585262e-02, 1.08484969e-02, 1.76068354e-03,
  0.00000000e+00, 2.92262527e-03, 0.00000000e+00,-5.69429248e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006805375062788298
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30145116,  0.08800932, -0.94941116, -0.02663386,  0.99611965,
        0.08388252,  0.95310956,  0.        ,  0.30262545])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07197412, -0.04292113,  0.2246572 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0012592443812559084
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.51036320e-15,  1.10207264e-14,  1.00000000e+00,  6.07282053e-29,
        1.00000000e+00, -1.10207264e-14, -1.00000000e+00,  0.00000000e+00,
       -5.51036320e-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([-0.03837174, -0.11681704,  0.06188832])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28733688e-03, 3.58543088e-02, 9.02915278e-03,-6.07098505e-05,
 -3.97917268e-05,-7.79725178e-05, 1.33248425e-05, 4.36663027e-05,
 -1.19062414e-05,-1.03328317e-04, 6.12699409e-05, 1.07422051e-04,
  3.30191384e-03, 4.70812997e-03, 8.98204213e-03, 1.71717939e-03,
  9.36032902e-06, 7.25292963e-06,-1.21644299e+00, 1.58197671e-03,
  5.47504825e-04, 3.89470830e-05]


--- Step 2743 ---
qpos:
[-0.01634783, 1.29648899,-0.03192828, 0.94846107, 0.00437633, 1.33156963,
 -0.02975952, 0.94628022, 0.01673024, 1.33658163,-0.02395657, 0.95498749,
  1.39501463,-0.00602787, 1.18840262, 0.06120219,-0.00371416,-0.09268881,
  0.08166761, 0.65464088,-0.0114523 ,-0.00418228, 0.7558417 ]

qacc:
[ 3.59305013e-01,-1.84648474e+00, 4.33550321e+00,-1.72030421e+01,
 -1.55629452e-01, 3.77036939e-01,-3.08285754e-01,-2.91131880e+00,
 -7.75316161e-02,-4.80555334e+00, 1.59726546e+01,-1.90148910e+01,
 -4.97423138e-02,-2.69279884e-01, 7.61392753e+00,-1.38543787e+01,
  1.23126771e+00, 1.11721759e+00, 2.31628415e-01, 6.44450555e+01,
  5.74986317e+01, 8.06381241e-01]

qfrc_actuator:
[ 4.13377221e-03, 7.08944203e-02, 2.00126840e-02, 1.71698490e-03,
  4.17440336e-06, 3.48447771e-02, 1.09311755e-02, 1.85996999e-03,
 -3.03799079e-03, 3.46831738e-02, 1.09262878e-02, 1.73687168e-03,
  0.00000000e+00, 2.93962504e-03, 0.00000000e+00,-2.10909875e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006802635302412541
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01439179e-01,  8.80099647e-02, -9.49414908e-01, -2.66329983e-02,
        9.96119594e-01,  8.38834745e-02,  9.53113375e-01, -3.46944695e-18,
        3.02613442e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07197248, -0.04292153,  0.22465753])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.40324653,   4.44732703,   7.40324653,
        16.24180958, -12.66041172,   4.44732703, -12.66041172,
        29.71152821,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012699061073704332
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.82486997e-14,  5.46409995e-14,  1.00000000e+00, -2.08994718e-27,
        1.00000000e+00, -5.46409995e-14, -1.00000000e+00,  0.00000000e+00,
        3.82486997e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03835651, -0.11680232,  0.06188742])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21262600e-03, 3.59813929e-02, 9.06687943e-03,-8.42353011e-05,
 -4.47970022e-05, 2.39490084e-05,-5.66385128e-06,-1.27996051e-05,
 -2.24189293e-05,-1.73407205e-05, 6.77188033e-05,-2.25811628e-05,
  3.29150714e-03, 4.74984423e-03, 8.69988265e-03, 1.53920079e-03,
  1.64055334e-06, 4.66348784e-07,-1.21644065e+00, 1.58494215e-03,
  5.46306860e-04, 3.00123481e-05]


--- Step 2744 ---
qpos:
[-0.01634847, 1.2964962 ,-0.03192738, 0.9484598 , 0.00437662, 1.3315701 ,
 -0.02975905, 0.94628114, 0.01673036, 1.33658162,-0.02395557, 0.95498472,
  1.39502148,-0.00602851, 1.18839468, 0.06119932,-0.00370844,-0.09268043,
  0.08166391, 0.65467225,-0.01152098,-0.00391634, 0.75581491]

qacc:
[ 9.25397068e-02, 7.04679113e-01,-2.94459749e+00, 5.59354696e+00,
 -1.36289127e-01,-1.79361878e+00, 8.24434608e+00,-1.76116842e+01,
 -1.62049728e-02,-3.94889139e+00, 1.94343343e+01,-4.87585360e+01,
 -1.21774971e-01, 8.47459299e-02, 2.61216398e+00,-5.94814728e+00,
  1.14730546e+00, 1.06841410e+00,-3.58648768e-01, 6.07113837e+01,
  5.40282420e+01, 6.54263957e-01]

qfrc_actuator:
[ 4.13793843e-03, 7.08597669e-02, 2.00205966e-02, 1.74827734e-03,
 -8.63766020e-06, 3.48824892e-02, 1.09530363e-02, 1.81677989e-03,
 -3.02942350e-03, 3.47517384e-02, 1.09363068e-02, 1.59861440e-03,
  0.00000000e+00, 2.93258375e-03, 0.00000000e+00,-1.95915481e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006801377058548164
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30143125,  0.08801031, -0.94941739, -0.0266324 ,  0.99611956,
        0.08388403,  0.9531159 ,  0.        ,  0.30260549])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0719714 , -0.04292196,  0.22465775])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.42830617,   4.4053427 ,   7.42830617,
        17.5311632 , -14.99844596,   4.4053427 , -14.99844596,
        33.92680213,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012646995499528968
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.48659474e-15,  7.68123264e-14,  1.00000000e+00, -4.21438106e-28,
        1.00000000e+00, -7.68123264e-14, -1.00000000e+00,  0.00000000e+00,
        5.48659474e-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([-0.03836614, -0.11680565,  0.06188784])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17463421e-03, 3.60845137e-02, 9.14906099e-03, 1.26227570e-05,
 -3.92462767e-05, 4.94681552e-05, 2.55270369e-05,-4.29319020e-05,
 -4.66986773e-06, 7.15341331e-05, 1.36672333e-05,-1.37314974e-04,
  3.29689872e-03, 4.76627483e-03, 8.40232730e-03, 1.53474642e-03,
  7.19612792e-07, 1.57004499e-06,-1.21644143e+00, 1.58778846e-03,
  5.44710865e-04, 3.16881007e-05]


--- Step 2745 ---
qpos:
[-0.01634922, 1.29650427,-0.03192623, 0.94845985, 0.00437695, 1.33157071,
 -0.02975852, 0.94628157, 0.0167305 , 1.33658207,-0.02395505, 0.95498139,
  1.39502817,-0.00602895, 1.1883865 , 0.06119601,-0.00369841,-0.09266795,
  0.08165679, 0.65470444,-0.01159157,-0.00349632, 0.755788  ]

qacc:
[-4.35476948e-02, 2.68680051e+00,-1.00915649e+01, 2.33758394e+01,
  1.64524458e-02,-8.01499688e-01, 3.86118620e+00,-9.15525506e+00,
  8.08013706e-03, 9.66052405e-01,-1.27927157e+00,-5.57924041e+00,
 -2.71250741e-01, 4.09360995e-01, 9.96089637e-01,-3.96542784e+00,
  1.07800616e+00, 1.02706925e+00,-8.54521325e-01, 5.76152865e+01,
  5.11602381e+01, 5.46453504e-01]

qfrc_actuator:
[ 4.14056525e-03, 7.08538875e-02, 2.00250646e-02, 1.82065987e-03,
  1.92572679e-05, 3.48692039e-02, 1.09480403e-02, 1.79102877e-03,
 -3.02430928e-03, 3.47569789e-02, 1.09063882e-02, 1.57166668e-03,
  0.00000000e+00, 2.94640181e-03, 0.00000000e+00,-1.85686148e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006800875393185232
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30142351,  0.08801059, -0.94941982, -0.02663181,  0.99611954,
        0.08388451,  0.95311836,  0.        ,  0.30259773])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07197045, -0.04292239,  0.22465796])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.41731966,   4.42381576,   7.41731966,
        19.4606079 , -18.14878471,   4.42381576, -18.14878471,
        39.06605261,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012468592169031928
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.34764720e-14,  5.56509814e-14,  1.00000000e+00, -4.64554759e-27,
        1.00000000e+00, -5.56509814e-14, -1.00000000e+00,  0.00000000e+00,
        8.34764720e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03839541, -0.11682321,  0.06188931])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16639562e-03, 3.60822377e-02, 9.16018326e-03, 7.20544704e-05,
  4.73722164e-06, 1.77789579e-05, 6.32395536e-06,-2.45132929e-05,
  2.36049039e-06, 4.33935513e-05,-1.84177962e-05,-2.76265001e-05,
  3.30178883e-03, 4.78311621e-03, 8.32861313e-03, 1.55201754e-03,
  5.41911543e-06, 9.15474581e-06,-1.21644479e+00, 1.59056588e-03,
  5.42750083e-04, 4.21181907e-05]


--- Step 2746 ---
qpos:
[-0.01635024, 1.29651252,-0.03192497, 0.94846049, 0.00437729, 1.33157165,
 -0.02975814, 0.94628237, 0.01673068, 1.33658223,-0.02395432, 0.95497814,
  1.39503446,-0.00602928, 1.18837919, 0.06119249,-0.0036942 ,-0.0926495 ,
  0.08164313, 0.65472765,-0.01186037,-0.0030645 , 0.7557656 ]

qacc:
[-1.15342456e-01, 9.22304972e-01,-3.91029353e+00, 1.00586615e+01,
  5.57978563e-03, 1.48053708e+00,-5.08616388e+00, 8.54585499e+00,
  1.53115344e-02,-8.38740501e-01, 2.09686177e+00,-7.02390364e-01,
 -4.63502670e-01, 5.38224276e-01, 1.90652152e+00,-4.73713877e+00,
 -1.45640925e+00, 1.49363265e+00,-1.63666000e+00,-6.04747278e+01,
  7.87224322e+01, 5.28205911e+00]

qfrc_actuator:
[ 4.12474816e-03, 7.08466217e-02, 2.00271383e-02, 1.84553007e-03,
  1.80866120e-05, 3.48964027e-02, 1.09447966e-02, 1.81120955e-03,
 -3.02130919e-03, 3.47063965e-02, 1.09062706e-02, 1.57491438e-03,
  0.00000000e+00, 2.99026589e-03, 0.00000000e+00,-2.31214443e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006800731828933669
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30141473,  0.08801092, -0.94942258, -0.02663113,  0.99611951,
        0.08388507,  0.95312116,  0.        ,  0.30258892])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07196943, -0.04292283,  0.2246582 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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: -0.0012373906142679608
  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([ 0.04599176, -0.11857937,  0.06189007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15567392e-03, 3.60321965e-02, 9.14986019e-03, 3.13688923e-05,
  1.62553392e-06, 3.75307734e-05, 2.33361213e-07, 2.03325582e-05,
  4.39609711e-06,-3.10097737e-05, 5.44989915e-06, 3.34836834e-06,
  3.30996341e-03, 4.81768195e-03, 8.34110280e-03, 1.52870136e-03,
  1.48723903e-05, 2.21922576e-05,-1.21645035e+00, 1.59330294e-03,
  5.40453403e-04, 5.99507057e-05]


